From 3697adba415df3afc225e156806a23e0dfa817d8 Mon Sep 17 00:00:00 2001
From: Edward Emelianov <eddy@sao.ru>
Date: Fri, 16 Jan 2026 15:04:03 +0300
Subject: [PATCH] add nocheck flags

---
 F3:F303/Multistepper/Readme.md                |   4 +-
 F3:F303/Multistepper/commonproto.c            |   3 +
 F3:F303/Multistepper/flash.c                  |   2 +-
 F3:F303/Multistepper/flash.h                  |   4 +-
 F3:F303/Multistepper/hardware.h               |   1 +
 F3:F303/Multistepper/multistepper.bin         | Bin 27392 -> 27808 bytes
 .../Multistepper/multistepper.creator.user    |  58 +++++++++++++----
 F3:F303/Multistepper/proto.c                  |   4 +-
 F3:F303/Multistepper/steppers.c               |  61 +++++++++++-------
 F3:F303/Multistepper/version.inc              |   4 +-
 10 files changed, 97 insertions(+), 44 deletions(-)

diff --git a/F3:F303/Multistepper/Readme.md b/F3:F303/Multistepper/Readme.md
index de880a4..282129a 100644
--- a/F3:F303/Multistepper/Readme.md
+++ b/F3:F303/Multistepper/Readme.md
@@ -398,11 +398,11 @@ Dump motor flags' bits (for `motflagsN`) and reaction to limit switches (`eswrea
 
     Motor flags:
     bit0 - 0: reverse - invert motor's rotation
-    bit1 - 1: [reserved]
+    bit1 - 1: nocheck - don't check driver for errors
     bit2 - 2: [reserved]
     bit3 - 3: donthold - clear motor's power after stop
     bit4 - 4: eswinv - inverse end-switches (1->0 instead of 0->1)
-    bit5 - 5: [reserved]
+    bit5 - 5: nodiag - don't check DIAG output
     bit6 - 6,7: drvtype - driver type (0 - only step/dir, 1 - UART, 2 - SPI, 3 - reserved)
     End-switches reaction:
     0 - ignore both end-switches
diff --git a/F3:F303/Multistepper/commonproto.c b/F3:F303/Multistepper/commonproto.c
index 1ad292d..7674ab8 100644
--- a/F3:F303/Multistepper/commonproto.c
+++ b/F3:F303/Multistepper/commonproto.c
@@ -89,6 +89,7 @@ errcodes cu_button(uint8_t par, int32_t *val){
 
 errcodes cu_diagn(uint8_t par, int32_t *val){
     uint8_t n = PARBASE(par);
+    uint8_t oldstate = DIAGMULCUR();
 #if MOTORSNO > 8
 #error "Change this code!"
 #endif
@@ -99,10 +100,12 @@ errcodes cu_diagn(uint8_t par, int32_t *val){
             n |= motdiagn(i);
         }
         *val = n;
+        DIAGMUL(oldstate);
         return ERR_OK;
     }
     CHECKN(n, par);
     *val = motdiagn(n);
+    DIAGMUL(oldstate);
     return ERR_OK;
 }
 
diff --git a/F3:F303/Multistepper/flash.c b/F3:F303/Multistepper/flash.c
index f1a667a..22f2f5d 100644
--- a/F3:F303/Multistepper/flash.c
+++ b/F3:F303/Multistepper/flash.c
@@ -32,7 +32,7 @@ static const uint32_t FLASH_blocksize = (uint32_t)&_BLOCKSIZE;
 // max amount of Config records stored (will be recalculate in flashstorage_init()
 static uint32_t maxCnum = 1024 / sizeof(user_conf); // can't use blocksize here
 
-#define DEFMF   {.donthold = 1, .drvtype = DRVTYPE_UART}
+#define DEFMF   {.donthold = 1, .nodiag = 1, .drvtype = DRVTYPE_UART}
 
 #define USERCONF_INITIALIZER  {             \
      .userconf_sz = sizeof(user_conf)       \
diff --git a/F3:F303/Multistepper/flash.h b/F3:F303/Multistepper/flash.h
index b60a7a7..6b87eee 100644
--- a/F3:F303/Multistepper/flash.h
+++ b/F3:F303/Multistepper/flash.h
@@ -51,11 +51,11 @@ enum{
 // motor flags
 typedef struct{
     uint8_t reverse : 1;        // bit0 - reversing motor rotation
-    uint8_t encreverse : 1;     // bit1 - reversing encoder rotation - NOT USED HERE!!!
+    uint8_t nocheck : 1;        // bit1 - don't check drivers for error state
     uint8_t haveencoder : 1;    // bit2 - have encoder - NOT USED HERE!!!
     uint8_t donthold : 1;       // bit3 - clear power @ stop (don't hold motor when stopped)
     uint8_t eswinv : 1;         // bit4 - inverse end-switches
-    uint8_t keeppos : 1;        // bit5 - keep current position (as servo motor) - NOT USED HERE!!!
+    uint8_t nodiag : 1;         // bit5 - don't check DIAG output
     uint8_t drvtype : 2;        // bits 6,7 - driver type (0 - only step/dir, 1 - UART, 2 - SPI, 3 - reserved)
 } motflags_t;
 
diff --git a/F3:F303/Multistepper/hardware.h b/F3:F303/Multistepper/hardware.h
index c0456eb..aa81743 100644
--- a/F3:F303/Multistepper/hardware.h
+++ b/F3:F303/Multistepper/hardware.h
@@ -87,6 +87,7 @@ extern const uint32_t   EXTpins[EXTNO];
 // DIAG output of motors (PE2) & its multiplexer (PE3 - 0, PE4 - 1, PE5 - 2)
 #define DIAG()          (GPIOE->IDR & (1<<2) ? 0 : 1)
 #define DIAGMUL(x)      do{ register uint32_t v = x&7; GPIOE->BSRR = (v | (((~v)&7)<<16))<<3; }while(0)
+#define DIAGMULCUR()    ((GPIOE->ODR >> 3) & 7)
 
 extern volatile TIM_TypeDef *mottimers[MOTORSNO];
 
diff --git a/F3:F303/Multistepper/multistepper.bin b/F3:F303/Multistepper/multistepper.bin
index 1d82208bdb212a59e07ae1f386fd144f0fd72706..3c06885df9231208a019be87ecbfceb9f24d3e5c 100755
GIT binary patch
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diff --git a/F3:F303/Multistepper/multistepper.creator.user b/F3:F303/Multistepper/multistepper.creator.user
index 702d3dd..96a4cd7 100644
--- a/F3:F303/Multistepper/multistepper.creator.user
+++ b/F3:F303/Multistepper/multistepper.creator.user
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 15.0.1, 2025-02-06T16:30:11. -->
+<!-- Written by QtCreator 18.0.1, 2026-01-16T15:01:28. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>
@@ -13,8 +13,8 @@
  <data>
   <variable>ProjectExplorer.Project.EditorSettings</variable>
   <valuemap type="QVariantMap">
+   <value type="bool" key="EditorConfiguration.AutoDetect">true</value>
    <value type="bool" key="EditorConfiguration.AutoIndent">true</value>
-   <value type="bool" key="EditorConfiguration.AutoSpacesForTabs">false</value>
    <value type="bool" key="EditorConfiguration.CamelCaseNavigation">true</value>
    <valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.0">
     <value type="QString" key="language">Cpp</value>
@@ -86,12 +86,14 @@
     <valuelist type="QVariantList" key="ClangTools.SuppressedDiagnostics"/>
     <value type="bool" key="ClangTools.UseGlobalSettings">true</value>
    </valuemap>
+   <value type="int" key="RcSync">0</value>
   </valuemap>
  </data>
  <data>
   <variable>ProjectExplorer.Project.Target.0</variable>
   <valuemap type="QVariantMap">
    <value type="QString" key="DeviceType">Desktop</value>
+   <value type="bool" key="HasPerBcDcs">true</value>
    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Desktop</value>
    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Desktop</value>
    <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{91347f2c-5221-46a7-80b1-0a054ca02f79}</value>
@@ -109,8 +111,8 @@
       <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericMakeStep</value>
      </valuemap>
      <value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
-     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Сборка</value>
-     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Сборка</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Build</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Build</value>
      <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Build</value>
     </valuemap>
     <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.1">
@@ -122,8 +124,8 @@
       <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericMakeStep</value>
      </valuemap>
      <value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
-     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Очистка</value>
-     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Очистка</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Clean</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Clean</value>
      <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Clean</value>
     </valuemap>
     <value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">2</value>
@@ -133,13 +135,48 @@
     <valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.UserEnvironmentChanges"/>
     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">По умолчанию</value>
     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericBuildConfiguration</value>
+    <value type="qlonglong" key="ProjectExplorer.Target.ActiveDeployConfiguration">0</value>
+    <value type="qlonglong" key="ProjectExplorer.Target.ActiveRunConfiguration">0</value>
+    <valuemap type="QVariantMap" key="ProjectExplorer.Target.DeployConfiguration.0">
+     <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
+      <value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">0</value>
+      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Deploy</value>
+      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Deploy</value>
+      <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Deploy</value>
+     </valuemap>
+     <value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">1</value>
+     <valuemap type="QVariantMap" key="ProjectExplorer.DeployConfiguration.CustomData"/>
+     <value type="bool" key="ProjectExplorer.DeployConfiguration.CustomDataEnabled">false</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.DefaultDeployConfiguration</value>
+    </valuemap>
+    <value type="qlonglong" key="ProjectExplorer.Target.DeployConfigurationCount">1</value>
+    <valuemap type="QVariantMap" key="ProjectExplorer.Target.RunConfiguration.0">
+     <value type="bool" key="Analyzer.Perf.Settings.UseGlobalSettings">true</value>
+     <value type="bool" key="Analyzer.QmlProfiler.Settings.UseGlobalSettings">true</value>
+     <value type="int" key="Analyzer.Valgrind.Callgrind.CostFormat">0</value>
+     <value type="bool" key="Analyzer.Valgrind.Settings.UseGlobalSettings">true</value>
+     <value type="QList&lt;int&gt;" key="Analyzer.Valgrind.VisibleErrorKinds"></value>
+     <valuelist type="QVariantList" key="CustomOutputParsers"/>
+     <value type="int" key="PE.EnvironmentAspect.Base">2</value>
+     <valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
+     <value type="bool" key="PE.EnvironmentAspect.PrintOnRun">false</value>
+     <value type="QString" key="PerfRecordArgsId">-e cpu-cycles --call-graph dwarf,4096 -F 250</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.CustomExecutableRunConfiguration</value>
+     <value type="QString" key="ProjectExplorer.RunConfiguration.BuildKey"></value>
+     <value type="bool" key="ProjectExplorer.RunConfiguration.Customized">false</value>
+     <value type="QString" key="ProjectExplorer.RunConfiguration.UniqueId"></value>
+     <value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
+     <value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
+    </valuemap>
+    <value type="qlonglong" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
    </valuemap>
    <value type="qlonglong" key="ProjectExplorer.Target.BuildConfigurationCount">1</value>
    <valuemap type="QVariantMap" key="ProjectExplorer.Target.DeployConfiguration.0">
     <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
      <value type="qlonglong" key="ProjectExplorer.BuildStepList.StepsCount">0</value>
-     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Развёртывание</value>
-     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Развёртывание</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Deploy</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Deploy</value>
      <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Deploy</value>
     </valuemap>
     <value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">1</value>
@@ -163,6 +200,7 @@
     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.CustomExecutableRunConfiguration</value>
     <value type="QString" key="ProjectExplorer.RunConfiguration.BuildKey"></value>
     <value type="bool" key="ProjectExplorer.RunConfiguration.Customized">false</value>
+    <value type="QString" key="ProjectExplorer.RunConfiguration.UniqueId"></value>
     <value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
     <value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
    </valuemap>
@@ -173,10 +211,6 @@
   <variable>ProjectExplorer.Project.TargetCount</variable>
   <value type="qlonglong">1</value>
  </data>
- <data>
-  <variable>ProjectExplorer.Project.Updater.FileVersion</variable>
-  <value type="int">22</value>
- </data>
  <data>
   <variable>Version</variable>
   <value type="int">22</value>
diff --git a/F3:F303/Multistepper/proto.c b/F3:F303/Multistepper/proto.c
index 6035741..68385ed 100644
--- a/F3:F303/Multistepper/proto.c
+++ b/F3:F303/Multistepper/proto.c
@@ -407,11 +407,11 @@ int fn_reset(uint32_t _U_ hash,  char _U_ *args){ // "reset" (1907803304)
 
 static const char* motfl[MOTFLAGS_AMOUNT] = {
     "0: reverse - invert motor's rotation",
-    "1: [reserved]",
+    "1: nocheck - don't check driver for errors",
     "2: [reserved]",
     "3: donthold - clear motor's power after stop",
     "4: eswinv - inverse end-switches (1->0 instead of 0->1)",
-    "5: [reserved]",
+    "5: nodiag - don't check DIAG output",
     "6,7: drvtype - driver type (0 - only step/dir, 1 - UART, 2 - SPI, 3 - reserved)"
 };
 static const char *eswfl[ESW_AMOUNT] = {
diff --git a/F3:F303/Multistepper/steppers.c b/F3:F303/Multistepper/steppers.c
index fda2a9f..bbd530f 100644
--- a/F3:F303/Multistepper/steppers.c
+++ b/F3:F303/Multistepper/steppers.c
@@ -325,38 +325,48 @@ void addmicrostep(uint8_t i){
 static void chkstepper(int i){
     int32_t i32;
     static uint8_t stopctr[MOTORSNO] = {0}; // counters for encoders/position zeroing after stopping @ esw
-    // check DIAGN only for UART/SPI
-    if(the_conf.motflags[i].drvtype == DRVTYPE_UART || the_conf.motflags[i].drvtype == DRVTYPE_SPI){
-        if(motdiagn(i) && state[i] != STP_ERR){ // error occured - DIAGN is low
-            //DBG("Oldstate: "); USB_putbyte('0' + state[i]); newline();
-            /*char Nm = '0'+i;
-            USB_sendstr(STR_STATE); USB_putbyte(Nm); USB_sendstr("=6\n");
+    char Nch = '0' + i;
+    // check driver status only for UART/SPI
+    if(!the_conf.motflags[i].nocheck){
+    if(state[i] != STP_ERR && (the_conf.motflags[i].drvtype == DRVTYPE_UART || the_conf.motflags[i].drvtype == DRVTYPE_SPI)){
+        if(the_conf.motflags[i].nodiag){ // check by pdn-uart
+            uint32_t u32;
             switch(the_conf.motflags[i].drvtype){
                 case DRVTYPE_UART:
                     pdnuart_setmotno(i);
                     if(pdnuart_readreg(TMC2209Reg_GSTAT, &u32)){
-                        USB_sendstr("GSTAT"); USB_putbyte(Nm); USB_putbyte('=');
-                        USB_sendstr(u2str(u32)); newline();
-                    }
-                    if(pdnuart_readreg(TMC2209Reg_DRV_STATUS, &u32)){
-                        USB_sendstr("DRV_STATUS"); USB_putbyte(Nm); USB_putbyte('=');
-                        USB_sendstr(u2str(u32)); newline();
+                        TMC2209_gstat_reg_t s;
+                        s.value = u32;
+                        if(s.drv_err || s.uv_cp){
+                            if(pdnuart_readreg(TMC2209Reg_DRV_STATUS, &u32)){
+                                //TMC2209_drv_status_reg_t d;
+                                //d.value = u32;
+                                USB_sendstr("DRV_STATUS"); USB_putbyte(Nch);
+                                USB_putbyte('='); USB_sendstr(u2str(u32));
+                                newline();
+                            }
+                            USB_sendstr("state"); USB_putbyte(Nch);
+                            USB_sendstr("=6\n");
+                            emstopmotor(i);
+                            state[i] = STP_ERR;
+                        }
                     }
                 break;
                 default:
                 break;
-            }*/
+            }
+        }else if(DIAG()){ // error occured - DIAGN is low
             emstopmotor(i);
             state[i] = STP_ERR;
             return;
         }
-    }
+    }}
 #ifdef EBUG
     if(stp[i]){
         stp[i] = 0;
         // motor state could be changed outside of interrupt, so return it to relax
         state[i] = STP_RELAX;
-        USB_sendstr("MOTOR"); USB_putbyte('0'+i); USB_sendstr(" stop @"); printi(stppos[i]);
+        USB_sendstr("MOTOR"); USB_putbyte(Nch); USB_sendstr(" stop @"); printi(stppos[i]);
         USB_sendstr(", V="); printu(curspeed[i]);
         USB_sendstr(", curstate="); printu(state[i]); newline();
     }
@@ -368,7 +378,7 @@ static void chkstepper(int i){
                 curspeed[i] = the_conf.maxspd[i];
                 state[i] = STP_MOVE;
 #ifdef EBUG
-                USB_sendstr("MOTOR"); USB_putbyte('0'+i);
+                USB_sendstr("MOTOR"); USB_putbyte(Nch);
                 USB_sendstr("  -> MOVE@"); printi(stppos[i]); USB_sendstr(", V="); printu(curspeed[i]); newline();
 #endif
             }else{ // increase speed
@@ -407,7 +417,7 @@ static void chkstepper(int i){
                 curspeed[i] = the_conf.minspd[i];
                 state[i] = STP_MVSLOW;
 #ifdef EBUG
-                USB_sendstr("MOTOR"); USB_putbyte('0'+i);
+                USB_sendstr("MOTOR"); USB_putbyte(Nch);
                 USB_sendstr("  -> MVSLOW@"); printi(stppos[i]); newline();
 #endif
             }
@@ -420,7 +430,7 @@ static void chkstepper(int i){
         case M0FAST:
             if(state[i] == STP_RELAX || state[i] == STP_STALL){ // stopped -> move to +
 #ifdef EBUG
-                USB_putbyte('M'); USB_putbyte('0'+i); USB_sendstr("FAST: motor stopped\n");
+                USB_putbyte('M'); USB_putbyte(Nch); USB_sendstr("FAST: motor stopped\n");
 #endif
                 if(ERR_OK != motor_relslow(i, 1000)){
 #ifdef EBUG
@@ -443,7 +453,7 @@ static void chkstepper(int i){
             }
             if((state[i] == STP_RELAX || state[i] == STP_STALL) && ++stopctr[i] > 5){ // wait at least 50ms
 #ifdef EBUG
-                USB_putbyte('M'); USB_putbyte('0'+i); USND("SLOW: motor stopped");
+                USB_putbyte('M'); USB_putbyte(Nch); USND("SLOW: motor stopped");
 #endif
                 ESW_reaction[i] = the_conf.ESW_reaction[i];
                 prevstppos[i] = targstppos[i] = stppos[i] = 0;
@@ -489,15 +499,20 @@ void stopmotor(uint8_t i){
     TODECEL();
 }
 
+// process only one stepper per run
 void process_steppers(){
     static uint32_t Tlast = 0;
-    if(Tms - Tlast < MOTCHKINTERVAL) return; // hit every 10ms
+    if(Tms - Tlast < MOTCHKINTERVAL / MOTORSNO) return; // hit every ~10ms for full circle
     Tlast = Tms;
     static int firstrun = 1;
-    if(firstrun){ firstrun = 0; init_steppers(); return; }
-    for(int i = 0; i < MOTORSNO; ++i){
+    if(firstrun){ firstrun = 0; init_steppers(); DIAGMUL(0); return; }
+    static int curmotno = 0;
+    chkstepper(curmotno++);
+    if(curmotno == MOTORSNO) curmotno = 0;
+    DIAGMUL(curmotno);
+    /*for(int i = 0; i < MOTORSNO; ++i){
         chkstepper(i);
-    }
+    }*/
 }
 
 uint8_t geteswreact(uint8_t i){
diff --git a/F3:F303/Multistepper/version.inc b/F3:F303/Multistepper/version.inc
index 1ccd19b..592d71c 100644
--- a/F3:F303/Multistepper/version.inc
+++ b/F3:F303/Multistepper/version.inc
@@ -1,2 +1,2 @@
-#define BUILD_NUMBER "202"
-#define BUILD_DATE "2025-04-16"
+#define BUILD_NUMBER "205"
+#define BUILD_DATE "2026-01-16"