Continue to write USB protocol documentation and fix bugs in code.

F3:F303/Multistepper/Makefile

@@ -4,6 +4,7 @@ MCU			:= F303xd
 # change this linking script depending on particular MCU model,
 LDSCRIPT	:= stm32f303xD.ld
 DEFINES := -DUSB2_16
+#DEFINES := -DUSB1_16
 
 include ../makefile.f3
 include ../../makefile.stm32

F3:F303/Multistepper/Readme.md

@@ -9,7 +9,7 @@ Eighth stepper could be changed to 8 dependent multiplexed. Based on STM32F303VD
 
 ### Sorted by pin number
 
-|**Pin #**|**Pin name **| **function**| **settings**  |**comment **         |
+| Pin #   | Pin name    | function    | settings      | comment             |
 |---------|-------------|-------------|---------------|---------------------|
 |   1     | PE2         | DIAG        | in            | `diag` output of TMC|
 |   2     | PE3         | MUL0        | slow out      | multiplexer address |
@@ -113,23 +113,36 @@ Eighth stepper could be changed to 8 dependent multiplexed. Based on STM32F303VD
 | 100     | (VDD)       |             |               |                     |
 
 ### Some comments.
-_DIAG_ input used to detect problems with TMC drivers (multiplexed by _MUL_ outputs).
+**DIAG** input used to detect problems with TMC drivers (multiplexed by **MUL** outputs).
-Each motor have next control signals: _EN_ - enable driver, _DIR_ - rotation direction, _STEP_ - microstepping clock signal, _L0_ - zero end-switch, _L1_ - max end-switch (or Cable Select for SPI-based TMC).
+
-_MOTMUL_ - external multiplexer or other GPIO signals (e.g. to manage of 64 stepper motors).
+Each motor have next control signals: **EN** - enable driver, **DIR** - rotation direction, **STEP** - microstepping clock signal, **L0** - zero end-switch,
-_ADC1 in_ - four external ADC signals (0..3.3V).
+**L1** - max end-switch (or Cable Select for SPI-based TMC).
-_SPI1_ used to manage TMC drivers in case of SPI-based.
+
-_USART1_ - to connect external something (master or slave).
+**MOTMUL** - external multiplexer or other GPIO signals (e.g. to manage of 64 stepper motors).
-_OUT_ - external GPIO.
+
-_USART2 Tx_ used to manage USART-based TMC (numbers 0-3).
+**ADC1 in** - four external ADC signals (0..3.3V).
-_USART3 Tx_ used to manage USART-based TMC (numbers 4-7).
+
-_SCRN_ - control signals for SPI TFT screen.
+**SPI1** used to manage TMC drivers in case of SPI-based.
-_BTN_ - external button, keypad, joystick etc. Two of them could be connected to I2C devices.
+
-_USB_ and _CAN_ used as main device control buses.
+**USART1** - to connect external something (master or slave).
-_SW_ used as debugging/sewing; also (I remember about USB pullup only after end of PCB design) _SWDIO_ used as USB pullup (so the device have no USB in debug mode - when BTN0 and BTN1 are pressed at start).
+
+**OUT** - external GPIO.
+
+**USART2 Tx** used to manage USART-based TMC (numbers 0-3).
+
+**USART3 Tx** used to manage USART-based TMC (numbers 4-7).
+
+**SCRN** - control signals for SPI TFT screen.
+
+**BTN** - external button, keypad, joystick etc. Two of them could be connected to I2C devices.
+
+**USB** and **CAN** used as main device control buses.
+
+**SW** used as debugging/flashing.
 
 ### Sorted by ports (with AF numbers).
 
-|**Pin #**|**Pin name **| **function**| **settings**  |**comment **         |
+| Pin #   | Pin name    | function    | settings      | comment             |
 |---------|-------------|-------------|---------------|---------------------|
 |  23     | PA0         | ADC1 in1    | ADC           | External ADC inputs |
 |  24     | PA1         | ADC1 in2    | ADC           |                     |
@@ -216,18 +229,233 @@ _SW_ used as debugging/sewing; also (I remember about USB pullup only after end
 |  10     | PF9         | M0 STEP     | AF3 (T15ch1)  | clock of motor      |
 |  11     | PF10        | M0 EN       | slow out      | l-s 0 or CS of SPI  |
 
-
 ## DMA usage
 
 * ADC1 - DMA1_ch1
 * ADC2 - DMA2_ch1
-* USART2 (PDN-UART for drivers 0..3) - DMA1_ch6 (Rx), DMA1_ch7 (Tx)
-* USART3 (PDN-UART for drivers 4..7) - DMA1_ch3 (Rx), DMA1_ch2 (Tx)
-* SPI2 (screen) - DMA1_ch4 (Rx), DMA1_ch5 (Tx) [or may be dedicated to USART1]
 
-# Other stepper drivers connection
 
-## DRV8825
+# Stepper drivers connection
-Solder jumpers E2, B and A to connect ~RST and ~SLP to 3.3V.
 
-Microstepping selection produced by soldering H2 (bit0), G2 (bit1) and/or C (bit2).
+After changing stepper type by soldering/desoldering appropriate jumpers, don't forget to change their types in settings
+(and save settings in MSU flash memory after checking it with `dumpconf`).
+
+Connection diagram for soldering jumpers shown on reverse side of PCB. 
+
+Jumpers **A**, **B** and **C** allow to short the contacts of driver's pins 6 (CLK / DCO / ~SLEEP), 5 (PDN_UART / SDO / ~RESET) and 4
+(SPREAD / CS / M2), respectively. 
+
+Jumper **D1** connects MCU UART output with jumper **E1**, **D2** connects MCU MISO with same contact of **E1**.
+Jumpers **E1** and **E2** allows to pullup pin 5 of driver to be connected with 3.3V or UART/MISO.
+
+Jumper **F1** allows to connect pin 4 to CS line. **F2** connects pin 4 to 3.3V.
+
+Jumper **G1** connects pin 3 (MS2 / SCK / M1) to SCK line. **G2** connects this pin to 3.3V.
+
+Jumper **H1** connects pin pin 2 (MS1 / SDI / M0) to MOSI line  **H2** connects it to 3.3V.
+
+So, depending on driver type and its mode you can solder these jumpers so, than driver can work over PDN-UART, SPI or configuration
+pins can select microstepping directly.
+
+
+## DRV8825 and other simplest drivers
+Solder jumpers **E2**, **B** and **A** to connect **~RST** and **~SLP** to 3.3V.
+
+Microstepping selection produced by soldering **H2** (bit0), **G2** (bit1) and/or **C** (bit2).
+
+## TMC2209 and other PDN-UART based
+Solder jumpers **D1** and **E1** to connect MCU UART2/UART3 to PDN-UART pin of driver. Solder jumpers **G2**/**H2** according 
+address table (X - soldered, O - not soldered):
+
+| Address | G2    | H2    |
+|:-------:|:-----:|:-----:|
+| 0       | **O** | **O** |
+| 1       | **O** | **X** |
+| 2       | **X** | **O** |
+| 3       | **X** | **X** |
+| 4       | **O** | **O** |
+| 5       | **O** | **X** |
+| 6       | **X** | **O** |
+| 7       | **X** | **X** |
+
+## TMC2130 and other SPI based
+(not negotiated yet)
+
+Solder jumpers **D2** and **E1** to connect MISO, **F1** to connect CS, **G1** for SCK and **H1** for MOSI.
+
+# Protocol
+
+## Errors
+Error codes are in brackets:
+
+- **OK**       (0) - all OK;
+- **BADPAR**   (1) - bad parameter (`N`) value (e.g. greater than max available or absent);
+- **BADVAL**   (2) - bad setter value (absent, text or over range);
+- **WRONGLEN** (3) - (only for CAN bus, you can't meet in text protocol) wrong CAN message length;
+- **BADCMD**   (4) - unknown command, in case of USB proto user will see full command list instead of this error;
+- **CANTRUN**  (5) - can't run required function.
+
+## USB
+
+Used simple text protocol each string should contain one command and ends with `'\n'`.
+Uppercase N at the end of command means parameter number (No of motor, button, ADC channel etc).
+Getters and action commands have simplest format `command[N]`: some commands have no parameter,
+other have two variants - with and without parameter; wariant without parameter will act on all
+parameters (e.g. getter for all buttons) - in this case `N` enclosed in square brackets.
+Setters have format `command[N] = value`. The `value` is integer number, so in case floating values
+you need to multiply it by 1000 and write result. So, voltage and temperature are measured in millivolts
+and thousandths of degC respectively.
+
+Some commands (especially that have no CAN analogue) have non-standard format described later.
+They are not intended to be used in automatic control systems, only in manual mode.
+
+Answer for every (excluding special) setter and getter in case of success is `command[N]=value`
+showing current value for getter or new value for setter.
+In case of error you will see one of error mesages (message `OK` with errcode=0 usually not shown). 
+Also you can get such answers:
+
+- `BADCMD` - wrong command (not in dictionary);
+- `BADARGS` - bad arguments format (e.g. for command `cansend` etc);
+- `FAIL` - if something wrong and parser got impermissible error code.
+
+In following list letter `G` means "getter", `S` - "setter", no of them - custom USB-only command.
+The number in brackets is CAN command code. The asterisk following command means that it isn't implemented yet (and maybe
+will be never implemented).
+
+### absposN (35) GS
+Absolute stepper position in steps, setter just changes current value. E.g. you want to set current position 
+as zero (be carefull: `gotoz` will zero position again on a zero-point limit switch). Maximum absolute value is `maxstepsN`.
+###    accelN (17) GS
+Stepper acceleration/deceleration on ramp (steps/s^2), only positive. Maximum value is `ACCELMAXSTEPS` from `flash.h`.
+### adcN (4) G
+ADC value (N=0..3).
+### buttonN (5) G 
+Given (N=0..6) buttons' state. If number is right, returns two strings: `buttonN=state` (where `state` is
+`none`, `press`, `hold` or `release`) and `buttontmN=time` (where `time` is time from start of last event).
+
+!!!NOTE: Button numbering starts from 0, not 1 as shown on PCB!!!
+### canerrcodes
+Print last CAN errcodes.
+Print "No errors" or last error code.
+### canfilter DATA
+CAN bus hardware filters, format: bank# FIFO# mode(M/I) num0 [num1 [num2 [num3]]] .
+By default have two filters allowing to listen any CAN ID:
+
+    Filter 0, FIFO0 in MASK mode: ID=0x01, MASK=0x01
+    Filter 1, FIFO1 in MASK mode: ID=0x00, MASK=0x01
+
+### canflood ID DATA
+Send or clear (if empty) flood message: ID byte0 ... byteN.
+On empy message return `NO ID given, send nothing!` (and stops flooding), or `Message parsed OK`.
+### canfloodT N
+Flood period, N in milliseconds (N >= 0ms).
+###  canid [ID]
+Get or set CAN ID of device. Default CAN ID is "1".
+### canignore [ID]
+Software ignore list (max 10 IDs), negative to delete all, non-negative to add next. 
+### canincrflood ID
+Send incremental flood message with given ID. Message have uint32_t little endian type and increments
+for each packet starting from 0. Empty command stops flooding (`canflood` too).
+### canpause
+Pause filtered IN packets displaying. Returns `Pause CAN messages`.
+### canreinit
+Reinit CAN with last settings. Returns `OK`.
+### canresume
+Resume filtered IN packets displaying, returns `RESUME CAN messages`.
+### cansend ID [data] 
+Send data over CAN with given ID. If `data` is omitted, send empty message.
+In case of absence of `ACK` you can get message `CAN bus is off, try to restart it`.
+### canspeed N
+CAN  bus speed (in kbps, 50 <= N <= 1500)
+In case of setter, store new speed value in global parameters (and if you call `saveconf` later, it will be saved in flash memory).
+### canstat 
+Get CAN bus status: values of registers `CAN->MSR`, `CAN->TSR`, `CAN->RF0R` and `CAN->RF1F`.
+### diagn[N] (37) G *
+DIAG state of motor N (or all)\n"
+### drvtypeN (45) GS 
+Nth driver type (0 - only step/dir, 1 - UART, 2 - SPI, 3 - reserved). This parameter is taken from `.drvtype` bits of `motflags` settings parameter.
+### dumperr
+Dump error codes. Returns:
+
+    Error codes:
+    0 - OK
+    1 - BADPAR
+    2 - BADVAL
+    3 - WRONGLEN
+    4 - BADCMD
+    5 - CANTRUN
+
+### dumpcmd
+Dump command codes. Returns all list of CAN bus command codes.
+###  dumpconf
+Dump current configuration. Returns a lot of information both common (like CAN bus speed, ID and so on) and
+for each motor driver. You can call independeng getters for each of this parameter.
+### dumpmotflags 
+Dump motor flags' bits (for `motflagsN`) and reaction to limit switches (`eswreact`) values:
+
+    Motor flags:
+    bit0 - 0: reverse - invert motor's rotation
+    bit1 - 1: [reserved]
+    bit2 - 2: [reserved]
+    bit3 - 3: donthold - clear motor's power after stop
+    bit4 - 4: eswinv - inverse end-switches (1->0 instead of 0->1)
+    bit5 - 5: [reserved]
+    bit6 - 6,7: drvtype - driver type (0 - only step/dir, 1 - UART, 2 - SPI, 3 - reserved)
+    End-switches reaction:
+    0 - ignore end-switches
+    1 - stop @ esw in any moving direction
+    2 - stop only when moving in given direction (e.g. to minus @ESW0)
+
+### dumpstates 
+Dump motors' state codes (for getter `stateN`):
+
+    Motor's state codes:
+    0 - relax
+    1 - acceleration
+    2 - moving
+    3 - moving at lowest speed
+    4 - deceleration
+    5 - stalled (not used here!)
+    6 - error
+
+### emstop[N] (29 with `N` and 31 without)
+Emergency stop Nth motor or all (if `N` absent). Returns `OK` or error text.
+
+    "eraseflash [=N] (38) erase flash data storage (full or only N'th page of it)\n"
+    "esw[N] (6) G end-switches state\n"
+    "eswreactN (24) GS end-switches reaction (0 - ignore, 1 - stop@any, 2 - stop@zero)\n"
+    "gotoN (26) GS move motor to given absolute position\n"
+    "gotozN (32) find zero position & refresh counters\n"
+    "gpioconfN* - GS GPIO configuration (0 - PUin, 1 - PPout, 2 - ODout), N=0..2\n"
+    "gpioN* (12) GS GPIO values, N=0..2\n"
+help
+    "maxspeedN (18) GS max speed (steps per sec)\n"
+    "maxstepsN (21) GS max steps (from zero ESW)\n"
+    "mcut (7) G MCU T\n"
+    "mcuvdd (8) G MCU Vdd\n"
+    "microstepsN (16) GS microsteps settings (2^0..2^9)\n"
+    "minspeedN (19)  min speed (steps per sec)\n"
+    "motcurrentN (46) GS motor current (1..32 for 1/32..32/32 of max current)\n"
+    "motflagsN (23) motorN flags\n"
+    "motmul* (36) GS external multiplexer status (<0 - disable, 0..7 - enable and set address)\n"
+    "motno (44) GS motor number for next `pdn` commands\n"
+    "motreinit (25) re-init motors after configuration changed\n"
+    "pdnN (43) GS read/write TMC2209 registers over uart @ motor0\n"
+    "ping (1)- echo given command back\n"
+    "relposN (27) GS relative move (get remaining)\n"
+    "relslowN (28) GS like 'relpos' but with slowest speed\n"
+    "reset (9) software reset\n"
+    "saveconf (13) save current configuration\n"
+    "screen* - GS screen enable (1) or disable (0)\n"
+    "speedlimit (20) G limiting speed for current microsteps setting\n"
+    "stateN (33) G motor state (0-relax, 1-accel, 2-move, 3-mvslow, 4-decel, 5-stall, 6-err)\n"
+    "stopN (30) stop motor with deceleration\n"
+    "time (10) G time from start (ms)\n"
+    "tmcbus* - GS TMC control bus (0 - USART, 1 - SPI)\n"
+    "udata* (39) GS data by usart in slave mode (text strings, '\\n'-terminated)\n"
+    "usartstatus* (40) GS status of USART1 (0 - off, 1 - master, 2 - slave)\n"
+    "vdrive (41) G approx voltage on Vdrive\n"
+    "vfive (42) G approx voltage on 5V bus\n"
+
+## CAN bus
+Default CAN ID is 1.

F3:F303/Multistepper/can.c

@@ -37,6 +37,7 @@ static int8_t first_nonfree_idx = -1; // index of first data cell
 static uint16_t oldspeed = 100; // speed of last init
 uint32_t floodT = FLOOD_PERIOD_MS; // flood period in ms
 static uint8_t incrflood = 0; // ==1 for incremental flooding
+static uint32_t incrmessagectr = 0; // counter for incremental flooding
 
 static uint32_t last_err_code = 0;
 static CAN_status can_status = CAN_STOP;
@@ -130,7 +131,7 @@ so if TBS1=4 and TBS2=3, sum=8, bit sampling freq is 48/8 = 6MHz
 void CAN_setup(uint16_t speed){
     if(speed == 0) speed = oldspeed;
     else if(speed < 50) speed = 50;
-    else if(speed > 3000) speed = 3000;
+    else if(speed > 1500) speed = 1500;
     oldspeed = speed;
     uint32_t tmout = 10000;
     /* Enable the peripheral clock CAN */
@@ -240,7 +241,6 @@ void CAN_proc(){
         CAN_setup(0);
     }
     static uint32_t lastFloodTime = 0;
-    static uint32_t incrmessagectr = 0;
     if(flood_msg && (Tms - lastFloodTime) >= floodT){ // flood every ~5ms
         lastFloodTime = Tms;
         CAN_send(flood_msg->data, flood_msg->length, flood_msg->ID);
@@ -305,8 +305,11 @@ CAN_status CAN_send(uint8_t *msg, uint8_t len, uint16_t target_id){
 }
 
 void CAN_flood(CAN_message *msg, int incr){
-    if(incr){ incrflood = 1; return; }
+    if(incr){
-    incrflood = 0;
+        incrmessagectr = 0;
+        incrflood = 1;
+        return;
+    }else incrflood = 0;
     if(!msg) flood_msg = NULL;
     else{
         memcpy(&loc_flood_msg, msg, sizeof(CAN_message));

F3:F303/Multistepper/commonproto.c

@@ -108,6 +108,11 @@ errcodes cu_emstop(uint8_t _U_ par, int32_t _U_ *val){
     return ERR_OK;
 }
 
+errcodes cu_emstopall(uint8_t _U_ par, int32_t _U_ *val){
+    for(int i = 0; i < MOTORSNO; ++i) emstopmotor(i);
+    return ERR_OK;
+}
+
 errcodes cu_eraseflash(uint8_t _U_ par, int32_t _U_ *val){
     NOPARCHK(par);
     if(ISSETTER(par)){

F3:F303/Multistepper/commonproto.h

@@ -113,6 +113,7 @@ errcodes cu_canid(uint8_t par, int32_t *val);
 errcodes cu_diagn(uint8_t par, int32_t *val);
 errcodes cu_drvtype(uint8_t par, int32_t *val);
 errcodes cu_emstop(uint8_t par, int32_t *val);
+errcodes cu_emstopall(uint8_t par, int32_t *val);
 errcodes cu_eraseflash(uint8_t par, int32_t *val);
 errcodes cu_esw(uint8_t par, int32_t *val);
 errcodes cu_eswreact(uint8_t par, int32_t *val);

F3:F303/Multistepper/flash.c

@@ -32,12 +32,12 @@ static const uint32_t FLASH_blocksize = (uint32_t)&_BLOCKSIZE;
 // max amount of Config records stored (will be recalculate in flashstorage_init()
 static uint32_t maxCnum = 1024 / sizeof(user_conf); // can't use blocksize here
 
-#define DEFMF   {.donthold = 1, .drvtype = DRVTYPE_UART}
+#define DEFMF   {.donthold = 1, .drvtype = DRVTYPE_SIMPLE}
 
 #define USERCONF_INITIALIZER  {             \
      .userconf_sz = sizeof(user_conf)       \
     ,.CANspeed = 100                        \
-    ,.CANID = 0xaa                          \
+    ,.CANID = 1                             \
     ,.microsteps = {32,32,32,32,32,32,32,32}\
     ,.accel = {500,500,500,500,500,500,500,500} \
     ,.maxspd = {2000,2000,2000,2000,2000,2000,2000,2000} \
@@ -203,8 +203,8 @@ int erase_storage(int npage){
 
 int fn_dumpconf(uint32_t _U_ hash, char _U_ *args){ // "dumpconf" (3271513185)
 #ifdef EBUG
-    USB_sendstr("flashsize="); printu(FLASH_SIZE); USB_putbyte('*');
+    USB_sendstr("flashsize="); printu(FLASH_SIZE); USB_sendstr("kB\nblocksize=");
-    printu(FLASH_blocksize); USB_putbyte('='); printu(FLASH_SIZE*FLASH_blocksize);
+    printu(FLASH_blocksize);
     newline();
 #endif
     USB_sendstr("userconf_addr="); printuhex((uint32_t)Flash_Data);
@@ -230,7 +230,7 @@ int fn_dumpconf(uint32_t _U_ hash, char _U_ *args){ // "dumpconf" (3271513185)
         printu(the_conf.motcurrent[i]);
         PROPNAME("motflags");
         printuhex(*((uint8_t*)&the_conf.motflags[i]));
-        PROPNAME("eswreaction");
+        PROPNAME("eswreact");
         printu(the_conf.ESW_reaction[i]);
 #undef PROPNAME
     }

F3:F303/Multistepper/flash.h

@@ -63,6 +63,7 @@ typedef struct{
  * struct to save user configurations
  */
 typedef struct __attribute__((packed, aligned(4))){
+    uint32_t maxsteps[MOTORSNO];    // maximal amount of steps
     uint16_t userconf_sz;           // "magick number"
     uint16_t CANspeed;              // default CAN speed
     uint16_t CANID;                 // identifier
@@ -70,11 +71,9 @@ typedef struct __attribute__((packed, aligned(4))){
     uint16_t accel[MOTORSNO];       // acceleration/deceleration (steps/s^2)
     uint16_t maxspd[MOTORSNO];      // max motor speed (steps per second)
     uint16_t minspd[MOTORSNO];      // min motor speed (steps per second)
-    uint32_t maxsteps[MOTORSNO];    // maximal amount of steps
     motflags_t motflags[MOTORSNO];  // motor's flags
     uint8_t ESW_reaction[MOTORSNO]; // end-switches reaction (esw_react)
     uint8_t motcurrent[MOTORSNO];   // IRUN as fraction of max current (1..32)
-    uint8_t isSPI;                  // ==1 if there's SPI drivers instead of UART
 } user_conf;
 
 extern user_conf the_conf; // global user config (read from FLASH to RAM)

F3:F303/Multistepper/hardware.c

@@ -76,7 +76,7 @@ static IRQn_Type motirqs[MOTORSNO] = {
 // return two bits: 0 - ESW0, 1 - ESW1 (if inactive -> 1; if active -> 0)
 uint8_t ESW_state(uint8_t MOTno){
     uint8_t val = 0;
-    if(the_conf.isSPI){ // only ESW0 used
+    if(the_conf.motflags[MOTno].drvtype == DRVTYPE_SPI){ // only ESW0 used
         val = ((ESWports[MOTno][0]->IDR & ESWpins[MOTno][0]) ? 1 : 0);
         if(the_conf.motflags[MOTno].eswinv) val ^= 1;
         return val;

F3:F303/Multistepper/hashgen/hashgen.c

@@ -170,14 +170,13 @@ static char *fnname(const char *cmd){
 
 static const char *fhdr =
 "int parsecmd(const char *str){\n\
-        char cmd[CMD_MAXLEN + 1];\n\
         if(!str || !*str) return RET_CMDNOTFOUND;\n\
         int i = 0;\n\
-        while(*str > '@' && i < CMD_MAXLEN){ cmd[i++] = *str++; }\n\
+        while(*str > '@' && i < CMD_MAXLEN){ lastcmd[i++] = *str++; }\n\
-        cmd[i] = 0;\n\
+        lastcmd[i] = 0;\n\
         while(*str && *str <= ' ') ++str;\n\
         char *args = (char*) str;\n\
-        uint32_t h = hashf(cmd);\n\
+        uint32_t h = hashf(lastcmd);\n\
         switch(h){\n\n"
 ;
 static const char *ffooter =
@@ -195,12 +194,15 @@ static const char *headercontent =
 #endif\n\n\
 #define CMD_MAXLEN  (32)\n\n\
 enum{\n\
+   RET_HELP = -3,\n\
    RET_CMDNOTFOUND = -2,\n\
    RET_WRONGCMD = -1,\n\
-   RET_BAD = 0,\n\
+   RET_GOOD = 0,\n\
-   RET_GOOD = 1\n\
+   RET_BAD = 1\n\
 };\n\n\
-int parsecmd(const char *cmdwargs);\n\n";
+int parsecmd(const char *cmdwargs);\n\n\
+extern char lastcmd[];\n\n";
+
 static const char *sw =
 "        case CMD_%s:\n\
             return fn_%s(h, args);\n\
@@ -213,7 +215,8 @@ static const char *srchdr =
 #include \"%s\"\n\n\
 #ifndef WAL\n\
 #define WAL __attribute__ ((weak, alias (\"__f1\")))\n\
-#endif\n\nstatic int __f1(uint32_t _U_ h, char _U_ *a){return 1;}\n\n"
+#endif\n\nstatic int __f1(uint32_t _U_ h, char _U_ *a){return 1;}\n\n\
+char lastcmd[CMD_MAXLEN + 1];\n\n"
 ;
 
 static void build(strhash *H, int hno, int hlen){

F3:F303/Multistepper/hashgen/hdr.c

@@ -8,10 +8,10 @@
 #define WAL __attribute__ ((weak, alias ("__f1")))
 #endif
 
-char lastcmd[CMD_MAXLEN + 1];
-
 static int __f1(uint32_t _U_ h, char _U_ *a){return 1;}
 
+char lastcmd[CMD_MAXLEN + 1];
+
 int fn_abspos(uint32_t _U_ hash, char _U_ *args) WAL; // "abspos" (3056382221)
 
 int fn_accel(uint32_t _U_ hash, char _U_ *args) WAL; // "accel" (1490521981)
@@ -76,6 +76,8 @@ int fn_gpio(uint32_t _U_ hash, char _U_ *args) WAL; // "gpio" (4286324660)
 
 int fn_gpioconf(uint32_t _U_ hash, char _U_ *args) WAL; // "gpioconf" (1309721562)
 
+int fn_help(uint32_t _U_ hash, char _U_ *args) WAL; // "help" (4288288686)
+
 int fn_maxspeed(uint32_t _U_ hash, char _U_ *args) WAL; // "maxspeed" (1498078812)
 
 int fn_maxsteps(uint32_t _U_ hash, char _U_ *args) WAL; // "maxsteps" (1506667002)
@@ -244,6 +246,9 @@ int parsecmd(const char *str){
         case CMD_GPIOCONF:
             return fn_gpioconf(h, args);
         break;
+        case CMD_HELP:
+            return fn_help(h, args);
+        break;
         case CMD_MAXSPEED:
             return fn_maxspeed(h, args);
         break;

F3:F303/Multistepper/hashgen/hdr.h

@@ -5,10 +5,11 @@
 #define CMD_MAXLEN  (32)
 
 enum{
+   RET_HELP = -3,
    RET_CMDNOTFOUND = -2,
    RET_WRONGCMD = -1,
-   RET_BAD = 0,
+   RET_GOOD = 0,
-   RET_GOOD = 1
+   RET_BAD = 1
 };
 
 int parsecmd(const char *cmdwargs);
@@ -47,6 +48,7 @@ extern char lastcmd[];
 #define CMD_GOTOZ           (3178103736)
 #define CMD_GPIO            (4286324660)
 #define CMD_GPIOCONF        (1309721562)
+#define CMD_HELP            (4288288686)
 #define CMD_MAXSPEED        (1498078812)
 #define CMD_MAXSTEPS        (1506667002)
 #define CMD_MCUT            (4022718)

F3:F303/Multistepper/hashgen/helpcmds.in

@@ -30,6 +30,7 @@
     "gotozN - find zero position & refresh counters\n"
     "gpioconfN* - GS GPIO configuration (0 - PUin, 1 - PPout, 2 - ODout), N=0..2\n"
     "gpioN* - GS GPIO values, N=0..2\n"
+    "help - print this help\n"
     "maxspeedN - GS max speed (steps per sec)\n"
     "maxstepsN - GS max steps (from zero ESW)\n"
     "mcut - G MCU T\n"

F3:F303/Multistepper/hashgen/run

@@ -8,3 +8,5 @@ gcc hdr.c test.c strfunc.c  -o test
 ./test "esw45 =   some text"
 ./test "goto 55 = "
 ./test "stop 3256"
+./test "mcut"
+

F3:F303/Multistepper/hashgen/test.c

@@ -7,9 +7,9 @@
 
 static int noargs(uint32_t hash){
     switch(hash){
-        case CMD_REBOOT: printf("REBOOT\n"); break;
+        case CMD_RESET: printf("REBOOT\n"); break;
         case CMD_TIME: printf("TIME!\n"); break;
-        case CMD_TEMP: printf("Temp\n"); break;
+        case CMD_MCUT: printf("Temp\n"); break;
         default: printf("Unknown hash 0x%x\n", hash); return 0;
     }
     return 1;
@@ -30,7 +30,7 @@ static int withparno(uint32_t hash, char *args){
     switch(hash){
         case CMD_ESW: fname = "ESW"; break;
         case CMD_GOTO: fname = "GOTO"; break;
-        case CMD_POS: fname = "POS"; break;
+        case CMD_ABSPOS: fname = "ABSPOS"; break;
         case CMD_STOP: fname = "STOP"; break;
         default: fname = "unknown";
     }

F3:F303/Multistepper/hashgen/testdic

@@ -30,6 +30,7 @@ goto
 gotoz
 gpioconf
 gpio
+help
 maxspeed
 maxsteps
 mcut

F3:F303/Multistepper/proto.c

@@ -288,6 +288,7 @@ int fn_canfilter(uint32_t _U_ hash,  char *args){
 
 int fn_canflood(uint32_t _U_ hash,  char *args){
     CAN_flood(parseCANmsg(args), 0);
+    USB_sendstr("Simple flooding is ON (send with empty ID to stop)\n");
     return RET_GOOD;
 }
 
@@ -333,8 +334,8 @@ int fn_canerrcodes(uint32_t _U_ hash,  char _U_ *args){
 }
 
 int fn_canincrflood(uint32_t _U_ hash,  char _U_ *args){
-    CAN_flood(NULL, 1);
+    CAN_flood(parseCANmsg(args), 1);
-    USB_sendstr("Incremental flooding is ON ('F' to off)\n");
+    USB_sendstr("Incremental flooding is ON (send with empty ID to stop)\n");
     return RET_GOOD;
 }
 
@@ -346,18 +347,17 @@ int fn_canspeed(uint32_t _U_ hash,  char _U_ *args){
         return RET_GOOD;
     }
     if(N < 50){
-        USB_sendstr("canspeed=");
+        USND("Lower speed is 50kbps");
-        USB_sendstr(u2str(CAN_speed()));
-        newline();
         return RET_GOOD;
-    }else if(N > 3000){
+    }else if(N > 1500){
-        USB_sendstr("Highest speed is 3000kbps");
+        USND("Highest speed is 1500kbps");
         return RET_GOOD;
     }
     CAN_reinit((uint16_t)N);
-    // theconf.canspeed = N;
+    uint32_t regval = 4500 / N;
+    the_conf.CANspeed = 4500 * regval;
     USB_sendstr("Reinit CAN bus with speed ");
-    printu(N); USB_sendstr("kbps"); newline();
+    printu(the_conf.CANspeed); USB_sendstr("kbps"); newline();
     return RET_GOOD;
 }
 
@@ -529,7 +529,8 @@ static int canusb_function(uint32_t hash, char *args){
             }
             USB_sendstr("button"); USB_putbyte('0'+PARBASE(par));
             USB_putbyte('='); USB_sendstr(kstate);
-            USB_sendstr("\nbuttontm="); USB_sendstr(u2str(val));
+            USB_sendstr("\nbuttontm"); USB_putbyte('0'+PARBASE(par));
+            USB_putbyte('='); USB_sendstr(u2str(val));
             newline();
             return RET_GOOD;
         break;
@@ -552,7 +553,9 @@ static int canusb_function(uint32_t hash, char *args){
             e = cu_drvtype(par, &val);
         break;
         case CMD_EMSTOP:
-            e = cu_emstop(par, &val);
+            if(par == CANMESG_NOPAR) e = cu_emstopall(par, &val);
+            else e = cu_emstop(par, &val);
+            if(e == ERR_OK){ USND("OK"); return RET_GOOD;}
         break;
         case CMD_ESWREACT:
             e = cu_eswreact(par, &val);
@@ -682,6 +685,7 @@ int fn_goto(uint32_t _U_ hash,  char _U_ *args) AL; //* "goto" (4286309438)
 int fn_gotoz(uint32_t _U_ hash,  char _U_ *args) AL; //* "gotoz" (3178103736)
 int fn_gpio(uint32_t _U_ hash,  char _U_ *args) AL; //* "gpio" (4286324660)
 int fn_gpioconf(uint32_t _U_ hash,  char _U_ *args) AL; //* "gpioconf" (1309721562)
+int fn_help(uint32_t _U_ hash, char _U_ *args){return RET_HELP;} // "help" (4288288686)
 int fn_maxspeed(uint32_t _U_ hash,  char _U_ *args) AL; //* "maxspeed" (1498078812)
 int fn_maxsteps(uint32_t _U_ hash,  char _U_ *args) AL; //* "maxsteps" (1506667002)
 int fn_mcut(uint32_t _U_ hash,  char _U_ *args) AL; // "mcut" (4022718)
@@ -717,8 +721,9 @@ int fn_vfive(uint32_t _U_ hash, char _U_ *args) AL; // "vfive" (3017477285)
 const char *cmd_parser(const char *txt){
     int ret = parsecmd(txt);
     switch(ret){
-        case RET_CMDNOTFOUND: return helpstring; break;
+        case RET_HELP: return helpstring; break;
-        case RET_WRONGCMD: return "Wrong command parameters\n"; break;
+        case RET_CMDNOTFOUND: return "BADCMD\n"; break;
+        case RET_WRONGCMD: return "BADARGS\n"; break;
         case RET_GOOD: return NULL; break;
         default: return "FAIL\n"; break;
     }

F3:F303/Multistepper/version.inc

@@ -1,2 +1,2 @@
-#define BUILD_NUMBER "114"
+#define BUILD_NUMBER "119"
-#define BUILD_DATE "2024-08-15"
+#define BUILD_DATE "2024-08-16"