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bors[bot] 6b5c88408f
Merge #120 
120: build(deps): bump serde from 1.0.112 to 1.0.114 r=jordens a=dependabot[bot]

Bumps [serde](https://github.com/serde-rs/serde) from 1.0.112 to 1.0.114.
<details>
<summary>Release notes</summary>
<p><em>Sourced from <a href="https://github.com/serde-rs/serde/releases">serde's releases</a>.</em></p>
<blockquote>
<h2>v1.0.114</h2>
<ul>
<li>Improve <code>packed</code> repr matching to support deriving Serialize for structs having <code>repr(C, packed)</code> (<a href="https://github-redirect.dependabot.com/serde-rs/serde/issues/1813">#1813</a>, thanks <a href="https://github.com/TannerRogalsky">@TannerRogalsky</a>)</li>
</ul>
<h2>v1.0.113</h2>
<ul>
<li>Improve diagnostic when a serde trait is not implemented (<a href="https://github-redirect.dependabot.com/serde-rs/serde/issues/1827">#1827</a>, thanks <a href="https://github.com/taiki-e">@taiki-e</a>)</li>
</ul>
</blockquote>
</details>
<details>
<summary>Commits</summary>
<ul>
<li><a href="9c6f0c3a0e"><code>9c6f0c3</code></a> Release 1.0.114</li>
<li><a href="a9f8ea0a1e"><code>a9f8ea0</code></a> Simplify search for packed repr attr</li>
<li><a href="04faac962a"><code>04faac9</code></a> Remove error_on_line_overflow rustfmt setting</li>
<li><a href="7e5701ad2b"><code>7e5701a</code></a> add alignment specific packed repr tests</li>
<li><a href="1cd10a7d09"><code>1cd10a7</code></a> Improved packed repr matching.</li>
<li><a href="d5e6436b28"><code>d5e6436</code></a> Add tests validating Serialize derivation for packed structs.</li>
<li><a href="8ff11dc234"><code>8ff11dc</code></a> Merge pull request <a href="https://github-redirect.dependabot.com/serde-rs/serde/issues/1841">#1841</a> from dtolnay/lenhint</li>
<li><a href="6b3777b617"><code>6b3777b</code></a> Remove len hint specialization</li>
<li><a href="7350b58f5c"><code>7350b58</code></a> Release 1.0.113</li>
<li><a href="7351e0e55a"><code>7351e0e</code></a> Link to feature announcements where available</li>
<li>Additional commits viewable in <a href="https://github.com/serde-rs/serde/compare/v1.0.112...v1.0.114">compare view</a></li>
</ul>
</details>
<br />


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Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
 		2020-08-08 07:50:53 +00:00
.cargo Fixing changes 2020-04-22 15:59:08 +02:00
.github dependabot: update 2020-06-22 15:07:57 +02:00
ad9959 style: implement a couple clippy suggestions [nfc] 2020-06-17 14:57:09 +02:00
doc cargo: tweak 2019-03-29 19:34:31 +01:00
src fmt 2020-06-23 14:55:59 +02:00
.gitignore start 2019-03-18 12:56:26 +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 #120 2020-08-08 07:50:53 +00:00
Cargo.toml v0.4.1 2020-06-23 15:19:24 +02:00
LICENSE readme, license 2019-03-20 18:33:35 +00:00
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memory.x ethernet: tweak 2019-04-28 14:06:56 +00:00
openocd.gdb Updating structure, adding DMA triggered transfers 2020-06-08 18:11:14 +02:00
pounder_test.py Renaming pounder test script 2020-06-11 19:10:02 +02:00
stabilizer.cfg Fixing changes 2020-04-22 15:59:08 +02:00
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

Continuous Integration

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 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

Using ST-Link virtual mass storage

  • 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. ↩︎