fix some bugs

F3:F303/CANbus4BTA/adc.c

@@ -19,6 +19,8 @@
 #include "adc.h"
 #include "hardware.h" // ADCvals
 
+#include "usb.h"
+
 /**
  * @brief ADCx_array - arrays for ADC channels with median filtering:
  * ADC1:
@@ -73,6 +75,7 @@ void adc_setup(){
     ADC1->SQR2 = (16<<0);
     ADC2->SMPR1 = ADC_SMPR1_SMP1;
     // configure DMA for ADC
+    RCC->AHBENR |= RCC_AHBENR_DMA1EN;
     ADC1->CFGR = ADC_CFGR_CONT | ADC_CFGR_DMAEN | ADC_CFGR_DMACFG;
     DMA1_Channel1->CPAR = (uint32_t) (&(ADC1->DR));
     DMA1_Channel1->CMAR = (uint32_t)(ADC_array);
@@ -104,18 +107,19 @@ uint16_t getADCval(int nch){
     PIX_SORT(p[4], p[2]) ;
 #undef PIX_SORT
 #undef PIX_SWAP
+    DBG("nch="); printu(nch); USB_sendstr("; data="); printu(p[4]); newline();
     return p[4];
 }
 
 // get voltage @input nch (V)
-float getADCvoltage(uint16_t ADCval){
+float getADCvoltage(int nch){
-    float v = (float)ADCval * 3.3;
+    float v = getADCval(nch) * 3.3f;
     return v/4096.f; // 12bit ADC
 }
 
 // return MCU temperature (degrees of celsius)
 float getMCUtemp(){
-    float temperature = ADC_array[ADC_TSENS] - (float) *TEMP30_CAL_ADDR;
+    float temperature = getADCval(ADC_TSENS) - (float) *TEMP30_CAL_ADDR;
     temperature *= (110.f - 30.f);
     temperature /= (float)(*TEMP110_CAL_ADDR - *TEMP30_CAL_ADDR);
     temperature += 30.f;

F3:F303/CANbus4BTA/adc.h

@@ -33,4 +33,4 @@
 void adc_setup();
 float getMCUtemp();
 uint16_t getADCval(int nch);
-float getADCvoltage(uint16_t ADCval);
+float getADCvoltage(int nch);

F3:F303/CANbus4BTA/can.c

@@ -24,10 +24,16 @@
 #include "strfunc.h"
 #include "usb.h"
 
+#ifdef EBUG
+#undef EBUG
+#endif
+
 // PD1 - Tx, PD0 - Rx !!!
 
 #include <string.h> // memcpy
 
+uint8_t cansniffer = 0; // 0 - receive only 0 and myID, 1 - receive all
+
 // circular buffer for  received messages
 static CAN_message messages[CAN_INMESSAGE_SIZE];
 static uint8_t first_free_idx = 0;    // index of first empty cell
@@ -45,8 +51,9 @@ static CAN_message loc_flood_msg;
 static CAN_message *flood_msg = NULL; // == loc_flood_msg - to flood
 
 CAN_status CAN_get_status(){
-    int st = can_status;
+    CAN_status st = can_status;
-    can_status = CAN_OK;
+    //can_status = CAN_OK;
+    if(st == CAN_FIFO_OVERRUN) can_status = CAN_READY;
     return st;
 }
 
@@ -95,7 +102,7 @@ CAN_message *CAN_messagebuf_pop(){
     return msg;
 }
 
-void CAN_reinit(uint16_t speed){
+void CAN_reinit(uint32_t speed){
     CAN->TSR |= CAN_TSR_ABRQ0 | CAN_TSR_ABRQ1 | CAN_TSR_ABRQ2;
     RCC->APB1RSTR |= RCC_APB1RSTR_CANRST;
     RCC->APB1RSTR &= ~RCC_APB1RSTR_CANRST;
@@ -127,8 +134,8 @@ so if TBS1=4 and TBS2=3, sum=8, bit sampling freq is 36/8 = 4.5MHz
 // GPIO configured in hw_setup
 void CAN_setup(uint32_t speed){
     if(speed == 0) speed = oldspeed;
-    else if(speed < 50) speed = 50;
+    else if(speed < CAN_MIN_SPEED) speed = CAN_MIN_SPEED;
-    else if(speed > 3000) speed = 3000;
+    else if(speed > CAN_MAX_SPEED) speed = CAN_MAX_SPEED;
     uint32_t tmout = 10000;
     /* Enable the peripheral clock CAN */
     RCC->APB1ENR |= RCC_APB1ENR_CANEN;
@@ -141,7 +148,7 @@ void CAN_setup(uint32_t speed){
     /* (6) Wait the init mode leaving */
     /* (7) Enter filter init mode, (16-bit + mask, bank 0 for FIFO 0) */
     /* (8) Acivate filter 0 for two IDs */
-    /* (9) Identifier list mode */
+    /* (9)  Identifier mode for bank#0, mask mode for #1  */
     /* (10) Set the Id list */
     /* (12) Leave filter init */
     /* (13) Set error interrupts enable (& bus off) */
@@ -151,21 +158,28 @@ void CAN_setup(uint32_t speed){
     if(tmout==0){ DBG("timeout!\n");}
     CAN->MCR &=~ CAN_MCR_SLEEP; /* (3) */
     CAN->MCR |= CAN_MCR_ABOM; /* allow automatically bus-off */
-
+    CAN->BTR =  2 << 20 | 3 << 16 | (((uint32_t)4500000UL)/speed - 1); //| CAN_BTR_SILM | CAN_BTR_LBKM; /* (4) */
-    CAN->BTR =  2 << 20 | 3 << 16 | (4500000/speed - 1); //| CAN_BTR_SILM | CAN_BTR_LBKM; /* (4) */
+    oldspeed = ((uint32_t)4500000UL)/(uint32_t)((CAN->BTR & CAN_BTR_BRP) + 1);
-    oldspeed = 4500000/((CAN->BTR & CAN_BTR_BRP) + 1);
     CAN->MCR &= ~CAN_MCR_INRQ; /* (5) */
     tmout = 10000;
     while(CAN->MSR & CAN_MSR_INAK) /* (6) */
         if(--tmout == 0) break;
     if(tmout==0){ DBG("timeout!\n");}
-    // accept ALL
+    // accept only 0 & ID or ALL depending on `cansniffer` value
     CAN->FMR = CAN_FMR_FINIT; /* (7) */
-    CAN->FA1R = CAN_FA1R_FACT0 | CAN_FA1R_FACT1; /* (8) */
+    CAN->FA1R = CAN_FA1R_FACT0; /* (8) */
-    // set to 1 all needed bits of CAN->FFA1R to switch given filters to FIFO1
+    CAN->FM1R = CAN_FM1R_FBM0; /* (9) */
-    CAN->sFilterRegister[0].FR1 = (1<<21)|(1<<5); // all odd IDs
+    // CAN->FSCx = 0 -> dual 16-bit scale configuration
-    CAN->FFA1R = 2; // filter 1 for FIFO1, filter 0 - for FIFO0
+    // filter 0 for FIFO0
-    CAN->sFilterRegister[1].FR1 = (1<<21); // all even IDs
+    CAN->sFilterRegister[0].FR1 = the_conf.CANID << 5; // (10) CANID and 0
+    if(cansniffer){ /* (11) */
+        CAN->FA1R |= CAN_FA1R_FACT1; // activate filter1
+        CAN->sFilterRegister[1].FR1 = 0; // all packets
+        // mask mode, all odd and even IDs
+        //CAN->sFilterRegister[1].FR1 = (1<<21)|(1<<5); // all odd IDs, mask mode
+        //CAN->sFilterRegister[1].FR2 = (1<<21)|(0<<5); // all even IDs, mask mode
+        CAN->FFA1R = 2; // filter 1 for FIFO1
+    }
     CAN->FMR &= ~CAN_FMR_FINIT; /* (12) */
     CAN->IER |= CAN_IER_ERRIE | CAN_IER_FOVIE0 | CAN_IER_FOVIE1 | CAN_IER_BOFIE; /* (13) */
 
@@ -180,6 +194,15 @@ void CAN_setup(uint32_t speed){
     can_status = CAN_READY;
 }
 
+/**
+ * @brief CAN_sniffer - reconfigure CAN in sniffer or normal mode
+ * @param issniffer - ==0 for normal mode
+ */
+void CAN_sniffer(uint8_t issniffer){
+    cansniffer = issniffer;
+    CAN_reinit(0);
+}
+
 void CAN_printerr(){
     if(!last_err_code) last_err_code = CAN->ESR;
     if(!last_err_code){
@@ -228,14 +251,9 @@ void CAN_proc(){
     }
     IWDG->KR = IWDG_REFRESH;
     if(CAN->ESR & (CAN_ESR_BOFF | CAN_ESR_EPVF | CAN_ESR_EWGF)){ // much errors - restart CAN BUS
-        USB_sendstr("\nToo much errors, restarting CAN!\n");
+        USB_sendstr("error=canbuserr\n");
         CAN_printerr();
-        // request abort for all mailboxes
+        CAN_reinit(0);
-        CAN->TSR |= CAN_TSR_ABRQ0 | CAN_TSR_ABRQ1 | CAN_TSR_ABRQ2;
-        // reset CAN bus
-        RCC->APB1RSTR |= RCC_APB1RSTR_CANRST;
-        RCC->APB1RSTR &= ~RCC_APB1RSTR_CANRST;
-        CAN_setup(0);
     }
     static uint32_t lastFloodTime = 0;
     static uint32_t incrmessagectr = 0;
@@ -255,11 +273,17 @@ CAN_status CAN_send(CAN_message *message){
     uint8_t *msg = message->data;
     uint8_t len = message->length;
     uint16_t target_id = message->ID;
-    uint8_t mailbox = 0;
+    uint8_t mailbox = 0xff;
     // check first free mailbox
-    if(CAN->TSR & (CAN_TSR_TME)){
+    uint32_t Tstart = Tms;
-        mailbox = (CAN->TSR & CAN_TSR_CODE) >> 24;
+    while(Tms - Tstart < SEND_TIMEOUT_MS/10){
-    }else{ // no free mailboxes
+        IWDG->KR = IWDG_REFRESH;
+        if(CAN->TSR & (CAN_TSR_TME)){
+            mailbox = (CAN->TSR & CAN_TSR_CODE) >> 24;
+            break;
+        }
+    }
+    if(mailbox == 0xff){// no free mailboxes
 #ifdef EBUG
         USB_sendstr("No free mailboxes\n");
 #endif
@@ -336,9 +360,13 @@ TRUE_INLINE void parseCANcommand(CAN_message *msg){
     msg->ID = the_conf.CANID; // set own ID for broadcast messages
     // check PING
     if(msg->length != 0) run_can_cmd(msg);
-    int N = 1000;
+    uint32_t Tstart = Tms;
-    while(CAN_BUSY == CAN_send(msg))
+    while(Tms - Tstart < SEND_TIMEOUT_MS){
-        if(--N == 0) break;
+        if(CAN_OK == CAN_send(msg)) return;
+        IWDG->KR = IWDG_REFRESH;
+    }
+    // TODO: buzzer error can't send
+    USB_sendstr("error=canbusy\n");
 }
 
 static void can_process_fifo(uint8_t fifo_num){
@@ -354,6 +382,7 @@ static void can_process_fifo(uint8_t fifo_num){
         // CAN_RDTxR: (16-31) - timestamp, (8-15) - filter match index, (0-3) - data length
         /* TODO: check filter match index if more than one ID can receive */
         CAN_message msg;
+        bzero(&msg, sizeof(msg));
         uint8_t *dat = msg.data;
         uint8_t len = box->RDTR & 0x0f;
         msg.length = len;
@@ -389,7 +418,7 @@ static void can_process_fifo(uint8_t fifo_num){
             }
         }
         if(msg.ID == the_conf.CANID || msg.ID == 0) parseCANcommand(&msg);
-        if(CAN_messagebuf_push(&msg)) return; // error: buffer is full, try later
+        if(cansniffer && CAN_messagebuf_push(&msg)) return; // error: buffer is full, try later
         *RFxR |= CAN_RF0R_RFOM0; // release fifo for access to next message
     }
     //if(*RFxR & CAN_RF0R_FULL0) *RFxR &= ~CAN_RF0R_FULL0;

F3:F303/CANbus4BTA/can.h

@@ -20,14 +20,21 @@
 
 #include <stdint.h>
 
+// min/max speeds in bps
+#define CAN_MAX_SPEED   ((uint32_t)3000000UL)
+#define CAN_MIN_SPEED   ((uint32_t)9600UL)
+
 // amount of filter banks in STM32F0
-#define STM32F0FBANKNO      28
+#define STM32F0FBANKNO      (28)
 // flood period in milliseconds
-#define FLOOD_PERIOD_MS     5
+#define FLOOD_PERIOD_MS     (5)
+// wait to send not more tnah
+#define SEND_TIMEOUT_MS     (100)
 
 // incoming message buffer size
 #define CAN_INMESSAGE_SIZE  (8)
 extern uint32_t floodT;
+extern uint8_t cansniffer;
 
 // CAN message
 typedef struct{
@@ -47,8 +54,9 @@ typedef enum{
 
 CAN_status CAN_get_status();
 
-void CAN_reinit(uint16_t speed);
+void CAN_reinit(uint32_t speed);
 void CAN_setup(uint32_t speed);
+void CAN_sniffer(uint8_t issniffer);
 
 CAN_status CAN_send(CAN_message *message);
 void CAN_proc();

F3:F303/CANbus4BTA/commonfunctions.c

@@ -49,7 +49,7 @@ static errcodes mcut(CAN_message *msg){
 // get ADC raw values
 static errcodes adcraw(CAN_message *msg){
     FIXDL(msg);
-    register uint8_t no = msg->data[2] & ~SETTER_FLAG;
+    uint8_t no = msg->data[2] & ~SETTER_FLAG;
     if(no >= NUMBER_OF_ADC_CHANNELS) return ERR_BADPAR;
     *(uint32_t*)&msg->data[4] = getADCval(no);
     return ERR_OK;
@@ -57,7 +57,7 @@ static errcodes adcraw(CAN_message *msg){
 // get ADC voltage
 static errcodes adcv(CAN_message *msg){
     FIXDL(msg);
-    register uint8_t no = msg->data[2] & ~SETTER_FLAG;
+    uint8_t no = msg->data[2] & ~SETTER_FLAG;
     if(no >= ADC_TSENS) return ERR_BADPAR;
     float v = getADCvoltage(no) * the_conf.adcmul[no] * 100.f;
     *(uint32_t*)&msg->data[4] = (uint32_t) v; // or float??
@@ -67,7 +67,7 @@ static errcodes adcv(CAN_message *msg){
 static errcodes canspeed(CAN_message *msg){
     if(ISSETTER(msg->data)){
         uint32_t spd = *(uint32_t*)&msg->data[4];
-        CAN_setup(spd);
+        CAN_reinit(spd);
         the_conf.CANspeed = CAN_speed();
     }else FIXDL(msg);
     *(uint32_t*)&msg->data[4] = CAN_speed();
@@ -77,7 +77,7 @@ static errcodes canspeed(CAN_message *msg){
 static errcodes canid(CAN_message *msg){
     if(ISSETTER(msg->data)){
         the_conf.CANID = *(uint32_t*)&msg->data[4];
-        // CAN_setup(0); // setup with new ID
+        CAN_reinit(0); // setup with new ID
     }else FIXDL(msg);
     *(uint32_t*)&msg->data[4] = the_conf.CANID;
     return ERR_OK;
@@ -121,7 +121,7 @@ static const commonfunction funclist[CMD_AMOUNT] = {
     [CMD_MCUTEMP] = {mcut, 0, 0, 0},
     [CMD_ADCRAW] = {adcraw, 0, 0, 3}, // need parno: 0..4
     [CMD_ADCV] = {adcv, 0, 0, 3}, // need parno: 0..3
-    [CMD_CANSPEED] = {canspeed, 50, 3000, 0},
+    [CMD_CANSPEED] = {canspeed, CAN_MIN_SPEED, CAN_MAX_SPEED, 0},
     [CMD_CANID] = {canid, 1, 0x7ff, 0},
     [CMD_ADCMUL] = {adcmul, 0, 0, 3}, // at least parno
     [CMD_SAVECONF] = {saveconf, 0, 0, 0},
@@ -148,33 +148,39 @@ void run_can_cmd(CAN_message *msg){
     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;
+    //for(int i = msg->length-1; i < 8; ++i) msg->data[i] = 0;
     newline();
 #endif
     if(datalen < 2){
-        FORMERR(data, ERR_WRONGLEN);
+        FORMERR(msg, ERR_WRONGLEN);
         return;
     }
     uint16_t idx = *(uint16_t*)data;
     if(idx >= CMD_AMOUNT || funclist[idx].fn == NULL){ // bad command index
-        FORMERR(data, ERR_BADCMD);
+        FORMERR(msg, ERR_BADCMD); return;
-        return;
     }
     // check minimal length (2 or 3)
     if(funclist[idx].datalen > datalen){
-        FORMERR(data, ERR_WRONGLEN); return;
+        FORMERR(msg, ERR_WRONGLEN); return;
     }
     if(datalen > 3 && (data[2] & SETTER_FLAG)){
         // check setter's length
-        if(datalen != 8){ FORMERR(data, ERR_WRONGLEN); return; }
+        if(datalen != 8){ FORMERR(msg, ERR_WRONGLEN); return; }
         // check setter's values
         if(funclist[idx].maxval != funclist[idx].minval){
             int32_t newval = *(int32_t*)&data[4];
             if(newval < funclist[idx].minval || newval > funclist[idx].maxval){
-                FORMERR(data, ERR_BADVAL); return;
+                FORMERR(msg, ERR_BADVAL); return;
             }
         }
     }
     data[3] = funclist[idx].fn(msg); // set error field as result of function
     data[2] &= ~SETTER_FLAG; // and clear setter flag
+#ifdef EBUG
+    DBG("Return data: ");
+    for(int i = 0; i < msg->length; ++i){
+        USB_sendstr(uhex2str(msg->data[i])); USB_putbyte(' ');
+    }
+    newline();
+#endif
 }

F3:F303/CANbus4BTA/flash.c

@@ -35,8 +35,8 @@ static uint32_t maxCnum = 1024 / sizeof(user_conf); // can't use blocksize here
      .userconf_sz = sizeof(user_conf)       \
     ,.CANspeed = 100000                     \
     ,.CANID = 0xaa                          \
-    ,.adcmul[0] = 1.f                       \
+    ,.adcmul[0] = 10.930f                   \
-    ,.adcmul[1] = 1.f                       \
+    ,.adcmul[1] = 2.028f                    \
     ,.adcmul[2] = 1.f                       \
     ,.adcmul[3] = 1.f                       \
     }
@@ -145,12 +145,11 @@ static int write2flash(const void *start, const void *wrdata, uint32_t stor_size
 // erase Nth page of flash storage (flash should be prepared!)
 static int erase_pageN(int N){
     int ret = 0;
-#ifdef EBUG
-    USB_sendstr("Erase block #"); printu(N); newline();
-#endif
     FLASH->AR = (uint32_t)Flash_Data + N*FLASH_blocksize;
     FLASH->CR |= FLASH_CR_STRT;
-    while(FLASH->SR & FLASH_SR_BSY) IWDG->KR = IWDG_REFRESH;
+    uint32_t xx = 100000;
+    while((FLASH->SR & FLASH_SR_BSY) && --xx) IWDG->KR = IWDG_REFRESH;
+    if(xx == 0) return 1;
     FLASH->SR = FLASH_SR_EOP;
     if(FLASH->SR & FLASH_SR_WRPERR){ /* Check Write protection error */
         ret = 1;
@@ -167,8 +166,9 @@ int erase_storage(int npage){
         flsz = FLASH_SIZE * 1024; // size in bytes
         flsz -= (uint32_t)Flash_Data - FLASH_BASE;
     }
+    DBG("total free blocks: "); printu(flsz / FLASH_blocksize);
     end = flsz / FLASH_blocksize;
-    if(end == 0 || end >= FLASH_SIZE) return 1;
+    if(end == 0) return 1;
     if(npage > -1){ // erase only one page
         if((uint32_t)npage >= end) return 1;
         start = npage;
@@ -184,12 +184,15 @@ int erase_storage(int npage){
     while(FLASH->SR & FLASH_SR_BSY) IWDG->KR = IWDG_REFRESH;
     FLASH->SR = FLASH_SR_EOP | FLASH_SR_PGERR | FLASH_SR_WRPERR;
     FLASH->CR |= FLASH_CR_PER;
+    __disable_irq();
     for(uint32_t i = start; i < end; ++i){
+        IWDG->KR = IWDG_REFRESH;
         if(erase_pageN(i)){
             ret = 1;
             break;
         }
     }
+    __enable_irq();
     FLASH->CR &= ~FLASH_CR_PER;
     return ret;
 }

F3:F303/CANbus4BTA/flash.h

@@ -33,8 +33,8 @@
  */
 typedef struct __attribute__((packed, aligned(4))){
     uint16_t userconf_sz;           // "magick number"
-    uint32_t CANspeed;              // default CAN speed
     uint16_t CANID;                 // identifier
+    uint32_t CANspeed;              // default CAN speed
     float adcmul[ADC_TSENS];        // ADC voltage multipliers
 } user_conf;
 

F3:F303/CANbus4BTA/hardware.c

@@ -19,13 +19,41 @@
 #include "adc.h"
 #include "hardware.h"
 #include "usart.h"
+#include "usbhw.h"
+
+#ifndef EBUG
+TRUE_INLINE void iwdg_setup(){
+    uint32_t tmout = 16000000;
+    /* Enable the peripheral clock RTC */
+    /* (1) Enable the LSI (40kHz) */
+    /* (2) Wait while it is not ready */
+    RCC->CSR |= RCC_CSR_LSION; /* (1) */
+    while((RCC->CSR & RCC_CSR_LSIRDY) != RCC_CSR_LSIRDY){if(--tmout == 0) break;} /* (2) */
+    /* Configure IWDG */
+    /* (1) Activate IWDG (not needed if done in option bytes) */
+    /* (2) Enable write access to IWDG registers */
+    /* (3) Set prescaler by 64 (1.6ms for each tick) */
+    /* (4) Set reload value to have a rollover each 2s */
+    /* (5) Check if flags are reset */
+    /* (6) Refresh counter */
+    IWDG->KR = IWDG_START; /* (1) */
+    IWDG->KR = IWDG_WRITE_ACCESS; /* (2) */
+    IWDG->PR = IWDG_PR_PR_1; /* (3) */
+    IWDG->RLR = 1250; /* (4) */
+    tmout = 16000000;
+    while(IWDG->SR){if(--tmout == 0) break;} /* (5) */
+    IWDG->KR = IWDG_REFRESH; /* (6) */
+}
+#endif
 
 static inline void gpio_setup(){
     RCC->AHBENR |= RCC_AHBENR_GPIOAEN | RCC_AHBENR_GPIOBEN | RCC_AHBENR_GPIOCEN;
     // PWM - AF1 @PA7; USB - alternate function 14 @ pins PA11/PA12; USART1 = AF7 @PA9/10; SWD - AF0 @PA13/14
     GPIOA->AFR[0] = AFRf(1, 7);
     GPIOA->AFR[1] = AFRf(7, 9) | AFRf(7, 10) | AFRf(14, 11) | AFRf(14, 12);
-    // USART1: PA10(Rx), PA9(Tx); USB - PA11, PA12; SWDIO - PA13, PA14;
+    // PA4 - din (PU in), USART1: PA10(Rx, pullup), PA9(Tx); USB - PA11, PA12; SWDIO - PA13, PA14; PA8 & PA15 - PU in
+    GPIOA->PUPDR = (GPIOA->PUPDR & PUPD_CLR(4) & PUPD_CLR(8) & PUPD_CLR(10) & PUPD_CLR(15)) |
+                   PUPD_PU(4) | PUPD_PU(8) | PUPD_PU(10) | PUPD_PU(15);
     GPIOA->MODER = MODER_AI(0)  | MODER_AI(1)  | MODER_AI(2)  | MODER_AI(3)  | MODER_I(4)   | MODER_O(5)   |
                    MODER_O(6)   | MODER_AF(7)  | MODER_I(8)   | MODER_AF(9)  | MODER_AF(10) | MODER_AF(11) |
                    MODER_AF(12) | MODER_AF(13) | MODER_AF(14) | MODER_I(15);
@@ -33,6 +61,8 @@ static inline void gpio_setup(){
     // SPI for SSI: AF5 @PB3, PB4; I2C1: AF4 @PB6, PB7; CAN: AF9 @PB8, PB9; SPI2: AF5 @PB12..PB15
     GPIOB->AFR[0] = AFRf(5, 3) | AFRf(5, 4) | AFRf(4, 6) | AFRf(4, 7);
     GPIOB->AFR[1] = AFRf(9, 8) | AFRf(9, 9) | AFRf(5, 12) | AFRf(5, 13) | AFRf(5, 14) | AFRf(5, 15);
+    // PB10,11 - PU in
+    GPIOB->PUPDR = PUPD_PU(10) | PUPD_PU(11);
     GPIOB->MODER = MODER_O(0)   | MODER_O(1)   | MODER_O(2)  | MODER_AF(3) | MODER_AF(4)  | MODER_AF(6)  | MODER_AF(7) |
                    MODER_AF(8)  | MODER_AF(9)  | MODER_I(10) | MODER_I(11) | MODER_AF(12) | MODER_AF(13) |
                    MODER_AF(14) | MODER_AF(15);
@@ -44,5 +74,10 @@ static inline void gpio_setup(){
 void hw_setup(){
     gpio_setup();
     adc_setup();
+    //usart_setup(); - power it on only for encoders on RS-422
+    USB_setup();
+#ifndef EBUG
+    iwdg_setup();
+#endif
 }
 

F3:F303/CANbus4BTA/main.c

@@ -31,6 +31,21 @@ void sys_tick_handler(void){
     ++Tms;
 }
 
+TRUE_INLINE void showCANmessages(){
+    CAN_message *can_mesg = NULL;
+    while((can_mesg = CAN_messagebuf_pop())){
+        IWDG->KR = IWDG_REFRESH;
+        printu(Tms);
+        USB_sendstr(" #");
+        printuhex(can_mesg->ID);
+        for(int ctr = 0; ctr < can_mesg->length; ++ctr){
+            USB_putbyte(' ');
+            printuhex(can_mesg->data[ctr]);
+        }
+        newline();
+    }
+}
+
 int main(void){
     char inbuff[MAXSTRLEN+1];
     USBPU_OFF();
@@ -42,26 +57,31 @@ int main(void){
     }
     flashstorage_init();
     hw_setup();
-    usart_setup();
-    USB_setup();
     CAN_setup(the_conf.CANspeed);
     USBPU_ON();
     while(1){
+        IWDG->KR = IWDG_REFRESH;
         CAN_proc();
-        if(CAN_get_status() == CAN_FIFO_OVERRUN){
+        CAN_status stat = CAN_get_status();
+        if(stat == CAN_FIFO_OVERRUN){
             USB_sendstr("CAN bus fifo overrun occured!\n");
+            // TODO: buzzer short
+        }else if(stat == CAN_ERR){
+            // TODO: buzzer errors
+            CAN_reinit(0);
         }
-        if(bufovr){
+        if(cansniffer) showCANmessages();
+        /*if(bufovr){
             bufovr = 0;
-            usart_send("bufovr\n");
+            USB_sendstr("error=uartoverflow\n");
-        }
+        }*/
         char *txt = NULL;
         if(usart_getline(&txt)){
             const char *ans = run_text_cmd(txt);
             if(ans) usart_send(ans);
         }
         int l = USB_receivestr(inbuff, MAXSTRLEN);
-        if(l < 0) USB_sendstr("error=overflow\n");
+        if(l < 0) USB_sendstr("error=usboverflow\n");
         else if(l){
             const char *ans = run_text_cmd(inbuff);
             if(ans) USB_sendstr(ans);

F3:F303/CANbus4BTA/proto.h

@@ -35,7 +35,7 @@
 #define NO_PARNO        (0x1f)
 
 // make error for CAN answer
-#define FORMERR(data, err) do{data[3] = err;}while(0)
+#define FORMERR(m, err) do{m->data[3] = err; if(m->length < 4) m->length = 4;}while(0)
 
 // error codes for answer message
 typedef enum{

F3:F303/CANbus4BTA/textfunctions.c

@@ -19,6 +19,7 @@
 #include <string.h>
 #include <strings.h>
 
+#include "can.h"
 #include "commonfunctions.h"
 #include "flash.h"
 #include "proto.h"
@@ -32,10 +33,12 @@
 
 // text-only commans indexes (0 is prohibited)
 typedef enum{
-    TCMD_PROHIBITED
+    TCMD_PROHIBITED,    // prohibited
-    ,TCMD_WDTEST
+    TCMD_WDTEST,        // test watchdog
-    ,TCMD_DUMPCONF
+    TCMD_DUMPCONF,      // dump configuration
-    ,TCMD_AMOUNT
+    TCMD_CANSNIF,       // CAN sniffer/normal
+    TCMD_CANSEND,       // send CAN message
+    TCMD_AMOUNT
 } text_cmd;
 
 
@@ -47,15 +50,17 @@ typedef struct{
 
 // list of all text functions; should be sorted and can be grouped
 static const funcdescr funclist[] = {
-    {"adcmul", CMD_ADCMUL, "get/set ADC multipliers 0..4 (*1000)"},
+    {"adcmul", CMD_ADCMUL, "get/set ADC multipliers 0..3 (*1000)"},
     {"adcraw", CMD_ADCRAW, "get raw ADC values of channel 0..4"},
     {"adcv", CMD_ADCV,  "get ADC voltage of channel 0..3 (*100V)"},
     {"canid", CMD_CANID, "get/set CAN ID"},
+    {"cansnif", -TCMD_CANSNIF, "get/change sniffer state (0 - normal, 1 - sniffer)"},
     {"canspeed", CMD_CANSPEED, "get/set CAN speed (bps)"},
     {"dumpconf", -TCMD_DUMPCONF, "dump current configuration"},
     {"eraseflash", CMD_ERASESTOR, "erase all flash storage"},
     {"mcutemp", CMD_MCUTEMP, "get MCU temperature (*10degrC)"},
     {"reset", CMD_RESET, "reset MCU"},
+    {"s", -TCMD_CANSEND, "send CAN message: ID 0..8 data bytes"},
     {"saveconf", CMD_SAVECONF, "save configuration"},
     {"time", CMD_TIME, "get/set time (ms)"},
     {"wdtest", -TCMD_WDTEST, "test watchdog"},
@@ -72,9 +77,10 @@ static errcodes wdtest(const char _U_ *str){
 
 static errcodes dumpconf(const char _U_ *str){
 #ifdef EBUG
-    USB_sendstr("flashsize="); printu(FLASH_SIZE); USB_putbyte('*');
+    uint32_t sz = FLASH_SIZE*1024;
-    printu(FLASH_blocksize); USB_putbyte('='); printu(FLASH_SIZE*FLASH_blocksize);
+    USB_sendstr("flashsize="); printu(sz); USB_putbyte('/');
-    newline();
+    printu(FLASH_blocksize); USB_putbyte('='); printu(sz/FLASH_blocksize);
+    USB_sendstr(" blocks\n");
 #endif
     USB_sendstr("userconf_addr="); printuhex((uint32_t)Flash_Data);
     USB_sendstr("\nuserconf_idx="); printi(currentconfidx);
@@ -91,19 +97,75 @@ static errcodes dumpconf(const char _U_ *str){
     return ERR_OK;
 }
 
+static errcodes cansnif(const char *str){
+    uint32_t U;
+    if(str){
+        if(*str == '=') str = omit_spaces(str + 1);
+        const char *nxt = getnum(str, &U);
+        if(nxt != str){ // setter
+            CAN_sniffer((uint8_t)U);
+        }
+    }
+    USB_sendstr("cansnif="); USB_putbyte('0' + cansniffer); newline();
+    return ERR_OK;
+}
+
+static errcodes cansend(const char *txt){
+    CAN_message canmsg;
+    bzero(&canmsg, sizeof(canmsg));
+    int ctr = -1;
+    canmsg.ID = 0xffff;
+    do{
+        txt = omit_spaces(txt);
+        uint32_t N;
+        const char *n = getnum(txt, &N);
+        if(txt == n) break;
+        txt = n;
+        if(ctr == -1){
+            if(N > 0x7ff){
+                return ERR_BADPAR;
+            }
+            canmsg.ID = (uint16_t)(N&0x7ff);
+            ctr = 0;
+            continue;
+        }
+        if(ctr > 7){
+            return ERR_WRONGLEN;
+        }
+        if(N > 0xff){
+            return ERR_BADVAL;
+        }
+        canmsg.data[ctr++] = (uint8_t) N;
+    }while(1);
+    if(canmsg.ID == 0xffff){
+        return ERR_BADPAR;
+    }
+    canmsg.length = (uint8_t) ctr;
+    uint32_t Tstart = Tms;
+    while(Tms - Tstart < SEND_TIMEOUT_MS){
+        if(CAN_OK == CAN_send(&canmsg)){
+            USB_sendstr("OK\n");
+            return ERR_OK;
+        }
+    }
+    return ERR_CANTRUN;
+}
+
 /************ END of all common functions list (for `textfunctions`) ************/
 
 // in `textfn` arg `str` is rest of input string (spaces-omitted) after command
 typedef errcodes (*textfn)(const char *str);
 // array of text-only functions
 static textfn textfunctions[TCMD_AMOUNT] = {
-     [TCMD_PROHIBITED] = NULL
+    [TCMD_PROHIBITED] = NULL,
-    ,[TCMD_WDTEST] = wdtest
+    [TCMD_WDTEST] = wdtest,
-    ,[TCMD_DUMPCONF] = dumpconf
+    [TCMD_DUMPCONF] = dumpconf,
+    [TCMD_CANSNIF] = cansnif,
+    [TCMD_CANSEND] = cansend,
 };
 
-static char stbuf[256], *bptr = NULL;
+static char stbuf[256], *bptr = stbuf;
-static int blen = 0;
+static int blen = 255;
 static void initbuf(){bptr = stbuf; blen = 255; *bptr = 0;}
 static void bufputchar(char c){
     if(blen == 0) return;
@@ -111,6 +173,7 @@ static void bufputchar(char c){
     *bptr = 0;
 }
 static void add2buf(const char *s){
+    if(!s) return;
     while(blen && *s){
         *bptr++ = *s++;
         --blen;
@@ -121,7 +184,7 @@ static void add2buf(const char *s){
 static void printhelp(){
     const funcdescr *c = funclist;
     USB_sendstr("https://github.com/eddyem/stm32samples/tree/master/F3:F303/CANbus4BTA build#" BUILD_NUMBER " @ " BUILD_DATE "\n");
-    USB_sendstr("commands format: parameter[number][=setter]");
+    USB_sendstr("commands format: parameter[number][=setter]\n");
     USB_sendstr("parameter [CAN idx] - help\n");
     USB_sendstr("--------------------------\n");
     while(c->help){
@@ -168,9 +231,10 @@ static void errtext(errcodes e){
  * WARNING! Sending help works only for USB!
  */
 char *run_text_cmd(const char *str){
+    if(!str || !*str) goto ret;
     char cmd[MAXCMDLEN + 1];
     errcodes ecode = ERR_BADCMD;
-    if(!str || !*str) goto ret;
+    initbuf();
     int idx = CMD_AMOUNT;
     const funcdescr *c = funclist;
     int l = 0;
@@ -185,13 +249,13 @@ char *run_text_cmd(const char *str){
             idx = c->idx;
             break;
         }
+        ++c;
     }
     if(idx == CMD_AMOUNT){ // didn't found
         // send help over USB
         printhelp();
         goto ret;
     }
-    initbuf();
     str = omit_spaces(ptr);
     if(idx < 0){ // text-only function
         ecode = textfunctions[-idx](str);
@@ -216,6 +280,7 @@ char *run_text_cmd(const char *str){
     }
     str = omit_spaces(str);
     if(*str == '='){ // setter
+        ++str;
         ptr = getint(str, ((int32_t*)&data[4]));
         if(str == ptr){
             ecode = ERR_BADVAL;
@@ -234,7 +299,7 @@ ret:
         if(msg.length != 8){
             return "OK\n"; // non setters/getters will just print "OK" if all OK
         }else{
-            add2buf(funclist[idx].cmd);
+            add2buf(cmd);
             data[2] &= ~SETTER_FLAG;
             if(data[2] != NO_PARNO) add2buf(u2str(data[2]));
             bufputchar('=');

F3:F303/CANbus4BTA/usb.c

@@ -25,11 +25,11 @@
 static volatile uint8_t usbbuff[USB_TXBUFSZ]; // temporary buffer for sending data
 // ring buffers for incoming and outgoing data
 static uint8_t obuf[RBOUTSZ], ibuf[RBINSZ];
-volatile ringbuffer rbout = {.data = obuf, .length = RBOUTSZ, .head = 0, .tail = 0};
+static volatile ringbuffer rbout = {.data = obuf, .length = RBOUTSZ, .head = 0, .tail = 0};
-volatile ringbuffer rbin = {.data = ibuf, .length = RBINSZ, .head = 0, .tail = 0};
+volatile ringbuffer rbin = {.data = ibuf, .length = RBINSZ, .head = 0, .tail = 0}; // used in usblib.c
 // transmission is succesfull
-volatile uint8_t bufisempty = 1;
+static volatile uint8_t bufisempty = 1;
-volatile uint8_t bufovrfl = 0;
+volatile uint8_t bufovrfl = 0; // used in usblib.c
 
 void send_next(){
     if(bufisempty) return;

F3:F303/CANbus4BTA/usb.h

@@ -37,8 +37,8 @@
 #define DBG(str)
 #endif
 
-extern volatile ringbuffer rbout, rbin;
+extern volatile ringbuffer /* rbout, */ rbin;
-extern volatile uint8_t bufisempty, bufovrfl;
+extern volatile uint8_t /* bufisempty, */ bufovrfl;
 
 void send_next();
 int USB_sendall();
@@ -48,10 +48,8 @@ int USB_sendstr(const char *string);
 int USB_receive(uint8_t *buf, int len);
 int USB_receivestr(char *buf, int len);
 
-#ifdef EBUG
 #include "strfunc.h"
 #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)
-#endif

F3:F303/CANbus4BTA/version.inc

@@ -1,2 +1,2 @@
-#define BUILD_NUMBER "22"
+#define BUILD_NUMBER "56"
-#define BUILD_DATE "2024-01-07"
+#define BUILD_DATE "2024-01-08"

makefile.stm32

@@ -47,7 +47,7 @@ LIB_DIR		:= $(INC_DIR)/ld
 
 ###############################################################################
 # C flags
-CFLAGS		+= -O2 -D__thumb2__=1 -MD
+CFLAGS		+= -D__thumb2__=1 -MD
 CFLAGS		+= -Wall -Wextra -Wshadow -Wdouble-promotion
 CFLAGS		+= -fshort-enums -ffunction-sections -fdata-sections
 #CFLAGS		+= -fno-common -fno-stack-protector
@@ -91,12 +91,12 @@ endif
 BUILDDATE := $(shell date +%Y-%m-%d)
 
 # release: add LTO
-release: CFLAGS += -flto
+release: CFLAGS += -O2 -flto
 release: LDFLAGS += -flto
 release: $(TARGFILE) bin list size
 
 #debug: add debug flags
-debug: CFLAGS += -DEBUG -Werror -g3 -gdwarf-2
+debug: CFLAGS += -O0 -DEBUG -Werror -g3 -gdwarf-2
 debug: TARGET := DEBUG
 debug: $(TARGFILE) bin list size
 
@@ -123,6 +123,7 @@ $(VERSION_FILE): *.[ch]
 	@[ -f $(VERSION_FILE) ] || echo -e "#define BUILD_NUMBER \"0\"\n#define BUILD_DATE \"none\"" > $(VERSION_FILE)
 	@echo "  Generate version: $(NEXTVER) for date $(BUILDDATE)"
 	@sed -i "s/#define BUILD_NUMBER.*/#define BUILD_NUMBER \"$(NEXTVER)\"/" $(VERSION_FILE)
+	@sed -i "s/#define BUILDNO.*/#define BUILDNO $(NEXTVER)/" $(VERSION_FILE)
 	@sed -i "s/#define BUILD_DATE.*/#define BUILD_DATE \"$(BUILDDATE)\"/" $(VERSION_FILE)
 
 $(OBJDIR)/proto.o: proto.c $(VERSION_FILE)