hide deprecated code; make USB snippet common for F0/F1/F3

F1:F103/deprecated/chronometer/GPS.c

@@ -0,0 +1,179 @@
+/*
+ * GPS.c
+ *
+ * Copyright 2015 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+
+#include "GPS.h"
+#include "hardware.h"
+#include "time.h"
+#include "usart.h"
+#include "str.h"
+#include "usb.h"
+#include <string.h> // memcpy
+
+#define GPS_send_string(str) do{usart_send(GPS_USART, str);}while(0)
+
+gps_status GPS_status = GPS_NOTFOUND;
+int need2startseq = 1;
+
+static uint8_t hex(uint8_t n){
+    return ((n < 10) ? (n+'0') : (n+'A'-10));
+}
+
+/**
+ * Check checksum
+ */
+static int checksum_true(const char *buf){
+    char *eol;
+    uint8_t checksum = 0, cs[3];
+    if(*buf != '$' || !(eol = getchr(buf, '*'))){
+        return 0;
+    }
+    while(++buf != eol)
+        checksum ^= (uint8_t)*buf;
+    ++buf;
+    cs[0] = hex(checksum >> 4);
+    cs[1] = hex(checksum & 0x0f);
+    if(buf[0] == cs[0] && buf[1] == cs[1])
+        return 1;
+    return 0;
+}
+
+static void send_chksum(uint8_t chs){
+    usart_putchar(GPS_USART, hex(chs >> 4));
+    usart_putchar(GPS_USART, hex(chs & 0x0f));
+}
+
+/**
+ * Calculate checksum & write message to port
+ * @param  buf - command to write (without leading $ and trailing *)
+ * return 0 if fails
+ */
+static void write_with_checksum(const char *buf){
+    /*
+    for(int i = 0; i < 10000; ++i){
+        char *txt = NULL;
+        if(usartrx(GPS_USART)){
+            usart_getline(GPS_USART, &txt);
+            DBG("Old data");
+            GPS_parse_answer(txt);
+            break;
+        }
+    }*/
+    uint8_t checksum = 0;
+    usart_putchar(GPS_USART, '$');
+    GPS_send_string(buf);
+    do{
+        checksum ^= *buf++;
+    }while(*buf);
+    usart_putchar(GPS_USART, '*');
+    send_chksum(checksum);
+    newline(GPS_USART);
+}
+
+
+/*
+ * MTK fields format:
+ *      $PMTKxxx,yyy,zzz*2E
+ *          P - proprietary, MTK - always this, xxx - packet type, yyy,zzz - packet data
+ * Packet types:
+ * 220 - PMTK_SET_POS_FIX, data - position fix interval (msec, > 200)
+ * 255 - PMTK_SET_SYNC_PPS_NMEA - turn on/off (def - off) PPS, data = 0/1 ->  "$PMTK255,1" turn ON
+ * 285 - PMTK_SET_PPS_CONFIG - set PPS configuration, data fields:
+ *      1st - 0-disable, 1-after 1st fix, 2-3D only, 3-2D/3D only, 4-always
+ *      2nd - 2..998 - pulse width
+ * 314 - PMTK_API_SET_NMEA_OUTPUT - set output messages, N== N fixes per output,
+ *      order of messages: GLL,RMC,VTG,GGA,GSA,GSV,GRS,GST, only RMC per every pos fix:
+ *      $PMTK314,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
+ * 386 - PMTK_API_SET_STATIC_NAV_THD speed threshold (m/s) for static navigation
+ *      $PMTK386,1.5
+ * ;
+ */
+
+/**
+ * Send starting sequences (get only RMC messages)
+ */
+void GPS_send_start_seq(){
+    DBG("Send start seq");
+    // turn ON PPS:
+    write_with_checksum("PMTK255,1");
+    // set pulse width to 10ms with working after 1st fix
+    write_with_checksum("PMTK285,1,10");
+    // set only RMC:
+    write_with_checksum("PMTK314,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0");
+    // set static speed threshold
+    write_with_checksum("PMTK386,1.5");
+    need2startseq = 0;
+}
+
+// send "full cold start" command to clear all almanach & location data
+void GPS_send_FullColdStart(){
+    write_with_checksum("PMTK104");
+}
+
+/**
+ * Parse answer from GPS module
+ *
+ * Recommended minimum specific GPS/Transit data
+ * $GPRMC,hhmmss.sss,status,latitude,N,longitude,E,spd,cog,ddmmyy,mv,mvE,mode*cs
+ * 1    = UTC of position fix
+ * 2    = Data status (V=valid, A=invalid)
+ * 3    = Latitude (ddmm.mmmm)
+ * 4    = N or S
+ * 5    = Longitude (dddmm.mmmm)
+ * 6    = E or W
+ * 7    = Speed over ground in knots
+ * 8    = Cource over ground in degrees
+ * 9    = UT date (ddmmyy)
+ * 10   = Magnetic variation degrees (Easterly var. subtracts from true course)
+ * 11   = E or W
+ * 12   = Mode: N(bad), E(approx), A(auto), D(diff)
+ * 213457.00,A,4340.59415,N,04127.47560,E,2.494,,290615,,,A*7B
+ */
+void GPS_parse_answer(const char *buf){
+    char *ptr;
+    if(buf[1] == 'P') return; // answers to proprietary messages
+    if(cmpstr(buf+3, "RMC", 3)){ // not RMC message
+        //need2startseq = 1;
+        return;
+    }
+    if(!checksum_true(buf)){
+        return; // wrong checksum
+    }
+    if(showGPSstr){
+        showGPSstr = 0;
+        sendstring(buf);
+    }
+    buf += 7; // skip header
+    if(*buf == ','){ // time unknown
+        GPS_status = GPS_WAIT;
+        return;
+    }
+    ptr = getchr(buf, ',');
+    if(!ptr ) return;
+    *ptr++ = 0;
+    if(*ptr == 'A'){
+        GPS_status = GPS_VALID;
+        set_time(buf);
+    }else{
+        uint8_t goth = (buf[0]-'0')*10 + buf[1]-'0';
+        if(current_time.H != goth) set_time(buf); // set time once per hour even if it's not valid
+        GPS_status = GPS_NOT_VALID;
+    }
+}

F1:F103/deprecated/chronometer/GPS.h

@@ -0,0 +1,43 @@
+/*
+ * GPS.h
+ *
+ * Copyright 2015 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+
+#pragma once
+#ifndef __GPS_H__
+#define __GPS_H__
+
+#include "stm32f1.h"
+
+extern int need2startseq;
+
+typedef enum{
+     GPS_NOTFOUND   // default status before first RMC message
+    ,GPS_WAIT       // wait for satellites
+    ,GPS_NOT_VALID  // time known, but not valid
+    ,GPS_VALID
+} gps_status;
+
+extern gps_status GPS_status;
+
+void GPS_parse_answer(const char *string);
+void GPS_send_start_seq();
+void GPS_send_FullColdStart();
+
+#endif // __GPS_H__

F1:F103/deprecated/chronometer/Makefile

@@ -0,0 +1,159 @@
+# make debug adds -DEBUG -Werror
+# make ADDEFS="additional defs"
+BINARY		= chrono
+BOOTPORT	?= /dev/ttyUSB0
+BOOTSPEED	?= 115200
+# MCU FAMILY
+FAMILY		?= F1
+# MCU code
+MCU			?= F103x8
+# density (stm32f10x.h, lines 70-84)
+DENSITY 	?= MD
+# change this linking script depending on particular MCU model,
+LDSCRIPT	?= stm32F103xB.ld
+DEFS		= ${ADDEFS} -DVERSION=\"0.1.0\"
+TARGET := RELEASE
+# proxy GPS output over USART1
+#DEFS += -DUSART1PROXY
+
+FP_FLAGS	?= -msoft-float -mfloat-abi=soft
+ASM_FLAGS	?= -mthumb -mcpu=cortex-m3 -mfix-cortex-m3-ldrd
+ARCH_FLAGS	= $(ASM_FLAGS) $(FP_FLAGS)
+
+###############################################################################
+# Executables
+#PREFIX		?= arm-none-eabi
+# gcc from arm web site 
+PREFIX		?= /opt/bin/arm-none-eabi
+TOOLCHLIB	?= /opt/arm-none-eabi/lib
+RM			:= rm -f
+RMDIR		:= rmdir
+CC			:= $(PREFIX)-gcc
+# don't replace ld with gcc: the binary size would be much greater!!
+LD			:= $(PREFIX)-ld
+AR			:= $(PREFIX)-ar
+AS			:= $(PREFIX)-as
+SIZE 		:= $(PREFIX)-size
+OBJCOPY		:= $(PREFIX)-objcopy
+OBJDUMP		:= $(PREFIX)-objdump
+GDB			:= $(PREFIX)-gdb
+STFLASH		:= $(shell which st-flash)
+STBOOT		:= $(shell which stm32flash)
+DFUUTIL		:= $(shell which dfu-util)
+
+###############################################################################
+# Source files
+OBJDIR 		= mk
+SRC			:= $(wildcard *.c)
+OBJS		:= $(addprefix $(OBJDIR)/, $(SRC:%.c=%.o))
+STARTUP		= $(OBJDIR)/startup.o
+OBJS 		+= $(STARTUP)
+# dependencies: we need them to recompile files if their headers-dependencies changed
+DEPS		:= $(OBJS:.o=.d)
+
+INC_DIR ?= ../inc
+
+INCLUDE 	:= -I$(INC_DIR)/Fx -I$(INC_DIR)/cm
+LIB_DIR		:= $(INC_DIR)/ld
+
+###############################################################################
+# C flags
+CFLAGS		+= -O2 -g -D__thumb2__=1 -MD
+CFLAGS		+= -Wall -Wextra -Wshadow 
+CFLAGS		+= -fno-common -ffunction-sections -fdata-sections -fno-stack-protector
+CFLAGS		+=  $(ARCH_FLAGS)
+
+###############################################################################
+# Linker flags
+LDFLAGS		+= --static -nostartfiles -nostdlibs 
+LDFLAGS		+= -L$(LIB_DIR) -L$(TOOLCHLIB)
+LDFLAGS		+= -T$(LDSCRIPT)
+
+###############################################################################
+# Used libraries
+LDLIBS		+=  -lc $(shell $(CC) $(CFLAGS) -print-libgcc-file-name)
+
+DEFS		+= -DSTM32$(FAMILY) -DSTM32$(MCU) -DSTM32F10X_$(DENSITY)
+
+ELF		:= $(OBJDIR)/$(BINARY).elf
+LIST	:= $(OBJDIR)/$(BINARY).list
+BIN		:= $(BINARY).bin
+HEX		:= $(BINARY).hex
+
+all: $(OBJDIR)/RELEASE bin list size
+release: all
+
+debug: CFLAGS += -DEBUG -Werror
+debug: $(OBJDIR)/DEBUG bin list size
+
+$(OBJDIR)/DEBUG: 
+	@rm -rf $(OBJDIR)
+	@mkdir $(OBJDIR)
+	@> $(OBJDIR)/DEBUG
+	@echo "TARGET: DEBUG"
+	echo "CFLAGS += -DEBUG -Werror" > $(OBJDIR)/CFLAGS
+$(OBJDIR)/RELEASE:
+	@rm -rf $(OBJDIR)
+	@mkdir $(OBJDIR)
+	@> $(OBJDIR)/RELEASE
+	@echo "TARGET: RELEASE"
+	echo "" > $(OBJDIR)/CFLAGS
+
+elf: $(ELF)
+bin: $(BIN)
+hex: $(HEX)
+list: $(LIST)
+
+ifneq ($(MAKECMDGOALS),clean)
+-include $(DEPS)
+-include $(OBJDIR)/CFLAGS
+endif
+
+$(OBJDIR):
+	mkdir $(OBJDIR)
+
+$(STARTUP): $(INC_DIR)/startup/vector.c
+	$(CC) $(CFLAGS) $(DEFS) $(INCLUDE) -o $@ -c $<
+
+$(OBJDIR)/%.o: %.c
+	@echo "  CC      $<"
+	$(CC) $(CFLAGS) $(DEFS) $(INCLUDE) -o $@ -c $<
+
+$(BIN): $(ELF)
+	@echo "  OBJCOPY $(BIN)"
+	$(OBJCOPY) -Obinary $(ELF) $(BIN)
+
+$(HEX): $(ELF)
+	@echo "  OBJCOPY $(HEX)"
+	$(OBJCOPY) -Oihex $(ELF) $(HEX)
+
+$(LIST): $(ELF)
+	@echo "  OBJDUMP $(LIST)"
+	$(OBJDUMP) -S $(ELF) > $(LIST)
+
+$(ELF): $(OBJDIR) $(OBJS) $(LDSCRIPT)
+	@echo "  LD      $(ELF)"
+	$(LD) $(LDFLAGS) $(OBJS) $(LDLIBS) -o $(ELF)
+
+size: $(ELF)
+	$(SIZE) $(ELF)    
+
+clean:
+	@echo "  CLEAN"
+	@$(RM) $(HEX)
+	@$(RM) -rf $(OBJDIR) 2>/dev/null || true
+
+
+flash: $(BIN)
+	@echo "  FLASH  $(BIN)"
+	$(STFLASH) --reset write $(BIN) 0x8000000
+
+boot: $(BIN)
+	@echo "  LOAD $(BIN) through bootloader"
+	$(STBOOT) -b$(BOOTSPEED) $(BOOTPORT) -w $(BIN)
+
+dfuboot: $(BIN)
+	@echo "  LOAD  $(BIN) THROUGH DFU"
+	$(DFUUTIL) -a0 -D $(BIN) -s 0x08000000
+
+.PHONY: clean flash boot

F1:F103/deprecated/chronometer/Readme.md

@@ -0,0 +1,33 @@
+Chronometer for downhill competitions
+=====================================
+
+## Pinout
+
+- PA11/12 - USB
+- PA9(Tx),PA10 (debug mode) - USART1 - debug console
+- PA2(Tx), PA3 - USART2 - GPS
+- PB10(Tx), PB11 - USART3 - LIDAR - TRIG3
+
+- PA1  - PPS signal from GPS (EXTI)
+
+- PA4  - TRIG2 - 12V trigger (EXTI)
+- PA13 - TRIG0 - button0 (EXTI)
+- PA14 - TRIG1 - button1/laser/etc (EXTI)
+- PA15 - USB pullup
+
+- PB8, PB9 - onboard LEDs (0/1)
+
+- PC13 - buzzer
+
+## LEDS
+
+- LED0 - shining when there's no PPS signal, fades for 0.25s on PPS
+- LED1 - don't shines if no GPS found, shines when time not valid, blinks when time valid
+
+### Not implemented yet:
+
+- PA5,6,7 (SCK, MISO, MOSI) - SPI
+- PB0 - TRIG4 - ADC channel 8
+- PB6/7 (SCL, SDA) - I2C
+
+

F1:F103/deprecated/chronometer/Readme_rus.txt

@@ -0,0 +1,123 @@
+Дополнено выводом времени на LED screen.
+
+!!! инвертировать USB_PU
+
+
+****** Распиновка ******
+
+=== Интерфейсы I/O ===
+- PA11/12 - USB
+- PA9(Tx), PA10(Rx) - USART1 - консоль отладки / прокси RMC-сообщений GPS (опт. - bluetooth).
+- PA2(Tx), PA3(Rx) - USART2 - подключение GPS-приемника.
+- PB10(Tx), PB11(Rx) - USART3 - подключение лидара или другой консоли.
+
+=== Остальные порты ===
+- PA1  - PPS сигнал от GPS; сюда можно подключать любой дополнительный высокоомный вход напрямую.
+- PB0  - TRIG0 - (замыкать на землю).
+- PB1  - TRIG1 - подключен к 12В.
+- PB3  - TRIG2 - (замыкать на землю).
+- PA15 - подтяжка USB.
+- PA8  - (еще не реализовано) - bluetooth "state"
+- PB8, PB9 - индикаторные светодиоды (LED1, LED0 соответственно).
+- PC13 - пищалка.
+
+=== Светодиоды ===
+- LED0 - при отсутствии сигнала PPS просто горит, если PPS появляется - мигает (затухает на 0.25с на каждый сигнал).
+- LED1 - индикатор GPS: не горит, если приемник не обнаружен; горит постоянно, если неуверенный прием времени
+(буква "V" во второй позиции RMC-сообщения); мигает при уверенном приеме (буква "A" во второй позиции).
+Судя по эксперименту, даже через час после пропадания сигнала точность определения события - не хуже 1мс. Сам GPS-приемник выдает
+PPS даже при отсутствии спутников - лишь бы он успел "подхватить" точное время и начать генерировать pps. Начинать работу можно сразу,
+как только замигает LED0.
+
+
+****** Триггеры ******
+К TRIG0/TRIG2 подключается кнопка, педаль, иной створ, замыкающий контакты. Никакого внешнего напряжения здесь быть не должно!
+К TRIG1 нужно подключать 12-вольтный сигнал, ток не меньше 10мА. Если створ имеет открытый коллектор, то выход створа подключается
+к минусу TRIG2, а к плюсу подключается 12В с источника питания.
+
+Иногда бывают ложные срабатывания триггеров TRIG0..TRIG2, связанные с мощными источниками искр (зажигание, искрящиеся обмотки и т.п.). 
+В случае таких ложных срабатываний рекомендуется заземлить катод источника питания хронометра. 
+
+При подключении внешней кнопки желательно, чтобы она имела нормально замкнутые контакты - это предотвратит ложные срабатывания из-за электромагнитных помех.
+
+
+****** Подключение ******
+Хронометр эмулирует "китайский" преобразователь PL2303.
+
+К выходам PA9/PA10 можно подключить преобразователь USART<>USB или накинуть их напрямую на ноги Rx/Tx "малинки" (не забыв соединить
+земли хронометра и малинки): PA9(Tx) соединить с Rx, PA10(Rx) - с Tx. Этот USART проксирует RMC-сообщения GPS-приемника (уже после
+обработки микроконтроллером, поэтому если МК выключен, а приемник включен, сигнала все равно не будет).
+
+Для подключения PPS сигнала к "малинке" выведен соответствующий разъем.
+
+
+****** Конфигурация ******
+Хронометр конфигурируется через USB. Ввод команд не сопровождается эхом (чтобы удобней было работать из внешних программ), поэтому
+для удобства можно тексты команд копировать из окна текстового редактора.
+Чтобы увидеть подсказку, достаточно отправить любую строку, начинающуюся с вопросительного знака. Появится справка:
+
+adcmax - max ADC value treshold for trigger
+adcmin - min -//- (triggered when ADval>min & <max
+adcval - get ADC value
+buzzerS - turn buzzer ON/OFF
+distmin - min distance threshold (cm)
+distmax - max distance threshold (cm)
+gpsrestart - send Full Cold Restart to GPS
+gpsstring - current GPS data string
+ledsS - turn leds on/off (1/0)
+mcutemp - MCU temperature
+pullupNS - triggers pullups state (N - trigger No, S - 0/1 for off/on)
+showconf - show current configuration
+time - print time
+store - store new configuration in flash
+triglevelNS - working trigger N level S
+trigpauseNP - pause (P, ms) after trigger N shots
+trigtimeN - show last trigger N time
+vdd - Vdd value
+
+Из нужного здесь: 
+- gpsrestart - перезапуск GPS (если вдруг начнет глючить - у меня такого не случалось), делает "холодный" рестарт. Команда 
+	проверялась лишь на прототипе.
+- gpsstring - вывод очередного сообщения от GPS. Если все нормально, то появится строка RMC вроде
+	$GPRMC,124001.000,A,4340.9369,N,04127.5034,E,0.00,33.26,150819,,,A*5C
+- pullupNS - включить или выключить внутренние верхние подтяжки для триггеров 0..3 (особо не нужно, т.к. подтяжки слабые, и если
+	будет нужна подтяжка, лучше сделать сильную внешнюю).
+- showconf - отображение текущей конфигурации, например:
+	CONFIG:
+	DISTMIN=50
+	DISTMAX=1000
+	ADCMIN=1024
+	ADCMAX=3072
+	PULLUPS=255
+	TRIGLVL=0
+	TRIGPAUSE={400, 400, 400, 300, 300}
+	ENDCONFIG
+
+	пункты конфигурации: DISTMIN/DISTMAX относятся к лидару, ADCMIN/ADCMAX ко входу АЦП, PULLUPS - состояние подтяжек
+		(каждый бит, начиная с младшего - состояние соответствующей подтяжки; 0 - не активна, 1 - активна).
+	TRIGLVL - конфигурация уровней срабатывания, каждый бит, начиная с младшего (всего три младших бита, как и в PULLUPS),
+		равен нулю, если для соответствующего триггера срабатывание при перепаде 1->0, равен единице, если при
+		перепаде 0->1.
+	TRIGPAUSE - пауза между срабатываниями триггера: если после срабатывания произойдет следующее событие за интервал, меньший
+		данного, это событие учитываться не будет.
+- time - отображает текущее время так, как оно бы отобразилось при срабатывании триггера, например,
+	55725.961 (15:28:45)
+	ВРЕМЯ ИЗМЕРЯЕТСЯ В UTC!!! Первое число - количество секунд и миллисекунд с начала суток по UTC, в скобках
+	указывается человекочитаемое время.
+- store - сохранить новую конфигурацию во флеш-памяти МК.
+- triglevelNS - рабочий уровень триггера. Здесь N - номер триггера (0..2), S - уровень (0/1). Скажем, чтобы триггер 0 срабатывал
+	при перепаде 1->0, нужно написать команду
+	triglevel00
+	а чтобы триггер 2 срабатывал при перепаде 0->1,
+	triglevel21
+- trigpauseNP - задать паузу для триггера N, пауза в миллисекундах. Если написать 0, паузы не будет и каждое срабатывание 
+	будет вызывать соответствующее сообщение. Эта пауза нужнад для защиты от "звона" и нескольких срабатываний на "дырках"
+	в объекте. Меньше 50мс лучше не делать.
+- trigtimeN - отображение последнего времени срабатывания триггера N, например, на запрос trigtime0, может быть выведено:
+	TRIG0=45212.930 (12:33:32)
+	Если срабатываний с момента включения не было, выведутся нули:
+	TRIG4=0.000 (00:00:00)
+
+После изменения конфигурации и ее сохранения необходимо нажатием на reset или отключением/включением питания перезагрузить МК,
+т.к. некоторые параметры активируются лишь при старте.
+

F1:F103/deprecated/chronometer/adc.c

@@ -0,0 +1,72 @@
+/*
+ * This file is part of the chronometer project.
+ * Copyright 2018 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 "adc.h"
+#include "flash.h"
+#include "hardware.h"
+
+/**
+ * @brief ADC_array - array for ADC channels with median filtering:
+ * 0 - Rvar
+ * 1 - internal Tsens
+ * 2 - Vref
+ */
+uint16_t ADC_array[NUMBER_OF_ADC_CHANNELS*9];
+
+/**
+ * @brief getADCval - calculate median value for `nch` channel
+ * @param nch - number of channel
+ * @return
+ */
+uint16_t getADCval(int nch){
+    int i, addr = nch;
+    register uint16_t temp;
+#define PIX_SORT(a,b) do{ if ((a)>(b)) PIX_SWAP((a),(b)); }while(0)
+#define PIX_SWAP(a,b) do{ temp=(a);(a)=(b);(b)=temp; }while(0)
+    uint16_t p[9];
+    for(i = 0; i < 9; ++i, addr += NUMBER_OF_ADC_CHANNELS) // first we should prepare array for optmed
+        p[i] = ADC_array[addr];
+    PIX_SORT(p[1], p[2]) ; PIX_SORT(p[4], p[5]) ; PIX_SORT(p[7], p[8]) ;
+    PIX_SORT(p[0], p[1]) ; PIX_SORT(p[3], p[4]) ; PIX_SORT(p[6], p[7]) ;
+    PIX_SORT(p[1], p[2]) ; PIX_SORT(p[4], p[5]) ; PIX_SORT(p[7], p[8]) ;
+    PIX_SORT(p[0], p[3]) ; PIX_SORT(p[5], p[8]) ; PIX_SORT(p[4], p[7]) ;
+    PIX_SORT(p[3], p[6]) ; PIX_SORT(p[1], p[4]) ; PIX_SORT(p[2], p[5]) ;
+    PIX_SORT(p[4], p[7]) ; PIX_SORT(p[4], p[2]) ; PIX_SORT(p[6], p[4]) ;
+    PIX_SORT(p[4], p[2]) ;
+    return p[4];
+#undef PIX_SORT
+#undef PIX_SWAP
+}
+
+// return MCU temperature (degrees of celsius * 10)
+int32_t getMCUtemp(){
+    // Temp = (V25 - Vsense)/Avg_Slope + 25
+    // V_25 = 1.45V,  Slope = 4.3e-3
+    uint32_t Vsense = getVdd() * getADCval(ADC_TMCU_CHANNEL);
+    int32_t temperature = 593920 - (int32_t)Vsense; // 593920 == 145*4096
+    temperature /= 172; // == /(4096*10*4.3e-3), 10 - to convert from *100 to *10
+    temperature += 250;
+    return(temperature);
+}
+
+// return Vdd * 100 (V)
+uint32_t getVdd(){
+    uint32_t vdd = 120 * 4096; // 1.2V
+    vdd /= getADCval(ADC_VDD_CHANNEL);
+    return vdd;
+}

F1:F103/deprecated/chronometer/adc.h

@@ -0,0 +1,32 @@
+/*
+ * This file is part of the chronometer project.
+ * Copyright 2018 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/>.
+ */
+#ifndef ADC_H
+#define ADC_H
+#include "stm32f1.h"
+
+// interval of trigger's shot (>min && <max), maybe negative
+#define ADC_MIN_VAL     (1024)
+#define ADC_MAX_VAL     (3072)
+// 2*ADC_THRESHOLD = hysteresis width
+#define ADC_THRESHOLD   (50)
+
+extern uint16_t ADC_array[];
+int32_t getMCUtemp();
+uint32_t getVdd();
+uint16_t getADCval(int nch);
+#endif // ADC_H

F1:F103/deprecated/chronometer/flash.c

@@ -0,0 +1,318 @@
+/*
+ *                                                                                                  geany_encoding=koi8-r
+ * flash.c
+ *
+ * Copyright 2017 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ *
+ */
+
+/**
+  ATTENTION!!
+  This things works only if you will add next section:
+
+    .myvars :
+    {
+     . = ALIGN(1024);
+     KEEP(*(.myvars))
+    } > rom
+
+  after section .data
+*/
+
+#include "stm32f1.h"
+
+#include "adc.h"
+#include "flash.h"
+#include "lidar.h"
+#include "str.h"
+#include "usart.h"  // DBG
+#include "usb.h"    // printout
+#include <string.h> // memcpy
+
+// max amount of records stored: Config & Logs
+uint32_t maxCnum = FLASH_BLOCK_SIZE / sizeof(user_conf);
+uint32_t maxLnum = FLASH_BLOCK_SIZE / sizeof(user_conf);
+
+// common structure for all datatypes stored
+/*typedef struct {
+    uint16_t userconf_sz;
+} flash_storage;*/
+
+#define USERCONF_INITIALIZER  {             \
+     .userconf_sz = sizeof(user_conf)       \
+    ,.dist_min = LIDAR_MIN_DIST             \
+    ,.dist_max = LIDAR_MAX_DIST             \
+    ,.trigstate = 0                         \
+    ,.trigpause = {400, 400, 400, 300}      \
+    ,.USART_speed = USART1_DEFAULT_SPEED    \
+    ,.LIDAR_speed = LIDAR_DEFAULT_SPEED     \
+    ,.defflags = 0                          \
+    ,.NLfreeWarn = 100                      \
+    }
+
+// change to placement
+/*
+__attribute__ ((section(".logs"))) const uint32_t *logsstart;
+__attribute__ ((section(".myvars"))) const user_conf *Flash_Data;
+*/
+
+static int erase_flash(const void*, const void*);
+static int write2flash(const void*, const void*, uint32_t);
+
+const user_conf *Flash_Data = (const user_conf *)&__varsstart;
+const event_log *logsstart = (event_log*) &__logsstart;
+TODO("Add to event_log a comment - up to 8 chars")
+
+user_conf the_conf = USERCONF_INITIALIZER;
+
+static int currentconfidx = -1; // index of current configuration
+static int currentlogidx = -1; // index of current logs record
+
+/**
+ * @brief binarySearch - binary search in flash for last non-empty cell
+ *          any struct searched should have its sizeof() @ the first field!!!
+ * @param l - left index
+ * @param r - right index (should be @1 less than last index!)
+ * @param start - starting address
+ * @param stor_size - size of structure to search
+ * @return index of non-empty cell or -1
+ */
+static int binarySearch(int r, const uint8_t *start, int stor_size){
+    int l = 0;
+    while(r >= l){
+        int mid = l + (r - l) / 2;
+        const uint8_t *s = start + mid * stor_size;
+        if(*((const uint16_t*)s) == stor_size){
+            if(*((const uint16_t*)(s + stor_size)) == 0xffff){
+                return mid;
+            }else{ // element is to the right
+                l = mid + 1;
+            }
+        }else{ // element is to the left
+            r = mid - 1;
+        }
+    }
+    return -1; // not found
+}
+
+/**
+ * @brief flashstorage_init - initialization of user conf & logs storage
+ * run in once @ start
+ */
+void flashstorage_init(){
+    maxCnum = ((uint32_t)&_varslen) / sizeof(user_conf);
+//SEND("maxCnum="); printu(1, maxCnum);
+    if(FLASH_SIZE > 0 && FLASH_SIZE < 20000){
+        uint32_t flsz = FLASH_SIZE * 1024; // size in bytes
+        flsz -= (uint32_t)logsstart - FLASH_BASE;
+        maxLnum = flsz / sizeof(event_log);
+//SEND("\nmaxLnum="); printu(1, maxLnum);
+    }
+    // -1 if there's no data at all & flash is clear; maxnum-1 if flash is full
+    currentconfidx = binarySearch((int)maxCnum-2, (const uint8_t*)Flash_Data, sizeof(user_conf));
+    if(currentconfidx > -1){
+        memcpy(&the_conf, &Flash_Data[currentconfidx], sizeof(user_conf));
+    }
+    currentlogidx = binarySearch((int)maxLnum-2, (const uint8_t*)logsstart, sizeof(event_log));
+}
+
+// store new configuration
+// @return 0 if all OK
+int store_userconf(){
+    // maxnum - 3 means that there always should be at least one empty record after last data
+    // for binarySearch() checking that there's nothing more after it!
+    if(currentconfidx > (int)maxCnum - 3){ // there's no more place
+        currentconfidx = 0;
+        DBG("Need to erase flash!");
+        if(erase_flash(Flash_Data, logsstart)) return 1;
+    }else ++currentconfidx; // take next data position (0 - within first run after firmware flashing)
+    return write2flash((const void*)&Flash_Data[currentconfidx], &the_conf, sizeof(the_conf));
+}
+
+/**
+ * @brief store_log - save log record L into flash memory
+ * @param L - event log (or NULL to delete flash)
+ * @return 0 if all OK
+ */
+int store_log(event_log *L){
+    if(!L){
+        currentlogidx = -1;
+        return erase_flash(logsstart, NULL);
+    }
+    if(currentlogidx > (int)maxLnum - 3){ // there's no more place
+        /*currentlogidx = 0;
+        DBG("Need to erase flash!");
+        if(erase_flash(logsstart, NULL)) return 1;*/
+        // prevent automatic logs erasing!
+        sendstring("\n\nERROR!\nCan't save logs: delete old manually!!!\n");
+        return 1;
+    }else ++currentlogidx; // take next data position (0 - within first run after firmware flashing)
+    // put warning if there's little space
+    if(currentlogidx + the_conf.NLfreeWarn > (int)maxLnum - 3){
+        uint32_t nfree = maxLnum - 2 - (uint32_t)currentlogidx;
+        sendstring("\n\nWARNING!\nCan store only ");
+        sendstring(u2str(nfree));
+        sendstring(" logs!\n\n");
+    }
+    return write2flash(&logsstart[currentlogidx], L, sizeof(event_log));
+}
+
+/**
+ * @brief dump_log - dump N log records
+ * @param start - first record to show (if start<0, then first=last+start)
+ * @param Nlogs - amount of logs to show (if Nlogs<=0, then show all logs)
+ * @return 0 if all OK, 1 if there's no logs in flash
+ */
+int dump_log(int start, int Nlogs){
+    if(currentlogidx < 0) return 1;
+    if(start < 0){
+        start += currentlogidx + 1;
+        if(start < 0) start = 0;
+    }
+    if(start > currentlogidx) return 1;
+    int nlast;
+    if(Nlogs > 0){
+        nlast = start + Nlogs - 1;
+        if(nlast > currentlogidx) nlast = currentlogidx;
+    }else nlast = currentlogidx;
+    ++nlast;
+    const event_log *l = logsstart + start;
+    for(int i = start; i < nlast; ++i, ++l){
+        IWDG->KR = IWDG_REFRESH;
+        sendstring(get_trigger_shot(i, l));
+    }
+    return 0;
+}
+
+static int write2flash(const void *start, const void *wrdata, uint32_t stor_size){
+    int ret = 0;
+    if (FLASH->CR & FLASH_CR_LOCK){ // unloch flash
+        FLASH->KEYR = FLASH_KEY1;
+        FLASH->KEYR = FLASH_KEY2;
+    }
+    while (FLASH->SR & FLASH_SR_BSY);
+    if(FLASH->SR & FLASH_SR_WRPRTERR){
+        DBG("Can't remove write protection");
+        return 1; // write protection
+    }
+    FLASH->SR = FLASH_SR_EOP | FLASH_SR_PGERR | FLASH_SR_WRPRTERR; // clear all flags
+    FLASH->CR |= FLASH_CR_PG;
+    const uint16_t *data = (const uint16_t*) wrdata;
+    volatile uint16_t *address = (volatile uint16_t*) start;
+    uint32_t i, count = (stor_size + 1) / 2;
+    for (i = 0; i < count; ++i){
+        IWDG->KR = IWDG_REFRESH;
+        *(volatile uint16_t*)(address + i) = data[i];
+        while (FLASH->SR & FLASH_SR_BSY);
+        if(FLASH->SR &  FLASH_SR_PGERR){
+            ret = 1; // program error - meet not 0xffff
+            DBG("FLASH_SR_PGERR");
+            break;
+        }else while (!(FLASH->SR & FLASH_SR_EOP));
+        FLASH->SR = FLASH_SR_EOP | FLASH_SR_PGERR | FLASH_SR_WRPRTERR;
+    }
+    FLASH->CR &= ~(FLASH_CR_PG);
+    return ret;
+}
+
+/**
+ * @brief erase_flash - erase N pages of flash memory
+ * @param start  - first address
+ * @param end    - last address (or NULL if need to erase all flash remaining)
+ * @return 0 if succeed
+ */
+static int erase_flash(const void *start, const void *end){
+    int ret = 0;
+    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 -= (uint32_t)start - FLASH_BASE;
+        }
+    }else{ // erase a part
+        flsz = (uint32_t)end - (uint32_t)start;
+    }
+    nblocks = flsz / FLASH_BLOCK_SIZE;
+    if(nblocks == 0 || nblocks >= FLASH_SIZE) return 1;
+    for(uint32_t i = 0; i < nblocks; ++i){
+#ifdef EBUG
+        SEND("Try to erase page #"); printu(1,i); newline(1);
+#endif
+        IWDG->KR = IWDG_REFRESH;
+        /* (1) Wait till no operation is on going */
+        /* (2) Clear error & EOP bits */
+        /* (3) Check that the Flash is unlocked */
+        /* (4) Perform unlock sequence */
+        while ((FLASH->SR & FLASH_SR_BSY) != 0){} /* (1) */
+        FLASH->SR = FLASH_SR_EOP | FLASH_SR_PGERR | FLASH_SR_WRPRTERR;  /* (2) */
+      /*  if (FLASH->SR & FLASH_SR_EOP){
+            FLASH->SR |= FLASH_SR_EOP;
+        }*/
+        if ((FLASH->CR & FLASH_CR_LOCK) != 0){ /* (3) */
+            FLASH->KEYR = FLASH_KEY1; /* (4) */
+            FLASH->KEYR = FLASH_KEY2;
+        }
+        /* (1) Set the PER bit in the FLASH_CR register to enable page erasing */
+        /* (2) Program the FLASH_AR register to select a page to erase */
+        /* (3) Set the STRT bit in the FLASH_CR register to start the erasing */
+        /* (4) Wait until the  EOP flag in the FLASH_SR register set */
+        /* (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->CR |= FLASH_CR_STRT; /* (3) */
+        while(!(FLASH->SR & FLASH_SR_EOP));
+        FLASH->SR |= FLASH_SR_EOP; /* (5)*/
+        if(FLASH->SR & FLASH_SR_WRPRTERR){ /* Check Write protection error */
+            ret = 1;
+            DBG("Write protection error!");
+            FLASH->SR |= FLASH_SR_WRPRTERR; /* Clear the flag by software by writing it at 1*/
+            break;
+        }
+        FLASH->CR &= ~FLASH_CR_PER; /* (6) */
+    }
+    return ret;
+}
+
+#ifdef EBUG
+void dump_userconf(){
+    SEND("userconf_sz="); printu(1, the_conf.userconf_sz);
+    SEND("\ndist_min="); printu(1, the_conf.dist_min);
+    SEND("\ndist_max="); printu(1, the_conf.dist_max);
+    SEND("\ntrigstate="); printuhex(1, the_conf.trigstate);
+    SEND("\ntrigpause={");
+    for(int i = 0; i < TRIGGERS_AMOUNT; ++i){
+        if(i) SEND(", ");
+        printu(1, the_conf.trigpause[i]);
+    }
+    SEND("}\n");
+    transmit_tbuf(1);
+}
+
+void addNrecs(int N){
+    SEND("Try to store userconf for "); printu(1, N); SEND(" times\n");
+    for(int i = 0; i < N; ++i){
+        if(store_userconf()){
+            SEND("Error @ "); printu(1, i); newline(1);
+            return;
+        }
+    }
+    SEND("Curr idx: "); printu(1, currentconfidx); newline(1);
+}
+
+#endif

F1:F103/deprecated/chronometer/flash.h

@@ -0,0 +1,88 @@
+/*
+ * flash.h
+ *
+ * Copyright 2017 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ *
+ */
+
+#pragma once
+#ifndef __FLASH_H__
+#define __FLASH_H__
+
+#include <stm32f1.h>
+#include "hardware.h"
+
+#define FLASH_BLOCK_SIZE    (1024)
+#define FLASH_SIZE_REG      ((uint32_t)0x1FFFF7E0)
+#define FLASH_SIZE          *((uint16_t*)FLASH_SIZE_REG)
+
+/*
+ * struct to save user configurations
+ */
+typedef struct __attribute__((packed, aligned(4))){
+    uint16_t userconf_sz;       // "magick number"
+    uint16_t NLfreeWarn;        // warn user when there's less free log records than NLfreeWarn
+    uint8_t  trigstate;         // level in `triggered` state
+    uint8_t  defflags;          // default flags
+    uint16_t dist_min;          // minimal distance for LIDAR
+    uint16_t dist_max;          // maximal -//-
+    uint32_t USART_speed;       // USART1 speed (115200 by default)
+    uint32_t LIDAR_speed;       // USART3 speed (115200 by default)
+    uint16_t trigpause[TRIGGERS_AMOUNT]; // pause (ms) for false shots
+} user_conf;
+
+// values for user_conf.defflags:
+// save events in flash
+#define FLAG_SAVE_EVENTS        (1 << 0)
+// strings ends with "\r\n" instead of normal "\n"
+#define FLAG_STRENDRN           (1 << 1)
+// proxy GPS messages over USART1
+#define FLAG_GPSPROXY           (1 << 2)
+// USART3 works as regular TTY instead of LIDAR
+#define FLAG_NOLIDAR            (1 << 3)
+
+/*
+ * struct to save events logs
+ */
+typedef struct __attribute__((packed, aligned(4))){
+    uint16_t elog_sz;
+    uint8_t trigno;
+    trigtime shottime;
+    int16_t triglen;
+    uint16_t lidar_dist;
+} event_log;
+
+extern user_conf the_conf;
+extern const user_conf *Flash_Data;
+extern const event_log *logsstart;
+extern uint32_t maxCnum, maxLnum;
+// data from ld-file
+extern uint32_t _varslen, __varsstart, __logsstart;
+
+
+void flashstorage_init();
+int store_userconf();
+int store_log(event_log *L);
+int dump_log(int start, int Nlogs);
+
+#ifdef EBUG
+void dump_userconf();
+void addNrecs(int N);
+#endif
+
+#endif // __FLASH_H__

F1:F103/deprecated/chronometer/hardware.c

@@ -0,0 +1,248 @@
+/*
+ *                                                                                                  geany_encoding=koi8-r
+ * hardware.c - hardware-dependent macros & functions
+ *
+ * Copyright 2018 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ *
+ */
+
+#include "adc.h"
+#include "flash.h"
+#include "hardware.h"
+#include "lidar.h"
+#include "str.h"
+#include "time.h"
+#include "usart.h"
+
+#include <string.h> // memcpy
+
+uint8_t buzzer_on = 1; // buzzer ON by default
+uint8_t LEDSon = 1; // LEDS are working
+// ports of triggers
+static GPIO_TypeDef *trigport[DIGTRIG_AMOUNT] = {GPIOA, GPIOA, GPIOA};
+// pins of triggers: PA13, PA14, PA4
+static uint16_t trigpin[DIGTRIG_AMOUNT] = {1<<13, 1<<14, 1<<4};
+// value of pin in `triggered` state
+static uint8_t trigstate[DIGTRIG_AMOUNT];
+// time of triggers shot
+trigtime shottime[TRIGGERS_AMOUNT];
+// Tms value when they shot
+uint32_t shotms[TRIGGERS_AMOUNT];
+// trigger length (-1 if > MAX_TRIG_LEN)
+int16_t triglen[TRIGGERS_AMOUNT];
+// if trigger[N] shots, the bit N will be 1
+uint8_t trigger_shot = 0;
+
+static inline void gpio_setup(){
+    BUZZER_OFF(); // turn off buzzer @start
+    LED_on(); // turn ON LED0 @start
+    LED1_off(); // turn off LED1 @start
+    USBPU_OFF(); // turn off USB pullup @start
+    // Enable clocks to the GPIO subsystems (PB for ADC), turn on AFIO clocking enable EXTI & so on
+    RCC->APB2ENR |= RCC_APB2ENR_IOPAEN | RCC_APB2ENR_IOPBEN | RCC_APB2ENR_IOPCEN | RCC_APB2ENR_AFIOEN;
+    // turn off SWJ/JTAG
+    AFIO->MAPR = AFIO_MAPR_SWJ_CFG_DISABLE;
+    // pullups: PA1 - PPS, PA15 - USB pullup
+    GPIOA->ODR = (1<<1)|(1<<15);
+    // buzzer (PC13): pushpull output
+    GPIOC->CRH = CRH(13, CNF_PPOUTPUT|MODE_SLOW);
+    // Set leds (PB8/9) as opendrain output
+    GPIOB->CRH = CRH(8, CNF_ODOUTPUT|MODE_SLOW) | CRH(9, CNF_ODOUTPUT|MODE_SLOW);
+    // PPS pin (PA1) - input with weak pullup
+    GPIOA->CRL = CRL(1, CNF_PUDINPUT|MODE_INPUT);
+    // Set USB pullup (PA15) - opendrain output
+    GPIOA->CRH = CRH(15, CNF_ODOUTPUT|MODE_SLOW);
+    // Trigger inputs
+    GPIOA->CRH |= CRH(13, CNF_PUDINPUT|MODE_INPUT) | CRH(14, CNF_PUDINPUT|MODE_INPUT);
+    GPIOA->CRL |= CRL(4, CNF_PUDINPUT|MODE_INPUT);
+
+    // EXTI: all three EXTI are on PA -> AFIO_EXTICRx = 0
+    // interrupt on pulse front: buttons - 1->0, PPS - 0->1
+    EXTI->IMR = EXTI_IMR_MR1; // mask PA1
+    // interrupt on pulse front: buttons - 1->0, PPS - 0->1
+    EXTI->RTSR = EXTI_RTSR_TR1; // rising trigger for PPS
+    // PA4/PA13/PA14 - triggers
+    for(int i = 0; i < DIGTRIG_AMOUNT; ++i){
+        uint16_t pin = trigpin[i];
+        // fill trigstate array
+        uint8_t trgs = (the_conf.trigstate & (1<<i)) ? 1 : 0;
+        trigstate[i] = trgs;
+        trigport[i]->ODR |= pin; // turn on pullups
+        EXTI->IMR |= pin;
+        if(trgs){ // triggered @1 -> rising interrupt
+            EXTI->RTSR |= pin;
+        }else{ // falling interrupt
+            EXTI->FTSR |= pin;
+        }
+    }
+    NVIC_EnableIRQ(EXTI4_IRQn);
+    NVIC_EnableIRQ(EXTI15_10_IRQn);
+    NVIC_EnableIRQ(EXTI1_IRQn); // enable PPS interrupt
+}
+
+static inline void adc_setup(){
+    GPIOB->CRL |= CRL(0, CNF_ANALOG|MODE_INPUT);
+    uint32_t ctr = 0;
+    // Enable clocking
+    RCC->APB2ENR |= RCC_APB2ENR_ADC1EN;
+    RCC->CFGR &= ~(RCC_CFGR_ADCPRE);
+    RCC->CFGR |= RCC_CFGR_ADCPRE_DIV8; // ADC clock = RCC / 8
+    // sampling time - 239.5 cycles for channels 16 and 17
+    ADC1->SMPR1 = ADC_SMPR1_SMP16 | ADC_SMPR1_SMP17;
+    // we have three conversions in group -> ADC1->SQR1[L] = 2, order: 16->17
+    // Tsens == 16, Vdd == 17
+    ADC1->SQR3 = (16<<0) | (17<<5);
+    ADC1->SQR1 = ADC_SQR1_L_0; // 2 conversions
+    ADC1->CR1 |= ADC_CR1_SCAN; // scan mode
+    // DMA configuration
+    RCC->AHBENR |= RCC_AHBENR_DMA1EN;
+    DMA1_Channel1->CPAR = (uint32_t) (&(ADC1->DR));
+    DMA1_Channel1->CMAR = (uint32_t)(ADC_array);
+    DMA1_Channel1->CNDTR = NUMBER_OF_ADC_CHANNELS * 9;
+    DMA1_Channel1->CCR |= DMA_CCR_MINC | DMA_CCR_MSIZE_0 | DMA_CCR_PSIZE_0
+                          | DMA_CCR_CIRC | DMA_CCR_PL | DMA_CCR_EN;
+    // continuous mode & DMA; enable vref & Tsens; wake up ADC
+    ADC1->CR2 |= ADC_CR2_DMA | ADC_CR2_TSVREFE | ADC_CR2_CONT | ADC_CR2_ADON;
+    // wait for Tstab - at least 1us
+    while(++ctr < 0xff) nop();
+    // calibration
+    ADC1->CR2 |= ADC_CR2_RSTCAL;
+    ctr = 0; while((ADC1->CR2 & ADC_CR2_RSTCAL) && ++ctr < 0xfffff);
+    ADC1->CR2 |= ADC_CR2_CAL;
+    ctr = 0; while((ADC1->CR2 & ADC_CR2_CAL) && ++ctr < 0xfffff);
+    // turn ON ADC
+    ADC1->CR2 |= ADC_CR2_ADON;
+}
+
+void hw_setup(){
+    gpio_setup();
+    adc_setup();
+}
+
+static trigtime trgtm;
+void savetrigtime(){
+    trgtm.millis = Timer;
+    memcpy(&trgtm.Time, &current_time, sizeof(curtime));
+}
+
+/**
+ * @brief fillshotms - save trigger shot time
+ * @param i - trigger number
+ */
+void fillshotms(int i){
+    if(i < 0 || i >= TRIGGERS_AMOUNT) return;
+    if(Tms - shotms[i] > (uint32_t)the_conf.trigpause[i] || i == LIDAR_TRIGGER){
+        memcpy(&shottime[i], &trgtm, sizeof(trigtime));
+        shotms[i] = Tms;
+        trigger_shot |= 1<<i;
+        BUZZER_ON();
+    }
+}
+
+/**
+ * @brief fillunshotms - calculate trigger length time
+ */
+void fillunshotms(){
+    if(!trigger_shot) return;
+    uint8_t X = 1;
+    for(int i = 0; i < TRIGGERS_AMOUNT; ++i, X<<=1){
+        IWDG->KR = IWDG_REFRESH;
+        // check whether trigger is OFF but shot recently
+        if(trigger_shot & X){
+            uint32_t len = Tms - shotms[i];
+            uint8_t rdy = 0;
+            if(len > MAX_TRIG_LEN){
+                triglen[i] = -1;
+                rdy = 1;
+            }else triglen[i] = (int16_t) len;
+            if(i == LIDAR_TRIGGER){
+                if(!parse_lidar_data(NULL)) rdy = 1;
+            }else{
+                uint8_t pinval = (trigport[i]->IDR & trigpin[i]) ? 1 : 0;
+                if(pinval != trigstate[i]) rdy = 1; // trigger is OFF
+            }
+            if(rdy){
+                if(i != LIDAR_TRIGGER) shotms[i] = Tms;
+                show_trigger_shot(X);
+                trigger_shot &= ~X;
+            }
+        }
+    }
+}
+
+void exti1_isr(){ // PPS - PA1
+    systick_correction();
+    LED_off(); // turn off LED0 @ each PPS
+    EXTI->PR = EXTI_PR_PR1;
+}
+
+void exti4_isr(){ // PA4 - trigger[2]
+    savetrigtime();
+    fillshotms(2);
+    EXTI->PR = EXTI_PR_PR4;
+}
+
+void exti15_10_isr(){ // PA13 - trigger[0], PA14 - trigger[1]
+    savetrigtime();
+    if(EXTI->PR & EXTI_PR_PR13){
+        fillshotms(0);
+        EXTI->PR = EXTI_PR_PR13;
+    }
+    if(EXTI->PR & EXTI_PR_PR14){
+        fillshotms(1);
+        EXTI->PR = EXTI_PR_PR14;
+    }
+}
+
+#ifdef EBUG
+/**
+ * @brief gettrig - get trigger state
+ * @return 1 if trigger active or 0
+ */
+uint8_t gettrig(uint8_t N){
+    if(N >= TRIGGERS_AMOUNT) return 0;
+    uint8_t curval = (trigport[N]->IDR & trigpin[N]) ? 1 : 0;
+    if(curval == trigstate[N]) return 1;
+    else return 0;
+}
+#endif
+
+void chk_buzzer(){
+    static uint32_t Ton = 0; // Time of first buzzer check
+    if(!BUZZER_GET()) return; // buzzer if OFF
+    if(!trigger_shot){ // should we turn off buzzer?
+        uint8_t notrg = 1;
+        for(int i = 0; i < DIGTRIG_AMOUNT; ++i){
+            uint8_t curval = (trigport[i]->IDR & trigpin[i]) ? 1 : 0;
+            if(curval == trigstate[i]){
+                notrg = 0; // cheep while digital trigger is ON
+                break;
+            }
+        }
+        if(notrg){ // turn off buzzer when there's no trigger events & timeout came
+            if(Tms - Ton < BUZZER_CHEEP_TIME) return;
+            Ton = 0;
+            BUZZER_OFF();
+        }
+    }else{ // buzzer is ON - check timer
+        if(Ton == 0){
+            Ton = Tms;
+            if(!Ton) Ton = 1;
+        }
+    }
+}

F1:F103/deprecated/chronometer/hardware.h

@@ -0,0 +1,116 @@
+/*
+ *                                                                                                  geany_encoding=koi8-r
+ * hardware.h
+ *
+ * Copyright 2018 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ *
+ */
+#pragma once
+#ifndef __HARDWARE_H__
+#define __HARDWARE_H__
+
+#include "stm32f1.h"
+#include "time.h"
+
+#ifdef EBUG
+#define DO_PRAGMA(x) _Pragma (#x)
+#define TODO(x) DO_PRAGMA(message #x)
+#else
+#define TODO(x)
+#endif
+
+// only 2 ADC channels used: Tmcu and Vdd
+#define NUMBER_OF_ADC_CHANNELS  (2)
+#define ADC_TMCU_CHANNEL        (0)
+#define ADC_VDD_CHANNEL         (1)
+
+// onboard LEDs - PB8/PB9
+#define LED0_port   GPIOB
+#define LED0_pin    (1<<9)
+#define LED1_port   GPIOB
+#define LED1_pin    (1<<8)
+
+// buzzer (1 - active) - PC13
+extern uint8_t buzzer_on;
+#define BUZZER_port GPIOC
+#define BUZZER_pin  (1<<13)
+#define BUZZER_ON() do{if(buzzer_on)pin_set(BUZZER_port, BUZZER_pin);}while(0)
+#define BUZZER_OFF() pin_clear(BUZZER_port, BUZZER_pin)
+#define BUZZER_GET() (pin_read(BUZZER_port, BUZZER_pin))
+// minimal time to buzzer to cheep (ms)
+#define BUZZER_CHEEP_TIME   500
+
+// PPS pin - PA1
+#define PPS_port    GPIOA
+#define PPS_pin     (1<<1)
+
+// PPS and triggers state
+// amount of triggers, should be less than 9; 4 - 0..2 - switches, 3 - LIDAR
+#define TRIGGERS_AMOUNT     4
+// number of LIDAR trigger
+#define LIDAR_TRIGGER       3
+// amount of digital triggers (on interrupts)
+#define DIGTRIG_AMOUNT      3
+// max length of trigger event (ms)
+#define MAX_TRIG_LEN        1000
+
+#ifdef EBUG
+uint8_t gettrig(uint8_t N);
+#endif
+void fillshotms(int i);
+void fillunshotms();
+void savetrigtime();
+#define GET_PPS()       ((GPIOA->IDR & (1<<1)) ? 1 : 0)
+
+// USB pullup - PA15
+#define USBPU_port  GPIOA
+#define USBPU_pin   (1<<15)
+#define USBPU_ON()  pin_clear(USBPU_port, USBPU_pin)
+#define USBPU_OFF() pin_set(USBPU_port, USBPU_pin)
+
+#define LED_blink()    do{if(LEDSon)pin_toggle(LED0_port, LED0_pin);}while(0)
+#define LED_on()       do{if(LEDSon)pin_clear(LED0_port, LED0_pin);}while(0)
+#define LED_off()      do{pin_set(LED0_port, LED0_pin);}while(0)
+#define LED1_blink()   do{if(LEDSon)pin_toggle(LED1_port, LED1_pin);}while(0)
+#define LED1_on()      do{if(LEDSon)pin_clear(LED1_port, LED1_pin);}while(0)
+#define LED1_off()     do{pin_set(LED1_port, LED1_pin);}while(0)
+
+// GPS USART == USART2, LIDAR USART == USART3
+#define GPS_USART   (2)
+#define LIDAR_USART (3)
+
+typedef struct{
+    uint32_t millis;
+    curtime Time;
+} trigtime;
+
+// turn on/off LEDs:
+extern uint8_t LEDSon;
+// time of triggers shot
+extern trigtime shottime[TRIGGERS_AMOUNT];
+// length (in ms) of trigger event (-1 if > MAX_TRIG_LEN
+extern int16_t triglen[TRIGGERS_AMOUNT];
+// if trigger[N] shots, the bit N will be 1
+extern uint8_t trigger_shot;
+// Tms value when they shot
+extern uint32_t shotms[TRIGGERS_AMOUNT];
+
+void chk_buzzer();
+void hw_setup();
+
+#endif // __HARDWARE_H__

F1:F103/deprecated/chronometer/lidar.c

@@ -0,0 +1,81 @@
+/*
+ * This file is part of the chronometer project.
+ * Copyright 2019 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 "flash.h"
+#include "lidar.h"
+#include "usart.h"
+
+uint16_t last_lidar_dist = 0;
+uint16_t last_lidar_stren = 0;
+uint16_t lidar_triggered_dist = 0;
+
+extern uint32_t shotms[];
+
+/**
+ * @brief parse_lidar_data - parsing of string from lidar
+ * @param txt - the string or NULL (if you want just check trigger state)
+ * @return trigger state
+ */
+uint8_t parse_lidar_data(char *txt){
+    static uint8_t triggered = 0;
+    if(!txt){
+        // clear trigger state after timeout -> need to monitor lidar
+        uint32_t len = Tms - shotms[LIDAR_TRIGGER];
+        //if(len > MAX_TRIG_LEN || len > (uint32_t)the_conf.trigpause[LIDAR_TRIGGER]){
+        if(len > MAX_TRIG_LEN){
+            triggered = 0;
+            DBG("MAX time gone, untrigger!");
+        }
+        return triggered;
+    }
+    last_lidar_dist = txt[2] | (txt[3] << 8);
+    last_lidar_stren = txt[4] | (txt[5] << 8);
+    if(last_lidar_stren < LIDAR_LOWER_STREN) return 0; // weak signal
+    if(!lidar_triggered_dist){ // first run
+        lidar_triggered_dist = last_lidar_dist;
+        return 0;
+    }
+    IWDG->KR = IWDG_REFRESH;
+    if(triggered){ // check if body gone
+        if(last_lidar_dist < the_conf.dist_min || last_lidar_dist > the_conf.dist_max || last_lidar_dist > lidar_triggered_dist + LIDAR_DIST_THRES){
+            triggered = 0;
+#ifdef EBUG
+            SEND("Untriggered! distance=");
+            printu(1, last_lidar_dist);
+            SEND(" signal=");
+            printu(1, last_lidar_stren);
+            newline(1);
+#endif
+        }
+    }else{
+        if(last_lidar_dist > the_conf.dist_min && last_lidar_dist < the_conf.dist_max){
+            savetrigtime();
+            triggered = 1;
+            lidar_triggered_dist = last_lidar_dist;
+            fillshotms(LIDAR_TRIGGER);
+#ifdef EBUG
+            SEND("Triggered! distance=");
+            printu(1, last_lidar_dist);
+            SEND(" signal=");
+            printu(1, last_lidar_stren);
+            newline(1);
+#endif
+        }
+    }
+    return triggered;
+}

F1:F103/deprecated/chronometer/lidar.h

@@ -0,0 +1,39 @@
+/*
+ * This file is part of the chronometer project.
+ * Copyright 2019 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 LIDAR_H__
+#define LIDAR_H__
+#include <stm32f1.h>
+
+#define LIDAR_FRAME_LEN     (9)
+// frame header
+#define LIDAR_FRAME_HEADER  (0x59)
+// lower strength limit
+#define LIDAR_LOWER_STREN   (10)
+// triggered distance threshold - 1 meter
+#define LIDAR_DIST_THRES    (100)
+#define LIDAR_MIN_DIST      (50)
+#define LIDAR_MAX_DIST      (1000)
+
+extern uint16_t last_lidar_dist;
+extern uint16_t lidar_triggered_dist;
+extern uint16_t last_lidar_stren;
+
+uint8_t parse_lidar_data(char *txt);
+
+#endif // LIDAR_H__

F1:F103/deprecated/chronometer/main.c

@@ -0,0 +1,364 @@
+/*
+ * main.c
+ *
+ * Copyright 2017 Edward V. Emelianoff <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+
+#include "adc.h"
+#include "GPS.h"
+#include "flash.h"
+#include "hardware.h"
+#include "lidar.h"
+#include "str.h"
+#include "time.h"
+#include "usart.h"
+#include "usb.h"
+#include "usb_lib.h"
+
+#ifndef VERSION
+#define VERSION "0.0.0"
+#endif
+
+// global pseudo-milliseconds counter
+volatile uint32_t Tms = 0;
+
+/* Called when systick fires */
+void sys_tick_handler(void){
+    ++Tms; // increment pseudo-milliseconds counter
+    if(++Timer == 1000){ // increment milliseconds counter
+        time_increment();
+    }
+}
+
+void iwdg_setup(){
+    uint32_t tmout = 16000000;
+    /* Enable the peripheral clock RTC */
+    /* (1) Enable the LSI (40kHz) */
+    /* (2) Wait while it is not ready */
+    RCC->CSR |= RCC_CSR_LSION; /* (1) */
+    while((RCC->CSR & RCC_CSR_LSIRDY) != RCC_CSR_LSIRDY){if(--tmout == 0) break;} /* (2) */
+    /* Configure IWDG */
+    /* (1) Activate IWDG (not needed if done in option bytes) */
+    /* (2) Enable write access to IWDG registers */
+    /* (3) Set prescaler by 64 (1.6ms for each tick) */
+    /* (4) Set reload value to have a rollover each 2s */
+    /* (5) Check if flags are reset */
+    /* (6) Refresh counter */
+    IWDG->KR = IWDG_START; /* (1) */
+    IWDG->KR = IWDG_WRITE_ACCESS; /* (2) */
+    IWDG->PR = IWDG_PR_PR_1; /* (3) */
+    IWDG->RLR = 1250; /* (4) */
+    tmout = 16000000;
+    while(IWDG->SR){if(--tmout == 0) break;} /* (5) */
+    IWDG->KR = IWDG_REFRESH; /* (6) */
+}
+
+#if 0
+char *parse_cmd(char *buf){
+    int32_t N;
+    static char btns[] = "BTN0=0, BTN1=0, BTN2=0, PPS=0\n";
+    event_log l = {.elog_sz = sizeof(event_log), .trigno = 2};
+    switch(*buf){
+        case '0':
+            LED1_off(); // LED1 off @dbg
+        break;
+        case '1':
+            LED1_on(); // LED1 on @dbg
+        break;
+        case 'a':
+            l.shottime.Time = current_time;
+            l.shottime.millis = Timer;
+            l.triglen = getADCval(1);
+            if(store_log(&l)) SEND("Error storing");
+            else SEND("Store OK");
+            newline(1);
+        break;
+        case 'b':
+            btns[5] = gettrig(0) + '0';
+            btns[13] = gettrig(1) + '0';
+            btns[21] = gettrig(2) + '0';
+            btns[28] = GET_PPS() + '0';
+            return btns;
+        break;
+        case 'c':
+            DBG("Send cold start");
+            GPS_send_FullColdStart();
+        break;
+        case 'C':
+            if(getnum(&buf[1], &N)){
+                SEND("Need a number!\n");
+            }else{
+                addNrecs(N);
+            }
+        break;
+        case 'd':
+            dump_userconf();
+        break;
+        case 'D':
+            if(dump_log(0, -1)) DBG("Error dumping log: empty?");
+        break;
+        case 'p':
+            pin_toggle(USBPU_port, USBPU_pin);
+            SEND("USB pullup is ");
+            if(pin_read(USBPU_port, USBPU_pin)) SEND("off");
+            else SEND("on");
+            newline(1);
+        break;
+        case 'G':
+            SEND("LIDAR_DIST=");
+            printu(1, last_lidar_dist);
+            SEND(", LIDAR_STREN=");
+            printu(1, last_lidar_stren);
+            newline(1);
+        break;
+        case 'L':
+            sendstring("Very long test string for USB (it's length is more than 64 bytes).\n"
+                     "This is another part of the string! Can you see all of this?\n");
+            return "Long test sent\n";
+        break;
+        case 'R':
+            sendstring("Soft reset\n");
+            SEND("Soft reset\n");
+            NVIC_SystemReset();
+        break;
+        case 'S':
+            sendstring("Test string for USB\n");
+            return "Short test sent\n";
+        break;
+        case 'T':
+            SEND(get_time(&current_time, get_millis()));
+        break;
+        case 'W':
+            sendstring("Wait for reboot\n");
+            SEND("Wait for reboot\n");
+            while(1){nop();}
+        break;
+        default: // help
+            if(buf[1] != '\n') return buf;
+            return
+            "0/1 - turn on/off LED1\n"
+            "'a' - add test log record\n"
+            "'b' - get buttons's state\n"
+            "'c' - send cold start\n"
+            "'d' - dump current user conf\n"
+            "'D' - dump log\n"
+            "'p' - toggle USB pullup\n"
+            "'C' - store userconf for N times\n"
+            "'G' - get last LIDAR distance\n"
+            "'L' - send long string over USB\n"
+            "'R' - software reset\n"
+            "'S' - send short string over USB\n"
+            "'T' - show current GPS time\n"
+            "'W' - test watchdog\n"
+            ;
+        break;
+    }
+    return NULL;
+}
+#endif
+
+#define USBBUF 63
+// usb getline
+static char *get_USB(){
+    static char tmpbuf[USBBUF+1], *curptr = tmpbuf;
+    static int rest = USBBUF;
+    int x = USB_receive(curptr, rest);
+    if(!x) return NULL;
+    curptr[x] = 0;
+    if(x == 1 && *curptr == 0x7f){ // backspace
+        if(curptr > tmpbuf){
+            --curptr;
+            USB_send("\b \b");
+        }
+        return NULL;
+    }
+    USB_send(curptr); // echo
+    if(curptr[x-1] == '\n'){ // || curptr[x-1] == '\r'){
+        curptr = tmpbuf;
+        rest = USBBUF;
+        // omit empty lines
+        if(tmpbuf[0] == '\n') return NULL;
+        // and wrong empty lines
+        if(tmpbuf[0] == '\r' && tmpbuf[1] == '\n') return NULL;
+        return tmpbuf;
+    }
+    curptr += x; rest -= x;
+    if(rest <= 0){ // buffer overflow
+        sendstring("\nUSB buffer overflow!\n");
+        curptr = tmpbuf;
+        rest = USBBUF;
+    }
+    return NULL;
+}
+
+void linecoding_handler(usb_LineCoding __attribute__((unused)) *lc){ // get/set line coding
+#ifdef EBUG
+    SEND("Change speed to ");
+    printu(1, lc->dwDTERate);
+    newline(1);
+#endif
+}
+
+
+static volatile uint8_t USBconn = 0;
+uint8_t USB_connected = 0; // need for usb.c
+void clstate_handler(uint16_t __attribute__((unused)) val){ // lesser bits of val: RTS|DTR
+    USBconn = 1; // if == 1 -> send welcome message
+    USB_connected = 1;
+#if 0
+    if(val & 2){
+        DBG("RTS set");
+        sendstring("RTS set\n");
+    }
+    if(val & 1){
+        DBG("DTR set");
+        sendstring("DTR set\n");
+    }
+#endif
+}
+
+void break_handler(){ // client disconnected
+    DBG("Disconnected");
+    USB_connected = 0;
+}
+
+int main(void){
+    uint32_t lastT = 0;
+    sysreset();
+    StartHSE();
+    SysTick_Config(SYSTICK_DEFCONF); // function SysTick_Config decrements argument!
+    // read data stored in flash - before all pins/ports setup!!!
+    flashstorage_init();
+    // !!! hw_setup() should be the first in setup stage
+    hw_setup();
+    USB_setup();
+    USBPU_ON();
+#ifdef EBUG
+    SEND("This is chronometer version " VERSION ".\n");
+    if(RCC->CSR & RCC_CSR_IWDGRSTF){ // watchdog reset occured
+        SEND("WDGRESET=1\n");
+    }
+    if(RCC->CSR & RCC_CSR_SFTRSTF){ // software reset occured
+        SEND("SOFTRESET=1\n");
+    }
+#endif
+    RCC->CSR |= RCC_CSR_RMVF; // remove reset flags
+    usarts_setup(); // setup usarts after reading configuration
+    iwdg_setup();
+
+    while (1){
+        IWDG->KR = IWDG_REFRESH; // refresh watchdog
+        if(Timer > 499) LED_on(); // turn ON LED0 over 0.25s after PPS pulse
+        if(USBconn && Tms > 100){ // USB connection
+            USBconn = 0;
+            sendstring("Chronometer version " VERSION ".\n");
+        }
+        // check if triggers that was recently shot are off now
+        fillunshotms();
+        if(Tms - lastT > 499){
+            if(need2startseq) GPS_send_start_seq();
+            IWDG->KR = IWDG_REFRESH;
+            switch(GPS_status){
+                case GPS_VALID:
+                    LED1_blink(); // blink LED1 @ VALID time
+                break;
+                case GPS_NOT_VALID:
+                    LED1_on(); // shine LED1 @ NON-VALID time
+                break;
+                default:
+                    LED1_off(); // turn off LED1 if GPS not found or time unknown
+            }
+            lastT = Tms;
+            IWDG->KR = IWDG_REFRESH;
+            transmit_tbuf(1); // non-blocking transmission of data from UART buffer every 0.5s
+            transmit_tbuf(GPS_USART);
+            transmit_tbuf(LIDAR_USART);
+#ifdef EBUG
+            static int32_t oldctr = 0;
+            if(timecntr && timecntr != oldctr){
+                oldctr = timecntr;
+                SEND("ticksdiff=");
+                if(ticksdiff < 0){
+                    SEND("-");
+                    printu(1, -ticksdiff);
+                }else printu(1, ticksdiff);
+                SEND(", timecntr=");
+                printu(1, timecntr);
+                SEND("\nlast_corr_time=");
+                printu(1, last_corr_time);
+                SEND(", Tms=");
+                printu(1, Tms1);
+                SEND("\nTimer=");
+                printu(1, timerval);
+                SEND(", LOAD=");
+                printu(1, SysTick->LOAD);
+                usart_putchar(1, '\n');
+                newline(1);
+            }
+#endif
+        }
+        IWDG->KR = IWDG_REFRESH;
+        usb_proc();
+        IWDG->KR = IWDG_REFRESH;
+        int r = 0;
+        char *txt = NULL;
+        if((txt = get_USB())){
+            IWDG->KR = IWDG_REFRESH;
+            parse_CMD(txt);
+        }
+        if(usartrx(1)){ // usart1 received data, store it in buffer
+            r = usart_getline(1, &txt);
+            IWDG->KR = IWDG_REFRESH;
+            if(r){
+                txt[r] = 0;
+                if(the_conf.defflags & FLAG_GPSPROXY){
+                    usart_send(GPS_USART, txt);
+                }else{ // UART1 is additive serial/bluetooth console
+                    usart_send(1, txt);
+                    if(*txt != '\n'){
+                        parse_CMD(txt);
+                    }
+                }
+            }
+        }
+        if(usartrx(GPS_USART)){
+            IWDG->KR = IWDG_REFRESH;
+            r = usart_getline(GPS_USART, &txt);
+            if(r){
+                txt[r] = 0;
+                if(the_conf.defflags & FLAG_GPSPROXY) usart_send(1, txt);
+                GPS_parse_answer(txt);
+            }
+        }
+        if(usartrx(LIDAR_USART)){
+            IWDG->KR = IWDG_REFRESH;
+            r = usart_getline(LIDAR_USART, &txt);
+            if(r){
+                if(the_conf.defflags & FLAG_NOLIDAR){
+                    usart_send(LIDAR_USART, txt);
+                    if(*txt != '\n'){
+                        parse_CMD(txt);
+                    }
+                }else
+                    parse_lidar_data(txt);
+            }
+        }
+        chk_buzzer(); // should we turn off buzzer?
+    }
+    return 0;
+}

F1:F103/deprecated/chronometer/stm32F103xB.ld

@@ -0,0 +1,109 @@
+/*
+********************************************************************************
+*                                                                              *
+* Copyright (c) 2017 Andrea Loi                                                *
+*                                                                              *
+* Permission is hereby granted, free of charge, to any person obtaining a      *
+* copy of this software and associated documentation files (the "Software"),   *
+* to deal in the Software without restriction, including without limitation    *
+* the rights to use, copy, modify, merge, publish, distribute, sublicense,     *
+* and/or sell copies of the Software, and to permit persons to whom the        *
+* Software is furnished to do so, subject to the following conditions:         *
+*                                                                              *
+* The above copyright notice and this permission notice shall be included      *
+* in all copies or substantial portions of the Software.                       *
+*                                                                              *
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR   *
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,     *
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL      *
+* THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER   *
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING      *
+* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER          *
+* DEALINGS IN THE SOFTWARE.                                                    *
+*                                                                              *
+********************************************************************************
+*/
+
+MEMORY
+{
+    rom (rx) : ORIGIN = 0x08000000, LENGTH = 128K
+    ram (rwx) : ORIGIN = 0x20000000, LENGTH = 20K
+}
+
+/******************************************************************************/
+/*          DON'T EDIT THIS FILE UNLESS YOU KNOW WHAT YOU'RE DOING!           */
+/******************************************************************************/
+
+/* _isrvectors_tend =    0x00000150; - different for different series */
+
+ENTRY(reset_handler)
+
+SECTIONS {
+  .vector_table 0x08000000 :
+  {
+    _sisrvectors = .;
+    KEEP(*(.vector_table))
+    /* ASSERT(. == _isrvectors_tend, "The vector table needs to be 84 elements long!"); */
+    _eisrvectors = .;
+  } >rom
+
+  .text :
+  {
+    . = ALIGN(4);
+    _stext = .;
+    *(.text*)
+    *(.rodata*)
+    . = ALIGN(4);
+    _etext = .;
+  } >rom
+
+  .ARM.extab :
+  {
+    *(.ARM.extab* .gnu.linkonce.armextab.*)
+  } >rom
+  
+  .ARM : {
+    *(.ARM.exidx*)
+  } >rom
+  
+  .data :
+  {
+    . = ALIGN(4);
+    _sdata = .;
+    *(.data*)
+    . = ALIGN(4);
+    _edata = .;
+  } >ram AT >rom
+
+  .myvars :
+  {
+    . = ALIGN(1024);
+    __varsstart = ABSOLUTE(.);
+    KEEP(*(.myvars));
+    . = . + 2000;
+    . = ALIGN(1024);
+    __varsend = ABSOLUTE(.);
+  } > rom
+
+  .logs :
+  {
+    . = ALIGN(1024);
+    __logsstart = ABSOLUTE(.);
+    KEEP(*(.logs))
+  } > rom
+
+  _ldata = LOADADDR(.data);
+
+  .bss :
+  {
+    . = ALIGN(4);
+    _sbss = .;
+    *(.bss*)
+    *(COMMON)
+    . = ALIGN(4);
+    _ebss = .;
+  } >ram
+}
+
+PROVIDE(_stack = ORIGIN(ram) + LENGTH(ram));
+PROVIDE(_varslen = __varsend - __varsstart);

F1:F103/deprecated/chronometer/str.c

@@ -0,0 +1,597 @@
+/*
+ * This file is part of the chronometer project.
+ * Copyright 2019 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/>.
+ */
+
+// Commands parser
+
+#include "adc.h"
+#include "GPS.h"
+#include "lidar.h"
+#include "str.h"
+#include "time.h"
+#include "usart.h"
+#include "usb.h"
+
+// flag to show new GPS message over USB
+uint8_t showGPSstr = 0;
+
+extern uint32_t shotms[];
+
+/**
+ * @brief cmpstr - the same as strncmp
+ * @param s1,s2 - strings to compare
+ * @param n - max symbols amount + 1 (!!!!)
+ * @return 0 if strings equal or 1/-1
+ */
+int cmpstr(const char *s1, const char *s2, int n){
+    int ret = 0;
+    while(--n){
+        ret = *s1 - *s2;
+        if(ret == 0 && *s1 && *s2){
+            ++s1; ++s2;
+            continue;
+        }
+        break;
+    }
+    return ret;
+}
+
+/**
+ * @brief getchr - analog of strchr
+ * @param str - string to search
+ * @param symbol - searching symbol
+ * @return pointer to symbol found or NULL
+ */
+char *getchr(const char *str, char symbol){
+    do{
+        if(*str == symbol) return (char*)str;
+    }while(*(++str));
+    return NULL;
+}
+
+#define sendu(x) do{sendstring(u2str(x));}while(0)
+
+/*
+static void sendi(int32_t I){
+    if(I < 0){
+        sendchar('-');
+        I = -I;
+    }
+    sendstring(u2str((uint32_t)I));
+}*/
+
+// echo '1' if true or '0' if false
+static void checkflag(uint8_t f){
+    if(f) sendchar('1');
+    else sendchar('0');
+}
+
+/**
+ * @brief showuserconf - show configuration over USB
+ */
+static void showuserconf(){
+    sendstring("DISTMIN="); sendu(the_conf.dist_min);
+    sendstring("\nDISTMAX="); sendu(the_conf.dist_max);
+    sendstring("\nTRIGLVL="); sendu(the_conf.trigstate);
+    sendstring("\nTRIGPAUSE={");
+    for(int i = 0; i < TRIGGERS_AMOUNT; ++i){
+        if(i) sendstring(", ");
+        sendu(the_conf.trigpause[i]);
+    }
+    sendstring("}\nUSART1SPD="); sendu(the_conf.USART_speed);
+    sendstring("\nLIDARSPD="); sendu(the_conf.LIDAR_speed);
+    sendstring("\nNFREE=");
+    sendu(the_conf.NLfreeWarn);
+    sendstring("\nSTREND=");
+    if(the_conf.defflags & FLAG_STRENDRN) sendstring("RN");
+    else sendchar('N');
+    uint8_t f = the_conf.defflags;
+    sendstring("\nSAVE_EVENTS=");
+    checkflag(f & FLAG_SAVE_EVENTS);
+    sendstring("\nGPSPROXY=");
+    checkflag(f & FLAG_GPSPROXY);
+    sendstring("\nLIDAR=");
+    checkflag(!(f & FLAG_NOLIDAR));
+    sendstring("\n"); // <-- sendstring @ the end to initialize data transmission
+}
+
+/**
+ * @brief parse_USBCMD - parsing of string buffer got by USB
+ * @param cmd - buffer with commands
+ * @return 0 if got command, 1 if command not recognized
+ */
+void parse_CMD(char *cmd){
+    char *oldcmd = cmd;
+#define CMP(a,b)  cmpstr(a, b, sizeof(b))
+#define GETNUM(x) do{if(getnum(cmd+sizeof(x)-1, &N)) goto bad_number;}while(0)
+    static uint8_t conf_modified = 0;
+    uint8_t succeed = 0;
+    int32_t N;
+    if(!cmd || !*cmd) return;
+    IWDG->KR = IWDG_REFRESH;
+    if(*cmd == '?' || CMP(cmd, "help") == 0){ // help
+        sendstring("Commands:\n"
+                 CMD_BUZZER    "S - turn buzzer ON/OFF\n"
+                 CMD_CURDIST   " - show current LIDAR distance\n"
+                 CMD_DELLOGS   " - delete logs from flash memory\n"
+                 CMD_DISTMIN   " - min distance threshold (cm)\n"
+                 CMD_DISTMAX   " - max distance threshold (cm)\n"
+                 CMD_DUMP      "N - dump 20 last stored events (no x), all (x<1) or x\n"
+                 CMD_FLASH     " - FLASH info\n"
+                 CMD_GPSPROXY  "S - GPS proxy over USART1 on/off\n"
+                 CMD_GPSRESTART " - send Full Cold Restart to GPS\n"
+                 CMD_GPSSTAT   " - get GPS status\n"
+                 CMD_GPSSTR    " - current GPS data string\n"
+                 CMD_LEDS      "S - turn leds on/off (1/0)\n"
+                 CMD_LIDAR     "S - switch between LIDAR (1) or command TTY (0)\n"
+                 CMD_LIDARSPEED "N - set LIDAR speed to N\n"
+                 CMD_GETMCUTEMP " - MCU temperature\n"
+                 CMD_NFREE     " - warn when free logs space less than this number (0 - not warn)\n"
+                 CMD_RESET     " - reset MCU\n"
+                 CMD_SAVEEVTS  "S - save/don't save (1/0) trigger events into flash\n"
+                 CMD_SHOWCONF  " - show current configuration\n"
+                 CMD_STORECONF " - store new configuration in flash\n"
+                 CMD_STREND    "C - string ends with \\n (C=n) or \\r\\n (C=r)\n"
+                 CMD_PRINTTIME " - print current time\n"
+                 CMD_TRIGLVL   "NS - working trigger N level S\n"
+                 CMD_TRGPAUSE  "NP - pause (P, ms) after trigger N shots\n"
+                 CMD_TRGTIME   "N - show last trigger N time\n"
+                 CMD_USARTSPD  "N - set USART1 speed to N\n"
+                 CMD_GETVDD    " - Vdd value\n"
+                 );
+    }else if(CMP(cmd, CMD_PRINTTIME) == 0){ // print current time
+        sendstring(get_time(&current_time, get_millis()));
+        sendstring("\n");
+    }else if(CMP(cmd, CMD_DISTMIN) == 0){ // set low LIDAR limit
+        GETNUM(CMD_DISTMIN);
+        if(N < 0 || N > 0xffff) goto bad_number;
+        if(the_conf.dist_min != (uint16_t)N){
+            conf_modified = 1;
+            the_conf.dist_min = (uint16_t) N;
+        }
+        succeed = 1;
+    }else if(CMP(cmd, CMD_DISTMAX) == 0){ // set high LIDAR limit
+        GETNUM(CMD_DISTMAX);
+        if(N < 0 || N > 0xffff) goto bad_number;
+        if(the_conf.dist_max != (uint16_t)N){
+            conf_modified = 1;
+            the_conf.dist_max = (uint16_t) N;
+        }
+        succeed = 1;
+    }else if(CMP(cmd, CMD_STORECONF) == 0){ // store everything in flash
+        if(conf_modified){
+            if(store_userconf()){
+                sendstring("Error: can't save data!\n");
+            }else{
+                conf_modified = 0;
+                succeed = 1;
+            }
+        }
+    }else if(CMP(cmd, CMD_GPSSTR) == 0){ // show GPS status string
+        showGPSstr = 1;
+    }else if(CMP(cmd, CMD_TRIGLVL) == 0){ // trigger levels: 0->1 or 1->0
+        cmd += sizeof(CMD_TRIGLVL) - 1;
+        uint8_t Nt = (uint8_t)(*cmd++ - '0');
+        if(Nt > TRIGGERS_AMOUNT - 1) goto bad_number;
+        uint8_t state = (uint8_t)(*cmd -'0');
+        if(state > 1) goto bad_number;
+        uint8_t oldval = the_conf.trigstate;
+        if(!state) the_conf.trigstate = oldval & ~(1<<Nt);
+        else the_conf.trigstate = (uint8_t)(oldval | (1<<Nt));
+        if(oldval != the_conf.trigstate) conf_modified = 1;
+        succeed = 1;
+    }else if(CMP(cmd, CMD_SHOWCONF) == 0){ // print current configuration
+        showuserconf();
+    }else if(CMP(cmd, CMD_TRGPAUSE) == 0){ // pause after Nth trigger
+        cmd += sizeof(CMD_TRGPAUSE) - 1;
+        uint8_t Nt = (uint8_t)(*cmd++ - '0');
+        if(Nt > TRIGGERS_AMOUNT - 1) goto bad_number;
+        if(getnum(cmd, &N)) goto bad_number;
+        if(N < 0 || N > 10000) goto bad_number;
+        if(the_conf.trigpause[Nt] != (uint16_t)N){
+            conf_modified = 1;
+            the_conf.trigpause[Nt] = (uint16_t)N;
+        }
+        succeed = 1;
+    }else if(CMP(cmd, CMD_TRGTIME) == 0){ // last trigger time
+        cmd += sizeof(CMD_TRGTIME) - 1;
+        uint8_t Nt = (uint8_t)(*cmd++ - '0');
+        if(Nt > TRIGGERS_AMOUNT - 1) goto bad_number;
+        show_trigger_shot((uint8_t)(1<<Nt));
+    }else if(CMP(cmd, CMD_GETVDD) == 0){ // Vdd
+        sendstring("VDD=");
+        uint32_t vdd = getVdd();
+        sendu(vdd/100);
+        vdd %= 100;
+        if(vdd < 10) sendstring(".0");
+        else sendstring(".");
+        sendu(vdd);
+        sendstring("\n");
+    }else if(CMP(cmd, CMD_GETMCUTEMP) == 0){ // ~Tmcu
+        int32_t t = getMCUtemp();
+        sendstring("MCUTEMP=");
+        if(t < 0){
+            t = -t;
+            sendstring("-");
+        }
+        sendu(t/10);
+        sendstring(".");
+        sendu(t%10);
+        sendstring("\n");
+    }else if(CMP(cmd, CMD_LEDS) == 0){ // turn LEDs on/off
+        uint8_t Nt = (uint8_t)(cmd[sizeof(CMD_LEDS) - 1] - '0');
+        if(Nt > 1) goto bad_number;
+        sendstring("LEDS=");
+        if(Nt){
+            LEDSon = 1;
+            sendstring("ON\n");
+        }else{
+            LED_off();  // turn off LEDS
+            LED1_off(); // by user request
+            LEDSon = 0;
+            sendstring("OFF\n");
+        }
+    }else if(CMP(cmd, CMD_GPSRESTART) == 0){ // restart GPS
+        sendstring("Send full cold restart to GPS\n");
+        GPS_send_FullColdStart();
+    }else if(CMP(cmd, CMD_BUZZER) == 0){
+        uint8_t Nt = (uint8_t)(cmd[sizeof(CMD_BUZZER) - 1] - '0');
+        if(Nt > 1) goto bad_number;
+        sendstring("BUZZER=");
+        if(Nt){
+            buzzer_on = 1;
+            sendstring("ON\n");
+        }else{
+            buzzer_on = 0;
+            sendstring("OFF\n");
+        }
+    }else if(CMP(cmd, CMD_GPSSTAT) == 0){ // GPS status
+        sendstring("GPS status: ");
+        const char *str = "unknown";
+        switch(GPS_status){
+            case GPS_NOTFOUND:
+                str = "not found";
+            break;
+            case GPS_WAIT:
+                str = "waiting";
+            break;
+            case GPS_NOT_VALID:
+                str = "no satellites";
+            break;
+            case GPS_VALID:
+                str = "valid time";
+            break;
+        }
+        sendstring(str);
+        if(Tms - last_corr_time < 1500)
+            sendstring(", PPS working\n");
+        else
+            sendstring(", no PPS\n");
+    }else if(CMP(cmd, CMD_USARTSPD) == 0){ // USART speed
+        GETNUM(CMD_USARTSPD);
+        if(N < 400 || N > 3000000) goto bad_number;
+        if(the_conf.USART_speed != (uint32_t)N){
+            the_conf.USART_speed = (uint32_t)N;
+            conf_modified = 1;
+        }
+        succeed = 1;
+    }else if(CMP(cmd, CMD_LIDARSPEED) == 0){ // LIDAR speed
+        GETNUM(CMD_LIDARSPEED);
+        if(N < 400 || N > 3000000) goto bad_number;
+        if(the_conf.LIDAR_speed != (uint32_t)N){
+            the_conf.LIDAR_speed = (uint32_t)N;
+            conf_modified = 1;
+        }
+        succeed = 1;
+    }else if(CMP(cmd, CMD_RESET) == 0){ // Reset MCU
+        sendstring("Soft reset\n");
+        NVIC_SystemReset();
+    }else if(CMP(cmd, CMD_STREND) == 0){ // string ends in '\n' or "\r\n"
+        char c = cmd[sizeof(CMD_STREND) - 1];
+        succeed = 1;
+        if(c == 'n' || c == 'N'){
+            if(the_conf.defflags & FLAG_STRENDRN){
+                conf_modified = 1;
+                the_conf.defflags &= ~FLAG_STRENDRN;
+            }
+        }else if(c == 'r' || c == 'R'){
+            if(!(the_conf.defflags & FLAG_STRENDRN)){
+                conf_modified = 1;
+                the_conf.defflags |= FLAG_STRENDRN;
+            }
+        }else{
+            succeed = 0;
+            sendstring("Bad letter, should be 'n' or 'r'\n");
+        }
+    }else if(CMP(cmd, CMD_FLASH) == 0){ // show flash size
+        sendstring("FLASHSIZE=");
+        sendu(FLASH_SIZE);
+        sendstring("kB\nFLASH_BASE=");
+        sendstring(u2hex(FLASH_BASE));
+        sendstring("\nFlash_Data=");
+        sendstring(u2hex((uint32_t)Flash_Data));
+        sendstring("\nvarslen=");
+        sendu((uint32_t)&_varslen);
+        sendstring("\nCONFsize=");
+        sendu(sizeof(user_conf));
+        sendstring("\nNconf_records=");
+        sendu(maxCnum - 1);
+        sendstring("\nlogsstart=");
+        sendstring(u2hex((uint32_t)logsstart));
+        sendstring("\nLOGsize=");
+        sendu(sizeof(event_log));
+        sendstring("\nNlogs_records=");
+        sendu(maxLnum - 1);
+        sendstring("\n");
+    }else if(CMP(cmd, CMD_SAVEEVTS) == 0){ // save all events
+        if('0' == cmd[sizeof(CMD_SAVEEVTS) - 1]){
+            if(the_conf.defflags & FLAG_SAVE_EVENTS){
+                conf_modified = 1;
+                the_conf.defflags &= ~FLAG_SAVE_EVENTS;
+            }
+        }else{
+            if(!(the_conf.defflags & FLAG_SAVE_EVENTS)){
+                conf_modified = 1;
+                the_conf.defflags |= FLAG_SAVE_EVENTS;
+            }
+        }
+        succeed = 1;
+    }else if(CMP(cmd, CMD_DUMP) == 0){ // dump N last events
+        if(getnum(cmd+sizeof(CMD_DUMP)-1, &N)) N = -20; // default - without N
+        else N = -N;
+        if(N > 0) N = 0;
+        if(dump_log(N, -1)) sendstring("Event log empty!\n");
+    }else if(CMP(cmd, CMD_NFREE) == 0){ // warn if there's less than N free cells for logs in flash
+        GETNUM(CMD_NFREE);
+        if(N < 0 || N > 0xffff) goto bad_number;
+        if(the_conf.NLfreeWarn != (uint16_t)N){
+            conf_modified = 1;
+            the_conf.NLfreeWarn = (uint16_t)N;
+        }
+        succeed = 1;
+    }else if(CMP(cmd, CMD_DELLOGS) == 0){ // delete all logs
+        if(store_log(NULL)) sendstring("Error during erasing flash\n");
+        else sendstring("All logs erased\n");
+    }else if(CMP(cmd, CMD_GPSPROXY) == 0){ // proxy GPS data over USART1
+        if(cmd[sizeof(CMD_GPSPROXY) - 1] == '0'){
+            if(the_conf.defflags & FLAG_GPSPROXY){
+                conf_modified = 1;
+                the_conf.defflags &= ~FLAG_GPSPROXY;
+            }
+        }else{
+            if(!(the_conf.defflags & FLAG_GPSPROXY)){
+                conf_modified = 1;
+                the_conf.defflags |= FLAG_GPSPROXY;
+            }
+        }
+        succeed = 1;
+    }else if(CMP(cmd, CMD_CURDIST) == 0){ // current LIDAR distance
+        sendstring("DIST=");
+        sendu(last_lidar_dist);
+        sendstring("\nSTREN=");
+        sendu(last_lidar_stren);
+        sendstring("\nTRIGDIST=");
+        sendu(lidar_triggered_dist);
+        sendstring("\nTms=");
+        sendu(Tms);
+        sendstring("\nshotms=");
+        sendu(shotms[LIDAR_TRIGGER]);
+        sendstring("\n");
+    }else if(CMP(cmd, CMD_LIDAR) == 0){ // turn LIDAR on/off
+        if(cmd[sizeof(CMD_LIDAR) - 1] == '0'){
+            if(!(the_conf.defflags & FLAG_NOLIDAR)){
+                conf_modified = 1;
+                the_conf.defflags |= FLAG_NOLIDAR;
+            }
+        }else{
+            if(the_conf.defflags & FLAG_NOLIDAR){
+                conf_modified = 1;
+                the_conf.defflags &= ~FLAG_NOLIDAR;
+            }
+        }
+        succeed = 1;
+    }else{
+        sendstring("Bad command: ");
+        sendstring(oldcmd);
+        sendstring("\n");
+        return;
+    }
+    /*else if(CMP(cmd, CMD_) == 0){
+        ;
+    }*/
+
+    IWDG->KR = IWDG_REFRESH;
+    if(succeed) sendstring("Success!\n");
+    return;
+  bad_number:
+    sendstring("Error: bad number!\n");
+}
+
+/**
+ * @brief get_trigger_shot - print on USB message about last trigger shot time
+ * @param number  - number of event (if > -1)
+ * @param logdata - record from event log
+ * @return string with data
+ */
+char *get_trigger_shot(int number, const event_log *logdata){
+    static char buf[64];
+    char *bptr = buf;
+    if(number > -1){
+        bptr = strcp(bptr, u2str(number));
+        bptr = strcp(bptr, ": ");
+    }
+    if(logdata->trigno == LIDAR_TRIGGER){
+        bptr = strcp(bptr, "LIDAR, dist=");
+        bptr = strcp(bptr, u2str(logdata->lidar_dist));
+        bptr = strcp(bptr, ", TRIG" STR(LIDAR_TRIGGER));
+    }else{
+        bptr = strcp(bptr, "TRIG");
+        *bptr++ = '0' + logdata->trigno;
+    }
+    *bptr++ = '=';
+    IWDG->KR = IWDG_REFRESH;
+    bptr = strcp(bptr, get_time(&logdata->shottime.Time, logdata->shottime.millis));
+    bptr = strcp(bptr, ", len=");
+    if(logdata->triglen < 0) bptr = strcp(bptr, ">1s");
+    else bptr = strcp(bptr, u2str((uint32_t) logdata->triglen));
+    *bptr++ = '\n'; *bptr++ = 0;
+    return buf;
+}
+
+/**
+ * @brief show_trigger_shot printout @ USB data with all triggers shot recently (+ save it in flash)
+ * @param tshot - each bit consists information about trigger
+ */
+void show_trigger_shot(uint8_t tshot){
+    uint8_t X = 1;
+    for(uint8_t i = 0; i < TRIGGERS_AMOUNT && tshot; ++i, X <<= 1){
+        IWDG->KR = IWDG_REFRESH;
+        if(tshot & X) tshot &= ~X;
+        else continue;
+        event_log l;
+        l.elog_sz = sizeof(event_log);
+        l.trigno = i;
+        if(i == LIDAR_TRIGGER) l.lidar_dist = lidar_triggered_dist;
+        l.shottime = shottime[i];
+        l.triglen = triglen[i];
+        sendstring(get_trigger_shot(-1, &l));
+        if(the_conf.defflags & FLAG_SAVE_EVENTS){
+            if(store_log(&l)) sendstring("\n\nError saving event!\n\n");
+        }
+    }
+}
+
+/**
+ * @brief strln == strlen
+ * @param s - string
+ * @return length
+ */
+int strln(const char *s){
+    int i = 0;
+    while(*s++) ++i;
+    return i;
+}
+
+/**
+ * @brief strcp - strcpy (be carefull: it doesn't checks destination length!)
+ * @param dst - destination
+ * @param src - source
+ * @return pointer to '\0' @ dst`s end
+ */
+char *strcp(char* dst, const char *src){
+    int l = strln(src);
+    if(l < 1) return dst;
+    while((*dst++ = *src++));
+    return dst - 1;
+}
+
+
+// read `buf` and get first integer `N` in it
+// @return 0 if all OK or 1 if there's not a number; omit spaces and '='
+int getnum(const char *buf, int32_t *N){
+    char c;
+    int positive = -1;
+    int32_t val = 0;
+    while((c = *buf++)){
+        if(c == '\t' || c == ' ' || c == '='){
+            if(positive < 0) continue; // beginning spaces
+            else break; // spaces after number
+        }
+        if(c == '-'){
+            if(positive < 0){
+                positive = 0;
+                continue;
+            }else break; // there already was `-` or number
+        }
+        if(c < '0' || c > '9') break;
+        if(positive < 0) positive = 1;
+        val = val * 10 + (int32_t)(c - '0');
+    }
+    if(positive != -1){
+        if(positive == 0){
+            if(val == 0) return 1; // single '-'
+            val = -val;
+        }
+        *N = val;
+    }else return 1;
+    return 0;
+}
+
+static char strbuf[11];
+// return string buffer (strbuf) with val
+char *u2str(uint32_t val){
+    char *bufptr = &strbuf[10];
+    *bufptr = 0;
+    if(!val){
+        *(--bufptr) = '0';
+    }else{
+        while(val){
+            *(--bufptr) = val % 10 + '0';
+            val /= 10;
+        }
+    }
+    return bufptr;
+}
+
+// return strbuf filled with hex
+char *u2hex(uint32_t val){
+    char *bufptr = strbuf;
+    *bufptr++ = '0';
+    *bufptr++ = 'x';
+    uint8_t *ptr = (uint8_t*)&val + 3;
+    int i, j;
+    IWDG->KR = IWDG_REFRESH;
+    for(i = 0; i < 4; ++i, --ptr){
+        for(j = 1; j > -1; --j){
+            register uint8_t half = (*ptr >> (4*j)) & 0x0f;
+            if(half < 10) *bufptr++ = half + '0';
+            else *bufptr++ = half - 10 + 'a';
+        }
+    }
+    *bufptr = 0;
+    return strbuf;
+}
+
+static char localbuffer[LOCBUFSZ];
+static uint8_t bufidx = 0;
+static void transmitlocbuf(){
+    localbuffer[bufidx] = 0;
+    USB_send(localbuffer);
+    if(!(the_conf.defflags & FLAG_GPSPROXY)){ // USART1 isn't a GPS proxy
+        usart_send(1, localbuffer);
+        transmit_tbuf(1);
+    }
+    if(the_conf.defflags & FLAG_NOLIDAR){ // USART3 isn't a LIDAR
+        usart_send(LIDAR_USART, localbuffer);
+        transmit_tbuf(LIDAR_USART);
+    }
+    bufidx = 0;
+}
+// add char to buf
+void sendchar(char ch){
+    localbuffer[bufidx++] = ch;
+    if(bufidx >= LOCBUFSZ-1) transmitlocbuf();
+}
+/**
+ * @brief addtobuf - add to local buffer any zero-terminated substring
+ * @param str - string to add
+ *  it sends data to USB and (due to setup) USART1 when buffer will be full or when meet '\n' at the end of str
+ */
+void sendstring(const char *str){
+    while(*str) sendchar(*str++);
+    if(str[-1] == '\n') transmitlocbuf();
+}

F1:F103/deprecated/chronometer/str.h

@@ -0,0 +1,73 @@
+/*
+ * This file is part of the chronometer project.
+ * Copyright 2019 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 STR_H__
+#define STR_H__
+
+#include "stm32f1.h"
+#include "flash.h"
+#include "hardware.h"
+
+// local buffer size (chars)
+#define LOCBUFSZ    128
+
+// TTY commands
+#define CMD_BUZZER      "buzzer"
+#define CMD_CURDIST     "curdist"
+#define CMD_DELLOGS     "deletelogs"
+#define CMD_DISTMAX     "distmax"
+#define CMD_DISTMIN     "distmin"
+#define CMD_DUMP        "dump"
+#define CMD_FLASH       "flash"
+#define CMD_GETMCUTEMP  "mcutemp"
+#define CMD_GETVDD      "vdd"
+#define CMD_GPSPROXY    "gpsproxy"
+#define CMD_GPSRESTART  "gpsrestart"
+#define CMD_GPSSTAT     "gpsstat"
+#define CMD_GPSSTR      "gpsstring"
+#define CMD_LEDS        "leds"
+#define CMD_LIDAR       "lidar"
+#define CMD_LIDARSPEED  "lidspd"
+#define CMD_NFREE       "nfree"
+#define CMD_PRINTTIME   "time"
+#define CMD_RESET       "reset"
+#define CMD_SAVEEVTS    "se"
+#define CMD_SHOWCONF    "showconf"
+#define CMD_STORECONF   "store"
+#define CMD_STREND      "strend"
+#define CMD_TRGPAUSE    "trigpause"
+#define CMD_TRGTIME     "trigtime"
+#define CMD_TRIGLVL     "triglevel"
+#define CMD_USARTSPD    "usartspd"
+
+extern uint8_t showGPSstr;
+
+int getnum(const char *buf, int32_t *N);
+char *u2str(uint32_t val);
+char *u2hex(uint32_t val);
+
+int strln(const char *s);
+char *strcp(char* dst, const char *src);
+int cmpstr(const char *s1, const char *s2, int n);
+char *getchr(const char *str, char symbol);
+void parse_CMD(char *cmd);
+char *get_trigger_shot(int number, const event_log *logdata);
+void show_trigger_shot(uint8_t trigger_shot);
+void sendstring(const char *str);
+void sendchar(char ch);
+#endif // STR_H__

F1:F103/deprecated/chronometer/time.c

@@ -0,0 +1,194 @@
+/*
+ * This file is part of the chronometer project.
+ * Copyright 2019 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 "GPS.h"
+#include "time.h"
+#ifdef EBUG
+#include "usart.h"
+#endif
+#include "usb.h"
+#include <string.h>
+
+volatile uint32_t Timer; // milliseconds counter
+curtime current_time = TMNOTINI;
+
+// convert two-digit decimal string into number
+static inline uint8_t atou(const char *b){
+    return (uint8_t)((b[0]-'0')*10 + b[1]-'0');
+}
+
+/**
+ * @brief set_time - set current time from GPS data
+ * @param buf - buffer with time data (HHMMSS)
+ */
+void set_time(const char *buf){
+    uint8_t H = atou(buf);// + TIMEZONE_GMT_PLUS;
+    if(H > 23) H -= 24;
+    current_time.H = H;
+    current_time.M = atou(&buf[2]);
+    current_time.S = atou(&buf[4]);
+/*
+#ifdef EBUG
+    SEND("set_time, Tms: "); printu(1, Tms);
+    SEND("; Timer: "); printu(1, Timer);
+    newline(1);
+#endif
+*/
+}
+
+/**
+ * @brief time_increment - increment system timer by systick
+ */
+void time_increment(){
+    Timer = 0;
+    if(current_time.H == 25) return; // Time not initialized
+    if(++current_time.S == 60){
+        current_time.S = 0;
+        if(++current_time.M == 60){
+            current_time.M = 0;
+            if(++current_time.H == 24)
+                current_time.H = 0;
+        }
+    }
+}
+
+static char *puttwo(uint8_t N, char *buf){
+    if(N < 10){
+        *buf++ = '0';
+    }else{
+        *buf++ = N/10 + '0';
+        N %= 10;
+    }
+    *buf++ = (char)(N + '0');
+    return buf;
+}
+
+/**
+ * @brief ms2str - fill buffer str with milliseconds ms
+ * @param str (io) - pointer to buffer
+ * @param T - milliseconds
+ */
+static void ms2str(char **str, uint32_t T){
+    char *bptr = *str;
+    *bptr++ = '.';
+    if(T > 99){
+        *bptr++ = (char)(T/100 + '0');
+        T %= 100;
+    }else *bptr++ = '0';
+    if(T > 9){
+        *bptr++ = (char)(T/10 + '0');
+        T %= 10;
+    }else *bptr++ = '0';
+    *bptr++ = (char)(T + '0');
+    *str = bptr;
+}
+
+/**
+ * print time: Tm - time structure, T - milliseconds
+ */
+char *get_time(const curtime *Tm, uint32_t T){
+    static char buf[64];
+    char *bstart = &buf[5], *bptr = bstart;
+    int S = 0;
+    if(T > 999) return "Wrong time";
+    if(Tm->S < 60 && Tm->M < 60 && Tm->H < 24)
+        S = Tm->S + Tm->H*3600 + Tm->M*60; // seconds from day beginning
+    if(!S) *(--bstart) = '0';
+    while(S){
+        *(--bstart) = S%10 + '0';
+        S /= 10;
+    }
+    // now bstart is buffer starting index; bptr points to decimal point
+    ms2str(&bptr, T);
+    // put current time in HH:MM:SS format into buf
+    *bptr++ = ' '; *bptr++ = '(';
+    bptr = puttwo(Tm->H, bptr); *bptr++ = ':';
+    bptr = puttwo(Tm->M, bptr); *bptr++ = ':';
+    bptr = puttwo(Tm->S, bptr);
+    ms2str(&bptr, T);
+    *bptr++ = ')';
+    if(GPS_status == GPS_NOTFOUND){
+        strcpy(bptr, " GPS not found");
+        bptr += 14;
+    }
+    *bptr = 0;
+    return bstart;
+}
+
+
+#ifdef EBUG
+uint32_t timerval, Tms1;
+int32_t timecntr=0, ticksdiff=0;
+#else
+static int32_t timecntr=0, ticksdiff=0;
+#endif
+uint32_t last_corr_time = 0;
+
+/**
+ * @brief systick_correction
+ * Makes correction of system timer
+ * The default frequency of timer is 1kHz - 72000 clocks per interrupt
+ * So we check how much ticks there was for last one second - between PPS interrupts
+ * Their amount equal to M = `Timer` value x (SysTick->LOAD+1) + (SysTick->LOAD+1 - SysTick->VAL)
+ *    if `Timer` is very small, add 1000 to its value.
+ * We need 1000xN ticks instead of M
+ * if L = LOAD+1, then
+ * M = Timer*L + L - VAL; newL = L + D = M/1000
+ * 1000*D = M - 1000*L = L(Timer+1-1000) - VAL ->
+ * D = [L*(Timer-999) - VAL]/1000
+ * So correction equal to
+ *      [ (SysTick->LOAD + 1) * (Timer - 999) - SysTick->VAL ] / 1000
+ */
+void systick_correction(){
+    SysTick->CTRL &= ~SysTick_CTRL_ENABLE_Msk; // stop systick for a while
+    int32_t systick_val = (int32_t)SysTick->VAL, L = (int32_t)SysTick->LOAD + 1;
+    uint32_t timer_val = Timer;
+#ifdef EBUG
+    timerval = Timer;
+    Tms1 = Tms;
+#endif
+    Timer = 0;
+    SysTick->VAL = SysTick->LOAD;
+    SysTick->CTRL |= SysTick_CTRL_ENABLE_Msk; // start it again
+//    if(systick_val != SysTick->LOAD) ++Tms;
+    if(timer_val > 500) time_increment(); // counter greater than 500 -> need to increment time
+    if(last_corr_time){
+        uint32_t Tdiff = Tms - last_corr_time;
+        if(Tdiff < 1500 && Tdiff > 700){ // there was perevious PPS signal ~1s ago
+            int32_t D = L * ((int32_t)(Tms - 1000 - last_corr_time)) + ((int32_t)SysTick->LOAD - systick_val); // amount of spare ticks
+            ++timecntr;
+            ticksdiff += D;
+            uint32_t ticksabs = (ticksdiff < 0) ? (uint32_t)-ticksdiff : (uint32_t)ticksdiff;
+            // 30000 == 30 seconds * 1000 interrupts per second
+            if(ticksabs > 30000 && timecntr > 10){ // need correction (not more often than each 10s)
+                ticksdiff /= timecntr * 1000; // correction per one interrupt
+                SysTick->LOAD = (uint32_t)(ticksdiff + (int32_t)SysTick->LOAD);
+                timecntr = 0;
+                ticksdiff = 0;
+#ifdef EBUG
+                SEND("Correction\n");
+#endif
+            }
+        }else{
+            timecntr = 0;
+            ticksdiff = 0;
+        }
+    }
+    last_corr_time = Tms;
+}
+

F1:F103/deprecated/chronometer/time.h

@@ -0,0 +1,65 @@
+/*
+ * This file is part of the chronometer project.
+ * Copyright 2019 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 TIME_H__
+#define TIME_H__
+
+#include <stm32f1.h>
+
+// default value for systick_config
+#define SYSTICK_DEFCONF         (72000)
+// defaul for systick->load
+#define SYSTICK_DEFLOAD         (SYSTICK_DEFCONF - 1)
+#define TIMEZONE_GMT_PLUS       (3)
+
+#define DIDNT_TRIGGERED (2000)
+
+// debounce delay: .4s
+#define TRIGGER_DELAY     (400)
+
+#define TMNOTINI  {25,61,61}
+
+// current milliseconds
+#define get_millis()  (Timer)
+
+typedef struct{
+    uint8_t H;
+    uint8_t M;
+    uint8_t S;
+} curtime;
+
+#ifdef EBUG
+extern int32_t ticksdiff, timecntr;
+extern uint32_t timerval, Tms1;
+#endif
+extern volatile uint32_t Tms;
+extern volatile uint32_t Timer;
+extern curtime current_time;
+extern uint32_t last_corr_time;
+
+extern curtime trigger_time[];
+extern uint32_t trigger_ms[];
+
+extern volatile int need_sync;
+
+char *get_time(const curtime *T, uint32_t m);
+void set_time(const char *buf);
+void time_increment();
+void systick_correction();
+
+#endif // TIME_H__

F1:F103/deprecated/chronometer/usart.c

@@ -0,0 +1,309 @@
+/*
+ * This file is part of the chronometer project.
+ * Copyright 2019 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 "stm32f1.h"
+#include "flash.h"
+#include "lidar.h"
+#include "str.h"
+#include "usart.h"
+
+extern volatile uint32_t Tms;
+static volatile uint8_t idatalen[4][2] = {{0}}; // received data line length (including '\n')
+static volatile uint8_t odatalen[4][2] = {{0}};
+
+static volatile uint8_t dlen[4] = {0}; // length of data (including '\n') in current buffer
+
+volatile uint8_t linerdy[4] = {0},  // received data ready
+    bufovr[4] = {0},            // input buffer overfull
+    txrdy[4] = {0,1,1,1}        // transmission done
+;
+
+
+static uint8_t rbufno[4] = {0}, tbufno[4] = {0}; // current rbuf/tbuf numbers
+static char rbuf[4][2][UARTBUFSZ], tbuf[4][2][UARTBUFSZ]; // receive & transmit buffers
+static char *recvdata[4] = {0};
+
+/**
+ * return length of received data (without trailing zero)
+ */
+int usart_getline(int n, char **line){
+    if(bufovr[n]){
+        bufovr[n] = 0;
+        linerdy[n] = 0;
+        return 0;
+    }
+    *line = recvdata[n];
+    linerdy[n] = 0;
+    return dlen[n];
+}
+
+// transmit current tbuf and swap buffers
+void transmit_tbuf(uint8_t n){
+    DMA_Channel_TypeDef *DMA;
+    switch(n){ // also check if n wrong
+        case 1:
+            DMA = DMA1_Channel4;
+        break;
+        case 2:
+            DMA = DMA1_Channel7;
+        break;
+        case 3:
+            DMA = DMA1_Channel2;
+        break;
+        default: return;
+    }
+    uint32_t tmout = 72000;
+    while(!txrdy[n]){if(--tmout == 0) return;} // wait for previos buffer transmission
+    register uint32_t l = odatalen[n][tbufno[n]];
+    if(!l) return;
+    txrdy[n] = 0;
+    odatalen[n][tbufno[n]] = 0;
+    IWDG->KR = IWDG_REFRESH;
+    DMA->CCR &= ~DMA_CCR_EN;
+    DMA->CMAR = (uint32_t) tbuf[n][tbufno[n]]; // mem
+    DMA->CNDTR = l;
+    DMA->CCR |= DMA_CCR_EN;
+    tbufno[n] = !tbufno[n];
+}
+
+void usart_putchar(uint8_t n, char ch){
+    if(!n || n > USART_LAST+1) return;
+    for(int i = 0; odatalen[n][tbufno[n]] == UARTBUFSZ && i < 1024; ++i) transmit_tbuf(n);
+    tbuf[n][tbufno[n]][odatalen[n][tbufno[n]]++] = ch;
+}
+
+void usart_send(uint8_t n, const char *str){
+    if(!n || n > USART_LAST+1) return;
+    uint32_t x = 512;
+    while(*str && --x){
+        if(odatalen[n][tbufno[n]] == UARTBUFSZ){
+            transmit_tbuf(n);
+            continue;
+        }
+        tbuf[n][tbufno[n]][odatalen[n][tbufno[n]]++] = *str++;
+    }
+}
+
+// send newline ("\r" or "\r\n") and transmit whole buffer
+// for GPS_USART endline always is "\r\n"
+// @param n - USART number
+void newline(uint8_t n){
+    if((the_conf.defflags & FLAG_STRENDRN) || n == GPS_USART) usart_putchar(n, '\r');
+    usart_putchar(n, '\n');
+    transmit_tbuf(n);
+}
+
+/*
+ * USART speed: baudrate = Fck/(USARTDIV)
+ * USARTDIV stored in USART->BRR
+ *
+ * for 72MHz USARTDIV=72000/f(kboud); so for 115200 USARTDIV=72000/115.2=625 -> BRR=0x271
+ *         9600: BRR = 7500 (0x1D4C)
+ */
+static void usart_setup(uint8_t n, uint16_t BRR){
+    DMA_Channel_TypeDef *DMA;
+    IRQn_Type DMAirqN, USARTirqN;
+    USART_TypeDef *USART;
+    switch(n){
+        case 1:
+            // USART1 Tx DMA - Channel4 (Rx - channel 5)
+            DMA = DMA1_Channel4;
+            DMAirqN = DMA1_Channel4_IRQn;
+            USARTirqN = USART1_IRQn;
+            // PA9 - Tx, PA10 - Rx
+            RCC->APB2ENR |= RCC_APB2ENR_IOPAEN | RCC_APB2ENR_USART1EN;
+            GPIOA->CRH |= CRH(9, CNF_AFPP|MODE_NORMAL) | CRH(10, CNF_FLINPUT|MODE_INPUT);
+            USART = USART1;
+        break;
+        case 2:
+            // USART2 Tx DMA - Channel7
+            DMA = DMA1_Channel7;
+            DMAirqN = DMA1_Channel7_IRQn;
+            USARTirqN = USART2_IRQn;
+            // PA2 - Tx, PA3 - Rx
+            RCC->APB2ENR |= RCC_APB2ENR_IOPAEN;
+            RCC->APB1ENR |= RCC_APB1ENR_USART2EN;
+            GPIOA->CRL |= CRL(2, CNF_AFPP|MODE_NORMAL) | CRL(3, CNF_FLINPUT|MODE_INPUT);
+            USART = USART2;
+        break;
+        case 3:
+            // USART3 Tx DMA - Channel2
+            DMA = DMA1_Channel2;
+            DMAirqN = DMA1_Channel2_IRQn;
+            USARTirqN = USART3_IRQn;
+            // PB10 - Tx, PB11 - Rx
+            RCC->APB2ENR |= RCC_APB2ENR_IOPBEN;
+            RCC->APB1ENR |= RCC_APB1ENR_USART3EN;
+            GPIOB->CRH |= CRH(10, CNF_AFPP|MODE_NORMAL) | CRH(11, CNF_FLINPUT|MODE_INPUT);
+            USART = USART3;
+        break;
+        default:
+            return;
+    }
+    DMA->CPAR = (uint32_t) &USART->DR; // periph
+    DMA->CCR |= DMA_CCR_MINC | DMA_CCR_DIR | DMA_CCR_TCIE; // 8bit, mem++, mem->per, transcompl irq
+    // setup usart(n)
+    USART->BRR = BRR;
+    USART->CR1 = USART_CR1_TE | USART_CR1_RE | USART_CR1_UE; // 1start,8data,nstop; enable Rx,Tx,USART
+    uint32_t tmout = 16000000;
+    while(!(USART->SR & USART_SR_TC)){if(--tmout == 0) break;} // polling idle frame Transmission
+    USART->SR = 0; // clear flags
+    USART->CR1 |= USART_CR1_RXNEIE; // allow Rx IRQ
+    USART->CR3 = USART_CR3_DMAT; // enable DMA Tx
+    // Tx CNDTR set @ each transmission due to data size
+    NVIC_SetPriority(DMAirqN, n);
+    NVIC_EnableIRQ(DMAirqN);
+    NVIC_SetPriority(USARTirqN, n);
+    NVIC_EnableIRQ(USARTirqN);
+}
+
+void usarts_setup(){
+    RCC->AHBENR |= RCC_AHBENR_DMA1EN;
+    usart_setup(1, 72000000 / the_conf.USART_speed);           // debug console or GPS proxy
+    usart_setup(GPS_USART, 36000000 / GPS_DEFAULT_SPEED);      // GPS
+    usart_setup(LIDAR_USART, 36000000 / the_conf.LIDAR_speed); // LIDAR
+}
+
+
+static void usart_isr(uint8_t n, USART_TypeDef *USART){
+    #ifdef CHECK_TMOUT
+    static uint32_t tmout[n] = 0;
+    #endif
+    IWDG->KR = IWDG_REFRESH;
+    if(USART->SR & USART_SR_RXNE){ // RX not emty - receive next char
+        #ifdef CHECK_TMOUT
+        if(tmout[n] && Tms >= tmout[n]){ // set overflow flag
+            bufovr[n] = 1;
+            idatalen[n][rbufno[n]] = 0;
+        }
+        tmout[n] = Tms + TIMEOUT_MS;
+        if(!tmout[n]) tmout[n] = 1; // prevent 0
+        #endif
+        char rb = (char)USART->DR;
+        if(idatalen[n][rbufno[n]] < UARTBUFSZ){ // put next char into buf
+            if(rb != '\r') rbuf[n][rbufno[n]][idatalen[n][rbufno[n]]++] = rb; // omit '\r'
+            if(rb == '\n'){ // got newline - line ready
+                linerdy[n] = 1;
+                dlen[n] = idatalen[n][rbufno[n]];
+                rbuf[n][rbufno[n]][dlen[n]] = 0;
+                recvdata[n] = rbuf[n][rbufno[n]];
+                // prepare other buffer
+                rbufno[n] = !rbufno[n];
+                idatalen[n][rbufno[n]] = 0;
+                #ifdef CHECK_TMOUT
+                // clear timeout at line end
+                tmout[n] = 0;
+                #endif
+            }
+        }else{ // buffer overrun
+            bufovr[n] = 1;
+            idatalen[n][rbufno[n]] = 0;
+            #ifdef CHECK_TMOUT
+            tmout[n] = 0;
+            #endif
+        }
+    }
+}
+
+void usart1_isr(){
+    usart_isr(1, USART1);
+}
+
+// GPS_USART
+void usart2_isr(){
+    usart_isr(2, USART2);
+}
+
+// LIDAR_USART
+void usart3_isr(){
+    if(the_conf.defflags & FLAG_NOLIDAR){ // regular TTY
+        usart_isr(3, USART3);
+        return;
+    }
+    // LIDAR - check for different things
+    IWDG->KR = IWDG_REFRESH;
+    if(USART3->SR & USART_SR_RXNE){ // RX not emty - receive next char
+        char rb = (char)USART3->DR;
+        uint8_t L = idatalen[3][rbufno[3]];
+        if(rb != LIDAR_FRAME_HEADER && (L == 0 || L == 1)){ // bad starting sequence
+            idatalen[3][rbufno[3]] = 0;
+            return;
+        }
+        if(L < LIDAR_FRAME_LEN){ // put next char into buf
+            rbuf[3][rbufno[3]][idatalen[3][rbufno[3]]++] = rb;
+            if(L == LIDAR_FRAME_LEN-1){ // got LIDAR_FRAME_LEN bytes - line ready
+                linerdy[3] = 1;
+                dlen[3] = idatalen[3][rbufno[3]];
+                recvdata[3] = rbuf[3][rbufno[3]];
+                // prepare other buffer
+                rbufno[3] = !rbufno[3];
+                idatalen[3][rbufno[3]] = 0;
+            }
+        }else{ // buffer overrun
+            idatalen[3][rbufno[3]] = 0;
+        }
+    }
+}
+
+// print 32bit unsigned int
+void printu(uint8_t n, uint32_t val){
+    usart_send(n, u2str(val));
+}
+
+// print 32bit unsigned int as hex
+void printuhex(uint8_t n, uint32_t val){
+    usart_send(n, u2hex(val));
+}
+
+#ifdef EBUG
+// dump memory buffer
+void hexdump(uint8_t *arr, uint16_t len){
+    for(uint16_t l = 0; l < len; ++l, ++arr){
+        IWDG->KR = IWDG_REFRESH;
+        for(int16_t j = 1; j > -1; --j){
+            register uint8_t half = (*arr >> (4*j)) & 0x0f;
+            if(half < 10) usart_putchar(1, half + '0');
+            else usart_putchar(1, half - 10 + 'a');
+        }
+        if(l % 16 == 15) usart_putchar(1, '\n');
+        else if((l & 3) == 3) usart_putchar(1, ' ');
+    }
+}
+#endif
+
+void dma1_channel4_isr(){ // USART1
+    if(DMA1->ISR & DMA_ISR_TCIF4){ // Tx
+        DMA1->IFCR = DMA_IFCR_CTCIF4; // clear TC flag
+        txrdy[1] = 1;
+    }
+}
+
+void dma1_channel7_isr(){ // USART2
+    if(DMA1->ISR & DMA_ISR_TCIF7){ // Tx
+        DMA1->IFCR = DMA_IFCR_CTCIF7; // clear TC flag
+        txrdy[2] = 1;
+    }
+}
+
+void dma1_channel2_isr(){ // USART3
+    if(DMA1->ISR & DMA_ISR_TCIF2){ // Tx
+        DMA1->IFCR = DMA_IFCR_CTCIF2; // clear TC flag
+        txrdy[3] = 1;
+    }
+}

F1:F103/deprecated/chronometer/usart.h

@@ -0,0 +1,73 @@
+/*
+ * This file is part of the chronometer project.
+ * Copyright 2019 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+#ifndef __USART_H__
+#define __USART_H__
+
+#include <stm32f1.h>
+
+// input and output buffers size (should be less than 256!!!)
+#define UARTBUFSZ   (128)
+// timeout between data bytes
+#ifndef TIMEOUT_MS
+#define TIMEOUT_MS (1500)
+#endif
+
+// number of last USART used
+#define USART_LAST     3
+
+// USART1 default speed
+#define USART1_DEFAULT_SPEED    (115200)
+// LIDAR default speed
+#define LIDAR_DEFAULT_SPEED     (115200)
+// GPS default speed
+#define GPS_DEFAULT_SPEED       (9600)
+
+#define STR_HELPER(s)   #s
+#define STR(s)          STR_HELPER(s)
+
+#ifdef EBUG
+#define SEND(str) usart_send(1, str)
+#define MSG(str)  do{SEND(__FILE__ " (L" STR(__LINE__) "): " str);}while(0)
+#define DBG(str)  do{SEND(str); newline(1); }while(0)
+#else
+#define SEND(str)
+#define MSG(str)
+#define DBG(str)
+#endif
+
+#define usartrx(n)  (linerdy[n])
+#define usartovr(n) (bufovr[n])
+
+extern volatile uint8_t linerdy[], bufovr[], txrdy[];
+
+void transmit_tbuf(uint8_t n);
+void usarts_setup();
+int usart_getline(int n, char **line);
+void usart_send(uint8_t n, const char *str);
+void usart_putchar(uint8_t n, char ch);
+void printu(uint8_t n, uint32_t val);
+void printuhex(uint8_t n, uint32_t val);
+void newline(uint8_t n);
+
+#ifdef EBUG
+void hexdump(uint8_t *arr, uint16_t len);
+#endif
+
+#endif // __USART_H__

F1:F103/deprecated/chronometer/usb.c

@@ -0,0 +1,213 @@
+/*
+ *                                                                                                  geany_encoding=koi8-r
+ * usb.c - base functions for different USB types
+ *
+ * Copyright 2018 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ *
+ */
+#include "flash.h"
+#include "usb.h"
+#include "usb_lib.h"
+#include "usart.h"
+
+// incoming buffer size
+#define IDATASZ     (256)
+static uint8_t incoming_data[IDATASZ];
+static uint8_t ovfl = 0;
+static uint16_t idatalen = 0;
+static volatile uint8_t tx_succesfull = 0;
+static int8_t usbON = 0; // ==1 when USB fully configured
+
+// interrupt IN handler (never used?)
+static uint16_t EP1_Handler(ep_t ep){
+    if (ep.rx_flag){
+        ep.status = SET_VALID_TX(ep.status);
+        ep.status = KEEP_STAT_RX(ep.status);
+    }else if (ep.tx_flag){
+        ep.status = SET_VALID_RX(ep.status);
+        ep.status = SET_STALL_TX(ep.status);
+    }
+    return ep.status;
+}
+
+// data IN/OUT handler
+static uint16_t EP23_Handler(ep_t ep){
+    if(ep.rx_flag){
+        int rd = ep.rx_cnt, rest = IDATASZ - idatalen;
+        if(rd){
+            if(rd <= rest){
+                idatalen += EP_Read(2, (uint16_t*)&incoming_data[idatalen]);
+                ovfl = 0;
+            }else{
+                ep.status = SET_NAK_RX(ep.status);
+                ovfl = 1;
+                return ep.status;
+            }
+        }
+        // end of transaction: clear DTOGs
+        ep.status = CLEAR_DTOG_RX(ep.status);
+        ep.status = CLEAR_DTOG_TX(ep.status);
+        ep.status = SET_STALL_TX(ep.status);
+    }else if (ep.tx_flag){
+        ep.status = KEEP_STAT_TX(ep.status);
+        tx_succesfull = 1;
+    }
+    ep.status = SET_VALID_RX(ep.status);
+    return ep.status;
+}
+
+void USB_setup(){
+    NVIC_DisableIRQ(USB_LP_CAN1_RX0_IRQn);
+    NVIC_DisableIRQ(USB_HP_CAN1_TX_IRQn);
+    RCC->APB1ENR |= RCC_APB1ENR_USBEN;
+    USB->CNTR   = USB_CNTR_FRES; // Force USB Reset
+    for(uint32_t ctr = 0; ctr < 72000; ++ctr) nop(); // wait >1ms
+    //uint32_t ctr = 0;
+    USB->CNTR   = 0;
+    USB->BTABLE = 0;
+    USB->DADDR  = 0;
+    USB->ISTR   = 0;
+    USB->CNTR   = USB_CNTR_RESETM | USB_CNTR_WKUPM; // allow only wakeup & reset interrupts
+    NVIC_EnableIRQ(USB_LP_CAN1_RX0_IRQn);
+    NVIC_EnableIRQ(USB_HP_CAN1_TX_IRQn );
+}
+
+void usb_proc(){
+    if(USB_GetState() == USB_CONFIGURE_STATE){ // USB configured - activate other endpoints
+        if(!usbON){ // endpoints not activated
+            // make new BULK endpoint
+            // Buffer have 1024 bytes, but last 256 we use for CAN bus (30.2 of RM: USB main features)
+            EP_Init(1, EP_TYPE_INTERRUPT, 10, 0, EP1_Handler); // IN1 - transmit
+            EP_Init(2, EP_TYPE_BULK, 0, USB_RXBUFSZ, EP23_Handler); // OUT2 - receive data
+            EP_Init(3, EP_TYPE_BULK, USB_TXBUFSZ, 0, EP23_Handler); // IN3 - transmit data
+            usbON = 1;
+        }
+    }else{
+        usbON = 0;
+    }
+}
+
+extern uint8_t USB_connected;
+void USB_send(const char *buf){
+    if(!USB_configured()){
+        DBG("USB not configured");
+        return;
+    }
+    if(!USB_connected) return; // no connection -> no need to send data into nothing
+    char tmpbuf[USB_TXBUFSZ];
+    uint16_t l = 0, ctr = 0;
+    const char *p = buf;
+    while(*p++) ++l;
+    while(l){
+        uint16_t proc = 0, s  = (l > USB_TXBUFSZ - 1) ? USB_TXBUFSZ - 1: l;
+        for(int i = 0; i < s; ++i, ++proc){
+            char c = buf[ctr+proc];
+            if(c == '\n' && the_conf.defflags & FLAG_STRENDRN){ // add '\r' before '\n'
+                tmpbuf[i++] = '\r';
+                if(i == s) ++s;
+            }
+            if(c == 0x1B) tmpbuf[i] = 'E'; // ESC
+            else if(c == 0x7F) tmpbuf[i] = 'B'; // Backspace
+            else tmpbuf[i] = c;
+        }
+        tx_succesfull = 0;
+        EP_Write(3, (uint8_t*)tmpbuf, s);
+        uint32_t ctra = 1000000;
+        while(--ctra && tx_succesfull == 0);
+        l -= proc;
+        ctr += proc;
+    }
+}
+
+/**
+ * @brief USB_receive
+ * @param buf (i) - buffer for received data
+ * @param bufsize - its size
+ * @return amount of received bytes
+ */
+int USB_receive(char *buf, int bufsize){
+    if(!bufsize || !idatalen) return 0;
+    USB->CNTR = 0;
+    int sz = (idatalen > bufsize) ? bufsize : idatalen, rest = idatalen - sz;
+    for(int i = 0; i < sz; ++i) buf[i] = incoming_data[i];
+    if(rest > 0){
+        uint8_t *ptr = &incoming_data[sz];
+        for(int i = 0; i < rest; ++i) incoming_data[i] = *ptr++;
+        //memmove(incoming_data, &incoming_data[sz], rest); - hardfault on memcpy&memmove
+        idatalen = rest;
+    }else idatalen = 0;
+    if(ovfl){
+        EP23_Handler(endpoints[2]);
+        uint16_t epstatus = USB->EPnR[2];
+        epstatus = CLEAR_DTOG_RX(epstatus);
+        epstatus = SET_VALID_RX(epstatus);
+        USB->EPnR[2] = epstatus;
+    }
+    USB->CNTR = USB_CNTR_RESETM | USB_CNTR_CTRM;
+    return sz;
+}
+
+/**
+ * @brief USB_configured
+ * @return 1 if USB is in configured state
+ */
+int USB_configured(){
+    return usbON;
+}
+
+
+/*
+ * default handlers
+ *
+// SET_LINE_CODING
+void WEAK linecoding_handler(usb_LineCoding __attribute__((unused)) *lc){
+    DBG("WEAK LH");
+}
+
+// SET_CONTROL_LINE_STATE
+void WEAK clstate_handler(uint16_t __attribute__((unused)) val){
+    DBG("WEAK CLSH");
+}
+
+// SEND_BREAK
+void WEAK break_handler(){
+    DBG("WEAK BH");
+}*/
+
+// handler of vendor requests
+void WEAK vendor_handler(config_pack_t *packet){
+    if(packet->bmRequestType & 0x80){ // read
+        uint8_t c;
+        switch(packet->wValue){
+            case 0x8484:
+                c = 2;
+            break;
+            case 0x0080:
+                c = 1;
+            break;
+            case 0x8686:
+                c = 0xaa;
+            break;
+            default:
+                c = 0;
+        }
+        EP_WriteIRQ(0, &c, 1);
+    }else{ // write ZLP
+        EP_WriteIRQ(0, (uint8_t *)0, 0);
+    }
+}

F1:F103/deprecated/chronometer/usb.h

@@ -0,0 +1,37 @@
+/*
+ *                                                                                                  geany_encoding=koi8-r
+ * usb.h
+ *
+ * Copyright 2018 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ *
+ */
+#pragma once
+#ifndef __USB_H__
+#define __USB_H__
+
+#include "hardware.h"
+
+#define BUFFSIZE   (64)
+
+void USB_setup();
+void usb_proc();
+void USB_send(const char *buf);
+int USB_receive(char *buf, int bufsize);
+int USB_configured();
+
+#endif // __USB_H__

F1:F103/deprecated/chronometer/usb_defs.h

@@ -0,0 +1,117 @@
+/*
+ *                                                                                                  geany_encoding=koi8-r
+ * usb_defs.h
+ *
+ * Copyright 2018 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ *
+ */
+
+#pragma once
+#ifndef __USB_DEFS_H__
+#define __USB_DEFS_H__
+
+#include <stm32f1.h>
+
+// max endpoints number
+#define STM32ENDPOINTS          8
+/**
+ *                 Buffers size definition
+ **/
+#define USB_BTABLE_SIZE         512
+// first 64 bytes of USB_BTABLE are registers!
+//#define USB_EP0_BASEADDR        64
+// for USB FS EP0 buffers are from 8 to 64 bytes long (64 for PL2303)
+#define USB_EP0_BUFSZ           64
+// USB transmit buffer size (64 for PL2303)
+#define USB_TXBUFSZ             64
+// USB receive buffer size (64 for PL2303)
+#define USB_RXBUFSZ             64
+
+#define USB_BTABLE_BASE         0x40006000
+#define USB_BASE                ((uint32_t)0x40005C00)
+#define USB                     ((USB_TypeDef *) USB_BASE)
+
+#ifdef USB_BTABLE
+#undef USB_BTABLE
+#endif
+#define USB_BTABLE              ((USB_BtableDef *)(USB_BTABLE_BASE))
+#define USB_ISTR_EPID           0x0000000F
+#define USB_FNR_LSOF_0          0x00000800
+#define USB_FNR_lSOF_1          0x00001000
+#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
+
+#ifdef USB_TypeDef
+#define USB_TypeDef USB_TypeDef_custom
+#endif
+
+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;
+
+/*
+typedef struct{
+    __IO uint16_t USB_ADDR_TX;
+    __IO uint16_t res1;
+    __IO uint16_t USB_COUNT_TX;
+    __IO uint16_t res2;
+    __IO uint16_t USB_ADDR_RX;
+    __IO uint16_t res3;
+    __IO uint16_t USB_COUNT_RX;
+    __IO uint16_t res4;
+} USB_EPDATA_TypeDef;*/
+
+typedef struct{
+    __IO uint32_t USB_ADDR_TX;
+    __IO uint32_t USB_COUNT_TX;
+    __IO uint32_t USB_ADDR_RX;
+    __IO uint32_t USB_COUNT_RX;
+} USB_EPDATA_TypeDef;
+
+typedef struct{
+    __IO USB_EPDATA_TypeDef EP[STM32ENDPOINTS];
+} USB_BtableDef;
+
+#endif // __USB_DEFS_H__

F1:F103/deprecated/chronometer/usb_lib.c

@@ -0,0 +1,488 @@
+/*
+ *                                                                                                  geany_encoding=koi8-r
+ * usb_lib.c
+ *
+ * Copyright 2018 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ *
+ */
+
+#include <stdint.h>
+#include "usb_lib.h"
+#include "usart.h"
+
+ep_t endpoints[STM32ENDPOINTS];
+
+static usb_dev_t USB_Dev;
+static usb_LineCoding lineCoding = {115200, 0, 0, 8};
+static config_pack_t setup_packet;
+static uint8_t ep0databuf[EP0DATABUF_SIZE];
+static uint8_t ep0dbuflen = 0;
+
+usb_LineCoding getLineCoding(){return lineCoding;}
+
+// definition of parts common for USB_DeviceDescriptor & USB_DeviceQualifierDescriptor
+#define bcdUSB_L        0x10
+#define bcdUSB_H        0x01
+#define bDeviceClass    0
+#define bDeviceSubClass 0
+#define bDeviceProtocol 0
+#define bNumConfigurations 1
+
+static const uint8_t USB_DeviceDescriptor[] = {
+        18,     // bLength
+        0x01,   // bDescriptorType - Device descriptor
+        bcdUSB_L,   // bcdUSB_L - 1.10
+        bcdUSB_H,   // bcdUSB_H
+        bDeviceClass,   // bDeviceClass - USB_COMM
+        bDeviceSubClass,   // bDeviceSubClass
+        bDeviceProtocol,   // bDeviceProtocol
+        USB_EP0_BUFSZ,   // bMaxPacketSize
+        0x7b,   // idVendor_L PL2303: VID=0x067b, PID=0x2303
+        0x06,   // idVendor_H
+        0x03,   // idProduct_L
+        0x23,   // idProduct_H
+        0x00,   // bcdDevice_Ver_L
+        0x03,   // bcdDevice_Ver_H
+        0x01,   // iManufacturer
+        0x02,   // iProduct
+        0x00,   // iSerialNumber
+        bNumConfigurations    // bNumConfigurations
+};
+
+static const uint8_t USB_DeviceQualifierDescriptor[] = {
+        10,     //bLength
+        0x06,   // bDescriptorType - Device qualifier
+        bcdUSB_L,   // bcdUSB_L
+        bcdUSB_H,   // bcdUSB_H
+        bDeviceClass,   // bDeviceClass
+        bDeviceSubClass,   // bDeviceSubClass
+        bDeviceProtocol,   // bDeviceProtocol
+        USB_EP0_BUFSZ,   // bMaxPacketSize0
+        bNumConfigurations,   // bNumConfigurations
+        0x00    // Reserved
+};
+
+static const uint8_t USB_ConfigDescriptor[] = {
+        /*Configuration Descriptor*/
+        0x09, /* bLength: Configuration Descriptor size */
+        0x02, /* bDescriptorType: Configuration */
+        39,   /* wTotalLength:no of returned bytes */
+        0x00,
+        0x01, /* bNumInterfaces: 1 interface */
+        0x01, /* bConfigurationValue: Configuration value */
+        0x00, /* iConfiguration: Index of string descriptor describing the configuration */
+        0xa0, /* bmAttributes - Bus powered, Remote wakeup */
+        0x32, /* MaxPower 100 mA */
+
+        /*---------------------------------------------------------------------------*/
+
+        /*Interface Descriptor */
+        0x09, /* bLength: Interface Descriptor size */
+        0x04, /* bDescriptorType: Interface */
+        0x00, /* bInterfaceNumber: Number of Interface */
+        0x00, /* bAlternateSetting: Alternate setting */
+        0x03, /* bNumEndpoints: 3 endpoints used */
+        0xff, /* bInterfaceClass */
+        0x00, /* bInterfaceSubClass */
+        0x00, /* bInterfaceProtocol */
+        0x00, /* iInterface: */
+///////////////////////////////////////////////////
+        /*Endpoint 1 Descriptor*/
+        0x07, /* bLength: Endpoint Descriptor size */
+        0x05, /* bDescriptorType: Endpoint */
+        0x81, /* bEndpointAddress IN1 */
+        0x03, /* bmAttributes: Interrupt */
+        0x0a, /* wMaxPacketSize LO: */
+        0x00, /* wMaxPacketSize HI: */
+        0x01, /* bInterval: */
+
+        /*Endpoint OUT2 Descriptor*/
+        0x07, /* bLength: Endpoint Descriptor size */
+        0x05, /* bDescriptorType: Endpoint */
+        0x02, /* bEndpointAddress: OUT2 */
+        0x02, /* bmAttributes: Bulk */
+        (USB_RXBUFSZ & 0xff), /* wMaxPacketSize: 64 */
+        (USB_RXBUFSZ >> 8),
+        0x00, /* bInterval: ignore for Bulk transfer */
+
+        /*Endpoint IN3 Descriptor*/
+        0x07, /* bLength: Endpoint Descriptor size */
+        0x05, /* bDescriptorType: Endpoint */
+        0x83, /* bEndpointAddress IN3 */
+        0x02, /* bmAttributes: Bulk */
+        (USB_TXBUFSZ & 0xff), /* wMaxPacketSize: 64 */
+        (USB_TXBUFSZ >> 8),
+        0x00, /* bInterval: ignore for Bulk transfer */
+};
+
+_USB_LANG_ID_(USB_StringLangDescriptor, LANG_US);
+// these descriptors are not used in PL2303 emulator!
+_USB_STRING_(USB_StringSerialDescriptor, u"0");
+_USB_STRING_(USB_StringManufacturingDescriptor, u"Prolific Technology Inc.");
+_USB_STRING_(USB_StringProdDescriptor, u"USB-Serial Controller");
+
+static void wr0(const uint8_t *buf, uint16_t size){
+    if(setup_packet.wLength < size) size = setup_packet.wLength;
+    EP_WriteIRQ(0, buf, size);
+}
+
+static inline void get_descriptor(){
+    switch(setup_packet.wValue){
+        case DEVICE_DESCRIPTOR:
+            wr0(USB_DeviceDescriptor, sizeof(USB_DeviceDescriptor));
+        break;
+        case CONFIGURATION_DESCRIPTOR:
+            wr0(USB_ConfigDescriptor, sizeof(USB_ConfigDescriptor));
+        break;
+        case STRING_LANG_DESCRIPTOR:
+            wr0((const uint8_t *)&USB_StringLangDescriptor, STRING_LANG_DESCRIPTOR_SIZE_BYTE);
+        break;
+        case STRING_MAN_DESCRIPTOR:
+            wr0((const uint8_t *)&USB_StringManufacturingDescriptor, USB_StringManufacturingDescriptor.bLength);
+        break;
+        case STRING_PROD_DESCRIPTOR:
+            wr0((const uint8_t *)&USB_StringProdDescriptor, USB_StringProdDescriptor.bLength);
+        break;
+        case STRING_SN_DESCRIPTOR:
+            wr0((const uint8_t *)&USB_StringSerialDescriptor, USB_StringSerialDescriptor.bLength);
+        break;
+        case DEVICE_QUALIFIER_DESCRIPTOR:
+            wr0(USB_DeviceQualifierDescriptor, USB_DeviceQualifierDescriptor[0]);
+        break;
+        default:
+        break;
+    }
+}
+
+static uint8_t configuration = 0; // reply for GET_CONFIGURATION (==1 if configured)
+static inline void std_d2h_req(){
+    uint16_t status = 0; // bus powered
+    switch(setup_packet.bRequest){
+        case GET_DESCRIPTOR:
+            get_descriptor();
+        break;
+        case GET_STATUS:
+            EP_WriteIRQ(0, (uint8_t *)&status, 2); // send status: Bus Powered
+        break;
+        case GET_CONFIGURATION:
+            EP_WriteIRQ(0, &configuration, 1);
+        break;
+        default:
+        break;
+    }
+}
+
+static inline void std_h2d_req(){
+    switch(setup_packet.bRequest){
+        case SET_ADDRESS:
+            // new address will be assigned later - after  acknowlegement or request to host
+            USB_Dev.USB_Addr = setup_packet.wValue;
+        break;
+        case SET_CONFIGURATION:
+            // Now device configured
+            USB_Dev.USB_Status = USB_CONFIGURE_STATE;
+            configuration = setup_packet.wValue;
+        break;
+        default:
+        break;
+    }
+}
+
+/*
+bmRequestType: 76543210
+7    direction: 0 - host->device, 1 - device->host
+65   type: 0 - standard, 1 - class, 2 - vendor
+4..0 getter: 0 - device, 1 - interface, 2 - endpoint, 3 - other
+*/
+/**
+ * Endpoint0 (control) handler
+ * @param ep - endpoint state
+ * @return data written to EP0R
+ */
+static uint16_t EP0_Handler(ep_t ep){
+    uint16_t epstatus = ep.status; // EP0R on input -> return this value after modifications
+    uint8_t reqtype = setup_packet.bmRequestType & 0x7f;
+    uint8_t dev2host = (setup_packet.bmRequestType & 0x80) ? 1 : 0;
+    if ((ep.rx_flag) && (ep.setup_flag)){
+        switch(reqtype){
+            case STANDARD_DEVICE_REQUEST_TYPE: // standard device request
+                if(dev2host){
+                    std_d2h_req();
+                }else{
+                    std_h2d_req();
+                    EP_WriteIRQ(0, (uint8_t *)0, 0);
+                }
+                //epstatus = SET_NAK_RX(epstatus);
+                //epstatus = SET_VALID_TX(epstatus);
+            break;
+            case STANDARD_ENDPOINT_REQUEST_TYPE: // standard endpoint request
+                if(setup_packet.bRequest == CLEAR_FEATURE){
+                    EP_WriteIRQ(0, (uint8_t *)0, 0);
+                    //epstatus = SET_NAK_RX(epstatus);
+                    //epstatus = SET_VALID_TX(epstatus);
+                }
+            break;
+            case VENDOR_REQUEST_TYPE:
+                vendor_handler(&setup_packet);
+                //epstatus = SET_NAK_RX(epstatus);
+                //epstatus = SET_VALID_TX(epstatus);
+            break;
+            case CONTROL_REQUEST_TYPE:
+                switch(setup_packet.bRequest){
+                    case GET_LINE_CODING:
+                        EP_WriteIRQ(0, (uint8_t*)&lineCoding, sizeof(lineCoding));
+                    break;
+                    case SET_LINE_CODING: // omit this for next stage, when data will come
+                    break;
+                    case SET_CONTROL_LINE_STATE:
+                        clstate_handler(setup_packet.wValue);
+                    break;
+                    case SEND_BREAK:
+                        break_handler();
+                    break;
+                    default:
+                    break;
+                }
+                // SET_CONTROL_LINE_STATE don't work! Need something to fix the BUG!
+                //if(!dev2host)
+                if(setup_packet.bRequest != GET_LINE_CODING)
+                    EP_WriteIRQ(0, (uint8_t *)0, 0); // write acknowledgement
+                //epstatus = SET_VALID_RX(epstatus);
+                //epstatus = SET_VALID_TX(epstatus);
+            break;
+            default:
+                EP_WriteIRQ(0, (uint8_t *)0, 0);
+                //epstatus = SET_NAK_RX(epstatus);
+                //epstatus = SET_VALID_TX(epstatus);
+        }
+    }else if (ep.rx_flag){ // got data over EP0 or host acknowlegement
+        if(ep.rx_cnt){
+            //EP_WriteIRQ(0, (uint8_t *)0, 0);
+            if(setup_packet.bRequest == SET_LINE_CODING){
+                linecoding_handler((usb_LineCoding*)ep0databuf);
+            }
+        }
+        // wait for new data from host
+        //epstatus = SET_VALID_RX(epstatus);
+        //epstatus = SET_VALID_TX(epstatus);
+    } else if (ep.tx_flag){ // package transmitted
+        // now we can change address after enumeration
+        if ((USB->DADDR & USB_DADDR_ADD) != USB_Dev.USB_Addr){
+            USB->DADDR = USB_DADDR_EF | USB_Dev.USB_Addr;
+            // change state to ADRESSED
+            USB_Dev.USB_Status = USB_ADRESSED_STATE;
+        }
+        // end of transaction
+        epstatus = CLEAR_DTOG_RX(epstatus);
+        epstatus = CLEAR_DTOG_TX(epstatus);
+        //epstatus = SET_VALID_RX(epstatus);
+        //epstatus = SET_VALID_TX(epstatus);
+    }
+    epstatus = SET_VALID_RX(epstatus);
+    epstatus = SET_VALID_TX(epstatus);
+    return epstatus;
+}
+
+static uint16_t lastaddr = LASTADDR_DEFAULT;
+/**
+ * Endpoint initialisation
+ * @param number - EP num (0...7)
+ * @param type - EP type (EP_TYPE_BULK, EP_TYPE_CONTROL, EP_TYPE_ISO, EP_TYPE_INTERRUPT)
+ * @param txsz - transmission buffer size @ USB/CAN buffer
+ * @param rxsz - reception buffer size @ USB/CAN buffer
+ * @param uint16_t (*func)(ep_t *ep) - EP handler function
+ * @return 0 if all OK
+ */
+int EP_Init(uint8_t number, uint8_t type, uint16_t txsz, uint16_t rxsz, uint16_t (*func)(ep_t ep)){
+    if(number >= STM32ENDPOINTS) return 4; // out of configured amount
+    if(txsz > USB_BTABLE_SIZE || rxsz > USB_BTABLE_SIZE) return 1; // buffer too large
+    if(lastaddr + txsz + rxsz >= USB_BTABLE_SIZE) return 2; // out of btable
+    USB->EPnR[number] = (type << 9) | (number & USB_EPnR_EA);
+    USB->EPnR[number] ^= USB_EPnR_STAT_RX | USB_EPnR_STAT_TX_1;
+    if(rxsz & 1 || rxsz > 512) return 3; // wrong rx buffer size
+    uint16_t countrx = 0;
+    if(rxsz < 64) countrx = rxsz / 2;
+    else{
+        if(rxsz & 0x1f) return 3; // should be multiple of 32
+        countrx = 31 + rxsz / 32;
+    }
+    USB_BTABLE->EP[number].USB_ADDR_TX = lastaddr;
+    endpoints[number].tx_buf = (uint16_t *)(USB_BTABLE_BASE + lastaddr*2);
+    lastaddr += txsz;
+    USB_BTABLE->EP[number].USB_COUNT_TX = 0;
+    USB_BTABLE->EP[number].USB_ADDR_RX = lastaddr;
+    endpoints[number].rx_buf = (uint16_t *)(USB_BTABLE_BASE + lastaddr*2);
+    lastaddr += rxsz;
+    USB_BTABLE->EP[number].USB_COUNT_RX = countrx << 10;
+    endpoints[number].func = func;
+    return 0;
+}
+
+//extern int8_t dump;
+// standard IRQ handler
+void usb_isr(){
+    if (USB->ISTR & USB_ISTR_RESET){
+        // Reinit registers
+        USB->CNTR = USB_CNTR_RESETM | USB_CNTR_CTRM;
+        USB->ISTR = 0;
+        // Endpoint 0 - CONTROL
+        // ON USB LS size of EP0 may be 8 bytes, but on FS it should be 64 bytes!
+        lastaddr = LASTADDR_DEFAULT;
+        if(EP_Init(0, EP_TYPE_CONTROL, USB_EP0_BUFSZ, USB_EP0_BUFSZ, EP0_Handler)){
+            DBG("Err init EP0");
+        }
+        // clear address, leave only enable bit
+        USB->DADDR = USB_DADDR_EF;
+        // state is default - wait for enumeration
+        USB_Dev.USB_Status = USB_DEFAULT_STATE;
+    }
+    if(USB->ISTR & USB_ISTR_CTR){
+        // EP number
+        uint8_t n = USB->ISTR & USB_ISTR_EPID;
+        // copy status register
+        uint16_t epstatus = USB->EPnR[n];
+    //  dump = 1;
+        // Calculate flags
+        endpoints[n].rx_flag = (epstatus & USB_EPnR_CTR_RX) ? 1 : 0;
+        endpoints[n].setup_flag = (epstatus & USB_EPnR_SETUP) ? 1 : 0;
+        endpoints[n].tx_flag = (epstatus & USB_EPnR_CTR_TX) ? 1 : 0;
+        // copy received bytes amount
+        endpoints[n].rx_cnt = USB_BTABLE->EP[n].USB_COUNT_RX & 0x3FF; // low 10 bits is counter
+        // check direction
+        if(USB->ISTR & USB_ISTR_DIR){ // OUT interrupt - receive data, CTR_RX==1 (if CTR_TX == 1 - two pending transactions: receive following by transmit)
+            if(n == 0){ // control endpoint
+                if(epstatus & USB_EPnR_SETUP){ // setup packet -> copy data to conf_pack
+                    EP_Read(0, (uint16_t*)&setup_packet);
+                    ep0dbuflen = 0;
+                    // interrupt handler will be called later
+                }else if(epstatus & USB_EPnR_CTR_RX){ // data packet -> push received data to ep0databuf
+                    ep0dbuflen = endpoints[0].rx_cnt;
+                    EP_Read(0, (uint16_t*)&ep0databuf);
+                }
+            }
+        }else{ // IN interrupt - transmit data, only CTR_TX == 1
+            // enumeration end could be here (if EP0)
+        }
+        // prepare status field for EP handler
+        endpoints[n].status = epstatus;
+        // call EP handler (even if it will change EPnR, it should return new status)
+        epstatus = endpoints[n].func(endpoints[n]);
+        // keep DTOG state
+        epstatus = KEEP_DTOG_TX(epstatus);
+        epstatus = KEEP_DTOG_RX(epstatus);
+        // clear all RX/TX flags
+        epstatus = CLEAR_CTR_RX(epstatus);
+        epstatus = CLEAR_CTR_TX(epstatus);
+        // refresh EPnR
+        USB->EPnR[n] = epstatus;
+    }
+}
+
+/*
+    if (USB->ISTR & USB_ISTR_PMAOVR) {
+        MSG("PMAOVR\n");
+        // Handle PMAOVR status
+    }
+    if (USB->ISTR & USB_ISTR_SUSP) {
+        MSG("SUSP\n");
+        if (USB->DADDR & 0x7f) {
+            USB->DADDR = 0;
+            USB->CNTR &= ~ 0x800;
+        }
+    }
+    if (USB->ISTR & USB_ISTR_ERR) {
+        MSG("ERR\n");
+        // Handle Error
+    }
+    if (USB->ISTR & USB_ISTR_WKUP) {
+        MSG("WKUP\n");
+        // Handle Wakeup
+    }
+    if (USB->ISTR & USB_ISTR_SOF) {
+        MSG("SOF\n");
+        // Handle SOF
+    }
+    if (USB->ISTR & USB_ISTR_ESOF) {
+        MSG("ESOF\n");
+        // Handle ESOF
+    }
+    USB->ISTR = 0;
+*/
+
+void usb_lp_can_rx0_isr(){
+    usb_isr();
+}
+
+void usb_hp_can_tx_isr(){
+    usb_isr();
+}
+
+/**
+ * Write data to EP buffer (called from IRQ handler)
+ * @param number - EP number
+ * @param *buf - array with data
+ * @param size - its size
+ */
+void EP_WriteIRQ(uint8_t number, const uint8_t *buf, uint16_t size){
+    uint8_t i;
+    if(size > USB_TXBUFSZ) size = USB_TXBUFSZ;
+    uint16_t N2 = (size + 1) >> 1;
+    // the buffer is 16-bit, so we should copy data as it would be uint16_t
+    uint16_t *buf16 = (uint16_t *)buf;
+    uint32_t *out = (uint32_t *)endpoints[number].tx_buf;
+    for(i = 0; i < N2; ++i, ++out){
+        *out = buf16[i];
+    }
+    USB_BTABLE->EP[number].USB_COUNT_TX = size;
+}
+
+/**
+ * Write data to EP buffer (called outside IRQ handler)
+ * @param number - EP number
+ * @param *buf - array with data
+ * @param size - its size
+ */
+void EP_Write(uint8_t number, const uint8_t *buf, uint16_t size){
+    uint16_t status = USB->EPnR[number];
+    EP_WriteIRQ(number, buf, size);
+    status = SET_NAK_RX(status);
+    status = SET_VALID_TX(status);
+    status = KEEP_DTOG_TX(status);
+    status = KEEP_DTOG_RX(status);
+    USB->EPnR[number] = status;
+}
+
+/*
+ * Copy data from EP buffer into user buffer area
+ * @param *buf - user array for data
+ * @return amount of data read
+ */
+int EP_Read(uint8_t number, uint16_t *buf){
+    int n = (endpoints[number].rx_cnt + 1) >> 1;
+    uint32_t *in = (uint32_t *)endpoints[number].rx_buf;
+    if(n){
+        for(int i = 0; i < n; ++i, ++in)
+            buf[i] = *(uint16_t*)in;
+    }
+    return endpoints[number].rx_cnt;
+}
+
+// USB status
+uint8_t USB_GetState(){
+    return USB_Dev.USB_Status;
+}

F1:F103/deprecated/chronometer/usb_lib.h

@@ -0,0 +1,202 @@
+/*
+ *                                                                                                  geany_encoding=koi8-r
+ * usb_lib.h
+ *
+ * Copyright 2018 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ *
+ */
+
+#pragma once
+#ifndef __USB_LIB_H__
+#define __USB_LIB_H__
+
+#include <wchar.h>
+#include "usb_defs.h"
+
+#define EP0DATABUF_SIZE                 (64)
+#define LASTADDR_DEFAULT                (STM32ENDPOINTS * 8)
+
+// Max EP amount (EP0 + other used)
+//#define ENDPOINTS_NUM                   4
+// bmRequestType & 0x7f
+#define STANDARD_DEVICE_REQUEST_TYPE    0
+#define STANDARD_ENDPOINT_REQUEST_TYPE  2
+#define VENDOR_REQUEST_TYPE             0x40
+#define CONTROL_REQUEST_TYPE            0x21
+// bRequest, standard; for bmRequestType == 0x80
+#define GET_STATUS                      0x00
+#define GET_DESCRIPTOR                  0x06
+#define GET_CONFIGURATION               0x08
+// for bmRequestType == 0
+#define CLEAR_FEATURE                   0x01
+#define SET_FEATURE                     0x03    // unused
+#define SET_ADDRESS                     0x05
+#define SET_DESCRIPTOR                  0x07    // unused
+#define SET_CONFIGURATION               0x09
+// for bmRequestType == 0x81, 1 or 0xB2
+#define GET_INTERFACE                   0x0A    // unused
+#define SET_INTERFACE                   0x0B    // unused
+#define SYNC_FRAME                      0x0C    // unused
+#define VENDOR_REQUEST                  0x01    // unused
+
+// Class-Specific Control Requests
+#define SEND_ENCAPSULATED_COMMAND       0x00    // unused
+#define GET_ENCAPSULATED_RESPONSE       0x01    // unused
+#define SET_COMM_FEATURE                0x02    // unused
+#define GET_COMM_FEATURE                0x03    // unused
+#define CLEAR_COMM_FEATURE              0x04    // unused
+#define SET_LINE_CODING                 0x20
+#define GET_LINE_CODING                 0x21
+#define SET_CONTROL_LINE_STATE          0x22
+#define SEND_BREAK                      0x23
+
+// control line states
+#define CONTROL_DTR                     0x01
+#define CONTROL_RTS                     0x02
+
+// wValue
+#define DEVICE_DESCRIPTOR               0x100
+#define CONFIGURATION_DESCRIPTOR        0x200
+#define STRING_LANG_DESCRIPTOR          0x300
+#define STRING_MAN_DESCRIPTOR           0x301
+#define STRING_PROD_DESCRIPTOR          0x302
+#define STRING_SN_DESCRIPTOR            0x303
+#define DEVICE_QUALIFIER_DESCRIPTOR     0x600
+
+// EPnR bits manipulation
+#define CLEAR_DTOG_RX(R)                (R & USB_EPnR_DTOG_RX) ? R : (R & (~USB_EPnR_DTOG_RX))
+#define SET_DTOG_RX(R)                  (R & USB_EPnR_DTOG_RX) ? (R & (~USB_EPnR_DTOG_RX)) : R
+#define TOGGLE_DTOG_RX(R)               (R | USB_EPnR_DTOG_RX)
+#define KEEP_DTOG_RX(R)                 (R & (~USB_EPnR_DTOG_RX))
+#define CLEAR_DTOG_TX(R)                (R & USB_EPnR_DTOG_TX) ? R : (R & (~USB_EPnR_DTOG_TX))
+#define SET_DTOG_TX(R)                  (R & USB_EPnR_DTOG_TX) ? (R & (~USB_EPnR_DTOG_TX)) : R
+#define TOGGLE_DTOG_TX(R)               (R | USB_EPnR_DTOG_TX)
+#define KEEP_DTOG_TX(R)                 (R & (~USB_EPnR_DTOG_TX))
+#define SET_VALID_RX(R)                 ((R & USB_EPnR_STAT_RX) ^ USB_EPnR_STAT_RX)   | (R & (~USB_EPnR_STAT_RX))
+#define SET_NAK_RX(R)                   ((R & USB_EPnR_STAT_RX) ^ USB_EPnR_STAT_RX_1) | (R & (~USB_EPnR_STAT_RX))
+#define SET_STALL_RX(R)                 ((R & USB_EPnR_STAT_RX) ^ USB_EPnR_STAT_RX_0) | (R & (~USB_EPnR_STAT_RX))
+#define KEEP_STAT_RX(R)                 (R & (~USB_EPnR_STAT_RX))
+#define SET_VALID_TX(R)                 ((R & USB_EPnR_STAT_TX) ^ USB_EPnR_STAT_TX)   | (R & (~USB_EPnR_STAT_TX))
+#define SET_NAK_TX(R)                   ((R & USB_EPnR_STAT_TX) ^ USB_EPnR_STAT_TX_1) | (R & (~USB_EPnR_STAT_TX))
+#define SET_STALL_TX(R)                 ((R & USB_EPnR_STAT_TX) ^ USB_EPnR_STAT_TX_0) | (R & (~USB_EPnR_STAT_TX))
+#define KEEP_STAT_TX(R)                 (R & (~USB_EPnR_STAT_TX))
+#define CLEAR_CTR_RX(R)                 (R & (~USB_EPnR_CTR_RX))
+#define CLEAR_CTR_TX(R)                 (R & (~USB_EPnR_CTR_TX))
+#define CLEAR_CTR_RX_TX(R)              (R & (~(USB_EPnR_CTR_TX | USB_EPnR_CTR_RX)))
+
+// USB state: uninitialized, addressed, ready for use
+#define USB_DEFAULT_STATE               0
+#define USB_ADRESSED_STATE              1
+#define USB_CONFIGURE_STATE             2
+
+// EP types
+#define EP_TYPE_BULK                    0x00
+#define EP_TYPE_CONTROL                 0x01
+#define EP_TYPE_ISO                     0x02
+#define EP_TYPE_INTERRUPT               0x03
+
+#define LANG_US (uint16_t)0x0409
+
+#define _USB_STRING_(name, str)                  \
+static const struct name \
+{                          \
+        uint8_t  bLength;                       \
+        uint8_t  bDescriptorType;               \
+        uint16_t bString[(sizeof(str) - 2) / 2]; \
+    \
+} \
+name = {sizeof(name), 0x03, str}
+
+#define _USB_LANG_ID_(name, lng_id)     \
+    \
+static const struct name \
+{         \
+        uint8_t  bLength;         \
+        uint8_t  bDescriptorType; \
+        uint16_t bString;         \
+    \
+} \
+name = {0x04, 0x03, lng_id}
+#define STRING_LANG_DESCRIPTOR_SIZE_BYTE    (4)
+
+// EP0 configuration packet
+typedef struct {
+    uint8_t bmRequestType;
+    uint8_t bRequest;
+    uint16_t wValue;
+    uint16_t wIndex;
+    uint16_t wLength;
+} config_pack_t;
+
+// endpoints state
+typedef struct __ep_t{
+    uint16_t *tx_buf;           // transmission buffer address
+    uint16_t *rx_buf;           // reception buffer address
+    uint16_t (*func)();         // endpoint action function
+    uint16_t status;            // status flags
+    unsigned rx_cnt  : 10;      // received data counter
+    unsigned tx_flag : 1;       // transmission flag
+    unsigned rx_flag : 1;       // reception flag
+    unsigned setup_flag : 1;    // this is setup packet (only for EP0)
+} ep_t;
+
+// USB status & its address
+typedef struct {
+    uint8_t  USB_Status;
+    uint16_t USB_Addr;
+}usb_dev_t;
+
+typedef struct {
+    uint32_t dwDTERate;
+    uint8_t bCharFormat;
+    #define USB_CDC_1_STOP_BITS   0
+    #define USB_CDC_1_5_STOP_BITS 1
+    #define USB_CDC_2_STOP_BITS   2
+    uint8_t bParityType;
+    #define USB_CDC_NO_PARITY     0
+    #define USB_CDC_ODD_PARITY    1
+    #define USB_CDC_EVEN_PARITY   2
+    #define USB_CDC_MARK_PARITY   3
+    #define USB_CDC_SPACE_PARITY  4
+    uint8_t bDataBits;
+} __attribute__ ((packed)) usb_LineCoding;
+
+typedef struct {
+    uint8_t   bmRequestType;
+    uint8_t   bNotificationType;
+    uint16_t  wValue;
+    uint16_t  wIndex;
+    uint16_t  wLength;
+} __attribute__ ((packed)) usb_cdc_notification;
+
+extern ep_t endpoints[];
+
+void USB_Init();
+uint8_t USB_GetState();
+int EP_Init(uint8_t number, uint8_t type, uint16_t txsz, uint16_t rxsz, uint16_t (*func)(ep_t ep));
+void EP_WriteIRQ(uint8_t number, const uint8_t *buf, uint16_t size);
+void EP_Write(uint8_t number, const uint8_t *buf, uint16_t size);
+int EP_Read(uint8_t number, uint16_t *buf);
+usb_LineCoding getLineCoding();
+
+void WEAK linecoding_handler(usb_LineCoding *lc);
+void WEAK clstate_handler(uint16_t val);
+void WEAK break_handler();
+void WEAK vendor_handler(config_pack_t *packet);
+
+#endif // __USB_LIB_H__