Make PCB for fabric made

STM32/steppers/Readme.md

@@ -77,20 +77,28 @@ Getters returning more than one field ends with `DATAEND` meaning that's all dat
 All variables here are fields of `user_conf` struct.
 
 
-* **R** - get *raw ADC* values, e.g.
+* **R** - get *raw ADC* values:
+    * 0 - Steppers current
+    * 1 - Input voltage 12V
+    * 2 - EndSwitch2 of motor1
+    * 3 - EndSwitch1 of motor1
+    * 4 - inner temperature
+    * 5 - vref
+
+E.g.:
 
 ```
-ADC[0]=1991
-ADC[1]=124
-ADC[2]=1351
-ADC[3]=1909
-ADC[4]=0
-ADC[5]=0
-ADC[6]=1707
-ADC[7]=1531
+ADC[0]=4095
+ADC[1]=2340
+ADC[2]=4095
+ADC[3]=4087
+ADC[4]=1665
+ADC[5]=1532
 DATAEND
 ```
 
+
+
 * **S** - get *motors' status*, e.g.
 
 ```
@@ -99,7 +107,8 @@ MOTOR0=STOP
 POS0=-1
 ESW00=ERR
 ESW01=BTN
-MOTOR1=STOPPOS1=-1
+MOTOR1=STOP
+POS1=-1
 ESW10=HALL
 ESW11=HALL
 
@@ -130,6 +139,7 @@ Change of any setter takes place in MCU RAM immediately. To store them permanent
 * **E num** - set *numerator*
 * **I num** - set *device ID*
 * **M#num** - set maxsteps (*num* is 1..65535) for motor `#`
+* **P num** - properties of internal pullup (0 - disabled, other or without `num` - enabled)
 * **R#num** - set reverse for motor # (*num* == 0 turns reverse off, *num* == 1 turns it on)
 * **S#num** - set *speed* (`motspd`) to *num* for motor #
 * **T num** - set *end-switches threshold* (in ADU, near 0 for Hall switch, 2048 for user button

STM32/steppers/flash.c

@@ -45,6 +45,7 @@ user_conf the_conf = {
     ,.motspd = {10, 10} // max speed: 300 steps per second
     ,.maxsteps = {50000, 50000} // max steps from point to point
     ,.reverse = {0,0}   // set DIR to this value when moving to '+'
+    ,.intpullup = 1 // by default internal pullup @ Tx pin enabled
 };
 
 static int erase_flash();

STM32/steppers/flash.h

@@ -40,6 +40,7 @@ typedef struct{
     uint16_t motspd[2]; // max motor speed ([3000 / motspd] steps per second)
     uint16_t maxsteps[2]; // maximum amount of steps for each motor (0 - infinity)
     uint8_t  reverse[2]; // == 1 if positive direction when DIR is low
+    uint8_t  intpullup; // internal pullup @ Tx
 } user_conf;
 
 extern user_conf the_conf;

STM32/steppers/main.c

@@ -38,7 +38,7 @@ void sys_tick_handler(void){
  * PA6 (Tim3Ch1)  M2STEP
  * PA5 - M2EN
  * PA7 - M2DIR
- * PB1 - 12V on/off
+ * PB1 - 12V current sensor on/off - set it to 1 to turn off MAX471
  * PF0 - M1EN
  * PF1 - M1DIR
  */

STM32/steppers/proto.c

@@ -267,7 +267,9 @@ static char *get_conf(){
         put_uint((uint32_t) *curdesc->ptr);
         SENDBUF();
     }while((++curdesc)->fieldname);
-    write2trbuf("USARTSPD=");
+    write2trbuf("INTPULLUP=");
+    put2trbuf(the_conf.intpullup ? '1' : '0');
+    write2trbuf("\nUSARTSPD=");
     put_uint(the_conf.usartspd);
     SENDBUF();
     write2trbuf("REVERSE0=");
@@ -338,6 +340,11 @@ static char *set_something(char *str){
         case 'M': // set maxsteps
             setmotvals('M', str);
         break;
+        case 'P': // set pullup
+            omitwsp(str);
+            if(*str == '0') the_conf.intpullup = 0;
+            else the_conf.intpullup = 1;
+        break;
         case 'R': // set reverse
             setmotvals('R', str);
         break;

STM32/steppers/usart.c

@@ -72,9 +72,8 @@ void USART1_config(){
                 | (1 << (1 * 4)) | (1 << (2 * 4)); /* (2) */
     // Tx (PA9) in OD mode
     GPIOA->OTYPER |= 1 << 9;
-    #ifdef EBUG
-    GPIOA->PUPDR = (GPIOA->PUPDR & ~GPIO_PUPDR_PUPDR9) | GPIO_PUPDR_PUPDR9_0; // set pullup for Tx
-    #endif
+    if(the_conf.intpullup)
+        GPIOA->PUPDR = (GPIOA->PUPDR & ~GPIO_PUPDR_PUPDR9) | GPIO_PUPDR_PUPDR9_0; // set pullup for Tx
     /* Enable the peripheral clock USART1 */
     RCC->APB2ENR |= RCC_APB2ENR_USART1EN;
     /* Configure USART1 */