some fixes of old bugs

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 *
+### diagn[N] (37) G
-DIAG state of motor N (or all)\n"
+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),
+End-switches (limit-switches) reaction: 0 - ignore both limits; 
-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,
+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[N] (12) GS
-GPIO values, N=0..2. Without `N` run for all GPIOs (each byte is state: 0/1).
+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. 
+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

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);
 }

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;

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){
+errcodes cu_diagn(uint8_t par, int32_t *val){
-    return ERR_BADCMD;
+    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){
+errcodes cu_emstop(uint8_t par, int32_t _U_ *val){
-    uint8_t n; CHECKN(n, par);
+    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 par, int32_t *val){
-errcodes cu_gpio(uint8_t _U_ par, int32_t _U_ *val){
+#if EXTNO > 8
-#if EXTNO > 4
 #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)
+            for(int i = 0; i < EXTNO; ++i){
-                setextpar(arr[i], i);
+                setextpar(g & 1, i);
+                g >>= 1;
+            }
         }
-        for(int i = 0; i < EXTNO; ++i){
+        g = 0;
-            arr[i] = EXT_CHK(i);
+        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_UDATA] = cu_udata,
-    [CCMD_USARTSTATUS] = cu_usartstatus,
+//  [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_PING] = STR_PING,
-    [CCMD_ADC] = "adc",
+    [CCMD_ADC] = STR_ADC,
-    [CCMD_BUTTONS] = "button",
+    [CCMD_BUTTONS] = STR_BUTTON,
-    [CCMD_ESWSTATE] = "esw",
+    [CCMD_ESWSTATE] = STR_ESW,
-    [CCMD_MCUT] = "mcut",
+    [CCMD_MCUT] = STR_MCUT,
-    [CCMD_MCUVDD] = "mcuvdd",
+    [CCMD_MCUVDD] = STR_MCUVDD,
-    [CCMD_RESET] = "reset",
+    [CCMD_RESET] = STR_RESET,
-    [CCMD_TIMEFROMSTART] = "time",
+    [CCMD_TIMEFROMSTART] = STR_TIME,
-    [CCMD_EXT] = "gpio",
+    [CCMD_EXT] = STR_GPIO,
-    [CCMD_SAVECONF] = "saveconf",
+    [CCMD_SAVECONF] = STR_SAVECONF,
-    [CCMD_MICROSTEPS] = "microsteps",
+    [CCMD_MICROSTEPS] = STR_MICROSTEPS,
-    [CCMD_ACCEL] = "accel",
+    [CCMD_ACCEL] = STR_ACCEL,
-    [CCMD_MAXSPEED] = "maxspeed",
+    [CCMD_MAXSPEED] = STR_MAXSPEED,
-    [CCMD_MINSPEED] = "minspeed",
+    [CCMD_MINSPEED] = STR_MINSPEED,
-    [CCMD_SPEEDLIMIT] = "speedlimit",
+    [CCMD_SPEEDLIMIT] = STR_SPEEDLIMIT,
-    [CCMD_MAXSTEPS] = "maxsteps",
+    [CCMD_MAXSTEPS] = STR_MAXSTEPS,
-    [CCMD_MOTFLAGS] = "motflags",
+    [CCMD_MOTFLAGS] = STR_MOTFLAGS,
-    [CCMD_ESWREACT] = "eswreact",
+    [CCMD_ESWREACT] = STR_ESWREACT,
-    [CCMD_ABSPOS] = "goto",
+    [CCMD_ABSPOS] = STR_GOTO,
-    [CCMD_RELPOS] = "relpos",
+    [CCMD_RELPOS] = STR_RELPOS,
-    [CCMD_RELSLOW] = "relslow",
+    [CCMD_RELSLOW] = STR_RELSLOW,
-    [CCMD_EMERGSTOP] = "emstop N",
+    [CCMD_EMERGSTOP] = STR_EMSTOP,
-    [CCMD_EMERGSTOPALL] = "emstop all",
+    [CCMD_STOP] = STR_STOP,
-    [CCMD_STOP] = "stop",
+    [CCMD_REINITMOTORS] = STR_MOTREINIT,
-    [CCMD_REINITMOTORS] = "motreinit",
+    [CCMD_MOTORSTATE] = STR_STATE,
-    [CCMD_MOTORSTATE] = "state",
+    [CCMD_SETPOS] = STR_ABSPOS,
-    [CCMD_SETPOS] = "abspos",
+    [CCMD_GOTOZERO] = STR_GOTOZ,
-    [CCMD_GOTOZERO] = "gotoz",
+    [CCMD_MOTMUL] = STR_MOTMUL,
-    [CCMD_MOTMUL] = "motmul",
+    [CCMD_DIAGN] = STR_DIAGN,
-    [CCMD_DIAGN] = "diagn",
+    [CCMD_ERASEFLASH] = STR_ERASEFLASH,
-    [CCMD_ERASEFLASH] = "eraseflash",
+//  [CCMD_UDATA] = STR_UDATA,
-    [CCMD_UDATA] = "udata",
+//  [CCMD_USARTSTATUS] = STR_USARTSTATUS,
-    [CCMD_USARTSTATUS] = "usartstatus",
+    [CCMD_VDRIVE] = STR_VDRIVE,
-    [CCMD_VDRIVE] = "vdrive",
+    [CCMD_VFIVE] = STR_VFIVE,
-    [CCMD_VFIVE] = "vfive",
+    [CCMD_PDN] = STR_PDN,
-    [CCMD_PDN] = "pdn",
+    [CCMD_MOTNO] = STR_MOTNO,
-    [CCMD_MOTNO] = "motno",
+    [CCMD_DRVTYPE] = STR_DRVTYPE,
-    [CCMD_DRVTYPE] = "drvtype",
+    [CCMD_MOTCURRENT] = STR_MOTCURRENT,
-    [CCMD_MOTCURRENT] = "motcurrent",
 };

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_RESERVED0          //
-    ,CCMD_BUZZER             // buzzer on/off
+    ,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_RESERVED3          //
-    ,CCMD_ENCSTEPMAX         // max ticks of encoder per one step
+    ,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);

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);

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" SHOULD ALWAYS BE FIRST!!!1111
-    uint16_t userconf_sz;           // "magick number"
     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)

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;

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);
 }
 

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"

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"

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);
         }

F3:F303/Multistepper/multistepper.creator.user

@@ -1,10 +1,10 @@
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-<!-- Written by QtCreator 14.0.1, 2024-09-02T18:20:26. -->
+<!-- Written by QtCreator 14.0.2, 2024-11-13T08:41:23. -->
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  <data>
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    <value type="int" key="EditorConfiguration.PreferAfterWhitespaceComments">0</value>
    <value type="bool" key="EditorConfiguration.PreferSingleLineComments">false</value>
-   <value type="bool" key="EditorConfiguration.ScrollWheelZooming">true</value>
+   <value type="bool" key="EditorConfiguration.ScrollWheelZooming">false</value>
    <value type="bool" key="EditorConfiguration.ShowMargin">false</value>
-   <value type="int" key="EditorConfiguration.SmartBackspaceBehavior">0</value>
+   <value type="int" key="EditorConfiguration.SmartBackspaceBehavior">1</value>
    <value type="bool" key="EditorConfiguration.SmartSelectionChanging">true</value>
    <value type="bool" key="EditorConfiguration.SpacesForTabs">true</value>
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@@ -50,10 +50,10 @@
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    <value type="int" key="EditorConfiguration.Utf8BomBehavior">1</value>
    <value type="bool" key="EditorConfiguration.addFinalNewLine">true</value>
-   <value type="bool" key="EditorConfiguration.cleanIndentation">false</value>
+   <value type="bool" key="EditorConfiguration.cleanIndentation">true</value>
    <value type="bool" key="EditorConfiguration.cleanWhitespace">true</value>
    <value type="QString" key="EditorConfiguration.ignoreFileTypes">*.md, *.MD, Makefile</value>
-   <value type="bool" key="EditorConfiguration.inEntireDocument">false</value>
+   <value type="bool" key="EditorConfiguration.inEntireDocument">true</value>
    <value type="bool" key="EditorConfiguration.skipTrailingWhitespace">true</value>
    <value type="bool" key="EditorConfiguration.tintMarginArea">true</value>
   </valuemap>
@@ -78,7 +78,7 @@
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     <value type="QString" key="ClangTools.DiagnosticConfig">Builtin.DefaultTidyAndClazy</value>
-    <value type="int" key="ClangTools.ParallelJobs">8</value>
+    <value type="int" key="ClangTools.ParallelJobs">4</value>
     <value type="bool" key="ClangTools.PreferConfigFile">true</value>
     <valuelist type="QVariantList" key="ClangTools.SelectedDirs"/>
     <valuelist type="QVariantList" key="ClangTools.SelectedFiles"/>
@@ -93,12 +93,12 @@
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-   <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{65a14f9e-e008-4c1b-89df-4eaa4774b6e3}</value>
+   <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{91347f2c-5221-46a7-80b1-0a054ca02f79}</value>
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-    <value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/Big/Data/00__Electronics/STM32/F303-nolib/Multistepper</value>
+    <value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/home/eddy/Docs/SAO/ELECTRONICS/STM32/F3-srcs/Multistepper</value>
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@@ -108,8 +108,8 @@
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-     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Build</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Сборка</value>
-     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Build</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Сборка</value>
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-     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Clean</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Очистка</value>
-     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Clean</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Очистка</value>
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-    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Default</value>
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-     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Deploy</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Развёртывание</value>
-     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Deploy</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Развёртывание</value>
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F3:F303/Multistepper/multistepper.creator.user.7bd84e3

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+    <value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
+   </valuemap>
+   <value type="int" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
+  </valuemap>
+ </data>
+ <data>
+  <variable>ProjectExplorer.Project.TargetCount</variable>
+  <value type="int">1</value>
+ </data>
+ <data>
+  <variable>ProjectExplorer.Project.Updater.FileVersion</variable>
+  <value type="int">22</value>
+ </data>
+ <data>
+  <variable>Version</variable>
+  <value type="int">22</value>
+ </data>
+</qtcreator>

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

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;
+    TMC2209_ihold_irun_reg_t regval = {0};
-    if(!readregister(no, TMC2209Reg_IHOLD_IRUN, &regval.value)) return FALSE;
+    // IHOLD_IRUN is write-only register, so we should write all values!!!
+    //if(!readregister(no, TMC2209Reg_IHOLD_IRUN, &regval.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;
 }
 

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);
+            e = cu_emstop(par, &val);
-            else e = cu_emstop(par, &val);
             if(e == ERR_OK){ USND("OK"); return RET_GOOD;}
         break;
         case CMD_ESWREACT:

F3:F303/Multistepper/proto.h

@@ -21,7 +21,16 @@
 #include <stdint.h>
 
 #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)

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
+        if(!esw_block(i)) return e; // limit switch not block -> error
-    }else  ESW_reaction[i] = ESW_STOPMINUS;
+    }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);
     }

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();

F3:F303/Multistepper/usb_descr.c

@@ -0,0 +1,210 @@
+/*
+ * Copyright 2024 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "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;
+    }
+}

F3:F303/Multistepper/usb_descr.h

@@ -0,0 +1,62 @@
+/*
+ * Copyright 2024 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#pragma once
+
+#include <stdint.h>
+
+#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);

F3:F303/Multistepper/usb_dev.c

@@ -0,0 +1,240 @@
+/*
+ * Copyright 2024 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <string.h>
+
+#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;
+}
+

F3:F303/Multistepper/usb_dev.h

@@ -0,0 +1,57 @@
+/*
+ * Copyright 2024 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#pragma once
+
+#include <stm32f3.h>
+#include "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);

F3:F303/Multistepper/usb_lib.c

@@ -15,280 +15,37 @@
  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 #include <stdint.h>
-#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};
+static uint8_t setupdatabuf[EP0DATABUF_SIZE];
-uint8_t ep0databuf[EP0DATABUF_SIZE], setupdatabuf[EP0DATABUF_SIZE];
+static config_pack_t *setup_packet = (config_pack_t*) setupdatabuf;
-config_pack_t *setup_packet = (config_pack_t*) setupdatabuf;
+volatile uint8_t usbON = 0; // device is configured and active
-
-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 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
+            set_configuration();
-            EP_Init(2, EP_TYPE_BULK, 0, USB_RXBUFSZ, receive_Handler); // OUT2 - receive data
+            usbON = 1;
-            EP_Init(3, EP_TYPE_BULK, USB_TXBUFSZ, 0, transmit_Handler); // IN3 - transmit data
         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(){
+static void EP0_Handler(){
-    uint16_t epstatus = USB->EPnR[0]; // EP0R on input -> return this value after modifications
+    uint8_t ep0dbuflen = 0;
-    uint8_t reqtype = setup_packet->bmRequestType & 0x7f;
+    uint8_t ep0databuf[EP0DATABUF_SIZE];
-    uint8_t dev2host = (setup_packet->bmRequestType & 0x80) ? 1 : 0;
+    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)){
+    //if(rxflag){  }
-        switch(reqtype){
+    // check direction
-            case STANDARD_DEVICE_REQUEST_TYPE: // standard device request
+    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(dev2host){
+            if(epstatus & USB_EPnR_SETUP){ // setup packet -> copy data to conf_pack
-                    std_d2h_req();
+                EP_Read(0, setupdatabuf);
-                }else{
+                // interrupt handler will be called later
-                    std_h2d_req();
+            }else if(epstatus & USB_EPnR_CTR_RX){ // data packet -> push received data to ep0databuf
-                    EP_WriteIRQ(0, (uint8_t *)0, 0);
+                //if(endpoints[0].rx_cnt){ }
-                }
+                ep0dbuflen = EP_Read(0, ep0databuf);
-            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){
+        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]);
+    //epstatus = KEEP_DTOG(USB->EPnR[0]);
-    if(rxflag) epstatus ^= USB_EPnR_STAT_TX; // start ZLP/data transmission
+    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]);
+    uint16_t epstatus = KEEP_DTOG(USB->EPnR[number]);
-    // keep DTOGs, clear CTR_TX & set TX VALID to start transmission
+    // keep DTOGs and RX stat, clear CTR_TX & set TX VALID to start transmission
-    USB->EPnR[number] = (status & ~(USB_EPnR_CTR_TX)) ^ USB_EPnR_STAT_TX;
+    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
+    USB->CNTR = CNTR; // rewoke interrupts
-#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;
-    }
 }
 
+// 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

F3:F303/Multistepper/usb_lib.h

@@ -16,63 +16,255 @@
  */
 #pragma once
 
+#include <stdint.h>
 #include <wchar.h>
-#include "usbhw.h"
+
+#ifndef _U_
+#define _U_         __attribute__((unused))
+#endif
+
+/******************************************************************
+ *             Hardware registers etc                             *
+ *****************************************************************/
+#if defined STM32F0
+#include <stm32f0.h>
+#elif defined STM32F1
+#include <stm32f1.h>
+// there's no this define in standard header
+#define USB_BASE                ((uint32_t)0x40005C00)
+#elif defined STM32F3
+#include <stm32f3.h>
+#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
+ *             Defines from usb.h                                 *
-#define STANDARD_ENDPOINT_REQUEST_TYPE  2
+ *****************************************************************/
-#define VENDOR_REQUEST_TYPE             0x40
+
-#define CONTROL_REQUEST_TYPE            0x21
+/*
-// bRequest, standard; for bmRequestType == 0x80
+ * 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
+// and some standard interface requests
-#define GET_INTERFACE                   0x0A    // unused
+#define GET_INTERFACE                   0x0A
-#define SET_INTERFACE                   0x0B    // unused
+#define SET_INTERFACE                   0x0B
-#define SYNC_FRAME                      0x0C    // unused
+// and some standard endpoint requests
-#define VENDOR_REQUEST                  0x01    // unused
+#define SYNC_FRAME                      0x0C
-
-// 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
-};
 
 // 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);
+// could be [re]defined in usb_dev.c
-void clstate_handler(uint16_t val);
+extern void usb_class_request(config_pack_t *packet, uint8_t *data, uint16_t datalen);
-void break_handler();
+extern void usb_vendor_request(config_pack_t *packet, uint8_t *data, uint16_t datalen);
-void vendor_handler(config_pack_t *packet);
+extern void set_configuration();
-void chkin();
-int EP_Init(uint8_t number, uint8_t type, uint16_t txsz, uint16_t rxsz, void (*func)());

F3:F303/Multistepper/version.inc

@@ -1,2 +1,2 @@
-#define BUILD_NUMBER "164"
+#define BUILD_NUMBER "192"
-#define BUILD_DATE "2024-09-02"
+#define BUILD_DATE "2025-02-05"