From 6c21d9f91a45ba3a6456b418d77d19f7da54354e Mon Sep 17 00:00:00 2001
From: Edward Emelianov <edward.emelianoff@gmail.com>
Date: Thu, 19 Feb 2026 23:11:11 +0300
Subject: [PATCH] CAN works

---
 F3:F303/InterfaceBoard/can.c                  |  14 ++--
 F3:F303/InterfaceBoard/can.h                  |   2 +-
 F3:F303/InterfaceBoard/canproto.c             |  61 ++++++++++++------
 F3:F303/InterfaceBoard/canproto.h             |   6 +-
 F3:F303/InterfaceBoard/main.c                 |  23 +------
 F3:F303/InterfaceBoard/multiiface.bin         | Bin 28024 -> 27996 bytes
 .../InterfaceBoard/multiiface.creator.user    |   2 +-
 F3:F303/InterfaceBoard/version.inc            |   4 +-
 8 files changed, 62 insertions(+), 50 deletions(-)

diff --git a/F3:F303/InterfaceBoard/can.c b/F3:F303/InterfaceBoard/can.c
index d4a284b..b859b88 100644
--- a/F3:F303/InterfaceBoard/can.c
+++ b/F3:F303/InterfaceBoard/can.c
@@ -45,7 +45,7 @@
 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
+static uint32_t oldspeed = 100000; // speed of last init
 uint32_t floodT = FLOOD_PERIOD_MS; // flood period in ms
 static uint8_t incrflood = 0; // ==1 for incremental flooding
 static uint32_t incrmessagectr = 0; // counter for incremental flooding
@@ -66,7 +66,7 @@ CAN_status CAN_get_status(){
 
 // push next message into buffer; return 1 if buffer overfull
 static int CAN_messagebuf_push(CAN_message *msg){
-    DBG("PUSH");
+    //DBG("PUSH");
     if(first_free_idx == first_nonfree_idx){
         DBG("INBUF OVERFULL");
         return 1; // no free space
@@ -87,11 +87,11 @@ CAN_message *CAN_messagebuf_pop(){
         first_nonfree_idx = -1;
         first_free_idx = 0;
     }
-    DBG("POP");
+    //DBG("POP");
     return msg;
 }
 
-void CAN_reinit(uint16_t speed){
+void CAN_reinit(uint32_t speed){
     DBG("CAN_reinit");
     CAN->TSR |= CAN_TSR_ABRQ0 | CAN_TSR_ABRQ1 | CAN_TSR_ABRQ2;
     RCC->APB1RSTR |= RCC_APB1RSTR_CANRST;
@@ -148,8 +148,10 @@ void CAN_setup(uint32_t speed){
     if(tmout==0){ DBG("timeout!\n");}
     CAN->MCR &=~ CAN_MCR_SLEEP; /* (3) */
     CAN->MCR |= CAN_MCR_ABOM; /* allow automatically bus-off */
+    DBG("new speed:"); DBGs(u2str(speed)); DBGn();
     CAN->BTR =  (CAN_TBS2-1) << 20 | (CAN_TBS1-1) << 16 | (CAN_BIT_OSC/speed - 1);  /* (4) */
     oldspeed = CAN_BIT_OSC/(uint32_t)((CAN->BTR & CAN_BTR_BRP) + 1);
+    DBG("saved sped:"); DBGs(u2str(oldspeed)); DBGn();
     CAN->MCR &= ~CAN_MCR_INRQ; /* (5) */
     tmout = 10000;
     while(CAN->MSR & CAN_MSR_INAK) /* (6) */
@@ -232,7 +234,7 @@ void CAN_proc(){
         CAN_send(flood_msg->data, flood_msg->length, flood_msg->ID);
     }else if(incrflood && (Tms - lastFloodTime) >= floodT){
         lastFloodTime = Tms;
-        if(CAN_OK == CAN_send((uint8_t*)&incrmessagectr, 4, flood_msg->ID)) ++incrmessagectr;
+        if(CAN_OK == CAN_send((uint8_t*)&incrmessagectr, 4, loc_flood_msg.ID)) ++incrmessagectr;
     }
 }
 
@@ -245,7 +247,7 @@ CAN_status CAN_send(uint8_t *msg, uint8_t len, uint16_t target_id){
         DBG("No free mailboxes");
         return CAN_BUSY;
     }
-#ifdef EBUG
+#if 0
     DBGs("Send data. Len="); DBGs(u2str(len));
     DBGs(", tagid="); DBGs(u2str(target_id));
     DBGs(", data=");
diff --git a/F3:F303/InterfaceBoard/can.h b/F3:F303/InterfaceBoard/can.h
index 230bfbd..b76c603 100644
--- a/F3:F303/InterfaceBoard/can.h
+++ b/F3:F303/InterfaceBoard/can.h
@@ -50,7 +50,7 @@ typedef enum{
 
 CAN_status CAN_get_status();
 
-void CAN_reinit(uint16_t speed);
+void CAN_reinit(uint32_t speed);
 void CAN_setup(uint32_t speed);
 
 CAN_status CAN_send(uint8_t *msg, uint8_t len, uint16_t target_id);
diff --git a/F3:F303/InterfaceBoard/canproto.c b/F3:F303/InterfaceBoard/canproto.c
index 01cd407..a0e466a 100644
--- a/F3:F303/InterfaceBoard/canproto.c
+++ b/F3:F303/InterfaceBoard/canproto.c
@@ -77,8 +77,8 @@ static CAN_message *parseCANmsg(const char *txt){
     return &canmsg;
 }
 
-// USB_sendstr command, format: ID (hex/bin/dec) data bytes (up to 8 bytes, space-delimeted)
-TRUE_INLINE void USB_sendstrCANcommand(char *txt){
+// Send command, format: ID (hex/bin/dec) data bytes (up to 8 bytes, space-delimeted)
+TRUE_INLINE void CANcommand(char *txt){
     if(CAN->MSR & CAN_MSR_INAK){
         PRIstrn("CAN bus is off, try to restart it");
         return;
@@ -95,19 +95,20 @@ TRUE_INLINE void CANini(const char *txt){
     uint32_t N;
     const char *n = getnum(txt, &N);
     if(txt == n){
-        PRIstr("No speed given");
+        PRIstr("CANspeed=");
+        PRIstrn(u2str(CAN_speed()));
         return;
     }
-    if(N < 50){
-        PRIstr("Lowest speed is 50kbps");
+    if(N < CAN_MIN_SPEED){
+        PRIstrn("Speed is too low");
         return;
-    }else if(N > 3000){
-        PRIstr("Highest speed is 3000kbps");
+    }else if(N > CAN_MAX_SPEED){
+        PRIstrn("Speed is too large");
         return;
     }
-    CAN_reinit((uint16_t)N);
+    CAN_reinit(N);
     PRIstr("Reinit CAN bus with speed ");
-    printu(N); PRIstrn("kbps");
+    printu(N); PRIn();
 }
 
 TRUE_INLINE void addIGN(const char *txt){
@@ -128,7 +129,7 @@ TRUE_INLINE void addIGN(const char *txt){
     }
     Ignore_IDs[IgnSz++] = (uint16_t)(N & 0x7ff);
     PRIstr("Added ID "); printu(N);
-    PRIstrn("\nIgn buffer size: "); PRIstrn(u2str(IgnSz));
+    PRIstr("\nIgn buffer size: "); PRIstrn(u2str(IgnSz));
 }
 
 TRUE_INLINE void print_ign_buf(){
@@ -136,7 +137,7 @@ TRUE_INLINE void print_ign_buf(){
         PRIstrn("Ignore buffer is empty");
         return;
     }
-    PRIstrn("Ignored IDs:");
+    PRIstr("Ignored IDs:");
     for(int i = 0; i < IgnSz; ++i){
         printu(i);
         PRIstr(": ");
@@ -191,7 +192,7 @@ TRUE_INLINE void list_filters(){
                     PRIstr(", MASK="); printID(CAN->sFilterRegister[ctr].FR2 >> 16);
                 }
             }
-            PRIstr("\n");
+            PRIn();
         }
         fa >>= 1;
         ++ctr;
@@ -203,11 +204,8 @@ TRUE_INLINE void setfloodt(const char *s){
     uint32_t N;
     s = omit_spaces(s);
     const char *n = getnum(s, &N);
-    if(s == n){
-        PRIstrn("t="); PRIstrn(u2str(floodT));
-        return;
-    }
-    floodT = N;
+    if(s != n) floodT = N;
+    PRIstr("t="); PRIstrn(u2str(floodT));
 }
 
 /**
@@ -364,7 +362,7 @@ void CANcmd_parser(char *txt){
         break;
         case 's':
         case 'S':
-            USB_sendstrCANcommand(txt);
+            CANcommand(txt);
             return;
         break;
         case 't':
@@ -389,6 +387,8 @@ void CANcmd_parser(char *txt){
         break;
         case 'I':
             CAN_reinit(0);
+            PRIstr("CANspeed=");
+            PRIstrn(u2str(CAN_speed()));
         break;
         case 'l':
             list_filters();
@@ -422,3 +422,28 @@ uint8_t CANsoftFilter(uint16_t ID){
         if(Ignore_IDs[i] == ID) return 0;
     return 1;
 }
+
+// process incoming USB and CAN messages
+void canproto_process(){
+    CAN_proc();
+    if(CAN_get_status() == CAN_FIFO_OVERRUN){
+        USB_sendstr(ICAN, "CAN bus fifo overrun occured!\n");
+    }
+    CAN_message *can_mesg;
+    while((can_mesg = CAN_messagebuf_pop())){
+        if(can_mesg && CANsoftFilter(can_mesg->ID)){
+            if(CANShowMsgs){ // display message content
+                IWDG->KR = IWDG_REFRESH;
+                uint8_t len = can_mesg->length;
+                USB_sendstr(ICAN, u2str(Tms));
+                USB_sendstr(ICAN, " #");
+                USB_sendstr(ICAN, uhex2str(can_mesg->ID));
+                for(uint8_t i = 0; i < len; ++i){
+                    USB_putbyte(ICAN, ' ');
+                    USB_sendstr(ICAN, uhex2str(can_mesg->data[i]));
+                }
+                newline(ICAN);
+            }
+        }
+    }
+}
diff --git a/F3:F303/InterfaceBoard/canproto.h b/F3:F303/InterfaceBoard/canproto.h
index a89b05d..da3c7c0 100644
--- a/F3:F303/InterfaceBoard/canproto.h
+++ b/F3:F303/InterfaceBoard/canproto.h
@@ -34,6 +34,10 @@
 
 #endif // CANPRIVATE__
 
-extern uint8_t CANShowMsgs; // show CAN messages flag
+void canproto_process();
 void CANcmd_parser(char *txt);
+/*
+extern uint8_t CANShowMsgs; // show CAN messages flag
+
 uint8_t CANsoftFilter(uint16_t ID);
+*/
diff --git a/F3:F303/InterfaceBoard/main.c b/F3:F303/InterfaceBoard/main.c
index fc94d4b..89447ad 100644
--- a/F3:F303/InterfaceBoard/main.c
+++ b/F3:F303/InterfaceBoard/main.c
@@ -64,31 +64,12 @@ int main(void){
             if(l) USB_send(i, (uint8_t*)inbuff, l);
         }*/
         if(CDCready[ICAN]){
-            CAN_proc();
-            if(CAN_get_status() == CAN_FIFO_OVERRUN){
-                USB_sendstr(ICAN, "CAN bus fifo overrun occured!\n");
-            }
-            CAN_message *can_mesg;
-            while((can_mesg = CAN_messagebuf_pop())){
-                if(can_mesg && CANsoftFilter(can_mesg->ID)){
-                    if(CANShowMsgs){ // display message content
-                        IWDG->KR = IWDG_REFRESH;
-                        uint8_t len = can_mesg->length;
-                        USB_sendstr(ICAN, u2str(Tms));
-                        USB_sendstr(ICAN, " #");
-                        USB_sendstr(ICAN, u2str(can_mesg->ID));
-                        for(uint8_t i = 0; i < len; ++i){
-                            USB_putbyte(ICAN, ' ');
-                            USB_sendstr(ICAN, u2str(can_mesg->data[i]));
-                        }
-                        newline(ICAN);
-                    }
-                }
-            }
             int l = USB_receivestr(ICAN, inbuff, MAXSTRLEN);
             if(l < 0) USB_sendstr(ICAN, "ERROR: USB buffer overflow or string was too long\n");
             else if(l) CANcmd_parser(inbuff);
+            canproto_process();
         }
+
         if(Config_mode && CDCready[ICFG]){
             /*if(Tms - ctr > 4999){
                 ctr = Tms;
diff --git a/F3:F303/InterfaceBoard/multiiface.bin b/F3:F303/InterfaceBoard/multiiface.bin
index 01e7c0af2ba016fc279a1857fb75c354bfc74bb1..3ac4516b644cf3248a17ce57eab5d101dbd82267 100755
GIT binary patch
delta 8160
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diff --git a/F3:F303/InterfaceBoard/multiiface.creator.user b/F3:F303/InterfaceBoard/multiiface.creator.user
index bc3d850..0edb3ce 100644
--- a/F3:F303/InterfaceBoard/multiiface.creator.user
+++ b/F3:F303/InterfaceBoard/multiiface.creator.user
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 18.0.2, 2026-02-18T22:53:46. -->
+<!-- Written by QtCreator 18.0.2, 2026-02-19T23:09:57. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>
diff --git a/F3:F303/InterfaceBoard/version.inc b/F3:F303/InterfaceBoard/version.inc
index d09273c..30fb985 100644
--- a/F3:F303/InterfaceBoard/version.inc
+++ b/F3:F303/InterfaceBoard/version.inc
@@ -1,2 +1,2 @@
-#define BUILD_NUMBER "145"
-#define BUILD_DATE "2026-02-18"
+#define BUILD_NUMBER "151"
+#define BUILD_DATE "2026-02-19"