From 16f72f68010e558628ddb5a429d5054aabfb9849 Mon Sep 17 00:00:00 2001
From: Edward Emelianov <eddy@sao.ru>
Date: Fri, 10 Jun 2022 20:07:41 +0300
Subject: [PATCH] fix some bugs in 3steppers

---
 F0:F030,F042,F072/3steppersLB/Makefile        |   6 +-
 F0:F030,F042,F072/3steppersLB/Readme.md       |  63 +++++++
 F0:F030,F042,F072/3steppersLB/commonproto.c   |  44 +++--
 F0:F030,F042,F072/3steppersLB/commonproto.h   |   4 +-
 .../3steppersLB/custom_buttons.c              |  40 ++++-
 F0:F030,F042,F072/3steppersLB/hardware.c      |   1 -
 F0:F030,F042,F072/3steppersLB/main.c          |  13 +-
 F0:F030,F042,F072/3steppersLB/steppers.bin    | Bin 24988 -> 25296 bytes
 F0:F030,F042,F072/3steppersLB/steppers.c      | 157 +++++++++++++-----
 F0:F030,F042,F072/3steppersLB/steppers.h      |   3 +
 F0:F030,F042,F072/3steppersLB/strfunct.c      |  27 ++-
 F0:F030,F042,F072/3steppersLB/strfunct.h      |   2 +-
 F0:F030,F042,F072/3steppersLB/version.inc     |   4 +-
 13 files changed, 276 insertions(+), 88 deletions(-)
 mode change 100644 => 100755 F0:F030,F042,F072/3steppersLB/steppers.bin

diff --git a/F0:F030,F042,F072/3steppersLB/Makefile b/F0:F030,F042,F072/3steppersLB/Makefile
index ed0fd91..57ff91c 100644
--- a/F0:F030,F042,F072/3steppersLB/Makefile
+++ b/F0:F030,F042,F072/3steppersLB/Makefile
@@ -65,12 +65,12 @@ CFLAGS		+= -fno-common -ffunction-sections -fdata-sections
 
 ###############################################################################
 # Linker flags
-LDFLAGS		+= --static -nostartfiles
+LDFLAGS		+= --static -nostartfiles -nostdlib
+LDFLAGS		+= -Wl,--gc-sections -Wl,--print-memory-usage 
 #--specs=nano.specs
 LDFLAGS		+= -L$(LIB_DIR)
 LDFLAGS		+= -T$(LDSCRIPT)
 LDFLAGS		+= -Wl,-Map=$(OBJDIR)/$(BINARY).map
-LDFLAGS		+= -Wl,--gc-sections
 
 ###############################################################################
 # Used libraries
@@ -113,7 +113,7 @@ $(VERSION_FILE): *.[ch]
 $(OBJDIR)/strfunct.o: strfunct.c $(VERSION_FILE)
 
 $(OBJDIR)/%.o: %.c 
-	@make $(VERSION_FILE)
+#	@make $(VERSION_FILE)
 	@echo "  CC      $<"
 	$(CC) $(CFLAGS) $(DEFS) $(INCLUDE) $(ARCH_FLAGS) -o $@ -c $<
 
diff --git a/F0:F030,F042,F072/3steppersLB/Readme.md b/F0:F030,F042,F072/3steppersLB/Readme.md
index 9383309..7f457d9 100644
--- a/F0:F030,F042,F072/3steppersLB/Readme.md
+++ b/F0:F030,F042,F072/3steppersLB/Readme.md
@@ -255,3 +255,66 @@ Commands list:
 31 - find zero position & refresh counters
 32 - get motor state
 33 - set/get encoder's position
+
+dumpconf
+Find known command: dumpconf
+flashsize=64*2048=131072 
+userconf_addr=0x08006800
+userconf_idx=-1		// "index of stored conf"
+userconf_sz=68		// "magick number"
+canspeed=100		// default CAN speed
+canid=170		// identifier (0xaa)
+microsteps0=32		// microsteps amount per step
+accel0=500		// acceleration/deceleration (steps/s^2)
+maxspeed0=2000		// max motor speed (steps per second)
+minspeed0=20		// min motor speed (steps per second)
+maxsteps0=500000	// maximal amount of steps
+encperrev0=4000		// encoders' counts per revolution
+encperstepmin0=17	// min amount of encoder ticks per one step
+encperstepmax0=23	// max amount of encoder ticks per one step
+motflags0=0x3c		// motor's flags
+eswreaction0=0		// end-switches reaction (esw_react)
+microsteps1=32
+accel1=500
+maxspeed1=2000
+minspeed1=20
+maxsteps1=500000
+encperrev1=4000
+encperstepmin1=17
+encperstepmax1=23
+motflags1=0x3c
+eswreaction1=0
+microsteps2=32
+accel2=500
+maxspeed2=2000
+minspeed2=20
+maxsteps2=500000
+encperrev2=4000
+encperstepmin2=17
+encperstepmax2=23
+motflags2=0x3c
+eswreaction2=0
+
+Motor flags:
+bit0 - reversing motor rotation
+bit1 - reversing encoder rotation
+bit2 - have encoder
+bit3 - clear power @ stop (don't hold motor when stopped)
+bit4 - inverse end-switches (Work @ high level when this flag activated)
+bit5 - keep current position (as servo motor)
+
+Stepper states:
+STP_RELAX,      // 0 - no moving
+STP_ACCEL,      // 1 - start moving with acceleration
+STP_MOVE,       // 2 - moving with constant speed
+STP_MVSLOW,     // 3 - moving with slowest constant speed (end of moving)
+STP_DECEL,      // 4 - moving with deceleration
+STP_STALL,      // 5 - stalled
+STP_ERR         // 6 - wrong/error state
+
+ESW reaction:
+
+ESW_IGNORE,     // 0 - don't stop @ end-switch
+ESW_ANYSTOP,    // 1 - stop @ esw in any moving direction
+ESW_STOPMINUS,  // 2 - stop only in negative moving
+
diff --git a/F0:F030,F042,F072/3steppersLB/commonproto.c b/F0:F030,F042,F072/3steppersLB/commonproto.c
index 4793f2a..da8b3ac 100644
--- a/F0:F030,F042,F072/3steppersLB/commonproto.c
+++ b/F0:F030,F042,F072/3steppersLB/commonproto.c
@@ -140,10 +140,14 @@ static errcodes extparser(uint8_t par, int32_t *val){
 #error "change the code!!!"
 #endif
     uint8_t n = PARBASE(par);
+#ifdef EBUG
     SEND("par="); printu(par);
     SEND(", n="); bufputchar('0'+n); newline();
+#endif
     if(n > EXTNO-1){ // all
+#ifdef EBUG
         SEND("ALL\n");
+#endif
         uint8_t *arr = (uint8_t*)val;
         if(ISSETTER(par)){
             for(int i = 0; i < EXTNO; ++i)
@@ -310,9 +314,11 @@ static errcodes reinitmparser(uint8_t _U_ par, int32_t _U_ *val){
     return ERR_OK;
 }
 
+#define CHECKN(val, par) do{val = PARBASE(par); \
+    if(val > MOTORSNO-1) return ERR_BADPAR;}while(0)
+
 static errcodes emstopparser(uint8_t par, int32_t _U_ *val){
-    uint8_t n = PARBASE(par);
-    if(n > MOTORSNO-1) return ERR_BADPAR;
+    uint8_t n; CHECKN(n, par);
     emstopmotor(n);
     return ERR_OK;
 }
@@ -324,43 +330,37 @@ static errcodes emstopallparser(uint8_t _U_ par, int32_t _U_ *val){
 }
 
 static errcodes stopparser(uint8_t par, int32_t _U_ *val){
-    uint8_t n = PARBASE(par);
-    if(n > MOTORSNO-1) return ERR_BADPAR;
+    uint8_t n; CHECKN(n, par);
     stopmotor(n);
     return ERR_OK;
 }
 
 static errcodes curposparser(uint8_t par, int32_t *val){
-    uint8_t n = PARBASE(par);
-    if(n > MOTORSNO-1) return ERR_BADPAR;
+    uint8_t n; CHECKN(n, par);
     if(ISSETTER(par)) return motor_absmove(n, *val);
     return getpos(n, val);
 }
 
 static errcodes relstepsparser(uint8_t par, int32_t *val){
-    uint8_t n = PARBASE(par);
-    if(n > MOTORSNO-1) return ERR_BADPAR;
+    uint8_t n; CHECKN(n, par);
     if(ISSETTER(par)) return motor_relmove(n, *val);
     return getremainsteps(n, val);
 }
 
 static errcodes relslowparser(uint8_t par, int32_t *val){
-    uint8_t n = PARBASE(par);
-    if(n > MOTORSNO-1) return ERR_BADPAR;
+    uint8_t n; CHECKN(n, par);
     if(ISSETTER(par)) return motor_relslow(n, *val);
     return getremainsteps(n, val);
 }
 
 static errcodes motstateparser(uint8_t par, int32_t *val){
-    uint8_t n = PARBASE(par);
-    if(n > MOTORSNO-1) return ERR_BADPAR;
+    uint8_t n; CHECKN(n, par);
     *val = getmotstate(n);
     return ERR_OK;
 }
 
 static errcodes encposparser(uint8_t par, int32_t *val){
-    uint8_t n = PARBASE(par);
-    if(n > MOTORSNO-1) return ERR_BADPAR;
+    uint8_t n; CHECKN(n, par);
     errcodes ret = ERR_OK;
     if(ISSETTER(par)){
         if(!setencpos(n, *val)) ret = ERR_CANTRUN;
@@ -369,11 +369,22 @@ static errcodes encposparser(uint8_t par, int32_t *val){
     return ret;
 }
 
+static errcodes setposparser(uint8_t par, int32_t *val){
+    uint8_t n; CHECKN(n, par);
+    errcodes ret = ERR_OK;
+    if(ISSETTER(par)){
+        ret = setmotpos(n, *val);
+    }
+    getpos(n, val);
+    return ret;
+}
+
 static errcodes gotozeroparser(uint8_t par, _U_ int32_t *val){
-    uint8_t n = PARBASE(par);
-    if(n > MOTORSNO-1) return ERR_BADPAR;
+    uint8_t n; CHECKN(n, par);
     return motor_goto0(n);
 }
+
+#undef CHECKN
 /******************* END of motors' parsers *******************/
 
 /*
@@ -419,6 +430,7 @@ const fpointer cmdlist[CMD_AMOUNT] = {
     [CMD_REINITMOTORS] = reinitmparser,
     [CMD_MOTORSTATE] = motstateparser,
     [CMD_ENCPOS] = encposparser,
+    [CMD_SETPOS] = setposparser,
     [CMD_GOTOZERO] = gotozeroparser,
 };
 
diff --git a/F0:F030,F042,F072/3steppersLB/commonproto.h b/F0:F030,F042,F072/3steppersLB/commonproto.h
index 07e1c26..578cd4b 100644
--- a/F0:F030,F042,F072/3steppersLB/commonproto.h
+++ b/F0:F030,F042,F072/3steppersLB/commonproto.h
@@ -52,7 +52,8 @@ typedef enum{
 typedef errcodes (*fpointer)(uint8_t par, int32_t *val);
 
 enum{
-     CMD_PING               // ping device
+     CMD_NONE               // omit zero
+    ,CMD_PING               // ping device
     ,CMD_RELAY              // relay on/off
     ,CMD_BUZZER             // buzzer on/off
     ,CMD_ADC                // ADC ch#
@@ -86,6 +87,7 @@ enum{
     ,CMD_GOTOZERO           // go to zero's ESW
     ,CMD_MOTORSTATE         // motor state
     ,CMD_ENCPOS             // position of encoder (independing on settings)
+    ,CMD_SETPOS             // set motor position
     //,CMD_STOPDECEL
     //,CMD_FINDZERO
     // should be the last:
diff --git a/F0:F030,F042,F072/3steppersLB/custom_buttons.c b/F0:F030,F042,F072/3steppersLB/custom_buttons.c
index 75766a0..10059ac 100644
--- a/F0:F030,F042,F072/3steppersLB/custom_buttons.c
+++ b/F0:F030,F042,F072/3steppersLB/custom_buttons.c
@@ -22,6 +22,43 @@
 #include "buttons.h"
 #include "custom_buttons.h"
 #include "hardware.h"
+#include "steppers.h"
+#include "strfunct.h"
+
+/**
+ * @brief custom_buttons_process - check four buttons and if find hold:
+ * 0..2 - move motor i by +maxsteps while hold
+ * 3 (or pressed) - switch moving direction to -
+ * if pressed:
+ * 0..2 - stop motor i (if moving) or move by +10 steps
+ */
+void custom_buttons_process(){
+    static uint32_t lastT = 0;
+    static keyevent lastevent[3] = {EVT_NONE, EVT_NONE, EVT_NONE};
+    if(lastUnsleep == lastT) return; // no buttons activity
+    lastT = lastUnsleep;
+    int32_t dir = 1;
+    if(keyevt(3) == EVT_HOLD || keyevt(3) == EVT_PRESS) dir = -1; // button 3: change direction to `-`
+    for(int i = 0; i < 3; ++i){
+        keyevent e = keyevt(i);
+        if(e == EVT_RELEASE){ // move by 10 steps or emergency stop @ release after shot press
+            if(lastevent[i] == EVT_PRESS){
+                if(getmotstate(i) == STP_RELAX) motor_relslow(i, dir*10);
+                else emstopmotor(i);
+            }else stopmotor(i); // stop motor when key was released after long hold
+        }else if(e == EVT_HOLD){ // move by `maxsteps` steps
+            if(getmotstate(i) == STP_RELAX){
+                if(ERR_OK != motor_absmove(i, dir*the_conf.maxsteps[i])){
+                    // here we can do BEEP
+#ifdef EBUG
+                    SEND("can't move\n");
+#endif
+                }
+            }
+        }
+        lastevent[i] = e;
+    }
+}
 
 
 /*
@@ -30,7 +67,7 @@
  * 2 - switch buzzer
  * 3 - work with PWM out 0 (when btn3 pressed, btn1 increased & btn2 decreased PWM width)
  *        press once btn2/3 to change PWM @1, hold to change @25 (repeat as many times as need)
- */
+ *
 void custom_buttons_process(){
     static uint32_t lastT = 0;
     static uint8_t pwmval = 127;
@@ -65,3 +102,4 @@ void custom_buttons_process(){
         TGL(BUZZER);
     }
 }
+*/
diff --git a/F0:F030,F042,F072/3steppersLB/hardware.c b/F0:F030,F042,F072/3steppersLB/hardware.c
index a27179e..486ac86 100644
--- a/F0:F030,F042,F072/3steppersLB/hardware.c
+++ b/F0:F030,F042,F072/3steppersLB/hardware.c
@@ -217,7 +217,6 @@ void tim16_isr(){
     TIM16->SR = 0;
 }
 
-
 void tim1_brk_up_trg_com_isr(){
     encoders_UPD(0);
 }
diff --git a/F0:F030,F042,F072/3steppersLB/main.c b/F0:F030,F042,F072/3steppersLB/main.c
index 9ac0c20..5212cc0 100644
--- a/F0:F030,F042,F072/3steppersLB/main.c
+++ b/F0:F030,F042,F072/3steppersLB/main.c
@@ -70,7 +70,7 @@ static char *get_USB(){
 int main(void){
     uint8_t ctr, len;
     CAN_message *can_mesg;
-    //uint32_t oS = 0;
+    uint32_t oS = 0;
     char *txt;
     sysreset();
     SysTick_Config(6000, 1);
@@ -83,19 +83,18 @@ int main(void){
     RCC->CSR |= RCC_CSR_RMVF; // remove reset flags
     iwdg_setup();
 
-    while (1){
+    while(1){
         IWDG->KR = IWDG_REFRESH; // refresh watchdog
-       /* if(Tms - oS > 1999){
+        if(Tms - oS > 99){ // refresh USB buffer each 100ms
             oS = Tms;
-            SEND("2s"); NL();
-        }*/
+            sendbuf();
+        }
         process_keys();
         custom_buttons_process();
         IWDG->KR = IWDG_REFRESH;
         can_proc();
         if(CAN_get_status() == CAN_FIFO_OVERRUN){
             SEND("CAN bus fifo overrun occured!\n");
-            sendbuf();
         }
         IWDG->KR = IWDG_REFRESH;
         usb_proc();
@@ -112,7 +111,7 @@ int main(void){
                     SEND(" ");
                     printuhex(can_mesg->data[ctr]);
                 }
-                newline(); sendbuf();
+                newline();
             }
         }
         IWDG->KR = IWDG_REFRESH;
diff --git a/F0:F030,F042,F072/3steppersLB/steppers.bin b/F0:F030,F042,F072/3steppersLB/steppers.bin
old mode 100644
new mode 100755
index 0aaace9e3e09753aab987dc37d7ddd370557e691..e50adaf4660a7e70fc004397ff2ac3ffb5670c01
GIT binary patch
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diff --git a/F0:F030,F042,F072/3steppersLB/steppers.c b/F0:F030,F042,F072/3steppersLB/steppers.c
index 4f8b211..98348cb 100644
--- a/F0:F030,F042,F072/3steppersLB/steppers.c
+++ b/F0:F030,F042,F072/3steppersLB/steppers.c
@@ -38,6 +38,8 @@ static t_stalled stallflags[MOTORSNO];
 
 // motors' direction: 1 for positive, -1 for negative (we need it as could be reverse)
 static int8_t motdir[MOTORSNO];
+// direction of moving when stalled (forbid moving in that direction before go out of position)
+static int8_t stalleddir[MOTORSNO] = {0};
 // current position (in steps) by STP counter
 static volatile int32_t stppos[MOTORSNO] = {0};
 // previous position when check (set to current in start of moving)
@@ -91,8 +93,9 @@ void init_steppers(){
     timers_setup(); // reinit timers & stop them
     // init variables
     for(int i = 0; i < MOTORSNO; ++i){
+        stalleddir[i] = 0; // clear old stall direction
         stopflag[i] = 0;
-        motdir[i] = 1;
+        motdir[i] = 0;
         curspeed[i] = 0;
         accdecsteps[i] = (the_conf.maxspd[i] * the_conf.maxspd[i]) / the_conf.accel[i] / 2;
         state[i] = STP_RELAX;
@@ -119,11 +122,26 @@ int setencpos(uint8_t i, int32_t position){
     if(remain < 0) remain += the_conf.encrev[i];
     enctimers[i]->CNT = remain;
     prevencpos[i] = encpos[i] = position - remain;
+    int32_t curstppos;
+    getpos(i, &curstppos);
+    stppos[i] = targstppos[i] = curstppos;
+#ifdef EBUG
     SEND("MOTOR"); bufputchar('0'+i); SEND(", position="); printi(position); SEND(", remain=");
     printi(remain); SEND(", CNT="); printu(enctimers[i]->CNT); SEND(", pos="); printi(encpos[i]); NL();
+#endif
     return TRUE;
 }
 
+// set absolute position of motor `i`
+errcodes setmotpos(uint8_t i, int32_t position){
+    if(state[i] != STP_RELAX) return ERR_CANTRUN;
+    if(position > (int32_t)the_conf.maxsteps[i] || position < -(int32_t)the_conf.maxsteps[i])
+        return ERR_BADVAL; // too big position or zero
+    if(position == stppos[i]) return ERR_OK;
+    setencpos(i, position * encperstep[i]);
+    return ERR_OK;
+}
+
 // get current position
 errcodes getpos(uint8_t i, int32_t *position){
     if(the_conf.motflags[i].haveencoder){
@@ -151,7 +169,6 @@ static void calcacceleration(uint8_t i){
         }else{ // triangle speed profile
             decelstartpos[i] = stppos[i] + delta/2;
         }
-        motdir[i] = 1;
         if(the_conf.motflags[i].reverse) MOTOR_CCW(i);
         else MOTOR_CW(i);
     }else{ // negative direction
@@ -161,7 +178,6 @@ static void calcacceleration(uint8_t i){
         }else{ // triangle speed profile
             decelstartpos[i] = stppos[i] - delta/2;
         }
-        motdir[i] = -1;
         if(the_conf.motflags[i].reverse) MOTOR_CW(i);
         else MOTOR_CCW(i);
     }
@@ -171,30 +187,65 @@ static void calcacceleration(uint8_t i){
     recalcARR(i);
 }
 
+// check if end-switch is blocking the moving of i'th motor
+// @return TRUE if motor can't move
+static int esw_block(uint8_t i){
+    int ret = FALSE;
+    if(ESW_state(i)){ // ESW active
+        switch(ESW_reaction[i]){
+            case ESW_ANYSTOP: // stop motor in any direction
+                ret = TRUE;
+            break;
+            case ESW_STOPMINUS: // stop only @ minus
+                if(motdir[i] == -1) ret = TRUE;
+            break;
+            default: // ESW_IGNORE
+            break;
+        }
+    }
+    return ret;
+}
+
 // move to absolute position
 errcodes motor_absmove(uint8_t i, int32_t newpos){
     //if(i >= MOTORSNO) return ERR_BADPAR; // bad motor number
+    int8_t dir = (newpos > stppos[i]) ? 1 : -1;
     switch(state[i]){
         case STP_ERR:
-        case STP_STALL:
         case STP_RELAX:
         break;
+        case STP_STALL:
+            if(dir == stalleddir[i]){
+                DBG("Move to stalled direction!");
+                return ERR_CANTRUN; // can't run into stalled direction
+            }
+        break;
         default: // moving state
+            DBG("Always moving");
             return ERR_CANTRUN;
     }
-    if(newpos > (int32_t)the_conf.maxsteps[i] || newpos < -(int32_t)the_conf.maxsteps[i] || newpos == stppos[i])
+    if(newpos > (int32_t)the_conf.maxsteps[i] || newpos < -(int32_t)the_conf.maxsteps[i] || newpos == stppos[i]){
+        DBG("Too much steps");
         return ERR_BADVAL; // too big position or zero
-    Nstalled[i] = (state[i] == STP_STALL) ? -(NSTALLEDMAX*5) : 0; // give some more chances to go out of stall state
+    }
+    motdir[i] = dir;
+    if(esw_block(i)){
+        DBG("Block by ESW");
+        return ERR_CANTRUN; // on end-switch
+    }
+    Nstalled[i] = (state[i] == STP_STALL) ? -(NSTALLEDMAX*4) : 0; // give some more chances to go out of stall state
     stopflag[i] = 0;
     targstppos[i] = newpos;
     prevencpos[i] = encoder_position(i);
     prevstppos[i] = stppos[i];
     curspeed[i] = the_conf.minspd[i];
     calcacceleration(i);
+#ifdef EBUG
     SEND("MOTOR"); bufputchar('0'+i);
     SEND(" targstppos="); printi(targstppos[i]);
     SEND(", decelstart="); printi(decelstartpos[i]);
     SEND(", accdecsteps="); printu(accdecsteps[i]); NL();
+#endif
     MOTOR_EN(i);
     mottimers[i]->CR1 |= TIM_CR1_CEN; // start timer
     return ERR_OK;
@@ -235,24 +286,13 @@ stp_state getmotstate(uint8_t i){
 // count steps @tim 14/15/16
 void addmicrostep(uint8_t i){
     static volatile uint16_t microsteps[MOTORSNO] = {0}; // current microsteps position
-    if(ESW_state(i)){ // ESW active
-        switch(ESW_reaction[i]){
-            case ESW_ANYSTOP: // stop motor in any direction
-                stopflag[i] = 1;
-            break;
-            case ESW_STOPMINUS: // stop only @ minus
-                if(motdir[i] == -1) stopflag[i] = 1;
-            break;
-            default: // ESW_IGNORE
-            break;
-        }
-    }
+    if(esw_block(i)) stopflag[i] = 1; // turn on stop flag if end-switch was active
     if(++microsteps[i] == the_conf.microsteps[i]){
         microsteps[i] = 0;
         stppos[i] += motdir[i];
         uint8_t stop_at_pos = 0;
         if(motdir[i] > 0){
-            if(stppos[i] >= targstppos[i]){ // reached start of deceleration
+            if(stppos[i] >= targstppos[i]){ // reached stop position
                 stop_at_pos = 1;
             }
         }else{
@@ -271,7 +311,9 @@ void addmicrostep(uint8_t i){
                 state[i] = STP_STALL;
             }else
                 state[i] = STP_RELAX;
+#ifdef EBUG
             SEND("MOTOR"); bufputchar('0'+i); SEND(" stop @"); printi(stppos[i]); newline();
+#endif
         }
     }
 }
@@ -298,7 +340,7 @@ static t_stalled chkSTALL(uint8_t i){
         Dstp = -Dstp;
         difsign = -difsign;
     }
-    if(Dstp < 10){ // didn't move even @ 10 steps
+    if(Dstp < STALLEDSTEPS){ // didn't move even @ `STALLEDSTEPS` steps
         stallflags[i] = STALL_NO;
         return STALL_NO;
     }
@@ -315,20 +357,32 @@ static t_stalled chkSTALL(uint8_t i){
     stppos[i] = curstppos;
     prevstppos[i] = curstppos;
     if(Denc < the_conf.encperstepmin[i]*Dstp || the_conf.encperstepmax[i]*Dstp < Denc){ // stall?
+#ifdef EBUG
         SEND("MOTOR"); bufputchar('0'+i); SEND(" Denc="); printi(Denc); SEND(", Dstp="); printu(Dstp);
         SEND(", speed="); printu(curspeed[i]);
+#endif
         if(++Nstalled[i] > NSTALLEDMAX){
             stopflag[i] = 1;
             Nstalled[i] = 0;
-            SEND("  ---  STALL!"); NL();
+#ifdef EBUG
+            SEND("  ---  STALL!");
+#else
+            SEND("ERRCODE="); bufputchar(ERR_CANTRUN+'0');
+            SEND("\nstate"); bufputchar(i+'0'); bufputchar('=');
+            bufputchar(STP_STALL);
+#endif
+            NL();
             stallflags[i] = STALL_STOP;
+            stalleddir[i] = motdir[i];
             return STALL_STOP;
         }else{
             uint16_t spd = curspeed[i] >> 1; // speed / 2
             curspeed[i] = (spd > the_conf.minspd[i]) ? spd : the_conf.minspd[i];
             // now recalculate acc/dec parameters
             calcacceleration(i);
+#ifdef EBUG
             SEND("  ---  pre-stall, newspeed="); printu(curspeed[i]); NL();
+#endif
             stallflags[i] = STALL_ONCE;
             return STALL_ONCE;
         }
@@ -337,33 +391,46 @@ static t_stalled chkSTALL(uint8_t i){
     return STALL_NO;
 }
 
+#ifdef EBUG
 #define TODECEL() do{state[i] = STP_DECEL;  \
         startspeed[i] = curspeed[i];        \
         Taccel[i] = Tms;                    \
         SEND("MOTOR"); bufputchar('0'+i);   \
         SEND("  -> DECEL@"); printi(stppos[i]); SEND(", V="); printu(curspeed[i]); NL(); \
         }while(0)
+#else
+#define TODECEL() do{state[i] = STP_DECEL;  \
+        startspeed[i] = curspeed[i];        \
+        Taccel[i] = Tms;                    \
+        }while(0)
+#endif
 
 // check state of i`th stepper
 static void chkstepper(int i){
-    int32_t newspeed;
+    int32_t i32;
+    static uint8_t stopctr[3] = {0}; // counters for encoders/position zeroing after stopping @ esw
     switch(state[i]){
         case STP_RELAX: // check if need to keep current position
             if(the_conf.motflags[i].haveencoder){
-                getpos(i, &newspeed);
-                int32_t diff = stppos[i] - newspeed; // correct `curpos` counter by encoder
+                getpos(i, &i32);
+                int32_t diff = stppos[i] - i32; // correct `curpos` counter by encoder
                 if(diff){ // correct current stppos by encoder
+#ifdef EBUG
                     SEND("MOTOR"); bufputchar('0'+i);
                     SEND(" diff="); printi(diff);
-                    SEND(", change stppos from "); printi(stppos[i]); SEND(" to "); printi(newspeed); NL();
-                    stppos[i] = newspeed;
+                    SEND(", change stppos from "); printi(stppos[i]); SEND(" to "); printi(i32); NL();
+#endif
+                    stppos[i] = i32;
                 }
                 if(the_conf.motflags[i].keeppos){ // keep old position
-                    diff = targstppos[i] - newspeed; // check whether we need to change position
+                    diff = targstppos[i] - i32; // check whether we need to change position
                     if(diff){ // try to correct position
+#ifdef EBUG
                         SEND("MOTOR"); bufputchar('0'+i);
-                        SEND(" curpos="); printi(newspeed); SEND(", need="); printi(targstppos[i]); NL();
-                        motor_absmove(i, targstppos[i]);
+                        SEND(" curpos="); printi(i32); SEND(", need="); printi(targstppos[i]); NL();
+#endif
+                        if(ERR_OK != motor_absmove(i, targstppos[i]))
+                            targstppos[i] = i32; // can't move to target position - forget it
                     }
                 }
             }
@@ -371,14 +438,16 @@ static void chkstepper(int i){
         case STP_ACCEL: // acceleration to max speed
             if(STALL_NO == chkSTALL(i)){
                 //newspeed = curspeed[i] + dV[i];
-                newspeed = the_conf.minspd[i] + (the_conf.accel[i] * (Tms - Taccel[i])) / 1000;
-                if(newspeed >= the_conf.maxspd[i]){ // max speed reached -> move with it
+                i32 = the_conf.minspd[i] + (the_conf.accel[i] * (Tms - Taccel[i])) / 1000;
+                if(i32 >= the_conf.maxspd[i]){ // max speed reached -> move with it
                     curspeed[i] = the_conf.maxspd[i];
                     state[i] = STP_MOVE;
+#ifdef EBUG
                     SEND("MOTOR"); bufputchar('0'+i);
                     SEND("  -> MOVE@"); printi(stppos[i]); SEND(", V="); printu(curspeed[i]); NL();
+#endif
                 }else{ // increase speed
-                    curspeed[i] = newspeed;
+                    curspeed[i] = i32;
                 }
                 recalcARR(i);
             }
@@ -410,14 +479,16 @@ static void chkstepper(int i){
         case STP_DECEL:
             if(STALL_NO == chkSTALL(i)){
                 //newspeed = curspeed[i] - dV[i];
-                newspeed = startspeed[i] - (the_conf.accel[i] * (Tms - Taccel[i])) / 1000;
-                if(newspeed > the_conf.minspd[i]){
-                    curspeed[i] = newspeed;
+                i32 = startspeed[i] - (the_conf.accel[i] * (Tms - Taccel[i])) / 1000;
+                if(i32 > the_conf.minspd[i]){
+                    curspeed[i] = i32;
                 }else{
                     curspeed[i] = the_conf.minspd[i];
                     state[i] = STP_MVSLOW;
+#ifdef EBUG
                     SEND("MOTOR"); bufputchar('0'+i);
                     SEND("  -> MVSLOW@"); printi(stppos[i]); NL();
+#endif
                 }
                 recalcARR(i);
                 //SEND("spd="); printu(curspeed[i]); SEND(", pos="); printi(stppos[i]); newline();
@@ -432,25 +503,33 @@ static void chkstepper(int i){
     switch(mvzerostate[i]){
         case M0FAST:
             if(state[i] == STP_RELAX || state[i] == STP_STALL){ // stopped -> move to +
+#ifdef EBUG
                 SEND("M0FAST: motor stopped\n");
+#endif
                 if(ERR_OK != motor_relslow(i, 1000)){
+#ifdef EBUG
                     SEND("Can't move\n");
+#endif
                     state[i] = STP_ERR;
                     mvzerostate[i] = M0RELAX;
                     ESW_reaction[i] = the_conf.ESW_reaction[i];
-                }else
+                }else{
                     mvzerostate[i] = M0SLOW;
+                    stopctr[i] = 0;
+                }
             }
         break;
         case M0SLOW:
             if(0 == ESW_state(i)){ // moved out of limit switch - can stop
                 emstopmotor(i);
             }
-            if(state[i] == STP_RELAX || state[i] == STP_STALL){
-                SEND("M0SLOW: motor stopped @ 0\n"); NL();
+            if((state[i] == STP_RELAX || state[i] == STP_STALL) && ++stopctr[i] > 5){ // wait at least 50ms
+#ifdef EBUG
+                SEND("M0SLOW: set position to 0\n"); NL();
+#endif
                 ESW_reaction[i] = the_conf.ESW_reaction[i];
                 prevencpos[i] = encpos[i] = 0;
-                stppos[i] = 0;
+                targstppos[i] = stppos[i] = 0;
                 enctimers[i]->CNT = 0; // set encoder counter to zero
                 mvzerostate[i] = M0RELAX;
             }
diff --git a/F0:F030,F042,F072/3steppersLB/steppers.h b/F0:F030,F042,F072/3steppersLB/steppers.h
index d9aa116..c6391ab 100644
--- a/F0:F030,F042,F072/3steppersLB/steppers.h
+++ b/F0:F030,F042,F072/3steppersLB/steppers.h
@@ -25,6 +25,8 @@
 
 // amount of tries to detect motor stall
 #define NSTALLEDMAX     (5)
+// amount of steps to detect stalled state
+#define STALLEDSTEPS    (15)
 
 // stepper states
 typedef enum{
@@ -53,6 +55,7 @@ void encoders_UPD(uint8_t i);
 void init_steppers();
 int32_t encoder_position(uint8_t i);
 int setencpos(uint8_t i, int32_t position);
+errcodes setmotpos(uint8_t i, int32_t position);
 
 errcodes getpos(uint8_t i, int32_t *position);
 errcodes getremainsteps(uint8_t i, int32_t *position);
diff --git a/F0:F030,F042,F072/3steppersLB/strfunct.c b/F0:F030,F042,F072/3steppersLB/strfunct.c
index 5476950..11b7d4d 100644
--- a/F0:F030,F042,F072/3steppersLB/strfunct.c
+++ b/F0:F030,F042,F072/3steppersLB/strfunct.c
@@ -76,7 +76,7 @@ int cmpstr(const char *s1, const char *s2){
 }
 
 /**
- * @brief getchr - analog of strchr
+ * @brief getchr - analog of strchr; this function saves 200 bytes comparing to strchr
  * @param str - string to search
  * @param symbol - searching symbol
  * @return pointer to symbol found or NULL
@@ -126,7 +126,6 @@ static CAN_message *parseCANmsg(char *txt){
         return NULL;
     }
     SEND("Message parsed OK\n");
-    sendbuf();
     canmsg.length = (uint8_t) ctr;
     return &canmsg;
 }
@@ -422,7 +421,6 @@ void dumperrcodes(_U_ char *txt){
         newline();
         ++c;
     }
-    sendbuf();
 }
 
 typedef void(*specfpointer)(char *arg);
@@ -479,7 +477,7 @@ typedef struct{
 // the main commands list, index is CAN command code
 static const commands textcommands[] = {
     // different commands
-    {0, "", "Different commands:"}, // DELIMETERS
+    {CMD_NONE, "", "Different commands:"}, // DELIMETERS
     {CMD_ADC, "adc", "get ADC values"},
     {CMD_BUTTONS, "button", "get buttons state"},
     {CMD_BUZZER, "buzzer", "change buzzer state (1/0)"},
@@ -493,7 +491,7 @@ static const commands textcommands[] = {
     {CMD_RESET, "reset", "reset MCU"},
     {CMD_TIMEFROMSTART, "time", "get time from start"},
     // configuration
-    {0, "", "Confuguration:"},
+    {CMD_NONE, "", "Confuguration:"},
     {CMD_ACCEL, "accel", "set/get accel/decel (steps/s^2)"},
     {CMD_ENCREV, "encrev", "set/get max encoder's pulses per revolution"},
     {CMD_ENCSTEPMAX, "encstepmax", "maximal encoder ticks per step"},
@@ -507,8 +505,8 @@ static const commands textcommands[] = {
     {CMD_SAVECONF, "saveconf", "save current configuration"},
     {CMD_SPEEDLIMIT, "speedlimit", "get limiting speed for current microsteps"},
     // motors' commands
-    {0, "", "Motors' commands:"},
-    {CMD_ABSPOS, "abspos", "set/get position (in steps)"},
+    {CMD_NONE, "", "Motors' commands:"},
+    {CMD_ABSPOS, "abspos", "move to/get absolute position (in steps)"},
     {CMD_EMERGSTOPALL, "emerg", "emergency stop all motors"},
     {CMD_EMERGSTOP, "emstop", "emergency stop motor (right now)"},
     {CMD_ENCPOS, "encpos", "set/get encoder's position"},
@@ -516,10 +514,11 @@ static const commands textcommands[] = {
     {CMD_REINITMOTORS, "motreinit", "re-init motors after configuration changed"},
     {CMD_RELPOS, "relpos", "set relative steps, get remaining"},
     {CMD_RELSLOW, "relslow", "set relative steps @ lowest speed"},
+    {CMD_SETPOS, "setpos", "set/get absolute position (in steps)"},
     {CMD_MOTORSTATE, "state", "get motor state"},
     {CMD_STOP, "stop", "smooth motor stopping"},
     // USB-only commands
-    {0, "", "USB-only commands:"},
+    {CMD_NONE, "", "USB-only commands:"},
     {-SCMD_CANID, "canid", "get/set CAN ID"},
     {-SCMD_CANSPEED, "canspeed", "CAN bus speed"},
     {-SCMD_DELIGNLIST, "delignlist", "delete ignore list"},
@@ -540,8 +539,9 @@ static const commands textcommands[] = {
     {0, NULL, NULL}
 };
 
+// dump base commands codes (for CAN protocol)
 void dumpcmdcodes(_U_ char *txt){
-    SEND("Commands list:\n");
+    SEND("CANbus commands list:\n");
     for(uint16_t i = 0; i < CMD_AMOUNT; ++i){
         printu(i);
         SEND(" - ");
@@ -554,7 +554,6 @@ void dumpcmdcodes(_U_ char *txt){
         }
         newline();
     }
-    sendbuf();
 }
 
 /*
@@ -582,22 +581,17 @@ static void showHelp(){
     while(cmd->command){
         if(*cmd->command){
             bufputchar('\t');
-            SEND(cmd->command); /*SEND(" (");
-            if(cmd->cmd_code < 0) bufputchar('u');
-            else bufputchar('c');
-            SEND(") - ");*/
+            SEND(cmd->command);
             SEND(" - ");
         }
         SEND(cmd->help); newline();
         ++cmd;
     }
-    sendbuf();
 }
 
 /**
  * @brief cmd_parser - command parsing
  * @param txt   - buffer with commands & data (will be broken by this function!)
- * @param isUSB - == 1 if data got from USB
  * Common commands format: command [[N]=I], where
  *      command - one of `command` from `cmdlist`
  *      N - optional parameter (0..255)
@@ -605,7 +599,6 @@ static void showHelp(){
  * Special commands format: s_command [text], where
  *      s_command - one of `spec_cmdlist`
  *      text - optional list of arguments
- * The space after command name is mandatory (it will be substituted by \0)
  */
 void cmd_parser(char *txt){
     char cmd[32], *pcmd = cmd;
diff --git a/F0:F030,F042,F072/3steppersLB/strfunct.h b/F0:F030,F042,F072/3steppersLB/strfunct.h
index e90cc66..9d59925 100644
--- a/F0:F030,F042,F072/3steppersLB/strfunct.h
+++ b/F0:F030,F042,F072/3steppersLB/strfunct.h
@@ -36,7 +36,7 @@
 
 #define newline() do{bufputchar('\n');}while(0)
 // newline &  send buffer
-#define NL() do{bufputchar('\n'); sendbuf();}while(0)
+#define NL() do{bufputchar('\n');}while(0)
 
 #define IGN_SIZE 10
 extern uint16_t Ignore_IDs[IGN_SIZE];
diff --git a/F0:F030,F042,F072/3steppersLB/version.inc b/F0:F030,F042,F072/3steppersLB/version.inc
index eb844db..5e39d96 100644
--- a/F0:F030,F042,F072/3steppersLB/version.inc
+++ b/F0:F030,F042,F072/3steppersLB/version.inc
@@ -1,2 +1,2 @@
-#define BUILD_NUMBER "139"
-#define BUILD_DATE "2021-12-02"
+#define BUILD_NUMBER "156"
+#define BUILD_DATE "2022-06-10"