From 6eb0662f6983db1afcaab15297236655be736a5a Mon Sep 17 00:00:00 2001 From: Edward Emelianov Date: Wed, 5 Feb 2025 17:49:07 +0300 Subject: [PATCH] some fixes of old bugs --- F3:F303/Multistepper/Readme.md | 24 +- F3:F303/Multistepper/adc.c | 8 + F3:F303/Multistepper/can.c | 10 +- F3:F303/Multistepper/commonproto.c | 152 +++--- F3:F303/Multistepper/commonproto.h | 15 +- F3:F303/Multistepper/flash.c | 5 +- F3:F303/Multistepper/flash.h | 4 +- F3:F303/Multistepper/hardware.h | 4 + F3:F303/Multistepper/hashgen/hashgen.c | 6 + F3:F303/Multistepper/hashgen/hdr.h | 63 +++ F3:F303/Multistepper/hashgen/helpcmds.in | 6 +- F3:F303/Multistepper/main.c | 6 +- F3:F303/Multistepper/multistepper.bin | Bin 44872 -> 29992 bytes .../Multistepper/multistepper.creator.user | 32 +- .../multistepper.creator.user.7bd84e3 | 171 ++++++ F3:F303/Multistepper/multistepper.files | 4 + F3:F303/Multistepper/pdnuart.c | 39 +- F3:F303/Multistepper/proto.c | 12 +- F3:F303/Multistepper/proto.h | 11 +- F3:F303/Multistepper/steppers.c | 54 +- F3:F303/Multistepper/steppers.h | 6 +- F3:F303/Multistepper/usb_descr.c | 210 ++++++++ F3:F303/Multistepper/usb_descr.h | 62 +++ F3:F303/Multistepper/usb_dev.c | 240 +++++++++ F3:F303/Multistepper/usb_dev.h | 57 ++ F3:F303/Multistepper/usb_lib.c | 504 ++++++------------ F3:F303/Multistepper/usb_lib.h | 324 ++++++++--- F3:F303/Multistepper/version.inc | 4 +- 28 files changed, 1467 insertions(+), 566 deletions(-) create mode 100644 F3:F303/Multistepper/multistepper.creator.user.7bd84e3 create mode 100644 F3:F303/Multistepper/usb_descr.c create mode 100644 F3:F303/Multistepper/usb_descr.h create mode 100644 F3:F303/Multistepper/usb_dev.c create mode 100644 F3:F303/Multistepper/usb_dev.h diff --git a/F3:F303/Multistepper/Readme.md b/F3:F303/Multistepper/Readme.md index f7789f9..a666059 100644 --- a/F3:F303/Multistepper/Readme.md +++ b/F3:F303/Multistepper/Readme.md @@ -325,7 +325,7 @@ will be never implemented). ### absposN (35) GS Absolute stepper position in steps, setter just changes current value. E.g. you want to set current position as zero (be carefull: `gotoz` will zero position again on a zero-point limit switch). Maximum absolute value is `maxstepsN`. -### accelN (17) GS +### accelN (17) GS Stepper acceleration/deceleration on ramp (steps/s^2), only positive. Maximum value is `ACCELMAXSTEPS` from `flash.h`. ### adcN (4) G ADC value (N=0..3). @@ -349,7 +349,7 @@ Send or clear (if empty) flood message: ID byte0 ... byteN. On empy message return `NO ID given, send nothing!` (and stops flooding), or `Message parsed OK`. ### canfloodT N Flood period, N in milliseconds (N >= 0ms). -### canid [ID] +### canid [ID] Get or set CAN ID of device. Default CAN ID is "1". ### canignore [ID] Software ignore list (max 10 IDs), negative to delete all, non-negative to add next. @@ -370,8 +370,8 @@ CAN bus speed (in kbps, 50 <= N <= 1500) In case of setter, store new speed value in global parameters (and if you call `saveconf` later, it will be saved in flash memory). ### canstat Get CAN bus status: values of registers `CAN->MSR`, `CAN->TSR`, `CAN->RF0R` and `CAN->RF1F`. -### diagn[N] (37) G * -DIAG state of motor N (or all)\n" +### diagn[N] (37) G +DIAG state of motor N (or all, in this case motor 0 is LSB of answer etc.). One means "all OK", zero is error state. ### drvtypeN (45) GS Nth driver type (0 - only step/dir, 1 - UART, 2 - SPI, 3 - reserved). This parameter is taken from `.drvtype` bits of `motflags` settings parameter. ### dumperr @@ -420,7 +420,7 @@ Dump motors' state codes (for getter `stateN`): 5 - stalled (not used here!) 6 - error -### emstop[N] (29 with `N` and 31 without) +### emstop[N] (29) Emergency stop Nth motor or all (if `N` absent). Returns `OK` or error text. ### eraseflash [=N] (38) Erase flash data storage (full or only N'th page of it). Use this option only if you have problems @@ -429,8 +429,11 @@ when try to save current configuration. Get end-switches state. Return two bits (for limit switches 0 and 1): 1 means "active", 0 - "passive". If you use SPI-based driver, only one switch available, so return will be 1-bit. ### eswreactN (24) GS -End-switches reaction: 0 - ignore, 1 - stop on any limit switch (both 0 and 1; moving will be available only backwards), -2 - stop only on switch 0. You can modify this values on-the-fly (but only when steppers aren't moving). This can be usefull, +End-switches (limit-switches) reaction: 0 - ignore both limits; +1 - ignore ESW1, stop on ESW0 only when moving to negative direction; +2 - stop on any limit switch independently from direction; +3 - stop only on switch corresponding to moving direction (i.e. ESW0 for negative and ESW1 for positive). +You can modify this values on-the-fly (but only when steppers aren't moving). This can be usefull, for example, to rotate filter turret into given position using switch 1 to both as limit switch and position stopper. But even in state 0 (ignore) active state of both switches estimates as error and you won't be able to move motor. ### gotoN (26) GS @@ -440,9 +443,10 @@ Find zero position & refresh counters. The motor would rotate in reverse directi steps (parameter `maxsteps` of configuration) is exhausted. ### gpioconfN* GS GPIO configuration (0 - PUin, 1 - PPout, 2 - ODout), N=0..2. -### gpio[N]* (12) GS -GPIO values, N=0..2. Without `N` run for all GPIOs (each byte is state: 0/1). -By default GPIOs are pulled up inputs. +### gpio[N] (12) GS +GPIO values, N=0..2. Without `N` run for all GPIOs (each bit is state: 0/1, started from LSB which is zero channel). +By default GPIOs are pulled up inputs, so setters won't do any effect. To reconfigure them as outputs use gpioconf when (if) +it will be available. ### help Show this help. ### maxspeedN (18) GS diff --git a/F3:F303/Multistepper/adc.c b/F3:F303/Multistepper/adc.c index 6cb5a9d..956b85f 100644 --- a/F3:F303/Multistepper/adc.c +++ b/F3:F303/Multistepper/adc.c @@ -126,9 +126,11 @@ uint16_t getADCval(int nch){ PIX_SORT(p[4], p[2]) ; #undef PIX_SORT #undef PIX_SWAP +/* #ifdef EBUG DBG("val: "); printu(p[4]); newline(); #endif +*/ return p[4]; } @@ -136,9 +138,11 @@ uint16_t getADCval(int nch){ int32_t getADCvoltage(int nch){ float v = getADCval(nch) * 3.3; v /= 4.096f; // 12bit ADC +/* #ifdef EBUG DBG("v="); printf(v); newline(); #endif +*/ return (uint32_t) v; } @@ -150,9 +154,11 @@ int32_t getMCUtemp(){ temperature *= (110.f - 30.f); temperature /= (float)(*TEMP30_CAL_ADDR - *TEMP110_CAL_ADDR); temperature += 30.f; +/* #ifdef EBUG DBG("t="); printf(temperature); newline(); #endif +*/ return (uint32_t) (temperature*1000.f); } @@ -160,8 +166,10 @@ int32_t getMCUtemp(){ int32_t getVdd(){ float vdd = ((float) *VREFINT_CAL_ADDR) * 3.3f; // 3.3V vdd /= getADCval(ADC_VREF); +/* #ifdef EBUG DBG("vdd="); printf(vdd); newline(); #endif +*/ return (uint32_t) (vdd * 1000.f); } diff --git a/F3:F303/Multistepper/can.c b/F3:F303/Multistepper/can.c index f282ef8..b109441 100644 --- a/F3:F303/Multistepper/can.c +++ b/F3:F303/Multistepper/can.c @@ -21,7 +21,7 @@ #include "flash.h" #include "hardware.h" #include "strfunc.h" -#include "usb.h" +#include "usb_dev.h" #ifdef EBUG #include "proto.h" #endif @@ -350,7 +350,7 @@ TRUE_INLINE void parseCANcommand(CAN_message *msg){ #ifdef EBUG USB_sendstr("Index = "); USB_sendstr(u2str(Index)); newline(); #endif - if(Index >= CCMD_AMOUNT){ + if(Index >= CCMD_AMOUNT || !cancmdlist[Index]){ formerr(msg, ERR_BADCMD); goto sendmessage; } @@ -440,14 +440,14 @@ static void can_process_fifo(uint8_t fifo_num){ void usb_lp_can1_rx0_isr(){ // Rx FIFO0 (overrun) if(CAN->RF0R & CAN_RF0R_FOVR0){ // FIFO overrun - CAN->RF0R &= ~CAN_RF0R_FOVR0; + CAN->RF0R = CAN_RF0R_FOVR0; can_status = CAN_FIFO_OVERRUN; } } void can1_rx1_isr(){ // Rx FIFO1 (overrun) if(CAN->RF1R & CAN_RF1R_FOVR1){ - CAN->RF1R &= ~CAN_RF1R_FOVR1; + CAN->RF1R = CAN_RF1R_FOVR1; can_status = CAN_FIFO_OVERRUN; } } @@ -457,7 +457,7 @@ void can1_sce_isr(){ // status changed #ifdef EBUG last_err_code = CAN->ESR; #endif - CAN->MSR &= ~CAN_MSR_ERRI; + CAN->MSR = CAN_MSR_ERRI; // clear flag // request abort for problem mailbox if(CAN->TSR & CAN_TSR_TERR0) CAN->TSR |= CAN_TSR_ABRQ0; if(CAN->TSR & CAN_TSR_TERR1) CAN->TSR |= CAN_TSR_ABRQ1; diff --git a/F3:F303/Multistepper/commonproto.c b/F3:F303/Multistepper/commonproto.c index 9b10d57..1fc6c5d 100644 --- a/F3:F303/Multistepper/commonproto.c +++ b/F3:F303/Multistepper/commonproto.c @@ -25,7 +25,7 @@ #include "pdnuart.h" #include "proto.h" #include "steppers.h" -#include "usb.h" +#include "usb_dev.h" #define NOPARCHK(par) do{if(PARBASE(par) != CANMESG_NOPAR) return ERR_BADPAR;}while(0) @@ -36,10 +36,10 @@ extern volatile uint32_t Tms; // common functions for CAN and USB (or CAN only functions) - +/* static errcodes cu_nosuchfn(uint8_t _U_ par, int32_t _U_ *val){ return ERR_BADCMD; -} +}*/ errcodes cu_abspos(uint8_t _U_ par, int32_t _U_ *val){ uint8_t n; CHECKN(n, par); @@ -87,8 +87,23 @@ errcodes cu_button(uint8_t par, int32_t *val){ return (uint8_t) keystate(n, (uint32_t*)val); } -errcodes cu_diagn(uint8_t _U_ par, int32_t _U_ *val){ - return ERR_BADCMD; +errcodes cu_diagn(uint8_t par, int32_t *val){ + uint8_t n = PARBASE(par); +#if MOTORSNO > 8 +#error "Change this code!" +#endif + if(n == CANMESG_NOPAR){ // all motors + n = 0; + for(int i = MOTORSNO-1; i > -1; --i){ + n <<= 1; + n |= motdiagn(i); + } + *val = n; + return ERR_OK; + } + CHECKN(n, par); + *val = motdiagn(n); + return ERR_OK; } errcodes cu_drvtype(uint8_t par, int32_t *val){ @@ -102,17 +117,18 @@ errcodes cu_drvtype(uint8_t par, int32_t *val){ return ERR_OK; } -errcodes cu_emstop(uint8_t _U_ par, int32_t _U_ *val){ - uint8_t n; CHECKN(n, par); +errcodes cu_emstop(uint8_t par, int32_t _U_ *val){ + uint8_t n = PARBASE(par); + if(n == CANMESG_NOPAR){ + for(int i = 0; i < MOTORSNO; ++i) + emstopmotor(i); + return ERR_OK; + } + CHECKN(n, par); emstopmotor(n); return ERR_OK; } -errcodes cu_emstopall(uint8_t _U_ par, int32_t _U_ *val){ - for(int i = 0; i < MOTORSNO; ++i) emstopmotor(i); - return ERR_OK; -} - errcodes cu_eraseflash(uint8_t _U_ par, int32_t _U_ *val){ NOPARCHK(par); if(ISSETTER(par)){ @@ -168,9 +184,8 @@ TRUE_INLINE void setextpar(uint8_t val, uint8_t i){ } } -// TODO: do it right -errcodes cu_gpio(uint8_t _U_ par, int32_t _U_ *val){ -#if EXTNO > 4 +errcodes cu_gpio(uint8_t par, int32_t *val){ +#if EXTNO > 8 #error "change the code!!!" #endif uint8_t n = PARBASE(par); @@ -182,16 +197,22 @@ errcodes cu_gpio(uint8_t _U_ par, int32_t _U_ *val){ #ifdef EBUG USND("ALL\n"); #endif - uint8_t *arr = (uint8_t*)val; + uint8_t g = (uint8_t)*val; if(ISSETTER(par)){ - for(int i = 0; i < EXTNO; ++i) - setextpar(arr[i], i); + for(int i = 0; i < EXTNO; ++i){ + setextpar(g & 1, i); + g >>= 1; + } } - for(int i = 0; i < EXTNO; ++i){ - arr[i] = EXT_CHK(i); + g = 0; + for(int i = EXTNO-1; i > -1; --i){ + g <<= 1; + g |= EXT_CHK(i); } + *val = g; return ERR_OK; }else if(n > EXTNO-1) return ERR_BADPAR; + // single channel setter/getter if(ISSETTER(par)) setextpar((uint8_t)*val, n); *val = (int32_t) EXT_CHK(n); @@ -302,7 +323,7 @@ errcodes cu_motcurrent(uint8_t par, int32_t *val){ motflags_t *f = the_conf.motflags; if(f->drvtype == DRVTYPE_UART){ if(!pdnuart_setcurrent(n, *val)) return ERR_CANTRUN; - } + } else return ERR_BADCMD; } *val = the_conf.motcurrent[n]; return ERR_OK; @@ -435,8 +456,6 @@ errcodes cu_vfive(uint8_t par, int32_t *val){ const fpointer cancmdlist[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, @@ -444,19 +463,15 @@ const fpointer cancmdlist[CCMD_AMOUNT] = { [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 @@ -464,61 +479,58 @@ const fpointer cancmdlist[CCMD_AMOUNT] = { [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, [CCMD_MOTMUL] = cu_motmul, [CCMD_DIAGN] = cu_diagn, [CCMD_ERASEFLASH] = cu_eraseflash, - [CCMD_UDATA] = cu_udata, - [CCMD_USARTSTATUS] = cu_usartstatus, +// [CCMD_UDATA] = cu_udata, +// [CCMD_USARTSTATUS] = cu_usartstatus, [CCMD_VDRIVE] = cu_vdrive, [CCMD_VFIVE] = cu_vfive // 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 all", - [CCMD_STOP] = "stop", - [CCMD_REINITMOTORS] = "motreinit", - [CCMD_MOTORSTATE] = "state", - [CCMD_SETPOS] = "abspos", - [CCMD_GOTOZERO] = "gotoz", - [CCMD_MOTMUL] = "motmul", - [CCMD_DIAGN] = "diagn", - [CCMD_ERASEFLASH] = "eraseflash", - [CCMD_UDATA] = "udata", - [CCMD_USARTSTATUS] = "usartstatus", - [CCMD_VDRIVE] = "vdrive", - [CCMD_VFIVE] = "vfive", - [CCMD_PDN] = "pdn", - [CCMD_MOTNO] = "motno", - [CCMD_DRVTYPE] = "drvtype", - [CCMD_MOTCURRENT] = "motcurrent", + [CCMD_PING] = STR_PING, + [CCMD_ADC] = STR_ADC, + [CCMD_BUTTONS] = STR_BUTTON, + [CCMD_ESWSTATE] = STR_ESW, + [CCMD_MCUT] = STR_MCUT, + [CCMD_MCUVDD] = STR_MCUVDD, + [CCMD_RESET] = STR_RESET, + [CCMD_TIMEFROMSTART] = STR_TIME, + [CCMD_EXT] = STR_GPIO, + [CCMD_SAVECONF] = STR_SAVECONF, + [CCMD_MICROSTEPS] = STR_MICROSTEPS, + [CCMD_ACCEL] = STR_ACCEL, + [CCMD_MAXSPEED] = STR_MAXSPEED, + [CCMD_MINSPEED] = STR_MINSPEED, + [CCMD_SPEEDLIMIT] = STR_SPEEDLIMIT, + [CCMD_MAXSTEPS] = STR_MAXSTEPS, + [CCMD_MOTFLAGS] = STR_MOTFLAGS, + [CCMD_ESWREACT] = STR_ESWREACT, + [CCMD_ABSPOS] = STR_GOTO, + [CCMD_RELPOS] = STR_RELPOS, + [CCMD_RELSLOW] = STR_RELSLOW, + [CCMD_EMERGSTOP] = STR_EMSTOP, + [CCMD_STOP] = STR_STOP, + [CCMD_REINITMOTORS] = STR_MOTREINIT, + [CCMD_MOTORSTATE] = STR_STATE, + [CCMD_SETPOS] = STR_ABSPOS, + [CCMD_GOTOZERO] = STR_GOTOZ, + [CCMD_MOTMUL] = STR_MOTMUL, + [CCMD_DIAGN] = STR_DIAGN, + [CCMD_ERASEFLASH] = STR_ERASEFLASH, +// [CCMD_UDATA] = STR_UDATA, +// [CCMD_USARTSTATUS] = STR_USARTSTATUS, + [CCMD_VDRIVE] = STR_VDRIVE, + [CCMD_VFIVE] = STR_VFIVE, + [CCMD_PDN] = STR_PDN, + [CCMD_MOTNO] = STR_MOTNO, + [CCMD_DRVTYPE] = STR_DRVTYPE, + [CCMD_MOTCURRENT] = STR_MOTCURRENT, }; diff --git a/F3:F303/Multistepper/commonproto.h b/F3:F303/Multistepper/commonproto.h index f21d245..6c7a78c 100644 --- a/F3:F303/Multistepper/commonproto.h +++ b/F3:F303/Multistepper/commonproto.h @@ -52,8 +52,8 @@ 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_RESERVED0 // + ,CCMD_RESERVED1 // ,CCMD_ADC // ADC ch# ,CCMD_BUTTONS // buttons ,CCMD_ESWSTATE // end-switches state @@ -61,18 +61,18 @@ enum{ ,CCMD_MCUVDD // MCU Vdd ,CCMD_RESET // software reset ,CCMD_TIMEFROMSTART // get time from start - ,CCMD_PWM // PWM value + ,CCMD_RESERVED2 // ,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_RESERVED3 // + ,CCMD_RESERVED4 // ,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_RESERVED5 // ,CCMD_MOTFLAGS // motor flags ,CCMD_ESWREACT // ESW reaction flags ,CCMD_REINITMOTORS // re-init motors after configuration changing @@ -81,7 +81,7 @@ enum{ ,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_RESERVED6 // ,CCMD_GOTOZERO // go to zero's ESW ,CCMD_MOTORSTATE // motor state ,CCMD_ENCPOS // position of encoder (independing on settings) @@ -113,7 +113,6 @@ errcodes cu_canid(uint8_t par, int32_t *val); errcodes cu_diagn(uint8_t par, int32_t *val); errcodes cu_drvtype(uint8_t par, int32_t *val); errcodes cu_emstop(uint8_t par, int32_t *val); -errcodes cu_emstopall(uint8_t par, int32_t *val); errcodes cu_eraseflash(uint8_t par, int32_t *val); errcodes cu_esw(uint8_t par, int32_t *val); errcodes cu_eswreact(uint8_t par, int32_t *val); diff --git a/F3:F303/Multistepper/flash.c b/F3:F303/Multistepper/flash.c index f6afdf3..d738549 100644 --- a/F3:F303/Multistepper/flash.c +++ b/F3:F303/Multistepper/flash.c @@ -23,7 +23,7 @@ #include "proto.h" #include "steppers.h" #include "strfunc.h" -#include "usb.h" +#include "usb_dev.h" extern const uint32_t __varsstart, _BLOCKSIZE; @@ -32,7 +32,7 @@ static const uint32_t FLASH_blocksize = (uint32_t)&_BLOCKSIZE; // max amount of Config records stored (will be recalculate in flashstorage_init() static uint32_t maxCnum = 1024 / sizeof(user_conf); // can't use blocksize here -#define DEFMF {.donthold = 1, .drvtype = DRVTYPE_SIMPLE} +#define DEFMF {.donthold = 1, .drvtype = DRVTYPE_UART} #define USERCONF_INITIALIZER { \ .userconf_sz = sizeof(user_conf) \ @@ -45,6 +45,7 @@ static uint32_t maxCnum = 1024 / sizeof(user_conf); // can't use blocksize here ,.maxsteps = {500000,500000,500000,500000,500000,500000,500000,500000}\ ,.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} \ + ,.motcurrent = {31,31,31,31,31,31,31,31} \ } static int write2flash(const void*, const void*, uint32_t); diff --git a/F3:F303/Multistepper/flash.h b/F3:F303/Multistepper/flash.h index 26e5426..b60a7a7 100644 --- a/F3:F303/Multistepper/flash.h +++ b/F3:F303/Multistepper/flash.h @@ -63,10 +63,10 @@ typedef struct{ * struct to save user configurations */ typedef struct __attribute__((packed, aligned(4))){ - uint32_t maxsteps[MOTORSNO]; // maximal amount of steps - uint16_t userconf_sz; // "magick number" + uint16_t userconf_sz; // "magick number" SHOULD ALWAYS BE FIRST!!!1111 uint16_t CANspeed; // default CAN speed uint16_t CANID; // identifier + uint32_t maxsteps[MOTORSNO]; // maximal amount of steps 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) diff --git a/F3:F303/Multistepper/hardware.h b/F3:F303/Multistepper/hardware.h index 3a8c815..c0456eb 100644 --- a/F3:F303/Multistepper/hardware.h +++ b/F3:F303/Multistepper/hardware.h @@ -84,6 +84,10 @@ extern const uint32_t EXTpins[EXTNO]; #define EXT_TOGGLE(x) do{ pin_toggle(EXTports[x], EXTpins[x]); }while(0) #define EXT_CHK(x) (pin_read(EXTports[x], EXTpins[x])) +// DIAG output of motors (PE2) & its multiplexer (PE3 - 0, PE4 - 1, PE5 - 2) +#define DIAG() (GPIOE->IDR & (1<<2) ? 0 : 1) +#define DIAGMUL(x) do{ register uint32_t v = x&7; GPIOE->BSRR = (v | (((~v)&7)<<16))<<3; }while(0) + extern volatile TIM_TypeDef *mottimers[MOTORSNO]; extern volatile uint32_t Tms; diff --git a/F3:F303/Multistepper/hashgen/hashgen.c b/F3:F303/Multistepper/hashgen/hashgen.c index ac30ac6..a3c300f 100644 --- a/F3:F303/Multistepper/hashgen/hashgen.c +++ b/F3:F303/Multistepper/hashgen/hashgen.c @@ -249,6 +249,12 @@ static void build(strhash *H, int hno, int hlen){ } fprintf(source, "%s", ffooter); fclose(source); + fprintf(header, "\n\n"); + for(int i = 0; i < hlen; ++i){ + char *m = macroname(H[i].str); + fprintf(header, "#define STR_%-*s \"%s\"\n", lmax, m, H[i].str); + } + fclose(header); } diff --git a/F3:F303/Multistepper/hashgen/hdr.h b/F3:F303/Multistepper/hashgen/hdr.h index 99831e3..841740f 100644 --- a/F3:F303/Multistepper/hashgen/hdr.h +++ b/F3:F303/Multistepper/hashgen/hdr.h @@ -77,3 +77,66 @@ extern char lastcmd[]; #define CMD_USARTSTATUS (4007098968) #define CMD_VDRIVE (2172773525) #define CMD_VFIVE (3017477285) + + +#define STR_ABSPOS "abspos" +#define STR_ACCEL "accel" +#define STR_ADC "adc" +#define STR_BUTTON "button" +#define STR_CANERRCODES "canerrcodes" +#define STR_CANFILTER "canfilter" +#define STR_CANFLOOD "canflood" +#define STR_CANFLOODT "canfloodT" +#define STR_CANID "canid" +#define STR_CANIGNORE "canignore" +#define STR_CANINCRFLOOD "canincrflood" +#define STR_CANPAUSE "canpause" +#define STR_CANREINIT "canreinit" +#define STR_CANRESUME "canresume" +#define STR_CANSEND "cansend" +#define STR_CANSPEED "canspeed" +#define STR_CANSTAT "canstat" +#define STR_DIAGN "diagn" +#define STR_DRVTYPE "drvtype" +#define STR_DUMPCMD "dumpcmd" +#define STR_DUMPCONF "dumpconf" +#define STR_DUMPERR "dumperr" +#define STR_DUMPMOT "dumpmot" +#define STR_DUMPMOTFLAGS "dumpmotflags" +#define STR_DUMPSTATES "dumpstates" +#define STR_EMSTOP "emstop" +#define STR_ERASEFLASH "eraseflash" +#define STR_ESW "esw" +#define STR_ESWREACT "eswreact" +#define STR_GOTO "goto" +#define STR_GOTOZ "gotoz" +#define STR_GPIO "gpio" +#define STR_GPIOCONF "gpioconf" +#define STR_HELP "help" +#define STR_MAXSPEED "maxspeed" +#define STR_MAXSTEPS "maxsteps" +#define STR_MCUT "mcut" +#define STR_MCUVDD "mcuvdd" +#define STR_MICROSTEPS "microsteps" +#define STR_MINSPEED "minspeed" +#define STR_MOTCURRENT "motcurrent" +#define STR_MOTFLAGS "motflags" +#define STR_MOTMUL "motmul" +#define STR_MOTNO "motno" +#define STR_MOTREINIT "motreinit" +#define STR_PDN "pdn" +#define STR_PING "ping" +#define STR_RELPOS "relpos" +#define STR_RELSLOW "relslow" +#define STR_RESET "reset" +#define STR_SAVECONF "saveconf" +#define STR_SCREEN "screen" +#define STR_SPEEDLIMIT "speedlimit" +#define STR_STATE "state" +#define STR_STOP "stop" +#define STR_TIME "time" +#define STR_TMCBUS "tmcbus" +#define STR_UDATA "udata" +#define STR_USARTSTATUS "usartstatus" +#define STR_VDRIVE "vdrive" +#define STR_VFIVE "vfive" diff --git a/F3:F303/Multistepper/hashgen/helpcmds.in b/F3:F303/Multistepper/hashgen/helpcmds.in index 4a90b0e..ce033b6 100644 --- a/F3:F303/Multistepper/hashgen/helpcmds.in +++ b/F3:F303/Multistepper/hashgen/helpcmds.in @@ -15,7 +15,7 @@ "cansend - send data over CAN: send ID byte0 .. byteN (N<8)\n" "canspeed - GS CAN speed (reinit if setter)\n" "canstat - G CAN status\n" - "diagn[N]* - G DIAG state of motor N (or all)\n" + "diagn[N] - G DIAG state of motor N (or all)\n" "drvtypeN - GS driver type (0 - only step/dir, 1 - UART, 2 - SPI, 3 - reserved)\n" "dumperr - dump error codes\n" "dumpcmd - dump command codes\n" @@ -26,11 +26,11 @@ "emstop[N] - emergency stop motor N or all\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" + "eswreactN - GS end-switches reaction (0 - ignore, 1 - ignore ESW1 and stop@0 only when moving negative, 2 - stop@any, 3 - stop@dir)\n" "gotoN - GS move motor to given absolute position\n" "gotozN - find zero position & refresh counters\n" "gpioconfN* - GS GPIO configuration (0 - PUin, 1 - PPout, 2 - ODout), N=0..2\n" - "gpioN* - GS GPIO values, N=0..2\n" + "gpioN - GS GPIO values, N=0..2\n" "help - print this help\n" "maxspeedN - GS max speed (steps per sec)\n" "maxstepsN - GS max steps (from zero ESW)\n" diff --git a/F3:F303/Multistepper/main.c b/F3:F303/Multistepper/main.c index 04d2427..a8b23b0 100644 --- a/F3:F303/Multistepper/main.c +++ b/F3:F303/Multistepper/main.c @@ -24,7 +24,7 @@ #include "pdnuart.h" #include "proto.h" #include "steppers.h" -#include "usb.h" +#include "usb_dev.h" #define MAXSTRLEN RBINSZ @@ -49,7 +49,7 @@ int main(void){ CAN_setup(the_conf.CANspeed); adc_setup(); pdnuart_setup(); - init_steppers(); + // steppers will be initted later, in process_steppers() USBPU_ON(); uint32_t ctr = 0; CAN_message *can_mesg; @@ -83,11 +83,13 @@ int main(void){ int l = USB_receivestr(inbuff, MAXSTRLEN); if(l < 0) USB_sendstr("USB_BUF_OVERFLOW\n"); else if(l){ +/* #ifdef EBUG USB_sendstr("USB GOT:\n"); USB_sendstr(inbuff); USB_sendstr("\n--------\n"); #endif +*/ const char *ans = cmd_parser(inbuff); if(ans) USB_sendstr(ans); } diff --git a/F3:F303/Multistepper/multistepper.bin b/F3:F303/Multistepper/multistepper.bin index 8b131fb9733fd517807dfd9c05878c7d46a49781..7451c881d1c307e5f941a1af5bc083f9e1ca0b01 100755 GIT binary patch literal 29992 zcmbrm34ByVwm)9?-tKf~0h%OeHsL0nK$8UMB%l!lI-SrY=`2XV1#s+a(9w{zNzlmn z9v#pzDk_N1u;>gU&Wt!NNgy*a8WY7g<2X96n`KN`9+^>TB`!A*NN4T;_f&TPXWsk$ zfA90l=To^=r%s(Zb?VfqQ|H!g#svAx)lB<$q_h8&*gyRd4kZH9^MRTF+UB2W{BO%Q 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b/F3:F303/Multistepper/multistepper.creator.user index ba438b9..2b30f37 100644 --- a/F3:F303/Multistepper/multistepper.creator.user +++ b/F3:F303/Multistepper/multistepper.creator.user @@ -1,10 +1,10 @@ - + EnvironmentId - {7bd84e39-ca37-46d3-be9d-99ebea85bc0d} + {cf63021e-ef53-49b0-b03b-2f2570cdf3b6} ProjectExplorer.Project.ActiveTarget @@ -39,9 +39,9 @@ 1 0 false - true + false false - 0 + 1 true true 0 @@ -50,10 +50,10 @@ false 1 true - false + true true *.md, *.MD, Makefile - false + true true true @@ -78,7 +78,7 @@ true true Builtin.DefaultTidyAndClazy - 8 + 4 true @@ -93,12 +93,12 @@ Desktop Desktop Desktop - {65a14f9e-e008-4c1b-89df-4eaa4774b6e3} + {91347f2c-5221-46a7-80b1-0a054ca02f79} 0 0 0 - /Big/Data/00__Electronics/STM32/F303-nolib/Multistepper + /home/eddy/Docs/SAO/ELECTRONICS/STM32/F3-srcs/Multistepper @@ -108,8 +108,8 @@ GenericProjectManager.GenericMakeStep 1 - Build - Build + Сборка + Сборка ProjectExplorer.BuildSteps.Build @@ -121,8 +121,8 @@ GenericProjectManager.GenericMakeStep 1 - Clean - Clean + Очистка + Очистка ProjectExplorer.BuildSteps.Clean 2 @@ -130,15 +130,15 @@ false - Default + По умолчанию GenericProjectManager.GenericBuildConfiguration 1 0 - Deploy - Deploy + Развёртывание + Развёртывание ProjectExplorer.BuildSteps.Deploy 1 diff --git a/F3:F303/Multistepper/multistepper.creator.user.7bd84e3 b/F3:F303/Multistepper/multistepper.creator.user.7bd84e3 new file mode 100644 index 0000000..aa79e75 --- /dev/null +++ b/F3:F303/Multistepper/multistepper.creator.user.7bd84e3 @@ -0,0 +1,171 @@ + + + + + + EnvironmentId + {7bd84e39-ca37-46d3-be9d-99ebea85bc0d} + + + ProjectExplorer.Project.ActiveTarget + 0 + + + ProjectExplorer.Project.EditorSettings + + true + false + true + + Cpp + + CppGlobal + + + + QmlJS + + QmlJSGlobal + + + 2 + KOI8-R + false + 4 + false + 80 + true + true + 1 + false + true + false + 0 + true + true + 0 + 8 + true + false + 1 + true + false + true + *.md, *.MD, Makefile + false + true + + + + ProjectExplorer.Project.PluginSettings + + + true + false + true + true + true + true + + + 0 + true + + true + true + Builtin.DefaultTidyAndClazy + 2 + + + + true + + + + + ProjectExplorer.Project.Target.0 + + Desktop + Desktop + Desktop + {65a14f9e-e008-4c1b-89df-4eaa4774b6e3} + 0 + 0 + 0 + + /Big/Data/00__Electronics/STM32/F303-nolib/blink + + + + all + + true + GenericProjectManager.GenericMakeStep + + 1 + Сборка + Сборка + ProjectExplorer.BuildSteps.Build + + + + + clean + + true + GenericProjectManager.GenericMakeStep + + 1 + Очистка + Очистка + ProjectExplorer.BuildSteps.Clean + + 2 + false + + false + + Default + GenericProjectManager.GenericBuildConfiguration + + 1 + + + 0 + Развёртывание + Развёртывание + ProjectExplorer.BuildSteps.Deploy + + 1 + + false + ProjectExplorer.DefaultDeployConfiguration + + 1 + + + 2 + + ProjectExplorer.CustomExecutableRunConfiguration + + false + true + false + true + + 1 + + + + ProjectExplorer.Project.TargetCount + 1 + + + ProjectExplorer.Project.Updater.FileVersion + 22 + + + Version + 22 + + diff --git a/F3:F303/Multistepper/multistepper.files b/F3:F303/Multistepper/multistepper.files index 6a5d842..e697ff3 100644 --- a/F3:F303/Multistepper/multistepper.files +++ b/F3:F303/Multistepper/multistepper.files @@ -28,6 +28,10 @@ strfunc.h tmc2209.h usb.c usb.h +usb_descr.c +usb_descr.h +usb_dev.c +usb_dev.h usb_lib.c usb_lib.h usbhw.c diff --git a/F3:F303/Multistepper/pdnuart.c b/F3:F303/Multistepper/pdnuart.c index 9d33110..105a7fb 100644 --- a/F3:F303/Multistepper/pdnuart.c +++ b/F3:F303/Multistepper/pdnuart.c @@ -70,7 +70,10 @@ void pdnuart_setup(){ } static int rwreg(uint8_t reg, uint32_t data, int w){ - if(motorno >= MOTORSNO || reg & 0x80) return FALSE; + if(motorno >= MOTORSNO || reg & 0x80){ + DBG("Wrong motno or reg"); + return FALSE; + } uint32_t x = Tms; while(Tms - x < 1); int no = motorno >> 2; @@ -90,13 +93,24 @@ static int rwreg(uint8_t reg, uint32_t data, int w){ calcCRC(outbuf, nbytes); ++nbytes; for(int i = 0; i < nbytes; ++i){ + IWDG->KR = IWDG_REFRESH; + /* +#ifdef EBUG USB_sendstr("Send byte "); USB_putbyte('0'+i); USB_sendstr(": "); printuhex(outbuf[i]); newline(); +#endif + */ USART[no]->TDR = outbuf[i]; // transmit while(!(USART[no]->ISR & USART_ISR_TXE)); int l = 0; for(; l < 10000; ++l) if(USART[no]->ISR & USART_ISR_RXNE) break; + // clear Rx + (void) USART[no]->RDR; + /* +#ifdef EBUG if(l == 10000) USND("Nothing received"); else {USB_sendstr("Rcv: "); printuhex(USART[no]->RDR); newline();} +#endif + */ } return TRUE; } @@ -113,10 +127,18 @@ int pdnuart_readreg(uint8_t reg, uint32_t *data){ uint8_t buf[8]; int no = motorno >> 2; for(int i = 0; i < 8; ++i){ + IWDG->KR = IWDG_REFRESH; while(!(USART[no]->ISR & USART_ISR_RXNE)) - if(Tms - Tstart > PDNU_TMOUT) return FALSE; + if(Tms - Tstart > PDNU_TMOUT){ + DBG("Read timeout"); + return FALSE; + } buf[i] = USART[no]->RDR; - USB_sendstr("byte: "); printuhex(buf[i]); newline(); +/* +#ifdef EBUG + USB_sendstr("Read byte: "); printuhex(buf[i]); newline(); +#endif +*/ } uint32_t o = 0; for(int i = 3; i < 7; ++i){ @@ -153,9 +175,12 @@ int pdnuart_setmotno(uint8_t no){ // write val into IHOLD_IRUN over UART to n'th motor int pdnuart_setcurrent(uint8_t no, uint8_t val){ - TMC2209_ihold_irun_reg_t regval; - if(!readregister(no, TMC2209Reg_IHOLD_IRUN, ®val.value)) return FALSE; + TMC2209_ihold_irun_reg_t regval = {0}; + // IHOLD_IRUN is write-only register, so we should write all values!!! + //if(!readregister(no, TMC2209Reg_IHOLD_IRUN, ®val.value)) return FALSE; + if(the_conf.motflags[no].donthold == 0) regval.ihold = (1+val)/2; // hold current regval.irun = val; + regval.iholddelay = 1; // 2^18 clock delay before power down motor return writeregister(no, TMC2209Reg_IHOLD_IRUN, regval.value); } @@ -172,12 +197,12 @@ int pdnuart_microsteps(uint8_t no, uint32_t val){ // init driver number `no`, return FALSE if failed int pdnuart_init(uint8_t no){ TMC2209_gconf_reg_t gconf; + if(!pdnuart_microsteps(no, the_conf.microsteps[no])) return FALSE; + if(!pdnuart_setcurrent(no, the_conf.motcurrent[no])) return FALSE; if(!readregister(no, TMC2209Reg_GCONF, &gconf.value)) return FALSE; gconf.pdn_disable = 1; // PDN now is UART gconf.mstep_reg_select = 1; // microsteps are by MSTEP if(!writeregister(no, TMC2209Reg_GCONF, gconf.value)) return FALSE; - if(!pdnuart_microsteps(no, the_conf.microsteps[no])) return FALSE; - if(!pdnuart_setcurrent(no, the_conf.motcurrent[no])) return FALSE; return TRUE; } diff --git a/F3:F303/Multistepper/proto.c b/F3:F303/Multistepper/proto.c index 8c04193..01eff68 100644 --- a/F3:F303/Multistepper/proto.c +++ b/F3:F303/Multistepper/proto.c @@ -403,9 +403,10 @@ static const char* motfl[MOTFLAGS_AMOUNT] = { "6,7: drvtype - driver type (0 - only step/dir, 1 - UART, 2 - SPI, 3 - reserved)" }; static const char *eswfl[ESW_AMOUNT] = { - [ESW_IGNORE] = "ignore end-switches", + [ESW_IGNORE] = "ignore both end-switches", + [ESW_IGNORE1] = "ignore ESW1, ESW0 stops only when negative mowing", [ESW_ANYSTOP] = "stop @ esw in any moving direction", - [ESW_STOPMINUS] = "stop only when moving in given direction (e.g. to minus @ESW0)" + [ESW_STOPDIR] = "stop only when moving in given direction (e.g. to minus @ESW0)" }; int fn_dumpmotflags(uint32_t _U_ hash, char _U_ *args){ // "dumpmotflags" (36159640) USB_sendstr("Motor flags:"); @@ -479,11 +480,13 @@ static int canusb_function(uint32_t hash, char *args){ uint32_t N; int32_t val = 0; uint8_t par = CANMESG_NOPAR; +/* DBG("CMD: hash="); #ifdef EBUG printu(hash); USB_sendstr(", args="); USND(args); #endif +*/ if(*args){ const char *n = getnum(args, &N); if(n != args){ // get parameter @@ -502,10 +505,12 @@ static int canusb_function(uint32_t hash, char *args){ } } } +/* #ifdef EBUG USB_sendstr("par="); printuhex(par); USB_sendstr(", val="); printi(val); newline(); #endif +*/ switch(hash){ case CMD_ADC: e = cu_adc(par, &val); @@ -553,8 +558,7 @@ static int canusb_function(uint32_t hash, char *args){ e = cu_drvtype(par, &val); break; case CMD_EMSTOP: - if(par == CANMESG_NOPAR) e = cu_emstopall(par, &val); - else e = cu_emstop(par, &val); + e = cu_emstop(par, &val); if(e == ERR_OK){ USND("OK"); return RET_GOOD;} break; case CMD_ESWREACT: diff --git a/F3:F303/Multistepper/proto.h b/F3:F303/Multistepper/proto.h index 883e760..812c152 100644 --- a/F3:F303/Multistepper/proto.h +++ b/F3:F303/Multistepper/proto.h @@ -21,7 +21,16 @@ #include #include "strfunc.h" -#include "usb.h" +#include "usb_dev.h" + +#define STR_HELPER(s) #s +#define STR(s) STR_HELPER(s) + +#ifdef EBUG +#define DBG(str) do{USB_sendstr(__FILE__ " (L" STR(__LINE__) "): " str); newline();}while(0) +#else +#define DBG(str) +#endif #define printu(x) do{USB_sendstr(u2str(x));}while(0) #define printi(x) do{USB_sendstr(i2str(x));}while(0) diff --git a/F3:F303/Multistepper/steppers.c b/F3:F303/Multistepper/steppers.c index 9ae0aca..abd0a75 100644 --- a/F3:F303/Multistepper/steppers.c +++ b/F3:F303/Multistepper/steppers.c @@ -18,11 +18,13 @@ #include "flash.h" #include "hardware.h" +#include "hdr.h" #include "pdnuart.h" #include "proto.h" #include "steppers.h" #include "strfunc.h" -#include "usb.h" +#include "tmc2209.h" +#include "usb_dev.h" // goto zero stages typedef enum{ @@ -174,10 +176,13 @@ static int esw_block(uint8_t i){ uint8_t s = ESW_state(i); if(s){ // ESW active switch(ESW_reaction[i]){ + case ESW_IGNORE1: + if(motdir[i] == -1 && (s & 1)) ret = TRUE; // stop @ESW0 + break; case ESW_ANYSTOP: // stop motor in any direction ret = TRUE; break; - case ESW_STOPMINUS: // stop only @ given direction + case ESW_STOPDIR: // stop only @ given direction if(motdir[i] == -1 && (s & 1)) ret = TRUE; // stop @ESW0 if(motdir[i] == 1 && (s & 2)) ret = TRUE; // stop @ESW1 break; @@ -262,6 +267,15 @@ stp_state getmotstate(uint8_t i){ return state[i]; } +// get DIAGN input +uint8_t motdiagn(uint8_t i){ + if(i > MOTORSNO-1) return 0; + DIAGMUL(i); + // small stupid pause + for(int _ = 0; _ < 1000; ++_) nop(); + return DIAG(); +} + // count steps @tim 14/15/16 void addmicrostep(uint8_t i){ static volatile uint16_t microsteps[MOTORSNO] = {0}; // current microsteps position @@ -310,7 +324,34 @@ void addmicrostep(uint8_t i){ // check state of i`th stepper static void chkstepper(int i){ int32_t i32; + uint32_t u32; static uint8_t stopctr[MOTORSNO] = {0}; // counters for encoders/position zeroing after stopping @ esw + // check DIAGN only for UART/SPI + if(the_conf.motflags[i].drvtype == DRVTYPE_UART || the_conf.motflags[i].drvtype == DRVTYPE_SPI){ + if(motdiagn(i) && state[i] != STP_ERR){ // error occured - DIAGN is low + DBG("Oldstate: "); USB_putbyte('0' + state[i]); newline(); + char Nm = '0'+i; + USB_sendstr(STR_STATE); USB_putbyte(Nm); USB_sendstr("=6\n"); + switch(the_conf.motflags[i].drvtype){ + case DRVTYPE_UART: + pdnuart_setmotno(i); + if(pdnuart_readreg(TMC2209Reg_GSTAT, &u32)){ + USB_sendstr("GSTAT"); USB_putbyte(Nm); USB_putbyte('='); + USB_sendstr(u2str(u32)); newline(); + } + if(pdnuart_readreg(TMC2209Reg_DRV_STATUS, &u32)){ + USB_sendstr("DRV_STATUS"); USB_putbyte(Nm); USB_putbyte('='); + USB_sendstr(u2str(u32)); newline(); + } + break; + default: + break; + } + emstopmotor(i); + state[i] = STP_ERR; + return; + } + } #ifdef EBUG if(stp[i]){ stp[i] = 0; @@ -391,13 +432,14 @@ static void chkstepper(int i){ mvzerostate[i] = M0RELAX; ESW_reaction[i] = the_conf.ESW_reaction[i]; }else{ + DBG("->SLOW+"); mvzerostate[i] = M0SLOW; stopctr[i] = 0; } } break; case M0SLOW: - if(0 == ESW_state(i)){ // moved out of limit switch - can stop + if(0 == (ESW_state(i) & 1)){ // moved out of limit switch - can stop emstopmotor(i); } if((state[i] == STP_RELAX || state[i] == STP_STALL) && ++stopctr[i] > 5){ // wait at least 50ms @@ -417,8 +459,8 @@ static void chkstepper(int i){ errcodes motor_goto0(uint8_t i){ errcodes e = motor_absmove(i, -the_conf.maxsteps[i]); if(ERR_OK != e){ - if(!ESW_state(i)) return e; // not @ limit switch -> error - }else ESW_reaction[i] = ESW_STOPMINUS; + if(!esw_block(i)) return e; // limit switch not block -> error + }else ESW_reaction[i] = ESW_IGNORE1; mvzerostate[i] = M0FAST; return e; } @@ -452,6 +494,8 @@ void process_steppers(){ static uint32_t Tlast = 0; if(Tms - Tlast < MOTCHKINTERVAL) return; // hit every 10ms Tlast = Tms; + static int firstrun = 1; + if(firstrun){ firstrun = 0; init_steppers(); return; } for(int i = 0; i < MOTORSNO; ++i){ chkstepper(i); } diff --git a/F3:F303/Multistepper/steppers.h b/F3:F303/Multistepper/steppers.h index 0c44f76..368bada 100644 --- a/F3:F303/Multistepper/steppers.h +++ b/F3:F303/Multistepper/steppers.h @@ -42,9 +42,10 @@ typedef enum{ // end-switches reaction enum{ - ESW_IGNORE, // don't stop @ end-switch + ESW_IGNORE, // don't stop @ any end-switch + ESW_IGNORE1, // ignore ESW1 ESW_ANYSTOP, // stop @ esw in any moving direction - ESW_STOPMINUS, // stop only when moving in given direction (e.g. to minus @ESW0) + ESW_STOPDIR, // stop only when moving in given direction (e.g. to minus @ESW0 or to plus @ESW1) ESW_AMOUNT // number of records }; @@ -68,4 +69,5 @@ uint8_t geteswreact(uint8_t i); void emstopmotor(uint8_t i); void stopmotor(uint8_t i); stp_state getmotstate(uint8_t i); +uint8_t motdiagn(uint8_t i); void process_steppers(); diff --git a/F3:F303/Multistepper/usb_descr.c b/F3:F303/Multistepper/usb_descr.c new file mode 100644 index 0000000..525b206 --- /dev/null +++ b/F3:F303/Multistepper/usb_descr.c @@ -0,0 +1,210 @@ +/* + * Copyright 2024 Edward V. Emelianov . + * + * 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 . + */ + +#include "usb_descr.h" + +// low/high for uint16_t +#define L16(x) (x & 0xff) +#define H16(x) (x >> 8) + +static const uint8_t USB_DeviceDescriptor[] = { + USB_DT_DEVICE_SIZE, // bLength + USB_DT_DEVICE, // bDescriptorType + L16(bcdUSB), // bcdUSB_L + H16(bcdUSB), // bcdUSB_H + USB_CLASS_MISC, // bDeviceClass + bDeviceSubClass, // bDeviceSubClass + bDeviceProtocol, // bDeviceProtocol + USB_EP0BUFSZ, // bMaxPacketSize + L16(idVendor), // idVendor_L + H16(idVendor), // idVendor_H + L16(idProduct), // idProduct_L + H16(idProduct), // idProduct_H + L16(bcdDevice_Ver), // bcdDevice_Ver_L + H16(bcdDevice_Ver), // bcdDevice_Ver_H + iMANUFACTURER_DESCR, // iManufacturer - indexes of string descriptors in array + iPRODUCT_DESCR, // iProduct + iSERIAL_DESCR, // iSerial + bNumConfigurations // bNumConfigurations +}; + +static const uint8_t USB_DeviceQualifierDescriptor[] = { + USB_DT_QUALIFIER_SIZE, //bLength + USB_DT_QUALIFIER, // bDescriptorType + L16(bcdUSB), // bcdUSB_L + H16(bcdUSB), // bcdUSB_H + USB_CLASS_PER_INTERFACE, // bDeviceClass + bDeviceSubClass, // bDeviceSubClass + bDeviceProtocol, // bDeviceProtocol + USB_EP0BUFSZ, // bMaxPacketSize0 + bNumConfigurations, // bNumConfigurations + 0 // Reserved +}; + +#define wTotalLength (USB_DT_CONFIG_SIZE + (bNumInterfaces * USB_DT_INTERFACE_SIZE) + (bTotNumEndpoints * USB_DT_ENDPOINT_SIZE) + (bNumCsInterfaces * USB_DT_CS_INTERFACE_SIZE) - 1) + +static const uint8_t USB_ConfigDescriptor[] = { + // Configuration Descriptor + USB_DT_CONFIG_SIZE, // bLength: Configuration Descriptor size + USB_DT_CONFIG, // bDescriptorType: Configuration + L16(wTotalLength), // wTotalLength.L :no of returned bytes + H16(wTotalLength), // wTotalLength.H + bNumInterfaces, // bNumInterfaces + 1, // bConfigurationValue: Current configuration value + 0, // iConfiguration: Index of string descriptor describing the configuration or 0 + BusPowered, // bmAttributes - Bus powered + 50, // MaxPower in 2mA units + //--------------------------------------------------------------------------- + // Virtual command Interface Descriptor + USB_DT_INTERFACE_SIZE, // bLength: Interface Descriptor size + USB_DT_INTERFACE, // bDescriptorType: Interface + 0, // bInterfaceNumber: Number of Interface + 0, // bAlternateSetting: Alternate setting + 1, // bNumEndpoints: one for this + USB_CLASS_COMM, // bInterfaceClass + 2, // bInterfaceSubClass: ACM + 1, // bInterfaceProtocol: Common AT commands + iINTERFACE_DESCR1, // iInterface + // ---- CS Interfaces + USB_DT_CS_INTERFACE_SIZE, // bLength + USB_DT_CS_INTERFACE, // bDescriptorType: CS_INTERFACE + 0, // bDescriptorSubtype: Header Func Desc + 0x10, // bcdCDC: spec release number + 1, // bDataInterface + USB_DT_CS_INTERFACE_SIZE, // bLength + USB_DT_CS_INTERFACE, // bDescriptorType: CS_INTERFACE + 1, // bDescriptorSubtype: Call Management Func Desc + 0, // bmCapabilities: D0+D1 + 1, // bDataInterface + USB_DT_CS_INTERFACE_SIZE-1, // bLength + USB_DT_CS_INTERFACE, // bDescriptorType: CS_INTERFACE + 2, // bDescriptorSubtype: Abstract Control Management desc + 2, // bmCapabilities + USB_DT_CS_INTERFACE_SIZE, // bLength + USB_DT_CS_INTERFACE, // bDescriptorType: CS_INTERFACE + 6, // bDescriptorSubtype: Union func desc + 0, // bMasterInterface: Communication class interface + 1, // bSlaveInterface0: Data Class Interface + // Virtual endpoint 1 Descriptor + USB_DT_ENDPOINT_SIZE, // bLength: Endpoint Descriptor size + USB_DT_ENDPOINT, // bDescriptorType: Endpoint + 0x8A, // bEndpointAddress IN10 + USB_BM_ATTR_INTERRUPT, // bmAttributes: Interrupt + L16(USB_EP1BUFSZ), // wMaxPacketSize LO + H16(USB_EP1BUFSZ), // wMaxPacketSize HI + 0x10, // bInterval: 16ms + //--------------------------------------------------------------------------- + // Data interface + USB_DT_INTERFACE_SIZE, // bLength: Interface Descriptor size + USB_DT_INTERFACE, // bDescriptorType: Interface + 1, // bInterfaceNumber: Number of Interface + 0, // bAlternateSetting: Alternate setting + 2, // bNumEndpoints: in and out + USB_CLASS_DATA, // bInterfaceClass + 2, // bInterfaceSubClass: ACM + 0, // bInterfaceProtocol + 0, // iInterface + //Endpoint IN1 Descriptor + USB_DT_ENDPOINT_SIZE, // bLength: Endpoint Descriptor size + USB_DT_ENDPOINT, // bDescriptorType: Endpoint + 0x81, // bEndpointAddress: IN1 + USB_BM_ATTR_BULK, // bmAttributes: Bulk + L16(USB_TXBUFSZ), // wMaxPacketSize LO + H16(USB_TXBUFSZ), // wMaxPacketSize HI + 0, // bInterval: ignore for Bulk transfer + // Endpoint OUT1 Descriptor + USB_DT_ENDPOINT_SIZE, // bLength: Endpoint Descriptor size + USB_DT_ENDPOINT, // bDescriptorType: Endpoint + 0x01, // bEndpointAddress: OUT1 + USB_BM_ATTR_BULK, // bmAttributes: Bulk + L16(USB_RXBUFSZ), // wMaxPacketSize LO + H16(USB_RXBUFSZ), // wMaxPacketSize HI + 0, // bInterval: ignore for Bulk transfer + +}; + +//const uint8_t HID_ReportDescriptor[]; + +_USB_LANG_ID_(LD, LANG_US); +_USB_STRING_(SD, u"0.0.1"); +_USB_STRING_(MD, u"eddy@sao.ru"); +_USB_STRING_(PD, u"USB CDC Controller"); +_USB_STRING_(ID, u"multistepper"); + +static const void* const StringDescriptor[iDESCR_AMOUNT] = { + [iLANGUAGE_DESCR] = &LD, + [iMANUFACTURER_DESCR] = &MD, + [iPRODUCT_DESCR] = &PD, + [iSERIAL_DESCR] = &SD, + [iINTERFACE_DESCR1] = &ID +}; + +static void wr0(const uint8_t *buf, uint16_t size, uint16_t askedsize){ + if(askedsize < size) size = askedsize; // shortened request + if(size < USB_EP0BUFSZ){ + EP_WriteIRQ(0, buf, size); + return; + } + while(size){ + uint16_t l = size; + if(l > USB_EP0BUFSZ) l = USB_EP0BUFSZ; + EP_WriteIRQ(0, buf, l); + buf += l; + size -= l; + uint8_t needzlp = (l == USB_EP0BUFSZ) ? 1 : 0; + if(size || needzlp){ // send last data buffer + uint16_t epstatus = KEEP_DTOG(USB->EPnR[0]); + // keep DTOGs, clear CTR_RX,TX, set TX VALID, leave stat_Rx + USB->EPnR[0] = (epstatus & ~(USB_EPnR_CTR_RX|USB_EPnR_CTR_TX|USB_EPnR_STAT_RX)) + ^ USB_EPnR_STAT_TX; + uint32_t ctr = 1000000; + while(--ctr && (USB->ISTR & USB_ISTR_CTR) == 0){IWDG->KR = IWDG_REFRESH;}; + if((USB->ISTR & USB_ISTR_CTR) == 0){ + return; + } + if(needzlp) EP_WriteIRQ(0, NULL, 0); + } + } +} + +void get_descriptor(config_pack_t *pack){ + uint8_t descrtype = pack->wValue >> 8, + descridx = pack->wValue & 0xff; + switch(descrtype){ + case DEVICE_DESCRIPTOR: + wr0(USB_DeviceDescriptor, sizeof(USB_DeviceDescriptor), pack->wLength); + break; + case CONFIGURATION_DESCRIPTOR: + wr0(USB_ConfigDescriptor, sizeof(USB_ConfigDescriptor), pack->wLength); + break; + case STRING_DESCRIPTOR: + if(descridx < iDESCR_AMOUNT){ + wr0((const uint8_t *)StringDescriptor[descridx], *((uint8_t*)StringDescriptor[descridx]), pack->wLength); + }else{ + EP_WriteIRQ(0, NULL, 0); + } + break; + case DEVICE_QUALIFIER_DESCRIPTOR: + wr0(USB_DeviceQualifierDescriptor, sizeof(USB_DeviceQualifierDescriptor), pack->wLength); + break; + /* case HID_REPORT_DESCRIPTOR: + wr0(HID_ReportDescriptor, sizeof(HID_ReportDescriptor), pack->wLength); + break;*/ + default: + break; + } +} diff --git a/F3:F303/Multistepper/usb_descr.h b/F3:F303/Multistepper/usb_descr.h new file mode 100644 index 0000000..d260af2 --- /dev/null +++ b/F3:F303/Multistepper/usb_descr.h @@ -0,0 +1,62 @@ +/* + * Copyright 2024 Edward V. Emelianov . + * + * 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 . + */ +#pragma once + +#include + +#include "usb_lib.h" + +// definition of parts common for USB_DeviceDescriptor & USB_DeviceQualifierDescriptor +// bcdUSB: 1.10 +#define bcdUSB 0x0110 +// Class - Misc (EF), subclass - common (2), protocol - interface association descr (1) +#define bDeviceSubClass 0x02 +#define bDeviceProtocol 0x01 +#define idVendor 0x0483 +#define idProduct 0x5740 +#define bcdDevice_Ver 0x0200 +#define bNumConfigurations 1 + +// amount of interfaces and endpoints (except 0) used +#define bNumInterfaces 2 +#define bTotNumEndpoints 3 +#define bNumCsInterfaces 4 + +// powered +#define BusPowered (1<<7) +#define SelfPowered (1<<6) +#define RemoteWakeup (1<<5) + +// buffer sizes +// for USB FS EP0 buffers are from 8 to 64 bytes long +#define USB_EP0BUFSZ 64 +#define USB_EP1BUFSZ 10 +// Rx/Tx EPs +#define USB_RXBUFSZ 64 +#define USB_TXBUFSZ 64 + +// string descriptors +enum{ + iLANGUAGE_DESCR, + iMANUFACTURER_DESCR, + iPRODUCT_DESCR, + iSERIAL_DESCR, + iINTERFACE_DESCR1, + iDESCR_AMOUNT +}; + +void get_descriptor(config_pack_t *pack); diff --git a/F3:F303/Multistepper/usb_dev.c b/F3:F303/Multistepper/usb_dev.c new file mode 100644 index 0000000..8e519e4 --- /dev/null +++ b/F3:F303/Multistepper/usb_dev.c @@ -0,0 +1,240 @@ +/* + * Copyright 2024 Edward V. Emelianov . + * + * 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 . + */ + +#include + +#include "ringbuffer.h" +#include "usb_descr.h" +#include "usb_dev.h" + +// Class-Specific Control Requests +#define SEND_ENCAPSULATED_COMMAND 0x00 // unused +#define GET_ENCAPSULATED_RESPONSE 0x01 // unused +#define SET_COMM_FEATURE 0x02 // unused +#define GET_COMM_FEATURE 0x03 // unused +#define CLEAR_COMM_FEATURE 0x04 // unused +#define SET_LINE_CODING 0x20 +#define GET_LINE_CODING 0x21 +#define SET_CONTROL_LINE_STATE 0x22 +#define SEND_BREAK 0x23 + +// control line states +#define CONTROL_DTR 0x01 +#define CONTROL_RTS 0x02 + +// inbuf overflow when receiving +static volatile uint8_t bufovrfl = 0; + +// receive buffer: hold data until chkin() call +static uint8_t volatile rcvbuf[USB_RXBUFSZ]; +static uint8_t volatile rcvbuflen = 0; +// line coding +usb_LineCoding WEAK lineCoding = {115200, 0, 0, 8}; +// CDC configured and ready to use +volatile uint8_t CDCready = 0; + +// ring buffers for incoming and outgoing data +static uint8_t obuf[RBOUTSZ], ibuf[RBINSZ]; +static volatile ringbuffer rbout = {.data = obuf, .length = RBOUTSZ, .head = 0, .tail = 0}; +static volatile ringbuffer rbin = {.data = ibuf, .length = RBINSZ, .head = 0, .tail = 0}; +// last send data size +static volatile int lastdsz = 0; + +static void chkin(){ + if(bufovrfl) return; // allow user to know that previous buffer was overflowed and cleared + if(!rcvbuflen) return; + int w = RB_write((ringbuffer*)&rbin, (uint8_t*)rcvbuf, rcvbuflen); + if(w < 0){ + return; + } + if(w != rcvbuflen) bufovrfl = 1; + rcvbuflen = 0; + uint16_t status = KEEP_DTOG(USB->EPnR[1]); // don't change DTOG + USB->EPnR[1] = (status & ~(USB_EPnR_STAT_TX|USB_EPnR_CTR_RX)) ^ USB_EPnR_STAT_RX; // prepare to get next data portion +} + +// called from transmit EP to send next data portion or by user - when new transmission starts +static void send_next(){ + uint8_t usbbuff[USB_TXBUFSZ]; + int buflen = RB_read((ringbuffer*)&rbout, (uint8_t*)usbbuff, USB_TXBUFSZ); + if(buflen == 0){ + if(lastdsz == 64) EP_Write(1, NULL, 0); // send ZLP after 64 bits packet when nothing more to send + lastdsz = 0; + return; + }else if(buflen < 0){ + lastdsz = 0; + return; + } + EP_Write(1, (uint8_t*)usbbuff, buflen); + lastdsz = buflen; +} + +// data IN/OUT handler +static void rxtx_handler(){ + uint16_t epstatus = KEEP_DTOG(USB->EPnR[1]); + if(RX_FLAG(epstatus)){ // receive data + if(rcvbuflen){ + bufovrfl = 1; // lost last data + rcvbuflen = 0; + } + rcvbuflen = EP_Read(1, (uint8_t*)rcvbuf); + USB->EPnR[1] = epstatus & ~(USB_EPnR_CTR_RX | USB_EPnR_STAT_RX | USB_EPnR_STAT_TX); // keep RX in STALL state until read data + chkin(); // try to write current data into RXbuf if it's not busy + }else{ // tx successfull + USB->EPnR[1] = (epstatus & ~(USB_EPnR_CTR_TX | USB_EPnR_STAT_TX)) ^ USB_EPnR_STAT_RX; + send_next(); + } +} + +// weak handlers: change them somewhere else if you want to setup USART +// SET_LINE_CODING +void WEAK linecoding_handler(usb_LineCoding *lc){ + lineCoding = *lc; +} + +// SET_CONTROL_LINE_STATE +void WEAK clstate_handler(uint16_t val){ + CDCready = val; // CONTROL_DTR | CONTROL_RTS -> interface connected; 0 -> disconnected +} + +// SEND_BREAK +void WEAK break_handler(){ + CDCready = 0; +} + + +// USB is configured: setup endpoints +void set_configuration(){ + EP_Init(1, EP_TYPE_BULK, USB_TXBUFSZ, USB_RXBUFSZ, rxtx_handler); // IN1 and OUT1 +} + +// PL2303 CLASS request +void usb_class_request(config_pack_t *req, uint8_t *data, uint16_t datalen){ + uint8_t recipient = REQUEST_RECIPIENT(req->bmRequestType); + uint8_t dev2host = (req->bmRequestType & 0x80) ? 1 : 0; + switch(recipient){ + case REQ_RECIPIENT_INTERFACE: + switch(req->bRequest){ + case SET_LINE_CODING: + if(!data || !datalen) break; // wait for data + if(datalen == sizeof(usb_LineCoding)) + linecoding_handler((usb_LineCoding*)data); + break; + case GET_LINE_CODING: + EP_WriteIRQ(0, (uint8_t*)&lineCoding, sizeof(lineCoding)); + break; + case SET_CONTROL_LINE_STATE: + clstate_handler(req->wValue); + break; + case SEND_BREAK: + break_handler(); + break; + default: + break; + } + break; + default: + if(dev2host) EP_WriteIRQ(0, NULL, 0); + } + if(!dev2host) EP_WriteIRQ(0, NULL, 0); +} + +// blocking send full content of ring buffer +int USB_sendall(){ + while(lastdsz > 0){ + if(!CDCready) return FALSE; + } + return TRUE; +} + +// put `buf` into queue to send +int USB_send(const uint8_t *buf, int len){ + if(!buf || !CDCready || !len) return FALSE; + while(len){ + int a = RB_write((ringbuffer*)&rbout, buf, len); + if(a > 0){ + len -= a; + buf += a; + } else if (a < 0) continue; // do nothing if buffer is in reading state + if(lastdsz == 0) send_next(); // need to run manually - all data sent, so no IRQ on IN + } + return TRUE; +} + +int USB_putbyte(uint8_t byte){ + if(!CDCready) return FALSE; + int l = 0; + while((l = RB_write((ringbuffer*)&rbout, &byte, 1)) != 1){ + if(l < 0) continue; + } + if(lastdsz == 0) send_next(); // need to run manually - all data sent, so no IRQ on IN + return TRUE; +} + +int USB_sendstr(const char *string){ + if(!string || !CDCready) return FALSE; + int len = 0; + const char *b = string; + while(*b++) ++len; + if(!len) return FALSE; + return USB_send((const uint8_t*)string, len); +} + +/** + * @brief USB_receive - get binary data from receiving ring-buffer + * @param buf (i) - buffer for received data + * @param len - length of `buf` + * @return amount of received bytes (negative, if overfull happened) + */ +int USB_receive(uint8_t *buf, int len){ + chkin(); + if(bufovrfl){ + while(1 != RB_clearbuf((ringbuffer*)&rbin)); + bufovrfl = 0; + return -1; + } + int sz = RB_read((ringbuffer*)&rbin, buf, len); + if(sz < 0) return 0; // buffer in writting state + return sz; +} + +/** + * @brief USB_receivestr - get string up to '\n' and replace '\n' with 0 + * @param buf - receiving buffer + * @param len - its length + * @return strlen or negative value indicating overflow (if so, string won't be ends with 0 and buffer should be cleared) + */ +int USB_receivestr(char *buf, int len){ + chkin(); + if(bufovrfl){ + while(1 != RB_clearbuf((ringbuffer*)&rbin)); + bufovrfl = 0; + return -1; + } + int l = RB_readto((ringbuffer*)&rbin, '\n', (uint8_t*)buf, len); + if(l < 1){ + if(rbin.length == RB_datalen((ringbuffer*)&rbin)){ // buffer is full but no '\n' found + while(1 != RB_clearbuf((ringbuffer*)&rbin)); + return -1; + } + return 0; + } + if(l == 0) return 0; + buf[l-1] = 0; // replace '\n' with strend + return l; +} + diff --git a/F3:F303/Multistepper/usb_dev.h b/F3:F303/Multistepper/usb_dev.h new file mode 100644 index 0000000..1f8003c --- /dev/null +++ b/F3:F303/Multistepper/usb_dev.h @@ -0,0 +1,57 @@ +/* + * Copyright 2024 Edward V. Emelianov . + * + * 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 . + */ +#pragma once + +#include +#include "usb_lib.h" + +typedef struct { + uint32_t dwDTERate; + uint8_t bCharFormat; +#define USB_CDC_1_STOP_BITS 0 +#define USB_CDC_1_5_STOP_BITS 1 +#define USB_CDC_2_STOP_BITS 2 + uint8_t bParityType; +#define USB_CDC_NO_PARITY 0 +#define USB_CDC_ODD_PARITY 1 +#define USB_CDC_EVEN_PARITY 2 +#define USB_CDC_MARK_PARITY 3 +#define USB_CDC_SPACE_PARITY 4 + uint8_t bDataBits; +} __attribute__ ((packed)) usb_LineCoding; + +extern usb_LineCoding lineCoding; +extern volatile uint8_t CDCready; + +void break_handler(); +void clstate_handler(uint16_t val); +void linecoding_handler(usb_LineCoding *lc); + + +// sizes of ringbuffers for outgoing and incoming data +#define RBOUTSZ (1024) +#define RBINSZ (1024) + +#define newline() USB_putbyte('\n') +#define USND(s) do{USB_sendstr(s); USB_putbyte('\n');}while(0) + +int USB_sendall(); +int USB_send(const uint8_t *buf, int len); +int USB_putbyte(uint8_t byte); +int USB_sendstr(const char *string); +int USB_receive(uint8_t *buf, int len); +int USB_receivestr(char *buf, int len); diff --git a/F3:F303/Multistepper/usb_lib.c b/F3:F303/Multistepper/usb_lib.c index aea5344..9f01a8f 100644 --- a/F3:F303/Multistepper/usb_lib.c +++ b/F3:F303/Multistepper/usb_lib.c @@ -15,280 +15,37 @@ * along with this program. If not, see . */ #include -#include "usb.h" -#include "usb_lib.h" -#include "usbhw.h" -ep_t endpoints[STM32ENDPOINTS]; +#include "usb_lib.h" +#include "usb_descr.h" +#include "usb_dev.h" + +static ep_t endpoints[STM32ENDPOINTS]; static uint16_t USB_Addr = 0; -static usb_LineCoding lineCoding = {115200, 0, 0, 8}; -uint8_t ep0databuf[EP0DATABUF_SIZE], setupdatabuf[EP0DATABUF_SIZE]; -config_pack_t *setup_packet = (config_pack_t*) setupdatabuf; - -usb_LineCoding getLineCoding(){return lineCoding;} - -volatile uint8_t usbON = 0; // device disconnected from terminal - -// definition of parts common for USB_DeviceDescriptor & USB_DeviceQualifierDescriptor -#define bcdUSB_L 0x10 -#define bcdUSB_H 0x01 -#define bDeviceClass 0 -#define bDeviceSubClass 0 -#define bDeviceProtocol 0 -#define bNumConfigurations 1 - -static const uint8_t USB_DeviceDescriptor[] = { - 18, // bLength - 0x01, // bDescriptorType - Device descriptor - bcdUSB_L, // bcdUSB_L - 1.10 - bcdUSB_H, // bcdUSB_H - bDeviceClass, // bDeviceClass - USB_COMM - bDeviceSubClass, // bDeviceSubClass - bDeviceProtocol, // bDeviceProtocol - USB_EP0_BUFSZ, // bMaxPacketSize - 0x7b, // idVendor_L PL2303: VID=0x067b, PID=0x2303 - 0x06, // idVendor_H - 0x03, // idProduct_L - 0x23, // idProduct_H - 0x00, // bcdDevice_Ver_L - 0x03, // bcdDevice_Ver_H - iMANUFACTURER_DESCR, // iManufacturer - iPRODUCT_DESCR, // iProduct - iSERIAL_DESCR, // iSerialNumber - bNumConfigurations // bNumConfigurations -}; - -static const uint8_t USB_DeviceQualifierDescriptor[] = { - 10, //bLength - 0x06, // bDescriptorType - Device qualifier - bcdUSB_L, // bcdUSB_L - bcdUSB_H, // bcdUSB_H - bDeviceClass, // bDeviceClass - bDeviceSubClass, // bDeviceSubClass - bDeviceProtocol, // bDeviceProtocol - USB_EP0_BUFSZ, // bMaxPacketSize0 - bNumConfigurations, // bNumConfigurations - 0x00 // Reserved -}; - -static const uint8_t USB_ConfigDescriptor[] = { - /*Configuration Descriptor*/ - 0x09, /* bLength: Configuration Descriptor size */ - 0x02, /* bDescriptorType: Configuration */ - 39, /* wTotalLength:no of returned bytes */ - 0x00, - 0x01, /* bNumInterfaces: 1 interface */ - 0x01, /* bConfigurationValue: Configuration value */ - 0x00, /* iConfiguration: Index of string descriptor describing the configuration */ - 0xa0, /* bmAttributes - Bus powered, Remote wakeup */ - 0x32, /* MaxPower 100 mA */ - - /*---------------------------------------------------------------------------*/ - - /*Interface Descriptor */ - 0x09, /* bLength: Interface Descriptor size */ - 0x04, /* bDescriptorType: Interface */ - 0x00, /* bInterfaceNumber: Number of Interface */ - 0x00, /* bAlternateSetting: Alternate setting */ - 0x03, /* bNumEndpoints: 3 endpoints used */ - 0xff, /* bInterfaceClass */ - 0x00, /* bInterfaceSubClass */ - 0x00, /* bInterfaceProtocol */ - iINTERFACE_DESCR, /* iInterface: */ -/////////////////////////////////////////////////// - /*Endpoint 1 Descriptor*/ - 0x07, /* bLength: Endpoint Descriptor size */ - 0x05, /* bDescriptorType: Endpoint */ - 0x81, /* bEndpointAddress IN1 */ - 0x03, /* bmAttributes: Interrupt */ - 0x0a, /* wMaxPacketSize LO: */ - 0x00, /* wMaxPacketSize HI: */ - 0x01, /* bInterval: */ - - /*Endpoint OUT2 Descriptor*/ - 0x07, /* bLength: Endpoint Descriptor size */ - 0x05, /* bDescriptorType: Endpoint */ - 0x02, /* bEndpointAddress: OUT2 */ - 0x02, /* bmAttributes: Bulk */ - (USB_RXBUFSZ & 0xff), /* wMaxPacketSize: 64 */ - (USB_RXBUFSZ >> 8), - 0x00, /* bInterval: ignore for Bulk transfer */ - - /*Endpoint IN3 Descriptor*/ - 0x07, /* bLength: Endpoint Descriptor size */ - 0x05, /* bDescriptorType: Endpoint */ - 0x83, /* bEndpointAddress IN3 */ - 0x02, /* bmAttributes: Bulk */ - (USB_TXBUFSZ & 0xff), /* wMaxPacketSize: 64 */ - (USB_TXBUFSZ >> 8), - 0x00, /* bInterval: ignore for Bulk transfer */ -}; - -_USB_LANG_ID_(LD, LANG_US); -_USB_STRING_(SD, u"0.0.1"); -_USB_STRING_(MD, u"Prolific Technology Inc."); -_USB_STRING_(PD, u"USB-Serial Controller"); -_USB_STRING_(ID, u"USB-STM32"); -static void const *StringDescriptor[iDESCR_AMOUNT] = { - [iLANGUAGE_DESCR] = &LD, - [iMANUFACTURER_DESCR] = &MD, - [iPRODUCT_DESCR] = &PD, - [iSERIAL_DESCR] = &SD, - [iINTERFACE_DESCR] = &ID -}; - - -/* - * default handlers - */ -// SET_LINE_CODING -void WEAK linecoding_handler(usb_LineCoding __attribute__((unused)) *lc){ -} - -// SET_CONTROL_LINE_STATE -void WEAK clstate_handler(uint16_t __attribute__((unused)) val){ -} - -// SEND_BREAK -void WEAK break_handler(){ -} - -// handler of vendor requests -void WEAK vendor_handler(config_pack_t *packet){ - uint16_t c; - if(packet->bmRequestType & 0x80){ // read - switch(packet->wValue){ - case 0x8484: - c = 2; - break; - case 0x0080: - c = 1; - break; - case 0x8686: - c = 0xaa; - break; - default: - c = 0; - } - EP_WriteIRQ(0, (uint8_t*)&c, 1); - }else{ // write ZLP - c = 0; - EP_WriteIRQ(0, (uint8_t *)&c, 0); - } -} - -static void wr0(const uint8_t *buf, uint16_t size){ - if(setup_packet->wLength < size) size = setup_packet->wLength; // shortened request - if(size < endpoints[0].txbufsz){ - EP_WriteIRQ(0, buf, size); - return; - } - while(size){ - uint16_t l = size; - if(l > endpoints[0].txbufsz) l = endpoints[0].txbufsz; - EP_WriteIRQ(0, buf, l); - buf += l; - size -= l; - uint8_t needzlp = (l == endpoints[0].txbufsz) ? 1 : 0; - if(size || needzlp){ // send last data buffer - uint16_t status = KEEP_DTOG(USB->EPnR[0]); - // keep DTOGs, clear CTR_RX,TX, set TX VALID, leave stat_Rx - USB->EPnR[0] = (status & ~(USB_EPnR_CTR_RX|USB_EPnR_CTR_TX|USB_EPnR_STAT_RX)) - ^ USB_EPnR_STAT_TX; - uint32_t ctr = 1000000; - while(--ctr && (USB->ISTR & USB_ISTR_CTR) == 0){IWDG->KR = IWDG_REFRESH;}; - if((USB->ISTR & USB_ISTR_CTR) == 0){ - return; - } - if(needzlp) EP_WriteIRQ(0, (uint8_t*)0, 0); - } - } -} - -static inline void get_descriptor(){ - uint8_t descrtype = setup_packet->wValue >> 8, - descridx = setup_packet->wValue & 0xff; - switch(descrtype){ - case DEVICE_DESCRIPTOR: - wr0(USB_DeviceDescriptor, sizeof(USB_DeviceDescriptor)); - break; - case CONFIGURATION_DESCRIPTOR: - wr0(USB_ConfigDescriptor, sizeof(USB_ConfigDescriptor)); - break; - case STRING_DESCRIPTOR: - if(descridx < iDESCR_AMOUNT) wr0((const uint8_t *)StringDescriptor[descridx], *((uint8_t*)StringDescriptor[descridx])); - else EP_WriteIRQ(0, (uint8_t*)0, 0); - break; - case DEVICE_QUALIFIER_DESCRIPTOR: - wr0(USB_DeviceQualifierDescriptor, USB_DeviceQualifierDescriptor[0]); - break; - default: - break; - } -} +static uint8_t setupdatabuf[EP0DATABUF_SIZE]; +static config_pack_t *setup_packet = (config_pack_t*) setupdatabuf; +volatile uint8_t usbON = 0; // device is configured and active static uint16_t configuration = 0; // reply for GET_CONFIGURATION (==1 if configured) static inline void std_d2h_req(){ - uint16_t status = 0; // bus powered + uint16_t st = 0; switch(setup_packet->bRequest){ case GET_DESCRIPTOR: - get_descriptor(); + get_descriptor(setup_packet); break; case GET_STATUS: - EP_WriteIRQ(0, (uint8_t *)&status, 2); // send status: Bus Powered + EP_WriteIRQ(0, (uint8_t *)&st, 2); // send status: Bus Powered break; case GET_CONFIGURATION: EP_WriteIRQ(0, (uint8_t*)&configuration, 1); break; default: + EP_WriteIRQ(0, NULL, 0); break; } } -// interrupt IN handler (never used?) -static void EP1_Handler(){ - uint16_t epstatus = KEEP_DTOG(USB->EPnR[1]); - if(RX_FLAG(epstatus)) epstatus = (epstatus & ~USB_EPnR_STAT_TX) ^ USB_EPnR_STAT_RX; // set valid RX - else epstatus = epstatus & ~(USB_EPnR_STAT_TX|USB_EPnR_STAT_RX); - // clear CTR - epstatus = (epstatus & ~(USB_EPnR_CTR_RX|USB_EPnR_CTR_TX)); - USB->EPnR[1] = epstatus; -} - -// data IN/OUT handlers -static void transmit_Handler(){ // EP3IN - uint16_t epstatus = KEEP_DTOG_STAT(USB->EPnR[3]); - // clear CTR keep DTOGs & STATs - USB->EPnR[3] = (epstatus & ~(USB_EPnR_CTR_TX)); // clear TX ctr - send_next(); -} - -static uint8_t volatile rcvbuf[USB_RXBUFSZ]; -static uint8_t volatile rcvbuflen = 0; - -void chkin(){ - if(bufovrfl) return; - if(!rcvbuflen) return; - int w = RB_write((ringbuffer*)&rbin, (uint8_t*)rcvbuf, rcvbuflen); - if(w < 0) return; - if(w != rcvbuflen) bufovrfl = 1; - rcvbuflen = 0; - uint16_t status = KEEP_DTOG(USB->EPnR[2]); // don't change DTOG - USB->EPnR[2] = status ^ USB_EPnR_STAT_RX; -} - -// receiver reads data from local buffer and only then ACK'ed -static void receive_Handler(){ // EP2OUT - uint16_t status = KEEP_DTOG_STAT(USB->EPnR[2]); // don't change DTOG and NACK - if(rcvbuflen){ - bufovrfl = 1; // lost last data - rcvbuflen = 0; - } - rcvbuflen = EP_Read(2, (uint8_t*)rcvbuf); - USB->EPnR[2] = status & ~USB_EPnR_CTR_RX; -} - static inline void std_h2d_req(){ switch(setup_packet->bRequest){ case SET_ADDRESS: @@ -298,15 +55,58 @@ static inline void std_h2d_req(){ case SET_CONFIGURATION: // Now device configured configuration = setup_packet->wValue; - EP_Init(1, EP_TYPE_INTERRUPT, USB_EP1BUFSZ, 0, EP1_Handler); // IN1 - transmit - EP_Init(2, EP_TYPE_BULK, 0, USB_RXBUFSZ, receive_Handler); // OUT2 - receive data - EP_Init(3, EP_TYPE_BULK, USB_TXBUFSZ, 0, transmit_Handler); // IN3 - transmit data + set_configuration(); + usbON = 1; break; default: break; } } +void WEAK usb_standard_request(){ + uint8_t recipient = REQUEST_RECIPIENT(setup_packet->bmRequestType); + uint8_t dev2host = (setup_packet->bmRequestType & 0x80) ? 1 : 0; + switch(recipient){ + case REQ_RECIPIENT_DEVICE: + if(dev2host){ + std_d2h_req(); + }else{ + std_h2d_req(); + } + break; + case REQ_RECIPIENT_INTERFACE: + if(dev2host && setup_packet->bRequest == GET_DESCRIPTOR){ + get_descriptor(setup_packet); + } + break; + case REQ_RECIPIENT_ENDPOINT: + if(setup_packet->bRequest == CLEAR_FEATURE){ + }else{ /* wrong */ } + break; + default: + break; + } + if(!dev2host) EP_WriteIRQ(0, NULL, 0); +} + +void WEAK usb_class_request(config_pack_t *req, uint8_t _U_ *data, uint16_t _U_ datalen){ + switch(req->bRequest){ + case GET_INTERFACE: + break; + case SET_CONFIGURATION: // set featuring by req->wValue + break; + default: + break; + } + if(0 == (setup_packet->bmRequestType & 0x80)) // host2dev + EP_WriteIRQ(0, NULL, 0); +} + +void WEAK usb_vendor_request(config_pack_t _U_ *packet, uint8_t _U_ *data, uint16_t _U_ datalen){ + if(0 == (setup_packet->bmRequestType & 0x80)) // host2dev + EP_WriteIRQ(0, NULL, 0); +} + /* bmRequestType: 76543210 7 direction: 0 - host->device, 1 - device->host @@ -316,67 +116,50 @@ bmRequestType: 76543210 /** * Endpoint0 (control) handler */ -void EP0_Handler(){ - uint16_t epstatus = USB->EPnR[0]; // EP0R on input -> return this value after modifications - uint8_t reqtype = setup_packet->bmRequestType & 0x7f; - uint8_t dev2host = (setup_packet->bmRequestType & 0x80) ? 1 : 0; +static void EP0_Handler(){ + uint8_t ep0dbuflen = 0; + uint8_t ep0databuf[EP0DATABUF_SIZE]; + uint16_t epstatus = KEEP_DTOG(USB->EPnR[0]); // EP0R on input -> return this value after modifications int rxflag = RX_FLAG(epstatus); - if(rxflag && SETUP_FLAG(epstatus)){ - switch(reqtype){ - case STANDARD_DEVICE_REQUEST_TYPE: // standard device request - if(dev2host){ - std_d2h_req(); - }else{ - std_h2d_req(); - EP_WriteIRQ(0, (uint8_t *)0, 0); - } - break; - case STANDARD_ENDPOINT_REQUEST_TYPE: // standard endpoint request - if(setup_packet->bRequest == CLEAR_FEATURE){ - EP_WriteIRQ(0, (uint8_t *)0, 0); - } - break; - case VENDOR_REQUEST_TYPE: - vendor_handler(setup_packet); - break; - case CONTROL_REQUEST_TYPE: - switch(setup_packet->bRequest){ - case GET_LINE_CODING: - EP_WriteIRQ(0, (uint8_t*)&lineCoding, sizeof(lineCoding)); - break; - case SET_LINE_CODING: // omit this for next stage, when data will come - break; - case SET_CONTROL_LINE_STATE: - usbON = 1; - clstate_handler(setup_packet->wValue); - break; - case SEND_BREAK: - usbON = 0; - break_handler(); - break; - default: - break; - } - if(setup_packet->bRequest != GET_LINE_CODING) EP_WriteIRQ(0, (uint8_t *)0, 0); // write acknowledgement - break; - default: - EP_WriteIRQ(0, (uint8_t *)0, 0); - } - }else if(rxflag){ // got data over EP0 or host acknowlegement - if(endpoints[0].rx_cnt){ - if(setup_packet->bRequest == SET_LINE_CODING){ - linecoding_handler((usb_LineCoding*)ep0databuf); + //if(rxflag){ } + // check direction + if(USB->ISTR & USB_ISTR_DIR){ // OUT interrupt - receive data, CTR_RX==1 (if CTR_TX == 1 - two pending transactions: receive following by transmit) + if(epstatus & USB_EPnR_SETUP){ // setup packet -> copy data to conf_pack + EP_Read(0, setupdatabuf); + // interrupt handler will be called later + }else if(epstatus & USB_EPnR_CTR_RX){ // data packet -> push received data to ep0databuf + //if(endpoints[0].rx_cnt){ } + ep0dbuflen = EP_Read(0, ep0databuf); } + } + if(rxflag){ + uint8_t reqtype = REQUEST_TYPE(setup_packet->bmRequestType); + switch(reqtype){ + case REQ_TYPE_STANDARD: + if(SETUP_FLAG(epstatus)){ + usb_standard_request(); + }else{ } + break; + case REQ_TYPE_CLASS: + usb_class_request(setup_packet, ep0databuf, ep0dbuflen); + break; + case REQ_TYPE_VENDOR: + usb_vendor_request(setup_packet, ep0databuf, ep0dbuflen); + break; + default: + EP_WriteIRQ(0, NULL, 0); + break; } - } else if(TX_FLAG(epstatus)){ // package transmitted + } + if(TX_FLAG(epstatus)){ // now we can change address after enumeration if ((USB->DADDR & USB_DADDR_ADD) != USB_Addr){ USB->DADDR = USB_DADDR_EF | USB_Addr; usbON = 0; } } - epstatus = KEEP_DTOG(USB->EPnR[0]); - if(rxflag) epstatus ^= USB_EPnR_STAT_TX; // start ZLP/data transmission + //epstatus = KEEP_DTOG(USB->EPnR[0]); + if(rxflag) epstatus ^= USB_EPnR_STAT_TX; // start ZLP or data transmission else epstatus &= ~USB_EPnR_STAT_TX; // or leave unchanged // keep DTOGs, clear CTR_RX,TX, set RX VALID USB->EPnR[0] = (epstatus & ~(USB_EPnR_CTR_RX|USB_EPnR_CTR_TX)) ^ USB_EPnR_STAT_RX; @@ -418,9 +201,9 @@ void EP_WriteIRQ(uint8_t number, const uint8_t *buf, uint16_t size){ */ void EP_Write(uint8_t number, const uint8_t *buf, uint16_t size){ EP_WriteIRQ(number, buf, size); - uint16_t status = KEEP_DTOG(USB->EPnR[number]); - // keep DTOGs, clear CTR_TX & set TX VALID to start transmission - USB->EPnR[number] = (status & ~(USB_EPnR_CTR_TX)) ^ USB_EPnR_STAT_TX; + uint16_t epstatus = KEEP_DTOG(USB->EPnR[number]); + // keep DTOGs and RX stat, clear CTR_TX & set TX VALID to start transmission + USB->EPnR[number] = (epstatus & ~(USB_EPnR_CTR_TX | USB_EPnR_STAT_RX)) ^ USB_EPnR_STAT_TX; } /* @@ -461,11 +244,11 @@ static uint16_t lastaddr = LASTADDR_DEFAULT; */ int EP_Init(uint8_t number, uint8_t type, uint16_t txsz, uint16_t rxsz, void (*func)(ep_t ep)){ if(number >= STM32ENDPOINTS) return 4; // out of configured amount - if(txsz > USB_BTABLE_SIZE || rxsz > USB_BTABLE_SIZE) return 1; // buffer too large + if(txsz > USB_BTABLE_SIZE/ACCESSZ || rxsz > USB_BTABLE_SIZE/ACCESSZ) return 1; // buffer too large if(lastaddr + txsz + rxsz >= USB_BTABLE_SIZE/ACCESSZ) return 2; // out of btable USB->EPnR[number] = (type << 9) | (number & USB_EPnR_EA); USB->EPnR[number] ^= USB_EPnR_STAT_RX | USB_EPnR_STAT_TX_1; - if(rxsz & 1 || rxsz > USB_BTABLE_SIZE) return 3; // wrong rx buffer size + if(rxsz & 1) return 3; // wrong rx buffer size uint16_t countrx = 0; if(rxsz < 64) countrx = rxsz / 2; else{ @@ -487,60 +270,95 @@ int EP_Init(uint8_t number, uint8_t type, uint16_t txsz, uint16_t rxsz, void (*f // standard IRQ handler void USB_IRQ(){ + uint32_t CNTR = USB->CNTR; + USB->CNTR = 0; if(USB->ISTR & USB_ISTR_RESET){ usbON = 0; // Reinit registers - USB->CNTR = USB_CNTR_RESETM | USB_CNTR_CTRM | USB_CNTR_SUSPM | USB_CNTR_WKUPM; + CNTR = USB_CNTR_RESETM | USB_CNTR_CTRM | USB_CNTR_SUSPM; // Endpoint 0 - CONTROL // ON USB LS size of EP0 may be 8 bytes, but on FS it should be 64 bytes! lastaddr = LASTADDR_DEFAULT; // clear address, leave only enable bit USB->DADDR = USB_DADDR_EF; - if(EP_Init(0, EP_TYPE_CONTROL, USB_EP0_BUFSZ, USB_EP0_BUFSZ, EP0_Handler)){ - return; - } USB->ISTR = ~USB_ISTR_RESET; + if(EP_Init(0, EP_TYPE_CONTROL, USB_EP0BUFSZ, USB_EP0BUFSZ, EP0_Handler)){ + return; + }; } if(USB->ISTR & USB_ISTR_CTR){ // EP number uint8_t n = USB->ISTR & USB_ISTR_EPID; - // copy status register - uint16_t epstatus = USB->EPnR[n]; // copy received bytes amount endpoints[n].rx_cnt = USB_BTABLE->EP[n].USB_COUNT_RX & 0x3FF; // low 10 bits is counter - // check direction - if(USB->ISTR & USB_ISTR_DIR){ // OUT interrupt - receive data, CTR_RX==1 (if CTR_TX == 1 - two pending transactions: receive following by transmit) - if(n == 0){ // control endpoint - if(epstatus & USB_EPnR_SETUP){ // setup packet -> copy data to conf_pack - EP_Read(0, setupdatabuf); - // interrupt handler will be called later - }else if(epstatus & USB_EPnR_CTR_RX){ // data packet -> push received data to ep0databuf - EP_Read(0, ep0databuf); - } - } - } // call EP handler - if(endpoints[n].func) endpoints[n].func(endpoints[n]); + if(endpoints[n].func) endpoints[n].func(); + } + if(USB->ISTR & USB_ISTR_WKUP){ // wakeup +#ifndef STM32F0 + CNTR &= ~(USB_CNTR_FSUSP | USB_CNTR_LP_MODE | USB_CNTR_WKUPM); // clear suspend flags +#else + CNTR &= ~(USB_CNTR_FSUSP | USB_CNTR_LPMODE | USB_CNTR_WKUPM); +#endif + USB->ISTR = ~USB_ISTR_WKUP; } if(USB->ISTR & USB_ISTR_SUSP){ // suspend -> still no connection, may sleep usbON = 0; #ifndef STM32F0 - USB->CNTR |= USB_CNTR_FSUSP | USB_CNTR_LP_MODE; + CNTR |= USB_CNTR_FSUSP | USB_CNTR_LP_MODE | USB_CNTR_WKUPM; #else - USB->CNTR |= USB_CNTR_FSUSP | USB_CNTR_LPMODE; + CNTR |= USB_CNTR_FSUSP | USB_CNTR_LPMODE | USB_CNTR_WKUPM; #endif + CNTR &= ~(USB_CNTR_SUSPM); USB->ISTR = ~USB_ISTR_SUSP; } - if(USB->ISTR & USB_ISTR_WKUP){ // wakeup -#ifndef STM32F0 - USB->CNTR &= ~(USB_CNTR_FSUSP | USB_CNTR_LP_MODE); // clear suspend flags -#else - USB->CNTR &= ~(USB_CNTR_FSUSP | USB_CNTR_LPMODE); -#endif - USB->ISTR = ~USB_ISTR_WKUP; - } + USB->CNTR = CNTR; // rewoke interrupts } +// here we suppose that all PIN settings done in hw_setup earlier +void USB_setup(){ +#if defined STM32F3 + NVIC_DisableIRQ(USB_LP_IRQn); + // remap USB LP & Wakeup interrupts to 75 and 76 - works only on pure F303 + RCC->APB2ENR |= RCC_APB2ENR_SYSCFGEN; // enable tacting of SYSCFG + SYSCFG->CFGR1 |= SYSCFG_CFGR1_USB_IT_RMP; +#elif defined STM32F1 + NVIC_DisableIRQ(USB_LP_CAN1_RX0_IRQn); + NVIC_DisableIRQ(USB_HP_CAN1_TX_IRQn); +#elif defined STM32F0 + NVIC_DisableIRQ(USB_IRQn); + RCC->APB1ENR |= RCC_APB1ENR_CRSEN; + RCC->CFGR3 &= ~RCC_CFGR3_USBSW; // reset USB + RCC->CR2 |= RCC_CR2_HSI48ON; // turn ON HSI48 + uint32_t tmout = 16000000; + while(!(RCC->CR2 & RCC_CR2_HSI48RDY)){if(--tmout == 0) break;} + FLASH->ACR = FLASH_ACR_PRFTBE | FLASH_ACR_LATENCY; + CRS->CFGR &= ~CRS_CFGR_SYNCSRC; + CRS->CFGR |= CRS_CFGR_SYNCSRC_1; // USB SOF selected as sync source + CRS->CR |= CRS_CR_AUTOTRIMEN; // enable auto trim + CRS->CR |= CRS_CR_CEN; // enable freq counter & block CRS->CFGR as read-only + RCC->CFGR |= RCC_CFGR_SW; +#endif + RCC->APB1ENR |= RCC_APB1ENR_USBEN; + //?? + USB->CNTR = USB_CNTR_FRES; // Force USB Reset + for(uint32_t ctr = 0; ctr < 72000; ++ctr) nop(); // wait >1ms + USB->CNTR = 0; + USB->BTABLE = 0; + USB->DADDR = 0; + USB->ISTR = 0; + USB->CNTR = USB_CNTR_RESETM; // allow only reset interrupts +#if defined STM32F3 + NVIC_EnableIRQ(USB_LP_IRQn); +#elif defined STM32F1 + NVIC_EnableIRQ(USB_LP_CAN1_RX0_IRQn); +#elif defined STM32F0 + USB->BCDR |= USB_BCDR_DPPU; + NVIC_EnableIRQ(USB_IRQn); +#endif +} + + #if defined STM32F3 void usb_lp_isr() __attribute__ ((alias ("USB_IRQ"))); #elif defined STM32F1 diff --git a/F3:F303/Multistepper/usb_lib.h b/F3:F303/Multistepper/usb_lib.h index ec26927..d55c83f 100644 --- a/F3:F303/Multistepper/usb_lib.h +++ b/F3:F303/Multistepper/usb_lib.h @@ -16,63 +16,255 @@ */ #pragma once +#include #include -#include "usbhw.h" + +#ifndef _U_ +#define _U_ __attribute__((unused)) +#endif + +/****************************************************************** + * Hardware registers etc * + *****************************************************************/ +#if defined STM32F0 +#include +#elif defined STM32F1 +#include +// there's no this define in standard header +#define USB_BASE ((uint32_t)0x40005C00) +#elif defined STM32F3 +#include +#endif + +// max endpoints number +#define STM32ENDPOINTS 8 +/** + * Buffers size definition + **/ + +// F0 - USB2_16; F1 - USB1_16; F3 - 1/2 depending on series +#if !defined USB1_16 && !defined USB2_16 +#if defined STM32F0 +#define USB2_16 +#elif defined STM32F1 +#define USB1_16 +#else +#error "Can't determine USB1_16 or USB2_16, define by hands" +#endif +#endif + +// BTABLE_SIZE FOR STM32F3: +// In STM32F303/302xB/C, 512 bytes SRAM is not shared with CAN. +// In STM32F302x6/x8 and STM32F30xxD/E, 726 bytes dedicated SRAM and 256 bytes shared SRAM with CAN i.e. +// 1Kbytes dedicated SRAM in case CAN is disabled. +// remember, that USB_BTABLE_SIZE will be divided by ACCESSZ, so don't divide it twice for 32-bit addressing + +#ifdef NOCAN +#if defined STM32F0 +#define USB_BTABLE_SIZE 1024 +#elif defined STM32F3 +#define USB_BTABLE_SIZE 726 +//#warning "Please, check real buffer size due to docs" +#else +#error "define STM32F0 or STM32F3" +#endif +#else // !NOCAN: F0/F3 with CAN or F1 (can't simultaneously run CAN and USB) +#if defined STM32F0 +#define USB_BTABLE_SIZE 768 +#elif defined STM32F3 +#define USB_BTABLE_SIZE 726 +//#warning "Please, check real buffer size due to docs" +#else // STM32F103: 1024 bytes but with 32-bit addressing +#define USB_BTABLE_SIZE 1024 +#endif +#endif // NOCAN + +// first 64 bytes of USB_BTABLE are registers! + +#define USB_BTABLE_BASE 0x40006000 +#define USB ((USB_TypeDef *) USB_BASE) + +#ifdef USB_BTABLE +#undef USB_BTABLE +#endif +#define USB_BTABLE ((USB_BtableDef *)(USB_BTABLE_BASE)) +#define USB_ISTR_EPID 0x0000000F +#define USB_FNR_LSOF_0 0x00000800 +#define USB_FNR_lSOF_1 0x00001000 +#define USB_LPMCSR_BESL_0 0x00000010 +#define USB_LPMCSR_BESL_1 0x00000020 +#define USB_LPMCSR_BESL_2 0x00000040 +#define USB_LPMCSR_BESL_3 0x00000080 +#define USB_EPnR_CTR_RX 0x00008000 +#define USB_EPnR_DTOG_RX 0x00004000 +#define USB_EPnR_STAT_RX 0x00003000 +#define USB_EPnR_STAT_RX_0 0x00001000 +#define USB_EPnR_STAT_RX_1 0x00002000 +#define USB_EPnR_SETUP 0x00000800 +#define USB_EPnR_EP_TYPE 0x00000600 +#define USB_EPnR_EP_TYPE_0 0x00000200 +#define USB_EPnR_EP_TYPE_1 0x00000400 +#define USB_EPnR_EP_KIND 0x00000100 +#define USB_EPnR_CTR_TX 0x00000080 +#define USB_EPnR_DTOG_TX 0x00000040 +#define USB_EPnR_STAT_TX 0x00000030 +#define USB_EPnR_STAT_TX_0 0x00000010 +#define USB_EPnR_STAT_TX_1 0x00000020 +#define USB_EPnR_EA 0x0000000F +#define USB_COUNTn_RX_BLSIZE 0x00008000 +#define USB_COUNTn_NUM_BLOCK 0x00007C00 +#define USB_COUNTn_RX 0x0000003F + +#define USB_TypeDef USB_TypeDef_custom + +typedef struct { + __IO uint32_t EPnR[STM32ENDPOINTS]; + __IO uint32_t RESERVED[STM32ENDPOINTS]; + __IO uint32_t CNTR; + __IO uint32_t ISTR; + __IO uint32_t FNR; + __IO uint32_t DADDR; + __IO uint32_t BTABLE; +#ifdef STM32F0 + __IO uint32_t LPMCSR; + __IO uint32_t BCDR; +#endif +} USB_TypeDef; + +// F303 D/E have 2x16 access scheme +typedef struct{ +#if defined USB2_16 + __IO uint16_t USB_ADDR_TX; + __IO uint16_t USB_COUNT_TX; + __IO uint16_t USB_ADDR_RX; + __IO uint16_t USB_COUNT_RX; +#define ACCESSZ (1) +#define BUFTYPE uint8_t +#elif defined USB1_16 + __IO uint32_t USB_ADDR_TX; + __IO uint32_t USB_COUNT_TX; + __IO uint32_t USB_ADDR_RX; + __IO uint32_t USB_COUNT_RX; +#define ACCESSZ (2) +#define BUFTYPE uint16_t +#else +#error "Define USB1_16 or USB2_16" +#endif +} USB_EPDATA_TypeDef; + + +typedef struct{ + __IO USB_EPDATA_TypeDef EP[STM32ENDPOINTS]; +} USB_BtableDef; #define EP0DATABUF_SIZE (64) #define LASTADDR_DEFAULT (STM32ENDPOINTS * 8) -// bmRequestType & 0x7f -#define STANDARD_DEVICE_REQUEST_TYPE 0 -#define STANDARD_ENDPOINT_REQUEST_TYPE 2 -#define VENDOR_REQUEST_TYPE 0x40 -#define CONTROL_REQUEST_TYPE 0x21 -// bRequest, standard; for bmRequestType == 0x80 +/****************************************************************** + * Defines from usb.h * + *****************************************************************/ + +/* + * Device and/or Interface Class codes + */ +#define USB_CLASS_PER_INTERFACE 0 +#define USB_CLASS_AUDIO 1 +#define USB_CLASS_COMM 2 +#define USB_CLASS_HID 3 +#define USB_CLASS_PRINTER 7 +#define USB_CLASS_PTP 6 +#define USB_CLASS_MASS_STORAGE 8 +#define USB_CLASS_HUB 9 +#define USB_CLASS_DATA 10 +#define USB_CLASS_MISC 0xef +#define USB_CLASS_VENDOR_SPEC 0xff + +/* + * Descriptor types + */ +#define USB_DT_DEVICE 0x01 +#define USB_DT_CONFIG 0x02 +#define USB_DT_STRING 0x03 +#define USB_DT_INTERFACE 0x04 +#define USB_DT_ENDPOINT 0x05 +#define USB_DT_QUALIFIER 0x06 +#define USB_DT_IAD 0x0B + +#define USB_DT_HID 0x21 +#define USB_DT_REPORT 0x22 +#define USB_DT_PHYSICAL 0x23 +#define USB_DT_CS_INTERFACE 0x24 +#define USB_DT_HUB 0x29 + +/* + * Descriptor sizes per descriptor type + */ +#define USB_DT_DEVICE_SIZE 18 +#define USB_DT_CONFIG_SIZE 9 +#define USB_DT_INTERFACE_SIZE 9 +#define USB_DT_HID_SIZE 9 +#define USB_DT_ENDPOINT_SIZE 7 +#define USB_DT_QUALIFIER_SIZE 10 +#define USB_DT_CS_INTERFACE_SIZE 5 +#define USB_DT_IAD_SIZE 8 + + +// bmRequestType & 0x80 == dev2host (1) or host2dev (0) +// recipient: bmRequestType & 0x1f +#define REQUEST_RECIPIENT(b) (b & 0x1f) +#define REQ_RECIPIENT_DEVICE 0 +#define REQ_RECIPIENT_INTERFACE 1 +#define REQ_RECIPIENT_ENDPOINT 2 +#define REQ_RECIPIENT_OTHER 3 +// type: [bmRequestType & 0x60 >> 5] +#define REQUEST_TYPE(b) ((b&0x60)>>5) +#define REQ_TYPE_STANDARD 0 +#define REQ_TYPE_CLASS 1 +#define REQ_TYPE_VENDOR 2 +#define REQ_TYPE_RESERVED 3 + + +//#define VENDOR_REQUEST 0x01 + +// standard device requests #define GET_STATUS 0x00 -#define GET_DESCRIPTOR 0x06 -#define GET_CONFIGURATION 0x08 -// for bmRequestType == 0 #define CLEAR_FEATURE 0x01 -#define SET_FEATURE 0x03 // unused +#define SET_FEATURE 0x03 #define SET_ADDRESS 0x05 -#define SET_DESCRIPTOR 0x07 // unused +#define GET_DESCRIPTOR 0x06 +#define SET_DESCRIPTOR 0x07 +#define GET_CONFIGURATION 0x08 #define SET_CONFIGURATION 0x09 -// for bmRequestType == 0x81, 1 or 0xB2 -#define GET_INTERFACE 0x0A // unused -#define SET_INTERFACE 0x0B // unused -#define SYNC_FRAME 0x0C // unused -#define VENDOR_REQUEST 0x01 // unused - -// Class-Specific Control Requests -#define SEND_ENCAPSULATED_COMMAND 0x00 // unused -#define GET_ENCAPSULATED_RESPONSE 0x01 // unused -#define SET_COMM_FEATURE 0x02 // unused -#define GET_COMM_FEATURE 0x03 // unused -#define CLEAR_COMM_FEATURE 0x04 // unused -#define SET_LINE_CODING 0x20 -#define GET_LINE_CODING 0x21 -#define SET_CONTROL_LINE_STATE 0x22 -#define SEND_BREAK 0x23 - -// control line states -#define CONTROL_DTR 0x01 -#define CONTROL_RTS 0x02 - -// string descriptors -enum{ - iLANGUAGE_DESCR, - iMANUFACTURER_DESCR, - iPRODUCT_DESCR, - iSERIAL_DESCR, - iINTERFACE_DESCR, - iDESCR_AMOUNT -}; +// and some standard interface requests +#define GET_INTERFACE 0x0A +#define SET_INTERFACE 0x0B +// and some standard endpoint requests +#define SYNC_FRAME 0x0C // Types of descriptors #define DEVICE_DESCRIPTOR 0x01 #define CONFIGURATION_DESCRIPTOR 0x02 #define STRING_DESCRIPTOR 0x03 #define DEVICE_QUALIFIER_DESCRIPTOR 0x06 +#define DEBUG_DESCRIPTOR 0x0a +#define HID_REPORT_DESCRIPTOR 0x22 + +// EP types for EP_init +#define EP_TYPE_BULK 0x00 +#define EP_TYPE_CONTROL 0x01 +#define EP_TYPE_ISO 0x02 +#define EP_TYPE_INTERRUPT 0x03 + +// EP types for descriptors +#define USB_BM_ATTR_CONTROL 0x00 +#define USB_BM_ATTR_ISO 0x01 +#define USB_BM_ATTR_BULK 0x02 +#define USB_BM_ATTR_INTERRUPT 0x03 + + +/****************************************************************** + * Other stuff * + *****************************************************************/ #define RX_FLAG(epstat) (epstat & USB_EPnR_CTR_RX) #define TX_FLAG(epstat) (epstat & USB_EPnR_CTR_TX) @@ -82,12 +274,6 @@ enum{ #define KEEP_DTOG_STAT(EPnR) (EPnR & ~(USB_EPnR_STAT_RX|USB_EPnR_STAT_TX|USB_EPnR_DTOG_RX|USB_EPnR_DTOG_TX)) #define KEEP_DTOG(EPnR) (EPnR & ~(USB_EPnR_DTOG_RX|USB_EPnR_DTOG_TX)) -// EP types -#define EP_TYPE_BULK 0x00 -#define EP_TYPE_CONTROL 0x01 -#define EP_TYPE_ISO 0x02 -#define EP_TYPE_INTERRUPT 0x03 - #define LANG_US (uint16_t)0x0409 #define _USB_STRING_(name, str) \ @@ -101,7 +287,6 @@ static const struct name \ name = {sizeof(name), 0x03, str} #define _USB_LANG_ID_(name, lng_id) \ - \ static const struct name \ { \ uint8_t bLength; \ @@ -129,44 +314,15 @@ typedef struct{ unsigned rx_cnt : 10; // received data counter } ep_t; -typedef struct { - uint32_t dwDTERate; - uint8_t bCharFormat; - #define USB_CDC_1_STOP_BITS 0 - #define USB_CDC_1_5_STOP_BITS 1 - #define USB_CDC_2_STOP_BITS 2 - uint8_t bParityType; - #define USB_CDC_NO_PARITY 0 - #define USB_CDC_ODD_PARITY 1 - #define USB_CDC_EVEN_PARITY 2 - #define USB_CDC_MARK_PARITY 3 - #define USB_CDC_SPACE_PARITY 4 - uint8_t bDataBits; -} __attribute__ ((packed)) usb_LineCoding; - -typedef struct { - uint8_t bmRequestType; - uint8_t bNotificationType; - uint16_t wValue; - uint16_t wIndex; - uint16_t wLength; -} __attribute__ ((packed)) usb_cdc_notification; - -extern ep_t endpoints[]; extern volatile uint8_t usbON; -extern config_pack_t *setup_packet; -extern uint8_t ep0databuf[], setupdatabuf[]; - -void EP0_Handler(); +void USB_setup(); +int EP_Init(uint8_t number, uint8_t type, uint16_t txsz, uint16_t rxsz, void (*func)()); void EP_WriteIRQ(uint8_t number, const uint8_t *buf, uint16_t size); void EP_Write(uint8_t number, const uint8_t *buf, uint16_t size); int EP_Read(uint8_t number, uint8_t *buf); -usb_LineCoding getLineCoding(); -void linecoding_handler(usb_LineCoding *lc); -void clstate_handler(uint16_t val); -void break_handler(); -void vendor_handler(config_pack_t *packet); -void chkin(); -int EP_Init(uint8_t number, uint8_t type, uint16_t txsz, uint16_t rxsz, void (*func)()); +// could be [re]defined in usb_dev.c +extern void usb_class_request(config_pack_t *packet, uint8_t *data, uint16_t datalen); +extern void usb_vendor_request(config_pack_t *packet, uint8_t *data, uint16_t datalen); +extern void set_configuration(); diff --git a/F3:F303/Multistepper/version.inc b/F3:F303/Multistepper/version.inc index fd7e2e5..8027805 100644 --- a/F3:F303/Multistepper/version.inc +++ b/F3:F303/Multistepper/version.inc @@ -1,2 +1,2 @@ -#define BUILD_NUMBER "164" -#define BUILD_DATE "2024-09-02" +#define BUILD_NUMBER "192" +#define BUILD_DATE "2025-02-05"