From 59d8f8f515088da01b7ffb3269512a7449b84063 Mon Sep 17 00:00:00 2001
From: Edward Emelianov <edward.emelianoff@gmail.com>
Date: Fri, 24 Feb 2023 23:29:34 +0300
Subject: [PATCH] fixed bugs in multistepper: eeprom in flash + adc, tested on
 TMC2130, but don't work on TMC2230

---
 F0:F030,F042,F072/3steppersLB/flash.c    |   4 +-
 F3:F303/Multistepper/adc.c               |   7 +-
 F3:F303/Multistepper/commonproto.c       |  18 +++--
 F3:F303/Multistepper/flash.c             |  93 +++++++++++++----------
 F3:F303/Multistepper/flash.h             |   2 +-
 F3:F303/Multistepper/hardware.c          |  27 ++++---
 F3:F303/Multistepper/hardware.h          |  13 ++--
 F3:F303/Multistepper/hashgen/hdr.c       |   5 ++
 F3:F303/Multistepper/hashgen/hdr.h       |   1 +
 F3:F303/Multistepper/hashgen/helpcmds.in |   3 +-
 F3:F303/Multistepper/hashgen/testdic     |   1 +
 F3:F303/Multistepper/main.c              |   7 +-
 F3:F303/Multistepper/multistepper.bin    | Bin 26096 -> 28340 bytes
 F3:F303/Multistepper/proto.c             |  34 +++++++--
 F3:F303/Multistepper/steppers.c          |  75 +++++++-----------
 F3:F303/Multistepper/steppers.h          |   6 +-
 F3:F303/Multistepper/usb.h               |   2 +-
 F3:F303/Multistepper/version.inc         |   4 +-
 18 files changed, 172 insertions(+), 130 deletions(-)

diff --git a/F0:F030,F042,F072/3steppersLB/flash.c b/F0:F030,F042,F072/3steppersLB/flash.c
index 43a1d20..bef6a36 100644
--- a/F0:F030,F042,F072/3steppersLB/flash.c
+++ b/F0:F030,F042,F072/3steppersLB/flash.c
@@ -175,10 +175,10 @@ static int erase_flash(const void *start, const void *end){
         FLASH->AR = (uint32_t)Flash_Data + i * blocksize;
         FLASH->CR |= FLASH_CR_STRT;
         while(FLASH->SR & FLASH_SR_BSY) IWDG->KR = IWDG_REFRESH;
-        FLASH->SR |= FLASH_SR_EOP;
+        FLASH->SR = FLASH_SR_EOP;
         if(FLASH->SR & FLASH_SR_WRPRTERR){
             ret = 1;
-            FLASH->SR |= FLASH_SR_WRPRTERR;
+            FLASH->SR = FLASH_SR_WRPRTERR;
             break;
         }
     }
diff --git a/F3:F303/Multistepper/adc.c b/F3:F303/Multistepper/adc.c
index d9e8293..8817bc3 100644
--- a/F3:F303/Multistepper/adc.c
+++ b/F3:F303/Multistepper/adc.c
@@ -77,7 +77,7 @@ void adc_setup(){
     // ADC1: channels 1,2,3,4,16,18; ADC2: channels 1,10
     ADC1->SMPR1 = ADC_SMPR1_SMP1 | ADC_SMPR1_SMP2 | ADC_SMPR1_SMP3 | ADC_SMPR1_SMP4;
     ADC1->SMPR2 = ADC_SMPR2_SMP16 | ADC_SMPR2_SMP18;
-    // 4 conversions in group: 1->2->3->4->16->18
+    // 6 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<<0) | (18<<6);
     ADC2->SMPR1 = ADC_SMPR1_SMP1;
@@ -134,8 +134,7 @@ uint16_t getADCval(int nch){
 
 // get voltage @input nch (V)
 float getADCvoltage(int nch){
-    float v = getADCval(nch);
-    v *= getVdd();
+    float v = getADCval(nch) * 3.3;
     v /= 4096.f; // 12bit ADC
 #ifdef EBUG
     DBG("v="); printf(v); newline();
@@ -157,7 +156,7 @@ float getMCUtemp(){
     return(temperature);
 }
 
-// return Vdd (V)
+// return ADC Vref (V)
 float getVdd(){
     float vdd = ((float) *VREFINT_CAL_ADDR) * 3.3f; // 3.3V
     vdd /= getADCval(ADC_VREF);
diff --git a/F3:F303/Multistepper/commonproto.c b/F3:F303/Multistepper/commonproto.c
index 68deeb6..c306fb9 100644
--- a/F3:F303/Multistepper/commonproto.c
+++ b/F3:F303/Multistepper/commonproto.c
@@ -55,17 +55,18 @@ errcodes cu_accel(uint8_t _U_ par, int32_t _U_ *val){
     if(ISSETTER(par)){
         if(*val/the_conf.microsteps[n] > ACCELMAXSTEPS || *val < 1) return ERR_BADVAL;
         the_conf.accel[n] = *val;
+        update_stepper(n);
     }
     *val = the_conf.accel[n];
     return ERR_OK;
 }
 
 static const uint8_t extADCchnl[NUMBER_OF_EXT_ADC_CHANNELS] = {ADC_AIN0, ADC_AIN1, ADC_AIN2, ADC_AIN3};
-// V*10
+// V*100
 errcodes cu_adc(uint8_t par, int32_t *val){
     uint8_t n = PARBASE(par);
     if(n > NUMBER_OF_EXT_ADC_CHANNELS - 1) return ERR_BADPAR;
-    float v = getADCvoltage(extADCchnl[n])*10.f;
+    float v = getADCvoltage(extADCchnl[n])*100.f;
     *val = (int32_t)v;
     return ERR_OK;
 }
@@ -93,7 +94,9 @@ errcodes cu_emstop(uint8_t _U_ par, int32_t _U_ *val){
 
 errcodes cu_eraseflash(uint8_t _U_ par, int32_t _U_ *val){
     NOPARCHK(par);
-    if(erase_storage()) return ERR_CANTRUN;
+    if(ISSETTER(par)){
+        if(erase_storage(*val)) return ERR_BADVAL;
+    }else if(erase_storage(-1)) return ERR_CANTRUN;
     return ERR_OK;
 }
 
@@ -109,6 +112,7 @@ errcodes cu_eswreact(uint8_t _U_ par, int32_t _U_ *val){
     if(ISSETTER(par)){
         if(*val < 0 || *val > ESW_AMOUNT-1) return ERR_BADVAL;
         the_conf.ESW_reaction[n] = *val;
+        update_stepper(n);
     }
     *val = geteswreact(n);
     return ERR_OK;
@@ -188,6 +192,7 @@ errcodes cu_maxspeed(uint8_t _U_ par, int32_t _U_ *val){
     if(ISSETTER(par)){
         if(*val <= the_conf.minspd[n]) return ERR_BADVAL;
         the_conf.maxspd[n] = getSPD(n, *val);
+        update_stepper(n);
     }
     *val = the_conf.maxspd[n];
     return ERR_OK;
@@ -229,6 +234,7 @@ errcodes cu_microsteps(uint8_t _U_ par, int32_t _U_ *val){
         if(m != 1<<MSB(m)) return ERR_BADVAL;
         if(the_conf.maxspd[n] * m > PCLK/(MOTORTIM_PSC+1)/(MOTORTIM_ARRMIN+1)) return ERR_BADVAL;
         the_conf.microsteps[n] = m;
+        update_stepper(n);
     }
     *val = the_conf.microsteps[n];
     return ERR_OK;
@@ -239,6 +245,7 @@ errcodes cu_minspeed(uint8_t _U_ par, int32_t _U_ *val){
     if(ISSETTER(par)){
         if(*val >= the_conf.maxspd[n]) return ERR_BADVAL;
         the_conf.minspd[n] = getSPD(n, *val);
+        update_stepper(n);
     }
     *val = the_conf.minspd[n];
     return ERR_OK;
@@ -248,6 +255,7 @@ errcodes cu_motflags(uint8_t _U_ par, int32_t _U_ *val){
     uint8_t n; CHECKN(n, par);
     if(ISSETTER(par)){
         the_conf.motflags[n] = *((motflags_t*)val);
+        update_stepper(n);
     }
     *(motflags_t*)val = the_conf.motflags[n];
     return ERR_OK;
@@ -334,14 +342,14 @@ errcodes cu_usartstatus(uint8_t _U_ par, int32_t _U_ *val){
 // V*10
 errcodes cu_vdrive(uint8_t par, int32_t _U_ *val){
     NOPARCHK(par);
-    float v = getADCvoltage(ADC_VDRIVE)*100.f;
+    float v = getADCvoltage(ADC_VDRIVE)*1000.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;
+    float v = getADCvoltage(ADC_VFIVE)*200.f;
     *val = (int32_t)v;
     return ERR_OK;
 }
diff --git a/F3:F303/Multistepper/flash.c b/F3:F303/Multistepper/flash.c
index c0dd0b4..d963443 100644
--- a/F3:F303/Multistepper/flash.c
+++ b/F3:F303/Multistepper/flash.c
@@ -46,7 +46,7 @@ static uint32_t maxCnum = 1024 / sizeof(user_conf); // can't use blocksize here
     ,.motflags = {DEFMF,DEFMF,DEFMF,DEFMF,DEFMF,DEFMF,DEFMF,DEFMF} \
     ,.ESW_reaction = {ESW_IGNORE,ESW_IGNORE,ESW_IGNORE,ESW_IGNORE,ESW_IGNORE,ESW_IGNORE,ESW_IGNORE,ESW_IGNORE} \
     }
-static int erase_flash(const void*, const void*);
+
 static int write2flash(const void*, const void*, uint32_t);
 // don't write `static` here, or get error:
 //      'memcpy' forming offset 8 is out of the bounds [0, 4] of object '__varsstart' with type 'uint32_t'
@@ -89,7 +89,7 @@ static int binarySearch(int r, const uint8_t *start, int stor_size){
  */
 void flashstorage_init(){
     if(FLASH_SIZE > 0 && FLASH_SIZE < 20000){
-        uint32_t flsz = FLASH_SIZE * FLASH_blocksize; // size in bytes
+        uint32_t flsz = FLASH_SIZE * 1024; // size in bytes
         flsz -= (uint32_t)(&__varsstart) - FLASH_BASE;
         maxCnum = flsz / sizeof(user_conf);
     }
@@ -107,7 +107,7 @@ int store_userconf(){
     // for binarySearch() checking that there's nothing more after it!
     if(currentconfidx > (int)maxCnum - 3){ // there's no more place
         currentconfidx = 0;
-        if(erase_flash(Flash_Data, NULL)) return 1;
+        if(erase_storage(-1)) return 1;
     }else ++currentconfidx; // take next data position (0 - within first run after firmware flashing)
     return write2flash((const void*)&Flash_Data[currentconfidx], &the_conf, sizeof(the_conf));
 }
@@ -118,65 +118,81 @@ static int write2flash(const void *start, const void *wrdata, uint32_t stor_size
         FLASH->KEYR = FLASH_KEY1;
         FLASH->KEYR = FLASH_KEY2;
     }
-    while(FLASH->SR & FLASH_SR_BSY);
-    if(FLASH->SR & FLASH_SR_WRPERR){
-        return 1; // write protection
-    }
+    while(FLASH->SR & FLASH_SR_BSY) IWDG->KR = IWDG_REFRESH;
     FLASH->SR = FLASH_SR_EOP | FLASH_SR_PGERR | FLASH_SR_WRPERR; // clear all flags
     FLASH->CR |= FLASH_CR_PG;
     const uint16_t *data = (const uint16_t*) wrdata;
     volatile uint16_t *address = (volatile uint16_t*) start;
+    USB_sendstr("Start address="); printuhex((uint32_t)start); newline();
     uint32_t i, count = (stor_size + 1) / 2;
     for(i = 0; i < count; ++i){
         IWDG->KR = IWDG_REFRESH;
         *(volatile uint16_t*)(address + i) = data[i];
-        while (FLASH->SR & FLASH_SR_BSY);
+        while (FLASH->SR & FLASH_SR_BSY) IWDG->KR = IWDG_REFRESH;
+        if(*(volatile uint16_t*)(address + i) != data[i]){
+            USB_sendstr("DON'T MATCH!\n");
+            ret = 1;
+            break;
+        }
+#ifdef EBUG
+        else{ USB_sendstr("Written "); printuhex(data[i]); newline();}
+#endif
         if(FLASH->SR & FLASH_SR_PGERR){
+            USB_sendstr("Prog err\n");
             ret = 1; // program error - meet not 0xffff
             break;
         }
         FLASH->SR = FLASH_SR_EOP | FLASH_SR_PGERR | FLASH_SR_WRPERR;
     }
-    FLASH->CR |= FLASH_CR_LOCK; // lock it back
     FLASH->CR &= ~(FLASH_CR_PG);
     return ret;
 }
 
-/**
- * @brief erase_flash - erase N pages of flash memory
- * @param start  - first address
- * @param end    - last address (or NULL if need to erase all flash remaining)
- * @return 0 if succeed
- */
-static int erase_flash(const void *start, const void *end){
+// erase Nth page of flash storage (flash should be prepared!)
+static int erase_pageN(int N){
     int ret = 0;
-    uint32_t nblocks = 1, flsz = 0;
-    if(!end){ // erase all remaining
-        if(FLASH_SIZE > 0 && FLASH_SIZE < 20000){
-            flsz = FLASH_SIZE * FLASH_blocksize; // size in bytes
-            flsz -= (uint32_t)start - FLASH_BASE;
-        }
-    }else{ // erase a part
-        flsz = (uint32_t)end - (uint32_t)start;
+#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;
+    FLASH->SR = FLASH_SR_EOP;
+    if(FLASH->SR & FLASH_SR_WRPERR){ /* Check Write protection error */
+        ret = 1;
+        FLASH->SR = FLASH_SR_WRPERR; /* Clear the flag by software by writing it at 1*/
+    }
+    return ret;
+}
+
+// erase full storage (npage < 0) or its nth page; @return 0 if all OK
+int erase_storage(int npage){
+    int ret = 0;
+    uint32_t end = 1, start = 0, flsz = 0;
+    if(FLASH_SIZE > 0 && FLASH_SIZE < 20000){
+        flsz = FLASH_SIZE * 1024; // size in bytes
+        flsz -= (uint32_t)Flash_Data - FLASH_BASE;
+    }
+    end = flsz / FLASH_blocksize;
+    if(end == 0 || end >= FLASH_SIZE) return 1;
+    if(npage > -1){ // erase only one page
+        if((uint32_t)npage >= end) return 1;
+        start = npage;
+        end = start + 1;
     }
     if((FLASH->CR & FLASH_CR_LOCK) != 0){
         FLASH->KEYR = FLASH_KEY1;
         FLASH->KEYR = FLASH_KEY2;
     }
-    nblocks = flsz / FLASH_blocksize;
-    if(nblocks == 0 || nblocks >= FLASH_SIZE) return 1;
-    for(uint32_t i = 0; i < nblocks; ++i){
-        IWDG->KR = IWDG_REFRESH;
-        while(FLASH->SR & FLASH_SR_BSY);
-        FLASH->SR = FLASH_SR_EOP | FLASH_SR_PGERR | FLASH_SR_WRPERR;
-        FLASH->CR |= FLASH_CR_PER;
-        FLASH->AR = (uint32_t)Flash_Data + i*FLASH_blocksize;
-        FLASH->CR |= FLASH_CR_STRT;
-        while(FLASH->SR & FLASH_SR_BSY);
-        FLASH->SR = FLASH_SR_EOP;
-        if(FLASH->SR & FLASH_SR_WRPERR){ /* Check Write protection error */
+    /*USB_sendstr("size/block size/nblocks/FLASH_SIZE: "); printu(flsz);
+    USB_putbyte('/'); printu(FLASH_blocksize); USB_putbyte('/');
+    printu(nblocks); USB_putbyte('/'); printu(FLASH_SIZE); newline(); USB_sendall();*/
+    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;
+    for(uint32_t i = start; i < end; ++i){
+        if(erase_pageN(i)){
             ret = 1;
-            FLASH->SR |= FLASH_SR_WRPERR; /* Clear the flag by software by writing it at 1*/
             break;
         }
     }
@@ -184,9 +200,6 @@ static int erase_flash(const void *start, const void *end){
     return ret;
 }
 
-int erase_storage(){
-    return erase_flash(Flash_Data, NULL);
-}
 
 int fn_dumpconf(uint32_t _U_ hash, char _U_ *args){ // "dumpconf" (3271513185)
 #ifdef EBUG
diff --git a/F3:F303/Multistepper/flash.h b/F3:F303/Multistepper/flash.h
index e9523b5..21fcf75 100644
--- a/F3:F303/Multistepper/flash.h
+++ b/F3:F303/Multistepper/flash.h
@@ -72,5 +72,5 @@ extern user_conf the_conf; // global user config (read from FLASH to RAM)
 
 void flashstorage_init();
 int store_userconf();
-int erase_storage();
+int erase_storage(int npage);
 
diff --git a/F3:F303/Multistepper/hardware.c b/F3:F303/Multistepper/hardware.c
index 3523aa5..832826b 100644
--- a/F3:F303/Multistepper/hardware.c
+++ b/F3:F303/Multistepper/hardware.c
@@ -18,6 +18,7 @@
 
 #include "flash.h"
 #include "hardware.h"
+#include "steppers.h"
 
 // Buttons: PA9, PA10, PF6, PD3, PD4, PD5, pullup (active - 0)
 volatile GPIO_TypeDef* const BTNports[BTNSNO] = {GPIOA, GPIOA, GPIOF, GPIOD, GPIOD, GPIOD};
@@ -76,11 +77,11 @@ static IRQn_Type motirqs[MOTORSNO] = {
 uint8_t ESW_state(uint8_t MOTno){
     uint8_t val = 0;
     if(the_conf.isSPI){ // only ESW0 used
-        val = ((ESWports[MOTno][0]->IDR & ESWpins[MOTno][0]) ? 0 : 1);
+        val = ((ESWports[MOTno][0]->IDR & ESWpins[MOTno][0]) ? 1 : 0);
         if(the_conf.motflags[MOTno].eswinv) val ^= 1;
         return val;
     }else for(int i = 0; i < 2; ++i){
-        val |= ((ESWports[MOTno][i]->IDR & ESWpins[MOTno][i]) ? 0 : 1) << i;
+        val |= ((ESWports[MOTno][i]->IDR & ESWpins[MOTno][i]) ? 1 : 0) << i;
     }
     if(the_conf.motflags[MOTno].eswinv) val ^= 3;
     return val;
@@ -221,9 +222,13 @@ static void setup_mpwm(int i){
 }
 
 
+void mottimers_setup(){
+    for(int i = 0; i < MOTORSNO; ++i) setup_mpwm(i);
+}
+
 void hw_setup(){
     gpio_setup();
-    for(int i = 0; i < MOTORSNO; ++i) setup_mpwm(i);
+    mottimers_setup();
 #ifndef EBUG
     iwdg_setup();
 #endif
@@ -232,34 +237,34 @@ void hw_setup(){
 
 // timers for motors: 0:t15c1, 1:t16c1, 2:t17c1, 3:t2ch1, 4:t8ch1, 5:t4c1, 6:t1c1, 7:t3c3
 void tim1_cc_isr(){
-    // addmicrostep(6);
+    addmicrostep(6);
     TIM1->SR = 0;
 }
 void tim2_isr(){
-    // addmicrostep(3);
+    addmicrostep(3);
     TIM2->SR = 0;
 }
 void tim3_isr(){
-    // addmicrostep(7);
+    addmicrostep(7);
     TIM3->SR = 0;
 }
 void tim4_isr(){
-    // addmicrostep(5);
+    addmicrostep(5);
     TIM4->SR = 0;
 }
 void tim8_cc_isr(){
-    // addmicrostep(4);
+    addmicrostep(4);
     TIM8->SR = 0;
 }
 void tim1_brk_tim15_isr(){
-    // addmicrostep(0);
+    addmicrostep(0);
     TIM15->SR = 0;
 }
 void tim1_up_tim16_isr(){
-    // addmicrostep(1);
+    addmicrostep(1);
     TIM16->SR = 0;
 }
 void tim1_trg_com_tim17_isr(){
-    // addmicrostep(2);
+    addmicrostep(2);
     TIM17->SR = 0;
 }
diff --git a/F3:F303/Multistepper/hardware.h b/F3:F303/Multistepper/hardware.h
index ab7f766..41fb937 100644
--- a/F3:F303/Multistepper/hardware.h
+++ b/F3:F303/Multistepper/hardware.h
@@ -20,9 +20,10 @@
 
 #include <stm32f3.h>
 
-// PCLK frequency
+// "PCLK" frequency
+// really APB1=36M -> TIM2/3/4/6/7 f=72M, APB2=72M -> TIM1/8/15/16/17/20 f=72M
 #ifndef PCLK
-#define PCLK    (48000000)
+#define PCLK    (72000000)
 #endif
 
 // motors' timer PSC = PCLK/Tfreq - 1, Tfreq=16MHz
@@ -33,8 +34,10 @@
 // USB pullup: PA8
 #define USBPU_port  GPIOA
 #define USBPU_pin   (1<<8)
-#define USBPU_ON()  pin_clear(USBPU_port, USBPU_pin)
-#define USBPU_OFF() pin_set(USBPU_port, USBPU_pin)
+//#define USBPU_ON()  pin_clear(USBPU_port, USBPU_pin)
+//#define USBPU_OFF() pin_set(USBPU_port, USBPU_pin)
+#define USBPU_ON()  pin_set(USBPU_port, USBPU_pin)
+#define USBPU_OFF() pin_clear(USBPU_port, USBPU_pin)
 
 // temporary LED: PD9
 #define LED_blink() pin_toggle(GPIOD, 1<<9)
@@ -86,4 +89,4 @@ extern volatile uint32_t Tms;
 uint8_t ESW_state(uint8_t MOTno);
 uint8_t MSB(uint16_t val);
 void hw_setup();
-
+void mottimers_setup();
diff --git a/F3:F303/Multistepper/hashgen/hdr.c b/F3:F303/Multistepper/hashgen/hdr.c
index 4896a8b..5cd0e95 100644
--- a/F3:F303/Multistepper/hashgen/hdr.c
+++ b/F3:F303/Multistepper/hashgen/hdr.c
@@ -54,6 +54,8 @@ int fn_dumperr(_U_ uint32_t hash,  _U_ char *args) WAL; // "dumperr" (1223989764
 
 int fn_dumpmotflags(_U_ uint32_t hash,  _U_ char *args) WAL; // "dumpmotflags" (36159640)
 
+int fn_dumpstates(_U_ uint32_t hash,  _U_ char *args) WAL; // "dumpstates" (4235564367)
+
 int fn_emstop(_U_ uint32_t hash,  _U_ char *args) WAL; // "emstop" (2965919005)
 
 int fn_eraseflash(_U_ uint32_t hash,  _U_ char *args) WAL; // "eraseflash" (3177247267)
@@ -205,6 +207,9 @@ int parsecmd(const char *str){
         case CMD_DUMPMOTFLAGS:
             return fn_dumpmotflags(h, args);
         break;
+        case CMD_DUMPSTATES:
+            return fn_dumpstates(h, args);
+        break;
         case CMD_EMSTOP:
             return fn_emstop(h, args);
         break;
diff --git a/F3:F303/Multistepper/hashgen/hdr.h b/F3:F303/Multistepper/hashgen/hdr.h
index e3e41c7..23349d8 100644
--- a/F3:F303/Multistepper/hashgen/hdr.h
+++ b/F3:F303/Multistepper/hashgen/hdr.h
@@ -35,6 +35,7 @@ int parsecmd(const char *cmdwargs);
 #define CMD_DUMPCONF        (3271513185)
 #define CMD_DUMPERR         (1223989764)
 #define CMD_DUMPMOTFLAGS    (36159640)
+#define CMD_DUMPSTATES      (4235564367)
 #define CMD_EMSTOP          (2965919005)
 #define CMD_ERASEFLASH      (3177247267)
 #define CMD_ESW             (2963094612)
diff --git a/F3:F303/Multistepper/hashgen/helpcmds.in b/F3:F303/Multistepper/hashgen/helpcmds.in
index 6b0f843..6d45092 100644
--- a/F3:F303/Multistepper/hashgen/helpcmds.in
+++ b/F3:F303/Multistepper/hashgen/helpcmds.in
@@ -20,8 +20,9 @@
     "dumpcmd - dump command codes\n"
     "dumpconf - dump current configuration\n"
     "dumpmotflags - dump motor flags' bits\n"
+    "dumpstates - dump motors' state codes\n"
     "emstop[N] - emergency stop motor N or all\n"
-    "eraseflash - erase flash data storage\n"
+    "eraseflash [=N] - erase flash data storage (full or only N'th page of it)\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"
diff --git a/F3:F303/Multistepper/hashgen/testdic b/F3:F303/Multistepper/hashgen/testdic
index eace749..7407ab0 100644
--- a/F3:F303/Multistepper/hashgen/testdic
+++ b/F3:F303/Multistepper/hashgen/testdic
@@ -20,6 +20,7 @@ dumperr
 dumpcmd
 dumpconf
 dumpmotflags
+dumpstates
 emstop
 eraseflash
 esw
diff --git a/F3:F303/Multistepper/main.c b/F3:F303/Multistepper/main.c
index 1dcaab7..9570776 100644
--- a/F3:F303/Multistepper/main.c
+++ b/F3:F303/Multistepper/main.c
@@ -22,6 +22,7 @@
 #include "flash.h"
 #include "hardware.h"
 #include "proto.h"
+#include "steppers.h"
 #include "usb.h"
 
 #define MAXSTRLEN    RBINSZ
@@ -40,9 +41,10 @@ int main(void){
         StartHSI();
         SysTick_Config((uint32_t)48000); // 1ms
     }
-    //flashstorage_init();
-    hw_setup(); // GPIO, ADC, timers, watchdog etc.
     USBPU_OFF(); // make a reconnection
+    flashstorage_init();
+    hw_setup(); // GPIO, ADC, timers, watchdog etc.
+    init_steppers();
     USB_setup();
     CAN_setup(the_conf.CANspeed);
     adc_setup();
@@ -57,6 +59,7 @@ int main(void){
         }
         CAN_proc();
         USB_proc();
+        process_steppers();
         if(CAN_get_status() == CAN_FIFO_OVERRUN){
             USB_sendstr("CAN bus fifo overrun occured!\n");
         }
diff --git a/F3:F303/Multistepper/multistepper.bin b/F3:F303/Multistepper/multistepper.bin
index e9e644e8919cdbf750a0474163f46f9f4baa0c47..3864bcf21539c52ae904875b56a6d41c8742a99e 100755
GIT binary patch
delta 14724
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diff --git a/F3:F303/Multistepper/proto.c b/F3:F303/Multistepper/proto.c
index dd35300..092ca56 100644
--- a/F3:F303/Multistepper/proto.c
+++ b/F3:F303/Multistepper/proto.c
@@ -448,6 +448,24 @@ int fn_dumperr(uint32_t _U_ hash,  char _U_ *args){ // "dumperr" (1223989764)
     return RET_GOOD;
 }
 
+static const char* motstates[STP_STATE_AMOUNT] = {
+    [STP_RELAX] = "relax",
+    [STP_ACCEL] = "acceleration",
+    [STP_MOVE] = "moving",
+    [STP_MVSLOW] = "moving at lowest speed",
+    [STP_DECEL] = "deceleration",
+    [STP_STALL] = "stalled (not used here!)",
+    [STP_ERR] = "error"
+};
+int fn_dumpstates(uint32_t _U_ hash,  char _U_ *args){ // "dumpstates" (4235564367)
+    USND("Motor's state codes:");
+    for(int i = 0; i < STP_STATE_AMOUNT; ++i){
+        printu(i); USB_sendstr(" - ");
+        USB_sendstr(motstates[i]); newline();
+    }
+    return RET_GOOD;
+}
+
 int fn_canid(uint32_t _U_ hash, char *args){ // "canid" (2040257924)
     if(args && *args){
         int good = FALSE;
@@ -481,13 +499,13 @@ static int canusb_function(uint32_t hash, char *args){
                 return RET_GOOD;
             }
             par = (uint8_t) N;
-            n = strchr(n, '=');
-            if(n){
-                const char *nxt = getnum(n+1, &N);
-                if(nxt != n){ // give flag issetter
-                    val = (int32_t) N;
-                    par |= SETTERFLAG;
-                }
+        }
+        n = strchr(n, '=');
+        if(n){
+            ++n;
+            const char *nxt = getint(n, &val);
+            if(nxt != n){ // set setter flag
+                par |= SETTERFLAG;
             }
         }
     }
@@ -521,7 +539,7 @@ static int canusb_function(uint32_t hash, char *args){
             USB_putbyte('='); USB_sendstr(u2str(getADCval(par)));
             f = getADCvoltage(par);
             USB_sendstr("\nADCv");USB_putbyte('0'+par);
-            USB_putbyte('='); USB_sendstr(float2str(f, 1));
+            USB_putbyte('='); USB_sendstr(float2str(f, 2));
             newline();
             return RET_GOOD;
         break;
diff --git a/F3:F303/Multistepper/steppers.c b/F3:F303/Multistepper/steppers.c
index 634bacf..53a9487 100644
--- a/F3:F303/Multistepper/steppers.c
+++ b/F3:F303/Multistepper/steppers.c
@@ -30,22 +30,12 @@ typedef enum{
     M0SLOW          // slowest move from ESW
 } mvto0state;
 
-typedef enum{
-    STALL_NO,       // moving OK
-    STALL_ONCE,     // Nstalled < limit
-    STALL_STOP      // Nstalled >= limit
-} t_stalled;
-
 #ifdef EBUG
 static uint8_t stp[MOTORSNO] = {0};
 #endif
 
-static t_stalled stallflags[MOTORSNO];
-
 // motors' direction: 1 for positive, -1 for negative (we need it as could be reverse)
 static int8_t motdir[MOTORSNO];
-// direction of moving when stalled (forbid moving in that direction before go out of position)
-static int8_t stalleddir[MOTORSNO] = {0};
 // current position (in steps) by STP counter
 static volatile int32_t stppos[MOTORSNO] = {0};
 // previous position when check (set to current in start of moving)
@@ -67,8 +57,6 @@ static stp_state state[MOTORSNO];
 // move to zero state
 static mvto0state mvzerostate[MOTORSNO];
 
-static int8_t Nstalled[MOTORSNO] = {0}; // counter of STALL
-
 // lowest ARR value (highest speed), highest (lowest speed)
 //static uint16_t stphighARR[MOTORSNO];
 // microsteps=1<<ustepsshift
@@ -88,20 +76,26 @@ TRUE_INLINE void recalcARR(int i){
     curspeed[i] = (((PCLK/(MOTORTIM_PSC+1)) / (ARR+1)) >> ustepsshift[i]); // recalculate speed due to new val
 }
 
+// update stepper's settings
+void update_stepper(uint8_t i){
+    if(i >= MOTORSNO) return;
+    accdecsteps[i] = (the_conf.maxspd[i] * the_conf.maxspd[i]) / the_conf.accel[i] / 2;
+    ustepsshift[i] = MSB(the_conf.microsteps[i]);
+    ESW_reaction[i] = the_conf.ESW_reaction[i];
+}
+
 // run this function after each steppers parameters changing
 void init_steppers(){
+    mottimers_setup(); // reinit timers
     // init variables
     for(int i = 0; i < MOTORSNO; ++i){
-        stalleddir[i] = 0; // clear old stall direction
         stopflag[i] = 0;
         motdir[i] = 0;
         curspeed[i] = 0;
-        accdecsteps[i] = (the_conf.maxspd[i] * the_conf.maxspd[i]) / the_conf.accel[i] / 2;
         state[i] = STP_RELAX;
-        ustepsshift[i] = MSB(the_conf.microsteps[i]);
         if(!the_conf.motflags[i].donthold) MOTOR_EN(i);
         else MOTOR_DIS(i);
-        ESW_reaction[i] = the_conf.ESW_reaction[i];
+        update_stepper(i);
     }
 }
 
@@ -176,7 +170,7 @@ static int esw_block(uint8_t i){
             break;
             case ESW_STOPMINUS: // stop only @ given direction
                 if(motdir[i] == -1 && (s & 1)) ret = TRUE; // stop @ESW0
-                if(motdir[i] == 1 && (s & 3)) ret = TRUE; // stop @ESW1
+                if(motdir[i] == 1 && (s & 2)) ret = TRUE; // stop @ESW1
             break;
             default: // ESW_IGNORE
             break;
@@ -194,11 +188,6 @@ errcodes motor_absmove(uint8_t i, int32_t newpos){
         case STP_RELAX:
         break;
         case STP_STALL:
-            DBG("Move from STALL");
-            if(dir == stalleddir[i]){
-                DBG("Move to stalled direction!");
-                return ERR_CANTRUN; // can't run into stalled direction
-            }
         break;
         default: // moving state
             DBG("Is moving");
@@ -213,7 +202,6 @@ errcodes motor_absmove(uint8_t i, int32_t newpos){
         DBG("Block by ESW");
         return ERR_CANTRUN; // on end-switch
     }
-    Nstalled[i] = (state[i] == STP_STALL) ? -(NSTALLEDMAX*4) : 0; // give some more chances to go out of stall state
     stopflag[i] = 0;
     targstppos[i] = newpos;
     prevstppos[i] = stppos[i];
@@ -221,10 +209,10 @@ errcodes motor_absmove(uint8_t i, int32_t newpos){
     state[i] = STP_ACCEL;
     calcacceleration(i);
 #ifdef EBUG
-    USND("MOTOR"); USB_putbyte('0'+i);
-    USND(" targstppos="); printi(targstppos[i]);
-    USND(", decelstart="); printi(decelstartpos[i]);
-    USND(", accdecsteps="); printu(accdecsteps[i]); newline();
+    USB_sendstr("MOTOR"); USB_putbyte('0'+i);
+    USB_sendstr(" targstppos="); printi(targstppos[i]);
+    USB_sendstr(", decelstart="); printi(decelstartpos[i]);
+    USB_sendstr(", accdecsteps="); printu(accdecsteps[i]); newline();
 #endif
     MOTOR_EN(i);
     mottimers[i]->CR1 |= TIM_CR1_CEN; // start timer
@@ -288,12 +276,7 @@ void addmicrostep(uint8_t i){
             stopflag[i] = 0;
             if(the_conf.motflags[i].donthold)
                 MOTOR_DIS(i); // turn off power
-            if(stallflags[i] == STALL_STOP){
-                stallflags[i] = STALL_NO;
-                state[i] = STP_STALL;
-            }else{
-                state[i] = STP_RELAX;
-            }
+            state[i] = STP_RELAX;
 #ifdef EBUG
             stp[i] = 1;
 #endif
@@ -305,8 +288,8 @@ void addmicrostep(uint8_t i){
 #define TODECEL() do{state[i] = STP_DECEL;  \
         startspeed[i] = curspeed[i];        \
         Taccel[i] = Tms;                    \
-        USND("MOTOR"); USB_putbyte('0'+i);   \
-        USND("  -> DECEL@"); printi(stppos[i]); USND(", V="); printu(curspeed[i]); newline(); \
+        USB_sendstr("MOTOR"); USB_putbyte('0'+i);   \
+        USB_sendstr("  -> DECEL@"); printi(stppos[i]); USB_sendstr(", V="); printu(curspeed[i]); newline(); \
         }while(0)
 #else
 #define TODECEL() do{state[i] = STP_DECEL;  \
@@ -322,22 +305,22 @@ static void chkstepper(int i){
 #ifdef EBUG
     if(stp[i]){
         stp[i] = 0;
-        // motor state could be changed outside of interrupt, so return it to relax or leave in STALL
+        // motor state could be changed outside of interrupt, so return it to relax
         state[i] = STP_RELAX;
-        USND("MOTOR"); USB_putbyte('0'+i); USND(" stop @"); printi(stppos[i]);
-        USND(", curstate="); printu(state[i]); newline();
+        USB_sendstr("MOTOR"); USB_putbyte('0'+i); USB_sendstr(" stop @"); printi(stppos[i]);
+        USB_sendstr(", V="); printu(curspeed[i]);
+        USB_sendstr(", curstate="); printu(state[i]); newline();
     }
 #endif
     switch(state[i]){
         case STP_ACCEL: // acceleration to max speed
-            //newspeed = curspeed[i] + dV[i];
             i32 = the_conf.minspd[i] + (the_conf.accel[i] * (Tms - Taccel[i])) / 1000;
             if(i32 >= the_conf.maxspd[i]){ // max speed reached -> move with it
                 curspeed[i] = the_conf.maxspd[i];
                 state[i] = STP_MOVE;
 #ifdef EBUG
-                USND("MOTOR"); USB_putbyte('0'+i);
-                USND("  -> MOVE@"); printi(stppos[i]); USND(", V="); printu(curspeed[i]); newline();
+                USB_sendstr("MOTOR"); USB_putbyte('0'+i);
+                USB_sendstr("  -> MOVE@"); printi(stppos[i]); USB_sendstr(", V="); printu(curspeed[i]); newline();
 #endif
             }else{ // increase speed
                 curspeed[i] = i32;
@@ -375,8 +358,8 @@ static void chkstepper(int i){
                 curspeed[i] = the_conf.minspd[i];
                 state[i] = STP_MVSLOW;
 #ifdef EBUG
-                USND("MOTOR"); USB_putbyte('0'+i);
-                USND("  -> MVSLOW@"); printi(stppos[i]); newline();
+                USB_sendstr("MOTOR"); USB_putbyte('0'+i);
+                USB_sendstr("  -> MVSLOW@"); printi(stppos[i]); newline();
 #endif
             }
             recalcARR(i);
@@ -388,11 +371,11 @@ 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); USND("FAST: motor stopped\n");
+                USB_putbyte('M'); USB_putbyte('0'+i); USB_sendstr("FAST: motor stopped\n");
 #endif
                 if(ERR_OK != motor_relslow(i, 1000)){
 #ifdef EBUG
-                    USND("Can't move\n");
+                    USND("Can't move");
 #endif
                     DBG("->ERR");
                     state[i] = STP_ERR;
@@ -410,7 +393,7 @@ 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\n");
+                USB_putbyte('M'); USB_putbyte('0'+i); USND("SLOW: motor stopped");
 #endif
                 ESW_reaction[i] = the_conf.ESW_reaction[i];
                 prevstppos[i] = targstppos[i] = stppos[i] = 0;
diff --git a/F3:F303/Multistepper/steppers.h b/F3:F303/Multistepper/steppers.h
index 044906d..0ae3e81 100644
--- a/F3:F303/Multistepper/steppers.h
+++ b/F3:F303/Multistepper/steppers.h
@@ -36,7 +36,8 @@ typedef enum{
     STP_MVSLOW,     // 3 - moving with slowest constant speed (end of moving)
     STP_DECEL,      // 4 - moving with deceleration
     STP_STALL,      // 5 - stalled (UNUSED)
-    STP_ERR         // 6 - wrong/error state
+    STP_ERR ,       // 6 - wrong/error state
+    STP_STATE_AMOUNT
 } stp_state;
 
 // end-switches reaction
@@ -52,8 +53,9 @@ enum{
 void addmicrostep(uint8_t i);
 
 void init_steppers();
-errcodes setmotpos(uint8_t i, int32_t position);
+void update_stepper(uint8_t i);
 
+errcodes setmotpos(uint8_t i, int32_t position);
 errcodes getpos(uint8_t i, int32_t *position);
 errcodes getremainsteps(uint8_t i, int32_t *position);
 errcodes motor_absmove(uint8_t i, int32_t abssteps);
diff --git a/F3:F303/Multistepper/usb.h b/F3:F303/Multistepper/usb.h
index 3a98d84..5b62cc5 100644
--- a/F3:F303/Multistepper/usb.h
+++ b/F3:F303/Multistepper/usb.h
@@ -31,7 +31,7 @@
 #define STR(s)          STR_HELPER(s)
 
 #ifdef EBUG
-#define DBG(str)  do{USB_sendstr(__FILE__ " (L" STR(__LINE__) "): " str);}while(0)
+#define DBG(str)  do{USB_sendstr(__FILE__ " (L" STR(__LINE__) "): " str); newline();}while(0)
 #else
 #define DBG(str)
 #endif
diff --git a/F3:F303/Multistepper/version.inc b/F3:F303/Multistepper/version.inc
index 685da40..e4c2362 100644
--- a/F3:F303/Multistepper/version.inc
+++ b/F3:F303/Multistepper/version.inc
@@ -1,2 +1,2 @@
-#define BUILD_NUMBER "56"
-#define BUILD_DATE "2023-02-21"
+#define BUILD_NUMBER "80"
+#define BUILD_DATE "2023-02-24"