From 59fb7317253505a7da02aa962fbb9a1ce3daabfb Mon Sep 17 00:00:00 2001
From: Edward Emelianov <eddy@sao.ru>
Date: Mon, 5 Dec 2022 18:05:35 +0300
Subject: [PATCH] fixed some bugs in canUART for F103, add some features to
 usbcan_ringbuffer for F0

---
 F0:F030,F042,F072/usbcan_ringbuffer/Makefile  |   1 +
 F0:F030,F042,F072/usbcan_ringbuffer/can.c     |  80 +++++----
 F0:F030,F042,F072/usbcan_ringbuffer/can.h     |   5 +-
 F0:F030,F042,F072/usbcan_ringbuffer/main.c    |   2 +-
 F0:F030,F042,F072/usbcan_ringbuffer/proto.c   |  61 +++++--
 .../usbcan_ringbuffer/usbcan.bin              | Bin 11168 -> 11256 bytes
 .../usbcan_ringbuffer/usbcanrb.cflags         |   1 +
 .../usbcan_ringbuffer/usbcanrb.config         |   5 +
 .../usbcan_ringbuffer/usbcanrb.creator        |   1 +
 .../usbcan_ringbuffer/usbcanrb.creator.user   | 160 ++++++++++++++++++
 .../usbcan_ringbuffer/usbcanrb.cxxflags       |   1 +
 .../usbcan_ringbuffer/usbcanrb.files          |  16 ++
 .../usbcan_ringbuffer/usbcanrb.includes       |   6 +
 .../usbcan_ringbuffer/version.inc             |   4 +-
 F1:F103/canUART/CANUART.bin                   | Bin 7648 -> 7900 bytes
 F1:F103/canUART/Makefile                      |   2 +-
 F1:F103/canUART/Readme.md                     |   2 +
 F1:F103/canUART/can.c                         |   3 +-
 F1:F103/canUART/can.h                         |   1 +
 F1:F103/canUART/main.c                        |  23 +--
 F1:F103/canUART/proto.c                       |  35 ++--
 F1:F103/canUART/usart.c                       |  48 ++++--
 F1:F103/canUART/usart.h                       |  10 +-
 F1:F103/canUART/version.inc                   |   2 +-
 24 files changed, 379 insertions(+), 90 deletions(-)
 create mode 100644 F0:F030,F042,F072/usbcan_ringbuffer/usbcanrb.cflags
 create mode 100644 F0:F030,F042,F072/usbcan_ringbuffer/usbcanrb.config
 create mode 100644 F0:F030,F042,F072/usbcan_ringbuffer/usbcanrb.creator
 create mode 100644 F0:F030,F042,F072/usbcan_ringbuffer/usbcanrb.creator.user
 create mode 100644 F0:F030,F042,F072/usbcan_ringbuffer/usbcanrb.cxxflags
 create mode 100644 F0:F030,F042,F072/usbcan_ringbuffer/usbcanrb.files
 create mode 100644 F0:F030,F042,F072/usbcan_ringbuffer/usbcanrb.includes

diff --git a/F0:F030,F042,F072/usbcan_ringbuffer/Makefile b/F0:F030,F042,F072/usbcan_ringbuffer/Makefile
index f585984..a997924 100644
--- a/F0:F030,F042,F072/usbcan_ringbuffer/Makefile
+++ b/F0:F030,F042,F072/usbcan_ringbuffer/Makefile
@@ -8,6 +8,7 @@ FAMILY		?= F0
 MCU			?= F042x6
 # change this linking script depending on particular MCU model,
 LDSCRIPT	?= stm32f042x6.ld
+#DEFS = -DEBUG
 
 # autoincremental version & build date
 VERSION_FILE = version.inc
diff --git a/F0:F030,F042,F072/usbcan_ringbuffer/can.c b/F0:F030,F042,F072/usbcan_ringbuffer/can.c
index 2727695..7076f51 100644
--- a/F0:F030,F042,F072/usbcan_ringbuffer/can.c
+++ b/F0:F030,F042,F072/usbcan_ringbuffer/can.c
@@ -21,17 +21,14 @@
 #include "proto.h"
 #include "usb.h"
 
-#include <string.h> // memcpy
-
 // circular buffer for  received messages
 static CAN_message messages[CAN_INMESSAGE_SIZE];
 static uint8_t first_free_idx = 0;    // index of first empty cell
 static int8_t first_nonfree_idx = -1; // index of first data cell
 static uint16_t oldspeed = 100; // speed of last init
+uint32_t floodT = FLOOD_PERIOD_MS-1; // flood period in ms
 
-#ifdef EBUG
 static uint32_t last_err_code = 0;
-#endif
 static CAN_status can_status = CAN_STOP;
 
 static void can_process_fifo(uint8_t fifo_num);
@@ -65,7 +62,7 @@ static int CAN_messagebuf_push(CAN_message *msg){
         return 1; // no free space
     }
     if(first_nonfree_idx < 0) first_nonfree_idx = 0;  // first message in empty buffer
-    memcpy(&messages[first_free_idx++], msg, sizeof(CAN_message));
+    messages[first_free_idx++] = *msg;
     // need to roll?
     if(first_free_idx == CAN_INMESSAGE_SIZE) first_free_idx = 0;
     return 0;
@@ -146,9 +143,7 @@ void CAN_setup(uint16_t speed){
     /* (13) Set error interrupts enable */
     CAN->MCR |= CAN_MCR_INRQ; /* (1) */
     while((CAN->MSR & CAN_MSR_INAK)!=CAN_MSR_INAK) /* (2) */
-    {
         if(--tmout == 0) break;
-    }
     CAN->MCR &=~ CAN_MCR_SLEEP; /* (3) */
     CAN->MCR |= CAN_MCR_ABOM; /* allow automatically bus-off */
 
@@ -174,6 +169,36 @@ void CAN_setup(uint16_t speed){
     can_status = CAN_READY;
 }
 
+void printCANerr(){
+    if(!last_err_code) last_err_code = CAN->ESR;
+    if(!last_err_code){
+        USB_sendstr("No errors\n");
+        return;
+    }
+    USB_sendstr("Receive error counter: ");
+    printu((last_err_code & CAN_ESR_REC)>>24);
+    USB_sendstr("\nTransmit error counter: ");
+    printu((last_err_code & CAN_ESR_TEC)>>16);
+    USB_sendstr("\nLast error code: ");
+    int lec = (last_err_code & CAN_ESR_LEC) >> 4;
+    const char *errmsg = "No";
+    switch(lec){
+        case 1: errmsg = "Stuff"; break;
+        case 2: errmsg = "Form"; break;
+        case 3: errmsg = "Ack"; break;
+        case 4: errmsg = "Bit recessive"; break;
+        case 5: errmsg = "Bit dominant"; break;
+        case 6: errmsg = "CRC"; break;
+        case 7: errmsg = "(set by software)"; break;
+    }
+    USB_sendstr(errmsg); USB_sendstr(" error\n");
+    if(last_err_code & CAN_ESR_BOFF) USB_sendstr("Bus off ");
+    if(last_err_code & CAN_ESR_EPVF) USB_sendstr("Passive error limit ");
+    if(last_err_code & CAN_ESR_EWGF) USB_sendstr("Error counter limit");
+    last_err_code = 0;
+    USB_putbyte('\n');
+}
+
 void can_proc(){
 #ifdef EBUG
     if(last_err_code){
@@ -193,27 +218,7 @@ 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("Receive error counter: ");
-        printu((CAN->ESR & CAN_ESR_REC)>>24);
-        USB_sendstr("\nTransmit error counter: ");
-        printu((CAN->ESR & CAN_ESR_TEC)>>16);
-        USB_sendstr("\nLast error code: ");
-        int lec = (CAN->ESR & CAN_ESR_LEC) >> 4;
-        const char *errmsg = "No";
-        switch(lec){
-            case 1: errmsg = "Stuff"; break;
-            case 2: errmsg = "Form"; break;
-            case 3: errmsg = "Ack"; break;
-            case 4: errmsg = "Bit recessive"; break;
-            case 5: errmsg = "Bit dominant"; break;
-            case 6: errmsg = "CRC"; break;
-            case 7: errmsg = "(set by software)"; break;
-        }
-        USB_sendstr(errmsg); USB_sendstr(" error\n");
-        if(CAN->ESR & CAN_ESR_BOFF) USB_sendstr("Bus off ");
-        if(CAN->ESR & CAN_ESR_EPVF) USB_sendstr("Passive error limit ");
-        if(CAN->ESR & CAN_ESR_EWGF) USB_sendstr("Error counter limit");
-        USB_putbyte('\n');
+        printCANerr();
         // request abort for all mailboxes
         CAN->TSR |= CAN_TSR_ABRQ0 | CAN_TSR_ABRQ1 | CAN_TSR_ABRQ2;
         // reset CAN bus
@@ -222,7 +227,7 @@ void can_proc(){
         CAN_setup(0);
     }
     static uint32_t lastFloodTime = 0;
-    if(flood_msg && (Tms - lastFloodTime) > (FLOOD_PERIOD_MS-1)){ // flood every ~5ms
+    if(flood_msg && (Tms - lastFloodTime) > (floodT)){ // flood every ~5ms
         lastFloodTime = Tms;
         can_send(flood_msg->data, flood_msg->length, flood_msg->ID);
     }
@@ -285,7 +290,21 @@ CAN_status can_send(uint8_t *msg, uint8_t len, uint16_t target_id){
 void set_flood(CAN_message *msg){
     if(!msg) flood_msg = NULL;
     else{
-        memcpy(&loc_flood_msg, msg, sizeof(CAN_message));
+#ifdef EBUG
+        USB_sendstr("flood msg: #");
+        printuhex(msg->ID);
+        for(uint8_t ctr = 0; ctr < msg->length; ++ctr){
+            USB_putbyte(' ');
+            printuhex(msg->data[ctr]);
+        }
+        USB_putbyte('\n');
+#endif
+        // I meet strange problems with `loc_flood_msg = *msg` and system memcpy, so..
+        loc_flood_msg.ID = msg->ID;
+        loc_flood_msg.length = msg->length;
+        *((uint32_t*)loc_flood_msg.data) = *((uint32_t*)msg->data);
+        if(loc_flood_msg.length > 4)
+            *((uint32_t*)&loc_flood_msg.data[4]) = *((uint32_t*)&msg->data[4]);
         flood_msg = &loc_flood_msg;
     }
 }
@@ -364,3 +383,4 @@ void cec_can_isr(){
 #endif
     }
 }
+
diff --git a/F0:F030,F042,F072/usbcan_ringbuffer/can.h b/F0:F030,F042,F072/usbcan_ringbuffer/can.h
index 2ba2b03..50492be 100644
--- a/F0:F030,F042,F072/usbcan_ringbuffer/can.h
+++ b/F0:F030,F042,F072/usbcan_ringbuffer/can.h
@@ -18,7 +18,7 @@
 
 #pragma once
 
-#include "hardware.h"
+#include <stdint.h>
 
 // amount of filter banks in STM32F0
 #define STM32F0FBANKNO      28
@@ -28,6 +28,8 @@
 // incoming message buffer size
 #define CAN_INMESSAGE_SIZE  (8)
 
+extern uint32_t floodT;
+
 // CAN message
 typedef struct{
     uint8_t data[8];    // up to 8 bytes of data
@@ -50,6 +52,7 @@ void CAN_setup(uint16_t speed);
 
 CAN_status can_send(uint8_t *msg, uint8_t len, uint16_t target_id);
 void can_proc();
+void printCANerr();
 
 CAN_message *CAN_messagebuf_pop();
 
diff --git a/F0:F030,F042,F072/usbcan_ringbuffer/main.c b/F0:F030,F042,F072/usbcan_ringbuffer/main.c
index 4506239..0b20083 100644
--- a/F0:F030,F042,F072/usbcan_ringbuffer/main.c
+++ b/F0:F030,F042,F072/usbcan_ringbuffer/main.c
@@ -68,7 +68,7 @@ int main(void){
                     USB_sendstr(" #");
                     printuhex(can_mesg->ID);
                     for(uint8_t ctr = 0; ctr < len; ++ctr){
-                        USB_putbyte('\n');
+                        USB_putbyte(' ');
                         printuhex(can_mesg->data[ctr]);
                     }
                     USB_putbyte('\n');
diff --git a/F0:F030,F042,F072/usbcan_ringbuffer/proto.c b/F0:F030,F042,F072/usbcan_ringbuffer/proto.c
index 92b9a88..4624132 100644
--- a/F0:F030,F042,F072/usbcan_ringbuffer/proto.c
+++ b/F0:F030,F042,F072/usbcan_ringbuffer/proto.c
@@ -137,6 +137,7 @@ static char *getbin(const char *buf, uint32_t *N){
 char *getnum(const char *txt, uint32_t *N){
     char *nxt = NULL;
     char *s = omit_spaces(txt);
+    if(!*s) return (char*)txt;
     if(*s == '0'){ // hex, oct or 0
         if(s[1] == 'x' || s[1] == 'X'){ // hex
             nxt = gethex(s+2, N);
@@ -166,7 +167,6 @@ static CAN_message *parseCANmsg(char *txt){
     int ctr = -1;
     canmsg.ID = 0xffff;
     do{
-        txt = omit_spaces(txt);
         n = getnum(txt, &N);
         if(txt == n) break;
         txt = n;
@@ -200,16 +200,19 @@ static CAN_message *parseCANmsg(char *txt){
 
 // USB_sendstr command, format: ID (hex/bin/dec) data bytes (up to 8 bytes, space-delimeted)
 TRUE_INLINE void USB_sendstrCANcommand(char *txt){
+    if(CAN->MSR & CAN_MSR_INAK){
+        USB_sendstr("CAN bus is off, try to restart it\n");
+        return;
+    }
     CAN_message *msg = parseCANmsg(txt);
     if(!msg) return;
-    uint32_t N = 1000000;
+    uint32_t N = 5;
     while(CAN_BUSY == can_send(msg->data, msg->length, msg->ID)){
         if(--N == 0) break;
     }
 }
 
 TRUE_INLINE void CANini(char *txt){
-    txt = omit_spaces(txt);
     uint32_t N;
     char *n = getnum(txt, &N);
     if(txt == n){
@@ -318,6 +321,17 @@ TRUE_INLINE void list_filters(){
     }
 }
 
+TRUE_INLINE void setfloodt(char *s){
+    uint32_t N;
+    s = omit_spaces(s);
+    char *n = getnum(s, &N);
+    if(s == n || N == 0){
+        USB_sendstr("t="); printu(floodT); USB_putbyte('\n');
+        return;
+    }
+    floodT = N - 1;
+}
+
 /**
  * @brief add_filter - add/modify filter
  * @param str - string in format "bank# FIFO# mode num0 .. num3"
@@ -414,10 +428,12 @@ const char *helpmsg =
     "https://github.com/eddyem/stm32samples/tree/master/F0-nolib/usbcan_ringbuffer build#" BUILD_NUMBER " @ " BUILD_DATE "\n"
     "'a' - add ID to ignore list (max 10 IDs)\n"
     "'b' - reinit CAN with given baudrate\n"
+    "'c' - get CAN status\n"
     "'d' - delete ignore list\n"
     "'D' - activate DFU mode\n"
+    "'e' - get CAN errcodes\n"
     "'f' - add/delete filter, format: bank# FIFO# mode(M/I) num0 [num1 [num2 [num3]]]\n"
-    "'F' - USB_sendstr/clear flood message: F ID byte0 ... byteN\n"
+    "'F' - send/clear flood message: F ID byte0 ... byteN\n"
     "'I' - reinit CAN\n"
     "'l' - list all active filters\n"
     "'o' - turn LEDs OFF\n"
@@ -425,10 +441,22 @@ const char *helpmsg =
     "'p' - print ignore buffer\n"
     "'P' - pause/resume in packets displaying\n"
     "'R' - software reset\n"
-    "'s/S' - USB_sendstr data over CAN: s ID byte0 .. byteN\n"
+    "'s/S' - send data over CAN: s ID byte0 .. byteN\n"
+    "'t' - change flood period (>=1ms)\n"
     "'T' - get time from start (ms)\n"
 ;
 
+TRUE_INLINE void getcanstat(){
+    USB_sendstr("CAN_MSR=");
+    printuhex(CAN->MSR);
+    USB_sendstr("\nCAN_TSR=");
+    printuhex(CAN->TSR);
+    USB_sendstr("\nCAN_RF0R=");
+    printuhex(CAN->RF0R);
+    USB_sendstr("\nCAN_RF1R=");
+    printuhex(CAN->RF1R);
+}
+
 /**
  * @brief cmd_parser - command parsing
  * @param txt   - buffer with commands & data
@@ -436,37 +464,48 @@ const char *helpmsg =
  */
 void cmd_parser(char *txt){
     char _1st = txt[0];
+    ++txt;
     /*
      * parse long commands here
      */
     switch(_1st){
         case 'a':
-            addIGN(txt + 1);
+            addIGN(txt);
             goto eof;
         break;
         case 'b':
-            CANini(txt + 1);
+            CANini(txt);
             goto eof;
         break;
         case 'f':
-            add_filter(txt + 1);
+            add_filter(txt);
             goto eof;
         break;
         case 'F':
-            set_flood(parseCANmsg(txt + 1));
+            set_flood(parseCANmsg(txt));
             goto eof;
         break;
         case 's':
         case 'S':
-            USB_sendstrCANcommand(txt + 1);
+            USB_sendstrCANcommand(txt);
+            goto eof;
+        break;
+        case 't':
+            setfloodt(txt);
             goto eof;
         break;
     }
-    if(txt[1] != '\n') *txt = '?'; // help for wrong message length
+    if(*txt != '\n') _1st = '?'; // help for wrong message length
     switch(_1st){
+        case 'c':
+            getcanstat();
+        break;
         case 'd':
             IgnSz = 0;
         break;
+        case 'e':
+            printCANerr();
+        break;
         case 'D':
             USB_sendstr("Go into DFU mode\n");
             USB_sendall();
diff --git a/F0:F030,F042,F072/usbcan_ringbuffer/usbcan.bin b/F0:F030,F042,F072/usbcan_ringbuffer/usbcan.bin
index bbaa173d16d8e178771ceb9423305979d5503f20..570f512203b90ead8c37a967d1ba6b41a741401b 100755
GIT binary patch
delta 4245
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diff --git a/F0:F030,F042,F072/usbcan_ringbuffer/usbcanrb.cflags b/F0:F030,F042,F072/usbcan_ringbuffer/usbcanrb.cflags
new file mode 100644
index 0000000..68d5165
--- /dev/null
+++ b/F0:F030,F042,F072/usbcan_ringbuffer/usbcanrb.cflags
@@ -0,0 +1 @@
+-std=c17
\ No newline at end of file
diff --git a/F0:F030,F042,F072/usbcan_ringbuffer/usbcanrb.config b/F0:F030,F042,F072/usbcan_ringbuffer/usbcanrb.config
new file mode 100644
index 0000000..0402e5c
--- /dev/null
+++ b/F0:F030,F042,F072/usbcan_ringbuffer/usbcanrb.config
@@ -0,0 +1,5 @@
+// Add predefined macros for your project here. For example:
+// #define THE_ANSWER 42
+#define EBUG
+#define STM32F0
+#define STM32F042x6
diff --git a/F0:F030,F042,F072/usbcan_ringbuffer/usbcanrb.creator b/F0:F030,F042,F072/usbcan_ringbuffer/usbcanrb.creator
new file mode 100644
index 0000000..e94cbbd
--- /dev/null
+++ b/F0:F030,F042,F072/usbcan_ringbuffer/usbcanrb.creator
@@ -0,0 +1 @@
+[General]
diff --git a/F0:F030,F042,F072/usbcan_ringbuffer/usbcanrb.creator.user b/F0:F030,F042,F072/usbcan_ringbuffer/usbcanrb.creator.user
new file mode 100644
index 0000000..819893c
--- /dev/null
+++ b/F0:F030,F042,F072/usbcan_ringbuffer/usbcanrb.creator.user
@@ -0,0 +1,160 @@
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+    <value type="int" key="PE.EnvironmentAspect.Base">2</value>
+    <valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.CustomExecutableRunConfiguration</value>
+    <value type="QString" key="ProjectExplorer.RunConfiguration.BuildKey"></value>
+    <value type="bool" key="RunConfiguration.UseCppDebugger">false</value>
+    <value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
+    <value type="bool" key="RunConfiguration.UseQmlDebugger">false</value>
+    <value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
+   </valuemap>
+   <value type="int" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
+  </valuemap>
+ </data>
+ <data>
+  <variable>ProjectExplorer.Project.TargetCount</variable>
+  <value type="int">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>
+ </data>
+</qtcreator>
diff --git a/F0:F030,F042,F072/usbcan_ringbuffer/usbcanrb.cxxflags b/F0:F030,F042,F072/usbcan_ringbuffer/usbcanrb.cxxflags
new file mode 100644
index 0000000..6435dfc
--- /dev/null
+++ b/F0:F030,F042,F072/usbcan_ringbuffer/usbcanrb.cxxflags
@@ -0,0 +1 @@
+-std=c++17
\ No newline at end of file
diff --git a/F0:F030,F042,F072/usbcan_ringbuffer/usbcanrb.files b/F0:F030,F042,F072/usbcan_ringbuffer/usbcanrb.files
new file mode 100644
index 0000000..f1d9ab8
--- /dev/null
+++ b/F0:F030,F042,F072/usbcan_ringbuffer/usbcanrb.files
@@ -0,0 +1,16 @@
+can.c
+can.h
+hardware.c
+hardware.h
+main.c
+proto.c
+proto.h
+ringbuffer.c
+ringbuffer.h
+usb.c
+usb.h
+usb_defs.h
+usb_lib.c
+usb_lib.h
+usbhw.c
+usbhw.h
diff --git a/F0:F030,F042,F072/usbcan_ringbuffer/usbcanrb.includes b/F0:F030,F042,F072/usbcan_ringbuffer/usbcanrb.includes
new file mode 100644
index 0000000..06d1130
--- /dev/null
+++ b/F0:F030,F042,F072/usbcan_ringbuffer/usbcanrb.includes
@@ -0,0 +1,6 @@
+.
+../inc
+../inc/Fx
+../inc/cm
+../inc/ld
+../inc/startup
diff --git a/F0:F030,F042,F072/usbcan_ringbuffer/version.inc b/F0:F030,F042,F072/usbcan_ringbuffer/version.inc
index 57ec54d..154ebc2 100644
--- a/F0:F030,F042,F072/usbcan_ringbuffer/version.inc
+++ b/F0:F030,F042,F072/usbcan_ringbuffer/version.inc
@@ -1,2 +1,2 @@
-#define BUILD_NUMBER "1"
-#define BUILD_DATE "2022-10-28"
+#define BUILD_NUMBER "23"
+#define BUILD_DATE "2022-12-05"
diff --git a/F1:F103/canUART/CANUART.bin b/F1:F103/canUART/CANUART.bin
index 67ae6200fc59092df05961f44b4ee6077170f873..1ea38a85be80c7530efde819d3679335718861b4 100755
GIT binary patch
delta 4379
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XlS<iN&%If~!Rs%A6&FKEW1#;7MlbTN

diff --git a/F1:F103/canUART/Makefile b/F1:F103/canUART/Makefile
index 1f25d88..7d5b885 100644
--- a/F1:F103/canUART/Makefile
+++ b/F1:F103/canUART/Makefile
@@ -157,6 +157,6 @@ dfuboot: $(BIN)
 openocd:
 	openocd -f openocd.cfg
 dbg:
-	arm-none-eabi-gdb $(ELF) -ex 'target remote localhost:3333' -ex 'monitor reset halt'
+	arm-none-eabi-gdb $(ELF) -ex 'target extended-remote localhost:3333' -ex 'monitor reset halt'
 
 .PHONY: size clean flash boot dfuboot openocd dbg
diff --git a/F1:F103/canUART/Readme.md b/F1:F103/canUART/Readme.md
index d20e982..43f065c 100644
--- a/F1:F103/canUART/Readme.md
+++ b/F1:F103/canUART/Readme.md
@@ -1,2 +1,4 @@
 CAN bus (PB8/PB9) <> UART1 (PA9/PA10)
 The same thing as canusb for STM32F0x2
+
+Baudrate - 921600
diff --git a/F1:F103/canUART/can.c b/F1:F103/canUART/can.c
index 9d31b6f..937d5d8 100644
--- a/F1:F103/canUART/can.c
+++ b/F1:F103/canUART/can.c
@@ -30,6 +30,7 @@ static CAN_message messages[CAN_INMESSAGE_SIZE];
 static uint8_t first_free_idx = 0;    // index of first empty cell
 static int8_t first_nonfree_idx = -1; // index of first data cell
 static uint16_t oldspeed = 100; // speed of last init
+uint32_t floodT = FLOOD_PERIOD_MS-1; // flood period in ms
 
 static uint32_t last_err_code = 0;
 static CAN_status can_status = CAN_STOP;
@@ -229,7 +230,7 @@ void can_proc(){
         CAN_setup(0);
     }
     static uint32_t lastFloodTime = 0;
-    if(flood_msg && (Tms - lastFloodTime) > (FLOOD_PERIOD_MS-1)){ // flood every ~5ms
+    if(flood_msg && (Tms - lastFloodTime) > (floodT)){ // flood every ~5ms
         lastFloodTime = Tms;
         can_send(flood_msg->data, flood_msg->length, flood_msg->ID);
     }
diff --git a/F1:F103/canUART/can.h b/F1:F103/canUART/can.h
index fa09374..4ba1eb6 100644
--- a/F1:F103/canUART/can.h
+++ b/F1:F103/canUART/can.h
@@ -27,6 +27,7 @@
 
 // incoming message buffer size
 #define CAN_INMESSAGE_SIZE  (8)
+extern uint32_t floodT;
 
 // CAN message
 typedef struct{
diff --git a/F1:F103/canUART/main.c b/F1:F103/canUART/main.c
index 833e4be..0fb0694 100644
--- a/F1:F103/canUART/main.c
+++ b/F1:F103/canUART/main.c
@@ -30,9 +30,7 @@ void sys_tick_handler(void){
 
 int main(void){
     uint32_t lastT = 0;
-#ifdef BLUEPILL
     uint32_t bplastT = 0;
-#endif
     CAN_message *can_mesg;
     StartHSE();
     SysTick_Config(72000);
@@ -50,12 +48,13 @@ int main(void){
             LED_off(LED0);
             lastT = 0;
         }
-#ifdef BLUEPILL
         if(Tms - bplastT > 499){
+            usart_transmit();
+#ifdef BLUEPILL
             pin_toggle(LEDB_port, LEDB_pin);
+#endif
             bplastT = Tms;
         }
-#endif
         can_proc();
         CAN_status st = CAN_get_status();
         if(st == CAN_FIFO_OVERRUN){
@@ -63,30 +62,34 @@ int main(void){
         }else if(st == CAN_ERR){
             usart_send("Some CAN error occured\n");
         }
+        int errflag = 0;
         while((can_mesg = CAN_messagebuf_pop())){
+            IWDG->KR = IWDG_REFRESH;
             if(can_mesg && isgood(can_mesg->ID)){
                 LED_on(LED0);
                 lastT = Tms;
                 if(!lastT) lastT = 1;
                 if(ShowMsgs){ // new data in buff
-                    IWDG->KR = IWDG_REFRESH;
                     uint8_t len = can_mesg->length;
                     printu(Tms);
-                    usart_send(" #");
+                    if(!usart_send(" #")) errflag = 1;
                     printuhex(can_mesg->ID);
                     for(uint8_t ctr = 0; ctr < len; ++ctr){
-                        usart_putchar(' ');
+                        if(!usart_putchar(' ')) errflag = 1;
                         printuhex(can_mesg->data[ctr]);
                     }
-                    usart_putchar('\n');
+                    if(!usart_putchar('\n')) errflag = 1;
                 }
             }
         }
         char *str;
         int g = usart_getline(&str);
-        if(g < 0) usart_send("USART buffer overflow!\n");
+        if(g < 0) usart_send("USART IN buffer overflow!\n");
         else if(g > 0) cmd_parser(str);
-        usart_transmit();
+        if(errflag){
+            while(!usart_txrdy) IWDG->KR = IWDG_REFRESH;
+            usart_send("USART OUT buffer overflow!\n");
+        }
     }
     return 0;
 }
diff --git a/F1:F103/canUART/proto.c b/F1:F103/canUART/proto.c
index aae7b3c..997e7da 100644
--- a/F1:F103/canUART/proto.c
+++ b/F1:F103/canUART/proto.c
@@ -137,6 +137,7 @@ static char *getbin(const char *buf, uint32_t *N){
 char *getnum(const char *txt, uint32_t *N){
     char *nxt = NULL;
     char *s = omit_spaces(txt);
+    if(!*s) return (char*)txt;
     if(*s == '0'){ // hex, oct or 0
         if(s[1] == 'x' || s[1] == 'X'){ // hex
             nxt = gethex(s+2, N);
@@ -166,7 +167,6 @@ static CAN_message *parseCANmsg(char *txt){
     int ctr = -1;
     canmsg.ID = 0xffff;
     do{
-        txt = omit_spaces(txt);
         n = getnum(txt, &N);
         if(txt == n) break;
         txt = n;
@@ -206,14 +206,13 @@ TRUE_INLINE void usart_sendCANcommand(char *txt){
     }
     CAN_message *msg = parseCANmsg(txt);
     if(!msg) return;
-    uint32_t N = 3;
+    uint32_t N = 5;
     while(CAN_BUSY == can_send(msg->data, msg->length, msg->ID)){
         if(--N == 0) break;
     }
 }
 
 TRUE_INLINE void CANini(char *txt){
-    txt = omit_spaces(txt);
     uint32_t N;
     char *n = getnum(txt, &N);
     if(txt == n){
@@ -237,7 +236,6 @@ TRUE_INLINE void addIGN(char *txt){
         usart_send("Ignore buffer is full");
         return;
     }
-    txt = omit_spaces(txt);
     uint32_t N;
     char *n = getnum(txt, &N);
     if(txt == n){
@@ -333,7 +331,6 @@ TRUE_INLINE void list_filters(){
  */
 static void add_filter(char *str){
     uint32_t N;
-    str = omit_spaces(str);
     char *n = getnum(str, &N);
     if(n == str){
         usart_send("No bank# given");
@@ -431,6 +428,7 @@ const char *helpmsg =
     "'P' - pause/resume in packets displaying\n"
     "'R' - software reset\n"
     "'s/S' - usart_send data over CAN: s ID byte0 .. byteN\n"
+    "'t' - change flood period (>=1ms)\n"
     "'T' - get time from start (ms)\n"
 ;
 
@@ -445,39 +443,54 @@ TRUE_INLINE void getcanstat(){
     printuhex(CAN1->RF1R);
 }
 
+TRUE_INLINE void setfloodt(char *s){
+    uint32_t N;
+    char *n = getnum(s, &N);
+    if(s == n || N == 0){
+        usart_send("t="); printu(floodT); usart_putchar('\n');
+        return;
+    }
+    floodT = N - 1;
+}
+
 /**
  * @brief cmd_parser - command parsing
  * @param txt   - buffer with commands & data
  */
 void cmd_parser(char *txt){
     char _1st = txt[0];
+    ++txt;
     /*
      * parse long commands here
      */
     switch(_1st){
         case 'a':
-            addIGN(txt + 1);
+            addIGN(txt);
             goto eof;
         break;
         case 'b':
-            CANini(txt + 1);
+            CANini(txt);
             goto eof;
         break;
         case 'f':
-            add_filter(txt + 1);
+            add_filter(txt);
             goto eof;
         break;
         case 'F':
-            set_flood(parseCANmsg(txt + 1));
+            set_flood(parseCANmsg(txt));
             goto eof;
         break;
         case 's':
         case 'S':
-            usart_sendCANcommand(txt + 1);
+            usart_sendCANcommand(txt);
+            goto eof;
+        break;
+        case 't':
+            setfloodt(txt);
             goto eof;
         break;
     }
-    if(txt[1] != '\n') *txt = '?'; // help for wrong message length
+    if(txt[1] != 0) _1st = '?'; // help for wrong message length
     switch(_1st){
         case 'c':
             getcanstat();
diff --git a/F1:F103/canUART/usart.c b/F1:F103/canUART/usart.c
index 7927473..9c0035b 100644
--- a/F1:F103/canUART/usart.c
+++ b/F1:F103/canUART/usart.c
@@ -53,11 +53,18 @@ int usart_getline(char **line){
 }
 
 // transmit current tbuf and swap buffers
-void usart_transmit(){
+int usart_transmit(){
     register int l = odatalen[tbufno];
-    if(!l) return;
-    uint32_t tmout = 16000000;
-    while(!usart_txrdy){if(--tmout == 0) return;}; // wait for previos buffer transmission
+    if(!l) return 0;
+    uint32_t tmout = 1600000;
+/*tbuf[tbufno][0] = '*';
+tbuf[tbufno][1] = '0' + tbufno;
+tbuf[tbufno][l-1] = '*';
+tbuf[tbufno][l-2] = '0' + tbufno;*/
+    while(!usart_txrdy){
+        IWDG->KR = IWDG_REFRESH;
+        if(--tmout == 0) return 0;
+    }; // wait for previos buffer transmission
     usart_txrdy = 0;
     odatalen[tbufno] = 0;
     DMA1_Channel4->CCR &= ~DMA_CCR_EN;
@@ -65,18 +72,27 @@ void usart_transmit(){
     DMA1_Channel4->CNDTR = l;
     DMA1_Channel4->CCR |= DMA_CCR_EN;
     tbufno = !tbufno;
+    return l;
 }
 
-void usart_putchar(const char ch){
-    if(odatalen[tbufno] == UARTBUFSZO) usart_transmit();
-    tbuf[tbufno][odatalen[tbufno]++] = ch;
-}
-
-void usart_send(const char *str){
-    while(*str){
-        if(odatalen[tbufno] == UARTBUFSZO) usart_transmit();
-        tbuf[tbufno][odatalen[tbufno]++] = *str++;
+int usart_putchar(const char ch){
+    if(odatalen[tbufno] == UARTBUFSZO){
+        if(!usart_transmit()) return 0;
     }
+    tbuf[tbufno][odatalen[tbufno]++] = ch;
+    return 1;
+}
+
+int usart_send(const char *str){
+    int l = 0;
+    while(*str){
+        if(odatalen[tbufno] == UARTBUFSZO){
+            if(!usart_transmit()) return 0;
+        }
+        tbuf[tbufno][odatalen[tbufno]++] = *str++;
+        ++l;
+    }
+    return l;
 }
 
 /*
@@ -102,7 +118,7 @@ void usart_setup(){
     NVIC_EnableIRQ(DMA1_Channel4_IRQn);
     NVIC_SetPriority(USART1_IRQn, 0);
     // setup usart1
-    USART1->BRR = 72000000 / 115200;
+    USART1->BRR = 72000000 / 921600;
     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
@@ -116,15 +132,15 @@ void usart1_isr(){
     if(USART1->SR & USART_SR_RXNE){ // RX not emty - receive next char
         uint8_t rb = USART1->DR;
         if(idatalen[rbufno] < UARTBUFSZI){ // put next char into buf
-            rbuf[rbufno][idatalen[rbufno]++] = rb;
             if(rb == '\n'){ // got newline - line ready
+                rbuf[rbufno][idatalen[rbufno]] = 0;
                 usart_linerdy = 1;
                 dlen = idatalen[rbufno];
                 recvdata = rbuf[rbufno];
                 // prepare other buffer
                 rbufno = !rbufno;
                 idatalen[rbufno] = 0;
-            }
+            }else rbuf[rbufno][idatalen[rbufno]++] = rb;
         }else{ // buffer overrun
             usart_bufovr = 1;
             idatalen[rbufno] = 0;
diff --git a/F1:F103/canUART/usart.h b/F1:F103/canUART/usart.h
index 3d20150..78af94b 100644
--- a/F1:F103/canUART/usart.h
+++ b/F1:F103/canUART/usart.h
@@ -19,16 +19,16 @@
 #pragma once
 
 // input and output buffers size
-#define UARTBUFSZI  (128)
-#define UARTBUFSZO  (128)
+#define UARTBUFSZI  (256)
+#define UARTBUFSZO  (1024)
 
 #define usartrx()  (usart_linerdy)
 #define usartovr() (usart_bufovr)
 
 extern volatile int usart_txrdy;
 
-void usart_transmit();
+int usart_transmit();
 void usart_setup();
 int usart_getline(char **line);
-void usart_send(const char *str);
-void usart_putchar(const char ch);
+int usart_send(const char *str);
+int usart_putchar(const char ch);
diff --git a/F1:F103/canUART/version.inc b/F1:F103/canUART/version.inc
index fc513df..a292e52 100644
--- a/F1:F103/canUART/version.inc
+++ b/F1:F103/canUART/version.inc
@@ -1,2 +1,2 @@
-#define BUILD_NUMBER "64"
+#define BUILD_NUMBER "98"
 #define BUILD_DATE "2022-12-05"