kai/pounder_test
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
397 Commits 1 Branch 0 Tags 2.3 MiB
Rust 88.8%
Python 9.6%
Nix 1%
Shell 0.4%
GDB 0.2%
cf086abaed
Go to file
Robert Jördens cf086abaed Merge remote-tracking branch 'origin/master' into fast-truncate 
* origin/master:
  Adding comment about checking for flag pass completion
  Adding comments about execution hanging to transfer complete waits
  Removing default parameter settings
  Updating DAC SPI structures to own HAL SPI structure for safety guarantees
  Moving constants to a new file
  Removing copy to DAC buffers, adding in-place borrow of output buffers
  Marking AXISRAM as NOLOAD
  Refactoring timer channels to macros, adding safety notes
  Adding DMA support for DAC writes
  Adding sampling_timer file
  Adding compile-time management of TIM2 channels
  Reverting changeset
  Adding documentation
  Reverting openocd change
  Adding updated docs for adc file
  Combining ADC + DAC ISRs
  Adding WIP updates
  Formatting
  Adding ADC/DAC modules
  Adding WIP updates to using DMA
2020-11-25 17:38:03 +01:00
.cargo cargo-config: cm7 features 2020-11-25 17:33:16 +01:00
.github Adding CI support for PRs 2020-11-05 08:13:55 +01:00
ad9959 style: implement a couple clippy suggestions [nfc] 2020-06-17 14:57:09 +02:00
doc cargo: tweak 2019-03-29 19:34:31 +01:00
dsp iir: copy_within is better than rotate_right 2020-11-25 17:24:49 +01:00
src Merge remote-tracking branch 'origin/master' into fast-truncate 2020-11-25 17:38:03 +01:00
.gitignore dsp crate: drop version dependency and remove boilerplate from cargo 2020-11-22 10:32:40 -08:00
.rustfmt.toml travis: clippy and rustfmt 2019-11-24 15:10:01 +01:00
Cargo.lock Merge branch 'master' into feature/dma-updates 2020-11-24 16:49:11 +01:00
Cargo.toml Merge branch 'master' into feature/dma-updates 2020-11-24 16:49:11 +01:00
cargosha256.nix update cargosha256 2020-11-11 15:22:47 +08:00
CHANGELOG.md add changelog 2019-05-28 13:23:31 +02:00
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 Reverting openocd change 2020-11-11 11:57:57 +01:00
pounder_test.py Renaming pounder test script 2020-06-11 19:10:02 +02:00
README.md README: remove CI badge, add matrix link 2020-11-16 17:36:16 +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 Fixing changes 2020-04-22 15:59:08 +02:00
stabilizer.py make stabilizer.py work on v0.4.0+ 2020-09-15 15:49:55 +08:00

README.md

QUARTIQ Matrix Chat

Stabilizer Firmware

Flow diagram

Hardware

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

Using ST-Link virtual mass storage

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

  1. 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. ↩︎