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remove extra files
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@ -324,7 +324,6 @@ void addmicrostep(uint8_t i){
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// check state of i`th stepper
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// check state of i`th stepper
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static void chkstepper(int i){
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static void chkstepper(int i){
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int32_t i32;
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int32_t i32;
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uint32_t u32;
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static uint8_t stopctr[MOTORSNO] = {0}; // counters for encoders/position zeroing after stopping @ esw
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static uint8_t stopctr[MOTORSNO] = {0}; // counters for encoders/position zeroing after stopping @ esw
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// check DIAGN only for UART/SPI
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// check DIAGN only for UART/SPI
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if(the_conf.motflags[i].drvtype == DRVTYPE_UART || the_conf.motflags[i].drvtype == DRVTYPE_SPI){
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if(the_conf.motflags[i].drvtype == DRVTYPE_UART || the_conf.motflags[i].drvtype == DRVTYPE_SPI){
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@ -1,135 +0,0 @@
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/*
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* Copyright 2024 Edward V. Emelianov <edward.emelianoff@gmail.com>.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <string.h>
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#include "hardware.h"
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#include "usb.h"
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#include "usb_lib.h"
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static volatile uint8_t usbbuff[USB_TXBUFSZ]; // temporary buffer for sending data
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// ring buffers for incoming and outgoing data
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static uint8_t obuf[RBOUTSZ], ibuf[RBINSZ];
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volatile ringbuffer rbout = {.data = obuf, .length = RBOUTSZ, .head = 0, .tail = 0};
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volatile ringbuffer rbin = {.data = ibuf, .length = RBINSZ, .head = 0, .tail = 0};
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// inbuf overflow when receiving
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volatile uint8_t bufovrfl = 0;
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// last send data size
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static volatile int lastdsz = 0;
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// called from transmit EP
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void send_next(){
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int buflen = RB_read((ringbuffer*)&rbout, (uint8_t*)usbbuff, USB_TXBUFSZ);
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if(buflen == 0){
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if(lastdsz == 64) EP_Write(3, NULL, 0); // send ZLP after 64 bits packet when nothing more to send
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lastdsz = 0;
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return;
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}else if(buflen < 0){
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lastdsz = 0;
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// Uncomment next line if you want 4Mbit/s instead of 6Mbit/s
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//EP_Write(3, NULL, 0); // send ZLP if buffer is in writting state now
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return;
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}
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EP_Write(3, (uint8_t*)usbbuff, buflen);
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lastdsz = buflen;
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}
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// blocking send full content of ring buffer
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int USB_sendall(){
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while(lastdsz > 0){
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if(!usbON) return FALSE;
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}
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return TRUE;
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}
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// put `buf` into queue to send
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int USB_send(const uint8_t *buf, int len){
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if(!buf || !usbON || !len) return FALSE;
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while(len){
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int a = RB_write((ringbuffer*)&rbout, buf, len);
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if(a > 0){
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len -= a;
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buf += a;
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} else if (a < 0) continue; // do nothing if buffer is in reading state
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if(lastdsz == 0) send_next(); // need to run manually - all data sent, so no IRQ on IN
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}
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return TRUE;
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}
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int USB_putbyte(uint8_t byte){
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if(!usbON) return FALSE;
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int l = 0;
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while((l = RB_write((ringbuffer*)&rbout, &byte, 1)) != 1){
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if(l < 0) continue;
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}
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if(lastdsz == 0) send_next(); // need to run manually - all data sent, so no IRQ on IN
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return TRUE;
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}
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int USB_sendstr(const char *string){
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if(!string || !usbON) return FALSE;
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int len = 0;
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const char *b = string;
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while(*b++) ++len;
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if(!len) return FALSE;
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return USB_send((const uint8_t*)string, len);
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}
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/**
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* @brief USB_receive - get binary data from receiving ring-buffer
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* @param buf (i) - buffer for received data
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* @param len - length of `buf`
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* @return amount of received bytes (negative, if overfull happened)
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*/
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int USB_receive(uint8_t *buf, int len){
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chkin();
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if(bufovrfl){
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while(1 != RB_clearbuf((ringbuffer*)&rbin));
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bufovrfl = 0;
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return -1;
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}
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int sz = RB_read((ringbuffer*)&rbin, buf, len);
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if(sz < 0) return 0; // buffer in writting state
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return sz;
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}
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/**
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* @brief USB_receivestr - get string up to '\n' and replace '\n' with 0
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* @param buf - receiving buffer
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* @param len - its length
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* @return strlen or negative value indicating overflow (if so, string won't be ends with 0 and buffer should be cleared)
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*/
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int USB_receivestr(char *buf, int len){
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chkin();
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if(bufovrfl){
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while(1 != RB_clearbuf((ringbuffer*)&rbin));
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bufovrfl = 0;
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return -1;
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}
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int l = RB_readto((ringbuffer*)&rbin, '\n', (uint8_t*)buf, len);
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if(l < 1){
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if(rbin.length == RB_datalen((ringbuffer*)&rbin)){ // buffer is full but no '\n' found
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while(1 != RB_clearbuf((ringbuffer*)&rbin));
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return -1;
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}
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return 0;
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}
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if(l == 0) return 0;
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buf[l-1] = 0; // replace '\n' with strend
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return l;
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}
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@ -1,48 +0,0 @@
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/*
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* Copyright 2024 Edward V. Emelianov <edward.emelianoff@gmail.com>.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include "ringbuffer.h"
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#include "usbhw.h"
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// sizes of ringbuffers for outgoing and incoming data
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#define RBOUTSZ (512)
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#define RBINSZ (256)
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#define newline() USB_putbyte('\n')
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#define USND(s) do{USB_sendstr(s); USB_putbyte('\n');}while(0)
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#define STR_HELPER(s) #s
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#define STR(s) STR_HELPER(s)
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#ifdef EBUG
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#define DBG(str) do{USB_sendstr(__FILE__ " (L" STR(__LINE__) "): " str); newline();}while(0)
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#else
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#define DBG(str)
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#endif
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extern volatile ringbuffer rbout, rbin;
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extern volatile uint8_t bufisempty, bufovrfl;
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void send_next();
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int USB_sendall();
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int USB_send(const uint8_t *buf, int len);
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int USB_putbyte(uint8_t byte);
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int USB_sendstr(const char *string);
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int USB_receive(uint8_t *buf, int len);
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int USB_receivestr(char *buf, int len);
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@ -1,63 +0,0 @@
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/*
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* Copyright 2024 Edward V. Emelianov <edward.emelianoff@gmail.com>.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "usb.h"
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#include "usb_lib.h"
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// here we suppose that all PIN settings done in hw_setup earlier
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void USB_setup(){
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#if defined STM32F3
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NVIC_DisableIRQ(USB_LP_IRQn);
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// remap USB LP & Wakeup interrupts to 75 and 76 - works only on pure F303
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RCC->APB2ENR |= RCC_APB2ENR_SYSCFGEN; // enable tacting of SYSCFG
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SYSCFG->CFGR1 |= SYSCFG_CFGR1_USB_IT_RMP;
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#elif defined STM32F1
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NVIC_DisableIRQ(USB_LP_CAN1_RX0_IRQn);
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NVIC_DisableIRQ(USB_HP_CAN1_TX_IRQn);
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#elif defined STM32F0
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NVIC_DisableIRQ(USB_IRQn);
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RCC->APB1ENR |= RCC_APB1ENR_CRSEN;
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RCC->CFGR3 &= ~RCC_CFGR3_USBSW; // reset USB
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RCC->CR2 |= RCC_CR2_HSI48ON; // turn ON HSI48
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uint32_t tmout = 16000000;
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while(!(RCC->CR2 & RCC_CR2_HSI48RDY)){if(--tmout == 0) break;}
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FLASH->ACR = FLASH_ACR_PRFTBE | FLASH_ACR_LATENCY;
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CRS->CFGR &= ~CRS_CFGR_SYNCSRC;
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CRS->CFGR |= CRS_CFGR_SYNCSRC_1; // USB SOF selected as sync source
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CRS->CR |= CRS_CR_AUTOTRIMEN; // enable auto trim
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CRS->CR |= CRS_CR_CEN; // enable freq counter & block CRS->CFGR as read-only
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RCC->CFGR |= RCC_CFGR_SW;
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#endif
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RCC->APB1ENR |= RCC_APB1ENR_USBEN;
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//??
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USB->CNTR = USB_CNTR_FRES; // Force USB Reset
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for(uint32_t ctr = 0; ctr < 72000; ++ctr) nop(); // wait >1ms
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USB->CNTR = 0;
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USB->BTABLE = 0;
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USB->DADDR = 0;
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USB->ISTR = 0;
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USB->CNTR = USB_CNTR_RESETM | USB_CNTR_WKUPM; // allow only wakeup & reset interrupts
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#if defined STM32F3
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NVIC_EnableIRQ(USB_LP_IRQn);
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#elif defined STM32F1
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NVIC_EnableIRQ(USB_LP_CAN1_RX0_IRQn);
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#elif defined STM32F0
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USB->BCDR |= USB_BCDR_DPPU;
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NVIC_EnableIRQ(USB_IRQn);
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#endif
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}
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@ -1,155 +0,0 @@
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/*
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* Copyright 2024 Edward V. Emelianov <edward.emelianoff@gmail.com>.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#if defined STM32F0
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#include <stm32f0.h>
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#elif defined STM32F1
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#include <stm32f1.h>
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// there's no this define in standard header
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#define USB_BASE ((uint32_t)0x40005C00)
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#elif defined STM32F3
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#include <stm32f3.h>
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#endif
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// max endpoints number
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#define STM32ENDPOINTS 8
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/**
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* Buffers size definition
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**/
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// F0 - USB2_16; F1 - USB1_16; F3 - 1/2 depending on series
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#if !defined USB1_16 && !defined USB2_16
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#if defined STM32F0
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#define USB2_16
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#elif defined STM32F1
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#define USB1_16
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#else
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#error "Can't determine USB1_16 or USB2_16, define by hands"
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#endif
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#endif
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// BTABLE_SIZE FOR STM32F3:
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// In STM32F303/302xB/C, 512 bytes SRAM is not shared with CAN.
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// In STM32F302x6/x8 and STM32F30xxD/E, 726 bytes dedicated SRAM and 256 bytes shared SRAM with CAN i.e.
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// 1Kbytes dedicated SRAM in case CAN is disabled.
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// remember, that USB_BTABLE_SIZE will be divided by ACCESSZ, so don't divide it twice for 32-bit addressing
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#ifdef NOCAN
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#if defined STM32F0
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#define USB_BTABLE_SIZE 1024
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#elif defined STM32F3
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#define USB_BTABLE_SIZE 512
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#warning "Please, check real buffer size due to docs"
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#else
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#error "define STM32F0 or STM32F3"
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#endif
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#else // !NOCAN: F0/F3 with CAN or F1 (can't simultaneously run CAN and USB)
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#if defined STM32F0
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#define USB_BTABLE_SIZE 768
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#elif defined STM32F3
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#define USB_BTABLE_SIZE 726
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//#warning "Please, check real buffer size due to docs"
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#else // STM32F103: 1024 bytes but with 32-bit addressing
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#define USB_BTABLE_SIZE 1024
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#endif
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#endif // NOCAN
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// first 64 bytes of USB_BTABLE are registers!
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//#define USB_EP0_BASEADDR 64
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// for USB FS EP0 buffers are from 8 to 64 bytes long (64 for PL2303)
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#define USB_EP0_BUFSZ 64
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// USB transmit buffer size (64 for PL2303)
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#define USB_TXBUFSZ 64
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// USB receive buffer size (64 for PL2303)
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#define USB_RXBUFSZ 64
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// EP1 - interrupt - buffer size
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#define USB_EP1BUFSZ 8
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#define USB_BTABLE_BASE 0x40006000
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#define USB ((USB_TypeDef *) USB_BASE)
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#ifdef USB_BTABLE
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#undef USB_BTABLE
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#endif
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#define USB_BTABLE ((USB_BtableDef *)(USB_BTABLE_BASE))
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#define USB_ISTR_EPID 0x0000000F
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#define USB_FNR_LSOF_0 0x00000800
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#define USB_FNR_lSOF_1 0x00001000
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|
||||||
#define USB_LPMCSR_BESL_0 0x00000010
|
|
||||||
#define USB_LPMCSR_BESL_1 0x00000020
|
|
||||||
#define USB_LPMCSR_BESL_2 0x00000040
|
|
||||||
#define USB_LPMCSR_BESL_3 0x00000080
|
|
||||||
#define USB_EPnR_CTR_RX 0x00008000
|
|
||||||
#define USB_EPnR_DTOG_RX 0x00004000
|
|
||||||
#define USB_EPnR_STAT_RX 0x00003000
|
|
||||||
#define USB_EPnR_STAT_RX_0 0x00001000
|
|
||||||
#define USB_EPnR_STAT_RX_1 0x00002000
|
|
||||||
#define USB_EPnR_SETUP 0x00000800
|
|
||||||
#define USB_EPnR_EP_TYPE 0x00000600
|
|
||||||
#define USB_EPnR_EP_TYPE_0 0x00000200
|
|
||||||
#define USB_EPnR_EP_TYPE_1 0x00000400
|
|
||||||
#define USB_EPnR_EP_KIND 0x00000100
|
|
||||||
#define USB_EPnR_CTR_TX 0x00000080
|
|
||||||
#define USB_EPnR_DTOG_TX 0x00000040
|
|
||||||
#define USB_EPnR_STAT_TX 0x00000030
|
|
||||||
#define USB_EPnR_STAT_TX_0 0x00000010
|
|
||||||
#define USB_EPnR_STAT_TX_1 0x00000020
|
|
||||||
#define USB_EPnR_EA 0x0000000F
|
|
||||||
#define USB_COUNTn_RX_BLSIZE 0x00008000
|
|
||||||
#define USB_COUNTn_NUM_BLOCK 0x00007C00
|
|
||||||
#define USB_COUNTn_RX 0x0000003F
|
|
||||||
|
|
||||||
#define USB_TypeDef USB_TypeDef_custom
|
|
||||||
|
|
||||||
typedef struct {
|
|
||||||
__IO uint32_t EPnR[STM32ENDPOINTS];
|
|
||||||
__IO uint32_t RESERVED[STM32ENDPOINTS];
|
|
||||||
__IO uint32_t CNTR;
|
|
||||||
__IO uint32_t ISTR;
|
|
||||||
__IO uint32_t FNR;
|
|
||||||
__IO uint32_t DADDR;
|
|
||||||
__IO uint32_t BTABLE;
|
|
||||||
} USB_TypeDef;
|
|
||||||
|
|
||||||
// F303 D/E have 2x16 access scheme
|
|
||||||
typedef struct{
|
|
||||||
#if defined USB2_16
|
|
||||||
__IO uint16_t USB_ADDR_TX;
|
|
||||||
__IO uint16_t USB_COUNT_TX;
|
|
||||||
__IO uint16_t USB_ADDR_RX;
|
|
||||||
__IO uint16_t USB_COUNT_RX;
|
|
||||||
#define ACCESSZ (1)
|
|
||||||
#define BUFTYPE uint8_t
|
|
||||||
#elif defined USB1_16
|
|
||||||
__IO uint32_t USB_ADDR_TX;
|
|
||||||
__IO uint32_t USB_COUNT_TX;
|
|
||||||
__IO uint32_t USB_ADDR_RX;
|
|
||||||
__IO uint32_t USB_COUNT_RX;
|
|
||||||
#define ACCESSZ (2)
|
|
||||||
#define BUFTYPE uint16_t
|
|
||||||
#else
|
|
||||||
#error "Define USB1_16 or USB2_16"
|
|
||||||
#endif
|
|
||||||
} USB_EPDATA_TypeDef;
|
|
||||||
|
|
||||||
|
|
||||||
typedef struct{
|
|
||||||
__IO USB_EPDATA_TypeDef EP[STM32ENDPOINTS];
|
|
||||||
} USB_BtableDef;
|
|
||||||
|
|
||||||
void USB_setup();
|
|
||||||
@ -1,2 +1,2 @@
|
|||||||
#define BUILD_NUMBER "200"
|
#define BUILD_NUMBER "202"
|
||||||
#define BUILD_DATE "2025-02-06"
|
#define BUILD_DATE "2025-04-16"
|
||||||
|
|||||||
Loading…
x
Reference in New Issue
Block a user