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bors[bot] 476be9ea15 Merge #40 40: build(deps): bump serde from 1.0.100 to 1.0.101 r=jordens a=dependabot-preview[bot] Bumps [serde](https://github.com/serde-rs/serde) from 1.0.100 to 1.0.101. <details> <summary>Release notes</summary> Sourced from [serde's releases](https://github.com/serde-rs/serde/releases). > ## v1.0.101 > - Report errors on malformed serde attributes, like `#[serde(rename =)]` -- the compiler used to reject these itself, but when the compiler relaxed its requirements on attribute syntax these malformed attributes began silently being ignored by serde_derive > > - Eliminate unused variable warning when using skip_serializing inside a tuple variant of an adjacently tagged enum ([#1617](https://github-redirect.dependabot.com/serde-rs/serde/issues/1617), thanks [@arilotter](https://github.com/arilotter)) > > - Support skip attribute inside of newtype variants ([#1622](https://github-redirect.dependabot.com/serde-rs/serde/issues/1622), thanks [@Xaeroxe](https://github.com/Xaeroxe)) </details> <details> <summary>Commits</summary> - [`4aba6fa`](`4aba6fae78`) Release 1.0.101 - [`fe06bc2`](`fe06bc2f88`) More concise explanation of allow(unused_variables) - [`8dfb4cd`](`8dfb4cd02f`) Merge pull request [#1617](https://github-redirect.dependabot.com/serde-rs/serde/issues/1617) from arilotter/master - [`d1ade37`](`d1ade37827`) Ignore new too_many_lines lint - [`9de4924`](`9de49241fb`) Bug fix for [#1610](https://github-redirect.dependabot.com/serde-rs/serde/issues/1610) - [`b24d501`](`b24d50160a`) Remove use of ref keyword from serde_derive - [`e46463e`](`e46463e69f`) Add tests for attribute parse errors - [`a3157c9`](`a3157c9572`) Produce errors on attr that fails to parse as Meta - [`0d47226`](`0d4722680a`) Use flatten() to iterate serde meta items - [`7ab1259`](`7ab12597bb`) Un-wrap error message strings for better grepping - Additional commits viewable in [compare view](https://github.com/serde-rs/serde/compare/v1.0.100...v1.0.101) </details> <br /> [![Dependabot compatibility score](https://api.dependabot.com/badges/compatibility_score?dependency-name=serde&package-manager=cargo&previous-version=1.0.100&new-version=1.0.101)](https://dependabot.com/compatibility-score.html?dependency-name=serde&package-manager=cargo&previous-version=1.0.100&new-version=1.0.101) 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) - `@dependabot use these labels` will set the current labels as the default for future PRs for this repo and language - `@dependabot use these reviewers` will set the current reviewers as the default for future PRs for this repo and language - `@dependabot use these assignees` will set the current assignees as the default for future PRs for this repo and language - `@dependabot use this milestone` will set the current milestone as the default for future PRs for this repo and language - `@dependabot badge me` will comment on this PR with code to add a "Dependabot enabled" badge to your readme Additionally, you can set the following in your Dependabot [dashboard](https://app.dependabot.com): - Update frequency (including time of day and day of week) - Pull request limits (per update run and/or open at any time) - Automerge options (never/patch/minor, and dev/runtime dependencies) - Out-of-range updates (receive only lockfile updates, if desired) - Security updates (receive only security updates, if desired) Finally, you can contact us by mentioning @dependabot. </details> Co-authored-by: dependabot-preview[bot] <27856297+dependabot-preview[bot]@users.noreply.github.com>		2019-10-13 12:01:37 +00:00
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.github	try github actions	2019-09-11 17:28:53 +02:00
doc	cargo: tweak	2019-03-29 19:34:31 +01:00
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README.md	README: add note about debug	2019-06-07 11:55:10 +02:00
stabilizer_pid.png	png	2019-05-09 16:40:35 +02:00
stabilizer_pid.svg	README: diagram and photo	2019-05-09 16:05:36 +02:00
stabilizer.cfg	working	2019-03-18 13:10:00 +00:00
stabilizer.py	cleanup, robustify	2019-05-28 10:15:20 +00:00

README.md

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
rustup override add nightly
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 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
cargo objcopy --release --bin stabilizer -- -O binary stabilizer.bin or arm-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 or arm-none-eabi-objcopy -O binary target/thumbv7em-none-eabihf/release/stabilizer stabilizer.bin
Connect the ST-Link debugger
copy stabilizer.bin to the NODE_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 as 647513(82) ((i) marks an unused wire) and to the 1.27mm dual row 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. ↩︎