add buttons, not tested yet

F1:F103/CAR_CANbus/WindShield/buttons.c

@@ -0,0 +1,121 @@
+/*
+ * This file is part of the windshield project.
+ * Copyright 2024 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stm32f1.h>
+
+#include "buttons.h"
+#include "hardware.h"
+
+extern volatile uint32_t Tms;
+//uint32_t lastUnsleep = 0;
+
+// threshold in ms for press/hold
+#define PRESSTHRESHOLD  (29)
+// HOLDTHRESHOLD = PRESSTHRESHOLD + hold time
+#define HOLDTHRESHOLD   (329)
+
+typedef struct{
+    keyevent event;         // current key event
+    int16_t counter;        // press/release milliseconds counter
+    GPIO_TypeDef *port;     // key port
+    uint16_t pin;           // key pin
+    uint8_t changed;        // the event have been changed
+} keybase;
+
+keybase allkeys[KEY_AMOUNT] = {
+    [HALL_D] = {.port = HALL_PORT, .pin = HALL_D_PIN},
+    [HALL_U] = {.port = HALL_PORT, .pin = HALL_U_PIN},
+    [KEY_D] = {.port = BUTTON_PORT, .pin = BUTTON_D_PIN},
+    [KEY_U] = {.port = BUTTON_PORT, .pin = BUTTON_U_PIN},
+    [DIR_D] = {.port = DIR_PORT, .pin = DIR_U_PIN},
+    [DIR_U] = {.port = DIR_PORT, .pin = DIR_U_PIN}
+};
+
+// return 1 if something was changed
+int process_keys(){
+    static uint32_t lastT = 0;
+    int changed = FALSE;
+    if(Tms == lastT) return FALSE;
+    uint16_t d = (uint16_t)(Tms - lastT);
+    lastT = Tms;
+    for(int i = 0; i < KEY_AMOUNT; ++i){
+        keybase *k = &allkeys[i];
+        keyevent e = k->event;
+        if(PRESSED(k->port, k->pin)){ // key is in pressed state
+            //lastUnsleep = Tms; // update activity time (any key is in pressed state)
+            switch(e){
+                case EVT_NONE: // just pressed
+                case EVT_RELEASE:
+                    k->counter = PRESSTHRESHOLD; // anti-bounce for released state
+                    k->event = EVT_PRESS;
+                break;
+                case EVT_PRESS: // hold
+                    if((k->counter += d)> HOLDTHRESHOLD)
+                        k->event = EVT_HOLD;
+                break;
+                default:
+                break;
+            }
+        }else{ // released
+            switch(e){
+                case EVT_PRESS: // count -> none
+                    if(k->counter > PRESSTHRESHOLD) k->counter = PRESSTHRESHOLD;
+                    else if((k->counter -= d) < 0) k->event = EVT_NONE; // button released
+                break;
+                case EVT_HOLD:  // count -> release
+                    if(k->counter > PRESSTHRESHOLD) k->counter = PRESSTHRESHOLD;
+                    else if((k->counter -= d) < 0) k->event = EVT_RELEASE; // button released
+                break;
+                default:
+                break;
+            }
+        }
+        if(e != k->event){
+            k->changed = 1;
+            changed = TRUE;
+        }
+    }
+    return changed;
+}
+
+/**
+ * @brief keystate curent key state
+ * @param k   - key code
+ * @param evt - its event
+ * @return 1 if event was changed since last call
+ */
+uint8_t keystate(keycode k, keyevent *evt){
+    if(k >= KEY_AMOUNT) return EVT_NONE;
+    *evt = allkeys[k].event;
+    // change state `release` to `none` after 1st check (or will be `changed` @ release -> none)
+    if(*evt == EVT_RELEASE) allkeys[k].event = EVT_NONE;
+    uint8_t r = allkeys[k].changed;
+    allkeys[k].changed = 0;
+    return  r;
+}
+
+keyevent keyevt(keycode k){
+    if(k >= KEY_AMOUNT) return EVT_NONE;
+    return allkeys[k].event;
+}
+
+// clear all `changed` states
+void clear_events(){
+    for(int i = 0; i < KEY_AMOUNT; ++i)
+        allkeys[i].changed = 0;
+}

F1:F103/CAR_CANbus/WindShield/buttons.h

@@ -0,0 +1,50 @@
+/*
+ * This file is part of the windshield project.
+ * Copyright 2024 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include <stm32f1.h>
+
+// long press detector (>99ms)
+#define KEY_HOLDTIME    (99)
+
+// keycode for press/release
+typedef enum{
+    HALL_D,     // hall sensor DOWN
+    HALL_U,     // -//- UP
+    KEY_D,      // user key DOWN
+    KEY_U,      // -//- UP
+    DIR_D,      // ext signal (direct motor cables) DOWN
+    DIR_U,      // -//- UP
+    KEY_AMOUNT  // amount of keys connected
+} keycode;
+
+// events
+typedef enum{
+    EVT_NONE,   // no events with given key
+    EVT_PRESS,  // pressed
+    EVT_HOLD,   // hold more than KEY_HOLDTIME ms
+    EVT_RELEASE // released
+} keyevent;
+
+//extern uint32_t lastUnsleep; // last keys activity time
+
+int process_keys();
+void clear_events();
+uint8_t keystate(keycode k, keyevent *evt);
+keyevent keyevt(keycode k);

F1:F103/CAR_CANbus/WindShield/hardware.c

@@ -16,6 +16,7 @@
  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include "buttons.h"
 #include "hardware.h"
 
 /* pinout:
@@ -42,23 +43,24 @@
  */
 
 // last incr/decr time and minimal time between incr/decr CCRx
-static uint32_t PWM_lasttime = 0, PWM_deltat = 1;
+static uint32_t PWM_lasttime = 0, PWM_deltat = 1; // PWM_deltat should be more than timer period
-static int direction = 0, accel = 0; // rotation direction and acceleration/deceleration
+static int accel = 0; // rotation direction and acceleration/deceleration
+static motdir_t direction = MOTDIR_NONE; // current moving direction
 
 void gpio_setup(void){
-    // PB8 & PB9 (CAN) setup in can.c; PA9 & PA10 (USART) in usart.c; PA6 & PA7 will be configured later
+    // PB8 & PB9 (CAN) setup in can.c; PA9 & PA10 (USART) in usart.c; PA6 & PA7 - TIM3 PWM ch1/2
     RCC->APB2ENR |= RCC_APB2ENR_IOPAEN | RCC_APB2ENR_IOPBEN | RCC_APB2ENR_IOPCEN | RCC_APB2ENR_AFIOEN;
     // pullups & initial values
-    GPIOA->ODR = (1<<11) | (1<<11) | (1<<12);
+    GPIOA->ODR = (1<<11) | (1<<12);
     GPIOB->ODR = (1<<14) | (1<<15);
     GPIOA->CRL = CRL(0, CNF_ANALOG) | CRL(1, CNF_PPOUTPUT|MODE_SLOW) | CRL(2, CNF_PPOUTPUT|MODE_SLOW) |
-                 CRL(3, CNF_PPOUTPUT|MODE_SLOW);
+                 CRL(3, CNF_PPOUTPUT|MODE_SLOW) | CRL(6, CNF_AFPP|MODE_FAST) | CRL(7, CNF_AFPP|MODE_FAST);
     GPIOA->CRH = CRH(11, CNF_PUDINPUT) | CRH(12, CNF_PUDINPUT);
     GPIOB->CRH = CRH(12, CNF_PUDINPUT) | CRH(13, CNF_PUDINPUT) | CRH(14, CNF_PUDINPUT) | CRH(15, CNF_PUDINPUT);
     // setup timer: 100 ticks per full PWM range, 2kHz -> 200kHz timer frequency
     RCC->APB1ENR |= RCC_APB1ENR_TIM3EN; // enable TIM3 clocking
     TIM3->CR1 = 0;
-    TIM3->PSC = (TIM3FREQ/PWMFREQ) - 1;  // 359 ticks for 200kHz
+    TIM3->PSC = (TIM3FREQ/(PWMFREQ*PWMMAX)) - 1;  // 359 ticks for 200kHz
     TIM3->ARR = PWMMAX - 1;
     TIM3->CCR1 = 0;   // inactive
     TIM3->CCR2 = 0;
@@ -72,29 +74,32 @@ void gpio_setup(void){
 // set minimal pause between successive CCRx increments or decrements; return TRUE if OK
 int set_dT(uint32_t d){
     if(d > 1000) return FALSE;
-    PWM_deltat = d;
+    PWM_deltat = d + 1;
     return TRUE;
 }
 
 // stop or start rotation in given direction (only if motor stops); return TRUE if OK
-// dir == 0 to stop; > 0 to rotate CW (L_UP, R_DOWN), < 0 to rotate CCW (L_DOWN, R_UP)
 int motor_ctl(int32_t dir){
+    if(dir < MOTDIR_STOP || dir > MOTDIR_DOWN) return FALSE;
+    if(dir == MOTDIR_NONE) return TRUE;
+    if(direction == dir) return TRUE; // already do this
     if(TIM3->CR1 & TIM_CR1_CEN){
-        if(direction && dir) return FALSE; // motor is moving while trying to move it
+        if(direction > MOTDIR_NONE && dir > MOTDIR_NONE) return FALSE; // motor is moving while trying to move it into another dir
-        if(direction == 0 && dir == 0) return TRUE; // already stopped
+        if(direction == MOTDIR_BREAK && dir < MOTDIR_NONE) return TRUE; // already stopped
     }
-    if(dir == 0){ // stop motor -> deceleration
+    if(dir == MOTDIR_STOP){ // stop motor -> deceleration
-        accel = -1;
+        if(direction == MOTDIR_UP || direction == MOTDIR_DOWN) accel = -1;
-        PWM_lasttime = Tms;
+        return TRUE;
+    }else if(dir == MOTDIR_BREAK){ // emergency stop
+        if(TIM3->CR1 & TIM_CR1_CEN) motor_break(); // break only if is moving
         return TRUE;
     }
     accel = 1;
-    if(dir > 0){ // start in positive direction
+    direction = dir;
-        direction = 1;
+    if(dir == MOTDIR_UP){ // start in positive direction (move UP)
         set_up(UP_LEFT);
         set_pwm(PWM_RIGHT, 1);
-    }else{ // negative
+    }else{ // negative (move DOWN)
-        direction = -1;
         set_up(UP_RIGHT);
         set_pwm(PWM_LEFT, 1);
     }
@@ -106,33 +111,83 @@ int motor_ctl(int32_t dir){
 // extremal stop
 void motor_break(){
     up_off();
-    direction = 0; accel = 0;
+    direction = MOTDIR_BREAK;
+    accel = 0;
     stop_pwm();
+    PWM_lasttime = Tms;
 }
 
 // simplest state machine of motor control
 void motor_process(){
-    if(!direction) return; // motor isn't moving
+    if(process_keys()){ // check buttons
-    if(Tms - PWM_lasttime < PWM_deltat) return;
+        keyevent evt;
+        motdir_t newdir = MOTDIR_NONE; // new moving direction (-2 - do nothing, 2 - emerg. stop)
+        // first, check HALL sensors if motor is moving
+        if(direction){
+            if(keystate(HALL_D, &evt)){ // HALL DOWN
+                if(direction < 0 && (evt == EVT_PRESS || evt == EVT_HOLD)){
+                    newdir = MOTDIR_BREAK;
+                }
+            }else if(keystate(HALL_U, &evt)){
+                if(direction > 0 && (evt == EVT_PRESS || evt == EVT_HOLD)){
+                    newdir = MOTDIR_BREAK;
+                }
+            }
+        }
+        keyevent uh = keyevt(HALL_U), dh = keyevt(HALL_D); // current hall states - if we cannot move upper or lower
+        // short key pressed - full open/close; long - move with stop after release
+        if(MOTDIR_BREAK != newdir){ // process keys if don't need to break
+            evt = EVT_NONE;
+            if(keystate(KEY_U, &evt)){
+                if(evt == EVT_PRESS){ // move up (don't mind EVT_HOLD - it's already moving)
+                    if(uh != EVT_HOLD && uh != EVT_PRESS) newdir = MOTDIR_UP;
+                }
+            }else if(keystate(KEY_D, &evt)){
+                if(evt == EVT_PRESS){
+                    if(dh != EVT_HOLD && dh != EVT_PRESS) newdir = MOTDIR_DOWN;
+                }
+            }
+            if(evt == EVT_RELEASE) newdir = MOTDIR_STOP;
+            evt = EVT_NONE;
+            int extsig = FALSE;
+            // now chech external signals, they have an advantage over local keys
+            if(keystate(DIR_U, &evt)){ // react on PRESS and both NONE/RELEASE
+                extsig = TRUE;
+                if(evt == EVT_PRESS && uh != EVT_PRESS && uh != EVT_HOLD) newdir = MOTDIR_UP;
+            }else if(keystate(DIR_D, &evt)){
+                extsig = TRUE;
+                if(evt == EVT_PRESS && dh != EVT_PRESS && dh != EVT_HOLD) newdir = MOTDIR_DOWN;
+            }
+            if(evt == EVT_RELEASE || (extsig && evt == EVT_NONE)){ // EVT_NONE - released after short press - do nothing; EVT_RELEASE - after hold, stop
+                newdir = MOTDIR_STOP;
+            }
+        }
+        motor_ctl(newdir);
+        clear_events();
+    }
+    if(direction == MOTDIR_NONE) return; // motor isn't moving
+    else if(direction == MOTDIR_BREAK && 0 == (TIM3->CR1 & TIM_CR1_CEN)){ // motor stopped
+        direction = MOTDIR_NONE;
+        accel = 0;
+        return;
+    }
+    if(Tms < PWM_lasttime + PWM_deltat) return;
     volatile uint16_t *CCRx = (direction > 0) ? &TIM3->CCR1 : &TIM3->CCR2; // current CCRx
-    if(accel < 0){ // decrement
+    PWM_lasttime = Tms;
+    if(accel < 0){ // deceleration
         if(*CCRx == 0){ // stopped
-            up_off();
+            motor_break(); // wait for another cycle
-            direction = 0;
-            accel = 0;
-            stop_pwm();
             return;
         }
         // TODO: here we should check currents and if failure turn off immediatelly
         --*CCRx;
-    }else{
+    }else{ // constant speed or acceleration
         // TODO: here we should check currents and increment only if all OK; decrement and change to accel if fail
         if(accel){ // acceleration
             if(*CCRx == PWMMAX) accel = 0;
             else ++*CCRx;
         } // else do nothing - moving with constant speed
     }
-    PWM_lasttime = Tms;
 }
 
 void iwdg_setup(){

F1:F103/CAR_CANbus/WindShield/hardware.h

@@ -23,7 +23,7 @@
 // frequency of TIM3 clocking
 #define TIM3FREQ    (72000000)
 // PWM frequency
-#define PWMFREQ     (200000)
+#define PWMFREQ     (2000)
 // max PWM value
 #define PWMMAX      (100)
 
@@ -44,7 +44,7 @@
 // turn off upper shoulders
 #define up_off()  do{pin_clear(GPIOA, (1<<2)|(1<<3));}while(0)
 #define start_pwm() do{ TIM3->CR1 = TIM_CR1_CEN; TIM3->EGR |= TIM_EGR_UG; }while(0)
-#define stop_pwm()  do{ TIM3->CCR1 = 0; TIM3->CCR2 = 0; TIM3->CR1 = 0; }while(0)
+#define stop_pwm()  do{ TIM3->CCR1 = 0; TIM3->CCR2 = 0; TIM3->CR1 = TIM_CR1_OPM | TIM_CR1_CEN; }while(0)
 #define PWM_LEFT    2
 #define PWM_RIGHT   1
 // set PWM value (0..100), x==1 - R_DOWN, x==2 - L_DOWN
@@ -53,6 +53,33 @@
 #define _get_pwm(x)    (TIM3->CCR ## x)
 #define get_pwm(x) _get_pwm(x)
 
+// buttons, dir, hall:
+#define HALL_PORT       GPIOA
+#define HALL_U_PIN      (1<<12)
+#define HALL_D_PIN      (1<<11)
+#define BUTTON_PORT     GPIOB
+#define BUTTON_U_PIN    (1<<14)
+#define BUTTON_D_PIN    (1<<15)
+#define DIR_PORT        GPIOB
+#define DIR_U_PIN       (1<12)
+#define DIR_D_PIN       (1<13)
+
+// define BUTTONS_NEGATIVE if button pressed when ==1
+#ifdef BUTTONS_NEGATIVE
+#define PRESSED(port, pin)      ((port->IDR & pin) == pin)
+#else
+#define PRESSED(port, pin)      ((port->IDR & pin) == 0)
+#endif
+
+// moving when > NONE, stopped when < NONE
+typedef enum{
+    MOTDIR_STOP = -2,   // stop with deceleration
+    MOTDIR_BREAK = -1,  // emergency stop
+    MOTDIR_NONE = 0,    // do nothing
+    MOTDIR_UP = 1,      // move up
+    MOTDIR_DOWN = 2,    // move down
+} motdir_t;
+
 int set_dT(uint32_t d);
 
 extern volatile uint32_t Tms;

F1:F103/CAR_CANbus/WindShield/kicad/windshield.kicad_prl

@@ -67,11 +67,30 @@
     "visible_layers": "fffffff_ffffffff",
     "zone_display_mode": 1
   },
+  "git": {
+    "repo_password": "",
+    "repo_type": "",
+    "repo_username": "",
+    "ssh_key": ""
+  },
   "meta": {
     "filename": "windshield.kicad_prl",
     "version": 3
   },
   "project": {
     "files": []
+  },
+  "schematic": {
+    "selection_filter": {
+      "graphics": true,
+      "images": true,
+      "labels": true,
+      "lockedItems": false,
+      "otherItems": true,
+      "pins": true,
+      "symbols": true,
+      "text": true,
+      "wires": true
+    }
   }
 }

F1:F103/CAR_CANbus/WindShield/kicad/windshield.kicad_pro

@@ -194,6 +194,13 @@
       ],
       "zones_allow_external_fillets": false
     },
+    "ipc2581": {
+      "dist": "",
+      "distpn": "",
+      "internal_id": "",
+      "mfg": "",
+      "mpn": ""
+    },
     "layer_presets": [],
     "viewports": []
   },
@@ -388,10 +395,12 @@
       "duplicate_sheet_names": "error",
       "endpoint_off_grid": "warning",
       "extra_units": "error",
+      "footprint_link_issues": "warning",
       "global_label_dangling": "warning",
       "hier_label_mismatch": "error",
       "label_dangling": "error",
       "lib_symbol_issues": "warning",
+      "lib_symbol_mismatch": "warning",
       "missing_bidi_pin": "warning",
       "missing_input_pin": "warning",
       "missing_power_pin": "error",
@@ -452,14 +461,75 @@
       "gencad": "",
       "idf": "",
       "netlist": "",
+      "plot": "",
+      "pos_files": "",
       "specctra_dsn": "",
       "step": "",
+      "svg": "",
       "vrml": ""
     },
     "page_layout_descr_file": ""
   },
   "schematic": {
     "annotate_start_num": 0,
+    "bom_fmt_presets": [],
+    "bom_fmt_settings": {
+      "field_delimiter": ",",
+      "keep_line_breaks": false,
+      "keep_tabs": false,
+      "name": "CSV",
+      "ref_delimiter": ",",
+      "ref_range_delimiter": "",
+      "string_delimiter": "\""
+    },
+    "bom_presets": [],
+    "bom_settings": {
+      "exclude_dnp": false,
+      "fields_ordered": [
+        {
+          "group_by": false,
+          "label": "Reference",
+          "name": "Reference",
+          "show": true
+        },
+        {
+          "group_by": true,
+          "label": "Value",
+          "name": "Value",
+          "show": true
+        },
+        {
+          "group_by": false,
+          "label": "Datasheet",
+          "name": "Datasheet",
+          "show": true
+        },
+        {
+          "group_by": false,
+          "label": "Footprint",
+          "name": "Footprint",
+          "show": true
+        },
+        {
+          "group_by": false,
+          "label": "Qty",
+          "name": "${QUANTITY}",
+          "show": true
+        },
+        {
+          "group_by": true,
+          "label": "DNP",
+          "name": "${DNP}",
+          "show": true
+        }
+      ],
+      "filter_string": "",
+      "group_symbols": true,
+      "name": "Grouped By Value",
+      "sort_asc": true,
+      "sort_field": "Reference"
+    },
+    "connection_grid_size": 50.0,
     "drawing": {
       "dashed_lines_dash_length_ratio": 12.0,
       "dashed_lines_gap_length_ratio": 3.0,
@@ -473,6 +543,11 @@
       "intersheets_ref_suffix": "",
       "junction_size_choice": 3,
       "label_size_ratio": 0.375,
+      "operating_point_overlay_i_precision": 3,
+      "operating_point_overlay_i_range": "~A",
+      "operating_point_overlay_v_precision": 3,
+      "operating_point_overlay_v_range": "~V",
+      "overbar_offset_ratio": 1.23,
       "pin_symbol_size": 25.0,
       "text_offset_ratio": 0.15
     },
@@ -488,6 +563,7 @@
     "spice_external_command": "spice \"%I\"",
     "spice_model_current_sheet_as_root": true,
     "spice_save_all_currents": false,
+    "spice_save_all_dissipations": false,
     "spice_save_all_voltages": false,
     "subpart_first_id": 65,
     "subpart_id_separator": 0

F1:F103/CAR_CANbus/WindShield/proto.c

@@ -32,10 +32,12 @@ const char *helpmsg =
     "https://github.com/eddyem/stm32samples/tree/master/F1:F103/CAR_CANbus/WindShield build#" BUILD_NUMBER " @ " BUILD_DATE "\n"
     "'0' - stop PWM\n"
     "'1' - start PWM\n"
+    "'a' - RAW ADC values\n"
     "'b' - break motor (extremal stop)\n"
+    "'f' - set PWM freq (Hz)\n"
     "'d xx' - set dT to xx ms\n"
-    "'m xx' - move motor right (1), left (-1) or stop (0)\n"
+    "'m xx' - move motor up (1), down (2), stop (-2) or emerg stop (-1)\n"
-    "'p y xx' - set PWM y (l/r) to xx (0..100)"
+    "'p y xx' - set PWM y (l/r) to xx (0..100)\n"
     "'s' - get raw VSEN value\n"
     "'t' - get MCU temperature (*10)\n"
     "'u y xx' - turn on (xx==1) or off (xx==0) y (l/r) MOSFET\n"
@@ -115,27 +117,38 @@ static int startPWM(){
  */
 void cmd_parser(char *txt){
     char _1st = txt[0];
-    txt = (char*)omit_spaces(txt + 1);
+ /* usart_send("Got: '");
+  usart_send(txt);
+  usart_send("'\n");*/
+    char *nxtsym = (char*)omit_spaces(txt + 1);
+    uint32_t N = 0;
     int proc = 1;
     switch(_1st){ // parse long commands here
         case 'd':
-            usetter(set_dT, txt);
+            usetter(set_dT, nxtsym);
+        break;
+        case 'f':
+            if(nxtsym != getnum(nxtsym, &N)){
+                if(N < 100 || N > 100000) usart_send("100 <= F <= 100000");
+                else TIM3->PSC = (TIM3FREQ/(N*PWMMAX)) - 1;
+            }
+            usart_send("TIM3->PSC="); usart_send(u2str(TIM3->PSC));
         break;
         case 'm':
-            isetter(motor_ctl, txt);
+            isetter(motor_ctl, nxtsym);
         break;
         case 'p':
-            if(setdir(*txt)){
+            if(setdir(*nxtsym)){
-                txt = (char*)omit_spaces(txt + 1);
+                nxtsym = (char*)omit_spaces(nxtsym + 1);
-                usetter(pwmvalsetter, txt); newline();
+                usetter(pwmvalsetter, nxtsym); newline();
             }
             usart_send("PWM1="); usart_send(u2str(get_pwm(PWM_RIGHT)));
             usart_send("\nPWM2="); usart_send(u2str(get_pwm(PWM_LEFT)));
         break;
         case 'u':
-            if(setdir(*txt)){
+            if(setdir(*nxtsym)){
-                txt = (char*)omit_spaces(txt + 1);
+                nxtsym = (char*)omit_spaces(nxtsym + 1);
-                usetter(upsetter, txt); newline();
+                usetter(upsetter, nxtsym); newline();
             }
             usart_send("UPL="); usart_putchar('0' + read_upL());
             usart_send("\nUPR="); usart_putchar('0' + read_upR());
@@ -153,6 +166,13 @@ void cmd_parser(char *txt){
         case '1':
             printans(startPWM());
         break;
+        case 'a':
+            for(int i = 0; i < NUMBER_OF_ADC_CHANNELS; ++i){
+                usart_send("ADC"); usart_putchar('0' + i);
+                usart_putchar('='); usart_send(u2str(getADCval(i)));
+                newline();
+            }
+        break;
         case 'b':
             motor_break(); printans(TRUE);
         break;
@@ -172,11 +192,11 @@ void cmd_parser(char *txt){
             else usart_send("OFF");
         break;
         case 'R':
-            usart_send("Soft reset\n");
+            usart_send("Soft reset\n\n");
             usart_transmit();
             // wait until DMA & USART done
             while(!usart_txrdy);
-            while(!(USART1->SR & USART_SR_TXE));
+            while(!(USART1->SR & USART_SR_TC));
             USART1->CR1 = 0; // stop USART
             NVIC_SystemReset();
         break;

F1:F103/CAR_CANbus/WindShield/usart.c

@@ -114,7 +114,7 @@ void usart_setup(){
     NVIC_EnableIRQ(DMA1_Channel4_IRQn);
     NVIC_SetPriority(USART1_IRQn, 0);
     // setup usart1
-    USART1->BRR = 72000000 / 921600;
+    USART1->BRR = 72000000 / 115200;
     USART1->CR1 = USART_CR1_TE | USART_CR1_RE | USART_CR1_UE; // 1start,8data,nstop; enable Rx,Tx,USART
     while(!(USART1->SR & USART_SR_TC)){if(--tmout == 0) break;} // polling idle frame Transmission
     USART1->SR = 0; // clear flags

F1:F103/CAR_CANbus/WindShield/usart.h

@@ -19,8 +19,8 @@
 #pragma once
 
 // input and output buffers size
-#define UARTBUFSZI  (256)
+#define UARTBUFSZI  (64)
-#define UARTBUFSZO  (1024)
+#define UARTBUFSZO  (128)
 
 #define usartrx()  (usart_linerdy)
 #define usartovr() (usart_bufovr)

F1:F103/CAR_CANbus/WindShield/version.inc

@@ -1,2 +1,2 @@
-#define BUILD_NUMBER "10"
+#define BUILD_NUMBER "21"
-#define BUILD_DATE "2024-02-13"
+#define BUILD_DATE "2024-03-04"

F1:F103/CAR_CANbus/WindShield/windshield.creator.user

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 12.0.2, 2024-02-12T22:44:46. -->
+<!-- Written by QtCreator 12.0.2, 2024-03-04T19:10:32. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>

F1:F103/CAR_CANbus/WindShield/windshield.files

@@ -1,5 +1,7 @@
 adc.c
 adc.h
+buttons.c
+buttons.h
 can.c
 can.h
 flash.c