SteppersCAN: add CAN & start working on steppers

F0-nolib/usbcdc/can.c

@@ -367,7 +367,7 @@ static void can_process_fifo(uint8_t fifo_num){
         /* TODO: check filter match index if more than one ID can receive */
         CAN_message msg;
         uint8_t *dat = msg.data;
-        uint8_t len = box->RDTR & 0x7;
+        uint8_t len = box->RDTR & 0x0f;
         msg.length = len;
         msg.ID = box->RIR >> 21;
         //msg.filterNo = (box->RDTR >> 8) & 0xff;

F0-nolib/usbcdc/proto.c

@@ -167,7 +167,7 @@ static CAN_message *parseCANmsg(char *txt){
                 return NULL;
             }
             canmsg.ID = (uint16_t)(N&0x7ff);
-            SEND("ID="); printuhex(canmsg.ID); newline();
+            //SEND("ID="); printuhex(canmsg.ID); newline();
             ctr = 0;
             continue;
         }
@@ -546,7 +546,6 @@ void printuhex(uint32_t val){
     uint8_t *ptr = (uint8_t*)&val + 3;
     int8_t i, j;
     for(i = 0; i < 4; ++i, --ptr){
-        if(*ptr == 0 && i != 3) continue; // omit leading zeros
         for(j = 1; j > -1; --j){
             uint8_t half = (*ptr >> (4*j)) & 0x0f;
             if(half < 10) bufputchar(half + '0');