1d3d313c29
119: build(deps): bump embedded-hal from 0.2.3 to 0.2.4 r=jordens a=dependabot[bot] [//]: # (dependabot-start) ⚠️ **Dependabot is rebasing this PR** ⚠️ If you make any changes to it yourself then they will take precedence over the rebase. --- [//]: # (dependabot-end) Bumps [embedded-hal](https://github.com/japaric/embedded-hal) from 0.2.3 to 0.2.4. <details> <summary>Changelog</summary> <p><em>Sourced from <a href="https://github.com/rust-embedded/embedded-hal/blob/master/CHANGELOG.md">embedded-hal's changelog</a>.</em></p> <blockquote> <h1>Change Log</h1> <p>All notable changes to this project will be documented in this file.</p> <p>The format is based on <a href="http://keepachangelog.com/">Keep a Changelog</a> and this project adheres to <a href="http://semver.org/">Semantic Versioning</a>.</p> <h2>[Unreleased]</h2> <h2>[v1.0.0-alpha.1] - 2020-06-16</h2> <p>*** This is an alpha release with breaking changes (sorry) ***</p> <h3>Added</h3> <ul> <li>A nonblocking trait for interfacing with random number generation hardware.</li> </ul> <h3>Changed</h3> <ul> <li>All traits have been marked as proven (<code>unproven</code> feature has been removed).</li> <li>All trait methods have been made fallible.</li> <li>All trait methods have been renamed <code>try_*</code> (i.e. <code>try_send</code>) for consistency.</li> <li>The <code>Capture</code>, <code>Pwm</code>, <code>PwmPin</code> and <code>Qei</code> traits have been moved into their own <code>capture</code>, <code>pwm</code> and <code>qei</code> modules for consistency.</li> <li>Void has been replaced with <code>core::convert::Infallible</code> which should be used in trait implementations where methods cannot fail.</li> <li>A new <a href="https://github.com/rust-embedded/embedded-hal#how-to-add-a-new-trait">process</a> has been adopted for the addition of traits to the embedded-hal.</li> <li>The minimum supported Rust version is 1.35 due to <a href="https://github-redirect.dependabot.com/rust-lang/rust/issues/54973">this issue</a>.</li> </ul> </blockquote> </details> <details> <summary>Commits</summary> <ul> <li>See full diff in <a href="https://github.com/japaric/embedded-hal/commits">compare view</a></li> </ul> </details> <br /> [![Dependabot compatibility score](https://dependabot-badges.githubapp.com/badges/compatibility_score?dependency-name=embedded-hal&package-manager=cargo&previous-version=0.2.3&new-version=0.2.4)](https://help.github.com/articles/configuring-automated-security-fixes) Dependabot will resolve any conflicts with this PR as long as you don't alter it yourself. You can also trigger a rebase manually by commenting `@dependabot rebase`. [//]: # (dependabot-automerge-start) [//]: # (dependabot-automerge-end) --- <details> <summary>Dependabot commands and options</summary> <br /> You can trigger Dependabot actions by commenting on this PR: - `@dependabot rebase` will rebase this PR - `@dependabot recreate` will recreate this PR, overwriting any edits that have been made to it - `@dependabot merge` will merge this PR after your CI passes on it - `@dependabot squash and merge` will squash and merge this PR after your CI passes on it - `@dependabot cancel merge` will cancel a previously requested merge and block automerging - `@dependabot reopen` will reopen this PR if it is closed - `@dependabot close` will close this PR and stop Dependabot recreating it. You can achieve the same result by closing it manually - `@dependabot ignore this major version` will close this PR and stop Dependabot creating any more for this major version (unless you reopen the PR or upgrade to it yourself) - `@dependabot ignore this minor version` will close this PR and stop Dependabot creating any more for this minor version (unless you reopen the PR or upgrade to it yourself) - `@dependabot ignore this dependency` will close this PR and stop Dependabot creating any more for this dependency (unless you reopen the PR or upgrade to it yourself) </details> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> |
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.cargo | ||
.github | ||
ad9959 | ||
doc | ||
src | ||
.gitignore | ||
.rustfmt.toml | ||
Cargo.lock | ||
Cargo.toml | ||
cargosha256.nix | ||
CHANGELOG.md | ||
LICENSE | ||
memory.x | ||
openocd.gdb | ||
pounder_test.py | ||
README.md | ||
stabilizer_pid.png | ||
stabilizer_pid.svg | ||
stabilizer.cfg | ||
stabilizer.py |
Stabilizer Firmware
Features
- dual channel
- SPI ADC
- SPI DAC
- 500 kHz rate, timed sampling
- 2 µs latency, unmatched between channels
- f32 IIR math
- generic biquad (second order) IIR filter
- anti-windup
- derivative kick avoidance
Limitations/TODOs
- Fixed AFE gains
- The IP and MAC address are hardcoded
- 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
Minimal bootstrapping documentation
- Clone or download this
- Get rustup
- Get cargo-binutils
rustup target add thumbv7em-none-eabihf
cargo build --release
- Do not try the debug (default) mode. It is guaranteed to panic.
Using GDB/OpenOCD
- Get a recent openocd, a JTAG adapter ("st-link" or some clone) and everything connected and permissions setup. Most Nucleo boards have a detachable ST-Link v2 and are cheap.1
- Get a multiarch
gdb
(or a cross arm gdb and edit.cargo/config
accordingly) openocd -f stabilizer.cfg
and leave it runningcargo run --release
Using USB-DFU
- Install the DFU USB tool (
dfu-util
) - Connect to the Micro USB connector below the RJ45
- Short JC2/BOOT
cargo objcopy --release --bin stabilizer -- -O binary stabilizer.bin
orarm-none-eabi-objcopy -O binary target/thumbv7em-none-eabihf/release/stabilizer stabilizer.bin
dfu-util -a 0 -s 0x08000000:leave -D stabilizer.bin
Using ST-Link virtual mass storage
cargo objcopy --release --bin stabilizer -- -O binary stabilizer.bin
orarm-none-eabi-objcopy -O binary target/thumbv7em-none-eabihf/release/stabilizer stabilizer.bin
- Connect the ST-Link debugger
- copy
stabilizer.bin
to theNODE_H743ZI
USB disk
Protocol
Stabilizer can be configured via newline-delimited JSON over TCP. It listens on port 1235. stabilizer.py contains a reference implementation of the protocol.
-
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 as647513(82)
((i)
marks an unused wire) and to the 1.27mm dual row on Stabilizer as657483x2x1
(x
marks an unused pin, enumeration is standard for dual row, as in the schematic). It's just folding the ribbon between wires5
and6
. The signals on the ribbon are thenNRST,TDI,TDO,TCK,TMS,3V3,GND,GND
. ↩︎