Robert Jördens a575611e82 | ||
---|---|---|
.cargo | ||
.github | ||
doc | ||
src | ||
.gitignore | ||
.travis.yml | ||
CHANGELOG.md | ||
Cargo.lock | ||
Cargo.toml | ||
LICENSE | ||
README.md | ||
memory.x | ||
openocd.gdb | ||
stabilizer.cfg | ||
stabilizer.py | ||
stabilizer_pid.png | ||
stabilizer_pid.svg |
README.md
Stabilizer Firmware
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 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) - Get rustup
rustup override add nightly
rustup target add thumbv7em-none-eabihf
openocd -f stabilizer.cfg
and leave it runningcargo run --release
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.
-
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 as647513(82)
((i)
marks an unused wire) and to the 1.27mm dual row on Stabilizer as657483x2x1
(x
marks an unused pin, enumeration is standard for dual row, as in the schematic). It's just folding the ribbon between wires5
and6
. The signals on the ribbon are thenNRST,TDI,TDO,TCK,TMS,3V3,GND,GND
. ↩︎