From 1a8345d4f0ab24b5539d9f729defedc2c68f29ca Mon Sep 17 00:00:00 2001
From: Edward Emelianov <edward.emelianoff@gmail.com>
Date: Tue, 21 Feb 2023 23:01:43 +0300
Subject: [PATCH] some bugs fixed, but found new (e.g. ADC always give 4095)

---
 F3:F303/Multistepper/adc.c               |  23 ++++++--
 F3:F303/Multistepper/adc.h               |  12 +++--
 F3:F303/Multistepper/can.c               |  31 ++++++++---
 F3:F303/Multistepper/commonproto.c       |  53 ++++++++++++++----
 F3:F303/Multistepper/commonproto.h       |   9 ++++
 F3:F303/Multistepper/hashgen/hdr.c       |  10 ++++
 F3:F303/Multistepper/hashgen/hdr.h       |   2 +
 F3:F303/Multistepper/hashgen/helpcmds.in |  66 +++++++++++------------
 F3:F303/Multistepper/hashgen/testdic     |   8 ++-
 F3:F303/Multistepper/multistepper.bin    | Bin 25356 -> 26096 bytes
 F3:F303/Multistepper/proto.c             |  10 +++-
 F3:F303/Multistepper/proto.h             |   1 +
 F3:F303/Multistepper/steppers.c          |   2 +-
 F3:F303/Multistepper/version.inc         |   4 +-
 14 files changed, 161 insertions(+), 70 deletions(-)

diff --git a/F3:F303/Multistepper/adc.c b/F3:F303/Multistepper/adc.c
index f9aa6e1..d9e8293 100644
--- a/F3:F303/Multistepper/adc.c
+++ b/F3:F303/Multistepper/adc.c
@@ -17,6 +17,9 @@
  */
 
 #include "adc.h"
+#ifdef EBUG
+#include "proto.h"
+#endif
 
 /**
  * @brief ADCx_array - arrays for ADC channels with median filtering:
@@ -25,8 +28,8 @@
  * 4 - internal Tsens - ADC1_IN16
  * 5 - Vref - ADC1_IN18
  * ADC2:
- * 6 - AIN4 (ADC2_IN1)
- * 7 - AIN5 (ADC2_IN10)
+ * 6 - AIN4 - vdrive/10 (ADC2_IN1)
+ * 7 - AIN5 - 5v/2 (ADC2_IN10)
  */
 static uint16_t ADC_array[NUMBER_OF_ADC_CHANNELS*9];
 
@@ -76,7 +79,7 @@ void adc_setup(){
     ADC1->SMPR2 = ADC_SMPR2_SMP16 | ADC_SMPR2_SMP18;
     // 4 conversions in group: 1->2->3->4->16->18
     ADC1->SQR1 = (1<<6) | (2<<12) | (3<<18) | (4<<24) | (NUMBER_OF_ADC1_CHANNELS-1);
-    ADC1->SQR2 = (16<<6) | (18<<12);
+    ADC1->SQR2 = (16<<0) | (18<<6);
     ADC2->SMPR1 = ADC_SMPR1_SMP1;
     ADC2->SMPR2 = ADC_SMPR2_SMP10;
     ADC2->SQR1 = (1<<6) | (10<<12) | (NUMBER_OF_ADC2_CHANNELS-1);
@@ -121,9 +124,12 @@ uint16_t getADCval(int nch){
     PIX_SORT(p[3], p[6]) ; PIX_SORT(p[1], p[4]) ; PIX_SORT(p[2], p[5]) ;
     PIX_SORT(p[4], p[7]) ; PIX_SORT(p[4], p[2]) ; PIX_SORT(p[6], p[4]) ;
     PIX_SORT(p[4], p[2]) ;
-    return p[4];
 #undef PIX_SORT
 #undef PIX_SWAP
+#ifdef EBUG
+    DBG("val: "); printu(p[4]); newline();
+#endif
+    return p[4];
 }
 
 // get voltage @input nch (V)
@@ -131,6 +137,9 @@ float getADCvoltage(int nch){
     float v = getADCval(nch);
     v *= getVdd();
     v /= 4096.f; // 12bit ADC
+#ifdef EBUG
+    DBG("v="); printf(v); newline();
+#endif
     return v;
 }
 
@@ -142,6 +151,9 @@ float getMCUtemp(){
     temperature *= (110.f - 30.f);
     temperature /= (float)(*TEMP30_CAL_ADDR - *TEMP110_CAL_ADDR);
     temperature += 30.f;
+#ifdef EBUG
+    DBG("t="); printf(temperature); newline();
+#endif
     return(temperature);
 }
 
@@ -149,5 +161,8 @@ float getMCUtemp(){
 float 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;
 }
diff --git a/F3:F303/Multistepper/adc.h b/F3:F303/Multistepper/adc.h
index 32711bd..ded850a 100644
--- a/F3:F303/Multistepper/adc.h
+++ b/F3:F303/Multistepper/adc.h
@@ -19,8 +19,12 @@
 #pragma once
 #include <stm32f3.h>
 
-#define NUMBER_OF_ADC1_CHANNELS (6)
-#define NUMBER_OF_ADC2_CHANNELS (2)
+// ADC1 channels
+#define NUMBER_OF_ADC1_CHANNELS     (6)
+// ext ADC channels (ADC_AINx)
+#define NUMBER_OF_EXT_ADC_CHANNELS  (4)
+// ADC2 channels
+#define NUMBER_OF_ADC2_CHANNELS     (2)
 // total number of channels - for array
 #define NUMBER_OF_ADC_CHANNELS ((NUMBER_OF_ADC1_CHANNELS+NUMBER_OF_ADC2_CHANNELS))
 
@@ -33,8 +37,8 @@
 #define ADC_AIN3    (3)
 #define ADC_TS      (4)
 #define ADC_VREF    (5)
-#define ADC_AIN4    (6)
-#define ADC_AIN5    (7)
+#define ADC_VDRIVE  (6)
+#define ADC_VFIVE   (7)
 // starting index of ADC2
 #define ADC2START   (9*NUMBER_OF_ADC1_CHANNELS)
 
diff --git a/F3:F303/Multistepper/can.c b/F3:F303/Multistepper/can.c
index e8284fb..9dc5069 100644
--- a/F3:F303/Multistepper/can.c
+++ b/F3:F303/Multistepper/can.c
@@ -22,6 +22,9 @@
 #include "hardware.h"
 #include "strfunc.h"
 #include "usb.h"
+#ifdef EBUG
+#include "proto.h"
+#endif
 
 // PD1 - Tx, PD0 - Rx !!!
 
@@ -53,7 +56,11 @@ CAN_status CAN_get_status(){
 static int CAN_messagebuf_push(CAN_message *msg){
     //MSG("Try to push\n");
 #ifdef EBUG
-        USB_sendstr("push\n");
+        USB_sendstr("push: ");
+        for(int i = 0; i < msg->length; ++i){
+            printuhex(msg->data[i]); USB_putbyte(' ');
+        }
+        newline();
 #endif
     if(first_free_idx == first_nonfree_idx){
 #ifdef EBUG
@@ -80,6 +87,13 @@ CAN_message *CAN_messagebuf_pop(){
         first_nonfree_idx = -1;
         first_free_idx = 0;
     }
+#ifdef EBUG
+        USB_sendstr("pop: ");
+        for(int i = 0; i < msg->length; ++i){
+            printuhex(msg->data[i]); USB_putbyte(' ');
+        }
+        newline();
+#endif
     return msg;
 }
 
@@ -304,8 +318,7 @@ uint32_t CAN_speed(){
     return oldspeed;
 }
 
-static void formerr(CAN_message *msg, errcodes err){
-    if(msg->length < 4) msg->length = 4;
+TRUE_INLINE void formerr(CAN_message *msg, errcodes err){
     msg->data[3] = (uint8_t)err;
 }
 
@@ -317,15 +330,16 @@ static void formerr(CAN_message *msg, errcodes err){
  * [CMD][PAR][errcode][VALUE]
  * CMD - uint16_t, PAR - uint8_t, errcode - one of CAN_errcodes, VALUE - int32_t
  * `errcode` of  incoming message doesn't matter
+ * all answers have 8 bytes length; incoming data may have variable length
  */
 TRUE_INLINE void parseCANcommand(CAN_message *msg){
-    int N = 1000;
     // we don't check msg here as it cannot be NULL
 #ifdef EBUG
-    DBG("Get data");
+    DBG("Get data: ");
     for(int i = 0; i < msg->length; ++i){
         USB_sendstr(uhex2str(msg->data[i])); USB_putbyte(' ');
     }
+    for(int i = msg->length-1; i < 8; ++i) msg->data[i] = 0;
     newline();
 #endif
     if(msg->length == 0) goto sendmessage; // PING
@@ -356,10 +370,10 @@ TRUE_INLINE void parseCANcommand(CAN_message *msg){
     errcodes ec = cancmdlist[Index](par, val);
     if(ec != ERR_OK){
         formerr(msg, ec);
-    }else{
-        msg->length = 8;
     }
 sendmessage:
+    msg->length = 8;
+    int N = 1000;
     while(CAN_BUSY == CAN_send(msg->data, msg->length, the_conf.CANID))
         if(--N == 0) break;
 }
@@ -369,7 +383,8 @@ static void can_process_fifo(uint8_t fifo_num){
     CAN_FIFOMailBox_TypeDef *box = &CAN->sFIFOMailBox[fifo_num];
     volatile uint32_t *RFxR = (fifo_num) ? &CAN->RF1R : &CAN->RF0R;
 #ifdef EBUG
-        USB_sendstr(u2str(*RFxR & CAN_RF0R_FMP0)); USB_sendstr(" messages in FIFO\n");
+        USB_sendstr(u2str(*RFxR & CAN_RF0R_FMP0)); USB_sendstr(" messages in FIFO #");
+        USB_sendstr(u2str(fifo_num)); newline();
 #endif
     // read all
     while(*RFxR & CAN_RF0R_FMP0){ // amount of messages pending
diff --git a/F3:F303/Multistepper/commonproto.c b/F3:F303/Multistepper/commonproto.c
index 3ca156b..68deeb6 100644
--- a/F3:F303/Multistepper/commonproto.c
+++ b/F3:F303/Multistepper/commonproto.c
@@ -42,8 +42,12 @@ static errcodes cu_nosuchfn(uint8_t _U_ par, int32_t _U_ *val){
 
 errcodes cu_abspos(uint8_t _U_ par, int32_t _U_ *val){
     uint8_t n; CHECKN(n, par);
-    stopmotor(n);
-    return ERR_OK;
+    errcodes ret = ERR_OK;
+    if(ISSETTER(par)){
+        ret = setmotpos(n, *val);
+    }
+    getpos(n, val);
+    return ret;
 }
 
 errcodes cu_accel(uint8_t _U_ par, int32_t _U_ *val){
@@ -56,10 +60,13 @@ errcodes cu_accel(uint8_t _U_ par, int32_t _U_ *val){
     return ERR_OK;
 }
 
+static const uint8_t extADCchnl[NUMBER_OF_EXT_ADC_CHANNELS] = {ADC_AIN0, ADC_AIN1, ADC_AIN2, ADC_AIN3};
+// V*10
 errcodes cu_adc(uint8_t par, int32_t *val){
     uint8_t n = PARBASE(par);
-    if(n > NUMBER_OF_ADC_CHANNELS-1) return ERR_BADPAR;
-    *val = getADCval(n);
+    if(n > NUMBER_OF_EXT_ADC_CHANNELS - 1) return ERR_BADPAR;
+    float v = getADCvoltage(extADCchnl[n])*10.f;
+    *val = (int32_t)v;
     return ERR_OK;
 }
 
@@ -109,12 +116,8 @@ errcodes cu_eswreact(uint8_t _U_ par, int32_t _U_ *val){
 
 errcodes cu_goto(uint8_t _U_ par, int32_t _U_ *val){
     uint8_t n; CHECKN(n, par);
-    errcodes ret = ERR_OK;
-    if(ISSETTER(par)){
-        ret = setmotpos(n, *val);
-    }
-    getpos(n, val);
-    return ret;
+    if(ISSETTER(par)) return motor_absmove(n, *val);
+    return getpos(n, val);
 }
 
 errcodes cu_gotoz(uint8_t _U_ par, int32_t _U_ *val){
@@ -328,6 +331,20 @@ errcodes cu_usartstatus(uint8_t _U_ par, int32_t _U_ *val){
     return ERR_BADCMD;
 }
 
+// V*10
+errcodes cu_vdrive(uint8_t par, int32_t _U_ *val){
+    NOPARCHK(par);
+    float v = getADCvoltage(ADC_VDRIVE)*100.f;
+    *val = (int32_t)v;
+    return ERR_OK;
+}
+
+errcodes cu_vfive(uint8_t par, int32_t *val){
+    NOPARCHK(par);
+    float v = getADCvoltage(ADC_VFIVE)*20.f;
+    *val = (int32_t)v;
+    return ERR_OK;
+}
 
 const fpointer cancmdlist[CCMD_AMOUNT] = {
     // different commands
@@ -368,6 +385,13 @@ const fpointer cancmdlist[CCMD_AMOUNT] = {
     [CCMD_ENCPOS] = cu_nosuchfn,
     [CCMD_SETPOS] = cu_abspos,
     [CCMD_GOTOZERO] = cu_gotoz,
+    [CCMD_MOTMUL] = cu_motmul,
+    [CCMD_DIAGN] = cu_diagn,
+    [CCMD_ERASEFLASH] = cu_eraseflash,
+    [CCMD_UDATA] = cu_udata,
+    [CCMD_USARTSTATUS] = cu_usartstatus,
+    [CCMD_VDRIVE] = cu_vdrive,
+    [CCMD_VFIVE] = cu_vfive
     // Leave all commands upper for back-compatability with 3steppers
 };
 
@@ -399,5 +423,12 @@ const char* cancmds[CCMD_AMOUNT] = {
     [CCMD_REINITMOTORS] = "motreinit",
     [CCMD_MOTORSTATE] = "state",
     [CCMD_SETPOS] = "abspos",
-    [CCMD_GOTOZERO] = "gotoz"
+    [CCMD_GOTOZERO] = "gotoz",
+    [CCMD_MOTMUL] = "motmul",
+    [CCMD_DIAGN] = "diagn",
+    [CCMD_ERASEFLASH] = "eraseflash",
+    [CCMD_UDATA] = "udata",
+    [CCMD_USARTSTATUS] = "usartstatus",
+    [CCMD_VDRIVE] = "vdrive",
+    [CCMD_VFIVE] = "vfive"
 };
diff --git a/F3:F303/Multistepper/commonproto.h b/F3:F303/Multistepper/commonproto.h
index c1463ec..d45ec41 100644
--- a/F3:F303/Multistepper/commonproto.h
+++ b/F3:F303/Multistepper/commonproto.h
@@ -86,6 +86,13 @@ enum{
     ,CCMD_MOTORSTATE         // motor state
     ,CCMD_ENCPOS             // position of encoder (independing on settings)
     ,CCMD_SETPOS             // set motor position
+    ,CCMD_MOTMUL
+    ,CCMD_DIAGN
+    ,CCMD_ERASEFLASH
+    ,CCMD_UDATA
+    ,CCMD_USARTSTATUS
+    ,CCMD_VDRIVE
+    ,CCMD_VFIVE
     // should be the last:
     ,CCMD_AMOUNT             // amount of common commands
 };
@@ -129,3 +136,5 @@ errcodes cu_stop(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);
+errcodes cu_vdrive(uint8_t par, int32_t *val);
+errcodes cu_vfive(uint8_t par, int32_t *val);
diff --git a/F3:F303/Multistepper/hashgen/hdr.c b/F3:F303/Multistepper/hashgen/hdr.c
index 574f9a5..4896a8b 100644
--- a/F3:F303/Multistepper/hashgen/hdr.c
+++ b/F3:F303/Multistepper/hashgen/hdr.c
@@ -114,6 +114,10 @@ int fn_udata(_U_ uint32_t hash,  _U_ char *args) WAL; // "udata" (2736127636)
 
 int fn_usartstatus(_U_ uint32_t hash,  _U_ char *args) WAL; // "usartstatus" (4007098968)
 
+int fn_vdrive(_U_ uint32_t hash,  _U_ char *args) WAL; // "vdrive" (2172773525)
+
+int fn_vfive(_U_ uint32_t hash,  _U_ char *args) WAL; // "vfive" (3017477285)
+
 static uint32_t hashf(const char *str){
     uint32_t hash = 5381;
     uint32_t c;
@@ -291,6 +295,12 @@ int parsecmd(const char *str){
         case CMD_USARTSTATUS:
             return fn_usartstatus(h, args);
         break;
+        case CMD_VDRIVE:
+            return fn_vdrive(h, args);
+        break;
+        case CMD_VFIVE:
+            return fn_vfive(h, args);
+        break;
         default: break;
     }
     return RET_CMDNOTFOUND;
diff --git a/F3:F303/Multistepper/hashgen/hdr.h b/F3:F303/Multistepper/hashgen/hdr.h
index d2fd0b9..e3e41c7 100644
--- a/F3:F303/Multistepper/hashgen/hdr.h
+++ b/F3:F303/Multistepper/hashgen/hdr.h
@@ -65,3 +65,5 @@ int parsecmd(const char *cmdwargs);
 #define CMD_TMCBUS          (1906135955)
 #define CMD_UDATA           (2736127636)
 #define CMD_USARTSTATUS     (4007098968)
+#define CMD_VDRIVE          (2172773525)
+#define CMD_VFIVE           (3017477285)
diff --git a/F3:F303/Multistepper/hashgen/helpcmds.in b/F3:F303/Multistepper/hashgen/helpcmds.in
index d8bb1ae..6b0f843 100644
--- a/F3:F303/Multistepper/hashgen/helpcmds.in
+++ b/F3:F303/Multistepper/hashgen/helpcmds.in
@@ -1,12 +1,12 @@
-    "absposN* - GS absolute position (in steps, setter just changes current value)\n"
-    "accelN* - GS accel/decel (steps/s^2)\n"
-    "adcN* - G ADC value (N=0..3)\n"
-    "button[N]* - G all or given (N=0..6) buttons' state\n"
+    "absposN - GS absolute position (in steps, setter just changes current value)\n"
+    "accelN - GS accel/decel (steps/s^2)\n"
+    "adcN - G ADC value (N=0..3)\n"
+    "button[N] - G all or given (N=0..6) buttons' state\n"
     "canerrcodes - G print last CAN errcodes\n"
     "canfilter - GS can filters, format: bank# FIFO# mode(M/I) num0 [num1 [num2 [num3]]]\n"
     "canflood - send/clear flood message: ID byte0 ... byteN\n"
     "canfloodT - GS flood period (>=0ms)\n"
-    "canid* - GS CAN ID of device\n"
+    "canid - GS CAN ID of device\n"
     "canignore - GS ignore list (max 10 IDs), negative to delete\n"
     "canincrflood - send incremental flood message (ID is last for 'flood', stop by 'flood')\n"
     "canpause - pause IN packets displaying\n"
@@ -15,42 +15,40 @@
     "cansend - send data over CAN: send ID byte0 .. byteN (N<8)\n"
     "canspeed - GS CAN speed (reinit if setter)\n"
     "canstat - G CAN status\n"
-    "delignlist* - delete ignore list\n"
     "diagn[N]* - G DIAG state of motor N (or all)\n"
-    "dumperr* - dump error codes\n"
-    "dumpcmd* - dump command codes\n"
-    "dumpconf* - dump current configuration\n"
-    "emstop[N]* - emergency stop motor N or all\n"
-    "encposN* - GS encoder's position\n"
-    "encrevN* - GS max encoder's pulses per revolution\n"
-    "encstepmaxN* - GS maximal encoder ticks per step\n"
-    "encstepminN* - GS minimal encoder ticks per step\n"
-    "eraseflash* - erase flash data storage\n"
-    "esw[N]* - G end-switches state\n"
-    "eswreactN* - GS end-switches reaction (0 - ignore, 1 - stop@any, 2 - stop@zero)\n"
-    "gotoN* - GS move motor to given absolute position\n"
-    "gotozN* - find zero position & refresh counters\n"
+    "dumperr - dump error codes\n"
+    "dumpcmd - dump command codes\n"
+    "dumpconf - dump current configuration\n"
+    "dumpmotflags - dump motor flags' bits\n"
+    "emstop[N] - emergency stop motor N or all\n"
+    "eraseflash - erase flash data storage\n"
+    "esw[N] - G end-switches state\n"
+    "eswreactN - GS end-switches reaction (0 - ignore, 1 - stop@any, 2 - stop@zero)\n"
+    "gotoN - GS move motor to given absolute position\n"
+    "gotozN - find zero position & refresh counters\n"
     "gpioconfN* - GS GPIO configuration (0 - PUin, 1 - PPout, 2 - ODout), N=0..2\n"
     "gpioN* - GS GPIO values, N=0..2\n"
-    "maxspeedN* - GS max speed (steps per sec)\n"
-    "maxstepsN* - GS max steps (from zero ESW)\n"
-    "mcut* - G MCU T\n"
-    "mcuvdd* - G MCU Vdd\n"
-    "microstepsN* - GS microsteps settings (2^0..2^9)\n"
-    "minspeedN* -  min speed (steps per sec)\n"
-    "motflagsN* - motorN flags\n"
+    "maxspeedN - GS max speed (steps per sec)\n"
+    "maxstepsN - GS max steps (from zero ESW)\n"
+    "mcut - G MCU T\n"
+    "mcuvdd - G MCU Vdd\n"
+    "microstepsN - GS microsteps settings (2^0..2^9)\n"
+    "minspeedN -  min speed (steps per sec)\n"
+    "motflagsN - motorN flags\n"
     "motmul* - GS external multiplexer status (<0 - disable, 0..7 - enable and set address)\n"
-    "motreinit* - re-init motors after configuration changed\n"
-    "ping* - echo given command back\n"
-    "relposN* - GS relative move (get remaining)\n"
-    "relslowN* - GS like 'relpos' but with slowest speed\n"
+    "motreinit - re-init motors after configuration changed\n"
+    "ping - echo given command back\n"
+    "relposN - GS relative move (get remaining)\n"
+    "relslowN - GS like 'relpos' but with slowest speed\n"
     "reset - software reset\n"
-    "saveconf* - save current configuration\n"
+    "saveconf - save current configuration\n"
     "screen* - GS screen enable (1) or disable (0)\n"
-    "speedlimit* - G limiting speed for current microsteps setting\n"
-    "stateN* - G motor state (0-relax, 1-accel, 2-move, 3-mvslow, 4-decel, 5-stall, 6-err)\n"
-    "stopN* - stop motor with deceleration\n"
+    "speedlimit - G limiting speed for current microsteps setting\n"
+    "stateN - G motor state (0-relax, 1-accel, 2-move, 3-mvslow, 4-decel, 5-stall, 6-err)\n"
+    "stopN - stop motor with deceleration\n"
     "time - G time from start (ms)\n"
     "tmcbus* - GS TMC control bus (0 - USART, 1 - SPI)\n"
     "udata* - GS data by usart in slave mode (text strings, '\\n'-terminated)\n"
     "usartstatus* - GS status of USART1 (0 - off, 1 - master, 2 - slave)\n"
+    "vdrive - G approx voltage on Vdrive\n"
+    "vfive - G approx voltage on 5V bus\n"
diff --git a/F3:F303/Multistepper/hashgen/testdic b/F3:F303/Multistepper/hashgen/testdic
index c3fc849..eace749 100644
--- a/F3:F303/Multistepper/hashgen/testdic
+++ b/F3:F303/Multistepper/hashgen/testdic
@@ -15,16 +15,12 @@ canresume
 cansend
 canspeed
 canstat
-delignlist
 diagn
 dumperr
 dumpcmd
 dumpconf
+dumpmotflags
 emstop
-encpos
-encrev
-encstepmax
-encstepmin
 eraseflash
 esw
 eswreact
@@ -54,3 +50,5 @@ time
 tmcbus
 udata
 usartstatus
+vdrive
+vfive
diff --git a/F3:F303/Multistepper/multistepper.bin b/F3:F303/Multistepper/multistepper.bin
index 68e9670c5e4f6c9c1206befe8db13f00a990acd5..e9e644e8919cdbf750a0474163f46f9f4baa0c47 100755
GIT binary patch
delta 10155
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diff --git a/F3:F303/Multistepper/proto.c b/F3:F303/Multistepper/proto.c
index cd20c53..dd35300 100644
--- a/F3:F303/Multistepper/proto.c
+++ b/F3:F303/Multistepper/proto.c
@@ -547,7 +547,7 @@ static int canusb_function(uint32_t hash, char *args){
             }
             USB_sendstr("KEY"); USB_putbyte('0'+PARBASE(par));
             USB_putbyte('='); USB_sendstr(kstate);
-            USB_sendstr("KEYTIME="); USB_sendstr(u2str(val));
+            USB_sendstr("\nKEYTIME="); USB_sendstr(u2str(val));
             newline();
             return RET_GOOD;
         break;
@@ -635,6 +635,12 @@ static int canusb_function(uint32_t hash, char *args){
         case CMD_USARTSTATUS:
             e = cu_usartstatus(par, &val);
         break;
+        case CMD_VDRIVE:
+            e = cu_vdrive(par, &val);
+        break;
+        case CMD_VFIVE:
+            e = cu_vfive(par, &val);
+        break;
         default:
             e = ERR_BADCMD;
             break;
@@ -690,6 +696,8 @@ int fn_stop(uint32_t _U_ hash,  char _U_ *args) AL; //* "stop" (17184971)
 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)
+int fn_vdrive(uint32_t _U_ hash, char _U_ *args) AL; // "vdrive" (2172773525)
+int fn_vfive(uint32_t _U_ hash, char _U_ *args) AL; // "vfive" (3017477285)
 
 
 /**
diff --git a/F3:F303/Multistepper/proto.h b/F3:F303/Multistepper/proto.h
index 3d56d91..883e760 100644
--- a/F3:F303/Multistepper/proto.h
+++ b/F3:F303/Multistepper/proto.h
@@ -26,6 +26,7 @@
 #define printu(x)       do{USB_sendstr(u2str(x));}while(0)
 #define printi(x)       do{USB_sendstr(i2str(x));}while(0)
 #define printuhex(x)    do{USB_sendstr(uhex2str(x));}while(0)
+#define printf(x)       do{USB_sendstr(float2str(x, 2));}while(0)
 
 extern uint8_t ShowMsgs; // show CAN messages flag
 
diff --git a/F3:F303/Multistepper/steppers.c b/F3:F303/Multistepper/steppers.c
index 53abeab..634bacf 100644
--- a/F3:F303/Multistepper/steppers.c
+++ b/F3:F303/Multistepper/steppers.c
@@ -110,7 +110,7 @@ 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;
+    stppos[i] = position;
     return ERR_OK;
 }
 
diff --git a/F3:F303/Multistepper/version.inc b/F3:F303/Multistepper/version.inc
index d7eede4..685da40 100644
--- a/F3:F303/Multistepper/version.inc
+++ b/F3:F303/Multistepper/version.inc
@@ -1,2 +1,2 @@
-#define BUILD_NUMBER "54"
-#define BUILD_DATE "2023-02-20"
+#define BUILD_NUMBER "56"
+#define BUILD_DATE "2023-02-21"