Setting up Stabilizer+Pounder

Philipp

I want to set up a Stabilizer with a Pounder. Can I simply use the dual-iir for flashing?
How do I control the DDS? Does this also work over MQTT? I saw that there is an SPI connection in the dual-iir module, do I have to use this? (How?)

rjo

Currently, you will have to design the application (the ultimate binary, like dual-iir) that exposes/uses Pounder yourself. There is no public application that exposes/uses pounder that I am aware of. The infrastructure and implementation of all the relevant interfaces for setting up and configuring Pounder is already there. It's not a lot of code though to integrate pounder into an application.
We have a couple in-house applications that make a lot of use of Pounder, but they are not open.
If applicable, do enable the pounder_v1_1 feature to ensure the right pins are used.

Philipp

When I connect the Pounder to the Stabilizer (while powered off of course), the Stabilizer does not show up in the network any more. The Stabilizer is flashed with the v0.7 dual-iir release, which was build with cargo build --release --features pounder_v1_0 (the pounder is version 1.0). Is this expected, since its just the dual-iir app or is the Pounder damaged and impairing the Stabilizer?

rjo

What does "does not show up" mean?

Philipp

Sorry that was unspecific.
If no pounder is attached, the stabilizer gets its IP from the DHCP server. If the pounder is attached, the stabilizer doesn't contact the server to get an IP (nothing in the logs). I also noticed that the red Led 1 and 3 turn on. If I understand the firmware correctly, this is the case when the stabilizer has an error and panics?

rjo

Yes that's a software panic. Running under probe-run (or probe-rs-cli or cargo-embed) would show the reason.

Philipp

The panic is fixed. I dont know how though. I switched from using DFU upload to probe-run and now its working...

rjo

Good to hear that. By the way: There is https://github.com/quartiq/stabilizer/pull/610 which will give you some more tuning knobs for Pounder in dual-iir.

Philipp

I think I'm running into a related problem again. I can not permanently flash the stabilizer with the pounder on it.
With probe-run I can flash it once, but after a powercycle of the stabilizer, it goes into panic.
DFU upload and ST-link virtual mass storage also result in a panic. I'm using the before mentioned PR on a stabilizer v1.1 with a pounder v1.0 (I used cargo build --release --features pounder_v1_0 to build the firmware)
The newer PR https://github.com/quartiq/stabilizer/pull/725 was attempted over DFU upload and also failed.

With a different stabilizer v1.2 without the pounder all three methods successfully flash the stabilizer at v0.7.0. With the stabilizer as above but without the pounder at least DFU upload works, the other 2 I did not test.

rjo

Maybe the PRs are broken (they aren't merged yet after all). Would be good to report your experience there.
Can you install probe-run (or probe-rs-cli) and use that (cargo run --release --features ...) to figure out what exactly is panicing?

Philipp

With probe-run it is working until I powercycle. The firmware starts properly, I get logging messages from probe-run and get a MQTT connection. After a powercycle of the stabilizer, it doesnt start anymore, the LED 1 and 3 are on and no network connection. Because of the powercycle the probe-run debugging sessions has ended, so I can't see why the stablizer doesnt start anymore. Is there another way to restart the stabilizer? Maybe that way I can trigger the bug without losing the debugging connection.

rjo

Hmm. Assuming this is related to the PRs, please move the discussion there.
Does cargo run ... -- --no-flash reproduce the crash?
Or does probe-rs-cli ... --reset after a panic (i.e. avoiding the power cycle) make it not panic?