53352d1281
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`]( |
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.cargo | ||
.github | ||
doc | ||
src | ||
.gitignore | ||
.travis.yml | ||
Cargo.lock | ||
Cargo.toml | ||
cargosha256.nix | ||
CHANGELOG.md | ||
LICENSE | ||
memory.x | ||
openocd.gdb | ||
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
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
. ↩︎