kai
/
pounder_test
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
924 Commits 1 Branch 0 Tags 2.3 MiB
Rust 88.8%
Python 9.6%
Nix 1%
Shell 0.4%
GDB 0.2%
Go to file
Robert Jördens 66536c9978 lockin-external: add miniconf 2021-03-01 19:48:45 +01:00
.cargo cargo: go back to target-cpu=cortex-m4 2020-12-10 17:53:45 +01:00
.github ci: cron daily 2021-02-23 17:31:44 +01:00
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 Merge branch 'master' into dsp-tweaks 2021-03-01 13:43:58 +01:00
src lockin-external: add miniconf 2021-03-01 19:48:45 +01:00
.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 lockin: make order generic 2021-02-23 16:58:13 +01:00
Cargo.toml lockin: make order generic 2021-02-23 16:58:13 +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 Removing information about legacy server 2021-02-19 10:57:12 +01:00
cargosha256-dual-iir.nix update cargosha256 2021-02-16 11:45:44 +08:00
memory.x Marking AXISRAM as NOLOAD 2020-11-24 16:46:14 +01:00
openocd.gdb Removing invalid GDB command 2021-01-29 10:18:47 +01:00
stabilizer.cfg working 2019-03-18 13:10:00 +00:00
stabilizer.py Fixing log format, adding commit support 2021-03-01 13:47:44 +01:00
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

QUARTIQ Matrix Chat HITL (private)

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
  • 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 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.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 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

  • 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 under the topic stabilizer/settings/<setting>. Refer to miniconf for more information about topics.

  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. ↩︎