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# Stabilizer Firmware
## Hardware
[![Hardware](https://github.com/sinara-hw/Stabilizer/wiki/Stabilizer_v1.0_top_small.jpg)](https://github.com/sinara-hw/Stabilizer)
## Applications
The Stabilizer firmware offeres a library of hardware and software functionality
exposing input/output, timing, and digital signal processing features.
An application can compose and configure these hardware and software components
to implement different use cases. Several applications are provides by default
### Dual-IIR
![Flow diagram](stabilizer_pid.svg)
![Hardware](https://github.com/sinara-hw/Stabilizer/wiki/Stabilizer_v1.0_top_small.jpg)
## Features
* dual channel
* SPI ADC
* SPI DAC
* 500 kHz rate, timed sampling
* 2 µs latency, unmatched between channels
* up to 800 kHz rate, timed sampling
* down to 2 µs latency
* f32 IIR math
* generic biquad (second order) IIR filter
* anti-windup
* derivative kick avoidance
## Limitations/TODOs
### Lockin external
* Fixed AFE gains
* The IP and MAC address are [hardcoded](src/hardware/configuration.rs)
* Expose configurable limits
* 100Base-T only
* Digital IO, GPIO header, AFE header, EEM header are not handled
## Hardware
See https://github.com/sinara-hw/Stabilizer
### Lockin internal
## Minimal bootstrapping documentation
* Clone or download this
* Get [rustup](https://rustup.rs/)
* Get [cargo-binutils](https://github.com/rust-embedded/cargo-binutils/)
* `rustup target add thumbv7em-none-eabihf`
* `cargo build --release`
* Do not try the debug (default) mode. It is guaranteed to panic.
* When using debug (non `--release`) mode, increase the sample interval significantly.
The added error checking code and missing optimizations may lead to the code
missing deadlines and panicing.
### Using Cargo-embed
@ -55,30 +57,24 @@ See https://github.com/sinara-hw/Stabilizer
* `openocd -f stabilizer.cfg` and leave it running
* `cargo run --release`
[^swd]: Build a cable: connect a standard 8 conductor ribbon with the wires numbered
`1-8` to the pins on the St-Link v2 single row 2.54mm connector as `647513(82)`
(`(i)` marks an unused wire)
and to the [1.27mm dual row](https://www.digikey.de/short/p41h0n) on Stabilizer as `657483x2x1`
(`x` marks an unused pin, enumeration is standard for dual row, as in the
schematic).
It's just folding the ribbon between wires `5` and `6`. The signals on the ribbon
are then `NRST,TDI,TDO,TCK,TMS,3V3,GND,GND`.
### Using USB-DFU
* Install the DFU USB tool (`dfu-util`)
* Connect to the Micro USB connector below the RJ45
* Short JC2/BOOT
* Get [cargo-binutils](https://github.com/rust-embedded/cargo-binutils/)
* `cargo objcopy --release --bin dual-iir -- -O binary dual-iir.bin` or `arm-none-eabi-objcopy -O binary target/thumbv7em-none-eabihf/release/dual-iir dual-iir.bin`
* `dfu-util -a 0 -s 0x08000000:leave -D dual-iir.bin`
### Using ST-Link virtual mass storage
* Get [cargo-binutils](https://github.com/rust-embedded/cargo-binutils/)
* `cargo objcopy --release --bin dual-iir -- -O binary dual-iir.bin` or `arm-none-eabi-objcopy -O binary target/thumbv7em-none-eabihf/release/dual-iir dual-iir.bin`
* Connect the ST-Link debugger
* copy `dual-iir.bin` to the `NODE_H743ZI` USB disk
## Protocol
Stabilizer can be configured via MQTT under the topic `stabilizer/settings/<setting>`. Refer to
Stabilizer can be configured via MQTT. Refer to
[`miniconf`](https://github.com/quartiq/miniconf) for more information about topics.
A basic command line interface is available in [`miniconf.py`](miniconf.py).