From 018f0d4b3385021852ad525e580c244ae1abe290 Mon Sep 17 00:00:00 2001
From: Edward Emelianov <eddy@sao.ru>
Date: Thu, 15 Aug 2024 16:50:06 +0300
Subject: [PATCH] start fixing of this shit

---
 F3:F303/Multistepper/adc.c                    |  20 ++---
 F3:F303/Multistepper/adc.h                    |   6 +-
 F3:F303/Multistepper/commonproto.c            |  74 +++++++++++------
 F3:F303/Multistepper/commonproto.h            |   1 +
 F3:F303/Multistepper/hashgen/hashgen.c        |   4 +-
 F3:F303/Multistepper/hashgen/hdr.c            |  13 ++-
 F3:F303/Multistepper/hashgen/hdr.h            |   2 +
 F3:F303/Multistepper/main.c                   |   4 +-
 F3:F303/Multistepper/multistepper.bin         | Bin 30580 -> 30072 bytes
 .../Multistepper/multistepper.creator.user    |  58 ++++++++------
 F3:F303/Multistepper/pdnuart.c                |   2 +-
 F3:F303/Multistepper/proto.c                  |  75 ++++++------------
 F3:F303/Multistepper/steppers.c               |   7 +-
 F3:F303/Multistepper/steppers.h               |   2 +-
 F3:F303/Multistepper/version.inc              |   2 +-
 15 files changed, 140 insertions(+), 130 deletions(-)

diff --git a/F3:F303/Multistepper/adc.c b/F3:F303/Multistepper/adc.c
index 8817bc3..6cb5a9d 100644
--- a/F3:F303/Multistepper/adc.c
+++ b/F3:F303/Multistepper/adc.c
@@ -132,18 +132,18 @@ uint16_t getADCval(int nch){
     return p[4];
 }
 
-// get voltage @input nch (V)
-float getADCvoltage(int nch){
+// get voltage @input nch (V) *1000V
+int32_t getADCvoltage(int nch){
     float v = getADCval(nch) * 3.3;
-    v /= 4096.f; // 12bit ADC
+    v /= 4.096f; // 12bit ADC
 #ifdef EBUG
     DBG("v="); printf(v); newline();
 #endif
-    return v;
+    return (uint32_t) v;
 }
 
-// return MCU temperature (degrees of celsius)
-float getMCUtemp(){
+// return MCU temperature (*1000 degrees of celsius)
+int32_t getMCUtemp(){
     // make correction on Vdd value
     int32_t ADval = getADCval(ADC_TS);
     float temperature = (float) *TEMP30_CAL_ADDR - ADval;
@@ -153,15 +153,15 @@ float getMCUtemp(){
 #ifdef EBUG
     DBG("t="); printf(temperature); newline();
 #endif
-    return(temperature);
+    return (uint32_t) (temperature*1000.f);
 }
 
-// return ADC Vref (V)
-float getVdd(){
+// return ADC Vref (V) *1000V
+int32_t getVdd(){
     float vdd = ((float) *VREFINT_CAL_ADDR) * 3.3f; // 3.3V
     vdd /= getADCval(ADC_VREF);
 #ifdef EBUG
     DBG("vdd="); printf(vdd); newline();
 #endif
-    return vdd;
+    return (uint32_t) (vdd * 1000.f);
 }
diff --git a/F3:F303/Multistepper/adc.h b/F3:F303/Multistepper/adc.h
index ded850a..68970f8 100644
--- a/F3:F303/Multistepper/adc.h
+++ b/F3:F303/Multistepper/adc.h
@@ -43,7 +43,7 @@
 #define ADC2START   (9*NUMBER_OF_ADC1_CHANNELS)
 
 void adc_setup();
-float getMCUtemp();
-float getVdd();
+int32_t getMCUtemp();
+int32_t getVdd();
 uint16_t getADCval(int nch);
-float getADCvoltage(int nch);
+int32_t getADCvoltage(int nch);
diff --git a/F3:F303/Multistepper/commonproto.c b/F3:F303/Multistepper/commonproto.c
index 562dfae..872bf3d 100644
--- a/F3:F303/Multistepper/commonproto.c
+++ b/F3:F303/Multistepper/commonproto.c
@@ -53,22 +53,26 @@ errcodes cu_abspos(uint8_t _U_ par, int32_t _U_ *val){
 
 errcodes cu_accel(uint8_t _U_ par, int32_t _U_ *val){
     uint8_t n; CHECKN(n, par);
+    errcodes ret = ERR_OK;
     if(ISSETTER(par)){
         if(*val/the_conf.microsteps[n] > ACCELMAXSTEPS || *val < 1) return ERR_BADVAL;
+        uint16_t acc = the_conf.accel[n];
         the_conf.accel[n] = *val;
-        update_stepper(n);
+        if(!update_stepper(n)){
+            the_conf.accel[n] = acc;
+            ret = ERR_CANTRUN;
+        }
     }
     *val = the_conf.accel[n];
-    return ERR_OK;
+    return ret;
 }
 
 static const uint8_t extADCchnl[NUMBER_OF_EXT_ADC_CHANNELS] = {ADC_AIN0, ADC_AIN1, ADC_AIN2, ADC_AIN3};
-// V*100
+// V*1000
 errcodes cu_adc(uint8_t par, int32_t *val){
     uint8_t n = PARBASE(par);
     if(n > NUMBER_OF_EXT_ADC_CHANNELS - 1) return ERR_BADPAR;
-    float v = getADCvoltage(extADCchnl[n])*100.f;
-    *val = (int32_t)v;
+    *val = getADCvoltage(extADCchnl[n]);
     return ERR_OK;
 }
 
@@ -121,13 +125,18 @@ errcodes cu_esw(uint8_t par, int32_t *val){
 
 errcodes cu_eswreact(uint8_t _U_ par, int32_t _U_ *val){
     uint8_t n; CHECKN(n, par);
+    errcodes ret = ERR_OK;
     if(ISSETTER(par)){
         if(*val < 0 || *val > ESW_AMOUNT-1) return ERR_BADVAL;
+        uint8_t react = the_conf.ESW_reaction[n];
         the_conf.ESW_reaction[n] = *val;
-        update_stepper(n);
+        if(!update_stepper(n)){
+            the_conf.ESW_reaction[n] = react;
+            ret = ERR_CANTRUN;
+        }
     }
     *val = geteswreact(n);
-    return ERR_OK;
+    return ret;
 }
 
 errcodes cu_goto(uint8_t _U_ par, int32_t _U_ *val){
@@ -201,13 +210,18 @@ static uint16_t getSPD(uint8_t n, int32_t speed){
 
 errcodes cu_maxspeed(uint8_t _U_ par, int32_t _U_ *val){
     uint8_t n; CHECKN(n, par);
+    errcodes ret = ERR_OK;
     if(ISSETTER(par)){
         if(*val <= the_conf.minspd[n]) return ERR_BADVAL;
+        uint16_t maxspd = the_conf.maxspd[n];
         the_conf.maxspd[n] = getSPD(n, *val);
-        update_stepper(n);
+        if(!update_stepper(n)){
+            the_conf.maxspd[n] = maxspd;
+            ret = ERR_CANTRUN;
+        }
     }
     *val = the_conf.maxspd[n];
-    return ERR_OK;
+    return ret;
 }
 
 errcodes cu_maxsteps(uint8_t _U_ par, int32_t _U_ *val){
@@ -222,15 +236,14 @@ errcodes cu_maxsteps(uint8_t _U_ par, int32_t _U_ *val){
 
 errcodes cu_mcut(uint8_t par, int32_t *val){
     NOPARCHK(par);
-    float f = getMCUtemp();
-    *val = (uint32_t)(f*10.f);
+    getMCUtemp();
+    *val = getMCUtemp();
     return ERR_OK;
 }
 
 errcodes cu_mcuvdd(uint8_t par, int32_t *val){
     NOPARCHK(par);
-    float f = getVdd();
-    *val = (uint32_t)(f*10.f);
+    *val = getVdd();
     return ERR_OK;
 }
 
@@ -241,7 +254,7 @@ errcodes cu_microsteps(uint8_t _U_ par, int32_t _U_ *val){
 #if MICROSTEPSMAX > 512
 #error "Change the code anywhere!"
 #endif
-        uint16_t m = (uint16_t)*val;
+        uint16_t m = (uint16_t)*val, old = the_conf.microsteps[n];
         if(m < 1 || m > MICROSTEPSMAX) return ERR_BADVAL;
         // find most significant bit
         if(m != 1<<MSB(m)) return ERR_BADVAL;
@@ -251,7 +264,10 @@ errcodes cu_microsteps(uint8_t _U_ par, int32_t _U_ *val){
         if(f->drvtype == DRVTYPE_UART){
             if(!pdnuart_microsteps(n, m)) return ERR_CANTRUN;
         }
-        update_stepper(n);
+        if(!update_stepper(n)){
+            the_conf.microsteps[n] = old;
+            return ERR_CANTRUN;
+        }
     }
     *val = the_conf.microsteps[n];
     return ERR_OK;
@@ -259,13 +275,18 @@ errcodes cu_microsteps(uint8_t _U_ par, int32_t _U_ *val){
 
 errcodes cu_minspeed(uint8_t _U_ par, int32_t _U_ *val){
     uint8_t n; CHECKN(n, par);
+    errcodes ret = ERR_OK;
     if(ISSETTER(par)){
         if(*val >= the_conf.maxspd[n] || *val < 0) return ERR_BADVAL;
+        uint16_t minspd = the_conf.minspd[n];
         the_conf.minspd[n] = getSPD(n, *val);
-        update_stepper(n);
+        if(!update_stepper(n)){
+            the_conf.minspd[n] = minspd;
+            ret = ERR_CANTRUN;
+        }
     }
     *val = the_conf.minspd[n];
-    return ERR_OK;
+    return ret;
 }
 
 errcodes cu_motcurrent(uint8_t par, int32_t *val){
@@ -284,12 +305,17 @@ errcodes cu_motcurrent(uint8_t par, int32_t *val){
 
 errcodes cu_motflags(uint8_t _U_ par, int32_t _U_ *val){
     uint8_t n; CHECKN(n, par);
+    errcodes ret = ERR_OK;
     if(ISSETTER(par)){
+        motflags_t flags = the_conf.motflags[n];
         the_conf.motflags[n] = *((motflags_t*)val);
-        update_stepper(n);
+        if(!update_stepper(n)){
+            the_conf.motflags[n] = flags;
+            ret = ERR_CANTRUN;
+        }
     }
     *(motflags_t*)val = the_conf.motflags[n];
-    return ERR_OK;
+    return ret;
 }
 
 errcodes cu_motno(uint8_t _U_ par, int32_t _U_ *val){
@@ -370,7 +396,7 @@ errcodes cu_stop(uint8_t _U_ par, int32_t _U_ *val){
     return ERR_OK;
 }
 
-static errcodes cu_time(uint8_t par, int32_t *val){
+errcodes cu_time(uint8_t par, int32_t *val){
     NOPARCHK(par);
     *val = Tms;
     return ERR_OK;
@@ -391,15 +417,13 @@ errcodes cu_usartstatus(uint8_t _U_ par, int32_t _U_ *val){
 // V*10
 errcodes cu_vdrive(uint8_t par, int32_t _U_ *val){
     NOPARCHK(par);
-    float v = getADCvoltage(ADC_VDRIVE)*1000.f;
-    *val = (int32_t)v;
+    *val = getADCvoltage(ADC_VDRIVE);
     return ERR_OK;
 }
 
 errcodes cu_vfive(uint8_t par, int32_t *val){
     NOPARCHK(par);
-    float v = getADCvoltage(ADC_VFIVE)*200.f;
-    *val = (int32_t)v;
+    *val = getADCvoltage(ADC_VFIVE) * 2;
     return ERR_OK;
 }
 
@@ -475,7 +499,7 @@ const char* cancmds[CCMD_AMOUNT] = {
     [CCMD_RELPOS] = "relpos",
     [CCMD_RELSLOW] = "relslow",
     [CCMD_EMERGSTOP] = "emstop N",
-    [CCMD_EMERGSTOPALL] = "emstop",
+    [CCMD_EMERGSTOPALL] = "emstop all",
     [CCMD_STOP] = "stop",
     [CCMD_REINITMOTORS] = "motreinit",
     [CCMD_MOTORSTATE] = "state",
diff --git a/F3:F303/Multistepper/commonproto.h b/F3:F303/Multistepper/commonproto.h
index 0b369bb..40c6672 100644
--- a/F3:F303/Multistepper/commonproto.h
+++ b/F3:F303/Multistepper/commonproto.h
@@ -140,6 +140,7 @@ errcodes cu_screen(uint8_t par, int32_t *val);
 errcodes cu_speedlimit(uint8_t par, int32_t *val);
 errcodes cu_state(uint8_t par, int32_t *val);
 errcodes cu_stop(uint8_t par, int32_t *val);
+errcodes cu_time(uint8_t par, int32_t *val);
 errcodes cu_tmcbus(uint8_t par, int32_t *val);
 errcodes cu_udata(uint8_t par, int32_t *val);
 errcodes cu_usartstatus(uint8_t par, int32_t *val);
diff --git a/F3:F303/Multistepper/hashgen/hashgen.c b/F3:F303/Multistepper/hashgen/hashgen.c
index d303007..a708d39 100644
--- a/F3:F303/Multistepper/hashgen/hashgen.c
+++ b/F3:F303/Multistepper/hashgen/hashgen.c
@@ -175,9 +175,7 @@ static const char *fhdr =
         int i = 0;\n\
         while(*str > '@' && i < CMD_MAXLEN){ cmd[i++] = *str++; }\n\
         cmd[i] = 0;\n\
-        if(*str){\n\
-            while(*str <= ' ') ++str;\n\
-        }\n\
+        while(*str && *str <= ' ') ++str;\n\
         char *args = (char*) str;\n\
         uint32_t h = hashf(cmd);\n\
         switch(h){\n\n"
diff --git a/F3:F303/Multistepper/hashgen/hdr.c b/F3:F303/Multistepper/hashgen/hdr.c
index 0f6e5bf..2d59d0f 100644
--- a/F3:F303/Multistepper/hashgen/hdr.c
+++ b/F3:F303/Multistepper/hashgen/hdr.c
@@ -8,6 +8,8 @@
 #define WAL __attribute__ ((weak, alias ("__f1")))
 #endif
 
+char lastcmd[CMD_MAXLEN + 1];
+
 static int __f1(uint32_t _U_ h, char _U_ *a){return 1;}
 
 int fn_abspos(uint32_t _U_ hash, char _U_ *args) WAL; // "abspos" (3056382221)
@@ -137,16 +139,13 @@ static uint32_t hashf(const char *str){
 }
 
 int parsecmd(const char *str){
-        char cmd[CMD_MAXLEN + 1];
         if(!str || !*str) return RET_CMDNOTFOUND;
         int i = 0;
-        while(*str > '@' && i < CMD_MAXLEN){ cmd[i++] = *str++; }
-        cmd[i] = 0;
-        if(*str){
-            while(*str <= ' ') ++str;
-        }
+        while(*str > '@' && i < CMD_MAXLEN){ lastcmd[i++] = *str++; }
+        lastcmd[i] = 0;
+        while(*str && *str <= ' ') ++str;
         char *args = (char*) str;
-        uint32_t h = hashf(cmd);
+        uint32_t h = hashf(lastcmd);
         switch(h){
 
         case CMD_ABSPOS:
diff --git a/F3:F303/Multistepper/hashgen/hdr.h b/F3:F303/Multistepper/hashgen/hdr.h
index 872029f..202d42f 100644
--- a/F3:F303/Multistepper/hashgen/hdr.h
+++ b/F3:F303/Multistepper/hashgen/hdr.h
@@ -13,6 +13,8 @@ enum{
 
 int parsecmd(const char *cmdwargs);
 
+extern char lastcmd[];
+
 #define CMD_ABSPOS          (3056382221)
 #define CMD_ACCEL           (1490521981)
 #define CMD_ADC             (2963026093)
diff --git a/F3:F303/Multistepper/main.c b/F3:F303/Multistepper/main.c
index 6fa117f..e76ddcb 100644
--- a/F3:F303/Multistepper/main.c
+++ b/F3:F303/Multistepper/main.c
@@ -42,9 +42,9 @@ int main(void){
         StartHSI();
         SysTick_Config((uint32_t)48000); // 1ms
     }
+    hw_setup(); // GPIO, ADC, timers, watchdog etc.
     USBPU_OFF(); // make a reconnection
     flashstorage_init();
-    hw_setup(); // GPIO, ADC, timers, watchdog etc.
     init_steppers();
     USB_setup();
     CAN_setup(the_conf.CANspeed);
@@ -60,7 +60,7 @@ int main(void){
             LED_blink();
         }
         CAN_proc();
-        USB_proc();
+        USB_proc(); // TODO: remove deprecated trash code!
         process_steppers();
         if(CAN_get_status() == CAN_FIFO_OVERRUN){
             USB_sendstr("CAN bus fifo overrun occured!\n");
diff --git a/F3:F303/Multistepper/multistepper.bin b/F3:F303/Multistepper/multistepper.bin
index 2830ca3dd7f4a7ce919cc2a885a636e72643767a..f06205dfee23369d1a07d797ce67e5295782be55 100755
GIT binary patch
delta 11031
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diff --git a/F3:F303/Multistepper/multistepper.creator.user b/F3:F303/Multistepper/multistepper.creator.user
index aa79e75..c02f8ee 100644
--- a/F3:F303/Multistepper/multistepper.creator.user
+++ b/F3:F303/Multistepper/multistepper.creator.user
@@ -1,14 +1,14 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 8.0.2, 2023-01-18T20:42:42. -->
+<!-- Written by QtCreator 13.0.2, 2024-08-15T16:49:30. -->
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  <data>
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    </valuemap>
-   <value type="int" key="EditorConfiguration.CodeStyle.Count">2</value>
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    <value type="bool" key="EditorConfiguration.MouseNavigation">true</value>
    <value type="int" key="EditorConfiguration.PaddingMode">1</value>
+   <value type="int" key="EditorConfiguration.PreferAfterWhitespaceComments">0</value>
    <value type="bool" key="EditorConfiguration.PreferSingleLineComments">false</value>
-   <value type="bool" key="EditorConfiguration.ScrollWheelZooming">true</value>
+   <value type="bool" key="EditorConfiguration.ScrollWheelZooming">false</value>
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-   <value type="int" key="EditorConfiguration.SmartBackspaceBehavior">0</value>
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-   <value type="bool" key="EditorConfiguration.cleanIndentation">false</value>
+   <value type="bool" key="EditorConfiguration.cleanIndentation">true</value>
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    <value type="QString" key="EditorConfiguration.ignoreFileTypes">*.md, *.MD, Makefile</value>
-   <value type="bool" key="EditorConfiguration.inEntireDocument">false</value>
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+    <value type="bool" key="ClangTools.PreferConfigFile">true</value>
     <valuelist type="QVariantList" key="ClangTools.SelectedDirs"/>
     <valuelist type="QVariantList" key="ClangTools.SelectedFiles"/>
     <valuelist type="QVariantList" key="ClangTools.SuppressedDiagnostics"/>
@@ -88,12 +91,12 @@
    <value type="QString" key="DeviceType">Desktop</value>
    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Desktop</value>
    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Desktop</value>
-   <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{65a14f9e-e008-4c1b-89df-4eaa4774b6e3}</value>
-   <value type="int" key="ProjectExplorer.Target.ActiveBuildConfiguration">0</value>
-   <value type="int" key="ProjectExplorer.Target.ActiveDeployConfiguration">0</value>
-   <value type="int" key="ProjectExplorer.Target.ActiveRunConfiguration">0</value>
+   <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{91347f2c-5221-46a7-80b1-0a054ca02f79}</value>
+   <value type="qlonglong" key="ProjectExplorer.Target.ActiveBuildConfiguration">0</value>
+   <value type="qlonglong" key="ProjectExplorer.Target.ActiveDeployConfiguration">0</value>
+   <value type="qlonglong" key="ProjectExplorer.Target.ActiveRunConfiguration">0</value>
    <valuemap type="QVariantMap" key="ProjectExplorer.Target.BuildConfiguration.0">
-    <value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/Big/Data/00__Electronics/STM32/F303-nolib/blink</value>
+    <value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/home/eddy/Docs/SAO/ELECTRONICS/STM32/F3-srcs/Multistepper</value>
     <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
      <valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
       <valuelist type="QVariantList" key="GenericProjectManager.GenericMakeStep.BuildTargets">
@@ -102,7 +105,7 @@
       <value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
       <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericMakeStep</value>
      </valuemap>
-     <value type="int" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
+     <value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Сборка</value>
      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Сборка</value>
      <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Build</value>
@@ -115,7 +118,7 @@
       <value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
       <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericMakeStep</value>
      </valuemap>
-     <value type="int" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
+     <value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Очистка</value>
      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Очистка</value>
      <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Clean</value>
@@ -125,13 +128,13 @@
     <valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.CustomParsers"/>
     <value type="bool" key="ProjectExplorer.BuildConfiguration.ParseStandardOutput">false</value>
     <valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.UserEnvironmentChanges"/>
-    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Default</value>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">По умолчанию</value>
     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericBuildConfiguration</value>
    </valuemap>
-   <value type="int" key="ProjectExplorer.Target.BuildConfigurationCount">1</value>
+   <value type="qlonglong" key="ProjectExplorer.Target.BuildConfigurationCount">1</value>
    <valuemap type="QVariantMap" key="ProjectExplorer.Target.DeployConfiguration.0">
     <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
-     <value type="int" key="ProjectExplorer.BuildStepList.StepsCount">0</value>
+     <value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">0</value>
      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Развёртывание</value>
      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Развёртывание</value>
      <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Deploy</value>
@@ -141,24 +144,31 @@
     <value type="bool" key="ProjectExplorer.DeployConfiguration.CustomDataEnabled">false</value>
     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.DefaultDeployConfiguration</value>
    </valuemap>
-   <value type="int" key="ProjectExplorer.Target.DeployConfigurationCount">1</value>
+   <value type="qlonglong" key="ProjectExplorer.Target.DeployConfigurationCount">1</value>
    <valuemap type="QVariantMap" key="ProjectExplorer.Target.RunConfiguration.0">
+    <value type="bool" key="Analyzer.Perf.Settings.UseGlobalSettings">true</value>
+    <value type="bool" key="Analyzer.QmlProfiler.Settings.UseGlobalSettings">true</value>
+    <value type="int" key="Analyzer.Valgrind.Callgrind.CostFormat">0</value>
+    <value type="bool" key="Analyzer.Valgrind.Settings.UseGlobalSettings">true</value>
+    <value type="QList&lt;int&gt;" key="Analyzer.Valgrind.VisibleErrorKinds"></value>
     <valuelist type="QVariantList" key="CustomOutputParsers"/>
     <value type="int" key="PE.EnvironmentAspect.Base">2</value>
     <valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
+    <value type="bool" key="PE.EnvironmentAspect.PrintOnRun">false</value>
+    <value type="QString" key="PerfRecordArgsId">-e cpu-cycles --call-graph dwarf,4096 -F 250</value>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.CustomExecutableRunConfiguration</value>
     <value type="QString" key="ProjectExplorer.RunConfiguration.BuildKey"></value>
-    <value type="bool" key="RunConfiguration.UseCppDebugger">false</value>
+    <value type="bool" key="ProjectExplorer.RunConfiguration.Customized">false</value>
     <value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
-    <value type="bool" key="RunConfiguration.UseQmlDebugger">false</value>
     <value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
    </valuemap>
-   <value type="int" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
+   <value type="qlonglong" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
   </valuemap>
  </data>
  <data>
   <variable>ProjectExplorer.Project.TargetCount</variable>
-  <value type="int">1</value>
+  <value type="qlonglong">1</value>
  </data>
  <data>
   <variable>ProjectExplorer.Project.Updater.FileVersion</variable>
diff --git a/F3:F303/Multistepper/pdnuart.c b/F3:F303/Multistepper/pdnuart.c
index c1e5686..9d33110 100644
--- a/F3:F303/Multistepper/pdnuart.c
+++ b/F3:F303/Multistepper/pdnuart.c
@@ -169,7 +169,7 @@ int pdnuart_microsteps(uint8_t no, uint32_t val){
     return writeregister(no, TMC2209Reg_CHOPCONF, regval.value);
 }
 
-// init driver number `no`
+// init driver number `no`, return FALSE if failed
 int pdnuart_init(uint8_t no){
     TMC2209_gconf_reg_t gconf;
     if(!readregister(no, TMC2209Reg_GCONF, &gconf.value)) return FALSE;
diff --git a/F3:F303/Multistepper/proto.c b/F3:F303/Multistepper/proto.c
index d79191b..34b9317 100644
--- a/F3:F303/Multistepper/proto.c
+++ b/F3:F303/Multistepper/proto.c
@@ -309,11 +309,8 @@ int fn_cansend(uint32_t _U_ hash, char *args){
 int fn_canfloodt(uint32_t _U_ hash, char *args){
     uint32_t N;
     const char *n = getnum(args, &N);
-    if(args == n){
-        USB_sendstr("floodT="); printu(floodT); USB_putbyte('\n');
-        return RET_GOOD;
-    }
-    floodT = N;
+    if(args != n) floodT = N;
+    USB_sendstr("canfloodT="); printu(floodT); USB_putbyte('\n');
     return RET_GOOD;
 }
 
@@ -396,14 +393,6 @@ int fn_reset(uint32_t _U_ hash,  char _U_ *args){ // "reset" (1907803304)
     return RET_GOOD;
 }
 
-int fn_time(uint32_t _U_ hash,  char _U_ *args){ // "time" (19148340)
-    USB_sendstr("Time (ms): ");
-    printu(Tms);
-    USB_putbyte('\n');
-    return RET_GOOD;
-}
-
-
 static const char* motfl[MOTFLAGS_AMOUNT] = {
     "0: reverse - invert motor's rotation",
     "1: [reserved]",
@@ -433,12 +422,12 @@ int fn_dumpmotflags(uint32_t _U_ hash,  char _U_ *args){ // "dumpmotflags" (3615
 }
 
 static const char* errtxt[ERR_AMOUNT] = {
-    [ERR_OK] =   "all OK",
-    [ERR_BADPAR] =  "wrong parameter's value",
-    [ERR_BADVAL] = "wrong setter of parameter",
-    [ERR_WRONGLEN] = "bad message length",
-    [ERR_BADCMD] = "unknown command",
-    [ERR_CANTRUN] = "temporary can't run given command",
+    [ERR_OK] =   "OK",
+    [ERR_BADPAR] =  "BADPAR",
+    [ERR_BADVAL] = "BADVAL",
+    [ERR_WRONGLEN] = "WRONGLEN",
+    [ERR_BADCMD] = "BADCMD",
+    [ERR_CANTRUN] = "CANTRUN",
 };
 int fn_dumperr(uint32_t _U_ hash,  char _U_ *args){ // "dumperr" (1223989764)
     USND("Error codes:");
@@ -490,9 +479,11 @@ static int canusb_function(uint32_t hash, char *args){
     uint32_t N;
     int32_t val = 0;
     uint8_t par = CANMESG_NOPAR;
-    float f;
-    USB_sendstr("CMD: hash="); printu(hash); USB_sendstr(", args=");
+    DBG("CMD: hash=");
+#ifdef EBUG
+    printu(hash); USB_sendstr(", args=");
     USND(args);
+#endif
     if(*args){
         const char *n = getnum(args, &N);
         if(n != args){ // get parameter
@@ -511,29 +502,17 @@ static int canusb_function(uint32_t hash, char *args){
             }
         }
     }
+#ifdef EBUG
     USB_sendstr("par="); printuhex(par);
     USB_sendstr(", val="); printi(val); newline();
+#endif
     switch(hash){
         case CMD_ADC:
-            par = PARBASE(par);
-            if(par >= NUMBER_OF_ADC_CHANNELS){
-                USB_sendstr("Wrong channel number\n");
-                return RET_BAD;
-            }
-            USB_sendstr("ADC"); USB_putbyte('0'+par);
-            USB_putbyte('='); USB_sendstr(u2str(getADCval(par)));
-            f = getADCvoltage(par);
-            USB_sendstr("\nADCv");USB_putbyte('0'+par);
-            USB_putbyte('='); USB_sendstr(float2str(f, 2));
-            newline();
-            return RET_GOOD;
+            e = cu_adc(par, &val);
         break;
         case CMD_BUTTON:
             e = cu_button(par, &val);
-            if(val == CANMESG_NOPAR){
-                USB_sendstr("Wrong button number\n");
-                return RET_BAD;
-            }
+            if(val == CANMESG_NOPAR) break; // no button number
             const char *kstate = "none";
             switch(e){
                 case EVT_PRESS:
@@ -548,9 +527,9 @@ static int canusb_function(uint32_t hash, char *args){
                 default:
                 break;
             }
-            USB_sendstr("KEY"); USB_putbyte('0'+PARBASE(par));
+            USB_sendstr("button"); USB_putbyte('0'+PARBASE(par));
             USB_putbyte('='); USB_sendstr(kstate);
-            USB_sendstr("\nKEYTIME="); USB_sendstr(u2str(val));
+            USB_sendstr("\nbuttontm="); USB_sendstr(u2str(val));
             newline();
             return RET_GOOD;
         break;
@@ -597,18 +576,10 @@ static int canusb_function(uint32_t hash, char *args){
             e = cu_maxsteps(par, &val);
         break;
         case CMD_MCUT:
-            f = getMCUtemp();
-            USB_sendstr("T=");
-            USB_sendstr(float2str(f, 1));
-            newline();
-            return RET_GOOD;
+            e = cu_mcut(par, &val);
         break;
         case CMD_MCUVDD:
-            f = getVdd();
-            USB_sendstr("VDD=");
-            USB_sendstr(float2str(f, 1));
-            newline();
-            return RET_GOOD;
+            e = cu_mcuvdd(par, &val);
         break;
         case CMD_MICROSTEPS:
             e = cu_microsteps(par, &val);
@@ -658,6 +629,9 @@ static int canusb_function(uint32_t hash, char *args){
         case CMD_STOP:
             e = cu_stop(par, &val);
         break;
+        case CMD_TIME:
+            e = cu_time(par, &val);
+        break;
         case CMD_TMCBUS:
             e = cu_tmcbus(par, &val);
         break;
@@ -683,7 +657,7 @@ static int canusb_function(uint32_t hash, char *args){
     if(ERR_OK != e){
         USB_sendstr(errtxt[e]); newline();
     }else{
-        USB_sendstr("OK par");
+        USB_sendstr(lastcmd);
         if(PARBASE(par) != CANMESG_NOPAR) printu(PARBASE(par));
         USB_putbyte('='); printi(val);
         newline();
@@ -728,6 +702,7 @@ int fn_screen(uint32_t _U_ hash,  char _U_ *args) AL; //* "screen" (2100809349)
 int fn_speedlimit(uint32_t _U_ hash,  char _U_ *args) AL; //* "speedlimit" (1654184245)
 int fn_state(uint32_t _U_ hash,  char _U_ *args) AL; //* "state" (2216628902)
 int fn_stop(uint32_t _U_ hash,  char _U_ *args) AL; //* "stop" (17184971)
+int fn_time(uint32_t _U_ hash,  char _U_ *args) AL; // "time" (19148340)
 int fn_tmcbus(uint32_t _U_ hash,  char _U_ *args) AL; //* "tmcbus" (1906135955)
 int fn_udata(uint32_t _U_ hash,  char _U_ *args) AL; //* "udata" (2736127636)
 int fn_usartstatus(uint32_t _U_ hash,  char _U_ *args) AL; //* "usartstatus" (4007098968)
diff --git a/F3:F303/Multistepper/steppers.c b/F3:F303/Multistepper/steppers.c
index da82221..9ae0aca 100644
--- a/F3:F303/Multistepper/steppers.c
+++ b/F3:F303/Multistepper/steppers.c
@@ -78,18 +78,19 @@ TRUE_INLINE void recalcARR(int i){
 }
 
 // update stepper's settings
-void update_stepper(uint8_t i){
-    if(i >= MOTORSNO) return;
+int update_stepper(uint8_t i){
+    if(i >= MOTORSNO) return FALSE;
     accdecsteps[i] = (the_conf.maxspd[i] * the_conf.maxspd[i]) / the_conf.accel[i] / 2;
     ustepsshift[i] = MSB(the_conf.microsteps[i]);
     ESW_reaction[i] = the_conf.ESW_reaction[i];
     switch(the_conf.motflags[i].drvtype){
         case DRVTYPE_UART:
-            pdnuart_init(i);
+            return pdnuart_init(i);
         break;
         default:
         break;
     }
+    return TRUE;
 }
 
 // run this function after each steppers parameters changing
diff --git a/F3:F303/Multistepper/steppers.h b/F3:F303/Multistepper/steppers.h
index 0ae3e81..0c44f76 100644
--- a/F3:F303/Multistepper/steppers.h
+++ b/F3:F303/Multistepper/steppers.h
@@ -53,7 +53,7 @@ enum{
 void addmicrostep(uint8_t i);
 
 void init_steppers();
-void update_stepper(uint8_t i);
+int update_stepper(uint8_t i);
 
 errcodes setmotpos(uint8_t i, int32_t position);
 errcodes getpos(uint8_t i, int32_t *position);
diff --git a/F3:F303/Multistepper/version.inc b/F3:F303/Multistepper/version.inc
index 84585f2..a6f8163 100644
--- a/F3:F303/Multistepper/version.inc
+++ b/F3:F303/Multistepper/version.inc
@@ -1,2 +1,2 @@
-#define BUILD_NUMBER "107"
+#define BUILD_NUMBER "114"
 #define BUILD_DATE "2024-08-15"