restructuring

deprecated/F1/stepper_motion/Makefile

@@ -0,0 +1,133 @@
+BINARY		= usb_cdc_simple
+BOOTPORT	?= /dev/ttyUSB0
+BOOTSPEED	?= 115200
+# change this linking script depending on particular MCU model,
+# for example, if you have STM32F103VBT6, you should write:
+LDSCRIPT	= ld/stm32f103x8.ld
+LIBNAME		= opencm3_stm32f1
+DEFS		= -DSTM32F1 -DEBUG
+
+OBJDIR = mk
+INDEPENDENT_HEADERS=
+
+FP_FLAGS	?= -msoft-float
+ARCH_FLAGS	= -mthumb -mcpu=cortex-m3 $(FP_FLAGS) -mfix-cortex-m3-ldrd
+
+###############################################################################
+# Executables
+PREFIX		?= arm-none-eabi
+
+RM			:= rm -f
+RMDIR		:= rmdir
+CC			:= $(PREFIX)-gcc
+LD			:= $(PREFIX)-gcc
+AR			:= $(PREFIX)-ar
+AS			:= $(PREFIX)-as
+OBJCOPY		:= $(PREFIX)-objcopy
+OBJDUMP		:= $(PREFIX)-objdump
+GDB			:= $(PREFIX)-gdb
+STFLASH		= $(shell which st-flash)
+STBOOT		= $(shell which stm32flash)
+
+###############################################################################
+# Source files
+LDSCRIPT	?= $(BINARY).ld
+SRC			= $(wildcard *.c)
+OBJS		= $(addprefix $(OBJDIR)/, $(SRC:%.c=%.o))
+
+ifeq ($(strip $(OPENCM3_DIR)),)
+OPENCM3_DIR := /usr/local/arm-none-eabi
+$(info Using $(OPENCM3_DIR) path to library)
+endif
+
+INCLUDE_DIR	= $(OPENCM3_DIR)/include
+LIB_DIR		= $(OPENCM3_DIR)/lib
+SCRIPT_DIR	= $(OPENCM3_DIR)/scripts
+
+###############################################################################
+# C flags
+CFLAGS		+= -Os -g
+CFLAGS		+= -Wall -Wextra -Wshadow -Wimplicit-function-declaration
+CFLAGS		+= -Wredundant-decls
+# -Wmissing-prototypes -Wstrict-prototypes
+CFLAGS		+= -fno-common -ffunction-sections -fdata-sections
+
+###############################################################################
+# C & C++ preprocessor common flags
+CPPFLAGS	+= -MD
+CPPFLAGS	+= -Wall -Werror
+CPPFLAGS	+= -I$(INCLUDE_DIR) $(DEFS)
+
+###############################################################################
+# Linker flags
+LDFLAGS		+= --static -nostartfiles
+LDFLAGS		+= -L$(LIB_DIR)
+LDFLAGS		+= -T$(LDSCRIPT)
+LDFLAGS		+= -Wl,-Map=$(*).map
+LDFLAGS		+= -Wl,--gc-sections
+
+###############################################################################
+# Used libraries
+LDLIBS		+= -l$(LIBNAME)
+LDLIBS		+= -Wl,--start-group -lc -lgcc -Wl,--end-group
+
+.SUFFIXES: .elf .bin .hex .srec .list .map .images
+.SECONDEXPANSION:
+.SECONDARY:
+
+ELF		:= $(OBJDIR)/$(BINARY).elf
+LIST	:= $(OBJDIR)/$(BINARY).list
+BIN		:= $(BINARY).bin
+HEX		:= $(BINARY).hex
+
+all: bin
+
+elf: $(ELF)
+bin: $(BIN)
+hex: $(HEX)
+list: $(LIST)
+
+$(OBJDIR):
+	mkdir $(OBJDIR)
+
+$(OBJDIR)/%.o: %.c
+	@printf "  CC      $<\n"
+	$(CC) $(CFLAGS) $(CPPFLAGS) $(ARCH_FLAGS) -o $@ -c $<
+
+$(SRC) : %.c : %.h $(INDEPENDENT_HEADERS)
+	@touch $@
+
+%.h: ;
+
+$(BIN): $(ELF)
+	@printf "  OBJCOPY $(BIN)\n"
+	$(OBJCOPY) -Obinary $(ELF) $(BIN)
+
+$(HEX): $(ELF)
+	@printf "  OBJCOPY $(HEX)\n"
+	$(OBJCOPY) -Oihex $(ELF) $(HEX)
+
+$(LIST): $(ELF)
+	@printf "  OBJDUMP $(LIST)\n"
+	$(OBJDUMP) -S $(ELF) > $(LIST)
+
+$(ELF): $(OBJDIR) $(OBJS) $(LDSCRIPT) $(LIB_DIR)/lib$(LIBNAME).a
+	@printf "  LD      $(ELF)\n"
+	$(LD) $(LDFLAGS) $(ARCH_FLAGS) $(OBJS) $(LDLIBS) -o $(ELF)
+
+clean:
+	@printf "  CLEAN\n"
+	$(RM) $(OBJS) $(OBJDIR)/*.d $(ELF) $(HEX) $(LIST) $(OBJDIR)/*.map
+	$(RMDIR) $(OBJDIR)
+
+flash: $(BIN)
+	@printf "  FLASH  $(BIN)\n"
+	$(STFLASH) write $(BIN) 0x8000000
+
+boot: $(BIN)
+	@printf "  LOAD $(BIN) through bootloader\n"
+	$(STBOOT) -b$(BOOTSPEED) $(BOOTPORT) -w $(BIN)
+
+.PHONY: clean elf hex list flash boot
+
+#-include $(OBJS:.o=.d)

deprecated/F1/stepper_motion/README

@@ -0,0 +1,5 @@
+Very simple USB-CDC
+
+written for chinese devboard based on STM32F103RBT6
+
+Press H for help

deprecated/F1/stepper_motion/cdcacm.c

@@ -0,0 +1,314 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2010 Gareth McMullin <gareth@blacksphere.co.nz>
+ * Copyright 2014 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library 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 Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "cdcacm.h"
+#include "user_proto.h"
+#include "main.h"
+
+// Buffer for USB Tx
+static uint8_t USB_Tx_Buffer[USB_TX_DATA_SIZE];
+static uint8_t USB_Tx_ptr = 0;
+// connection flag
+uint8_t USB_connected = 0;
+static const struct usb_device_descriptor dev = {
+	.bLength = USB_DT_DEVICE_SIZE,
+	.bDescriptorType = USB_DT_DEVICE,
+	.bcdUSB = 0x0200,
+	.bDeviceClass = USB_CLASS_CDC,
+	.bDeviceSubClass = 0,
+	.bDeviceProtocol = 0,
+	.bMaxPacketSize0 = 64,
+	.idVendor = 0x0483,
+	.idProduct = 0x5740,
+	.bcdDevice = 0x0200,
+	.iManufacturer = 1,
+	.iProduct = 2,
+	.iSerialNumber = 3,
+	.bNumConfigurations = 1,
+};
+
+char usbdatabuf[USB_RX_DATA_SIZE]; // buffer for received data
+int usbdatalen = 0;  // lenght of received data
+
+/*
+ * This notification endpoint isn't implemented. According to CDC spec its
+ * optional, but its absence causes a NULL pointer dereference in Linux
+ * cdc_acm driver.
+ */
+static const struct usb_endpoint_descriptor comm_endp[] = {{
+	.bLength = USB_DT_ENDPOINT_SIZE,
+	.bDescriptorType = USB_DT_ENDPOINT,
+	.bEndpointAddress = 0x83,
+	.bmAttributes = USB_ENDPOINT_ATTR_INTERRUPT,
+	.wMaxPacketSize = 16,
+	.bInterval = 255,
+}};
+
+static const struct usb_endpoint_descriptor data_endp[] = {{
+	.bLength = USB_DT_ENDPOINT_SIZE,
+	.bDescriptorType = USB_DT_ENDPOINT,
+	.bEndpointAddress = 0x01,
+	.bmAttributes = USB_ENDPOINT_ATTR_BULK,
+	.wMaxPacketSize = 64,
+	.bInterval = 1,
+}, {
+	.bLength = USB_DT_ENDPOINT_SIZE,
+	.bDescriptorType = USB_DT_ENDPOINT,
+	.bEndpointAddress = 0x82,
+	.bmAttributes = USB_ENDPOINT_ATTR_BULK,
+	.wMaxPacketSize = 64,
+	.bInterval = 1,
+}};
+
+static const struct {
+	struct usb_cdc_header_descriptor header;
+	struct usb_cdc_call_management_descriptor call_mgmt;
+	struct usb_cdc_acm_descriptor acm;
+	struct usb_cdc_union_descriptor cdc_union;
+} __attribute__((packed)) cdcacm_functional_descriptors = {
+	.header = {
+		.bFunctionLength = sizeof(struct usb_cdc_header_descriptor),
+		.bDescriptorType = CS_INTERFACE,
+		.bDescriptorSubtype = USB_CDC_TYPE_HEADER,
+		.bcdCDC = 0x0110,
+	},
+	.call_mgmt = {
+		.bFunctionLength =
+			sizeof(struct usb_cdc_call_management_descriptor),
+		.bDescriptorType = CS_INTERFACE,
+		.bDescriptorSubtype = USB_CDC_TYPE_CALL_MANAGEMENT,
+		.bmCapabilities = 0,
+		.bDataInterface = 1,
+	},
+	.acm = {
+		.bFunctionLength = sizeof(struct usb_cdc_acm_descriptor),
+		.bDescriptorType = CS_INTERFACE,
+		.bDescriptorSubtype = USB_CDC_TYPE_ACM,
+		.bmCapabilities = 0,
+	},
+	.cdc_union = {
+		.bFunctionLength = sizeof(struct usb_cdc_union_descriptor),
+		.bDescriptorType = CS_INTERFACE,
+		.bDescriptorSubtype = USB_CDC_TYPE_UNION,
+		.bControlInterface = 0,
+		.bSubordinateInterface0 = 1,
+	 },
+};
+
+static const struct usb_interface_descriptor comm_iface[] = {{
+	.bLength = USB_DT_INTERFACE_SIZE,
+	.bDescriptorType = USB_DT_INTERFACE,
+	.bInterfaceNumber = 0,
+	.bAlternateSetting = 0,
+	.bNumEndpoints = 1,
+	.bInterfaceClass = USB_CLASS_CDC,
+	.bInterfaceSubClass = USB_CDC_SUBCLASS_ACM,
+	.bInterfaceProtocol = USB_CDC_PROTOCOL_AT,
+	.iInterface = 0,
+
+	.endpoint = comm_endp,
+
+	.extra = &cdcacm_functional_descriptors,
+	.extralen = sizeof(cdcacm_functional_descriptors),
+}};
+
+static const struct usb_interface_descriptor data_iface[] = {{
+	.bLength = USB_DT_INTERFACE_SIZE,
+	.bDescriptorType = USB_DT_INTERFACE,
+	.bInterfaceNumber = 1,
+	.bAlternateSetting = 0,
+	.bNumEndpoints = 2,
+	.bInterfaceClass = USB_CLASS_DATA,
+	.bInterfaceSubClass = 0,
+	.bInterfaceProtocol = 0,
+	.iInterface = 0,
+
+	.endpoint = data_endp,
+}};
+
+static const struct usb_interface ifaces[] = {{
+	.num_altsetting = 1,
+	.altsetting = comm_iface,
+}, {
+	.num_altsetting = 1,
+	.altsetting = data_iface,
+}};
+
+static const struct usb_config_descriptor config = {
+	.bLength = USB_DT_CONFIGURATION_SIZE,
+	.bDescriptorType = USB_DT_CONFIGURATION,
+	.wTotalLength = 0,
+	.bNumInterfaces = 2,
+	.bConfigurationValue = 1,
+	.iConfiguration = 0,
+	.bmAttributes = 0x80,
+	.bMaxPower = 0x32,
+
+	.interface = ifaces,
+};
+
+static const char *usb_strings[] = {
+	"Organisation, author",
+	"device",
+	"version",
+};
+
+// default line coding: B115200, 1stop, 8bits, parity none
+struct usb_cdc_line_coding linecoding = {
+	.dwDTERate   = 115200,
+	.bCharFormat = USB_CDC_1_STOP_BITS,
+	.bParityType = USB_CDC_NO_PARITY,
+	.bDataBits   = 8,
+};
+
+/* Buffer to be used for control requests. */
+uint8_t usbd_control_buffer[128];
+
+/**
+ * This function runs every time it gets a request for control parameters get/set
+ * parameter SET_LINE_CODING used to change USART1 parameters: if you want to
+ * change them, just connect through USB with required parameters
+ */
+static int cdcacm_control_request(usbd_device *usbd_dev, struct usb_setup_data *req, uint8_t **buf,
+		uint16_t *len, void (**complete)(usbd_device *usbd_dev, struct usb_setup_data *req)){
+	(void)complete;
+	(void)buf;
+	(void)usbd_dev;
+	char local_buf[10];
+	struct usb_cdc_line_coding  lc;
+
+	switch (req->bRequest) {
+	case SET_CONTROL_LINE_STATE:{
+		if(req->wValue){ // terminal is opened
+			USB_connected = 1;
+		}else{ // terminal is closed
+			USB_connected = 0;
+		}
+		/*
+		 * This Linux cdc_acm driver requires this to be implemented
+		 * even though it's optional in the CDC spec, and we don't
+		 * advertise it in the ACM functional descriptor.
+		 */
+		struct usb_cdc_notification *notif = (void *)local_buf;
+		/* We echo signals back to host as notification. */
+		notif->bmRequestType = 0xA1;
+		notif->bNotification = USB_CDC_NOTIFY_SERIAL_STATE;
+		notif->wValue = 0;
+		notif->wIndex = 0;
+		notif->wLength = 2;
+		local_buf[8] = req->wValue & 3;
+		local_buf[9] = 0;
+		usbd_ep_write_packet(usbd_dev, 0x83, local_buf, 10);
+	}break;
+	case SET_LINE_CODING:
+		if (!len || (*len != sizeof(struct usb_cdc_line_coding)))
+			return 0;
+		memcpy((void *)&lc, (void *)*buf, *len);
+		// Mark & Space parity don't support by hardware, check it
+		if(lc.bParityType == USB_CDC_MARK_PARITY || lc.bParityType == USB_CDC_SPACE_PARITY){
+			return 0; // error
+		}else{
+//			memcpy((void *)&linecoding, (void *)&lc, sizeof(struct usb_cdc_line_coding));
+//			UART_setspeed(USART1, &linecoding);
+		}
+	break;
+	case GET_LINE_CODING: // return linecoding buffer
+		if(len && *len == sizeof(struct usb_cdc_line_coding))
+			memcpy((void *)*buf, (void *)&linecoding, sizeof(struct usb_cdc_line_coding));
+		//usbd_ep_write_packet(usbd_dev, 0x83, (char*)&linecoding, sizeof(linecoding));
+	break;
+	default:
+		return 0;
+	}
+	return 1;
+}
+
+static void cdcacm_data_rx_cb(usbd_device *usbd_dev, uint8_t ep){
+	(void)ep;
+	int len = usbd_ep_read_packet(usbd_dev, 0x01, usbdatabuf + usbdatalen, USB_RX_DATA_SIZE - usbdatalen);
+	usbdatalen += len;
+	if(usbdatalen >= USB_RX_DATA_SIZE){ // buffer overflow - drop all its contents
+		usbdatalen = 0;
+	}
+}
+
+static void cdcacm_data_tx_cb(usbd_device *usbd_dev, uint8_t ep){
+	(void)ep;
+	(void)usbd_dev;
+
+	usb_send_buffer();
+}
+
+static void cdcacm_set_config(usbd_device *usbd_dev, uint16_t wValue)
+{
+	(void)wValue;
+	(void)usbd_dev;
+
+	usbd_ep_setup(usbd_dev, 0x01, USB_ENDPOINT_ATTR_BULK, USB_RX_DATA_SIZE, cdcacm_data_rx_cb);
+	usbd_ep_setup(usbd_dev, 0x82, USB_ENDPOINT_ATTR_BULK, USB_TX_DATA_SIZE, cdcacm_data_tx_cb);
+	usbd_ep_setup(usbd_dev, 0x83, USB_ENDPOINT_ATTR_INTERRUPT, 16, NULL);
+
+	usbd_register_control_callback(
+				usbd_dev,
+				USB_REQ_TYPE_CLASS | USB_REQ_TYPE_INTERFACE,
+				USB_REQ_TYPE_TYPE | USB_REQ_TYPE_RECIPIENT,
+				cdcacm_control_request);
+}
+
+static usbd_device *current_usb = NULL;
+
+usbd_device *USB_init(){
+	current_usb = usbd_init(&stm32f103_usb_driver, &dev, &config,
+		usb_strings, 3, usbd_control_buffer, sizeof(usbd_control_buffer));
+	if(!current_usb) return NULL;
+	usbd_register_set_config_callback(current_usb, cdcacm_set_config);
+	return current_usb;
+}
+
+mutex_t send_block_mutex = MUTEX_UNLOCKED;
+/**
+ * Put byte into USB buffer to send
+ * @param byte - a byte to put into a buffer
+ */
+void usb_send(uint8_t byte){
+	mutex_lock(&send_block_mutex);
+	USB_Tx_Buffer[USB_Tx_ptr++] = byte;
+	mutex_unlock(&send_block_mutex);
+	if(USB_Tx_ptr == USB_TX_DATA_SIZE){ // buffer can be overflowed - send it!
+		usb_send_buffer();
+	}
+}
+
+/**
+ * Send all data in buffer over USB
+ * this function runs when buffer is full or on SysTick
+ */
+void usb_send_buffer(){
+	if(MUTEX_LOCKED == mutex_trylock(&send_block_mutex)) return;
+	if(USB_Tx_ptr){
+		if(current_usb && USB_connected){
+			// usbd_ep_write_packet return 0 if previous packet isn't transmit yet
+			while(USB_Tx_ptr != usbd_ep_write_packet(current_usb, 0x82, USB_Tx_Buffer, USB_Tx_ptr));
+			usbd_poll(current_usb);
+		}
+		USB_Tx_ptr = 0;
+	}
+	mutex_unlock(&send_block_mutex);
+}

deprecated/F1/stepper_motion/cdcacm.h

@@ -0,0 +1,54 @@
+/*
+ * ccdcacm.h
+ *
+ * Copyright 2014 Edward V. Emelianov <eddy@sao.ru, 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 2 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, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+
+#pragma once
+#ifndef __CCDCACM_H__
+#define __CCDCACM_H__
+
+#include <libopencm3/usb/usbd.h>
+
+// commands through EP0
+#define SEND_ENCAPSULATED_COMMAND   0x00
+#define GET_ENCAPSULATED_RESPONSE   0x01
+#define SET_COMM_FEATURE            0x02
+#define GET_COMM_FEATURE            0x03
+#define CLEAR_COMM_FEATURE          0x04
+#define SET_LINE_CODING             0x20
+#define GET_LINE_CODING             0x21
+#define SET_CONTROL_LINE_STATE      0x22
+#define SEND_BREAK                  0x23
+
+// Size of input/output buffers
+#define USB_TX_DATA_SIZE            64
+#define USB_RX_DATA_SIZE            64
+
+// USB connection flag
+extern uint8_t USB_connected;
+extern struct usb_cdc_line_coding linecoding;
+
+extern char usbdatabuf[];
+extern int usbdatalen;
+
+usbd_device *USB_init();
+void usb_send(uint8_t byte);
+void usb_send_buffer();
+
+#endif // __CCDCACM_H__

deprecated/F1/stepper_motion/client-p2/Makefile

@@ -0,0 +1,22 @@
+PROGRAM = p2_move
+LDFLAGS = -lpthread -lcrypt
+SRCS = $(wildcard *.c)
+CC = gcc
+DEFINES = -D_XOPEN_SOURCE=601
+CXX = gcc
+CFLAGS = -Wall -Werror $(DEFINES)
+OBJS = $(SRCS:.c=.o)
+all : $(PROGRAM) clean
+$(PROGRAM) : $(OBJS)
+	$(CC) $(CFLAGS) $(OBJS) $(LDFLAGS) -o $(PROGRAM)
+
+# some addition dependencies
+# %.o: %.c
+#        $(CC) $(LDFLAGS) $(CFLAGS) $< -o $@
+#$(SRCS) : %.c : %.h $(INDEPENDENT_HEADERS)
+#        @touch $@
+
+clean:
+	/bin/rm -f *.o *~
+depend:
+	$(CXX) -MM $(CXX.SRCS)

deprecated/F1/stepper_motion/client-p2/cmdlnopts.c

@@ -0,0 +1,120 @@
+/*
+ * cmdlnopts.c - the only function that parse cmdln args and returns glob parameters
+ *
+ * Copyright 2013 Edward V. Emelianoff <eddy@sao.ru>
+ *
+ * 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 2 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, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+#include <stdio.h>
+#include <string.h>
+#include <assert.h>
+#include "cmdlnopts.h"
+
+/*
+ * here are global parameters initialisation
+ */
+glob_pars G;  // internal global parameters structure
+int help = 0; // whether to show help string
+
+glob_pars Gdefault = {
+	.serialdev        = "/dev/ttyACM0",
+	.gotopos          = -1000.,
+	.relmove          = 0.,
+};
+
+#ifndef N_
+#define N_(x)   (x)
+#endif
+
+#ifndef _
+#define _(x)    (x)
+#endif
+
+bool get_angle(double *dest, char *src){
+	double A = 0., sign = 1.;
+	int d,m;
+//	printf("arg: %s\n", src);
+	if(myatod(&A, src, arg_double)){ // angle in seconds
+		*dest = A;
+		return true;
+	}else if(3 == sscanf(src, "%d:%d:%lf", &d, &m, &A)){
+		if(d > -361 && d < 361 && m > -1 && m < 60 && A > -0.1 && A < 60.){
+			if(d < 0) sign = -1.;
+			*dest = sign*A + sign*60.*m + 3600.*d;
+			return true;
+		}
+	}else if(2 == sscanf(src, "%d:%lf", &m, &A)){
+		if(m > -60 && m < 60 && A > -0.1 && A < 60.){
+			if(m < 0) sign = -1.;
+			*dest = sign*A + 60.*m;
+			return true;
+		}
+	}
+	fprintf(stderr, "Wrong angle format [%s], need: ss.ss, mm:ss.ss or dd:mm:ss.ss\n", src);
+	return false;
+}
+#ifndef _U_
+#define _U_    __attribute__((__unused__))
+#endif
+bool ang_goto(void *arg, _U_ int N){
+	return get_angle(&G.gotopos, arg);
+}
+
+bool ang_gorel(void *arg, _U_ int N){
+	return get_angle(&G.relmove, arg);
+}
+
+/*
+ * Define command line options by filling structure:
+ *	name	has_arg	flag	val		type		argptr			help
+*/
+myoption cmdlnopts[] = {
+	/// "ÏÔÏÂÒÁÚÉÔØ ÜÔÏ ÓÏÏÂÝÅÎÉÅ"
+	{"help",	0,	NULL,	'h',	arg_int,	APTR(&help),		N_("show this help")},
+	/// "ÐÕÔØ Ë ÕÓÔÒÏÊÓÔ×Õ ÍÉËÒÏËÏÎÔÒÏÌÌÅÒÁ"
+	{"serialdev",1,	NULL,	'd',	arg_string,	APTR(&G.serialdev),	N_("path to MCU device")},
+	{"goto",	1,	NULL,	'g',	arg_function,APTR(ang_goto),	N_("go to given position")},
+	{"relative",1,	NULL,	'r',	arg_function,APTR(ang_gorel),	N_("go relative current position")},
+	end_option
+};
+
+
+/**
+ * Parse command line options and return dynamically allocated structure
+ * 		to global parameters
+ * @param argc - copy of argc from main
+ * @param argv - copy of argv from main
+ * @return allocated structure with global parameters
+ */
+glob_pars *parse_args(int argc, char **argv){
+	int i;
+	void *ptr;
+	ptr = memcpy(&G, &Gdefault, sizeof(G)); assert(ptr);
+	// format of help: "Usage: progname [args]\n"
+	/// "éÓÐÏÌØÚÏ×ÁÎÉÅ: %s [ÁÒÇÕÍÅÎÔÙ]\n\n\tçÄÅ ÁÒÇÕÍÅÎÔÙ:\n"
+	change_helpstring(_("Usage: %s [args]\n\n\tWhere args are:\n"));
+	// parse arguments
+	parseargs(&argc, &argv, cmdlnopts);
+	if(help) showhelp(-1, cmdlnopts);
+	if(argc > 0){
+		/// "éÇÎÏÒÉÒÕÀ ÁÒÇÕÍÅÎÔ[Ù]:"
+		printf("\n%s\n", _("Ignore argument[s]:"));
+		for (i = 0; i < argc; i++)
+			printf("\t%s\n", argv[i]);
+	}
+	return &G;
+}
+

deprecated/F1/stepper_motion/client-p2/cmdlnopts.h

@@ -0,0 +1,40 @@
+/*
+ * cmdlnopts.h - comand line options for parseargs
+ *
+ * Copyright 2013 Edward V. Emelianoff <eddy@sao.ru>
+ *
+ * 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 2 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, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+
+#pragma once
+#ifndef __CMDLNOPTS_H__
+#define __CMDLNOPTS_H__
+
+#include "parseargs.h"
+
+/*
+ * here are some typedef's for global data
+ */
+
+typedef struct{
+	char *serialdev;        // input device
+	double gotopos;         // go to given angle
+	double relmove;         // move relative current position
+}glob_pars;
+
+glob_pars *parse_args(int argc, char **argv);
+
+#endif // __CMDLNOPTS_H__

deprecated/F1/stepper_motion/client-p2/main.c

@@ -0,0 +1,284 @@
+/*
+ * main.c - main file
+ *
+ * Copyright 2015 Edward V. Emelianoff <eddy@sao.ru>
+ *
+ * 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 2 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, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+#include <termios.h>		// tcsetattr
+#include <unistd.h>			// tcsetattr, close, read, write
+#include <sys/ioctl.h>		// ioctl
+#include <stdio.h>			// printf, getchar, fopen, perror
+#include <stdlib.h>			// exit
+#include <sys/stat.h>		// read
+#include <fcntl.h>			// read
+#include <signal.h>			// signal
+#include <time.h>			// time
+#include <string.h>			// memcpy
+#include <stdint.h>			// int types
+#include <sys/time.h>		// gettimeofday
+#include <assert.h>			// assert
+#include <pthread.h>		// threads
+
+#include "bta_shdata.h"
+#include "cmdlnopts.h"
+
+#ifndef _U_
+#define _U_    __attribute__((__unused__))
+#endif
+
+#ifndef fabs
+#define fabs(x)  ((x > 0.) ? x : -x)
+#endif
+
+// scale: how much steps there is in one angular second
+const double steps_per_second = 2.054;
+
+// end-switch at 8degr
+#define MIN_RESTRICT_ANGLE (29000.)
+// end-switch at 100degr
+#define MAX_RESTRICT_ANGLE (360000.)
+
+#define BUFLEN 1024
+
+glob_pars *Global_parameters = NULL;
+
+int is_running = 1; // ==0 to exit
+int BAUD_RATE = B115200;
+struct termio oldtty, tty; // TTY flags
+struct termios oldt, newt; // terminal flags
+int comfd; // TTY fd
+
+#define DBG(...) do{fprintf(stderr, __VA_ARGS__);}while(0)
+
+/**
+ * function for different purposes that need to know time intervals
+ * @return double value: time in seconds
+ */
+double dtime(){
+	double t;
+	struct timeval tv;
+	gettimeofday(&tv, NULL);
+	t = tv.tv_sec + ((double)tv.tv_usec)/1e6;
+	return t;
+}
+
+/**
+ * Exit & return terminal to old state
+ * @param ex_stat - status (return code)
+ */
+void quit(int ex_stat){
+	tcsetattr(STDIN_FILENO, TCSANOW, &oldt); // return terminal to previous state
+	ioctl(comfd, TCSANOW, &oldtty ); // return TTY to previous state
+	close(comfd);
+	printf("Exit! (%d)\n", ex_stat);
+	exit(ex_stat);
+}
+
+/**
+ * Open & setup TTY, terminal
+ */
+void tty_init(){
+	// terminal without echo
+	tcgetattr(STDIN_FILENO, &oldt);
+	newt = oldt;
+	newt.c_lflag &= ~(ICANON | ECHO);
+	if(tcsetattr(STDIN_FILENO, TCSANOW, &newt) < 0) quit(-2);
+	printf("\nOpen port...\n");
+	if ((comfd = open(Global_parameters->serialdev,O_RDWR|O_NOCTTY|O_NONBLOCK)) < 0){
+		fprintf(stderr,"Can't use port %s\n",Global_parameters->serialdev);
+		quit(1);
+	}
+	printf(" OK\nGet current settings...\n");
+	if(ioctl(comfd,TCGETA,&oldtty) < 0) exit(-1); // Get settings
+	tty = oldtty;
+	tty.c_lflag     = 0; // ~(ICANON | ECHO | ECHOE | ISIG)
+	tty.c_oflag     = 0;
+	tty.c_cflag     = BAUD_RATE|CS8|CREAD|CLOCAL; // 9.6k, 8N1, RW, ignore line ctrl
+	tty.c_cc[VMIN]  = 0;  // non-canonical mode
+	tty.c_cc[VTIME] = 5;
+	if(ioctl(comfd,TCSETA,&tty) < 0) exit(-1); // set new mode
+	printf(" OK\n");
+	tcsetattr(STDIN_FILENO, TCSANOW, &newt);
+}
+
+/**
+ * read tty
+ * @param buff (o)    - buffer for messages readed from tty
+ * @param length (io) - buff's length (return readed len or 0)
+ * @return 1 if something was readed here or there
+ */
+int read_tty(char *buff, size_t *length){
+	ssize_t L;
+	size_t buffsz = *length;
+	struct timeval tv;
+	int sel, retval = 0;
+	fd_set rfds;
+	FD_ZERO(&rfds);
+	FD_SET(STDIN_FILENO, &rfds);
+	FD_SET(comfd, &rfds);
+	tv.tv_sec = 0; tv.tv_usec = 100000;
+	sel = select(comfd + 1, &rfds, NULL, NULL, &tv);
+	if(sel > 0){
+		if(FD_ISSET(comfd, &rfds)){
+			if((L = read(comfd, buff, buffsz)) < 1){ // disconnect or other troubles
+				fprintf(stderr, "USB error or disconnected!\n");
+				quit(1);
+			}else{
+				if(L == 0){ // USB disconnected
+					fprintf(stderr, "USB disconnected!\n");
+					quit(1);
+				}
+				// all OK continue reading
+				*length = (size_t) L;
+				retval = 1;
+			}
+		}else{
+			*length = 0;
+		}
+	}
+	return retval;
+}
+
+void print_P2(){
+	int d, m;
+	double s = val_P;
+	d = ((int)s / 3600) % 360;
+	s -= 3600. * d;
+	m = s / 60;
+	s -= 60. * m;
+	printf("P2 value: %02d:%02d:%03.1f\n", d, m, s);
+}
+
+/*
+void help(){
+	P("G\tgo to N steps\n");
+	P("H\tshow this help\n");
+	P("P\tset stepper period (us)\n");
+	P("S\tstop motor\n");
+	P("T\tshow current approx. time\n");
+	P("W\tshow current steps value\n");
+	P("X\tshow current stepper period\n");
+}
+*/
+
+void write_tty(char *str){
+	while(*str){
+		write(comfd, str++, 1);
+	}
+}
+
+/**
+ * give command to move P2 on some angle
+ * @param rel  == 1 for relative moving
+ * @param angle - angle in seconds
+ */
+void move_P2(int rel, double angle){
+	double curP = val_P, targP;
+	char buf[256];
+	if(fabs(angle) < 1.) return; // don't move to such little degrees
+	if(curP > MIN_RESTRICT_ANGLE && curP < MAX_RESTRICT_ANGLE){
+		fprintf(stderr, "Error: motor is in restricted area!\n");
+		quit(-1);
+	}
+	if(rel) targP = curP + angle;
+	else targP = angle;
+	// check for restricted zone
+	if(targP > MIN_RESTRICT_ANGLE && targP < MAX_RESTRICT_ANGLE){
+		fprintf(stderr, "Error: you want to move into restricted area!\n");
+		quit(-10);
+	}
+	// now check preferred rotation direction
+	angle = targP - curP;
+	//printf("targP: %g, curP: %g, angle: %g\n", targP, curP, angle);
+	// 360degr = 1296000''; 180degr = 648000''
+	if(angle < 0.) angle += 1296000.;
+	if(angle > 648000.){ // it's better to move in negative direction
+		angle -= 1296000.;
+	}
+	// convert angle into steps
+	angle *= steps_per_second;
+	_U_ size_t L = snprintf(buf, 256, "G%d\n", ((int)angle));
+	//printf("BUF: %s\n", buf);
+	write_tty(buf);
+	//is_running = 0;
+	while(is_running);
+}
+
+void *moving_thread(_U_ void *buf){
+	if(Global_parameters->gotopos > 0.){
+//printf("gotoval: %g\n", Global_parameters->gotopos);
+		move_P2(0, Global_parameters->gotopos);
+	}else if(fabs(Global_parameters->relmove) > 1.){ // move relative current position
+//printf("relval: %g\n", Global_parameters->relmove);
+		move_P2(1, Global_parameters->relmove);
+	}
+//	sleep(1); // give a little time for receiving messages
+//	is_running = 0;
+	return NULL;
+}
+
+int main(int argc, char *argv[]){
+	char buff[BUFLEN+1];
+	pthread_t motor_thread;
+	size_t L;
+	Global_parameters = parse_args(argc, argv);
+	assert(Global_parameters != NULL);
+	if(!get_shm_block(&sdat, ClientSide) || !check_shm_block(&sdat)){
+		fprintf(stderr, "Can't get SHM block!");
+		return -1;
+	}
+	tty_init();
+	signal(SIGTERM, quit);		// kill (-15)
+	signal(SIGINT, quit);		// ctrl+C
+	signal(SIGQUIT, SIG_IGN);	// ctrl+\   .
+	signal(SIGTSTP, SIG_IGN);	// ctrl+Z
+	setbuf(stdout, NULL);
+	double t, t0 = 0;
+	double p_old = -400.; // impossible value for printing P2 val on first run
+
+	if(pthread_create(&motor_thread, NULL, moving_thread, NULL)){
+		/// "Не могу создать поток для захвата видео"
+		fprintf(stderr, "Can't create readout thread\n");
+		quit(-1);
+	}
+	while(is_running){
+		L = BUFLEN;
+		if((t = dtime()) - t0 > 1.){ // once per second (and on first run) check P2 position
+			if(fabs(val_P - p_old) > 0.1){
+				p_old = val_P;
+				print_P2();
+			}
+			t0 = t;
+		}
+		if(read_tty(buff, &L)){
+			if(L){
+				buff[L] = 0;
+				printf("GOT: %s", buff);
+				if(strncmp(buff, "Stop", 4) == 0){
+					is_running = 0;
+					sleep(1);
+				}
+			}
+		}
+		if(!check_shm_block(&sdat)){
+			fprintf(stderr, "Corruption in SHM block!");
+			quit(-2);
+		}
+	}
+	quit(0);
+	return 0;
+}

deprecated/F1/stepper_motion/client-p2/parseargs.c

@@ -0,0 +1,296 @@
+/*
+ * parseargs.c - parsing command line arguments & print help
+ *
+ * Copyright 2013 Edward V. Emelianoff <eddy@sao.ru>
+ *
+ * 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 2 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, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+
+#include <stdio.h>	// DBG
+#include <getopt.h>	// getopt_long
+#include <stdlib.h>	// calloc, exit, strtoll
+#include <assert.h>	// assert
+#include <string.h> // strdup, strchr, strlen
+#include <limits.h> // INT_MAX & so on
+#include <libintl.h>// gettext
+#include <ctype.h>	// isalpha
+#include "parseargs.h"
+
+// macro to print help messages
+#ifndef PRNT
+	#define PRNT(x) gettext(x)
+#endif
+
+char *helpstring = "%s\n";
+
+/**
+ * Change standard help header
+ * MAY consist ONE "%s" for progname
+ * @param str (i) - new format
+ */
+void change_helpstring(char *s){
+	int pcount = 0, scount = 0;
+	char *str = s;
+	// check `helpstring` and set it to default in case of error
+	for(; pcount < 2; str += 2){
+		if(!(str = strchr(str, '%'))) break;
+		if(str[1] != '%') pcount++; // increment '%' counter if it isn't "%%"
+		else{
+			str += 2; // pass next '%'
+			continue;
+		}
+		if(str[1] == 's') scount++; // increment "%s" counter
+	};
+	if(pcount > 1 || pcount != scount){ // amount of pcount and/or scount wrong
+		fprintf(stderr, "Wrong helpstring!\n");
+		exit(-1);
+	}
+	helpstring = s;
+}
+
+/**
+ * Carefull atoll/atoi
+ * @param num (o) - returning value (or NULL if you wish only check number) - allocated by user
+ * @param str (i) - string with number must not be NULL
+ * @param t   (i) - T_INT for integer or T_LLONG for long long (if argtype would be wided, may add more)
+ * @return TRUE if conversion sone without errors, FALSE otherwise
+ */
+bool myatoll(void *num, char *str, argtype t){
+	long long tmp, *llptr;
+	int *iptr;
+	char *endptr;
+	assert(str);
+	assert(num);
+	tmp = strtoll(str, &endptr, 0);
+	if(endptr == str || *str == '\0' || *endptr != '\0')
+		return FALSE;
+	switch(t){
+		case arg_longlong:
+			llptr = (long long*) num;
+			*llptr = tmp;
+		break;
+		case arg_int:
+		default:
+			if(tmp < INT_MIN || tmp > INT_MAX){
+				fprintf(stderr, "Integer out of range\n");
+				return FALSE;
+			}
+			iptr = (int*)num;
+			*iptr = (int)tmp;
+	}
+	return TRUE;
+}
+
+// the same as myatoll but for double
+// There's no NAN & INF checking here (what if they would be needed?)
+bool myatod(void *num, const char *str, argtype t){
+	double tmp, *dptr;
+	float *fptr;
+	char *endptr;
+	assert(str);
+	tmp = strtod(str, &endptr);
+	if(endptr == str || *str == '\0' || *endptr != '\0')
+		return FALSE;
+	switch(t){
+		case arg_double:
+			dptr = (double *) num;
+			*dptr = tmp;
+		break;
+		case arg_float:
+		default:
+			fptr = (float *) num;
+			*fptr = (float)tmp;
+		break;
+	}
+	return TRUE;
+}
+
+/**
+ * Get index of current option in array options
+ * @param opt (i) - returning val of getopt_long
+ * @param options (i) - array of options
+ * @return index in array
+ */
+int get_optind(int opt, myoption *options){
+	int oind;
+	myoption *opts = options;
+	assert(opts);
+	for(oind = 0; opts->name && opts->val != opt; oind++, opts++);
+	if(!opts->name || opts->val != opt) // no such parameter
+	showhelp(-1, options);
+	return oind;
+}
+
+/**
+ * Parse command line arguments
+ * ! If arg is string, then value will be strdup'ed!
+ *
+ * @param argc (io) - address of argc of main(), return value of argc stay after `getopt`
+ * @param argv (io) - address of argv of main(), return pointer to argv stay after `getopt`
+ * BE CAREFUL! if you wanna use full argc & argv, save their original values before
+ * 		calling this function
+ * @param options (i) - array of `myoption` for arguments parcing
+ *
+ * @exit: in case of error this function show help & make `exit(-1)`
+  */
+void parseargs(int *argc, char ***argv, myoption *options){
+	char *short_options, *soptr;
+	struct option *long_options, *loptr;
+	size_t optsize, i;
+	myoption *opts = options;
+	// check whether there is at least one options
+	assert(opts);
+	assert(opts[0].name);
+	// first we count how much values are in opts
+	for(optsize = 0; opts->name; optsize++, opts++);
+	// now we can allocate memory
+	short_options = calloc(optsize * 3 + 1, 1); // multiply by three for '::' in case of args in opts
+	long_options = calloc(optsize + 1, sizeof(struct option));
+	opts = options; loptr = long_options; soptr = short_options;
+	// fill short/long parameters and make a simple checking
+	for(i = 0; i < optsize; i++, loptr++, opts++){
+		// check
+		assert(opts->name); // check name
+		if(opts->has_arg){
+			assert(opts->type != arg_none); // check error with arg type
+			assert(opts->argptr);  // check pointer
+		}
+		if(opts->type != arg_none) // if there is a flag without arg, check its pointer
+			assert(opts->argptr);
+		// fill long_options
+		// don't do memcmp: what if there would be different alignment?
+		loptr->name		= opts->name;
+		loptr->has_arg	= opts->has_arg;
+		loptr->flag		= opts->flag;
+		loptr->val		= opts->val;
+		// fill short options if they are:
+		if(!opts->flag){
+			*soptr++ = opts->val;
+			if(opts->has_arg) // add ':' if option has required argument
+				*soptr++ = ':';
+			if(opts->has_arg == 2) // add '::' if option has optional argument
+				*soptr++ = ':';
+		}
+	}
+	// now we have both long_options & short_options and can parse `getopt_long`
+	while(1){
+		int opt;
+		int oindex = 0, optind = 0; // oindex - number of option in argv, optind - number in options[]
+		if((opt = getopt_long(*argc, *argv, short_options, long_options, &oindex)) == -1) break;
+		if(opt == '?'){
+			opt = optopt;
+			optind = get_optind(opt, options);
+			if(options[optind].has_arg == 1) showhelp(optind, options); // need argument
+		}
+		else{
+			if(opt == 0 || oindex > 0) optind = oindex;
+			else optind = get_optind(opt, options);
+		}
+		opts = &options[optind];
+		if(opt == 0 && opts->has_arg == 0) continue; // only long option changing integer flag
+		// now check option
+		if(opts->has_arg == 1) assert(optarg);
+		bool result = TRUE;
+		// even if there is no argument, but argptr != NULL, think that optarg = "1"
+		if(!optarg) optarg = "1";
+		switch(opts->type){
+			default:
+			case arg_none:
+				if(opts->argptr) *((int*)opts->argptr) = 1; // set argptr to 1
+			break;
+			case arg_int:
+				result = myatoll(opts->argptr, optarg, arg_int);
+			break;
+			case arg_longlong:
+				result = myatoll(opts->argptr, optarg, arg_longlong);
+			break;
+			case arg_double:
+				result = myatod(opts->argptr, optarg, arg_double);
+			break;
+			case arg_float:
+				result = myatod(opts->argptr, optarg, arg_float);
+			break;
+			case arg_string:
+				result = (*((char **)opts->argptr) = strdup(optarg));
+			break;
+			case arg_function:
+				result = ((argfn)opts->argptr)(optarg, optind);
+			break;
+		}
+		if(!result){
+			showhelp(optind, options);
+		}
+	}
+	*argc -= optind;
+	*argv += optind;
+}
+
+/**
+ * Show help information based on myoption->help values
+ * @param oindex (i)  - if non-negative, show only help by myoption[oindex].help
+ * @param options (i) - array of `myoption`
+ *
+ * @exit:  run `exit(-1)` !!!
+ */
+void showhelp(int oindex, myoption *options){
+	// ATTENTION: string `help` prints through macro PRNT(), by default it is gettext,
+	// but you can redefine it before `#include "parseargs.h"`
+	int max_opt_len = 0; // max len of options substring - for right indentation
+	const int bufsz = 255;
+	char buf[bufsz+1];
+	myoption *opts = options;
+	assert(opts);
+	assert(opts[0].name); // check whether there is at least one options
+	if(oindex > -1){ // print only one message
+		opts = &options[oindex];
+		printf("  ");
+		if(!opts->flag && isalpha(opts->val)) printf("-%c, ", opts->val);
+		printf("--%s", opts->name);
+		if(opts->has_arg == 1) printf("=arg");
+		else if(opts->has_arg == 2) printf("[=arg]");
+		printf("  %s\n", PRNT(opts->help));
+		exit(-1);
+	}
+	// header, by default is just "progname\n"
+	printf("\n");
+	if(strstr(helpstring, "%s")) // print progname
+		printf(helpstring, __progname);
+	else // only text
+		printf("%s", helpstring);
+	printf("\n");
+	// count max_opt_len
+	do{
+		int L = strlen(opts->name);
+		if(max_opt_len < L) max_opt_len = L;
+	}while((++opts)->name);
+	max_opt_len += 14; // format: '-S , --long[=arg]' - get addition 13 symbols
+	opts = options;
+	// Now print all help
+	do{
+		int p = sprintf(buf, "  "); // a little indent
+		if(!opts->flag && isalpha(opts->val)) // .val is short argument
+			p += snprintf(buf+p, bufsz-p, "-%c, ", opts->val);
+		p += snprintf(buf+p, bufsz-p, "--%s", opts->name);
+		if(opts->has_arg == 1) // required argument
+			p += snprintf(buf+p, bufsz-p, "=arg");
+		else if(opts->has_arg == 2) // optional argument
+			p += snprintf(buf+p, bufsz-p, "[=arg]");
+		assert(p < max_opt_len); // there would be magic if p >= max_opt_len
+		printf("%-*s%s\n", max_opt_len+1, buf, PRNT(opts->help)); // write options & at least 2 spaces after
+	}while((++opts)->name);
+	printf("\n\n");
+	exit(-1);
+}

deprecated/F1/stepper_motion/client-p2/parseargs.h

@@ -0,0 +1,106 @@
+/*
+ * parseargs.h - headers for parcing command line arguments
+ *
+ * Copyright 2013 Edward V. Emelianoff <eddy@sao.ru>
+ *
+ * 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 2 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, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+#pragma once
+#ifndef __PARSEARGS_H__
+#define __PARSEARGS_H__
+
+#include <stdbool.h>// bool
+#include <stdlib.h>
+
+#ifndef TRUE
+	#define TRUE true
+#endif
+
+#ifndef FALSE
+	#define FALSE false
+#endif
+
+// macro for argptr
+#define APTR(x)   ((void*)x)
+
+// if argptr is a function:
+typedef  bool(*argfn)(void *arg, int N);
+
+/*
+ * type of getopt's argument
+ * WARNING!
+ * My function change value of flags by pointer, so if you want to use another type
+ * make a latter conversion, example:
+ * 		char charg;
+ * 		int iarg;
+ * 		myoption opts[] = {
+ * 		{"value", 1, NULL, 'v', arg_int, &iarg, "char val"}, ..., end_option};
+ * 		..(parse args)..
+ * 		charg = (char) iarg;
+ */
+typedef enum {
+	arg_none = 0,	// no arg
+	arg_int,		// integer
+	arg_longlong,	// long long
+	arg_double,		// double
+	arg_float,		// float
+	arg_string,		// char *
+	arg_function	// parse_args will run function `bool (*fn)(char *optarg, int N)`
+} argtype;
+
+/*
+ * Structure for getopt_long & help
+ * BE CAREFUL: .argptr is pointer to data or pointer to function,
+ * 		conversion depends on .type
+ *
+ * ATTENTION: string `help` prints through macro PRNT(), bu default it is gettext,
+ * but you can redefine it before `#include "parseargs.h"`
+ *
+ * if arg is string, then value wil be strdup'ed like that:
+ * 		char *str;
+ * 		myoption opts[] = {{"string", 1, NULL, 's', arg_string, &str, "string val"}, ..., end_option};
+ *		*(opts[1].str) = strdup(optarg);
+ * in other cases argptr should be address of some variable (or pointer to allocated memory)
+ *
+ * NON-NULL argptr should be written inside macro APTR(argptr) or directly: (void*)argptr
+ *
+ * !!!LAST VALUE OF ARRAY SHOULD BE `end_option` or ZEROS !!!
+ *
+ */
+typedef struct{
+	// these are from struct option:
+	const char *name;		// long option's name
+	int         has_arg;	// 0 - no args, 1 - nesessary arg, 2 - optionally arg
+	int        *flag;		// NULL to return val, pointer to int - to set its value of val (function returns 0)
+	int         val;		// short opt name (if flag == NULL) or flag's value
+	// and these are mine:
+	argtype     type;		// type of argument
+	void       *argptr;		// pointer to variable to assign optarg value or function `bool (*fn)(char *optarg, int N)`
+	char       *help;		// help string which would be shown in function `showhelp` or NULL
+} myoption;
+
+// last string of array (all zeros)
+#define end_option {0,0,0,0,0,0,0}
+
+
+extern const char *__progname;
+
+void showhelp(int oindex, myoption *options);
+void parseargs(int *argc, char ***argv, myoption *options);
+void change_helpstring(char *s);
+bool myatod(void *num, const char *str, argtype t);
+
+#endif // __PARSEARGS_H__

deprecated/F1/stepper_motion/hardware_ini.c

@@ -0,0 +1,99 @@
+/*
+ * hardware_ini.c - functions for HW initialisation
+ *
+ * Copyright 2014 Edward V. Emelianov <eddy@sao.ru, 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 2 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, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+
+/*
+ * All hardware-dependent initialisation & definition should be placed here
+ * and in hardware_ini.h
+ *
+ */
+
+#include "main.h"
+#include "hardware_ini.h"
+
+/**
+ * GPIO initialisaion: clocking + pins setup
+ */
+void GPIO_init(){
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN |
+			RCC_APB2ENR_IOPBEN | RCC_APB2ENR_IOPCEN | RCC_APB2ENR_IOPDEN |
+			RCC_APB2ENR_IOPEEN);
+/*
+	// Buttons: pull-up input
+	gpio_set_mode(BTNS_PORT, GPIO_MODE_INPUT, GPIO_CNF_INPUT_PULL_UPDOWN,
+			BTN_S2_PIN | BTN_S3_PIN);
+	// turn on pull-up
+	gpio_set(BTNS_PORT, BTN_S2_PIN | BTN_S3_PIN);
+	// LEDS: opendrain output
+	gpio_set_mode(LEDS_PORT, GPIO_MODE_OUTPUT_2_MHZ, GPIO_CNF_OUTPUT_OPENDRAIN,
+			LED_D1_PIN | LED_D2_PIN);
+	// turn off LEDs
+	gpio_set(LEDS_PORT, LED_D1_PIN | LED_D2_PIN);
+	*/
+/*
+	// USB_DISC: push-pull
+	gpio_set_mode(USB_DISC_PORT, GPIO_MODE_OUTPUT_2_MHZ,
+				GPIO_CNF_OUTPUT_PUSHPULL, USB_DISC_PIN);
+	// USB_POWER: open drain, externall pull down with R7 (22k)
+	gpio_set_mode(USB_POWER_PORT, GPIO_MODE_INPUT,
+				GPIO_CNF_INPUT_FLOAT, USB_POWER_PIN);
+*/
+}
+
+
+/*
+ * SysTick used for system timer with period of 1ms
+ */
+void SysTick_init(){
+	systick_set_clocksource(STK_CSR_CLKSOURCE_AHB_DIV8); // Systyck: 72/8=9MHz
+	systick_set_reload(8999); // 9000 pulses: 1kHz
+	systick_interrupt_enable();
+	systick_counter_enable();
+}
+
+/*
+// check buttons S2/S3
+void check_btns(){
+	static uint8_t oldstate[2] = {1,1}; // old buttons state
+	uint8_t newstate[2], i;
+	static uint32_t Old_timer[2] = {0,0};
+	newstate[0] = gpio_get(BTNS_PORT, BTN_S2_PIN) ? 1 : 0;
+	newstate[1] = gpio_get(BTNS_PORT, BTN_S3_PIN) ? 1 : 0;
+	for(i = 0; i < 2; i++){
+		uint8_t new = newstate[i];
+		// pause for 60ms
+		uint32_t O = Old_timer[i];
+		if(O){
+			if(Timer - O > 60 || O > Timer){
+				P("Button S");
+				usb_send('2' + i);
+				if(new) P("released");
+				else P("pressed");
+				newline();
+				oldstate[i] = new;
+				Old_timer[i] = 0;
+			}
+		}
+		else if(new != oldstate[i]){
+			Old_timer[i] = Timer;
+		}
+	}
+}
+*/

deprecated/F1/stepper_motion/hardware_ini.h

@@ -0,0 +1,58 @@
+/*
+ * hardware_ini.h
+ *
+ * Copyright 2014 Edward V. Emelianov <eddy@sao.ru, 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 2 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, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+
+#pragma once
+#ifndef __HARDWARE_INI_H__
+#define __HARDWARE_INI_H__
+
+/*
+ * Timers:
+ * SysTick - system time
+ */
+
+
+void GPIO_init();
+void SysTick_init();
+
+/*
+ * USB interface
+ * connect boot1 jumper to gnd, boot0 to gnd; and reconnect boot0 to +3.3 to boot flash
+ */
+/*
+// USB_DICS (disconnect) - PC11
+#define USB_DISC_PIN		GPIO11
+#define USB_DISC_PORT		GPIOC
+// USB_POWER (high level when USB connected to PC)
+#define USB_POWER_PIN		GPIO10
+#define USB_POWER_PORT		GPIOC
+// change signal level on USB diconnect pin
+#define usb_disc_high()   gpio_set(USB_DISC_PORT, USB_DISC_PIN)
+#define usb_disc_low()    gpio_clear(USB_DISC_PORT, USB_DISC_PIN)
+// in case of n-channel FET on 1.5k pull-up change on/off disconnect means low level
+// in case of pnp bipolar transistor or p-channel FET on 1.5k pull-up disconnect means high level
+#define usb_disconnect()  usb_disc_high()
+#define usb_connect()     usb_disc_low()
+*/
+// my simple devboard have no variants for programmed connection/disconnection of USB
+#define usb_disconnect()
+#define usb_connect()
+
+#endif // __HARDWARE_INI_H__

deprecated/F1/stepper_motion/ld/devices.data

@@ -0,0 +1,9 @@
+stm32f103?4* stm32f1 ROM=16K RAM=6K
+stm32f103?6* stm32f1 ROM=32K RAM=10K
+stm32f103?8* stm32f1 ROM=64K RAM=20K
+stm32f103?b* stm32f1 ROM=128K RAM=20K
+stm32f103?c* stm32f1 ROM=256K RAM=48K
+stm32f103?d* stm32f1 ROM=384K RAM=64K
+stm32f103?e* stm32f1 ROM=512K RAM=64K
+stm32f103?f* stm32f1 ROM=768K RAM=96K
+stm32f103?g* stm32f1 ROM=1024K RAM=96K

deprecated/F1/stepper_motion/ld/stm32f103x4.ld

@@ -0,0 +1,31 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2012 Karl Palsson <karlp@tweak.net.au>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library 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 Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/* Linker script for STM32F100x4, 16K flash, 4K RAM. */
+
+/* Define memory regions. */
+MEMORY
+{
+	rom (rx) : ORIGIN = 0x08000000, LENGTH = 16K
+	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 6K
+}
+
+/* Include the common ld script. */
+INCLUDE libopencm3_stm32f1.ld
+

deprecated/F1/stepper_motion/ld/stm32f103x6.ld

@@ -0,0 +1,31 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2012 Karl Palsson <karlp@tweak.net.au>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library 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 Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/* Linker script for STM32F100x4, 16K flash, 4K RAM. */
+
+/* Define memory regions. */
+MEMORY
+{
+	rom (rx) : ORIGIN = 0x08000000, LENGTH =  32K
+	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 10K
+}
+
+/* Include the common ld script. */
+INCLUDE libopencm3_stm32f1.ld
+

deprecated/F1/stepper_motion/ld/stm32f103x8.ld

@@ -0,0 +1,31 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2012 Karl Palsson <karlp@tweak.net.au>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library 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 Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/* Linker script for STM32F100x4, 16K flash, 4K RAM. */
+
+/* Define memory regions. */
+MEMORY
+{
+	rom (rx) : ORIGIN = 0x08000000, LENGTH =  64K
+	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 20K
+}
+
+/* Include the common ld script. */
+INCLUDE libopencm3_stm32f1.ld
+

deprecated/F1/stepper_motion/ld/stm32f103xB.ld

@@ -0,0 +1,31 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2012 Karl Palsson <karlp@tweak.net.au>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library 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 Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/* Linker script for STM32F100x4, 16K flash, 4K RAM. */
+
+/* Define memory regions. */
+MEMORY
+{
+	rom (rx) : ORIGIN = 0x08000000, LENGTH = 128K
+	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 20K
+}
+
+/* Include the common ld script. */
+INCLUDE libopencm3_stm32f1.ld
+

deprecated/F1/stepper_motion/ld/stm32f103xC.ld

@@ -0,0 +1,31 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2012 Karl Palsson <karlp@tweak.net.au>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library 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 Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/* Linker script for STM32F100x4, 16K flash, 4K RAM. */
+
+/* Define memory regions. */
+MEMORY
+{
+	rom (rx) : ORIGIN = 0x08000000, LENGTH = 256K
+	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 48K
+}
+
+/* Include the common ld script. */
+INCLUDE libopencm3_stm32f1.ld
+

deprecated/F1/stepper_motion/ld/stm32f103xD.ld

@@ -0,0 +1,31 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2012 Karl Palsson <karlp@tweak.net.au>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library 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 Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/* Linker script for STM32F100x4, 16K flash, 4K RAM. */
+
+/* Define memory regions. */
+MEMORY
+{
+	rom (rx) : ORIGIN = 0x08000000, LENGTH = 384K
+	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 64K
+}
+
+/* Include the common ld script. */
+INCLUDE libopencm3_stm32f1.ld
+

deprecated/F1/stepper_motion/ld/stm32f103xE.ld

@@ -0,0 +1,31 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2012 Karl Palsson <karlp@tweak.net.au>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library 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 Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/* Linker script for STM32F100x4, 16K flash, 4K RAM. */
+
+/* Define memory regions. */
+MEMORY
+{
+	rom (rx) : ORIGIN = 0x08000000, LENGTH = 512K
+	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 64K
+}
+
+/* Include the common ld script. */
+INCLUDE libopencm3_stm32f1.ld
+

deprecated/F1/stepper_motion/ld/stm32f103xF.ld

@@ -0,0 +1,31 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2012 Karl Palsson <karlp@tweak.net.au>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library 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 Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/* Linker script for STM32F100x4, 16K flash, 4K RAM. */
+
+/* Define memory regions. */
+MEMORY
+{
+	rom (rx) : ORIGIN = 0x08000000, LENGTH = 768K
+	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 96K
+}
+
+/* Include the common ld script. */
+INCLUDE libopencm3_stm32f1.ld
+

deprecated/F1/stepper_motion/ld/stm32f103xG.ld

@@ -0,0 +1,31 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2012 Karl Palsson <karlp@tweak.net.au>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library 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 Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/* Linker script for STM32F100x4, 16K flash, 4K RAM. */
+
+/* Define memory regions. */
+MEMORY
+{
+	rom (rx) : ORIGIN = 0x08000000, LENGTH = 1024K
+	ram (rwx) : ORIGIN = 0x20000000, LENGTH =  96K
+}
+
+/* Include the common ld script. */
+INCLUDE libopencm3_stm32f1.ld
+

deprecated/F1/stepper_motion/main.c

@@ -0,0 +1,89 @@
+/*
+ * main.c
+ *
+ * Copyright 2014 Edward V. Emelianov <eddy@sao.ru, 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 2 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, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+
+#include "main.h"
+#include "hardware_ini.h"
+#include "cdcacm.h"
+#include "steppers.h"
+
+volatile uint32_t Timer = 0; // global timer (milliseconds)
+usbd_device *usbd_dev;
+
+int main(){
+	uint32_t Old_timer = 0;
+
+	// RCC clocking: 8MHz oscillator -> 72MHz system
+	rcc_clock_setup_in_hse_8mhz_out_72mhz();
+
+	GPIO_init();
+
+	usb_disconnect(); // turn off USB while initializing all
+	steppers_init();
+
+	// USB
+	usbd_dev = USB_init();
+
+	// SysTick is a system timer with 1ms period
+	SysTick_init();
+
+	// wait a little and then turn on USB pullup
+//	for (i = 0; i < 0x800000; i++)
+//		__asm__("nop");
+
+	usb_connect(); // turn on USB
+
+	while(1){
+		usbd_poll(usbd_dev);
+		if(usbdatalen){ // there's something in USB buffer
+			usbdatalen = parse_incoming_buf(usbdatabuf, usbdatalen);
+		}
+		//check_and_parse_UART(USART1); // also check data in UART buffers
+		if(Timer - Old_timer > 999){ // one-second cycle
+			Old_timer += 1000;
+		}else if(Timer < Old_timer){ // Timer overflow
+			Old_timer = 0;
+		}
+	}
+}
+
+
+/**
+ * SysTick interrupt: increment global time & send data buffer through USB
+ */
+void sys_tick_handler(){
+	Timer++;
+	usbd_poll(usbd_dev);
+	usb_send_buffer();
+}
+
+// pause function, delay in ms
+void Delay(uint16_t _U_ time){
+	uint32_t waitto = Timer + time;
+	while(Timer < waitto);
+}
+
+/**
+ * print current time in milliseconds: 4 bytes for ovrvlow + 4 bytes for time
+ * with ' ' as delimeter
+ */
+void print_time(){
+	print_int(Timer);
+}

deprecated/F1/stepper_motion/main.h

@@ -0,0 +1,54 @@
+/*
+ * main.h
+ *
+ * Copyright 2014 Edward V. Emelianov <eddy@sao.ru, 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 2 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, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+
+
+#pragma once
+#ifndef __MAIN_H__
+#define __MAIN_H__
+
+#include <stdlib.h>
+#include <string.h>					// memcpy
+#include <libopencm3/stm32/gpio.h>
+#include <libopencm3/stm32/usart.h>
+#include <libopencm3/cm3/nvic.h>
+#include <libopencm3/usb/cdc.h>
+#include <libopencm3/usb/usbd.h>
+#include <libopencm3/cm3/systick.h>
+#include <libopencm3/stm32/rcc.h>
+#include <libopencm3/stm32/adc.h>
+#include <libopencm3/stm32/dma.h>
+#include <libopencm3/stm32/spi.h>
+
+#define ADC_CHANNELS_NUMBER    (10)
+
+#include "sync.h" // mutexes
+#include "user_proto.h"
+
+#define _U_    __attribute__((__unused__))
+#define  U8(x)  ((uint8_t)  x)
+#define U16(x)  ((uint16_t) x)
+#define U32(x)  ((uint32_t) x)
+
+extern volatile uint32_t Timer; // global timer (milliseconds)
+void Delay(uint16_t time);
+
+#endif // __MAIN_H__
+

deprecated/F1/stepper_motion/steppers.c

@@ -0,0 +1,150 @@
+/*
+ * steppers.c
+ *
+ * Copyright 2015 Edward V. Emelianov <eddy@sao.ru, 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 2 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, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+
+#include "steppers.h"
+#include "user_proto.h"
+#include <libopencm3/stm32/timer.h>
+
+
+volatile int32_t Glob_steps = 0;
+volatile int Dir = 0; // 0 - stop, 1 - move to +, -1 - move to -
+int32_t stepper_period = STEPPER_DEFAULT_PERIOD;
+
+/**
+ * Init TIM2_CH3 (& remap to 5V tolerant PB10) [STEP] and PB11 [DIR]
+ */
+void steppers_init(){
+	// Turn off JTAG & SWD, remap TIM2_CH3 to PB10 (five tolerant)
+	rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_AFIOEN | RCC_APB2ENR_IOPBEN);
+	gpio_primary_remap(AFIO_MAPR_SWJ_CFG_JTAG_OFF_SW_OFF, AFIO_MAPR_TIM2_REMAP_PARTIAL_REMAP2);
+	// setup PB10 & PB11 - both opendrain
+	gpio_set_mode(GPIO_BANK_TIM2_PR2_CH3, GPIO_MODE_OUTPUT_2_MHZ,
+		GPIO_CNF_OUTPUT_ALTFN_OPENDRAIN, GPIO_TIM2_PR2_CH3);
+	//	GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_TIM2_PR2_CH3);
+	gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_2_MHZ,
+		GPIO_CNF_OUTPUT_OPENDRAIN, GPIO11);
+	rcc_periph_clock_enable(RCC_TIM2);
+	timer_reset(TIM2);
+	// timers have frequency of 1MHz -- 1us for one step
+	timer_set_mode(TIM2, TIM_CR1_CKD_CK_INT, TIM_CR1_CMS_EDGE, TIM_CR1_DIR_UP);
+	// 36MHz of APB1 x2 = 72MHz
+	TIM2_PSC = STEPPER_TIM_DEFAULT_PRESCALER;  // prescaler is (div - 1)
+	TIM2_CR1 = 0;
+	TIM2_CCER = 0;
+	TIM2_CCMR2 = 0;
+	TIM2_DIER = 0;
+	TIM2_SR = 0; // clear all flags
+	// PWM_OUT for TIM2_CH3
+	TIM2_CCMR2 = TIM_CCMR2_CC3S_OUT | TIM_CCMR2_OC3M_PWM1;
+	// active is low
+	TIM2_CCER = TIM_CCER_CC3E | TIM_CCER_CC3P;
+	// enable update IRQ
+	TIM2_DIER = TIM_DIER_UIE;
+	TIM2_ARR  = STEPPER_DEFAULT_PERIOD;
+	TIM2_CCR3 = STEPPER_PULSE_LEN;
+	nvic_enable_irq(NVIC_TIM2_IRQ);
+}
+
+/**
+ * Set stepper period
+ */
+uint8_t set_stepper_speed(int32_t Period){
+	if(Period > STEPPER_MIN_PERIOD && Period < STEPPER_MAX_PERIOD){
+		P("Set stepper period to ");
+		if(Period > STEPPER_TIM_MAX_ARRVAL){ // redefine prescaler when value is too large
+			TIM2_PSC = STEPPER_TIM_HUNDR_PRESCALER;
+			Period /= 100;
+			print_int(Period*100);
+			TIM2_ARR = --Period;
+		}else{ // default prescaler - for 1MHz
+			print_int(Period);
+			TIM2_PSC = STEPPER_TIM_DEFAULT_PRESCALER;
+			TIM2_ARR = --Period;
+		}
+		stepper_period = Period;
+		newline();
+	}
+	return 0;
+}
+
+void stop_stepper(){
+	TIM2_CCR3 = 0;
+	TIM2_CR1 = 0;
+	Glob_steps = 0;
+	Dir = 0;
+	gpio_set(GPIOB, GPIO11); // clear "direction"
+	P("Stopped!\n");
+}
+
+/**
+ * move stepper motor to N steps
+ * if motor is moving - just add Nsteps to current counter
+ */
+uint8_t move_stepper(int32_t Nsteps){
+	int dir = 1;
+	if(!Nsteps) return 0;
+	if(TIM2_CR1){ // moving
+		if(!gpio_get(GPIOB, GPIO11)) dir = 0; // negative direction
+		Glob_steps += Nsteps;
+		if(Glob_steps < 0){
+			Glob_steps = -Glob_steps;
+			dir = !dir;
+		}
+	}else{ // start timer if not moving
+		if(Nsteps < 0){ // change direction
+			dir = 0;
+			Nsteps = -Nsteps;
+		}
+		Glob_steps = Nsteps;
+		TIM2_ARR = stepper_period;
+		TIM2_CCR3 = STEPPER_PULSE_LEN;
+		TIM2_CR1 = TIM_CR1_CEN;
+	}
+	// set/clear direction
+	P("Rotate ");
+	if(dir){
+		gpio_set(GPIOB, GPIO11);
+	}else{
+		gpio_clear(GPIOB, GPIO11);
+		P("counter-");
+	}
+	P("clockwise to ");
+	print_int(Glob_steps);
+	P(" steps\n");
+	return 0;
+}
+
+void tim2_isr(){
+	// Next step
+	if(TIM2_SR & TIM_SR_UIF){
+		if(--Glob_steps < 1){ // stop timer as steps ends
+			stop_stepper();
+		}
+	}
+	TIM2_SR = 0;
+}
+
+
+int32_t stepper_get_period(){
+	int32_t r = stepper_period + 1;
+	if(TIM2_PSC == STEPPER_TIM_DEFAULT_PRESCALER) return r;
+	else return r * 100;
+}

deprecated/F1/stepper_motion/steppers.h

@@ -0,0 +1,50 @@
+/*
+ * steppers.h
+ *
+ * Copyright 2015 Edward V. Emelianov <eddy@sao.ru, 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 2 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, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+#pragma once
+#ifndef __STEPPERS_H__
+#define __STEPPERS_H__
+
+#include "main.h"
+// minimal period - 100us (10000ticks per second)
+#define STEPPER_MIN_PERIOD      (99)
+// default period
+#define STEPPER_DEFAULT_PERIOD  (1299)
+// high (off) pulse length: 70us (minimum value according documentation is 0.5us)
+#define STEPPER_PULSE_LEN       (69)
+// TIM2 have 16bit ARR register, so max P with fixed prescaler is 65536
+#define STEPPER_TIM_MAX_ARRVAL  (65536)
+// max period allowed: 6553600us = 6.5s
+#define STEPPER_MAX_PERIOD      (6553601)
+// default prescaler for 1MHz
+#define STEPPER_TIM_DEFAULT_PRESCALER  (71)
+// prescaler for 100kHz
+#define STEPPER_TIM_HUNDR_PRESCALER    (7199)
+void steppers_init();
+
+uint8_t set_stepper_speed(int32_t Period);
+uint8_t move_stepper(int32_t Nsteps);
+void stop_stepper();
+extern volatile int32_t Glob_steps;
+#define stepper_get_steps()  (Glob_steps)
+
+extern int32_t stepper_period;
+int32_t stepper_get_period();
+#endif // __STEPPERS_H__

deprecated/F1/stepper_motion/sync.c

@@ -0,0 +1,93 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2012 Fergus Noble <fergusnoble@gmail.com>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library 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 Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/*
+ * TODO:
+ *   implement mutexes for other type of MCU (which doesn't have strex & ldrex)
+ */
+
+#include <libopencm3/cm3/sync.h>
+
+/* DMB is supported on CM0 */
+void __dmb()
+{
+	__asm__ volatile ("dmb");
+}
+
+/* Those are defined only on CM3 or CM4 */
+#if defined(__ARM_ARCH_7M__) || defined(__ARM_ARCH_7EM__)
+
+uint32_t __ldrex(volatile uint32_t *addr)
+{
+	uint32_t res;
+	__asm__ volatile ("ldrex %0, [%1]" : "=r" (res) : "r" (addr));
+	return res;
+}
+
+uint32_t __strex(uint32_t val, volatile uint32_t *addr)
+{
+	uint32_t res;
+	__asm__ volatile ("strex %0, %2, [%1]"
+			  : "=&r" (res) : "r" (addr), "r" (val));
+	return res;
+}
+
+void mutex_lock(mutex_t *m)
+{
+	uint32_t status = 0;
+
+	do {
+		/* Wait until the mutex is unlocked. */
+		while (__ldrex(m) != MUTEX_UNLOCKED);
+
+		/* Try to acquire it. */
+		status = __strex(MUTEX_LOCKED, m);
+
+	/* Did we get it? If not then try again. */
+	} while (status != 0);
+
+	/* Execute the mysterious Data Memory Barrier instruction! */
+	__dmb();
+}
+
+void mutex_unlock(mutex_t *m)
+{
+	/* Ensure accesses to protected resource are finished */
+	__dmb();
+
+	/* Free the lock. */
+	*m = MUTEX_UNLOCKED;
+}
+
+/*
+ * Try to lock mutex
+ * if it's already locked or there was error in STREX, return MUTEX_LOCKED
+ * else return MUTEX_UNLOCKED
+ */
+mutex_t mutex_trylock(mutex_t *m){
+	uint32_t status = 0;
+	mutex_t old_lock = __ldrex(m); // get mutex value
+	// set mutex
+	status = __strex(MUTEX_LOCKED, m);
+	if(status == 0) __dmb();
+	else old_lock = MUTEX_LOCKED;
+	return old_lock;
+}
+
+#endif

deprecated/F1/stepper_motion/sync.h

@@ -0,0 +1,53 @@
+/*
+ * This file is part of the libopencm3 project.
+ *
+ * Copyright (C) 2012 Fergus Noble <fergusnoble@gmail.com>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library 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 Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef LIBOPENCM3_CM3_SYNC_H
+#define LIBOPENCM3_CM3_SYNC_H
+
+void __dmb(void);
+
+/* Implements synchronisation primitives as discussed in the ARM document
+ * DHT0008A (ID081709) "ARM Synchronization Primitives" and the ARM v7-M
+ * Architecture Reference Manual.
+*/
+
+/* --- Exclusive load and store instructions ------------------------------- */
+
+/* Those are defined only on CM3 or CM4 */
+#if defined(__ARM_ARCH_7M__) || defined(__ARM_ARCH_7EM__)
+
+uint32_t __ldrex(volatile uint32_t *addr);
+uint32_t __strex(uint32_t val, volatile uint32_t *addr);
+
+/* --- Convenience functions ----------------------------------------------- */
+
+/* Here we implement some simple synchronisation primitives. */
+
+typedef uint32_t mutex_t;
+
+#define MUTEX_UNLOCKED 0
+#define MUTEX_LOCKED   1
+
+void mutex_lock(mutex_t *m);
+void mutex_unlock(mutex_t *m);
+mutex_t mutex_trylock(mutex_t *m);
+
+#endif
+
+#endif

deprecated/F1/stepper_motion/user_proto.c

@@ -0,0 +1,208 @@
+/*
+ * user_proto.c
+ *
+ * Copyright 2014 Edward V. Emelianov <eddy@sao.ru, 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 2 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, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+
+#include "cdcacm.h"
+#include "main.h"
+#include "hardware_ini.h"
+#include "steppers.h"
+
+// integer value given by user
+static volatile int32_t User_value = 0;
+enum{
+	UVAL_START,		// user start to write integer value
+	UVAL_ENTERED,	// value entered but not printed
+	UVAL_BAD		// entered bad value
+};
+uint8_t Uval_ready = UVAL_BAD;
+
+int read_int(char *buf, int cnt);
+
+intfun I = NULL; // function to process entered integer
+
+#define READINT() do{i += read_int(&buf[i+1], len-i-1);}while(0)
+
+void help(){
+	P("G\tgo to N steps\n");
+	P("H\tshow this help\n");
+	P("P\tset stepper period (us)\n");
+	P("S\tstop motor\n");
+	P("T\tshow current approx. time\n");
+	P("W\tshow current steps value\n");
+	P("X\tshow current stepper period\n");
+}
+
+
+/**
+ * parse command buffer buf with length len
+ * return 0 if buffer processed or len if there's not enough data in buffer
+ */
+int parse_incoming_buf(char *buf, int len){
+	uint8_t command;
+	//uint32_t utmp;
+	int i = 0;
+	if(Uval_ready == UVAL_START){ // we are in process of user's value reading
+		i += read_int(buf, len);
+	}
+	if(Uval_ready == UVAL_ENTERED){
+		//print_int(User_value); // printout readed integer value for error control
+		Uval_ready = UVAL_BAD; // clear Uval
+		I(User_value);
+		return 0;
+	}
+	for(; i < len; i++){
+		command = buf[i];
+		if(!command) continue; // omit zero
+		switch (command){
+			case 'G':
+				I = move_stepper;
+				READINT();
+			break;
+			case 'H': // show help
+				help();
+			break;
+			case 'P':
+				I = set_stepper_speed;
+				READINT();
+			break;
+			case 'S':
+				stop_stepper();
+			break;
+			case 'T':
+				newline();
+				print_int(Timer); // be careful for Time >= 2^{31}!!!
+				newline();
+			break;
+			case 'W':
+				print_int(stepper_get_steps());
+				newline();
+			break;
+			case 'X':
+				print_int(stepper_get_period());
+				newline();
+			break;
+			case '\n': // show newline, space and tab as is
+			case '\r':
+			case ' ':
+			case '\t':
+			break;
+			default:
+				command = '?'; // echo '?' on unknown command in byte mode
+		}
+		usb_send(command); // echo readed byte
+	}
+	return 0; // all data processed - 0 bytes leave in buffer
+}
+
+/**
+ * Send char array wrd thru USB or UART
+ */
+void prnt(uint8_t *wrd){
+	if(!wrd) return;
+	while(*wrd) usb_send(*wrd++);
+}
+
+/**
+ * Read from TTY integer value given by user (in DEC).
+ *    Reading stops on first non-numeric symbol.
+ *    To work with symbol terminals reading don't stops on buffer's end,
+ *    it waits for first non-numeric char.
+ *    When working on string terminals, terminate string by '\n', 0 or any other symbol
+ * @param buf - buffer to read from
+ * @param cnt - buffer length
+ * @return amount of readed symbols
+ */
+int read_int(char *buf, int cnt){
+	int readed = 0, i;
+	static int enteredDigits; // amount of entered digits
+	static int sign; // sign of readed value
+	if(Uval_ready){ // this is first run
+		Uval_ready = UVAL_START; // clear flag
+		enteredDigits = 0; // 0 digits entered
+		User_value = 0; // clear value
+		sign = 1; // clear sign
+	}
+	if(!cnt) return 0;
+	for(i = 0; i < cnt; i++, readed++){
+		uint8_t chr = buf[i];
+		if(chr == '-'){
+			if(enteredDigits == 0){ // sign should be first
+				sign = -1;
+				continue;
+			}else{ // '-' after number - reject entered value
+				Uval_ready = UVAL_BAD;
+				break;
+			}
+		}
+		if(chr < '0' || chr > '9'){
+			if(enteredDigits)
+				Uval_ready = UVAL_ENTERED;
+			else
+				Uval_ready = UVAL_BAD; // bad symbol
+			break;
+		}
+		User_value = User_value * 10 + (int32_t)(chr - '0');
+		enteredDigits++;
+	}
+	if(Uval_ready == UVAL_ENTERED) // reading has met an non-numeric character
+		User_value *= sign;
+	return readed;
+}
+
+/**
+ * Print buff as hex values
+ * @param buf - buffer to print
+ * @param l   - buf length
+ * @param s   - function to send a byte
+ */
+void print_hex(uint8_t *buff, uint8_t l){
+	void putc(uint8_t c){
+		if(c < 10)
+			usb_send(c + '0');
+		else
+			usb_send(c + 'a' - 10);
+	}
+	usb_send('0'); usb_send('x'); // prefix 0x
+	while(l--){
+		putc(buff[l] >> 4);
+		putc(buff[l] & 0x0f);
+	}
+}
+
+/**
+ * Print decimal integer value
+ * @param N - value to print
+ * @param s - function to send a byte
+ */
+void print_int(int32_t N){
+	uint8_t buf[10], L = 0;
+	if(N < 0){
+		usb_send('-');
+		N = -N;
+	}
+	if(N){
+		while(N){
+			buf[L++] = N % 10 + '0';
+			N /= 10;
+		}
+		while(L--) usb_send(buf[L]);
+	}else usb_send('0');
+}
+

deprecated/F1/stepper_motion/user_proto.h

@@ -0,0 +1,47 @@
+/*
+ * user_proto.h
+ *
+ * Copyright 2014 Edward V. Emelianov <eddy@sao.ru, 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 2 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, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+
+#pragma once
+#ifndef __USER_PROTO_H__
+#define __USER_PROTO_H__
+
+#include "cdcacm.h"
+
+// shorthand for prnt
+#define P(arg)   do{prnt((uint8_t*)arg);}while(0)
+// debug message - over USB
+#ifdef EBUG
+	#define DBG(a)    do{prnt((uint8_t*)a);}while(0)
+#else
+	#define DBG(a)
+#endif
+
+typedef uint8_t (*intfun)(int32_t);
+
+void prnt(uint8_t *wrd);
+#define newline()   usb_send('\n')
+
+void print_int(int32_t N);
+void print_hex(uint8_t *buff, uint8_t l);
+
+int parse_incoming_buf(char *buf, int len);
+
+#endif // __USER_PROTO_H__