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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
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

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.