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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

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.