add floating print to STM32F303

F0-nolib/3steppersLB/Readme.md

@@ -127,15 +127,131 @@ Loopback control of three stepper motors
 
 # Control points
 
-- **TP1** — 5V
+- **TP1**  5V
-- **TP2** — 3.3V
+- **TP2**  3.3V
-- **TP3** — NRST
+- **TP3**  NRST
-- **TP4** — GND
+- **TP4**  GND
 
 # Firmware download
 
 Activate "Jump to DFU" menu entry through USB protocol. Flash MCU by `dfu-util`.
 
 # USB protocol
+https://github.com/eddyem/stm32samples/tree/master/F0-nolib/3steppersLB build#138 @ 2021-12-02
+Common commands format is cmd[ N[ = val]]
+        where N is command argument (0..127), val is its value
+Different commands:
+        adc - get ADC values
+        button - get buttons state
+        buzzer - change buzzer state (1/0)
+        esw - get end switches state
+        ext - external outputs
+        mcut - get MCU T
+        mcuvdd - get MCU Vdd
+        ping - echo given command back
+        pwm - pwm value
+        relay - change relay state (1/0)
+        reset - reset MCU
+        time - get time from start
+Confuguration:
+        accel - set/get accel/decel (steps/s^2)
+        encrev - set/get max encoder's pulses per revolution
+        encstepmax - maximal encoder ticks per step
+        encstepmin - minimal encoder ticks per step
+        eswreact - end-switches reaction
+        maxspeed - set/get max speed (steps per sec)
+        maxsteps - set/get max steps (from zero)
+        microsteps - set/get microsteps settings
+        minspeed - set/get min speed (steps per sec)
+        motflags - set/get motorN flags
+        saveconf - save current configuration
+        speedlimit - get limiting speed for current microsteps
+Motors' commands:
+        abspos - set/get position (in steps)
+        emerg - emergency stop all motors
+        emstop - emergency stop motor (right now)
+        encpos - set/get encoder's position
+        gotoz - find zero position & refresh counters
+        motreinit - re-init motors after configuration changed
+        relpos - set relative steps, get remaining
+        relslow - set relative steps @ lowest speed
+        state - get motor state
+        stop - smooth motor stopping
+USB-only commands:
+        canid - get/set CAN ID
+        canspeed - CAN bus speed
+        delignlist - delete ignore list
+        dfu - activate DFU mode
+        dumperr - dump error codes
+        dumpcmd - dump command codes
+        dumpconf - dump current configuration
+        filter - add/modify filter, format: bank# FIFO# mode(M/I) num0 [num1 [num2 [num3]]]
+        getctr - get TIM1/2/3 counters
+        ignbuf - print ignore buffer
+        ignore - add ID to ignore list (max 10 IDs)
+        listfilters - list all active filters
+        pause - pause IN packets displaying
+        resume - resume IN packets displaying
+        send - send data over CAN: send ID byte0 .. byteN
+        wd - check watchdog
 
 # CAN bus protocol
+
+bytes   descr
+0       Lcmd - command code
+1       Hcmd
+2       par  - command paremeter (steper, ADC channel number etc)
+3       err  - error code (only in answer)
+4       Ldata - optional data in int32_t
+5
+6
+7       Hdata
+
+dumperr
+Find known command: dumperr
+Error codes:
+0 - all OK
+1 - wrong parameter's value
+2 - wrong setter of parameter
+3 - bad message length
+4 - unknown command
+5 - temporary can't run given command
+
+
+dumpcmd
+Find known command: dumpcmd
+Commands list:
+0 - Different commands:
+1 - change relay state (1/0)
+2 - change buzzer state (1/0)
+3 - get ADC values
+4 - get buttons state
+5 - get end switches state
+6 - get MCU T
+7 - get MCU Vdd
+8 - reset MCU
+9 - get time from start
+10 - pwm value
+11 - external outputs
+12 - save current configuration
+13 - minimal encoder ticks per step
+14 - maximal encoder ticks per step
+15 - set/get microsteps settings
+16 - set/get accel/decel (steps/s^2)
+17 - set/get max speed (steps per sec)
+18 - set/get min speed (steps per sec)
+19 - get limiting speed for current microsteps
+20 - set/get max steps (from zero)
+21 - set/get max encoder's pulses per revolution
+22 - set/get motorN flags
+23 - end-switches reaction
+24 - re-init motors after configuration changed
+25 - set/get position (in steps)
+26 - set relative steps, get remaining
+27 - set relative steps @ lowest speed
+28 - emergency stop motor (right now)
+29 - smooth motor stopping
+30 - emergency stop all motors
+31 - find zero position & refresh counters
+32 - get motor state
+33 - set/get encoder's position

F0-nolib/inc/F0

@@ -1 +1 @@
-Fx
+/home/eddy/Yandex.Disk/Projects/stm32samples/F0-nolib/inc/Fx

F1-nolib/RGB_LED_Screen/proto.c

@@ -1 +0,0 @@
-/home/eddy/Yandex.Disk/Projects/mytakepic/.hg/wcache/checklink-target

F1-nolib/RGB_LED_Screen/proto.c

@@ -0,0 +1,301 @@
+/*
+ * This file is part of the RGBLEDscreen project.
+ * Copyright 2020 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "adcrandom.h"
+#include "balls.h"
+#include "fonts.h"
+#include "proto.h"
+#include "screen.h"
+#include "usb.h"
+
+extern uint8_t countms, rainbow, balls;
+extern uint32_t Tms;
+
+char *omit_spaces(const char *buf){
+    while(*buf){
+        if(*buf > ' ') break;
+        ++buf;
+    }
+    return (char*)buf;
+}
+
+// In case of overflow return `buf` and N==0xffffffff
+// read decimal number & return pointer to next non-number symbol
+static char *getdec(const char *buf, uint32_t *N){
+    char *start = (char*)buf;
+    uint32_t num = 0;
+    while(*buf){
+        char c = *buf;
+        if(c < '0' || c > '9'){
+            break;
+        }
+        if(num > 429496729 || (num == 429496729 && c > '5')){ // overflow
+            *N = 0xffffff;
+            return start;
+        }
+        num *= 10;
+        num += c - '0';
+        ++buf;
+    }
+    *N = num;
+    return (char*)buf;
+}
+// read hexadecimal number (without 0x prefix!)
+static char *gethex(const char *buf, uint32_t *N){
+    char *start = (char*)buf;
+    uint32_t num = 0;
+    while(*buf){
+        char c = *buf;
+        uint8_t M = 0;
+        if(c >= '0' && c <= '9'){
+            M = '0';
+        }else if(c >= 'A' && c <= 'F'){
+            M = 'A' - 10;
+        }else if(c >= 'a' && c <= 'f'){
+            M = 'a' - 10;
+        }
+        if(M){
+            if(num & 0xf0000000){ // overflow
+                *N = 0xffffff;
+                return start;
+            }
+            num <<= 4;
+            num += c - M;
+        }else{
+            break;
+        }
+        ++buf;
+    }
+    *N = num;
+    return (char*)buf;
+}
+// read octal number (without 0 prefix!)
+static char *getoct(const char *buf, uint32_t *N){
+    char *start = (char*)buf;
+    uint32_t num = 0;
+    while(*buf){
+        char c = *buf;
+        if(c < '0' || c > '7'){
+            break;
+        }
+        if(num & 0xe0000000){ // overflow
+            *N = 0xffffff;
+            return start;
+        }
+        num <<= 3;
+        num += c - '0';
+        ++buf;
+    }
+    *N = num;
+    return (char*)buf;
+}
+// read binary number (without b prefix!)
+static char *getbin(const char *buf, uint32_t *N){
+    char *start = (char*)buf;
+    uint32_t num = 0;
+    while(*buf){
+        char c = *buf;
+        if(c < '0' || c > '1'){
+            break;
+        }
+        if(num & 0x80000000){ // overflow
+            *N = 0xffffff;
+            return start;
+        }
+        num <<= 1;
+        if(c == '1') num |= 1;
+        ++buf;
+    }
+    *N = num;
+    return (char*)buf;
+}
+
+/**
+ * @brief getnum - read uint32_t from string (dec, hex or bin: 127, 0x7f, 0b1111111)
+ * @param buf - buffer with number and so on
+ * @param N   - the number read
+ * @return pointer to first non-number symbol in buf
+ *      (if it is == buf, there's no number or if *N==0xffffffff there was overflow)
+ */
+char *getnum(const char *txt, uint32_t *N){
+    char *nxt = NULL;
+    char *s = omit_spaces(txt);
+    if(*s == '0'){ // hex, oct or 0
+        if(s[1] == 'x' || s[1] == 'X'){ // hex
+            nxt = gethex(s+2, N);
+            if(nxt == s+2) nxt = (char*)txt;
+        }else if(s[1] > '0'-1 && s[1] < '8'){ // oct
+            nxt = getoct(s+1, N);
+            if(nxt == s+1) nxt = (char*)txt;
+        }else{ // 0
+            nxt = s+1;
+            *N = 0;
+        }
+    }else if(*s == 'b' || *s == 'B'){
+        nxt = getbin(s+1, N);
+        if(nxt == s+1) nxt = (char*)txt;
+    }else{
+        nxt = getdec(s, N);
+        if(nxt == s) nxt = (char*)txt;
+    }
+    return nxt;
+}
+
+const char* helpmsg =
+    "'0/1' - screen off/on\n"
+    "'2,3' - select font\n"
+    "'A' - get ADC values\n"
+    "'B' - start/stop rainBow\n"
+    "'b' - start/stop Balls\n"
+    "'C' - clear screen with given color\n"
+    "'F' - set foreground color\n"
+    "'G' - get 100 random numbers\n"
+    "'f' - get FPS\n"
+    "'R' - software reset\n"
+    "'W' - test watchdog\n"
+    "'Zz' -start/stop counting ms\n"
+    "Any text - put text @ screen\n"
+;
+
+const char *parse_cmd(const char *buf){
+    uint32_t N;
+    if(buf[1] == '\n'){ // one symbol commands
+        switch(*buf){
+            case '0':
+                ScreenOFF();
+                return "OFF\n";
+            break;
+            case '1':
+                ScreenON();
+                return "ON\n";
+            break;
+            case '2':
+                if(choose_font(FONT14)) return "Font14\n";
+                return "err\n";
+            break;
+            case '3':
+                if(choose_font(FONT16)) return "Font16\n";
+                return "err\n";
+            break;
+            case 'A':
+                USB_send("Tsens="); USB_send(u2str(getADCval(0)));
+                USB_send("\nVref="); USB_send(u2str(getADCval(1)));
+                USB_send("\nRand="); USB_send(u2str(getRand()));
+                USB_send("\n");
+                return NULL;
+            break;
+            case 'B':
+                if(rainbow){
+                    rainbow = 0;
+                    return "Stop rainbow\n";
+                }else{
+                    rainbow = 1;
+                    return "Start rainbow\n";
+                }
+            break;
+            case 'b':
+                if(balls){
+                    balls = 0;
+                    return "Stop balls\n";
+                }else{
+                    balls_init();
+                    balls = 1;
+                    return "Start balls\n";
+                }
+            case 'f':
+                if(SCREEN_RELAX == getScreenState()) return "Screen is inactive\n";
+                USB_send("FPS=");
+                USB_send(u2str(getFPS()));
+                USB_send("\n");
+                return NULL;
+            break;
+            case 'G':
+                /*USB_send(u2str(Tms)); USB_send("\n");
+                for(int i=0; i < 1000; ++i) getRand();
+                USB_send(u2str(Tms)); USB_send("\n");*/
+                for(int i = 0; i < 100; ++i){
+                    USB_send(u2str(getRand()));
+                    USB_send("\n");
+                }
+                return NULL;
+            break;
+            case 'R':
+                USB_send("Soft reset\n");
+                NVIC_SystemReset();
+            break;
+            case 'W':
+                USB_send("Wait for reboot\n");
+                while(1){nop();};
+            break;
+            case 'Z':
+                countms = 1;
+                return "Start\n";
+            break;
+            case 'z':
+                countms = 0;
+                return "Stop\n";
+            break;
+            default:
+                return helpmsg;
+        }
+        return NULL;
+    }else{
+        switch(*buf){
+            case 'C':
+                if(getnum(buf+1, &N)){
+                    ScreenOFF();
+                    setBGcolor(N);
+                    ClearScreen();
+                    ScreenON();
+                    return "Background color\n";
+                }
+                return "Wrong color\n";
+            break;
+            case 'F':
+                if(getnum(buf+1, &N)){
+                    setFGcolor(N);
+                    return "Foreground color\n";
+                }
+                return "Wrong color\n";
+            break;
+            default:
+                ScreenOFF();
+                ClearScreen();
+                PutStringAt(1, curfont->height + 3, buf);
+                ScreenON();
+        }
+        return buf;
+    }
+    return NULL;
+}
+
+// return string with number `val`
+char *u2str(uint32_t val){
+    static char strbuf[11];
+    char *bufptr = &strbuf[10];
+    *bufptr = 0;
+    if(!val){
+        *(--bufptr) = '0';
+    }else{
+        while(val){
+            *(--bufptr) = val % 10 + '0';
+            val /= 10;
+        }
+    }
+    return bufptr;
+}

F1-nolib/Tetris/main.c

@@ -1 +0,0 @@
-/home/eddy/Yandex.Disk/Projects/mytakepic/.hg/wcache/checklink-target

F1-nolib/Tetris/main.c

@@ -0,0 +1,193 @@
+/*
+ * This file is part of the TETRIS project.
+ * Copyright 2021 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "adcrandom.h"
+#include "arkanoid.h"
+#include "balls.h"
+#include "buttons.h"
+#include "fonts.h"
+#include "hardware.h"
+#include "menu.h"
+#include "proto.h"
+#include "screen.h"
+#include "snake.h"
+#include "tetris.h"
+#include "usb.h"
+#include "usb_lib.h"
+
+// timeout for autosleep (30s)
+#define AUTOSLEEP_TMOUT     (30000)
+
+volatile uint32_t Tms = 0;
+uint8_t balls = 0;
+
+enum{
+    STATE_MENU,
+    STATE_SNAKE,
+    STATE_TETRIS,
+    STATE_ARKANOID,
+    STATE_SLEEP,
+    STATE_GAMEOVER
+} curstate = STATE_SLEEP;
+
+/* Called when systick fires */
+void sys_tick_handler(void){
+    ++Tms;
+}
+
+#define USBBUFSZ    (127)
+// usb getline
+static char *get_USB(){
+    static char tmpbuf[USBBUFSZ+1], *curptr = tmpbuf;
+    static int rest = USBBUFSZ;
+    int x = USB_receive(curptr);
+    curptr[x] = 0;
+    if(!x) return NULL;
+    if(curptr[x-1] == '\n'){
+        curptr = tmpbuf;
+        rest = USBBUFSZ;
+        return tmpbuf;
+    }
+    curptr += x; rest -= x;
+    if(rest <= 0){ // buffer overflow
+        curptr = tmpbuf;
+        rest = USBBUFSZ;
+        USB_send("USB buffer overflow\n");
+    }
+    return NULL;
+}
+
+static void process_menu(){
+    switch(menu_activated()){
+        case MENU_SLEEP:
+            USB_send("Select 'Sleep'\n");
+            ScreenOFF();
+            curstate = STATE_SLEEP;
+        break;
+        case MENU_BALLS:
+            USB_send("Select 'Balls'\n");
+            if(balls){
+                balls = 0;
+            }else{
+                curstate = STATE_SLEEP;
+                balls_init();
+                balls = 1;
+            }
+        break;
+        case MENU_SNAKE:
+            USB_send("Select 'Snake'\n");
+            snake_init();
+            curstate = STATE_SNAKE;
+        break;
+        case MENU_TETRIS:
+            USB_send("Select 'Tetris'\n");
+            tetris_init();
+            curstate = STATE_TETRIS;
+        break;
+        case MENU_ARKANOID:
+            USB_send("Select 'Arkanoid'\n");
+            arkanoid_init();
+            curstate = STATE_ARKANOID;
+        default:
+        break;
+    }
+}
+
+static void gotomenu(){
+    curstate = STATE_MENU;
+    clear_events();
+    show_menu();
+}
+
+int main(void){
+    uint32_t lastT = 0;
+    sysreset();
+    StartHSE();
+    SysTick_Config(72000);
+    RCC->CSR |= RCC_CSR_RMVF; // remove reset flags
+
+    hw_setup();
+    USBPU_OFF();
+    adc_setup();
+    USB_setup();
+    //iwdg_setup();
+    USBPU_ON();
+
+    keyevent evt;
+    while(1){
+        if(Tms - lastT > 499){
+            LED_blink(LED0);
+            lastT = Tms;
+        }
+        IWDG->KR = IWDG_REFRESH;
+        if(balls) process_balls();
+        process_keys();
+        switch(curstate){
+            case STATE_SLEEP:
+                if(keystate(KEY_M, &evt) && evt == EVT_RELEASE){
+                    USB_send("Activate menu\n");
+                    gotomenu();
+                }
+            break;
+            case STATE_MENU:
+                process_menu();
+                if(Tms - lastUnsleep > AUTOSLEEP_TMOUT){
+                    USB_send("Autosleep\n");
+                    ScreenOFF();
+                    curstate = STATE_SLEEP;
+                }
+            break;
+            case STATE_SNAKE:
+                if(!snake_proces()){
+                    show_gameover();
+                    curstate = STATE_GAMEOVER;
+                }
+            break;
+            case STATE_TETRIS:
+                if(!tetris_process()){
+                    show_gameover();
+                    curstate = STATE_GAMEOVER;
+                }
+            break;
+            case STATE_ARKANOID:
+                if(!arkanoid_process()){
+                    show_gameover();
+                    curstate = STATE_GAMEOVER;
+                }
+            break;
+            case STATE_GAMEOVER: // show gameover screen
+                if(keystate(KEY_M, &evt) && evt == EVT_RELEASE){
+                    gotomenu();
+                }else if(Tms - lastUnsleep > AUTOSLEEP_TMOUT){
+                    USB_send("Autosleep\n");
+                    ScreenOFF();
+                    curstate = STATE_SLEEP;
+                }
+            break;
+        }
+
+        usb_proc();
+        char *txt; const char *ans;
+        if((txt = get_USB())){
+            ans = parse_cmd(txt);
+            if(ans) USB_send(ans);
+        }
+    }
+    return 0;
+}
+

F303-nolib/floatPrintf/Makefile

@@ -0,0 +1,146 @@
+BINARY		= usart1
+BOOTPORT	?= /dev/ttyUSB0
+BOOTSPEED	?= 115200
+# MCU FAMILY
+FAMILY		?= F3
+# MCU code
+MCU			?= F303xb
+# or __ARM_ARCH_7EM__
+ARMARCH = __ARM_ARCH_7M__
+# change this linking script depending on particular MCU model,
+LDSCRIPT	?= stm32f303xB.ld
+# debug
+#DEFS		= -DEBUG
+
+INDEPENDENT_HEADERS=
+
+FP_FLAGS	?= -mfpu=fpv4-sp-d16 -mfloat-abi=softfp -fsingle-precision-constant -mlittle-endian -DARM_MATH_CM4
+ASM_FLAGS	?= -mthumb -mcpu=cortex-m4
+ARCH_FLAGS	= $(ASM_FLAGS) $(FP_FLAGS) -D $(ARMARCH)
+
+###############################################################################
+# Executables
+# PREFIX		?= arm-none-eabi
+# gcc from arm web site 
+PREFIX		?= /opt/bin/arm-none-eabi
+#TOOLCHLIB	?= /opt/arm-none-eabi/lib
+RM			:= rm -f
+RMDIR		:= rmdir
+CC			:= $(PREFIX)-gcc
+# don't replace ld with gcc: the binary size would be much greater!!
+LD			:= $(PREFIX)-ld
+AR			:= $(PREFIX)-ar
+AS			:= $(PREFIX)-as
+SIZE 		:= $(PREFIX)-size
+OBJCOPY		:= $(PREFIX)-objcopy
+OBJDUMP		:= $(PREFIX)-objdump
+GDB			:= $(PREFIX)-gdb
+STFLASH		:= $(shell which st-flash)
+STBOOT		:= $(shell which stm32flash)
+DFUUTIL		:= $(shell which dfu-util)
+
+###############################################################################
+# Source files
+OBJDIR 		:= mk
+SRC			:= $(wildcard *.c)
+OBJS		:= $(addprefix $(OBJDIR)/, $(SRC:%.c=%.o))
+STARTUP		:= $(OBJDIR)/startup.o
+MAP			:= $(OBJDIR)/$(BINARY).map
+OBJS 		+= $(STARTUP)
+# dependencies: we need them to recompile files if their headers-dependencies changed
+DEPS		:= $(OBJS:.o=.d)
+
+INC_DIR ?= ../inc
+
+INCLUDE 	:= -I$(INC_DIR)/Fx -I$(INC_DIR)/cm
+LIB_DIR		:= $(INC_DIR)/ld
+
+###############################################################################
+# C flags
+CFLAGS		+= -g -gdwarf-2   # debuggin symbols in listing
+CFLAGS		+= -O2 -D__thumb2__=1 -MD
+CFLAGS		+= -Wall -Werror -Wextra -Wshadow 
+CFLAGS		+= -fshort-enums -ffunction-sections -fdata-sections
+#CFLAGS		+= -fno-common -ffunction-sections -fdata-sections -fno-stack-protector
+CFLAGS		+=  $(ARCH_FLAGS)
+
+###############################################################################
+# Linker flags
+#LDFLAGS		+= -nostartfiles --static -nostdlib  -specs=nosys.specs -specs=nano.specs
+LDFLAGS		+= $(ARCH_FLAGS)
+LDFLAGS		+= -specs=nano.specs -specs=nosys.specs
+LDFLAGS		+= -L$(LIB_DIR) 
+#-L$(TOOLCHLIB)
+LDFLAGS		+= -T$(LDSCRIPT)
+LDFLAGS		+= -Wl,-Map=$(MAP),--cref -Wl,--gc-sections -Wl,--print-memory-usage
+
+###############################################################################
+# Used libraries
+#LDLIBS		+=  -lc $(shell $(CC) $(CFLAGS) -print-libgcc-file-name)
+
+DEFS		+= -DSTM32$(FAMILY) -DSTM32$(MCU)
+
+ELF		:= $(OBJDIR)/$(BINARY).elf
+LIST	:= $(OBJDIR)/$(BINARY).list
+BIN		:= $(BINARY).bin
+HEX		:= $(BINARY).hex
+
+all: bin list size
+
+elf: $(ELF)
+bin: $(BIN)
+hex: $(HEX)
+list: $(LIST)
+
+ifneq ($(MAKECMDGOALS),clean)
+-include $(DEPS)
+endif
+
+$(OBJDIR):
+	mkdir $(OBJDIR)
+
+$(STARTUP): $(INC_DIR)/startup/vector.c
+	$(CC) $(CFLAGS) $(DEFS) $(INCLUDE) -o $@ -c $<
+
+$(OBJDIR)/%.o: %.c
+	@echo "  CC      $<"
+	$(CC) $(CFLAGS) $(DEFS) $(INCLUDE) -o $@ -c $<
+
+$(BIN): $(ELF)
+	@echo "  OBJCOPY $(BIN)"
+	$(OBJCOPY) -Obinary $(ELF) $(BIN)
+
+$(HEX): $(ELF)
+	@echo "  OBJCOPY $(HEX)"
+	$(OBJCOPY) -Oihex $(ELF) $(HEX)
+
+$(LIST): $(ELF)
+	@echo "  OBJDUMP $(LIST)"
+	$(OBJDUMP) -S $(ELF) > $(LIST)
+
+$(ELF): $(OBJDIR) $(OBJS)
+	@echo "  LD      $(ELF)"
+	$(CC) $(LDFLAGS) $(OBJS) $(LDLIBS) -o $(ELF)
+
+size: $(ELF)
+	$(SIZE) $(ELF)    
+
+clean:
+	@echo "  CLEAN"
+	$(RM) $(OBJS) $(DEPS) $(ELF) $(HEX) $(LIST) $(MAP)
+	@rmdir $(OBJDIR) 2>/dev/null || true
+
+
+flash: $(BIN)
+	@echo "  FLASH  $(BIN)"
+	$(STFLASH) write $(BIN) 0x8000000
+
+boot: $(BIN)
+	@echo "  LOAD $(BIN) through bootloader"
+	$(STBOOT) -b$(BOOTSPEED) $(BOOTPORT) -w $(BIN)
+
+dfuboot: $(BIN)
+	@echo "  LOAD  $(BIN) THROUGH DFU"
+	$(DFUUTIL) -a0 -D $(BIN) -s 0x08000000
+
+.PHONY: clean flash boot

F303-nolib/floatPrintf/hardware.c

@@ -0,0 +1,32 @@
+/*
+ * This file is part of the F303usart project.
+ * Copyright 2021 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "hardware.h"
+#include "usart.h"
+
+static inline void gpio_setup(){
+    RCC->AHBENR |= RCC_AHBENR_GPIOAEN | RCC_AHBENR_GPIOBEN; // for USART and LEDs
+    for(int i = 0; i < 10000; ++i) nop();
+    GPIOB->MODER = GPIO_MODER_MODER0_O | GPIO_MODER_MODER1_O;
+    GPIOB->ODR = 1;
+}
+
+void hw_setup(){
+    gpio_setup();
+}
+

F303-nolib/floatPrintf/hardware.h

@@ -0,0 +1,27 @@
+/*
+ * This file is part of the F303usart project.
+ * Copyright 2021 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+#ifndef __HARDWARE_H__
+#define __HARDWARE_H__
+
+#include "stm32f3.h"
+
+void hw_setup();
+
+#endif // __HARDWARE_H__

F303-nolib/floatPrintf/main.c

@@ -0,0 +1,163 @@
+/*
+ * This file is part of the F303usart project.
+ * Copyright 2021 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "stm32f3.h"
+#include "hardware.h"
+#include "usart.h"
+
+//#include <arm_math.h>
+
+volatile uint32_t Tms = 0;
+
+void sys_tick_handler(void){
+    ++Tms;
+}
+
+# define IEEE_754_FLOAT_MANTISSA_BITS (23)
+# define IEEE_754_FLOAT_EXPONENT_BITS (8)
+# define IEEE_754_FLOAT_SIGN_BITS     (1)
+# if (IS_BIG_ENDIAN == 1)
+    typedef union {
+        float value;
+        struct {
+            __int8_t   sign     : IEEE_754_FLOAT_SIGN_BITS;
+            __int8_t   exponent : IEEE_754_FLOAT_EXPONENT_BITS;
+            __uint32_t mantissa : IEEE_754_FLOAT_MANTISSA_BITS;
+        };
+    } IEEE_754_float;
+# else
+    typedef union {
+        float value;
+        struct {
+            __uint32_t mantissa : IEEE_754_FLOAT_MANTISSA_BITS;
+            __int8_t   exponent : IEEE_754_FLOAT_EXPONENT_BITS;
+            __int8_t   sign     : IEEE_754_FLOAT_SIGN_BITS;
+        };
+    } IEEE_754_float;
+# endif
+
+
+#define P(x)  usart_putchar(x)
+#define S(x) usart_send(x)
+
+// be careful: if pow10 would be bigger you should change str[] size!
+static const float pwr10[] = {1., 10., 100., 1000., 10000.};
+static const float rounds[] = {0.5, 0.05, 0.005, 0.0005, 0.00005};
+#define P10L  (sizeof(pwr10)/sizeof(uint32_t) - 1)
+static char * float2str(float x, uint8_t prec){
+    if(prec > P10L) prec = P10L;
+    static char str[16] = {0}; // -117.5494E-36\0 - 14 symbols max!
+    char *s = str + 14; // go to end of buffer
+    uint8_t minus = 0;
+    if(x < 0){
+        x = -x;
+        minus = 1;
+    }
+    int pow = 0; // xxxEpow
+    // now convert float to 1.xxxE3y
+    while(x > 1000.f){
+        x /= 1000.f;
+        pow += 3;
+    }
+    while(x < 1.){
+        x *= 1000.f;
+        pow -= 3;
+    }
+    // print Eyy
+    if(pow){
+        uint8_t m = 0;
+        if(pow < 0){pow = -pow; m = 1;}
+        while(pow){
+            register int p10 = pow/10;
+            *s-- = '0' + (pow - 10*p10);
+            pow = p10;
+        }
+        if(m) *s-- = '-';
+        *s-- = 'E';
+    }
+    // now our number is in [1, 1000]
+    uint32_t units;
+    if(prec){
+        units = (uint32_t) x;
+        uint32_t decimals = (uint32_t)((x-units+rounds[prec])*pwr10[prec]);
+        // print decimals
+        while(prec){
+            register int d10 = decimals / 10;
+            *s-- = '0' + (decimals - 10*d10);
+            decimals = d10;
+            --prec;
+        }
+        // decimal point
+        *s-- = '.';
+    }else{ // without decimal part
+        units = (uint32_t) (x + 0.5);
+    }
+    // print main units
+    if(units == 0) *s-- = '0';
+    else while(units){
+        register uint32_t u10 = units / 10;
+        *s-- = '0' + (units - 10*u10);
+        units = u10;
+    }
+    if(minus) *s-- = '-';
+    return s+1;
+}
+
+static const float tests[] = {-1.23456789e-37, -3.14159265e-2, -1234.56789, -1.2345678, 0.1234567, 123.456789, 1.98765e7, 2.473829e31};
+#define TESTN 8
+
+int main(void){
+    sysreset();
+    if(!StartHSE()) StartHSI();
+    SysTick_Config((uint32_t)72000); // 1ms
+    hw_setup();
+    usart_setup();
+    usart_send("Start\n");
+    uint32_t ctr = Tms;
+    float x = 0.519, more = 5.123;
+    while(1){
+        if(Tms - ctr > 499){
+            //usart_send("ping\n");
+            ctr = Tms;
+            pin_toggle(GPIOB, 1 << 1 | 1 << 0); // toggle LED @ PB0
+            /**/
+            if((x += 0.519) > more){
+                //usart_send("MORE!\n");
+                more += 5.123;
+                //__get_FPSCR();
+            }
+        }
+        if(bufovr){
+            bufovr = 0;
+            usart_send("bufovr\n");
+        }
+        char *txt = NULL;
+        if(usart_getline(&txt)){
+            if(*txt == '?'){
+                for(int i = 0; i < TESTN; ++i) for(int j = 0; j <= (int)P10L; ++j){
+                    usart_send(float2str(tests[i], j));
+                    usart_putchar('\n');
+                }
+            }else{
+                usart_send("Get by USART1: ");
+                usart_send(txt);
+                usart_putchar('\n');
+            }
+        }
+    }
+}

F303-nolib/floatPrintf/usart.c

@@ -0,0 +1,106 @@
+/*
+ * This file is part of the F303usart project.
+ * Copyright 2021 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "stm32f3.h"
+#include "hardware.h"
+#include "usart.h"
+#include <string.h>
+
+static volatile int idatalen = 0; // received data line length (including '\n')
+
+volatile int linerdy = 0,   // received data ready
+    dlen    = 0,            // length of data (including '\n') in current buffer
+    bufovr  = 0;            // input buffer overfull
+
+static volatile int rbufno = 0; // current rbuf number
+static char rbuf[2][UARTBUFSZ]; // receive buffers
+static volatile char *recvdata = NULL;
+
+/**
+ * return length of received data (without trailing zero)
+ */
+int usart_getline(char **line){
+    if(bufovr){
+        bufovr = 0;
+        linerdy = 0;
+        return 0;
+    }
+    if(!linerdy) return 0;
+    *line = (char*)recvdata;
+    linerdy = 0;
+    return dlen;
+}
+
+void usart_putchar(const char ch){
+    while(!(USART1->ISR & USART_ISR_TXE));
+    USART1->TDR = ch;
+}
+void usart_sendn(const char *str, int L){
+    if(!str) return;
+    for(int i = 0; i < L; ++i){
+        usart_putchar(str[i]);
+    }
+}
+void usart_send(const char *str){
+    if(!str) return;
+    int L = 0;
+    const char *ptr = str;
+    while(*ptr++) ++L;
+    usart_sendn(str, L);
+}
+
+void usart_setup(){
+    // USART1: Rx - PA10 (AF7), Tx - PA9  (AF7)
+    // setup pins:
+    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)) |
+                7 << (1 * 4) | 7 << (2 * 4); // PA9, PA10
+    // clock
+    RCC->APB2ENR |= RCC_APB2ENR_USART1EN;
+    USART1->ICR = 0xffffffff; // clear all flags
+    USART1->BRR = 720000 / 1152;
+    USART1->CR1 = USART_CR1_TE | USART_CR1_RE | USART_CR1_UE | USART_CR1_RXNEIE; // 1start,8data,nstop; enable Rx,Tx,USART
+    uint32_t tmout = 16000000;
+    while(!(USART1->ISR & USART_ISR_TC)){if(--tmout == 0) break;} // polling idle frame Transmission
+    USART1->ICR = 0xffffffff; // clear all flags again
+    NVIC_SetPriority(USART1_IRQn, 0);
+    NVIC_EnableIRQ(USART1_IRQn);
+}
+
+void usart1_exti25_isr(){
+    if(USART1->ISR & USART_ISR_RXNE){ // RX not emty - receive next char
+        // read RDR clears flag
+        uint8_t rb = USART1->RDR;
+        if(idatalen < UARTBUFSZ){ // put next char into buf
+            rbuf[rbufno][idatalen++] = rb;
+            if(rb == '\n'){ // got newline - line ready
+                linerdy = 1;
+                dlen = idatalen;
+                recvdata = rbuf[rbufno];
+                recvdata[dlen-1] = 0;
+                // prepare other buffer
+                rbufno = !rbufno;
+                idatalen = 0;
+            }
+        }else{ // buffer overrun
+            bufovr = 1;
+            idatalen = 0;
+        }
+    }
+}

F303-nolib/floatPrintf/usart.h

@@ -0,0 +1,36 @@
+/*
+ * This file is part of the F303usart project.
+ * Copyright 2021 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+#ifndef __USART_H__
+#define __USART_H__
+
+#include "hardware.h"
+
+// input buffers size
+#define UARTBUFSZ  (80)
+
+extern volatile int linerdy, bufovr;
+
+void usart_setup();
+int usart_getline(char **line);
+void usart_send(const char *str);
+void usart_sendn(const char *str, int L);
+void usart_putchar(const char ch);
+
+#endif // __USART_H__

F303-nolib/inc/Fx/stm32f3.h

@@ -32,6 +32,10 @@
 
 #define VECT_TAB_OFFSET  0x0 /*!< Vector Table base offset field.
                                   This value must be a multiple of 0x200. */
+/*
+TRUE_INLINE void enable_FPU(){
+    SCB->CPACR |= ((3UL << 10*2)|(3UL << 11*2));  // set CP10 and CP11 Full Access
+}*/
 
 //extern uint32_t SystemCoreClock;          /*!< System Clock Frequency (Core Clock) */
 //extern const uint8_t AHBPrescTable[16];   /*!< AHB prescalers table values */
@@ -45,11 +49,6 @@
   */
 TRUE_INLINE void sysreset(void) // not usable
 {
-  /* FPU settings ------------------------------------------------------------*/
-  #if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
-    SCB->CPACR |= ((3UL << 10*2)|(3UL << 11*2));  /* set CP10 and CP11 Full Access */
-  #endif
-
   /* Reset the RCC clock configuration to the default reset state ------------*/
   /* Set HSION bit */
   RCC->CR |= RCC_CR_HSION;

F303-nolib/inc/startup/vector.c

@@ -833,6 +833,14 @@ void WEAK __attribute__ ((naked)) __attribute__ ((noreturn)) reset_handler(void)
   // enable 8-byte stack alignment to comply with AAPCS
   SCB->CCR |= 0x00000200;
 
+  /* FPU settings ------------------------------------------------------------*/
+  #if (__FPU_PRESENT == 1)
+    SCB->CPACR = 0x0f << 20 ;  /* set CP10 and CP11 Full Access */
+    nop();
+    __DSB();
+    __ISB();
+  #endif
+
   // copy initialized variables data
   while ( dst < &_edata ) { *dst++ = *src++; }