From 7f44a6096552693c10dad6ea0bcdeb962075adfc Mon Sep 17 00:00:00 2001
From: Edward Emelianov <eddy@sao.ru>
Date: Mon, 2 Jun 2025 17:03:42 +0300
Subject: [PATCH] fix code for new PCB

---
 F1:F103/BISS_C_encoders/Makefile              |   4 +-
 F1:F103/BISS_C_encoders/encoders.bin          | Bin 13336 -> 13972 bytes
 F1:F103/BISS_C_encoders/encoders.creator.user |   4 +-
 .../encoders.creator.user.7bd84e3             | 183 ++++++++++++++++++
 F1:F103/BISS_C_encoders/encoders.files        |   2 +
 F1:F103/BISS_C_encoders/flash.h               |   1 +
 F1:F103/BISS_C_encoders/hardware.c            |   6 +-
 F1:F103/BISS_C_encoders/hardware.h            |   6 +-
 F1:F103/BISS_C_encoders/main.c                |  25 ++-
 F1:F103/BISS_C_encoders/proto.c               |  28 ++-
 F1:F103/BISS_C_encoders/usart.c               | 107 ++++++++++
 F1:F103/BISS_C_encoders/usart.h               |  10 +-
 F1:F103/BISS_C_encoders/version.inc           |   4 +-
 13 files changed, 357 insertions(+), 23 deletions(-)
 create mode 100644 F1:F103/BISS_C_encoders/encoders.creator.user.7bd84e3
 create mode 100644 F1:F103/BISS_C_encoders/usart.c

diff --git a/F1:F103/BISS_C_encoders/Makefile b/F1:F103/BISS_C_encoders/Makefile
index 46fa24e..3aa2506 100644
--- a/F1:F103/BISS_C_encoders/Makefile
+++ b/F1:F103/BISS_C_encoders/Makefile
@@ -1,8 +1,8 @@
 BINARY      := encoders
 # MCU code
-MCU         ?= F103x8
+MCU         ?= F103xB
 # change this linking script depending on particular MCU model,
-LDSCRIPT    ?= stm32f103x8.ld
+LDSCRIPT    ?= stm32f103xB.ld
 DEFINES := -DSTM32F10X_MD
 
 include ../makefile.f1
diff --git a/F1:F103/BISS_C_encoders/encoders.bin b/F1:F103/BISS_C_encoders/encoders.bin
index 41a4e130bd4bf7b6bf212566d1d6e9cffe7ef8e2..ad542cee7060b305be888d43cfc9f6be6dfa03af 100755
GIT binary patch
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diff --git a/F1:F103/BISS_C_encoders/encoders.creator.user b/F1:F103/BISS_C_encoders/encoders.creator.user
index f99097b..48b5440 100644
--- a/F1:F103/BISS_C_encoders/encoders.creator.user
+++ b/F1:F103/BISS_C_encoders/encoders.creator.user
@@ -1,6 +1,6 @@
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    <valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.0">
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diff --git a/F1:F103/BISS_C_encoders/encoders.creator.user.7bd84e3 b/F1:F103/BISS_C_encoders/encoders.creator.user.7bd84e3
new file mode 100644
index 0000000..6d3b983
--- /dev/null
+++ b/F1:F103/BISS_C_encoders/encoders.creator.user.7bd84e3
@@ -0,0 +1,183 @@
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diff --git a/F1:F103/BISS_C_encoders/encoders.files b/F1:F103/BISS_C_encoders/encoders.files
index ee57130..f2d5915 100644
--- a/F1:F103/BISS_C_encoders/encoders.files
+++ b/F1:F103/BISS_C_encoders/encoders.files
@@ -13,6 +13,8 @@ spi.c
 spi.h
 strfunc.c
 strfunc.h
+usart.c
+usart.h
 usb_descr.c
 usb_descr.h
 usb_lib.c
diff --git a/F1:F103/BISS_C_encoders/flash.h b/F1:F103/BISS_C_encoders/flash.h
index cf4b5ff..99a164f 100644
--- a/F1:F103/BISS_C_encoders/flash.h
+++ b/F1:F103/BISS_C_encoders/flash.h
@@ -45,6 +45,7 @@ typedef struct{
  */
 typedef struct __attribute__((packed, aligned(4))){
     uint16_t userconf_sz;       // "magick number"
+    uint16_t send232_interval;  // interval (ms) of sending data to SSII over RS-232 (or 0 - not to send)
     uint16_t iInterface[bTotNumEndpoints][MAX_IINTERFACE_SZ]; // hryunikod!
     uint8_t iIlengths[bTotNumEndpoints];
     uint8_t encbits;    // encoder bits: 26 or 32
diff --git a/F1:F103/BISS_C_encoders/hardware.c b/F1:F103/BISS_C_encoders/hardware.c
index 82725f8..dd803e2 100644
--- a/F1:F103/BISS_C_encoders/hardware.c
+++ b/F1:F103/BISS_C_encoders/hardware.c
@@ -26,11 +26,11 @@ static inline void gpio_setup(){
 //    AFIO->MAPR = AFIO_MAPR_SWJ_CFG_DISABLE;
     AFIO->MAPR = AFIO_MAPR_SWJ_CFG_JTAGDISABLE; // for PA15
     // Set led as opendrain output
-    GPIOC->CRH |= CRH(13, CNF_ODOUTPUT|MODE_SLOW);
+    //GPIOC->CRH |= CRH(13, CNF_ODOUTPUT|MODE_SLOW);
     // SPI1 pins
     //GPIOA->CRL = CRL(5, CNF_AFPP|MODE_FAST) | CRL(6, CNF_FLINPUT);
-    // USB pullup (PA15) - pushpull output
-    GPIOA->CRH = CRH(15, CNF_PPOUTPUT|MODE_SLOW);
+    // USB pullup (PA10) - pushpull output
+    GPIOA->CRH = CRH(10, CNF_PPOUTPUT|MODE_SLOW);
     // SPI2 pins
     //GPIOB->CRH = CRH(13, CNF_AFPP|MODE_FAST) | CRH(14, CNF_FLINPUT);
 }
diff --git a/F1:F103/BISS_C_encoders/hardware.h b/F1:F103/BISS_C_encoders/hardware.h
index e7bfb32..584e438 100644
--- a/F1:F103/BISS_C_encoders/hardware.h
+++ b/F1:F103/BISS_C_encoders/hardware.h
@@ -25,9 +25,9 @@
 
 // USB pullup (not present in bluepill, should be soldered) - PA15
 #define USBPU_port  GPIOA
-#define USBPU_pin   (1<<15)
-#define USBPU_ON()  pin_set(USBPU_port, USBPU_pin)
-#define USBPU_OFF() pin_clear(USBPU_port, USBPU_pin)
+#define USBPU_pin   (1<<10)
+#define USBPU_ON()  pin_clear(USBPU_port, USBPU_pin)
+#define USBPU_OFF() pin_set(USBPU_port, USBPU_pin)
 
 #define LED_blink(x)    pin_toggle(x ## _port, x ## _pin)
 #define LED_on(x)       pin_clear(x ## _port, x ## _pin)
diff --git a/F1:F103/BISS_C_encoders/main.c b/F1:F103/BISS_C_encoders/main.c
index d3f43bc..c75c52d 100644
--- a/F1:F103/BISS_C_encoders/main.c
+++ b/F1:F103/BISS_C_encoders/main.c
@@ -22,7 +22,7 @@
 #include "proto.h"
 #include "spi.h"
 #include "strfunc.h"
-//#include "usart.h"
+#include "usart.h"
 #include "usb_dev.h"
 
 volatile uint32_t Tms = 0;
@@ -49,6 +49,7 @@ static void printResult(BiSS_Frame *result){
 
 static void proc_enc(uint8_t idx){
     static uint32_t lastMSG[2], gotgood[2], gotwrong[2];
+    static uint32_t lastXval = 0, usartT = 0;
     int iface = idx ? I_Y : I_X;
     char ifacechr = idx ? 'Y' : 'X';
     if(CDCready[iface]){
@@ -71,6 +72,13 @@ static void proc_enc(uint8_t idx){
     if(!encbuf) return;
     BiSS_Frame result = parse_biss_frame(encbuf, the_conf.encbufsz);
     char *str = result.crc_valid ? u2str(result.data) : NULL;
+    if(result.crc_valid){
+        if(idx == 0) lastXval = result.data;
+        else if(the_conf.send232_interval && Tms - usartT >= the_conf.send232_interval){
+            usart_send_enc(lastXval, result.data);
+            usartT = Tms;
+        }
+    }
     uint8_t testflag = (idx) ? user_pars.testy : user_pars.testx;
     if(CDCready[I_CMD]){
         if(testflag){
@@ -109,7 +117,7 @@ static void proc_enc(uint8_t idx){
 }
 
 int main(){
-    uint32_t lastT = 0;
+    uint32_t lastT = 0, usartT = 0;
     StartHSE();
     flashstorage_init();
     hw_setup();
@@ -119,11 +127,12 @@ int main(){
 #ifndef EBUG
     iwdg_setup();
 #endif
+    usart_setup();
     USBPU_ON();
     while (1){
         IWDG->KR = IWDG_REFRESH; // refresh watchdog
         if(Tms - lastT > 499){
-            LED_blink(LED0);
+            //LED_blink(LED0);
             lastT = Tms;
         }
         if(CDCready[I_CMD]){
@@ -133,11 +142,19 @@ int main(){
         }
         proc_enc(0);
         proc_enc(1);
+        int started[2] = {0, 0};
         if(the_conf.flags.monit){
             for(int i = 0; i < 2; ++i){
-                if(Tms - monitT[i] >= the_conf.monittime) spi_start_enc(i);
+                if(Tms - monitT[i] >= the_conf.monittime){
+                    spi_start_enc(i);
+                    started[i] = 1;
+                }
             }
         }
+        if(the_conf.send232_interval && Tms - usartT >= the_conf.send232_interval){
+            for(int i = 0; i < 2; ++i) if(!started[i]) spi_start_enc(i);
+            usartT = Tms;
+        }
     }
     return 0;
 }
diff --git a/F1:F103/BISS_C_encoders/proto.c b/F1:F103/BISS_C_encoders/proto.c
index b99ac90..2a7b315 100644
--- a/F1:F103/BISS_C_encoders/proto.c
+++ b/F1:F103/BISS_C_encoders/proto.c
@@ -22,6 +22,7 @@
 #include "proto.h"
 #include "spi.h"
 #include "strfunc.h"
+#include "usart.h"
 #include "usb_dev.h"
 #include "version.inc"
 
@@ -77,6 +78,8 @@ typedef enum{
     C_maxzeros,
     C_autom,
     C_amperiod,
+    C_usart,
+    C_ssii,
     C_AMOUNT
 } cmd_e;
 
@@ -257,6 +260,10 @@ static errcode_e setuintpar(cmd_e idx, char *par){
                 if(val > 255 || val == 0) return ERR_BADPAR;
                 the_conf.monittime = val;
                 break;
+            case C_ssii:
+                if(val > UINT16_MAX) return ERR_BADPAR;
+                the_conf.send232_interval = val;
+                break;
             default:
                 return ERR_BADCMD;
         }
@@ -282,6 +289,9 @@ static errcode_e setuintpar(cmd_e idx, char *par){
         case C_amperiod:
             val = the_conf.monittime;
             break;
+        case C_ssii:
+            val = the_conf.send232_interval;
+            break;
         default:
             return ERR_BADCMD;
     }
@@ -358,9 +368,15 @@ static errcode_e dumpconf(cmd_e _U_ idx, char _U_ *par){
     setuintpar(C_encbufsz, NULL);
     setuintpar(C_maxzeros, NULL);
     setuintpar(C_minzeros, NULL);
+    setuintpar(C_ssii, NULL);
     return ERR_SILENCE;
 }
 
+static errcode_e usart(cmd_e _U_ idx, char _U_ *par){
+    usart_send_enc(0xdeadbeef, 0xbeefdead);
+    return ERR_OK;
+}
+
 // text commands
 static const funcdescr_t commands[C_AMOUNT] = {
     [C_dummy] = {"dummy", dummy},
@@ -392,6 +408,8 @@ static const funcdescr_t commands[C_AMOUNT] = {
     [C_maxzeros] = {"maxzeros", setuintpar},
     [C_autom] = {"autom", setboolpar},
     [C_amperiod] = {"amperiod", setuintpar},
+    [C_usart] = {"usart", usart},
+    [C_ssii] = {"ssii", setuintpar},
 };
 
 typedef struct{
@@ -425,6 +443,7 @@ static const help_t helpmessages[] = {
     {C_setiface1, "set name of first (command) interface"},
     {C_setiface2, "set name of second (axis X) interface"},
     {C_setiface3, "set name of third (axis Y) interface"},
+    {C_ssii, "change interval (ms) of sending enc data to SSII (0 - don't send)"},
     {C_storeconf, "store configuration in flash memory"},
     {-1, "Debug commands"},
     {C_dummy, "dummy integer setter/getter"},
@@ -433,11 +452,18 @@ static const help_t helpmessages[] = {
     {C_sendY, "send text string to Y encoder's terminal"},
     {C_testX, "test X-axis throughput"},
     {C_testY, "test Y-axis throughput"},
+    {C_usart, "send test encoders data over usart"},
     {-1, NULL},
 };
 
 static errcode_e help(_U_ cmd_e idx, _U_ char*  par){
-    CMDWRn("https://github.com/eddyem/stm32samples/tree/master/F1:F103/BISS_C_encoders build #" BUILD_NUMBER " @ " BUILD_DATE);
+    CMDWRn("https://github.com/eddyem/stm32samples/tree/master/F1:F103/BISS_C_encoders "
+#ifdef EBUG
+            "debug "
+#else
+            "release "
+#endif
+           "build #" BUILD_NUMBER " @ " BUILD_DATE);
     CMDWRn("\ncommands format: 'command[=setter]\\n'");
     const help_t *c = helpmessages;
     while(c->help){
diff --git a/F1:F103/BISS_C_encoders/usart.c b/F1:F103/BISS_C_encoders/usart.c
new file mode 100644
index 0000000..e4702e7
--- /dev/null
+++ b/F1:F103/BISS_C_encoders/usart.c
@@ -0,0 +1,107 @@
+/*
+ * usart.c
+ *
+ * Copyright 2018 Edward V. Emelianoff <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 <string.h>
+
+#include "stm32f1.h"
+#include "usart.h"
+
+// magick starting sequence
+#define ENC_MAGICK  (204)
+
+// buffers for out ringbuffer and DMA send
+static uint8_t txbuf[UARTBUFSZ];
+static volatile int usart_txrdy = 1; // transmission done
+
+void usart_send(const uint8_t *buf, int buflen){
+    while(!usart_txrdy);
+    if(buflen > UARTBUFSZ) buflen = UARTBUFSZ;
+    memcpy(txbuf, buf, buflen);
+    DMA1_Channel7->CCR &= ~DMA_CCR_EN;
+    DMA1_Channel7->CMAR = (uint32_t) txbuf; // mem
+    DMA1_Channel7->CNDTR = buflen;
+    usart_txrdy = 0;
+    DMA1_Channel7->CCR |= DMA_CCR_EN;
+}
+
+// encoders raw data
+typedef struct __attribute__((packed)){
+    uint8_t magick;
+    uint32_t encY;
+    uint32_t encX;
+    uint8_t crc[4];
+} enc_t;
+
+void usart_send_enc(uint32_t encX, uint32_t encY){
+    enc_t edata;
+    uint8_t *databuf = (uint8_t*) &edata;
+    uint32_t POS_SUM = 0;
+    for(int i = 1; i < 9; ++i) POS_SUM += databuf[i];
+    edata.crc[0] = POS_SUM >> 8;
+    edata.crc[1] = ((0xFFFF - POS_SUM) & 0xFF) - edata.crc[0];
+    edata.crc[2] = (0xFFFF - POS_SUM) >> 8;
+    edata.crc[3] = 0;
+    edata.magick = ENC_MAGICK;
+    edata.encX = encX;
+    edata.encY = encY;
+    usart_send(databuf, sizeof(enc_t));
+}
+
+/*
+ * USART2 speed: baudrate = Fck/(USARTDIV)
+ * USARTDIV stored in USART->BRR
+ *
+ * for 36MHz USARTDIV=36000/f(kboud)
+ */
+void usart_setup(){
+    uint32_t tmout = 16000000;
+    // PA9 - Tx, PA10 - Rx
+    RCC->APB2ENR |= RCC_APB2ENR_IOPAEN | RCC_APB2ENR_AFIOEN;
+    RCC->APB1ENR |= RCC_APB1ENR_USART2EN;
+    RCC->AHBENR |= RCC_AHBENR_DMA1EN;
+    GPIOA->CRL = (GPIOA->CRL & ~(GPIO_CRL_CNF2 | GPIO_CRL_CNF3)) |
+        CRL(2, CNF_AFPP|MODE_NORMAL) | CRL(3, CNF_FLINPUT|MODE_INPUT);
+
+    // USART1 Tx DMA - Channel4 (Rx - channel 5)
+    DMA1_Channel7->CPAR = (uint32_t) &USART2->DR; // periph
+    DMA1_Channel7->CCR |= DMA_CCR_MINC | DMA_CCR_DIR | DMA_CCR_TCIE; // 8bit, mem++, mem->per, transcompl irq
+    // Tx CNDTR set @ each transmission due to data size
+    NVIC_SetPriority(DMA1_Channel7_IRQn, 3);
+    NVIC_EnableIRQ(DMA1_Channel7_IRQn);
+    //NVIC_SetPriority(USART1_IRQn, 0);
+    // setup usart1
+    USART2->BRR = 36000000 / 153000;
+    USART2->CR1 = USART_CR1_TE | USART_CR1_UE; // 1start,8data,nstop; enable Rx,Tx,USART
+    while(!(USART1->SR & USART_SR_TC)){
+        IWDG->KR = IWDG_REFRESH;
+        if(--tmout == 0) break;
+    } // polling idle frame Transmission
+    USART2->SR = 0; // clear flags
+    USART2->CR1 |= USART_CR1_RXNEIE; // allow Rx IRQ
+    USART2->CR3 = USART_CR3_DMAT; // enable DMA Tx
+}
+
+void dma1_channel7_isr(){
+    if(DMA1->ISR & DMA_ISR_TCIF7){ // Tx
+        DMA1->IFCR = DMA_IFCR_CTCIF7; // clear TC flag
+        usart_txrdy = 1;
+    }
+}
diff --git a/F1:F103/BISS_C_encoders/usart.h b/F1:F103/BISS_C_encoders/usart.h
index 27e6375..98994dd 100644
--- a/F1:F103/BISS_C_encoders/usart.h
+++ b/F1:F103/BISS_C_encoders/usart.h
@@ -21,12 +21,10 @@
 
 #pragma once
 
+#include "stdint.h"
+
 #define UARTBUFSZ  (128)
 
-// macro for static strings
-#define USEND(str) usart_send(str)
-
-void usart_transmit();
+void usart_send(const uint8_t *buf, int buflen);
 void usart_setup();
-void usart_send(const char *str);
-void usart_putchar(const char ch);
+void usart_send_enc(uint32_t encX, uint32_t encY);
diff --git a/F1:F103/BISS_C_encoders/version.inc b/F1:F103/BISS_C_encoders/version.inc
index aebe739..e4b7dcc 100644
--- a/F1:F103/BISS_C_encoders/version.inc
+++ b/F1:F103/BISS_C_encoders/version.inc
@@ -1,2 +1,2 @@
-#define BUILD_NUMBER "96"
-#define BUILD_DATE "2025-04-04"
+#define BUILD_NUMBER "107"
+#define BUILD_DATE "2025-06-02"