Go to file
bors[bot] 53352d1281
Merge #53
53: build(deps): bump cortex-m-rtfm from v0.5.0-beta.1 to v0.5.0 r=jordens a=dependabot-preview[bot]

Bumps [cortex-m-rtfm](https://github.com/rtfm-rs/cortex-m-rtfm) from v0.5.0-beta.1 to v0.5.0.
<details>
<summary>Changelog</summary>

*Sourced from [cortex-m-rtfm's changelog](https://github.com/rtfm-rs/cortex-m-rtfm/blob/master/CHANGELOG.md).*

> ## v0.5.0 - 2019-11-14
> 
> ### Added
> 
> - Experimental support for homogeneous and heterogeneous multi-core
>   microcontrollers has been added. Support is gated behind the `homogeneous` and
>   `heterogeneous` Cargo features.
> 
> ### Changed
> 
> - [breaking-change][] [RFC 155] "explicit `Context` parameter" has been
>   implemented.
> 
> [RFC 155]: [rtfm-rs/cortex-m-rtfm#155](https://github-redirect.dependabot.com/rtfm-rs/cortex-m-rtfm/issues/155)
> 
> - [breaking-change][] [RFC 147] "all functions must be safe" has been
>   implemented.
> 
> [RFC 147]: [rtfm-rs/cortex-m-rtfm#147](https://github-redirect.dependabot.com/rtfm-rs/cortex-m-rtfm/issues/147)
> 
> - All the queues internally used by the framework now use `AtomicU8` indices
>   instead of `AtomicUsize`; this reduces the static memory used by the
>   framework.
> 
> - [breaking-change][] when the `capacity` argument is omitted, the capacity of
>   the task is assumed to be `1`. Before, a reasonable (but hard to predict)
>   capacity was computed based on the number of `spawn` references the task had.
> 
> - [breaking-change][] resources that are appear as exclusive references
>   (`&mut-`) no longer appear behind the `Exclusive` newtype.
> 
> - [breaking-change][] the `timer-queue` Cargo feature has been removed. The
>   `schedule` API can be used without enabling any Cargo feature.
> 
> - [breaking-change][] when the `schedule` API is used the type of
>   `init::Context.core` changes from `cortex_m::Peripherals` to
>   `rtfm::Peripherals`. The fields of `rtfm::Peripherals` do not change when
>   Cargo features are enabled.
> 
> - [breaking-change][] the monotonic timer used to implement the `schedule` API
>   is now user configurable via the `#[app(monotonic = ..)]` argument. IMPORTANT:
>   it is now the responsibility of the application author to configure and
>   initialize the chosen `monotonic` timer during the `#[init]` phase.
> 
> - [breaking-change][] the `peripherals` field is not include in `init::Context`
>   by default. One must opt-in using the `#[app(peripherals = ..)]` argument.
> 
> - [breaking-change][] the `#[exception]` and `#[interrupt]` attributes have been
>   removed. Hardware tasks are now declared using the `#[task(binds = ..)]`
>   attribute.
></tr></table> ... (truncated)
</details>
<details>
<summary>Commits</summary>

- [`6b0a2df`](6b0a2df41c) Merge [#272](https://github-redirect.dependabot.com/rtfm-rs/cortex-m-rtfm/issues/272)
- [`4fcb6ab`](4fcb6ab7cc) v0.5.0 final release
- [`e28294b`](e28294b220) Merge [#271](https://github-redirect.dependabot.com/rtfm-rs/cortex-m-rtfm/issues/271)
- [`2441b7e`](2441b7e389) Minor docs update to monotonic
- [`85463ed`](85463ed6c3) Merge [#268](https://github-redirect.dependabot.com/rtfm-rs/cortex-m-rtfm/issues/268) [#270](https://github-redirect.dependabot.com/rtfm-rs/cortex-m-rtfm/issues/270)
- [`76e2345`](76e234599f) Added struct de-structure-ing example in tips & tricks
- [`e9a8394`](e9a83947bc) fix bash comparison
- [`da9c6a7`](da9c6a714e) run cfail tests only when rustc --version == $MSRV
- [`31b392f`](31b392fe3a) CI: replace compiletest-rs with trybuild
- [`72e84cb`](72e84cb297) Merge [#266](https://github-redirect.dependabot.com/rtfm-rs/cortex-m-rtfm/issues/266)
- Additional commits viewable in [compare view](1fe9767eba...6b0a2df41c)
</details>
<br />

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)



</details>

Co-authored-by: dependabot-preview[bot] <27856297+dependabot-preview[bot]@users.noreply.github.com>
2019-11-15 08:13:11 +00:00
.cargo cargo: gdb-multicarch 2019-03-20 09:48:44 +00:00
.github try github actions 2019-09-11 17:28:53 +02:00
doc cargo: tweak 2019-03-29 19:34:31 +01:00
src factor CPU and board-specific initialisation out of main (NFC) 2019-11-13 22:13:04 +00:00
.gitignore start 2019-03-18 12:56:26 +01:00
.travis.yml travis: try nightly as well 2019-11-11 11:31:39 +01:00
CHANGELOG.md add changelog 2019-05-28 13:23:31 +02:00
Cargo.lock build(deps): bump cortex-m-rtfm from v0.5.0-beta.1 to v0.5.0 2019-11-15 04:38:21 +00:00
Cargo.toml build(deps): bump cortex-m-rtfm from v0.5.0-beta.1 to v0.5.0 2019-11-15 04:38:21 +00:00
LICENSE readme, license 2019-03-20 18:33:35 +00:00
README.md use stable rust (1.38.0) 2019-10-22 13:43:49 +00:00
cargosha256.nix update cargosha256 2019-11-15 11:23:21 +08:00
memory.x ethernet: tweak 2019-04-28 14:06:56 +00:00
openocd.gdb openocd.gdb: modern gdb is stricter 2019-10-22 13:44:04 +00:00
stabilizer.cfg working 2019-03-18 13:10:00 +00:00
stabilizer.py cleanup, robustify 2019-05-28 10:15:20 +00:00
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

Flow diagram

Hardware

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 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
  • 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.


  1. 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. ↩︎