pounder_test/README.md

Stabilizer Firmware

Features

• dual channel
• SPI ADC
• SPI DAC
• fixed AFE gains
• 500 kHz rate, timed
• < 2 µs latency, unmatched
• f32 IIR math
• generic biquad (second order) IIR filter
• anti-windup
• derivative kick avoidance
• configurable output limits

Hardware

See https://github.com/sinara-hw/Stabilizer

Minimal bootstrapping documentation

• Clone or download this
• Get a recent openocd, a JTAG adapter ("st-link" or some clone) and everything connected and permissions setup
• Get a multiarch gdb (or a cross arm gdb and edit .cargo/config accordingly)
• Get rustup
• rustup override add nightly
• rustup target add thumbv7em-none-eabihf
• openocd -f stabilizer.cfg and leave it running
• cargo run --release