3steppers next stage

F0-nolib/3steppersLB/can.c

@@ -308,7 +308,7 @@ static void formerr(CAN_message *msg, errcodes err){
  * @brief parseCANcommand - parser
  * @param msg - incoming message @ my CANID
  * FORMAT:
- *  0 1   2      3   4 5 6 7
+ *  0 1   2      3    4 5 6 7
  * [CMD][PAR][errcode][VALUE]
  * CMD - uint16_t, PAR - uint8_t, errcode - one of CAN_errcodes, VALUE - int32_t
  * `errcode` of  incoming message doesn't matter
@@ -330,14 +330,14 @@ TRUE_INLINE void parseCANcommand(CAN_message *msg){
         goto sendmessage;
     }
     msg->data[3] = ERR_OK;
-    uint8_t *par = (uint8_t *)(&msg->data[2]);
+    uint8_t par = msg->data[2];
-    if(*par & 0x80){
+    if(par & 0x80){
         formerr(msg, ERR_BADPAR);
         goto sendmessage;
     }
     int32_t *val = (int32_t *)(&msg->data[4]);
-    if(msg->length == 8) *par |= 0x80;
+    if(msg->length == 8) par |= 0x80;
-    else if(msg->length == 2) *par = CANMESG_NOPAR; // no parameter
+    else if(msg->length == 2) par = CANMESG_NOPAR; // no parameter
     else if(msg->length != 3){ // wrong length
         formerr(msg, ERR_WRONGLEN);
         goto sendmessage;

F0-nolib/3steppersLB/commonproto.c

@@ -20,16 +20,20 @@
 #include "buttons.h"
 #include "can.h"
 #include "commonproto.h"
+#include "flash.h"
 #include "hardware.h"
+#ifdef EBUG
+#include "strfunct.h"
+#endif
 
 /******* All functions from cmdlist[i].function *******/
 
-static errcodes pingparser(uint8_t _U_ *par, int32_t _U_ *val){
+static errcodes pingparser(uint8_t _U_ par, int32_t _U_ *val){
     return ERR_OK; // just echo all input data over CAN (or return OK to USB)
 }
 
-static errcodes relayparser(uint8_t _U_ *par, int32_t _U_ *val){
+static errcodes relayparser(uint8_t par, int32_t *val){
-    if(ISSETTER(*par)){
+    if(ISSETTER(par)){
         if(*val) ON(RELAY);
         else OFF(RELAY);
     }
@@ -37,8 +41,8 @@ static errcodes relayparser(uint8_t _U_ *par, int32_t _U_ *val){
     return ERR_OK;
 }
 
-static errcodes buzzerparser(uint8_t _U_ *par, int32_t _U_ *val){
+static errcodes buzzerparser(uint8_t par, int32_t *val){
-    if(ISSETTER(*par)){
+    if(ISSETTER(par)){
         if(*val) ON(BUZZER);
         else OFF(BUZZER);
     }
@@ -46,8 +50,8 @@ static errcodes buzzerparser(uint8_t _U_ *par, int32_t _U_ *val){
     return ERR_OK;
 }
 
-static errcodes adcparser(uint8_t _U_ *par, int32_t _U_ *val){
+static errcodes adcparser(uint8_t par, int32_t *val){
-    uint8_t n = PARBASE(*par);
+    uint8_t n = PARBASE(par);
     if(n > NUMBER_OF_ADC_CHANNELS) return ERR_BADPAR;
     *val = (int32_t) getADCval(n);
     return ERR_OK;
@@ -55,51 +59,57 @@ static errcodes adcparser(uint8_t _U_ *par, int32_t _U_ *val){
 
 // NON-STANDARD COMMAND!!!!!!!
 // errcode == keystate, value = last time!!!!
-static errcodes buttonsparser(uint8_t _U_ *par, int32_t _U_ *val){
+static errcodes buttonsparser(uint8_t par, int32_t *val){
-#if BTNSNO > 4
+    uint8_t n = PARBASE(par);
-#error "change the code!!!"
+    if(n > BTNSNO-1){
-#endif
+        par = CANMESG_NOPAR; // the only chance to understand error
-    uint8_t n = PARBASE(*par);
-    if(n >= BTNSNO){
-        *par = CANMESG_NOPAR; // the only chance to understand error
         return ERR_BADPAR;
     }
     return (uint8_t) keystate(n, (uint32_t*)val);
 }
 
-static errcodes eswparser(uint8_t _U_ *par, int32_t _U_ *val){
+// if N > amount of esw, return all (by bytes)
-    uint8_t n = PARBASE(*par);
+static errcodes eswparser(uint8_t par, int32_t *val){
-    if(n > ESWNO-1) return ERR_BADPAR;
+#if ESWNO > 4
+#error "change the code!!!"
+#endif
+    uint8_t n = PARBASE(par);
+    if(n > ESWNO-1){ // all
+        uint8_t *arr = (uint8_t*)val;
+        for(int i = 0; i < ESWNO; ++i)
+            *arr++ = ESW_state(i);
+        return ERR_OK;
+    }
     *val = (int32_t)ESW_state(n);
     return ERR_OK;
 }
 
-static errcodes mcutparser(uint8_t _U_ *par, int32_t _U_ *val){
+static errcodes mcutparser(uint8_t _U_ par, int32_t *val){
     *val = getMCUtemp();
     return ERR_OK;
 }
 
-static errcodes mcuvddparser(uint8_t _U_ *par, int32_t _U_ *val){
+static errcodes mcuvddparser(uint8_t _U_ par, int32_t *val){
     *val = getVdd();
     return ERR_OK;
 }
 
-static errcodes resetparser(uint8_t _U_ *par, int32_t _U_ *val){
+static errcodes resetparser(uint8_t _U_ par, int32_t _U_ *val){
     NVIC_SystemReset();
     return ERR_OK;
 }
 
-static errcodes timeparser(uint8_t _U_ *par, int32_t _U_ *val){
+static errcodes timeparser(uint8_t _U_ par, int32_t *val){
     *val = Tms;
     return ERR_OK;
 }
 
-static errcodes pwmparser(uint8_t _U_ *par, int32_t _U_ *val){
+static errcodes pwmparser(uint8_t par, int32_t *val){
-    if(PARBASE(*par) > PWMCHMAX && *par != CANMESG_NOPAR) return ERR_BADPAR;
+    if(PARBASE(par) > PWMCHMAX && par != CANMESG_NOPAR) return ERR_BADPAR;
 #if PWMCHMAX != 0
 #error "change the code!!!"
 #endif
-    if(ISSETTER(*par)){
+    if(ISSETTER(par)){
         if(*val < 0 || *val > PWMMAX) return ERR_BADVAL;
         PWMset((uint32_t)*val);
     }
@@ -107,12 +117,65 @@ static errcodes pwmparser(uint8_t _U_ *par, int32_t _U_ *val){
     return ERR_OK;
 }
 
-static errcodes extparser(uint8_t _U_ *par, int32_t _U_ *val){
+
+TRUE_INLINE void setextpar(uint8_t val, uint8_t i){
+    switch(val){
+        case 0:
+            EXT_CLEAR(i);
+        break;
+        case 1:
+            EXT_SET(i);
+        break;
+        default:
+            EXT_TOGGLE(i);
+    }
+}
+// if `par` is absent, set/get all values in subsequent bytes
+// 1 - external signal high, 0 - low
+// commands: 0 - reset, 1 - set, !!!!other - toggle!!!!
+static errcodes extparser(uint8_t par, int32_t *val){
+#if EXTNO > 4
+#error "change the code!!!"
+#endif
+    uint8_t n = PARBASE(par);
+    SEND("par="); printu(par);
+    SEND(", n="); bufputchar('0'+n); newline();
+    if(n > EXTNO-1){ // all
+        SEND("ALL\n");
+        uint8_t *arr = (uint8_t*)val;
+        if(ISSETTER(par)){
+            for(int i = 0; i < EXTNO; ++i)
+                setextpar(arr[i], i);
+        }
+        for(int i = 0; i < EXTNO; ++i){
+            arr[i] = EXT_CHK(i);
+        }
+        return ERR_OK;
+    }
+    if(ISSETTER(par))
+        setextpar((uint8_t)*val, n);
+    *val = (int32_t) EXT_CHK(n);
     return ERR_OK;
 }
 
+static errcodes saveconfparser(uint8_t _U_ par, int32_t _U_ *val){
+    if(store_userconf()) return ERR_CANTRUN;
+    return ERR_OK;
+}
+
+#if 0
+typedef struct __attribute__((packed, aligned(4))){
+    uint16_t microsteps;        // microsteps amount per step
+    uint16_t accdecsteps;       // amount of steps need for full acceleration/deceleration cycle
+    uint16_t motspd;            // max motor speed (steps per second)
+    uint32_t maxsteps;          // maximal amount of steps from ESW0 to EWS3
+    defflags_t  defflags;       // default flags
+} user_conf;
+#endif
+
+
 /*
-static CAN_errcodes parser(const uint8_t _U_ *par, const int32_t _U_ *val){
+static CAN_errcodes parser(const uint8_t _U_ par, const int32_t _U_ *val){
     return CANERR_OK;
 }*/
 
@@ -130,4 +193,6 @@ const commands cmdlist[CMD_AMOUNT] = {
     [CMD_TIMEFROMSTART] = {"time", timeparser, "get time from start"},
     [CMD_PWM] = {"pwm", pwmparser, "pwm value"},
     [CMD_EXT] = {"ext", extparser, "external outputs"},
+    [CMD_SAVECONF] = {"saveconf", saveconfparser, "save current configuration"},
 };
+

F0-nolib/3steppersLB/commonproto.h

@@ -24,7 +24,9 @@
 
 #include "can.h"
 
+#ifndef _U_
 #define _U_         __attribute__((unused))
+#endif
 
 // message have no parameter
 #define CANMESG_NOPAR       (127)
@@ -47,7 +49,7 @@ typedef enum{
 // if(par &0x80) it is setter, if not - getter
 // if par == 0x127 it means absense of parameter!!!
 // @return CANERR_OK (0) if OK or error code
-typedef errcodes (*fpointer)(uint8_t *par, int32_t *val);
+typedef errcodes (*fpointer)(uint8_t par, int32_t *val);
 
 typedef struct{
     const char *command;    // text command (up to 65536 commands)
@@ -68,7 +70,9 @@ enum{
     ,CMD_TIMEFROMSTART      // get time from start
     ,CMD_PWM                // PWM value
     ,CMD_EXT                // value on EXTx outputs
-    ,CMD_AMOUNT             // amount of CANBUS commands, pure USB commands coming after it
+    ,CMD_SAVECONF           // save configuration
+    // should be the last:
+    ,CMD_AMOUNT             // amount of common commands
 };
 
 extern const commands cmdlist[CMD_AMOUNT];

F0-nolib/3steppersLB/flash.c

@@ -26,20 +26,23 @@
 #include "flash.h"
 #include "strfunct.h"
 
+extern const uint32_t __varsstart, _BLOCKSIZE;
+
+static const uint32_t blocksize = (uint32_t)&_BLOCKSIZE;
 
 // max amount of Config records stored (will be recalculate in flashstorage_init()
-static uint32_t maxCnum = FLASH_BLOCK_SIZE / sizeof(user_conf);
+static uint32_t maxCnum = 1024 / sizeof(user_conf); // can't use blocksize here
 
 #define USERCONF_INITIALIZER  {             \
      .userconf_sz = sizeof(user_conf)       \
-    ,.defflags.reverse = 0                  \
     ,.CANspeed = 100                        \
-    ,.microsteps = 16                       \
+    ,.CANID = 0xaa                          \
-    ,.accdecsteps = 25                      \
+    ,.microsteps = {32, 32, 32}             \
-    ,.motspd = 1000                         \
+    ,.accdecsteps = {25, 25, 25}            \
-    ,.maxsteps = 50000                      \
+    ,.maxspd = {1000, 1000, 1000}           \
+    ,.maxsteps = {50000, 50000, 50000}      \
+    ,.motflags = {{0},{0},{0}}              \
     }
-
 static int erase_flash(const void*, const void*);
 static int write2flash(const void*, const void*, uint32_t);
 // don't write `static` here, or get error:
@@ -83,7 +86,7 @@ static int binarySearch(int r, const uint8_t *start, int stor_size){
  */
 void flashstorage_init(){
     if(FLASH_SIZE > 0 && FLASH_SIZE < 20000){
-        uint32_t flsz = FLASH_SIZE * 1024; // size in bytes
+        uint32_t flsz = FLASH_SIZE * blocksize; // size in bytes
         flsz -= (uint32_t)(&__varsstart) - FLASH_BASE;
         maxCnum = flsz / sizeof(user_conf);
     }
@@ -147,13 +150,13 @@ static int erase_flash(const void *start, const void *end){
     uint32_t nblocks = 1, flsz = 0;
     if(!end){ // erase all remaining
         if(FLASH_SIZE > 0 && FLASH_SIZE < 20000){
-            flsz = FLASH_SIZE * 1024; // size in bytes
+            flsz = FLASH_SIZE * blocksize; // size in bytes
             flsz -= (uint32_t)start - FLASH_BASE;
         }
     }else{ // erase a part
         flsz = (uint32_t)end - (uint32_t)start;
     }
-    nblocks = flsz / FLASH_BLOCK_SIZE;
+    nblocks = flsz / blocksize;
     if(nblocks == 0 || nblocks >= FLASH_SIZE) return 1;
     for(uint32_t i = 0; i < nblocks; ++i){
         IWDG->KR = IWDG_REFRESH;
@@ -177,7 +180,7 @@ static int erase_flash(const void *start, const void *end){
         /* (5) Clear EOP flag by software by writing EOP at 1 */
         /* (6) Reset the PER Bit to disable the page erase */
         FLASH->CR |= FLASH_CR_PER; /* (1) */
-        FLASH->AR = (uint32_t)Flash_Data + i*FLASH_BLOCK_SIZE; /* (2) */
+        FLASH->AR = (uint32_t)Flash_Data + i*blocksize; /* (2) */
         FLASH->CR |= FLASH_CR_STRT; /* (3) */
         while(!(FLASH->SR & FLASH_SR_EOP));
         FLASH->SR |= FLASH_SR_EOP; /* (5)*/
@@ -191,16 +194,32 @@ static int erase_flash(const void *start, const void *end){
     return ret;
 }
 
-void dump_userconf(){
+void dump_userconf(_U_ char *txt){
-    SEND("userconf_addr="); printuhex((uint32_t)Flash_Data);
+#ifdef EBUG
-    SEND("\nuserconf_sz="); printu(the_conf.userconf_sz);
+    SEND("flashsize="); printu(FLASH_SIZE); bufputchar('*');
-    SEND("\nCANspeed="); printu(the_conf.CANspeed);
+    printu(blocksize); bufputchar('='); printu(FLASH_SIZE*blocksize);
-    SEND("\nmicrosteps="); printu(the_conf.microsteps);
-    SEND("\naccdecsteps="); printu(the_conf.accdecsteps);
-    SEND("\nmotspd="); printu(the_conf.motspd);
-    SEND("\nmaxsteps="); printu(the_conf.maxsteps);
-    //flags
-    SEND("\nreverse="); bufputchar('0' + the_conf.defflags.reverse);
     newline();
-    sendbuf();
+#endif
+    SEND("userconf_addr="); printuhex((uint32_t)Flash_Data);
+    SEND("\nuserconf_idx="); printi(currentconfidx);
+    SEND("\nuserconf_sz="); printu(the_conf.userconf_sz);
+    SEND("\ncanspeed="); printu(the_conf.CANspeed);
+    SEND("\ncanid="); printu(the_conf.CANID);
+    // motors' data
+    for(int i = 0; i < MOTORSNO; ++i){
+        char cur = '0' + i;
+#define PROPNAME(nm)    do{newline(); SEND(nm); bufputchar(cur); bufputchar('=');}while(0)
+        PROPNAME("reverse");
+        bufputchar('0' + the_conf.motflags[i].reverse);
+        PROPNAME("microsteps");
+        printu(the_conf.microsteps[i]);
+        PROPNAME("accdecsteps");
+        printu(the_conf.accdecsteps[i]);
+        PROPNAME("maxspeed");
+        printu(the_conf.maxspd[i]);
+        PROPNAME("maxsteps");
+        printu(the_conf.maxsteps[i]);
+#undef PROPNAME
+    }
+    NL();
 }

F0-nolib/3steppersLB/flash.h

@@ -26,34 +26,42 @@
 
 #include "hardware.h"
 
-#define FLASH_BLOCK_SIZE    (1024)
+#ifndef _U_
-#define FLASH_SIZE_REG      ((uint32_t)0x1FFFF7CC)
+#define _U_         __attribute__((unused))
+#endif
+
+
+// register with flash size (in blocks)
+#ifndef FLASH_SIZE_REG
+blocksizeASH_SIZE_REG      ((uint32_t)0x1FFFF7CC)
+#endif
+
 #define FLASH_SIZE          *((uint16_t*)FLASH_SIZE_REG)
 
+// motor flags
 typedef struct{
     uint8_t reverse : 1;
-} defflags_t;
+} motflags_t;
 
 /*
  * struct to save user configurations
  */
 typedef struct __attribute__((packed, aligned(4))){
-    uint16_t userconf_sz;       // "magick number"
+    uint16_t userconf_sz;           // "magick number"
-    uint32_t maxsteps;          // maximal amount of steps from ESW0 to EWS3
+    uint16_t CANspeed;              // default CAN speed
-    uint16_t CANspeed;          // default CAN speed
+    uint16_t CANID;                 // identifier
-    uint16_t CANID;             // identifier
+    uint16_t microsteps[MOTORSNO];  // microsteps amount per step
-    uint16_t microsteps;        // microsteps amount per step
+    uint16_t accdecsteps[MOTORSNO]; // amount of steps need for full acceleration/deceleration cycle
-    uint16_t accdecsteps;       // amount of steps need for full acceleration/deceleration cycle
+    uint16_t maxspd[MOTORSNO];      // max motor speed (steps per second)
-    uint16_t motspd;            // max motor speed (steps per second)
+    uint32_t maxsteps[MOTORSNO];    // maximal amount of steps from ESW0 to EWS3
-    defflags_t  defflags;       // default flags
+    motflags_t motflags[MOTORSNO];  // motor's flags
 } user_conf;
 
 extern user_conf the_conf; // global user config (read from FLASH to RAM)
 // data from ld-file: start address of storage
-extern const uint32_t __varsstart;
 
 void flashstorage_init();
 int store_userconf();
-void dump_userconf();
+void dump_userconf(_U_ char *txt);
 
 #endif // __FLASH_H__

F0-nolib/3steppersLB/hardware.c

@@ -18,6 +18,7 @@
 
 #include "hardware.h"
 #include "can.h"
+#include "steppers.h"
 
 // Buttons: PA10, PA13, PA14, PA15, pullup (0 active)
 volatile GPIO_TypeDef *BTNports[BTNSNO] = {GPIOA, GPIOA, GPIOA, GPIOA};
@@ -75,21 +76,50 @@ void iwdg_setup(){
     IWDG->KR = IWDG_REFRESH; /* (6) */
 }
 
-void timers_setup(){
+// motor's PWM
-#if 0
+static void setup_mpwm(TIM_TypeDef *TIM){
-    // TIM1 channels 1..3 - PWM output
+    TIM->PSC = 999; // 48kHz
-    RCC->APB2ENR |= RCC_APB2ENR_TIM1EN; // enable clocking
+    TIM->ARR = 1000; // starting ARR value
-    TIM1->PSC = 9; // F=48/10 = 4.8MHz
-    TIM1->ARR = 255; // PWM frequency = 4800/256 = 18.75kHz
     // PWM mode 1 (OCxM = 110), preload enable
-    TIM1->CCMR1 =   TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1PE |
+    TIM->CCMR1 =   TIM_CCMR1_OC1M_2; // Force inactive
+    TIM->CCER = TIM_CCER_CC1E; // turn it on, active high
+    TIM->CCR1 = 1; // 20.8us for pulse duration, according to datasheet 1.9us is enough
+    TIM->BDTR |= TIM_BDTR_MOE; // enable main output
+    TIM->CR1 |= TIM_CR1_CEN; // enable timer
+    TIM->EGR |= TIM_EGR_UG; // force update generation
+    TIM->DIER = TIM_DIER_CC1IE; // allow CC interrupt (we should count steps)
+}
+/*
+static void setup_enc(TIM_TypeDef *TIM, uint16_t arrval){
+    TIM->PSC = 9; // F=48/10 = 4.8MHz
+    TIM->ARR = arrval; // PWM frequency = 4800/256 = 18.75kHz
+    // PWM mode 1 (OCxM = 110), preload enable
+    TIM->CCMR1 =   TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1PE |
                     TIM_CCMR1_OC2M_2 | TIM_CCMR1_OC2M_1 | TIM_CCMR1_OC2PE;
-    TIM1->CCMR2 =   TIM_CCMR2_OC3M_2 | TIM_CCMR2_OC3M_1 | TIM_CCMR2_OC3PE;
+    TIM->CCMR2 =   TIM_CCMR2_OC3M_2 | TIM_CCMR2_OC3M_1 | TIM_CCMR2_OC3PE;
-    TIM1->CCER = TIM_CCER_CC1E | TIM_CCER_CC2E | TIM_CCER_CC3E; // active high (CC1P=0), enable outputs
+    TIM->CCER = TIM_CCER_CC1E | TIM_CCER_CC2E | TIM_CCER_CC3E; // active high (CC1P=0), enable outputs
-    TIM1->BDTR |= TIM_BDTR_MOE; // enable main output
+    TIM->BDTR |= TIM_BDTR_MOE; // enable main output
-    TIM1->CR1 |= TIM_CR1_CEN; // enable timer
+    TIM->CR1 |= TIM_CR1_CEN; // enable timer
-    TIM1->EGR |= TIM_EGR_UG; // force update generation
+    TIM->EGR |= TIM_EGR_UG; // force update generation
-#endif
+}*/
+
+// timers 14,15,16,17 - PWM@ch1, 1,2,3 - encoders @ ch1/2
+void timers_setup(){
+    RCC->APB1ENR |= RCC_APB1ENR_TIM2EN | RCC_APB1ENR_TIM3EN | RCC_APB1ENR_TIM14EN;
+    RCC->APB2ENR |= RCC_APB2ENR_TIM1EN | RCC_APB2ENR_TIM15EN | RCC_APB2ENR_TIM16EN | RCC_APB2ENR_TIM17EN; // enable clocking
+    setup_mpwm(TIM14);
+    setup_mpwm(TIM15);
+    setup_mpwm(TIM16);
+    // setup PWM @ TIM17
+    TIM17->PSC = 5; // 8MHz for 31kHz PWM
+    TIM17->ARR = 254; // ARR for 8-bit PWM
+    TIM17->BDTR |= TIM_BDTR_MOE; // enable main output
+    TIM17->CCER = TIM_CCER_CC1E; // enable PWM output
+    TIM17->CR1 |= TIM_CR1_CEN; // enable timer
+    ;
+    NVIC_EnableIRQ(TIM14_IRQn);
+    NVIC_EnableIRQ(TIM15_IRQn);
+    NVIC_EnableIRQ(TIM16_IRQn);
 }
 
 // pause in milliseconds for some purposes
@@ -98,6 +128,10 @@ void pause_ms(uint32_t pause){
     while(Tms < Tnxt) nop();
 }
 
+#ifndef STM32F072xB
+#warning "Only F072 can jump to bootloader"
+#endif
+
 void Jump2Boot(){ // for STM32F072
     void (*SysMemBootJump)(void);
     volatile uint32_t addr = 0x1FFFC800;
@@ -125,3 +159,18 @@ void Jump2Boot(){ // for STM32F072
     SysMemBootJump();
 }
 
+
+// count steps @tim 14/15/16
+static void stp_isr(TIM_TypeDef *TIM, int i){
+    ++steps[i]; // count steps
+    TIM->SR = 0;
+}
+void tim14_isr(){
+    stp_isr(TIM14, 0);
+}
+void tim15_isr(){
+    stp_isr(TIM15, 1);
+}
+void tim16_isr(){
+    stp_isr(TIM16, 2);
+}

F0-nolib/3steppersLB/steppers.c

@@ -0,0 +1,23 @@
+/*
+ * This file is part of the 3steppers 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 "steppers.h"
+
+int32_t steps[MOTORSNO] = {0,0,0};
+

F0-nolib/3steppersLB/steppers.h

@@ -0,0 +1,27 @@
+/*
+ * This file is part of the 3steppers 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 STEPPERS_H__
+#define STEPPERS_H__
+
+#include <stm32f0.h>
+
+extern int32_t steps[];
+
+#endif // STEPPERS_H__

F0-nolib/3steppersLB/strfunct.c

@@ -145,11 +145,9 @@ static void sendCANcommand(char *txt){
 static void CANini(char *txt){
     txt = omit_spaces(txt);
     int32_t N;
+    if(!txt) goto eofunc;
     char *n = getnum(txt, &N);
-    if(txt == n){
+    if(txt == n)  goto eofunc;
-        SEND("No speed given");
-        return;
-    }
     if(N < 50){
         SEND("Lowest speed is 50kbps");
         return;
@@ -157,9 +155,10 @@ static void CANini(char *txt){
         SEND("Highest speed is 3000kbps");
         return;
     }
+    the_conf.CANspeed = (uint16_t)N;
     CAN_reinit((uint16_t)N);
-    SEND("Reinit CAN bus with speed ");
+eofunc:
-    printu(N); SEND("kbps");
+    SEND("canspeed="); printu(the_conf.CANspeed); NL();
 }
 
 static void addIGN(char *txt){
@@ -348,7 +347,22 @@ static void add_filter(char *str){
     printu(nfilt); SEND(" parameters");
 }
 
-void getcanid(_U_ char *txt){
+void canid(char *txt){
+    if(txt && *txt){
+        int good = FALSE;
+        char *eq = getchr(txt, '=');
+        if(eq){
+            eq = omit_spaces(eq+1);
+            if(eq){
+                int32_t N;
+                if(eq != getnum(eq, &N) && N > -1 && N < 0xfff){
+                    the_conf.CANID = (uint16_t)N;
+                    good = TRUE;
+                }
+            }
+        }
+        if(!good) SEND("CANID setter format: `canid=ID`, ID is 11bit\n");
+    }
     SEND("canid="); printuhex(the_conf.CANID);
 }
 
@@ -384,12 +398,13 @@ const speccommands scmdlist[] = {
     {"dfu", bootldr, "activate DFU mode"},
     {"filter", add_filter, "add/modify filter, format: bank# FIFO# mode(M/I) num0 [num1 [num2 [num3]]]"},
     {"canspeed", CANini, "CAN bus speed"},
-    {"canid", getcanid, "read CAN ID"},
+    {"canid", canid, "get/set CAN ID"},
     {"listfilters", list_filters, "list all active filters"},
     {"ignbuf", print_ign_buf, "print ignore buffer"},
     {"pause", inpause, "pause IN packets displaying"},
     {"resume", inresume, "resume IN packets displaying"},
     {"send", sendCANcommand, "send data over CAN: send ID byte0 .. byteN"},
+    {"dumpconf", dump_userconf, "dump current configuration"},
     {NULL, NULL, NULL}
 };
 
@@ -470,10 +485,12 @@ void cmd_parser(char *txt){
             }
         }
         // here we got command & ppar/pval -> call CMD
-        errcodes retcode = cmdlist[idx].function(&par, &val);
+        errcodes retcode = cmdlist[idx].function(par, &val);
         SEND(cmd);
-        if(par != CANMESG_NOPAR) printu(par & 0x7f);
+        par &= 0x7f;
+        if(par != CANMESG_NOPAR) printu(par);
         bufputchar('='); printi(val);
+        SEND(" ("); printuhex((uint32_t)val); bufputchar(')');
         if(ERR_OK != retcode){
             SEND("\nERRCODE=");
             printu(retcode);

F0-nolib/Snippets/Flash_EEPROM/flash.c

@@ -40,8 +40,12 @@
 #include "proto.h"  // printout
 #include <string.h> // memcpy
 
+extern const uint32_t __varsstart, _BLOCKSIZE;
+// ld-script shoul include _BLOCKSIZE = 1024; (or 2048)
+static const uint32_t blocksize = (uint32_t)&_BLOCKSIZE;
+
 // max amount of Config records stored (will be recalculate in flashstorage_init()
-static uint32_t maxCnum = FLASH_BLOCK_SIZE / sizeof(user_conf);
+static uint32_t maxCnum = 1024 / sizeof(user_conf); // can't use blocksize here
 
 #define USERCONF_INITIALIZER  {             \
      .userconf_sz = sizeof(user_conf)       \
@@ -92,7 +96,7 @@ static int binarySearch(int r, const uint8_t *start, int stor_size){
  */
 void flashstorage_init(){
     if(FLASH_SIZE > 0 && FLASH_SIZE < 20000){
-        uint32_t flsz = FLASH_SIZE * 1024; // size in bytes
+        uint32_t flsz = FLASH_SIZE * blocksize; // size in bytes
         flsz -= (uint32_t)(&__varsstart) - FLASH_BASE;
         maxCnum = flsz / sizeof(user_conf);
 //SEND("flsz="); printu(flsz);
@@ -161,13 +165,13 @@ static int erase_flash(const void *start, const void *end){
     uint32_t nblocks = 1, flsz = 0;
     if(!end){ // erase all remaining
         if(FLASH_SIZE > 0 && FLASH_SIZE < 20000){
-            flsz = FLASH_SIZE * 1024; // size in bytes
+            flsz = FLASH_SIZE * blocksize; // size in bytes
             flsz -= (uint32_t)start - FLASH_BASE;
         }
     }else{ // erase a part
         flsz = (uint32_t)end - (uint32_t)start;
     }
-    nblocks = flsz / FLASH_BLOCK_SIZE;
+    nblocks = flsz / blocksize;
     if(nblocks == 0 || nblocks >= FLASH_SIZE) return 1;
     for(uint32_t i = 0; i < nblocks; ++i){
 #ifdef EBUG
@@ -194,7 +198,7 @@ static int erase_flash(const void *start, const void *end){
         /* (5) Clear EOP flag by software by writing EOP at 1 */
         /* (6) Reset the PER Bit to disable the page erase */
         FLASH->CR |= FLASH_CR_PER; /* (1) */
-        FLASH->AR = (uint32_t)Flash_Data + i*FLASH_BLOCK_SIZE; /* (2) */
+        FLASH->AR = (uint32_t)Flash_Data + i*blocksize; /* (2) */
         FLASH->CR |= FLASH_CR_STRT; /* (3) */
         while(!(FLASH->SR & FLASH_SR_EOP));
         FLASH->SR |= FLASH_SR_EOP; /* (5)*/
@@ -210,6 +214,11 @@ static int erase_flash(const void *start, const void *end){
 }
 
 void dump_userconf(){
+#ifdef EBUG
+    SEND("flashsize="); printu(FLASH_SIZE); bufputchar('*');
+    printu(blocksize); bufputchar('='); printu(FLASH_SIZE*blocksize);
+    newline();
+#endif
     SEND("userconf_addr="); printuhex((uint32_t)Flash_Data);
     SEND("\nuserconf_sz="); printu(the_conf.userconf_sz);
     SEND("\nflags="); printuhex(the_conf.defflags);

F0-nolib/Snippets/Flash_EEPROM/flash.h

@@ -26,22 +26,26 @@
 
 #include "hardware.h"
 
-#define FLASH_BLOCK_SIZE    (1024)
+#ifndef FLASH_SIZE_REG
-#define FLASH_SIZE_REG      ((uint32_t)0x1FFFF7CC)
+blocksizeASH_SIZE_REG      ((uint32_t)0x1FFFF7CC)
+#endif
 #define FLASH_SIZE          *((uint16_t*)FLASH_SIZE_REG)
 
+typedef struct{
+    uint8_t flag1 : 1;
+    uint8_t flag2 : 1; //...
+} defflags_t;
+
 /*
  * struct to save user configurations
  */
 typedef struct __attribute__((packed, aligned(4))){
     uint16_t userconf_sz;       // "magick number"
-    uint8_t  defflags;          // default flags
     uint16_t CANspeed;          // default CAN speed
+    defflags_t defflags;        // default flags
 } user_conf;
 
 extern user_conf the_conf; // global user config (read from FLASH to RAM)
-// data from ld-file: start address of storage
-extern const uint32_t __varsstart;
 
 void flashstorage_init();
 int store_userconf();

F0-nolib/Snippets/printuhex.c

@@ -11,3 +11,26 @@ void printuhex(uint32_t val){
         }
     }
 }
+
+// print 32bit unsigned int
+void printu(uint32_t val){
+    char buf[11], *bufptr = &buf[10];
+    *bufptr = 0;
+    if(!val){
+        *(--bufptr) = '0';
+    }else{
+        while(val){
+            register uint32_t o = val;
+            val /= 10;
+            *(--bufptr) = (o - 10*val) + '0';
+        }
+    }
+    addtobuf(bufptr);
+}
+void printi(int32_t val){
+    if(val < 0){
+        val = -val;
+        bufputchar('-');
+    }
+    printu((uint32_t)val);
+}

F0-nolib/inc/Fx/flash_size_reg.h

@@ -0,0 +1,10 @@
+#define STM32F0_FlashAddr   0x1FFFF7CC   // âÁÚÏ×ÙÊ ÁÄÒÅÓ ÅÍËÏÓÔÉ ÆÌÜÛ-ÐÁÍÑÔÉ STM32F0
+#define STM32F1_FlashAddr   0x1FFFF7E0   // âÁÚÏ×ÙÊ ÁÄÒÅÓ ÅÍËÏÓÔÉ ÆÌÜÛ-ÐÁÍÑÔÉ STM32F1
+#define STM32F2_FlashAddr   0x1FFF7A22   // âÁÚÏ×ÙÊ ÁÄÒÅÓ ÅÍËÏÓÔÉ ÆÌÜÛ-ÐÁÍÑÔÉ STM32F2
+#define STM32F3_FlashAddr   0x1FFFF7CC   // âÁÚÏ×ÙÊ ÁÄÒÅÓ ÅÍËÏÓÔÉ ÆÌÜÛ-ÐÁÍÑÔÉ STM32F3
+#define STM32F4_FlashAddr   0x1FFF7A22   // âÁÚÏ×ÙÊ ÁÄÒÅÓ ÅÍËÏÓÔÉ ÆÌÜÛ-ÐÁÍÑÔÉ STM32F4
+#define STM32F7_FlashAddr   0x1FF0F442   // âÁÚÏ×ÙÊ ÁÄÒÅÓ ÆÌÜÛ-ÐÁÍÑÔÉ STM32F7
+#define STM32L0_FlashAddr   0x1FF8007C   // âÁÚÏ×ÙÊ ÁÄÒÅÓ ÅÍËÏÓÔÉ ÆÌÜÛ-ÐÁÍÑÔÉ STM32L0
+#define STM32L1_FlashAddr   0x1FF8004C   // âÁÚÏ×ÙÊ ÁÄÒÅÓ ÅÍËÏÓÔÉ ÆÌÜÛ-ÐÁÍÑÔÉ STM32L1
+#define STM32L4_FlashAddr   0x1FFF75E0   // âÁÚÏ×ÙÊ ÁÄÒÅÓ ÅÍËÏÓÔÉ ÆÌÜÛ-ÐÁÍÑÔÉ STM32L4
+#define STM32H7_FlashAddr   0x1FF0F442   // âÁÚÏ×ÙÊ ÁÄÒÅÓ ÆÌÜÛ-ÐÁÍÑÔÉ STM32H7

F0-nolib/inc/Fx/stm32f0.h

@@ -257,9 +257,10 @@ TRUE_INLINE void StartHSI48(){
 
 
 /******************  FLASH Keys  **********************************************/
-#define RDP_Key                  ((uint16_t)0x00A5)
+#define RDP_Key                 ((uint16_t)0x00A5)
-#define FLASH_KEY1               ((uint32_t)0x45670123)
+#define FLASH_KEY1              ((uint32_t)0x45670123)
-#define FLASH_KEY2               ((uint32_t)0xCDEF89AB)
+#define FLASH_KEY2              ((uint32_t)0xCDEF89AB)
+#define FLASH_SIZE_REG          ((uint32_t)0x1FFFF7CC)
 
 /************************* ADC *************************/
 /* inner termometer calibration values

F0-nolib/inc/Fx/stm32f1.h

@@ -190,6 +190,9 @@ IDR - input, ODR - output (or pullups management),
 #define IWDG_WRITE_ACCESS (uint32_t)(0x00005555)
 #define IWDG_START        (uint32_t)(0x0000CCCC)
 
+// flash size
+#define FLASH_SIZE_REG      ((uint32_t)0x1FFFF7E0)
+
 
 #if 0
 /************************* ADC *************************/

F0-nolib/inc/ld/stm32f01234.ld

@@ -73,7 +73,7 @@ SECTIONS {
 
   .myvars :
   {
-    . = ALIGN(1024);
+    . = ALIGN(_BLOCKSIZE);
     __varsstart = ABSOLUTE(.);
     KEEP(*(.myvars));
   } > rom

F0-nolib/inc/ld/stm32f030f.ld

@@ -7,6 +7,8 @@ MEMORY
     ram  (rwx) : ORIGIN = 0x20000000, LENGTH = 4K
 }
 
+PROVIDE(_BLOCKSIZE = 1024);
+
 /* Include the common ld script. */
 INCLUDE stm32f01234.ld
 

F0-nolib/inc/ld/stm32f042k.ld

@@ -7,6 +7,8 @@ MEMORY
     ram  (rwx) : ORIGIN = 0x20000000, LENGTH = 6K
 }
 
+PROVIDE(_BLOCKSIZE = 1024);
+
 /* Include the common ld script. */
 INCLUDE stm32f01234.ld
 

F0-nolib/inc/ld/stm32f042x6.ld

@@ -0,0 +1,14 @@
+/* Linker script for STM32F042x6, 32K flash, 6K RAM. */
+
+/* Define memory regions. */
+MEMORY
+{
+    rom   (rx) : ORIGIN = 0x08000000, LENGTH = 32K
+    ram  (rwx) : ORIGIN = 0x20000000, LENGTH = 6K
+}
+
+PROVIDE(_BLOCKSIZE = 1024);
+
+/* Include the common ld script. */
+INCLUDE stm32f01234.ld
+

F0-nolib/inc/ld/stm32f051x8.ld

@@ -7,6 +7,8 @@ MEMORY
     ram (rwx) : ORIGIN = 0x20000000, LENGTH = 8K
 }
 
+PROVIDE(_BLOCKSIZE = 1024);
+
 /* Include the common ld script. */
 INCLUDE stm32f01234.ld
 

F0-nolib/inc/ld/stm32f0728.ld

@@ -7,6 +7,8 @@ MEMORY
     ram  (rwx) : ORIGIN = 0x20000000, LENGTH = 16K
 }
 
+PROVIDE(_BLOCKSIZE = 1024);
+
 /* Include the common ld script. */
 INCLUDE stm32f01234.ld
 

F0-nolib/inc/ld/stm32f072B.ld

@@ -7,6 +7,8 @@ MEMORY
     ram  (rwx) : ORIGIN = 0x20000000, LENGTH = 16K
 }
 
+_BLOCKSIZE = 2048;
+
 /* Include the common ld script. */
 INCLUDE stm32f01234.ld
 

F0-nolib/inc/ld/stm32f103x4.ld

@@ -26,6 +26,8 @@ MEMORY
 	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 6K
 }
 
+PROVIDE(_BLOCKSIZE = 1024);
+
 /* Include the common ld script. */
 INCLUDE stm32f01234.ld
 

F0-nolib/inc/ld/stm32f103x6.ld

@@ -26,6 +26,8 @@ MEMORY
 	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 10K
 }
 
+PROVIDE(_BLOCKSIZE = 1024);
+
 /* Include the common ld script. */
 INCLUDE stm32f01234.ld
 

F0-nolib/inc/ld/stm32f103x8.ld

@@ -26,6 +26,8 @@ MEMORY
 	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 20K
 }
 
+PROVIDE(_BLOCKSIZE = 1024);
+
 /* Include the common ld script. */
 INCLUDE stm32f01234.ld
 

F0-nolib/inc/ld/stm32f103xB.ld

@@ -26,6 +26,8 @@ MEMORY
 	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 20K
 }
 
+PROVIDE(_BLOCKSIZE = 1024);
+
 /* Include the common ld script. */
 INCLUDE stm32f01234.ld
 

F0-nolib/inc/ld/stm32f103xC.ld

@@ -26,6 +26,8 @@ MEMORY
 	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 48K
 }
 
+PROVIDE(_BLOCKSIZE = 1024);
+
 /* Include the common ld script. */
 INCLUDE stm32f01234.ld
 

F0-nolib/inc/ld/stm32f103xD.ld

@@ -26,6 +26,8 @@ MEMORY
 	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 64K
 }
 
+PROVIDE(_BLOCKSIZE = 1024);
+
 /* Include the common ld script. */
 INCLUDE stm32f01234.ld
 

F0-nolib/inc/ld/stm32f103xE.ld

@@ -26,6 +26,8 @@ MEMORY
 	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 64K
 }
 
+PROVIDE(_BLOCKSIZE = 1024);
+
 /* Include the common ld script. */
 INCLUDE stm32f01234.ld
 

F0-nolib/inc/ld/stm32f103xF.ld

@@ -26,6 +26,8 @@ MEMORY
 	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 96K
 }
 
+PROVIDE(_BLOCKSIZE = 1024);
+
 /* Include the common ld script. */
 INCLUDE stm32f01234.ld
 

F0-nolib/inc/ld/stm32f103xG.ld

@@ -26,6 +26,8 @@ MEMORY
 	ram (rwx) : ORIGIN = 0x20000000, LENGTH =  96K
 }
 
+PROVIDE(_BLOCKSIZE = 1024);
+
 /* Include the common ld script. */
 INCLUDE stm32f01234.ld
 

F1-nolib/inc/ld/stm32f01234.ld

@@ -73,8 +73,9 @@ SECTIONS {
 
   .myvars :
   {
-    . = ALIGN(1024);
+    . = ALIGN(_BLOCKSIZE);
-    KEEP(*(.myvars))
+    __varsstart = ABSOLUTE(.);
+    KEEP(*(.myvars));
   } > rom
 
   _ldata = LOADADDR(.data);

F1-nolib/inc/ld/stm32f030f.ld

@@ -7,6 +7,8 @@ MEMORY
     ram  (rwx) : ORIGIN = 0x20000000, LENGTH = 4K
 }
 
+PROVIDE(_BLOCKSIZE = 1024);
+
 /* Include the common ld script. */
 INCLUDE stm32f01234.ld
 

F1-nolib/inc/ld/stm32f042k.ld

@@ -7,6 +7,8 @@ MEMORY
     ram  (rwx) : ORIGIN = 0x20000000, LENGTH = 6K
 }
 
+PROVIDE(_BLOCKSIZE = 1024);
+
 /* Include the common ld script. */
 INCLUDE stm32f01234.ld
 

F1-nolib/inc/ld/stm32f042x6.ld

@@ -0,0 +1,14 @@
+/* Linker script for STM32F042x6, 32K flash, 6K RAM. */
+
+/* Define memory regions. */
+MEMORY
+{
+    rom   (rx) : ORIGIN = 0x08000000, LENGTH = 32K
+    ram  (rwx) : ORIGIN = 0x20000000, LENGTH = 6K
+}
+
+PROVIDE(_BLOCKSIZE = 1024);
+
+/* Include the common ld script. */
+INCLUDE stm32f01234.ld
+

F1-nolib/inc/ld/stm32f051x8.ld

@@ -7,6 +7,8 @@ MEMORY
     ram (rwx) : ORIGIN = 0x20000000, LENGTH = 8K
 }
 
+PROVIDE(_BLOCKSIZE = 1024);
+
 /* Include the common ld script. */
 INCLUDE stm32f01234.ld
 

F1-nolib/inc/ld/stm32f0728.ld

@@ -7,6 +7,8 @@ MEMORY
     ram  (rwx) : ORIGIN = 0x20000000, LENGTH = 16K
 }
 
+PROVIDE(_BLOCKSIZE = 1024);
+
 /* Include the common ld script. */
 INCLUDE stm32f01234.ld
 

F1-nolib/inc/ld/stm32f072B.ld

@@ -0,0 +1,14 @@
+/* Linker script for STM32F072xB, 128K flash, 16K RAM. */
+
+/* Define memory regions. */
+MEMORY
+{
+    rom   (rx) : ORIGIN = 0x08000000, LENGTH = 128K
+    ram  (rwx) : ORIGIN = 0x20000000, LENGTH = 16K
+}
+
+_BLOCKSIZE = 2048;
+
+/* Include the common ld script. */
+INCLUDE stm32f01234.ld
+

F1-nolib/inc/ld/stm32f103x4.ld

@@ -26,6 +26,8 @@ MEMORY
 	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 6K
 }
 
+PROVIDE(_BLOCKSIZE = 1024);
+
 /* Include the common ld script. */
 INCLUDE stm32f01234.ld
 

F1-nolib/inc/ld/stm32f103x6.ld

@@ -26,6 +26,8 @@ MEMORY
 	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 10K
 }
 
+PROVIDE(_BLOCKSIZE = 1024);
+
 /* Include the common ld script. */
 INCLUDE stm32f01234.ld
 

F1-nolib/inc/ld/stm32f103x8.ld

@@ -26,6 +26,8 @@ MEMORY
 	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 20K
 }
 
+PROVIDE(_BLOCKSIZE = 1024);
+
 /* Include the common ld script. */
 INCLUDE stm32f01234.ld
 

F1-nolib/inc/ld/stm32f103xB.ld

@@ -26,6 +26,8 @@ MEMORY
 	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 20K
 }
 
+PROVIDE(_BLOCKSIZE = 1024);
+
 /* Include the common ld script. */
 INCLUDE stm32f01234.ld
 

F1-nolib/inc/ld/stm32f103xC.ld

@@ -26,6 +26,8 @@ MEMORY
 	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 48K
 }
 
+PROVIDE(_BLOCKSIZE = 1024);
+
 /* Include the common ld script. */
 INCLUDE stm32f01234.ld
 

F1-nolib/inc/ld/stm32f103xD.ld

@@ -26,6 +26,8 @@ MEMORY
 	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 64K
 }
 
+PROVIDE(_BLOCKSIZE = 1024);
+
 /* Include the common ld script. */
 INCLUDE stm32f01234.ld
 

F1-nolib/inc/ld/stm32f103xE.ld

@@ -26,6 +26,8 @@ MEMORY
 	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 64K
 }
 
+PROVIDE(_BLOCKSIZE = 1024);
+
 /* Include the common ld script. */
 INCLUDE stm32f01234.ld
 

F1-nolib/inc/ld/stm32f103xF.ld

@@ -26,6 +26,8 @@ MEMORY
 	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 96K
 }
 
+PROVIDE(_BLOCKSIZE = 1024);
+
 /* Include the common ld script. */
 INCLUDE stm32f01234.ld
 

F1-nolib/inc/ld/stm32f103xG.ld

@@ -26,6 +26,8 @@ MEMORY
 	ram (rwx) : ORIGIN = 0x20000000, LENGTH =  96K
 }
 
+PROVIDE(_BLOCKSIZE = 1024);
+
 /* Include the common ld script. */
 INCLUDE stm32f01234.ld