stabilizer: add building and flashing instructions

src/hw/stabilizer.md

@@ -4,9 +4,76 @@
 * [QUARTIQ Manual](https://quartiq.de/stabilizer/)
 * [Firmware](https://github.com/quartiq/stabilizer)
 
+EEM is used for power only, and it can be alternatively powered by 12V barrel jack or PoE.
+
 ## JSON
 
-No JSON modifications required.
+Not present in the JSON.
+
+## Building
+
+Pick your poison - firmware version: older with Pounder support or newer with USB serial console - the first works with a hardcoded MQTT broker and (static or dynamic) IP address, the latter is configured like the booster - through a serial console.
+
+There is no Nix Flake support to make things easier, so you need to set up rust and cargo manually. Start with cloning the stabilizer repository and opening a new shell with dfu-util (for flashing) and rustup (for building).
+
+```
+nix-shell -p dfu-util rustup
+```
+
+Set up the toolchain, this should be done only once:
+
+```
+rustup target add thumbv7em-none-eabihf
+cargo install cargo-binutils
+rustup component add llvm-tools-preview
+rustup update
+rustup default stable
+```
+
+Building the older version:
+
+```
+BROKER="MQTT BROKER IP" cargo build --release
+BROKER="MQTT BROKER IP" cargo objcopy --release --bin dual-iir -- -O binary dual-iir.bin
+```
+
+Building the newer version:
+
+```
+cargo build --release
+cargo objcopy --release --bin dual-iir -- -O binary dual-iir.bin
+```
+
+The newer version must be configured with USB console later (try ``help`` command first).
+
+## Flashing
+
+Once you have the binary (either built, or received from someone), you can now flash it.
+
+Without firmware on the device or with older firmware, you need to use the jumper method:
+
+1. Have the Stabilizer disconnected from power.
+2. Use a jumper of some sort to short BOOT pins on the board.
+3. Turn on the power.
+4. You can remove the jumper after few seconds.
+
+With newer firmware with USB serial console:
+
+1. Connect the Stabilizer to power.
+2. Connect USB cable to the Stabilizer.
+3. Connect with a serial console emulator, usually at ``/dev/ttyACM0``.
+4. Input ``platform dfu`` in the console.
+
+And for both:
+
+5. The device is now in DFU mode.
+6. Flash the device with the following command:
+
+```
+dfu-util -a 0 -s 0x08000000:leave -R -D dual-iir.bin
+```
+
+7. Look for "File downloaded successfully".
 
 ## Testing