From 8d6aeb8f004168df44d2beac1cf645699b7bb507 Mon Sep 17 00:00:00 2001
From: eddyem <eddyem@yandex.ru>
Date: Thu, 25 Jun 2020 23:38:39 +0300
Subject: [PATCH] fix USBCAN code

---
 F0-nolib/usbcan/Makefile   |   2 -
 F0-nolib/usbcan/Readme.md  |  17 +--
 F0-nolib/usbcan/can.c      |  74 -------------
 F0-nolib/usbcan/can.h      |  19 ----
 F0-nolib/usbcan/hardware.c |  53 ++++++---
 F0-nolib/usbcan/hardware.h |  19 ++--
 F0-nolib/usbcan/main.c     |  91 ++++-----------
 F0-nolib/usbcan/proto.c    |  71 ++++--------
 F0-nolib/usbcan/proto.h    |   7 +-
 F0-nolib/usbcan/usart.c    | 221 -------------------------------------
 F0-nolib/usbcan/usart.h    |  47 --------
 F0-nolib/usbcan/usb.c      |   1 -
 F0-nolib/usbcan/usbcan.bin | Bin 13468 -> 11956 bytes
 13 files changed, 99 insertions(+), 523 deletions(-)
 delete mode 100644 F0-nolib/usbcan/usart.c
 delete mode 100644 F0-nolib/usbcan/usart.h

diff --git a/F0-nolib/usbcan/Makefile b/F0-nolib/usbcan/Makefile
index cd31dcb..e000cdf 100644
--- a/F0-nolib/usbcan/Makefile
+++ b/F0-nolib/usbcan/Makefile
@@ -6,8 +6,6 @@ FAMILY		= F0
 # MCU code
 MCU			= F042x6
 # hardware definitions
-DEFS		+= -DUSARTNUM=1
-#DEFS		+= -DCHECK_TMOUT
 #DEFS		+= -DEBUG
 # change this linking script depending on particular MCU model,
 # for example, if you have STM32F103VBT6, you should write:
diff --git a/F0-nolib/usbcan/Readme.md b/F0-nolib/usbcan/Readme.md
index 1e850f2..21afa5d 100644
--- a/F0-nolib/usbcan/Readme.md
+++ b/F0-nolib/usbcan/Readme.md
@@ -2,22 +2,9 @@ Simple code for CAN/USB development board
 Simultaneous work of USB CDC (PL2303 emulation) and CAN
 
 Pinout:
-PC13 - LED0
-PC14 - LED1
-
-PB0..2 - Outputs 1..3
+PB0 - LED0 - short blink when message received 
+PB1 - LED1 - shine when line OK
 
 PB8, PB9 - CAN Rx/Tx
 
-PB14 - BRDaddr0
-PB15 - BRDaddr1
-PA8  - BRDaddr2
-
-PA0 - V12 (external 12V voltage)
-PA1 - V5  (5V voltage level)
-
-PA4, PA5 -  Inputs 1,2
-
-PA9, PA10 - USART1 Tx/Rx
-
 PA11. PA12 - USB DM/DP
diff --git a/F0-nolib/usbcan/can.c b/F0-nolib/usbcan/can.c
index 902bd95..3e1868d 100644
--- a/F0-nolib/usbcan/can.c
+++ b/F0-nolib/usbcan/can.c
@@ -23,7 +23,6 @@
 #include "can.h"
 #include "hardware.h"
 #include "proto.h"
-#include "usart.h"
 
 #include <string.h> // memcpy
 
@@ -33,7 +32,6 @@ static uint8_t first_free_idx = 0;    // index of first empty cell
 static int8_t first_nonfree_idx = -1; // index of first data cell
 static uint16_t oldspeed = 100; // speed of last init
 
-static uint16_t CANID = 0xFFFF;
 #ifdef EBUG
 static uint32_t last_err_code = 0;
 #endif
@@ -62,9 +60,6 @@ static int CAN_messagebuf_push(CAN_message *msg){
     memcpy(&messages[first_free_idx++], msg, sizeof(CAN_message));
     // need to roll?
     if(first_free_idx == CAN_INMESSAGE_SIZE) first_free_idx = 0;
-    #ifdef EBUG
-    //MSG("1st free: "); printu(first_free_idx); NL();
-    #endif
     return 0;
 }
 
@@ -79,26 +74,11 @@ CAN_message *CAN_messagebuf_pop(){
     if(first_nonfree_idx == first_free_idx){ // buffer is empty - refresh it
         first_nonfree_idx = -1;
         first_free_idx = 0;
-#ifdef EBUG
-    //  MSG("refresh buffer\n"); NL();
-#endif
     }
     return msg;
 }
 
-// get CAN address data from GPIO pins
-void readCANID(){
-    uint8_t CAN_addr = READ_CAN_INV_ADDR();
-    CAN_addr = ~CAN_addr & 0x7;
-    CANID = (CAN_ID_PREFIX & CAN_ID_MASK) | CAN_addr;
-}
-
-uint16_t getCANID(){
-    return CANID;
-}
-
 void CAN_reinit(uint16_t speed){
-    readCANID();
     CAN->TSR |= CAN_TSR_ABRQ0 | CAN_TSR_ABRQ1 | CAN_TSR_ABRQ2;
     RCC->APB1RSTR |= RCC_APB1RSTR_CANRST;
     RCC->APB1RSTR &= ~RCC_APB1RSTR_CANRST;
@@ -134,7 +114,6 @@ void CAN_setup(uint16_t speed){
     else if(speed > 3000) speed = 3000;
     oldspeed = speed;
     uint32_t tmout = 16000000;
-    if(CANID == 0xFFFF) readCANID();
     // Configure GPIO: PB8 - CAN_Rx, PB9 - CAN_Tx
     /* (1) Select AF mode (10) on PB8 and PB9 */
     /* (2) AF4 for CAN signals */
@@ -173,14 +152,9 @@ void CAN_setup(uint16_t speed){
     CAN->FMR = CAN_FMR_FINIT; /* (7) */
     CAN->FA1R = CAN_FA1R_FACT0 | CAN_FA1R_FACT1; /* (8) */
     // set to 1 all needed bits of CAN->FFA1R to switch given filters to FIFO1
-#if 0
-    CAN->FM1R = CAN_FM1R_FBM0; /* (9) */
-    CAN->sFilterRegister[0].FR1 = CANID << 5 | ((BCAST_ID << 5) << 16); /* (10) */
-#else
     CAN->sFilterRegister[0].FR1 = (1<<21)|(1<<5); // all odd IDs
     CAN->FFA1R = 2; // filter 1 for FIFO1, filter 0 - for FIFO0
     CAN->sFilterRegister[1].FR1 = (1<<21); // all even IDs
-#endif
     CAN->FMR &=~ CAN_FMR_FINIT; /* (12) */
     CAN->IER |= CAN_IER_ERRIE | CAN_IER_FOVIE0 | CAN_IER_FOVIE1; /* (13) */
 
@@ -244,30 +218,6 @@ void can_proc(){
         lastFloodTime = Tms;
         can_send(flood_msg->data, flood_msg->length, flood_msg->ID);
     }
-#if 0
-    static uint32_t esr, msr, tsr;
-    uint32_t msr_now = CAN->MSR & 0xf;
-    if(esr != CAN->ESR || msr != msr_now || tsr != CAN->TSR){
-        MSG("Timestamp: ");
-        printu(Tms);
-        NL();
-    }
-    if((CAN->ESR) != esr){
-        esr = CAN->ESR;
-        MSG("CAN->ESR: ");
-        printuhex(esr); NL();
-    }
-    if(msr_now != msr){
-        msr = msr_now;
-        MSG("CAN->MSR & 0xf: ");
-        printuhex(msr); NL();
-    }
-    if(CAN->TSR != tsr){
-        tsr = CAN->TSR;
-        MSG("CAN->TSR: ");
-        printuhex(tsr); NL();
-    }
-#endif
 }
 
 CAN_status can_send(uint8_t *msg, uint8_t len, uint16_t target_id){
@@ -324,23 +274,6 @@ CAN_status can_send(uint8_t *msg, uint8_t len, uint16_t target_id){
     return CAN_OK;
 }
 
-void can_send_dummy(){
-    uint8_t msg = CMD_TOGGLE;
-    if(CAN_OK != can_send(&msg, 1, TARG_ID)) SEND("Bus busy!\n");
-    MSG("CAN->MSR: ");
-    printuhex(CAN->MSR); NL();
-    MSG("CAN->TSR: ");
-    printuhex(CAN->TSR); NL();
-    MSG("CAN->ESR: ");
-    printuhex(CAN->ESR); NL();
-}
-
-void can_send_broadcast(){
-    uint8_t msg = CMD_BCAST;
-    if(CAN_OK != can_send(&msg, 1, BCAST_ID)) SEND("Bus busy!\n");
-    MSG("Broadcast message sent\n");
-}
-
 void set_flood(CAN_message *msg){
     if(!msg) flood_msg = NULL;
     else{
@@ -354,13 +287,6 @@ static void can_process_fifo(uint8_t fifo_num){
     LED_on(LED1); // Turn on LED1 - message received
     CAN_FIFOMailBox_TypeDef *box = &CAN->sFIFOMailBox[fifo_num];
     volatile uint32_t *RFxR = (fifo_num) ? &CAN->RF1R : &CAN->RF0R;
-    /*
-    MSG("\nReceive, RDTR=");
-    #ifdef EBUG
-    printuhex(box->RDTR);
-    NL();
-    #endif
-    */
     // read all
     while(*RFxR & CAN_RF0R_FMP0){ // amount of messages pending
         // CAN_RDTxR: (16-31) - timestamp, (8-15) - filter match index, (0-3) - data length
diff --git a/F0-nolib/usbcan/can.h b/F0-nolib/usbcan/can.h
index 2ae474f..2dc8811 100644
--- a/F0-nolib/usbcan/can.h
+++ b/F0-nolib/usbcan/can.h
@@ -31,18 +31,6 @@
 // flood period in milliseconds
 #define FLOOD_PERIOD_MS     5
 
-// simple 1-byte commands
-#define CMD_TOGGLE      (0xDA)
-#define CMD_BCAST       (0xAD)
-// mask heading 8 bits of can ID
-#define CAN_ID_MASK     (0x7F8)
-// prefix to make ID from any number (0..7)
-#define CAN_ID_PREFIX   (0xAAA)
-// "target" ID: num=0
-#define TARG_ID         (CAN_ID_PREFIX & CAN_ID_MASK)
-// "broadcast" ID: all ones
-#define BCAST_ID        (0x7FF)
-
 // incoming message buffer size
 #define CAN_INMESSAGE_SIZE  (8)
 
@@ -50,8 +38,6 @@
 typedef struct{
     uint8_t data[8];    // up to 8 bytes of data
     uint8_t length;     // data length
-    //uint8_t filterNo;   // filter number
-    //uint8_t fifoNum;    // message FIFO number
     uint16_t ID;        // ID of receiver
 } CAN_message;
 
@@ -65,15 +51,10 @@ typedef enum{
 
 CAN_status CAN_get_status();
 
-void readCANID();
-uint16_t getCANID();
-
 void CAN_reinit(uint16_t speed);
 void CAN_setup(uint16_t speed);
 
 CAN_status can_send(uint8_t *msg, uint8_t len, uint16_t target_id);
-void can_send_dummy();
-void can_send_broadcast();
 void can_proc();
 
 CAN_message *CAN_messagebuf_pop();
diff --git a/F0-nolib/usbcan/hardware.c b/F0-nolib/usbcan/hardware.c
index 37dfe24..ec416a7 100644
--- a/F0-nolib/usbcan/hardware.c
+++ b/F0-nolib/usbcan/hardware.c
@@ -22,24 +22,17 @@
  */
 
 #include "hardware.h"
-#include "usart.h"
+
+uint8_t ledsON = 0;
 
 void gpio_setup(void){
-    // here we turn on clocking for all periph.
-    RCC->AHBENR |= RCC_AHBENR_GPIOAEN | RCC_AHBENR_GPIOBEN | RCC_AHBENR_GPIOCEN | RCC_AHBENR_DMAEN;
-    // Set LEDS (PC13/14) as output
-    GPIOC->MODER = (GPIOC->MODER & ~(GPIO_MODER_MODER13  | GPIO_MODER_MODER14)
-                    ) |
-                    GPIO_MODER_MODER13_O | GPIO_MODER_MODER14_O;
-    // PB14(0), PB15(1), PA8(2) - CAN address, pullup inputs
-    GPIOA->PUPDR = (GPIOA->PUPDR & ~(GPIO_PUPDR_PUPDR8)
-                    ) |
-                    GPIO_PUPDR_PUPDR8_0;
-    GPIOB->PUPDR = (GPIOB->PUPDR & ~(GPIO_PUPDR_PUPDR14 | GPIO_PUPDR_PUPDR15)
-                    ) |
-                    GPIO_PUPDR_PUPDR14_0 | GPIO_PUPDR_PUPDR15_0;
+    RCC->AHBENR |= RCC_AHBENR_GPIOBEN;
+    // Set LEDS (PB0/1) as output
     pin_set(LED0_port, LED0_pin); // clear LEDs
     pin_set(LED1_port, LED1_pin);
+    GPIOB->MODER = (GPIOB->MODER & ~(GPIO_MODER_MODER0  | GPIO_MODER_MODER1)
+                    ) |
+                    GPIO_MODER_MODER0_O | GPIO_MODER_MODER1_O;
 }
 
 void iwdg_setup(){
@@ -70,3 +63,35 @@ void pause_ms(uint32_t pause){
     uint32_t Tnxt = Tms + pause;
     while(Tms < Tnxt) nop();
 }
+
+void Jump2Boot(){
+    void (*SysMemBootJump)(void);
+    volatile uint32_t addr = 0x1FFFC800;
+    // reset systick
+    SysTick->CTRL = 0;
+    // reset clocks
+
+    RCC->APB1RSTR = RCC_APB1RSTR_CECRST    | RCC_APB1RSTR_DACRST    | RCC_APB1RSTR_PWRRST    | RCC_APB1RSTR_CRSRST  |
+                    RCC_APB1RSTR_CANRST    | RCC_APB1RSTR_USBRST    | RCC_APB1RSTR_I2C2RST   | RCC_APB1RSTR_I2C1RST |
+                    RCC_APB1RSTR_USART4RST | RCC_APB1RSTR_USART3RST | RCC_APB1RSTR_USART2RST | RCC_APB1RSTR_SPI2RST |
+                    RCC_APB1RSTR_WWDGRST   | RCC_APB1RSTR_TIM14RST  |
+#ifdef STM32F072xB
+            RCC_APB1RSTR_TIM7RST   | RCC_APB1RSTR_TIM6RST |
+#endif
+                    RCC_APB1RSTR_TIM3RST   | RCC_APB1RSTR_TIM2RST;
+    RCC->APB2RSTR = RCC_APB2RSTR_DBGMCURST | RCC_APB2RSTR_TIM17RST | RCC_APB2RSTR_TIM16RST |
+#ifdef STM32F072xB
+            RCC_APB2RSTR_TIM15RST |
+#endif
+                    RCC_APB2RSTR_USART1RST | RCC_APB2RSTR_SPI1RST  | RCC_APB2RSTR_TIM1RST  | RCC_APB2RSTR_ADCRST   | RCC_APB2RSTR_SYSCFGRST;
+    RCC->AHBRSTR = 0;
+    RCC->APB1RSTR = 0;
+    RCC->APB2RSTR = 0;
+    // remap memory to 0 (only for STM32F0)
+    SYSCFG->CFGR1 = 0x01; __DSB(); __ISB();
+    SysMemBootJump = (void (*)(void)) (*((uint32_t *)(addr + 4)));
+    // set main stack pointer
+    __set_MSP(*((uint32_t *)addr));
+    // jump to bootloader
+    SysMemBootJump();
+}
diff --git a/F0-nolib/usbcan/hardware.h b/F0-nolib/usbcan/hardware.h
index 1511cff..75c580b 100644
--- a/F0-nolib/usbcan/hardware.h
+++ b/F0-nolib/usbcan/hardware.h
@@ -33,17 +33,17 @@
 #define FORMUSART(X)    CONCAT(USART, X)
 #define USARTX          FORMUSART(USARTNUM)
 
-// LEDS: 0 - PC13, 1 - PC14
+// LEDS: 0 - PB0, 1 - PB1
 // LED0
-#define LED0_port   GPIOC
-#define LED0_pin    (1<<13)
+#define LED0_port   GPIOB
+#define LED0_pin    (1<<0)
 // LED1
-#define LED1_port   GPIOC
-#define LED1_pin    (1<<14)
+#define LED1_port   GPIOB
+#define LED1_pin    (1<<1)
 
-#define LED_blink(x)    pin_toggle(x ## _port, x ## _pin)
-#define LED_on(x)       pin_clear(x ## _port, x ## _pin)
-#define LED_off(x)      pin_set(x ## _port, x ## _pin)
+#define LED_blink(x)    do{if(ledsON) pin_toggle(x ## _port, x ## _pin);}while(0)
+#define LED_on(x)       do{if(ledsON) pin_clear(x ## _port, x ## _pin);}while(0)
+#define LED_off(x)      do{pin_set(x ## _port, x ## _pin);}while(0)
 
 
 // CAN address - PB14(0), PB15(1), PA8(2)
@@ -52,8 +52,11 @@
 
 extern volatile uint32_t Tms;
 
+extern uint8_t ledsON;
+
 void gpio_setup(void);
 void iwdg_setup();
 void pause_ms(uint32_t pause);
+void Jump2Boot();
 
 #endif // __HARDWARE_H__
diff --git a/F0-nolib/usbcan/main.c b/F0-nolib/usbcan/main.c
index cf9586d..8a6decc 100644
--- a/F0-nolib/usbcan/main.c
+++ b/F0-nolib/usbcan/main.c
@@ -22,7 +22,6 @@
 #include "can.h"
 #include "hardware.h"
 #include "proto.h"
-#include "usart.h"
 #include "usb.h"
 #include "usb_lib.h"
 
@@ -33,27 +32,6 @@ void sys_tick_handler(void){
     ++Tms;
 }
 
-/*
-// usb getline
-static char *get_USB(){
-    static char tmpbuf[512], *curptr = tmpbuf;
-    static int rest = 511;
-    uint8_t x = USB_receive((uint8_t*)curptr);
-    curptr[x] = 0;
-    if(!x) return NULL;
-    if(curptr[x-1] == '\n'){
-        curptr = tmpbuf;
-        rest = 511;
-        return tmpbuf;
-    }
-    curptr += x; rest -= x;
-    if(rest <= 0){ // buffer overflow
-        curptr = tmpbuf;
-        rest = 511;
-    }
-    return NULL;
-}*/
-
 #define USBBUF 63
 // usb getline
 static char *get_USB(){
@@ -81,15 +59,12 @@ static char *get_USB(){
     }
     curptr += x; rest -= x;
     if(rest <= 0){ // buffer overflow
-        usart_send("\nUSB buffer overflow!\n"); transmit_tbuf();
         curptr = tmpbuf;
         rest = USBBUF;
     }
     return NULL;
 }
 
-
-
 int main(void){
     uint32_t lastT = 0;
     uint8_t ctr, len;
@@ -98,68 +73,44 @@ int main(void){
     sysreset();
     SysTick_Config(6000, 1);
     gpio_setup();
-    usart_setup();
-    readCANID();
+    USB_setup();
     CAN_setup(100);
-
-    switchbuff(0);
-    SEND("Greetings! My address is ");
-    printuhex(getCANID());
-    newline();
-
-    if(RCC->CSR & RCC_CSR_IWDGRSTF){ // watchdog reset occured
-        SEND("WDGRESET=1\n");
-    }
-    if(RCC->CSR & RCC_CSR_SFTRSTF){ // software reset occured
-        SEND("SOFTRESET=1\n");
-    }
-    sendbuf();
     RCC->CSR |= RCC_CSR_RMVF; // remove reset flags
     iwdg_setup();
-    USB_setup();
 
     while (1){
         IWDG->KR = IWDG_REFRESH; // refresh watchdog
-        if(lastT > Tms || Tms - lastT > 499){
-            LED_blink(LED0);
-            lastT = Tms;
-            transmit_tbuf(); // non-blocking transmission of data from UART buffer every 0.5s
+        if(lastT && (Tms - lastT > 199)){
+            LED_off(LED0);
+            lastT = 0;
         }
         can_proc();
         usb_proc();
         if(CAN_get_status() == CAN_FIFO_OVERRUN){
-            register uint8_t o = switchbuff(3);
             SEND("CAN bus fifo overrun occured!\n");
-            sendbuf(); switchbuff(o);
+            sendbuf();
         }
         can_mesg = CAN_messagebuf_pop();
-        if(ShowMsgs && can_mesg && isgood(can_mesg->ID)){ // new data in buff
-            IWDG->KR = IWDG_REFRESH;
-            len = can_mesg->length;
-            printu(Tms);
-            SEND(" #");
-            printuhex(can_mesg->ID);
-            /*SEND(", filter #");
-            printu(can_mesg->filterNo);
-            SEND(", FIFO #");
-            printu(can_mesg->fifoNum);*/
-            /*SEND(", len=");
-            printu(len);
-            SEND(", data: ");*/
-            for(ctr = 0; ctr < len; ++ctr){
-                SEND(" ");
-                printuhex(can_mesg->data[ctr]);
+        if(can_mesg && isgood(can_mesg->ID)){
+            LED_on(LED0);
+            lastT = Tms;
+            if(!lastT) lastT = 1;
+            if(ShowMsgs){ // new data in buff
+                IWDG->KR = IWDG_REFRESH;
+                len = can_mesg->length;
+                printu(Tms);
+                SEND(" #");
+                printuhex(can_mesg->ID);
+                for(ctr = 0; ctr < len; ++ctr){
+                    SEND(" ");
+                    printuhex(can_mesg->data[ctr]);
+                }
+                newline(); sendbuf();
             }
-            newline(); sendbuf();
-        }
-        if(usartrx()){ // usart1 received data, store in in buffer
-            usart_getline(&txt);
-            IWDG->KR = IWDG_REFRESH;
-            cmd_parser(txt, 0);
         }
         if((txt = get_USB())){
             IWDG->KR = IWDG_REFRESH;
-            cmd_parser(txt, 1);
+            cmd_parser(txt);
         }
     }
     return 0;
diff --git a/F0-nolib/usbcan/proto.c b/F0-nolib/usbcan/proto.c
index 4bbd13b..95b8ff1 100644
--- a/F0-nolib/usbcan/proto.c
+++ b/F0-nolib/usbcan/proto.c
@@ -23,7 +23,6 @@
 #include "can.h"
 #include "hardware.h"
 #include "proto.h"
-#include "usart.h"
 #include "usb.h"
 
 #include <string.h> // strlen
@@ -33,32 +32,20 @@ extern volatile uint8_t canerror;
 uint8_t ShowMsgs = 07;
 uint16_t Ignore_IDs[IGN_SIZE];
 uint8_t IgnSz = 0;
-static char buff[UARTBUFSZ+1], *bptr = buff;
-static uint8_t blen = 0, USBcmd = 0;
+static char buff[BUFSZ+1], *bptr = buff;
+static uint8_t blen = 0;
 
 void sendbuf(){
     IWDG->KR = IWDG_REFRESH;
     if(blen == 0) return;
     *bptr = 0;
-    if(USBcmd) USB_sendstr(buff);
-    if(USBcmd != 1){
-        usart_send(buff);
-        transmit_tbuf();
-    }
+    USB_sendstr(buff);
     bptr = buff;
     blen = 0;
 }
 
-// 1 - USB, 0 - USART, other number - both
-// @return old buff state
-uint8_t switchbuff(uint8_t isUSB){
-    uint8_t r = USBcmd;
-    USBcmd = isUSB;
-    return r;
-}
-
 void bufputchar(char ch){
-    if(blen > UARTBUFSZ-1){
+    if(blen > BUFSZ-1){
         sendbuf();
     }
     *bptr++ = ch;
@@ -415,9 +402,7 @@ static void add_filter(char *str){
  * @param txt   - buffer with commands & data
  * @param isUSB - == 1 if data got from USB
  */
-void cmd_parser(char *txt, uint8_t isUSB){
-    USBcmd = isUSB;
-    //int16_t L = (int16_t)strlen(txt);
+void cmd_parser(char *txt){
     char _1st = txt[0];
     /*
      * parse long commands here
@@ -447,29 +432,28 @@ void cmd_parser(char *txt, uint8_t isUSB){
     }
     if(txt[1] != '\n') *txt = '?'; // help for wrong message length
     switch(_1st){
-        case 'B':
-            can_send_broadcast();
-        break;
-        case 'C':
-            can_send_dummy();
-        break;
         case 'd':
             IgnSz = 0;
         break;
-        case 'G':
-            SEND("Can address: ");
-            printuhex(getCANID());
-            newline();
+        case 'D':
+            SEND("Go into DFU mode\n");
+            sendbuf();
+            Jump2Boot();
         break;
         case 'I':
             CAN_reinit(0);
-            SEND("Can address: ");
-            printuhex(getCANID());
-            newline();
         break;
         case 'l':
             list_filters();
         break;
+        case 'o':
+            ledsON = 0;
+            LED_off(LED0);
+            LED_off(LED1);
+        break;
+        case 'O':
+            ledsON = 1;
+        break;
         case 'p':
             print_ign_buf();
         break;
@@ -489,34 +473,23 @@ void cmd_parser(char *txt, uint8_t isUSB){
             printu(Tms);
             newline();
         break;
-        case 'U':
-            USND("Test string for USB; a very long string that don't fit into one 64-byte buffer, what will be with it?\n");
-        break;
-        case 'W':
-            SEND("Test watchdog\n");
-            sendbuf();
-            pause_ms(5); // a little pause to transmit data
-            while(1){nop();}
-        break;
         default: // help
             SEND(
             "'a' - add ID to ignore list (max 10 IDs)\n"
             "'b' - reinit CAN with given baudrate\n"
-            "'B' - send broadcast dummy byte\n"
-            "'C' - send dummy byte over CAN\n"
             "'d' - delete ignore list\n"
+            "'D' - activate DFU mode\n"
             "'f' - add/delete filter, format: bank# FIFO# mode(M/I) num0 [num1 [num2 [num3]]]\n"
             "'F' - send/clear flood message: F ID byte0 ... byteN\n"
-            "'G' - get CAN address\n"
-            "'I' - reinit CAN (with new address)\n"
+            "'I' - reinit CAN\n"
             "'l' - list all active filters\n"
+            "'o' - turn LEDs OFF\n"
+            "'O' - turn LEDs ON\n"
             "'p' - print ignore buffer\n"
             "'P' - pause/resume in packets displaying\n"
             "'R' - software reset\n"
             "'s/S' - send data over CAN: s ID byte0 .. byteN\n"
-            "'T' - gen time from start (ms)\n"
-            "'U' - send test string over USB\n"
-            "'W' - test watchdog\n"
+            "'T' - get time from start (ms)\n"
             );
         break;
     }
diff --git a/F0-nolib/usbcan/proto.h b/F0-nolib/usbcan/proto.h
index b6dc5a9..0d74c47 100644
--- a/F0-nolib/usbcan/proto.h
+++ b/F0-nolib/usbcan/proto.h
@@ -27,6 +27,8 @@
 #include "stm32f0.h"
 #include "hardware.h"
 
+#define BUFSZ   (64)
+
 // macro for static strings
 #define SEND(str) do{addtobuf(str);}while(0)
 
@@ -38,20 +40,19 @@
 
 #define newline() do{bufputchar('\n');}while(0)
 // newline with buffer sending over USART
-#define NL() do{bufputchar('\n'); register uint8_t o = switchbuff(3); sendbuf(); switchbuff(o);}while(0)
+#define NL() do{bufputchar('\n'); sendbuf();}while(0)
 
 #define IGN_SIZE 10
 extern uint16_t Ignore_IDs[IGN_SIZE];
 extern uint8_t IgnSz;
 extern uint8_t ShowMsgs;
 
-void cmd_parser(char *buf, uint8_t isUSB);
+void cmd_parser(char *buf);
 void addtobuf(const char *txt);
 void bufputchar(char ch);
 void printu(uint32_t val);
 void printuhex(uint32_t val);
 void sendbuf();
-uint8_t switchbuff(uint8_t isUSB);
 
 char *omit_spaces(char *buf);
 char *getnum(char *buf, uint32_t *N);
diff --git a/F0-nolib/usbcan/usart.c b/F0-nolib/usbcan/usart.c
deleted file mode 100644
index 6a21d35..0000000
--- a/F0-nolib/usbcan/usart.c
+++ /dev/null
@@ -1,221 +0,0 @@
-/*
- * usart.c
- *
- * Copyright 2017 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 "stm32f0.h"
-#include "hardware.h"
-#include "usart.h"
-#include <string.h>
-
-static volatile int idatalen[2] = {0,0}; // received data line length (including '\n')
-static volatile int odatalen[2] = {0,0};
-
-
-static volatile int dlen = 0;   // length of data (including '\n') in current buffer
-volatile int linerdy = 0,       // received data ready
-    bufovr = 0,                 // input buffer overfull
-    txrdy = 1               // transmission done
-;
-
-
-static int rbufno = 0, tbufno = 0; // current rbuf/tbuf numbers
-static char rbuf[2][UARTBUFSZ], tbuf[2][UARTBUFSZ]; // receive & transmit buffers
-static char *recvdata = NULL;
-
-/**
- * return length of received data (without trailing zero
- */
-int usart_getline(char **line){
-    if(bufovr){
-        bufovr = 0;
-        linerdy = 0;
-        return 0;
-    }
-    *line = recvdata;
-    linerdy = 0;
-    return dlen;
-}
-
-// transmit current tbuf and swap buffers
-void transmit_tbuf(){
-    uint32_t tmout = 16000000;
-    while(!txrdy){if(--tmout == 0) break;}; // wait for previos buffer transmission
-    register int l = odatalen[tbufno];
-    if(!l) return;
-    txrdy = 0;
-    odatalen[tbufno] = 0;
-#if USARTNUM == 2
-    DMA1_Channel4->CCR &= ~DMA_CCR_EN;
-    DMA1_Channel4->CMAR = (uint32_t) tbuf[tbufno]; // mem
-    DMA1_Channel4->CNDTR = l;
-    DMA1_Channel4->CCR |= DMA_CCR_EN; // start transmission
-#elif USARTNUM == 1
-    DMA1_Channel2->CCR &= ~DMA_CCR_EN;
-    DMA1_Channel2->CMAR = (uint32_t) tbuf[tbufno]; // mem
-    DMA1_Channel2->CNDTR = l;
-    DMA1_Channel2->CCR |= DMA_CCR_EN;
-#else
-#error "Not implemented"
-#endif
-    tbufno = !tbufno;
-}
-
-void usart_putchar(const char ch){
-    if(odatalen[tbufno] == UARTBUFSZ) transmit_tbuf();
-    tbuf[tbufno][odatalen[tbufno]++] = ch;
-}
-
-void usart_send(const char *str){
-    uint32_t x = 512;
-    while(*str && --x){
-        if(odatalen[tbufno] == UARTBUFSZ) transmit_tbuf();
-        tbuf[tbufno][odatalen[tbufno]++] = *str++;
-    }
-}
-
-void usart_sendn(const char *str, uint8_t L){
-    for(uint8_t i = 0; i < L; ++i){
-        if(odatalen[tbufno] == UARTBUFSZ) transmit_tbuf();
-        tbuf[tbufno][odatalen[tbufno]++] = *str++;
-    }
-}
-
-void usart_setup(){
-// Nucleo's USART2 connected to VCP proxy of st-link
-    uint32_t tmout = 16000000;
-#if USARTNUM == 2
-    // setup pins: PA2 (Tx - AF1), PA15 (Rx - AF1)
-    // AF mode (AF1)
-    GPIOA->MODER = (GPIOA->MODER & ~(GPIO_MODER_MODER2|GPIO_MODER_MODER15))\
-                | (GPIO_MODER_MODER2_AF | GPIO_MODER_MODER15_AF);
-    GPIOA->AFR[0] = (GPIOA->AFR[0] &~GPIO_AFRH_AFRH2) | 1 << (2 * 4); // PA2
-    GPIOA->AFR[1] = (GPIOA->AFR[1] &~GPIO_AFRH_AFRH7) | 1 << (7 * 4); // PA15
-    // DMA: Tx - Ch4
-    DMA1_Channel4->CPAR = (uint32_t) &USART2->TDR; // periph
-    DMA1_Channel4->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_Channel4_5_IRQn, 3);
-    NVIC_EnableIRQ(DMA1_Channel4_5_IRQn);
-    NVIC_SetPriority(USART2_IRQn, 0);
-    // setup usart2
-    RCC->APB1ENR |= RCC_APB1ENR_USART2EN; // clock
-    // oversampling by16, 115200bps (fck=48mHz)
-    //USART2_BRR = 0x1a1; // 48000000 / 115200
-    USART2->BRR = 480000 / 1152;
-    USART2->CR3 = USART_CR3_DMAT; // enable DMA Tx
-    USART2->CR1 = USART_CR1_TE | USART_CR1_RE | USART_CR1_UE; // 1start,8data,nstop; enable Rx,Tx,USART
-    while(!(USART2->ISR & USART_ISR_TC)){if(--tmout == 0) break;} // polling idle frame Transmission
-    USART2->ICR |= USART_ICR_TCCF; // clear TC flag
-    USART2->CR1 |= USART_CR1_RXNEIE;
-    NVIC_EnableIRQ(USART2_IRQn);
-// USART1 of main board
-#elif USARTNUM == 1
-    // PA9 - Tx, PA10 - Rx (AF1)
-    GPIOA->MODER = (GPIOA->MODER & ~(GPIO_MODER_MODER9 | GPIO_MODER_MODER10))\
-                | (GPIO_MODER_MODER9_AF | GPIO_MODER_MODER10_AF);
-    GPIOA->AFR[1] = (GPIOA->AFR[1] & ~(GPIO_AFRH_AFRH1 | GPIO_AFRH_AFRH2)) |
-                1 << (1 * 4) | 1 << (2 * 4); // PA9, PA10
-    // USART1 Tx DMA - Channel2 (default value in SYSCFG_CFGR1)
-    DMA1_Channel2->CPAR = (uint32_t) &USART1->TDR; // periph
-    DMA1_Channel2->CMAR = (uint32_t) tbuf; // mem
-    DMA1_Channel2->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_Channel2_3_IRQn, 3);
-    NVIC_EnableIRQ(DMA1_Channel2_3_IRQn);
-    NVIC_SetPriority(USART1_IRQn, 0);
-    // setup usart1
-    RCC->APB2ENR |= RCC_APB2ENR_USART1EN;
-    USART1->BRR = 480000 / 1152;
-    USART1->CR3 = USART_CR3_DMAT; // enable DMA Tx
-    USART1->CR1 = USART_CR1_TE | USART_CR1_RE | USART_CR1_UE; // 1start,8data,nstop; enable Rx,Tx,USART
-    while(!(USART1->ISR & USART_ISR_TC)){if(--tmout == 0) break;} // polling idle frame Transmission
-    USART1->ICR |= USART_ICR_TCCF; // clear TC flag
-    USART1->CR1 |= USART_CR1_RXNEIE;
-    NVIC_EnableIRQ(USART1_IRQn);
-#else
-#error "Not implemented"
-#endif
-}
-
-#if USARTNUM == 2
-void usart2_isr(){
-// USART1
-#elif USARTNUM == 1
-void usart1_isr(){
-#else
-#error "Not implemented"
-#endif
-    #ifdef CHECK_TMOUT
-    static uint32_t tmout = 0;
-    #endif
-    if(USARTX->ISR & USART_ISR_RXNE){ // RX not emty - receive next char
-        #ifdef CHECK_TMOUT
-        if(tmout && Tms >= tmout){ // set overflow flag
-            bufovr = 1;
-            idatalen[rbufno] = 0;
-        }
-        tmout = Tms + TIMEOUT_MS;
-        if(!tmout) tmout = 1; // prevent 0
-        #endif
-        // read RDR clears flag
-        uint8_t rb = USARTX->RDR;
-        USARTX->TDR = rb;
-        if(idatalen[rbufno] < UARTBUFSZ){ // put next char into buf
-            rbuf[rbufno][idatalen[rbufno]++] = rb;
-            if(rb == '\n'){ // got newline - line ready
-                linerdy = 1;
-                dlen = idatalen[rbufno];
-                recvdata = rbuf[rbufno];
-                recvdata[dlen] = 0;
-                // prepare other buffer
-                rbufno = !rbufno;
-                idatalen[rbufno] = 0;
-                #ifdef CHECK_TMOUT
-                // clear timeout at line end
-                tmout = 0;
-                #endif
-            }
-        }else{ // buffer overrun
-            bufovr = 1;
-            idatalen[rbufno] = 0;
-            #ifdef CHECK_TMOUT
-            tmout = 0;
-            #endif
-        }
-    }
-}
-
-#if USARTNUM == 2
-void dma1_channel4_5_isr(){
-    if(DMA1->ISR & DMA_ISR_TCIF4){ // Tx
-        DMA1->IFCR |= DMA_IFCR_CTCIF4; // clear TC flag
-        txrdy = 1;
-    }
-}
-// USART1
-#elif USARTNUM == 1
-void dma1_channel2_3_isr(){
-    if(DMA1->ISR & DMA_ISR_TCIF2){ // Tx
-        DMA1->IFCR |= DMA_IFCR_CTCIF2; // clear TC flag
-        txrdy = 1;
-    }
-}
-#else
-#error "Not implemented"
-#endif
diff --git a/F0-nolib/usbcan/usart.h b/F0-nolib/usbcan/usart.h
deleted file mode 100644
index 3574449..0000000
--- a/F0-nolib/usbcan/usart.h
+++ /dev/null
@@ -1,47 +0,0 @@
-/*
- * usart.h
- *
- * Copyright 2017 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.
- */
-#pragma once
-#ifndef __USART_H__
-#define __USART_H__
-
-#include "hardware.h"
-
-// input and output buffers size
-#define UARTBUFSZ   (64)
-// timeout between data bytes
-#ifndef TIMEOUT_MS
-#define TIMEOUT_MS (1500)
-#endif
-
-#define usartrx()  (linerdy)
-#define usartovr() (bufovr)
-
-extern volatile int linerdy, bufovr, txrdy;
-
-void transmit_tbuf();
-void usart_setup();
-int usart_getline(char **line);
-void usart_send(const char *str);
-void usart_sendn(const char *str, uint8_t L);
-void usart_putchar(const char ch);
-void hexdump(uint8_t *arr, uint16_t len);
-
-#endif // __USART_H__
diff --git a/F0-nolib/usbcan/usb.c b/F0-nolib/usbcan/usb.c
index 5727abf..b1f583d 100644
--- a/F0-nolib/usbcan/usb.c
+++ b/F0-nolib/usbcan/usb.c
@@ -23,7 +23,6 @@
 
 #include "usb.h"
 #include "usb_lib.h"
-#include "usart.h"
 
 static volatile uint8_t tx_succesfull = 1;
 static volatile uint8_t rxNE = 0;
diff --git a/F0-nolib/usbcan/usbcan.bin b/F0-nolib/usbcan/usbcan.bin
index dafdef477385603b00101e2f60f18ba1109c04c9..cb484e6c56abbef9cedb046d0b3456d88db8b31d 100755
GIT binary patch
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