80 lines
3.1 KiB
Markdown
80 lines
3.1 KiB
Markdown
[](https://matrix.to/#/#quartiq:matrix.org)
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[](https://github.com/quartiq/stabilizer/actions/workflows/ci.yml)
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[![Stabilizer HITL [Nightly]](https://github.com/quartiq/hitl/actions/workflows/stabilizer-nightly.yml/badge.svg)](https://github.com/quartiq/hitl/actions/workflows/stabilizer-nightly.yml)
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# Stabilizer Firmware
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## Hardware
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[](https://github.com/sinara-hw/Stabilizer)
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## Applications
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The Stabilizer firmware offeres a library of hardware and software functionality
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exposing input/output, timing, and digital signal processing features.
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An application can compose and configure these hardware and software components
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to implement different use cases. Several applications are provides by default
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### Dual-IIR
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* dual channel
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* SPI ADC
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* SPI DAC
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* up to 800 kHz rate, timed sampling
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* down to 2 µs latency
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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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### Lockin
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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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* `rustup target add thumbv7em-none-eabihf`
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* `cargo build --release`
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* When using debug (non `--release`) mode, increase the sample interval significantly.
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The added error checking code and missing optimizations may lead to the code
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missing deadlines and panicing.
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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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### 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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* Get [cargo-binutils](https://github.com/rust-embedded/cargo-binutils/)
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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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* Get [cargo-binutils](https://github.com/rust-embedded/cargo-binutils/)
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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 MQTT. Refer to
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[`miniconf`](https://github.com/quartiq/miniconf) for more information about topics.
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A basic command line interface is available in [`miniconf.py`](miniconf.py).
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