Replace INSTALL.org by INSTALL.md

INSTALL.md

+# Installing the motor controller
+
+## STM32
+
+You must install the appropriate Rust target and tools:
+
+```shell
+$ rustup target install thumbv7m-none-eabi
+$ cargo install probe-rs-tools
+```
+
+Then flash the executable using
+
+```shell
+$ cargo run --release -p dc-motor-driver-hat
+```
+
+## Raspberry Pi
+
+On the Raspberry Pi, ensure that `boot/config.txt` contains the line `dtparam=i2c_arm=on,i2c_arm_baudrate=400000`. It is important not to let the default 100kHz speed which causes some bit flipping because of a hardware bug in the BCM2712 SOC with regard to clock stretching.
+
+The Python module is located in `controller/python/controller.py`.

INSTALL.org

-#+TITLE: Installing the motor controller
-
-* STM32
-
-You must install the appropriate target: =rustup target install thumbv7m-none-eabi=.
-
-Execute =cargo build --release -p dc-motor-driver-hat=. The flashable executable will be in =target/thumbv7m-none-eabi/release/dc-motor-driver-hat=.
-
-* Raspberry Pi
-
-On the Raspberry Pi, ensure that =boot/config.txt= contains the line ~dtparam=i2c_arm=on,i2c_arm_baudrate=400000~. It is important not to let the default =100kHz= speed which causes some bit flipping.
-
-The Python module is located in =controller/python/controller.py=.