Go to file

Robert Jördens 4c9c65bf2d cargo-config: cm7 features		2020-11-25 17:33:16 +01:00
.cargo	cargo-config: cm7 features	2020-11-25 17:33:16 +01:00
.github	Adding CI support for PRs	2020-11-05 08:13:55 +01:00
ad9959	Reverting unneeded changes	2020-10-28 15:44:52 +01:00
doc	cargo: tweak	2019-03-29 19:34:31 +01:00
dsp	iir: copy_within is better than rotate_right	2020-11-25 17:24:49 +01:00
src	processing: use faster unsafe truncate	2020-11-24 09:27:47 +01:00
.gitignore	dsp crate: drop version dependency and remove boilerplate from cargo	2020-11-22 10:32:40 -08:00
.rustfmt.toml	travis: clippy and rustfmt	2019-11-24 15:10:01 +01:00
CHANGELOG.md	add changelog	2019-05-28 13:23:31 +02:00
Cargo.lock	move iir to new dsp crate	2020-11-22 07:59:12 -08:00
Cargo.toml	dsp crate: drop version dependency and remove boilerplate from cargo	2020-11-22 10:32:40 -08:00
LICENSE	readme, license	2019-03-20 18:33:35 +00:00
README.md	README: remove CI badge, add matrix link	2020-11-16 17:36:16 +01:00
cargosha256.nix	update cargosha256	2020-11-11 15:22:47 +08:00
memory.x	ethernet: tweak	2019-04-28 14:06:56 +00:00
openocd.gdb	Updating structure, adding DMA triggered transfers	2020-06-08 18:11:14 +02:00
pounder_test.py	Renaming pounder test script	2020-06-11 19:10:02 +02:00
stabilizer.cfg	Fixing changes	2020-04-22 15:59:08 +02:00
stabilizer.py	make stabilizer.py work on v0.4.0+	2020-09-15 15:49:55 +08:00
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

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
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 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. ↩︎