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add flash.c and all stubs for common functions

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This commit is contained in:
Edward Emelianov 2023-02-13 21:55:18 +03:00
parent 2ecd2d188e
commit 617daf62c7
13 changed files with 816 additions and 7 deletions
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4
F3:F303/Multistepper/can.c
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@ -142,7 +142,7 @@ void CAN_setup(uint16_t speed){
CAN->BTR = 2 << 20 | 3 << 16 | (4500/speed - 1); //| CAN_BTR_SILM | CAN_BTR_LBKM; /* (4) */ CAN->BTR = 2 << 20 | 3 << 16 | (4500/speed - 1); //| CAN_BTR_SILM | CAN_BTR_LBKM; /* (4) */
CAN->MCR &= ~CAN_MCR_INRQ; /* (5) */ CAN->MCR &= ~CAN_MCR_INRQ; /* (5) */
tmout = 10000; tmout = 10000;
while((CAN->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) /* (6) */ while(CAN->MSR & CAN_MSR_INAK) /* (6) */
if(--tmout == 0) break; if(--tmout == 0) break;
if(tmout==0){ DBG("timeout!\n");} if(tmout==0){ DBG("timeout!\n");}
// accept ALL // accept ALL
@ -355,6 +355,8 @@ static void can_process_fifo(uint8_t fifo_num){
*RFxR = 0; // clear FOVR & FULL *RFxR = 0; // clear FOVR & FULL
} }
;
void usb_lp_can1_rx0_isr(){ // Rx FIFO0 (overrun) void usb_lp_can1_rx0_isr(){ // Rx FIFO0 (overrun)
if(CAN->RF0R & CAN_RF0R_FOVR0){ // FIFO overrun if(CAN->RF0R & CAN_RF0R_FOVR0){ // FIFO overrun
CAN->RF0R &= ~CAN_RF0R_FOVR0; CAN->RF0R &= ~CAN_RF0R_FOVR0;

155
F3:F303/Multistepper/commonproto.c Normal file
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@ -0,0 +1,155 @@
/*
* This file is part of the multistepper project.
* Copyright 2023 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "commonproto.h"
#include "hdr.h"
#include "proto.h"
#include "usb.h"
#define NOPARCHK(par) do{if(PARBASE(par) != CANMESG_NOPAR) return ERR_BADPAR;}while(0)
extern volatile uint32_t Tms;
// common functions for CAN and USB (or CAN only functions)
static errcodes cu_nosuchfn(_U_ uint8_t par, _U_ int32_t *val){ return ERR_BADCMD; }
errcodes cu_ping(_U_ uint8_t par, _U_ int32_t *val){
return ERR_OK;
}
static errcodes cu_reset(uint8_t par, _U_ int32_t *val){
NOPARCHK(par);
NVIC_SystemReset();
return ERR_OK;
}
static errcodes cu_time(uint8_t par, int32_t *val){
NOPARCHK(par);
*val = Tms;
return ERR_OK;
}
errcodes cu_abspos(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_accel(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_adc(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_button(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_canid(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_diagn(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_emstop(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_eraseflash(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_esw(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_eswreact(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_goto(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_gotoz(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_gpio(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_gpioconf(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_maxspeed(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_maxsteps(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_mcut(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_mcuvdd(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_microsteps(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_minspeed(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_motflags(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_motmul(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_motreinit(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_relpos(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_relslow(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_saveconf(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_screen(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_speedlimit(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_state(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_stop(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_tmcbus(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_udata(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
errcodes cu_usartstatus(_U_ uint8_t par, _U_ int32_t *val){return ERR_BADCMD;}
const fpointer cmdlist[CCMD_AMOUNT] = {
// different commands
[CCMD_PING] = cu_ping,
[CCMD_RELAY] = cu_nosuchfn,
[CCMD_BUZZER] = cu_nosuchfn,
[CCMD_ADC] = cu_adc,
[CCMD_BUTTONS] = cu_button,
[CCMD_ESWSTATE] = cu_esw,
[CCMD_MCUT] = cu_mcut,
[CCMD_MCUVDD] = cu_mcuvdd,
[CCMD_RESET] = cu_reset,
[CCMD_TIMEFROMSTART] = cu_time,
[CCMD_PWM] = cu_nosuchfn,
[CCMD_EXT] = cu_gpio,
// configuration
[CCMD_SAVECONF] = cu_saveconf,
[CCMD_ENCSTEPMIN] = cu_nosuchfn,
[CCMD_ENCSTEPMAX] = cu_nosuchfn,
[CCMD_MICROSTEPS] = cu_microsteps,
[CCMD_ACCEL] = cu_accel,
[CCMD_MAXSPEED] = cu_maxspeed,
[CCMD_MINSPEED] = cu_minspeed,
[CCMD_SPEEDLIMIT] = cu_speedlimit,
[CCMD_MAXSTEPS] = cu_maxsteps,
[CCMD_ENCREV] = cu_nosuchfn,
[CCMD_MOTFLAGS] = cu_motflags,
[CCMD_ESWREACT] = cu_eswreact,
// motor's commands
[CCMD_ABSPOS] = cu_goto,
[CCMD_RELPOS] = cu_relpos,
[CCMD_RELSLOW] = cu_relslow,
[CCMD_EMERGSTOP] = cu_emstop,
[CCMD_EMERGSTOPALL] = cu_emstop, // without args
[CCMD_STOP] = cu_stop,
[CCMD_REINITMOTORS] = cu_motreinit,
[CCMD_MOTORSTATE] = cu_state,
[CCMD_ENCPOS] = cu_nosuchfn,
[CCMD_SETPOS] = cu_abspos,
[CCMD_GOTOZERO] = cu_gotoz,
// Leave all commands upper for back-compatability with 3steppers
};
const char* cancmds[CCMD_AMOUNT] = {
[CCMD_PING] = "ping",
[CCMD_ADC] = "adc",
[CCMD_BUTTONS] = "button",
[CCMD_ESWSTATE] = "esw",
[CCMD_MCUT] = "mcut",
[CCMD_MCUVDD] = "mcuvdd",
[CCMD_RESET] = "reset",
[CCMD_TIMEFROMSTART] = "time",
[CCMD_EXT] = "gpio",
[CCMD_SAVECONF] = "saveconf",
[CCMD_MICROSTEPS] = "microsteps",
[CCMD_ACCEL] = "accel",
[CCMD_MAXSPEED] = "maxspeed",
[CCMD_MINSPEED] = "minspeed",
[CCMD_SPEEDLIMIT] = "speedlimit",
[CCMD_MAXSTEPS] = "maxsteps",
[CCMD_MOTFLAGS] = "motflags",
[CCMD_ESWREACT] = "eswreact",
[CCMD_ABSPOS] = "goto",
[CCMD_RELPOS] = "relpos",
[CCMD_RELSLOW] = "relslow",
[CCMD_EMERGSTOP] = "emstop N",
[CCMD_EMERGSTOPALL] = "emstop",
[CCMD_STOP] = "stop",
[CCMD_REINITMOTORS] = "motreinit",
[CCMD_MOTORSTATE] = "state",
[CCMD_SETPOS] = "abspos",
[CCMD_GOTOZERO] = "gotoz"
};

131
F3:F303/Multistepper/commonproto.h Normal file
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@ -0,0 +1,131 @@
/*
* This file is part of the multistepper project.
* Copyright 2023 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <stdint.h>
#ifndef _U_
#define _U_ __attribute__((unused))
#endif
// message have no parameter
#define CANMESG_NOPAR (127)
// message is setter (have value)
#define SETTERFLAG (0x80)
#define ISSETTER(x) ((x & SETTERFLAG) ? 1 : 0)
// base value of parameter (even if it is a setter)
#define PARBASE(x) (x & 0x7f)
// error codes for answer message
typedef enum{
ERR_OK, // 0 - all OK
ERR_BADPAR, // 1 - parameter's value is wrong
ERR_BADVAL, // 2 - wrong parameter's value
ERR_WRONGLEN, // 3 - wrong message length
ERR_BADCMD, // 4 - unknown command
ERR_CANTRUN, // 5 - can't run given command due to bad parameters or other
ERR_AMOUNT // amount of error codes
} errcodes;
// pointer to function for command execution, both should be non-NULL for common cases
// if(par &0x80) it is setter, if not - getter
// if par == 0x127 it means absense of parameter!!!
// @return CANERR_OK (0) if OK or error code
typedef errcodes (*fpointer)(uint8_t par, int32_t *val);
enum{
CCMD_NONE // omit zero
,CCMD_PING // ping device
,CCMD_RELAY // relay on/off
,CCMD_BUZZER // buzzer on/off
,CCMD_ADC // ADC ch#
,CCMD_BUTTONS // buttons
,CCMD_ESWSTATE // end-switches state
,CCMD_MCUT // MCU temperature
,CCMD_MCUVDD // MCU Vdd
,CCMD_RESET // software reset
,CCMD_TIMEFROMSTART // get time from start
,CCMD_PWM // PWM value
,CCMD_EXT // value on EXTx outputs
,CCMD_SAVECONF // save configuration
,CCMD_ENCSTEPMIN // min ticks of encoder per one step
,CCMD_ENCSTEPMAX // max ticks of encoder per one step
,CCMD_MICROSTEPS // get/set microsteps
,CCMD_ACCEL // set/get acceleration/deceleration
,CCMD_MAXSPEED // set/get maximal speed
,CCMD_MINSPEED // set/get minimal speed
,CCMD_SPEEDLIMIT // get limit of speed for current microsteps settings
,CCMD_MAXSTEPS // max steps (-max..+max)
,CCMD_ENCREV // encoder's pulses per revolution
,CCMD_MOTFLAGS // motor flags
,CCMD_ESWREACT // ESW reaction flags
,CCMD_REINITMOTORS // re-init motors after configuration changing
,CCMD_ABSPOS // current position (set/get)
,CCMD_RELPOS // set relative steps or get steps left
,CCMD_RELSLOW // change relative position at lowest speed
,CCMD_EMERGSTOP // stop moving NOW
,CCMD_STOP // smooth motor stop
,CCMD_EMERGSTOPALL // emergency stop for all motors
,CCMD_GOTOZERO // go to zero's ESW
,CCMD_MOTORSTATE // motor state
,CCMD_ENCPOS // position of encoder (independing on settings)
,CCMD_SETPOS // set motor position
// should be the last:
,CCMD_AMOUNT // amount of common commands
};
extern const fpointer cancmdlist[CCMD_AMOUNT];
extern const char* cancmds[CCMD_AMOUNT];
// all common functions
errcodes cu_ping(_U_ uint8_t par, _U_ int32_t *val);
// not realized yet
errcodes cu_abspos(_U_ uint8_t par, _U_ int32_t *val);
errcodes cu_accel(_U_ uint8_t par, _U_ int32_t *val);
errcodes cu_adc(_U_ uint8_t par, _U_ int32_t *val);
errcodes cu_button(_U_ uint8_t par, _U_ int32_t *val);
errcodes cu_canid(_U_ uint8_t par, _U_ int32_t *val);
errcodes cu_diagn(_U_ uint8_t par, _U_ int32_t *val);
errcodes cu_emstop(_U_ uint8_t par, _U_ int32_t *val);
errcodes cu_eraseflash(_U_ uint8_t par, _U_ int32_t *val);
errcodes cu_esw(_U_ uint8_t par, _U_ int32_t *val);
errcodes cu_eswreact(_U_ uint8_t par, _U_ int32_t *val);
errcodes cu_goto(_U_ uint8_t par, _U_ int32_t *val);
errcodes cu_gotoz(_U_ uint8_t par, _U_ int32_t *val);
errcodes cu_gpio(_U_ uint8_t par, _U_ int32_t *val);
errcodes cu_gpioconf(_U_ uint8_t par, _U_ int32_t *val);
errcodes cu_maxspeed(_U_ uint8_t par, _U_ int32_t *val);
errcodes cu_maxsteps(_U_ uint8_t par, _U_ int32_t *val);
errcodes cu_mcut(_U_ uint8_t par, _U_ int32_t *val);
errcodes cu_mcuvdd(_U_ uint8_t par, _U_ int32_t *val);
errcodes cu_microsteps(_U_ uint8_t par, _U_ int32_t *val);
errcodes cu_minspeed(_U_ uint8_t par, _U_ int32_t *val);
errcodes cu_motflags(_U_ uint8_t par, _U_ int32_t *val);
errcodes cu_motmul(_U_ uint8_t par, _U_ int32_t *val);
errcodes cu_motreinit(_U_ uint8_t par, _U_ int32_t *val);
errcodes cu_relpos(_U_ uint8_t par, _U_ int32_t *val);
errcodes cu_relslow(_U_ uint8_t par, _U_ int32_t *val);
errcodes cu_saveconf(_U_ uint8_t par, _U_ int32_t *val);
errcodes cu_screen(_U_ uint8_t par, _U_ int32_t *val);
errcodes cu_speedlimit(_U_ uint8_t par, _U_ int32_t *val);
errcodes cu_state(_U_ uint8_t par, _U_ int32_t *val);
errcodes cu_stop(_U_ uint8_t par, _U_ int32_t *val);
errcodes cu_tmcbus(_U_ uint8_t par, _U_ int32_t *val);
errcodes cu_udata(_U_ uint8_t par, _U_ int32_t *val);
errcodes cu_usartstatus(_U_ uint8_t par, _U_ int32_t *val);

246
F3:F303/Multistepper/flash.c Normal file
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@ -0,0 +1,246 @@
/*
* This file is part of the multistepper project.
* Copyright 2023 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stm32f3.h>
#include <string.h> // memcpy
#include "flash.h"
#include "hdr.h"
#include "proto.h"
#include "steppers.h"
#include "strfunc.h"
#include "usb.h"
extern const uint32_t __varsstart, _BLOCKSIZE;
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 {.haveencoder = 1, .donthold = 1, .eswinv = 1, .keeppos = 1}
#define USERCONF_INITIALIZER { \
.userconf_sz = sizeof(user_conf) \
,.CANspeed = 100 \
,.CANID = 0xaa \
,.microsteps = {32, 32, 32} \
,.accel = {500, 500, 500} \
,.maxspd = {2000, 2000, 2000} \
,.minspd = {20, 20, 20} \
,.maxsteps = {500000, 500000, 500000} \
,.encrev = {4000,4000,4000} \
,.encperstepmin = {17,17,17} \
,.encperstepmax = {23,23,23} \
,.motflags = {DEFMF,DEFMF,DEFMF} \
,.ESW_reaction = {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'
const user_conf *Flash_Data = (const user_conf *)(&__varsstart);
user_conf the_conf = USERCONF_INITIALIZER;
static int currentconfidx = -1; // index of current configuration
/**
* @brief binarySearch - binary search in flash for last non-empty cell
* any struct searched should have its sizeof() @ the first field!!!
* @param l - left index
* @param r - right index (should be @1 less than last index!)
* @param start - starting address
* @param stor_size - size of structure to search
* @return index of non-empty cell or -1
*/
static int binarySearch(int r, const uint8_t *start, int stor_size){
int l = 0;
while(r >= l){
int mid = l + (r - l) / 2;
const uint8_t *s = start + mid * stor_size;
if(*((const uint16_t*)s) == stor_size){
if(*((const uint16_t*)(s + stor_size)) == 0xffff){ // next is free
return mid;
}else{ // element is to the right
l = mid + 1;
}
}else{ // element is to the left
r = mid - 1;
}
}
return -1; // not found
}
/**
* @brief flashstorage_init - initialization of user conf storage
* run in once @ start
*/
void flashstorage_init(){
if(FLASH_SIZE > 0 && FLASH_SIZE < 20000){
uint32_t flsz = FLASH_SIZE * FLASH_blocksize; // size in bytes
flsz -= (uint32_t)(&__varsstart) - FLASH_BASE;
maxCnum = flsz / sizeof(user_conf);
}
// -1 if there's no data at all & flash is clear; maxnum-1 if flash is full
currentconfidx = binarySearch((int)maxCnum-2, (const uint8_t*)Flash_Data, sizeof(user_conf));
if(currentconfidx > -1){
memcpy(&the_conf, &Flash_Data[currentconfidx], sizeof(user_conf));
}
}
// store new configuration
// @return 0 if all OK
int store_userconf(){
// maxnum - 3 means that there always should be at least one empty record after last data
// 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;
}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));
}
static int write2flash(const void *start, const void *wrdata, uint32_t stor_size){
int ret = 0;
if (FLASH->CR & FLASH_CR_LOCK){ // unloch flash
FLASH->KEYR = FLASH_KEY1;
FLASH->KEYR = FLASH_KEY2;
}
while (FLASH->SR & FLASH_SR_BSY);
if(FLASH->SR & FLASH_SR_WRPERR){
return 1; // write protection
}
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;
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);
if(FLASH->SR & FLASH_SR_PGERR){
ret = 1; // program error - meet not 0xffff
break;
}else while (!(FLASH->SR & FLASH_SR_EOP));
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){
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;
}
nblocks = flsz / FLASH_blocksize;
if(nblocks == 0 || nblocks >= FLASH_SIZE) return 1;
for(uint32_t i = 0; i < nblocks; ++i){
IWDG->KR = IWDG_REFRESH;
/* (1) Wait till no operation is on going */
/* (2) Clear error & EOP bits */
/* (3) Check that the Flash is unlocked */
/* (4) Perform unlock sequence */
while ((FLASH->SR & FLASH_SR_BSY) != 0){} /* (1) */
FLASH->SR = FLASH_SR_EOP | FLASH_SR_PGERR | FLASH_SR_WRPERR; /* (2) */
/* if (FLASH->SR & FLASH_SR_EOP){
FLASH->SR |= FLASH_SR_EOP;
}*/
if ((FLASH->CR & FLASH_CR_LOCK) != 0){ /* (3) */
FLASH->KEYR = FLASH_KEY1; /* (4) */
FLASH->KEYR = FLASH_KEY2;
}
/* (1) Set the PER bit in the FLASH_CR register to enable page erasing */
/* (2) Program the FLASH_AR register to select a page to erase */
/* (3) Set the STRT bit in the FLASH_CR register to start the erasing */
/* (4) Wait until the EOP flag in the FLASH_SR register set */
/* (5) Clear EOP flag by software by writing EOP at 1 */
/* (6) Reset the PER Bit to disable the page erase */
FLASH->CR |= FLASH_CR_PER; /* (1) */
FLASH->AR = (uint32_t)Flash_Data + i*FLASH_blocksize; /* (2) */
FLASH->CR |= FLASH_CR_STRT; /* (3) */
while(!(FLASH->SR & FLASH_SR_EOP));
FLASH->SR |= FLASH_SR_EOP; /* (5)*/
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*/
break;
}
FLASH->CR &= ~FLASH_CR_PER; /* (6) */
}
return ret;
}
int erase_storage(){
return erase_flash(Flash_Data, NULL);
}
int fn_dumpconf(_U_ uint32_t hash, _U_ char *args){ // "dumpconf" (3271513185)
#ifdef EBUG
USB_sendstr("flashsize="); printu(FLASH_SIZE); USB_putbyte('*');
printu(FLASH_blocksize); USB_putbyte('='); printu(FLASH_SIZE*FLASH_blocksize);
newline();
#endif
USB_sendstr("userconf_addr="); printuhex((uint32_t)Flash_Data);
USB_sendstr("\nuserconf_idx="); printi(currentconfidx);
USB_sendstr("\nuserconf_sz="); printu(the_conf.userconf_sz);
USB_sendstr("\ncanspeed="); printu(the_conf.CANspeed);
USB_sendstr("\ncanid="); printu(the_conf.CANID);
// motors' data
for(int i = 0; i < MOTORSNO; ++i){
char cur = '0' + i;
#define PROPNAME(nm) do{newline(); USB_sendstr(nm); USB_putbyte(cur); USB_putbyte('=');}while(0)
PROPNAME("microsteps");
printu(the_conf.microsteps[i]);
PROPNAME("accel");
printu(the_conf.accel[i]);
PROPNAME("maxspeed");
printu(the_conf.maxspd[i]);
PROPNAME("minspeed");
printu(the_conf.minspd[i]);
PROPNAME("maxsteps");
printu(the_conf.maxsteps[i]);
PROPNAME("encperrev");
printu(the_conf.encrev[i]);
PROPNAME("encperstepmin");
printu(the_conf.encperstepmin[i]);
PROPNAME("encperstepmax");
printu(the_conf.encperstepmax[i]);
PROPNAME("motflags");
printuhex(*((uint8_t*)&the_conf.motflags[i]));
PROPNAME("eswreaction");
printu(the_conf.ESW_reaction[i]);
#undef PROPNAME
}
newline();
return RET_GOOD;
}

77
F3:F303/Multistepper/flash.h Normal file
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@ -0,0 +1,77 @@
/*
* This file is part of the multistepper project.
* Copyright 2023 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "hardware.h"
#ifndef _U_
#define _U_ __attribute__((unused))
#endif
// limiting values
#define MICROSTEPSMAX (512)
// (STEPS per second^2)
#define ACCELMAXSTEPS (1000)
// max encoder steps per rev
#define MAXENCREV (100000)
// register with flash size (in blocks)
#ifndef FLASH_SIZE_REG
#define FLASH_SIZE_REG ((uint32_t)0x1FFFF7CC)
#endif
#define FLASH_SIZE *((uint16_t*)FLASH_SIZE_REG)
// motor flags
typedef struct{
uint8_t reverse : 1; // bit0 - reversing motor rotation
uint8_t encreverse : 1; // bit1 - reversing encoder rotation TODO: configure encoder's timer to downcounting
uint8_t haveencoder : 1; // bit2 - have encoder
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)
} motflags_t;
/*
* struct to save user configurations
*/
typedef struct __attribute__((packed, aligned(4))){
uint16_t userconf_sz; // "magick number"
uint16_t CANspeed; // default CAN speed
uint16_t CANID; // identifier
uint16_t microsteps[MOTORSNO]; // microsteps amount per step
uint16_t accel[MOTORSNO]; // acceleration/deceleration (steps/s^2)
uint16_t maxspd[MOTORSNO]; // max motor speed (steps per second)
uint16_t minspd[MOTORSNO]; // min motor speed (steps per second)
uint32_t maxsteps[MOTORSNO]; // maximal amount of steps
uint16_t encrev[MOTORSNO]; // encoders' counts per revolution
uint16_t encperstepmin[MOTORSNO]; // min amount of encoder ticks per one step
uint16_t encperstepmax[MOTORSNO]; // max amount of encoder ticks per one step
motflags_t motflags[MOTORSNO]; // motor's flags
uint8_t ESW_reaction[MOTORSNO]; // end-switches reaction (esw_react)
} user_conf;
extern user_conf the_conf; // global user config (read from FLASH to RAM)
// data from ld-file: start address of storage
void flashstorage_init();
int store_userconf();
int erase_storage();

2
F3:F303/Multistepper/hardware.h
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@ -37,6 +37,8 @@ extern const uint32_t BTNpins[BTNSNO];
// state 1 - pressed, 0 - released (pin active is zero) // state 1 - pressed, 0 - released (pin active is zero)
#define BTN_state(x) ((BTNports[x]->IDR & BTNpins[x]) ? 0 : 1) #define BTN_state(x) ((BTNports[x]->IDR & BTNpins[x]) ? 0 : 1)
// motors amount
#define MOTORSNO (8)
extern volatile uint32_t Tms; extern volatile uint32_t Tms;

6
F3:F303/Multistepper/main.c
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@ -17,6 +17,7 @@
*/ */
#include "can.h" #include "can.h"
#include "flash.h"
#include "hardware.h" #include "hardware.h"
#include "proto.h" #include "proto.h"
#include "usb.h" #include "usb.h"
@ -37,11 +38,12 @@ int main(void){
StartHSI(); StartHSI();
SysTick_Config((uint32_t)48000); // 1ms SysTick_Config((uint32_t)48000); // 1ms
} }
hw_setup(); flashstorage_init();
hw_setup(); // GPIO, ADC, timers, watchdog etc.
USBPU_OFF(); // make a reconnection USBPU_OFF(); // make a reconnection
USB_setup(); USB_setup();
USBPU_ON(); USBPU_ON();
CAN_setup(100); CAN_setup(the_conf.CANspeed);
uint32_t ctr = 0; uint32_t ctr = 0;
CAN_message *can_mesg; CAN_message *can_mesg;
while(1){ while(1){

BIN
F3:F303/Multistepper/multistepper.bin Executable file
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Binary file not shown.

5
F3:F303/Multistepper/multistepper.files
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@ -1,5 +1,9 @@
can.c can.c
can.h can.h
commonproto.c
commonproto.h
flash.c
flash.h
hardware.c hardware.c
hardware.h hardware.h
hashgen/hashgen.c hashgen/hashgen.c
@ -11,6 +15,7 @@ proto.c
proto.h proto.h
ringbuffer.c ringbuffer.c
ringbuffer.h ringbuffer.h
steppers.h
strfunc.c strfunc.c
strfunc.h strfunc.h
usb.c usb.c

120
F3:F303/Multistepper/proto.c
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@ -20,9 +20,11 @@
#include <string.h> #include <string.h>
#include "can.h" #include "can.h"
#include "flash.h"
#include "hardware.h" #include "hardware.h"
#include "hdr.h" #include "hdr.h"
#include "proto.h" #include "proto.h"
#include "commonproto.h"
#include "version.inc" #include "version.inc"
// software ignore buffer size // software ignore buffer size
@ -371,20 +373,134 @@ int fn_canresume(_U_ uint32_t hash, _U_ char *args){
return RET_GOOD; return RET_GOOD;
} }
int fn_reset(_U_ uint32_t hash, _U_ char *args){ // dump base commands codes (for CAN protocol)
int fn_dumpcmd(_U_ uint32_t hash, _U_ char *args){ // "dumpcmd" (1223955823)
USB_sendstr("CANbus commands list:\n");
for(uint16_t i = 1; i < CCMD_AMOUNT; ++i){
if(!cancmds[i]) continue;
printu(i);
USB_sendstr(" - ");
USB_sendstr(cancmds[i]);
newline();
}
return RET_GOOD;
}
int fn_reset(_U_ uint32_t hash, _U_ char *args){ // "reset" (1907803304)
USB_sendstr("Soft reset\n"); USB_sendstr("Soft reset\n");
USB_sendall(); // wait until everything will gone USB_sendall(); // wait until everything will gone
NVIC_SystemReset(); NVIC_SystemReset();
return RET_GOOD; return RET_GOOD;
} }
int fn_time(_U_ uint32_t hash, _U_ char *args){ int fn_time(_U_ uint32_t hash, _U_ char *args){ // "time" (19148340)
USB_sendstr("Time (ms): "); USB_sendstr("Time (ms): ");
printu(Tms); printu(Tms);
USB_putbyte('\n'); USB_putbyte('\n');
return RET_GOOD; return RET_GOOD;
} }
static const char* errtxt[ERR_AMOUNT] = {
[ERR_OK] = "all OK",
[ERR_BADPAR] = "wrong parameter's value",
[ERR_BADVAL] = "wrong setter of parameter",
[ERR_WRONGLEN] = "bad message length",
[ERR_BADCMD] = "unknown command",
[ERR_CANTRUN] = "temporary can't run given command",
};
int fn_dumperr(_U_ uint32_t hash, _U_ char *args){ // "dumperr" (1223989764)
USND("Error codes:");
for(int i = 0; i < ERR_AMOUNT; ++i){
printu(i); USB_sendstr(" - ");
USB_sendstr(errtxt[i]); newline();
}
return RET_GOOD;
}
static int canusb_function(uint32_t hash, char *args){
errcodes e = ERR_BADCMD;
uint32_t N;
int32_t val = 0;
uint8_t par = CANMESG_NOPAR;
if(*args){
const char *n = getnum(args, &N);
if(n != args){ // get parameter
if(N >= CANMESG_NOPAR){
USND("Wrong parameter value");
return RET_GOOD;
}
par = (uint8_t) N;
n = strchr(n, '=');
if(n){
const char *nxt = getnum(n, &N);
if(nxt != n){ // give flag issetter
val = (int32_t) N;
par |= SETTERFLAG;
}
}
}
}
switch(hash){
case CMD_PING:
e = cu_ping(par, &val);
break;
default:
break;
}
//if(e < ERR_OK || e >= ERR_AMOUNT) USND("Bad return code");
//else
if(ERR_OK != e){
USB_sendstr(errtxt[e]); newline();
}else{
USB_sendstr("OK par");
if(par != CANMESG_NOPAR) printu(PARBASE(par));
USB_putbyte('='); printi(val);
newline();
}
return RET_GOOD;
}
#define AL __attribute__ ((alias ("canusb_function")))
// COMMON with CAN
int fn_ping(_U_ uint32_t hash, _U_ char *args) AL; //* "ping" (10561715)
// not realized yet
int fn_abspos(_U_ uint32_t hash, _U_ char *args) AL; //* "abspos" (3056382221)
int fn_accel(_U_ uint32_t hash, _U_ char *args) AL; //* "accel" (1490521981)
int fn_adc(_U_ uint32_t hash, _U_ char *args) AL; //* "adc" (2963026093)
int fn_button(_U_ uint32_t hash, _U_ char *args) AL; //* "button" (1093508897)
int fn_canid(_U_ uint32_t hash, _U_ char *args) AL; // "canid" (2040257924)
int fn_diagn(_U_ uint32_t hash, _U_ char *args) AL; // "diagn" (2334137736)
int fn_emstop(_U_ uint32_t hash, _U_ char *args) AL; //* "emstop" (2965919005)
int fn_eraseflash(_U_ uint32_t hash, _U_ char *args) AL; // "eraseflash" (3177247267)
int fn_esw(_U_ uint32_t hash, _U_ char *args) AL; //* "esw" (2963094612)
int fn_eswreact(_U_ uint32_t hash, _U_ char *args) AL; //* "eswreact" (1614224995)
int fn_goto(_U_ uint32_t hash, _U_ char *args) AL; // "goto" (4286309438)
int fn_gotoz(_U_ uint32_t hash, _U_ char *args) AL; //* "gotoz" (3178103736)
int fn_gpio(_U_ uint32_t hash, _U_ char *args) AL; //* "gpio" (4286324660)
int fn_gpioconf(_U_ uint32_t hash, _U_ char *args) AL; // "gpioconf" (1309721562)
int fn_maxspeed(_U_ uint32_t hash, _U_ char *args) AL; //* "maxspeed" (1498078812)
int fn_maxsteps(_U_ uint32_t hash, _U_ char *args) AL; //* "maxsteps" (1506667002)
int fn_mcut(_U_ uint32_t hash, _U_ char *args) AL; //* "mcut" (4022718)
int fn_mcuvdd(_U_ uint32_t hash, _U_ char *args) AL; //* "mcuvdd" (2517587080)
int fn_microsteps(_U_ uint32_t hash, _U_ char *args) AL; //* "microsteps" (3974395854)
int fn_minspeed(_U_ uint32_t hash, _U_ char *args) AL; //* "minspeed" (3234848090)
int fn_motflags(_U_ uint32_t hash, _U_ char *args) AL; //* "motflags" (2153634658)
int fn_motmul(_U_ uint32_t hash, _U_ char *args) AL; // "motmul" (1543400099)
int fn_motreinit(_U_ uint32_t hash, _U_ char *args) AL; //* "motreinit" (199682784)
int fn_relpos(_U_ uint32_t hash, _U_ char *args) AL; //* "relpos" (1278646042)
int fn_relslow(_U_ uint32_t hash, _U_ char *args) AL; //* "relslow" (1742971917)
int fn_saveconf(_U_ uint32_t hash, _U_ char *args) AL; //* "saveconf" (141102426)
int fn_screen(_U_ uint32_t hash, _U_ char *args) AL; // "screen" (2100809349)
int fn_speedlimit(_U_ uint32_t hash, _U_ char *args) AL; //* "speedlimit" (1654184245)
int fn_state(_U_ uint32_t hash, _U_ char *args) AL; //* "state" (2216628902)
int fn_stop(_U_ uint32_t hash, _U_ char *args) AL; //* "stop" (17184971)
int fn_tmcbus(_U_ uint32_t hash, _U_ char *args) AL; // "tmcbus" (1906135955)
int fn_udata(_U_ uint32_t hash, _U_ char *args) AL; // "udata" (2736127636)
int fn_usartstatus(_U_ uint32_t hash, _U_ char *args) AL; // "usartstatus" (4007098968)
/** /**
* @brief cmd_parser - command parsing * @brief cmd_parser - command parsing
* @param txt - buffer with commands & data * @param txt - buffer with commands & data

1
F3:F303/Multistepper/proto.h
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@ -24,6 +24,7 @@
#include "usb.h" #include "usb.h"
#define printu(x) do{USB_sendstr(u2str(x));}while(0) #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 printuhex(x) do{USB_sendstr(uhex2str(x));}while(0)
extern uint8_t ShowMsgs; // show CAN messages flag extern uint8_t ShowMsgs; // show CAN messages flag

72
F3:F303/Multistepper/steppers.h Normal file
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@ -0,0 +1,72 @@
/*
* This file is part of the multistepper project.
* Copyright 2023 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <stm32f3.h>
#include "commonproto.h"
// amount of tries to detect motor stall
#define NSTALLEDMAX (5)
// amount of steps to detect stalled state
#define STALLEDSTEPS (15)
// amount of tries to keep current position (need for states near problem places)
#define KEEPPOSMAX (10)
// stepper states
typedef enum{
STP_RELAX, // 0 - no moving
STP_ACCEL, // 1 - start moving with acceleration
STP_MOVE, // 2 - moving with constant speed
STP_MVSLOW, // 3 - moving with slowest constant speed (end of moving)
STP_DECEL, // 4 - moving with deceleration
STP_STALL, // 5 - stalled
STP_ERR // 6 - wrong/error state
} stp_state;
// end-switches reaction
enum{
ESW_IGNORE, // don't stop @ end-switch
ESW_ANYSTOP, // stop @ esw in any moving direction
ESW_STOPMINUS, // stop only in negative moving
ESW_AMOUNT // number of records
};
// find zero stages: fast -> 0, slow -> +, slow -> 0
void addmicrostep(uint8_t i);
void encoders_UPD(uint8_t i);
void init_steppers();
int32_t encoder_position(uint8_t i);
int setencpos(uint8_t i, int32_t position);
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);
errcodes motor_relmove(uint8_t i, int32_t relsteps);
errcodes motor_relslow(uint8_t i, int32_t relsteps);
errcodes motor_goto0(uint8_t i);
uint8_t geteswreact(uint8_t i);
void emstopmotor(uint8_t i);
void stopmotor(uint8_t i);
stp_state getmotstate(uint8_t i);
void process_steppers();

4
F3:F303/Multistepper/version.inc
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@ -1,2 +1,2 @@
#define BUILD_NUMBER "11" #define BUILD_NUMBER "20"
#define BUILD_DATE "2023-02-07" #define BUILD_DATE "2023-02-13"