86 lines
3.1 KiB
Markdown
86 lines
3.1 KiB
Markdown
[](https://matrix.to/#/#quartiq:matrix.org)
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[](https://github.com/quartiq/hitl/actions?query=workflow%3AStabilizer)
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# Stabilizer Firmware
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## Features
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* dual channel
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* SPI ADC
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* SPI DAC
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* 500 kHz rate, timed sampling
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* 2 µs latency, unmatched between channels
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* f32 IIR math
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* generic biquad (second order) IIR filter
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* anti-windup
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* derivative kick avoidance
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## Limitations/TODOs
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* Fixed AFE gains
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* The IP and MAC address are [hardcoded](src/hardware/configuration.rs)
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* Expose configurable limits
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* 100Base-T only
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* Digital IO, GPIO header, AFE header, EEM header are not handled
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## Hardware
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See https://github.com/sinara-hw/Stabilizer
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## Minimal bootstrapping documentation
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* Clone or download this
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* Get [rustup](https://rustup.rs/)
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* Get [cargo-binutils](https://github.com/rust-embedded/cargo-binutils/)
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* `rustup target add thumbv7em-none-eabihf`
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* `cargo build --release`
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* Do not try the debug (default) mode. It is guaranteed to panic.
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### Using Cargo-embed
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* Install `cargo-embed`: `cargo install cargo-embed`
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* Program the device: `cargo embed --bin dual-iir --release`
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### Using GDB/OpenOCD
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* Get a recent openocd, a JTAG adapter ("st-link" or some clone) and
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everything connected and permissions setup. Most
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[Nucleo](https://www.digikey.de/short/p41h4v) boards have a
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detachable ST-Link v2 and are cheap.[^swd]
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* Get a multiarch `gdb` (or a cross arm gdb and edit `.cargo/config` accordingly)
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* `openocd -f stabilizer.cfg` and leave it running
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* `cargo run --release`
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[^swd]: Build a cable: connect a standard 8 conductor ribbon with the wires numbered
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`1-8` to the pins on the St-Link v2 single row 2.54mm connector as `647513(82)`
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(`(i)` marks an unused wire)
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and to the [1.27mm dual row](https://www.digikey.de/short/p41h0n) on Stabilizer as `657483x2x1`
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(`x` marks an unused pin, enumeration is standard for dual row, as in the
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schematic).
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It's just folding the ribbon between wires `5` and `6`. The signals on the ribbon
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are then `NRST,TDI,TDO,TCK,TMS,3V3,GND,GND`.
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### Using USB-DFU
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* Install the DFU USB tool (`dfu-util`)
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* Connect to the Micro USB connector below the RJ45
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* Short JC2/BOOT
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* `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`
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* `dfu-util -a 0 -s 0x08000000:leave -D dual-iir.bin`
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### Using ST-Link virtual mass storage
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* `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`
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* Connect the ST-Link debugger
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* copy `dual-iir.bin` to the `NODE_H743ZI` USB disk
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## Protocol
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Stabilizer can be configured via newline-delimited JSON over TCP.
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It listens on port 1235. [stabilizer.py](stabilizer.py) contains a reference
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implementation of the protocol.
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