pounder_test/README.md

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# Stabilizer Firmware
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![Flow diagram](stabilizer_pid.svg)
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![Hardware](https://github.com/sinara-hw/Stabilizer/wiki/Stabilizer_v1.0_top_small.jpg)
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## Features
* dual channel
* SPI ADC
* SPI DAC
* fixed AFE gains
* 500 kHz rate, timed
* < 2 µs latency, unmatched
* f32 IIR math
* generic biquad (second order) IIR filter
* anti-windup
* derivative kick avoidance
* configurable output limits
## Hardware
See https://github.com/sinara-hw/Stabilizer
## Minimal bootstrapping documentation
* Clone or download this
* Get a recent openocd, a JTAG adapter ("st-link" or some clone) and
everything connected and permissions setup
* Get a multiarch `gdb` (or a cross arm gdb and edit `.cargo/config` accordingly)
* Get [rustup](https://rustup.rs/)
* `rustup override add nightly`
* `rustup target add thumbv7em-none-eabihf`
* `openocd -f stabilizer.cfg` and leave it running
* `cargo run --release`