Go to file

Ryan Summers 6487318730 Reverting HITL runner changes		2021-04-07 15:09:34 +02:00
.cargo	cargo: go back to target-cpu=cortex-m4	2020-12-10 17:53:45 +01:00
.github	Updating HITL to run against PRs to master	2021-04-07 14:18:21 +02:00
ad9959	Fixing pounder timestamps after manual testing	2020-12-15 13:13:05 +01:00
doc	cargo: tweak	2019-03-29 19:34:31 +01:00
dsp	Bump num from 0.3.1 to 0.4.0	2021-03-25 08:40:58 +00:00
hitl	Reverting HITL runner changes	2021-04-07 15:09:34 +02:00
src	Merge branch 'master' into update-hal	2021-04-07 13:41:48 +02:00
.gitignore	Update .gitignore	2021-02-02 18:03:46 +01:00
.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	Merge branch 'master' into update-hal	2021-04-07 13:41:48 +02:00
Cargo.toml	Adding patch comment	2021-03-25 09:26:36 +01:00
Embed.toml	Adding Embed.toml file	2021-02-02 17:34:49 +01:00
LICENSE	readme, license	2019-03-20 18:33:35 +00:00
README.md	README: add both plain-CI and HITL badges	2021-04-06 16:28:56 +02:00
cargosha256-dual-iir.nix	update cargosha256	2021-03-31 15:22:24 +08:00
memory.x	Marking AXISRAM as NOLOAD	2020-11-24 16:46:14 +01:00
miniconf.py	cli: print response	2021-03-03 14:42:33 +01:00
openocd.gdb	Removing invalid GDB command	2021-01-29 10:18:47 +01:00
requirements.txt	Adding requirements file	2021-04-07 14:04:11 +02:00
stabilizer.cfg	working	2019-03-18 13:10:00 +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

Hardware

Applications

The Stabilizer firmware offeres a library of hardware and software functionality exposing input/output, timing, and digital signal processing features. An application can compose and configure these hardware and software components to implement different use cases. Several applications are provides by default

Dual-IIR

dual channel
SPI ADC
SPI DAC
up to 800 kHz rate, timed sampling
down to 2 µs latency
f32 IIR math
generic biquad (second order) IIR filter
anti-windup
derivative kick avoidance

Lockin external

Lockin internal

Minimal bootstrapping documentation

Clone or download this
Get rustup
rustup target add thumbv7em-none-eabihf
cargo build --release
When using debug (non --release) mode, increase the sample interval significantly. The added error checking code and missing optimizations may lead to the code missing deadlines and panicing.

Using Cargo-embed

Install cargo-embed: cargo install cargo-embed
Program the device: cargo embed --bin dual-iir --release

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.[^swd]
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
Get cargo-binutils
cargo objcopy --release --bin dual-iir -- -O binary dual-iir.bin or arm-none-eabi-objcopy -O binary target/thumbv7em-none-eabihf/release/dual-iir dual-iir.bin
dfu-util -a 0 -s 0x08000000:leave -D dual-iir.bin

Using ST-Link virtual mass storage

Get cargo-binutils
cargo objcopy --release --bin dual-iir -- -O binary dual-iir.bin or arm-none-eabi-objcopy -O binary target/thumbv7em-none-eabihf/release/dual-iir dual-iir.bin
Connect the ST-Link debugger
copy dual-iir.bin to the NODE_H743ZI USB disk

Protocol

Stabilizer can be configured via MQTT. Refer to miniconf for more information about topics. A basic command line interface is available in miniconf.py.