49 lines
1.2 KiB
Markdown
49 lines
1.2 KiB
Markdown
# Stabilizer Firmware
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## Features
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* dual channel
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* SPI ADC
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* SPI DAC
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* 500 kHz rate, timed sampling
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* 2 µs latency, unmatched between channels
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* f32 IIR math
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* generic biquad (second order) IIR filter
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* anti-windup
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* derivative kick avoidance
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## Limitations/TODOs
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* Fixed AFE gains
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* The IP and MAC address are [hardcoded](src/main.rs)
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* Expose configurable limits
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* 100Base-T only
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* Digital IO, GPIO header, AFE header, EEM header are not handled
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## Hardware
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See https://github.com/sinara-hw/Stabilizer
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## Minimal bootstrapping documentation
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* Clone or download this
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* Get a recent openocd, a JTAG adapter ("st-link" or some clone) and
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everything connected and permissions setup
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* Get a multiarch `gdb` (or a cross arm gdb and edit `.cargo/config` accordingly)
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* Get [rustup](https://rustup.rs/)
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* `rustup override add nightly`
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* `rustup target add thumbv7em-none-eabihf`
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* `openocd -f stabilizer.cfg` and leave it running
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* `cargo run --release`
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## Protocol
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Stabilizer can be configured via newline-delimited JSON over TCP.
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It listens on port 1235. [stabilizer.py](stabilizer.py) contains a reference
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implementation of the protocol.
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