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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)

* dual channel
* SPI ADC
* SPI DAC
* 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

### Lockin

## Minimal bootstrapping documentation

* Clone or download this
* Get [rustup](https://rustup.rs/)
* `rustup target add thumbv7em-none-eabihf`
* `cargo build --release`
* Minimum supported Rust version (MSRV) is 1.51.0
* 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

* Install `cargo-embed`: `cargo install cargo-embed`
* Program the device: `cargo embed --bin dual-iir --release`

### Using GDB/OpenOCD

* Get a recent openocd, a JTAG adapter ("st-link" or some clone) and
  everything connected and permissions setup. Most
  [Nucleo](https://www.digikey.de/short/p41h4v) boards have a
  detachable ST-Link v2 and are cheap.[^swd]
* Get a multiarch `gdb` (or a cross arm gdb and edit `.cargo/config` accordingly)
* `openocd -f stabilizer.cfg` and leave it running
* `cargo run --release`

### 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. 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).