Go to file

Robert Jördens ae43f60d60 Merge pull request #263 from quartiq/rj/deglitch-misc deglitch timer input, miscellaneous changes		2021-02-09 15:39:24 +01:00
.cargo	cargo: go back to target-cpu=cortex-m4	2020-12-10 17:53:45 +01:00
.github	ci: simplify nightly	2021-02-04 17:01:18 +01:00
ad9959	Fixing pounder timestamps after manual testing	2020-12-15 13:13:05 +01:00
doc	cargo: tweak	2019-03-29 19:34:31 +01:00
dsp	iir_int: rounding bias	2021-02-09 12:17:48 +01:00
src	Adding safety docs	2021-02-09 14:37:49 +01:00
.gitignore	Update .gitignore	2021-02-02 18:03:46 +01:00
.rustfmt.toml	travis: clippy and rustfmt	2019-11-24 15:10:01 +01:00
Cargo.lock	deps: bump hal and smoltcp, adapt	2021-02-03 13:16:22 +01:00
Cargo.toml	Merge remote-tracking branch 'origin/dependabot/cargo/smoltcp-0.7.0' into rj/bump-hal-smoltcp	2021-02-03 13:04:16 +01:00
cargosha256-dual-iir.nix	update cargosha256	2021-02-08 09:56:42 +08:00
CHANGELOG.md	add changelog	2019-05-28 13:23:31 +02:00
Embed.toml	Adding Embed.toml file	2021-02-02 17:34:49 +01:00
LICENSE	readme, license	2019-03-20 18:33:35 +00:00
memory.x	Marking AXISRAM as NOLOAD	2020-11-24 16:46:14 +01:00
openocd.gdb	Removing invalid GDB command	2021-01-29 10:18:47 +01:00
README.md	Adding support for cargo-embed	2021-02-02 17:33:58 +01:00
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
stabilizer.cfg	working	2019-03-18 13:10:00 +00:00
stabilizer.py	make stabilizer.py work on v0.4.0+	2020-09-15 15:49:55 +08:00

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 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 Cargo-embed

Install cargo-embed: cargo install cargo-embed
Program the device: cargo embed --bin dual-iir --release

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 dual-iir -- -O binary dual-iir.bin or arm-none-eabi-objcopy -O binary target/thumbv7em-none-eabihf/release/dual-iir dual-iir.bin
dfu-util -a 0 -s 0x08000000:leave -D dual-iir.bin

Using ST-Link virtual mass storage

cargo objcopy --release --bin dual-iir -- -O binary dual-iir.bin or arm-none-eabi-objcopy -O binary target/thumbv7em-none-eabihf/release/dual-iir dual-iir.bin
Connect the ST-Link debugger
copy dual-iir.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.

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. ↩︎