fixed some bugs

F3:F303/Multistepper/commonproto.c

@@ -359,9 +359,14 @@ errcodes cu_motmul(uint8_t _U_ par, int32_t _U_ *val){
     return ERR_BADCMD;
 }
 
+// witout parameter - reinit all steppers; with parameter - just update current
 errcodes cu_motreinit(uint8_t _U_ par, int32_t _U_ *val){
-    NOPARCHK(par);
+    uint8_t n = PARBASE(par);
-    init_steppers();
+    if(n == CANMESG_NOPAR) init_steppers();
+    else{
+        if(n > MOTORSNO - 1) return ERR_BADPAR;
+        if(!update_stepper(n)) return ERR_CANTRUN;
+    }
     return ERR_OK;
 }
 

F3:F303/Multistepper/esprif.conf

@@ -0,0 +1,66 @@
+canspeed=100
+canid=1
+microsteps0=32
+accel0=3000
+maxspeed0=2000
+minspeed0=20
+maxsteps0=500000
+motcurrent0=31
+motflags0=0x69
+eswreact0=1
+microsteps1=32
+accel1=3000
+maxspeed1=2000
+minspeed1=20
+maxsteps1=500000
+motcurrent1=31
+motflags1=0x69
+eswreact1=1
+microsteps2=32
+accel2=2000
+maxspeed2=1000
+minspeed2=20
+maxsteps2=500000
+motcurrent2=31
+motflags2=0x69
+eswreact2=1
+microsteps3=32
+accel3=2000
+maxspeed3=1000
+minspeed3=20
+maxsteps3=500000
+motcurrent3=31
+motflags3=0x78
+eswreact3=0
+microsteps4=32
+accel4=2000
+maxspeed4=2000
+minspeed4=20
+maxsteps4=500000
+motcurrent4=31
+motflags4=0x68
+eswreact4=0
+microsteps5=32
+accel5=500
+maxspeed5=2000
+minspeed5=20
+maxsteps5=500000
+motcurrent5=31
+motflags5=0x68
+eswreact5=0
+microsteps6=32
+accel6=500
+maxspeed6=2000
+minspeed6=20
+maxsteps6=500000
+motcurrent6=31
+motflags6=0x68
+eswreact6=0
+microsteps7=32
+accel7=500
+maxspeed7=2000
+minspeed7=20
+maxsteps7=500000
+motcurrent7=31
+motflags7=0x68
+eswreact7=0

F3:F303/Multistepper/hardware.c

@@ -103,8 +103,8 @@ TRUE_INLINE void gpio_setup(){
     RCC->AHBENR |= RCC_AHBENR_GPIOAEN | RCC_AHBENR_GPIOBEN | RCC_AHBENR_GPIOCEN | RCC_AHBENR_GPIODEN
                 | RCC_AHBENR_GPIOEEN | RCC_AHBENR_GPIOFEN;
     // enable timers: 1,2,3,4,8,15,16,17
-    RCC->APB1ENR |= RCC_APB1ENR_TIM2EN | RCC_APB1ENR_TIM3EN | RCC_APB1ENR_TIM4EN;
+    RCC->APB1ENR |= RCC_APB1ENR_TIM2EN | RCC_APB1ENR_TIM3EN | RCC_APB1ENR_TIM4EN; // 36MHz
-    RCC->APB2ENR |= RCC_APB2ENR_TIM1EN | RCC_APB2ENR_TIM8EN | RCC_APB2ENR_TIM15EN | RCC_APB2ENR_TIM16EN | RCC_APB2ENR_TIM17EN;
+    RCC->APB2ENR |= RCC_APB2ENR_TIM1EN | RCC_APB2ENR_TIM8EN | RCC_APB2ENR_TIM15EN | RCC_APB2ENR_TIM16EN | RCC_APB2ENR_TIM17EN; // 72MHz
     for(int i = 0; i < 10000; ++i) nop();
     GPIOA->ODR = 0;
     GPIOA->AFR[0] = AFRf(5, 5) | AFRf(5, 6) | AFRf(5, 7);
@@ -194,28 +194,33 @@ TRUE_INLINE void iwdg_setup(){
 static void setup_mpwm(int i){
     volatile TIM_TypeDef *TIM = mottimers[i];
     TIM->CR1 = TIM_CR1_ARPE; // buffered ARR
-    TIM->PSC = MOTORTIM_PSC; // 26MHz
+    TIM->PSC = MOTORTIM_PSC; // 24MHz
     // PWM mode 1 (active -> inactive)
     uint8_t n = mottchannels[i];
+    volatile uint32_t *CCRx = &TIM->CCR1;
     switch(n){
         case 1:
             TIM->CCMR1 = TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_1;
+            //CCRx = &TIM->CCR1;
         break;
         case 2:
             TIM->CCMR1 = TIM_CCMR1_OC2M_2 | TIM_CCMR1_OC2M_1;
+            //CCRx = &TIM->CCR2;
         break;
         case 3:
             TIM->CCMR2 = TIM_CCMR2_OC3M_2 | TIM_CCMR2_OC3M_1;
+            //CCRx = &TIM->CCR3;
         break;
         default:
             TIM->CCMR2 = TIM_CCMR2_OC4M_2 | TIM_CCMR2_OC4M_1;
+            //CCRx = &TIM->CCR4;
     }
 #if MOTORTIM_ARRMIN < 5
 #error "change the code!"
 #endif
-    TIM->CCR1 = MOTORTIM_ARRMIN - 3; // ~10us for pulse duration
+    CCRx[n-1] = MOTORTIM_ARRMIN - 3; // ~10us for pulse duration
-    TIM->ARR = 0xffff;
+    TIM->ARR = MOTORTIM_ARRMIN * 2;
-//    TIM->EGR = TIM_EGR_UG; // generate update to refresh ARR
+    TIM->EGR = TIM_EGR_UG; // generate update to refresh ARR
     TIM->BDTR |= TIM_BDTR_MOE; // enable main output
     TIM->CCER = 1<<((n-1)*4); // turn it on, active high
     TIM->DIER = 1<<n; // allow CC interrupt (we should count steps)

F3:F303/Multistepper/multistepper.creator.user

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 18.0.1, 2026-01-16T15:01:28. -->
+<!-- Written by QtCreator 18.0.1, 2026-01-20T16:33:49. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>

F3:F303/Multistepper/pdnuart.c

@@ -184,25 +184,47 @@ int pdnuart_setcurrent(uint8_t no, uint8_t val){
     return writeregister(no, TMC2209Reg_IHOLD_IRUN, regval.value);
 }
 
-// set microsteps over UART
+// set microsteps over UART && clear error flags
 int pdnuart_microsteps(uint8_t no, uint32_t val){
     if(val > 256) return FALSE;
     TMC2209_chopconf_reg_t regval;
     if(!readregister(no, TMC2209Reg_CHOPCONF, &regval.value)) return FALSE;
     if(val == 256) regval.mres = 0;
     else regval.mres = 8 - MSB(val);
-    return writeregister(no, TMC2209Reg_CHOPCONF, regval.value);
+    uint32_t toff = regval.toff;
+    if(toff == 0) toff = 1;
+    regval.toff = 0; // disable drive to clear errors
+    int e = writeregister(no, TMC2209Reg_CHOPCONF, regval.value);
+    TMC2209_gstat_reg_t stat = {.value = 0};
+    stat.drv_err = 1;
+    // clear error flags
+    if(!writeregister(no, TMC2209Reg_GSTAT, stat.value)) e = FALSE;
+    regval.toff = toff; // now enable drive
+    if(!writeregister(no, TMC2209Reg_CHOPCONF, regval.value)) e = FALSE;
+    return e;
 }
 
 // init driver number `no`, return FALSE if failed
 int pdnuart_init(uint8_t no){
     TMC2209_gconf_reg_t gconf;
-    if(!pdnuart_microsteps(no, the_conf.microsteps[no])) return FALSE;
+    if(!pdnuart_microsteps(no, the_conf.microsteps[no])){
-    if(!pdnuart_setcurrent(no, the_conf.motcurrent[no])) return FALSE;
+        USB_sendstr("No usteps\n");
-    if(!readregister(no, TMC2209Reg_GCONF, &gconf.value)) return FALSE;
+        return FALSE;
+    }
+    if(!pdnuart_setcurrent(no, the_conf.motcurrent[no])){
+        USB_sendstr("No current\n");
+        return FALSE;
+    }
+    if(!readregister(no, TMC2209Reg_GCONF, &gconf.value)){
+        USB_sendstr("Can't read GCONF\n");
+        return FALSE;
+    }
     gconf.pdn_disable = 1; // PDN now is UART
     gconf.mstep_reg_select = 1; // microsteps are by MSTEP
-    if(!writeregister(no, TMC2209Reg_GCONF, gconf.value)) return FALSE;
+    if(!writeregister(no, TMC2209Reg_GCONF, gconf.value)){
+        USB_sendstr("Can't write GCONF\n");
+        return FALSE;
+    }
     return TRUE;
 }
 

F3:F303/Multistepper/steppers.c

@@ -75,8 +75,21 @@ TRUE_INLINE void recalcARR(int i){
     uint32_t ARR = (((PCLK/(MOTORTIM_PSC+1)) / curspeed[i]) >> ustepsshift[i]) - 1;
     if(ARR < MOTORTIM_ARRMIN) ARR = MOTORTIM_ARRMIN;
     else if(ARR > 0xffff) ARR = 0xffff;
+/*
+#ifdef EBUG
+    USB_sendstr("motor"); USB_putbyte('0'+i); USB_sendstr(", ARR=");
+    USB_sendstr(u2str(ARR)); USB_sendstr(", curspeed=");
+    USB_sendstr(u2str(curspeed[i]));
+#endif
+*/
     mottimers[i]->ARR = ARR;
     curspeed[i] = (((PCLK/(MOTORTIM_PSC+1)) / (ARR+1)) >> ustepsshift[i]); // recalculate speed due to new val
+/*
+#ifdef EBUG
+    USB_sendstr(", curspeedNEW=");
+    USB_sendstr(u2str(curspeed[i])); newline();
+#endif
+*/
 }
 
 // update stepper's settings
@@ -103,10 +116,9 @@ void init_steppers(){
         stopflag[i] = 0;
         motdir[i] = 0;
         curspeed[i] = 0;
-        state[i] = STP_RELAX;
         if(!the_conf.motflags[i].donthold) MOTOR_EN(i);
         else MOTOR_DIS(i);
-        update_stepper(i);
+        state[i] = update_stepper(i) ? STP_RELAX : STP_ERR;
     }
 }
 
@@ -148,8 +160,13 @@ static void calcacceleration(uint8_t i){
         }else{ // triangle speed profile
             decelstartpos[i] = stppos[i] + delta/2;
         }
-        if(the_conf.motflags[i].reverse) MOTOR_CCW(i);
+        if(the_conf.motflags[i].reverse){
-        else MOTOR_CW(i);
+            DBG("positive - CCW (r)");
+            MOTOR_CCW(i);
+        }else{
+            DBG("positive - CW");
+            MOTOR_CW(i);
+        }
     }else{ // negative direction
         delta = -delta;
         if(delta > 2*(int32_t)accdecsteps[i]){ // can move by trapezoid
@@ -157,8 +174,13 @@ static void calcacceleration(uint8_t i){
         }else{ // triangle speed profile
             decelstartpos[i] = stppos[i] - delta/2;
         }
-        if(the_conf.motflags[i].reverse) MOTOR_CW(i);
+        if(the_conf.motflags[i].reverse){
-        else MOTOR_CCW(i);
+            DBG("negative - CW (r)");
+            MOTOR_CW(i);
+        }else{
+            DBG("negative - CCW");
+            MOTOR_CCW(i);
+        }
     }
     if(state[i] != STP_MVSLOW){
         DBG("->accel");
@@ -365,7 +387,7 @@ static void chkstepper(int i){
     if(stp[i]){
         stp[i] = 0;
         // motor state could be changed outside of interrupt, so return it to relax
-        state[i] = STP_RELAX;
+        //state[i] = STP_RELAX;
         USB_sendstr("MOTOR"); USB_putbyte(Nch); USB_sendstr(" stop @"); printi(stppos[i]);
         USB_sendstr(", V="); printu(curspeed[i]);
         USB_sendstr(", curstate="); printu(state[i]); newline();

F3:F303/Multistepper/stty

@@ -0,0 +1,4 @@
+#!/bin/bash
+
+stty -F /dev/multistepper0 -brkint -icrnl -imaxbel -opost -onlcr -isig -icanon -iexten -echo -echoe -echok -echoctl -echoke min 0 time 5
+while read x; do echo $x > /dev/multistepper0; cat /dev/multistepper0; done < esprif.conf

F3:F303/Multistepper/version.inc

@@ -1,2 +1,2 @@
-#define BUILD_NUMBER "205"
+#define BUILD_NUMBER "212"
-#define BUILD_DATE "2026-01-16"
+#define BUILD_DATE "2026-01-20"

F3:F303/inc/Fx/common_macros.h

@@ -44,10 +44,6 @@
 #define NULL (0)
 #endif
 
-#ifndef _U_
-#define _U_ __attribute__((__unused__))
-#endif
-
 // some good things from CMSIS
 #define nop()   __NOP()