tested release compilation

F3:F303/Multistepper/Readme.md

@@ -368,6 +368,7 @@ In case of absence of `ACK` you can get message `CAN bus is off, try to restart
 ### canspeed N
 CAN  bus speed (in kbps, 50 <= N <= 1500)
 In case of setter, store new speed value in global parameters (and if you call `saveconf` later, it will be saved in flash memory).
+As getter show string like `canspeed=250kbps`.
 ### canstat 
 Get CAN bus status: values of registers `CAN->MSR`, `CAN->TSR`, `CAN->RF0R` and `CAN->RF1F`.
 ### diagn[N] (37) G
@@ -404,9 +405,10 @@ Dump motor flags' bits (for `motflagsN`) and reaction to limit switches (`eswrea
     bit5 - 5: [reserved]
     bit6 - 6,7: drvtype - driver type (0 - only step/dir, 1 - UART, 2 - SPI, 3 - reserved)
     End-switches reaction:
-    0 - ignore end-switches
+    0 - ignore both end-switches
-    1 - stop @ esw in any moving direction
+    1 - ignore ESW1, ESW0 stops only when negative mowing
-    2 - stop only when moving in given direction (e.g. to minus @ESW0)
+    2 - stop @ esw in any moving direction
+    3 - stop only when moving in given direction (e.g. to minus @ESW0)
 
 ### dumpstates 
 Dump motors' state codes (for getter `stateN`):
@@ -484,6 +486,7 @@ external multiplexer status (<0 - disable, 0..7 - enable and set address).
 Motor number for next `pdn` commands (if you want to run custom commands by hands or in a batch).
 ### motreinit (25)
 Re-init motors after configuration changed. Some changes will run this automatically.
+Answer - "OK" or error text.
 ### pdnN (43) GS 
 Read/write TMC2209 (and other UART-based drivers) registers over uart @ motor number `motno`.
 For `pdnN=X` `N` is register number, `X` is data to write into it. Due to protocol's particulars
@@ -498,6 +501,7 @@ Like `relpos` but with constant slowest speed (you can change it with `minspeed`
 Software reset.
 ### saveconf (13)
 Save current configuration into MCU flash memory.
+Answer - "OK" or error text.
 ### screen*  GS
 Enable (1) or disable (0) screen.
 ### speedlimit (20) G
@@ -506,6 +510,7 @@ Get limiting speed for current microsteps setting.
 Get Nth motor state (`dumpstates`: 0-relax, 1-accel, 2-move, 3-mvslow, 4-decel, 5-stall, 6-err).
 ### stopN (30) 
 Stop Nth motor with deceleration (moving by ramp).
+Answer - "OK" or error text.
 ### time (10) G
 Get time from start (ms).
 ### tmcbus * GS 
@@ -554,22 +559,20 @@ Command codes described in USB answer for `dumpcmd`:
     26 - goto
     27 - relpos
     28 - relslow
-    29 - emstop N
+    29 - emstop 
     30 - stop
-    31 - emstop all
     32 - gotoz
     33 - state
     35 - abspos
     36 - motmul
     37 - diagn
     38 - eraseflash
-    39 - udata
-    40 - usartstatus
     41 - vdrive
     42 - vfive
     43 - pdn
     44 - motno
     45 - drvtype
+    46 - motcurrent
 
 Error codes (`dumperr`):
 

F3:F303/Multistepper/can.c

@@ -22,9 +22,7 @@
 #include "hardware.h"
 #include "strfunc.h"
 #include "usb_dev.h"
-#ifdef EBUG
 #include "proto.h"
-#endif
 
 // PD1 - Tx, PD0 - Rx !!!
 
@@ -304,17 +302,21 @@ CAN_status CAN_send(uint8_t *msg, uint8_t len, uint16_t target_id){
     return CAN_OK;
 }
 
-void CAN_flood(CAN_message *msg, int incr){
+// return: 1 - flood is ON, 0 - flood is OFF
+int CAN_flood(CAN_message *msg, int incr){
     if(incr){
         incrmessagectr = 0;
         incrflood = 1;
-        return;
+        return 1;
     }else incrflood = 0;
-    if(!msg) flood_msg = NULL;
+    if(!msg){
-    else{
+        flood_msg = NULL;
+        return 0;
+    }else{
         memcpy(&loc_flood_msg, msg, sizeof(CAN_message));
         flood_msg = &loc_flood_msg;
     }
+    return 1;
 }
 
 uint32_t CAN_speed(){

F3:F303/Multistepper/can.h

@@ -56,5 +56,5 @@ void CAN_printerr();
 
 CAN_message *CAN_messagebuf_pop();
 
-void CAN_flood(CAN_message *msg, int incr);
+int CAN_flood(CAN_message *msg, int incr);
 uint32_t CAN_speed();

F3:F303/Multistepper/commonproto.c

@@ -275,7 +275,6 @@ errcodes cu_mcuvdd(uint8_t par, int32_t *val){
 
 errcodes cu_microsteps(uint8_t _U_ par, int32_t _U_ *val){
     uint8_t n; CHECKN(n, par);
-    USB_sendstr("===> val="); printi(*val); newline();
     if(ISSETTER(par)){
 #if MICROSTEPSMAX > 512
 #error "Change the code anywhere!"
@@ -443,7 +442,7 @@ errcodes cu_usartstatus(uint8_t _U_ par, int32_t _U_ *val){
 // V*10
 errcodes cu_vdrive(uint8_t par, int32_t _U_ *val){
     NOPARCHK(par);
-    *val = getADCvoltage(ADC_VDRIVE);
+    *val = getADCvoltage(ADC_VDRIVE) * 11;
     return ERR_OK;
 }
 

F3:F303/Multistepper/flash.c

@@ -152,9 +152,9 @@ static int write2flash(const void *start, const void *wrdata, uint32_t stor_size
 // erase Nth page of flash storage (flash should be prepared!)
 static int erase_pageN(int N){
     int ret = 0;
-#ifdef EBUG
+//#ifdef EBUG
     USB_sendstr("Erase block #"); printu(N); newline();
-#endif
+//#endif
     FLASH->AR = (uint32_t)Flash_Data + N*FLASH_blocksize;
     FLASH->CR |= FLASH_CR_STRT;
     while(FLASH->SR & FLASH_SR_BSY) IWDG->KR = IWDG_REFRESH;
@@ -185,13 +185,16 @@ int erase_storage(int npage){
         FLASH->KEYR = FLASH_KEY1;
         FLASH->KEYR = FLASH_KEY2;
     }
-    /*USB_sendstr("size/block size/nblocks/FLASH_SIZE: "); printu(flsz);
+//*
+    USB_sendstr("size/block size/nblocks/FLASH_SIZE: "); printu(flsz);
     USB_putbyte('/'); printu(FLASH_blocksize); USB_putbyte('/');
-    printu(nblocks); USB_putbyte('/'); printu(FLASH_SIZE); newline(); USB_sendall();*/
+    printu(flsz / FLASH_blocksize); USB_putbyte('/'); printu(FLASH_SIZE); newline();
+//*/
     while(FLASH->SR & FLASH_SR_BSY) IWDG->KR = IWDG_REFRESH;
     FLASH->SR = FLASH_SR_EOP | FLASH_SR_PGERR | FLASH_SR_WRPERR;
     FLASH->CR |= FLASH_CR_PER;
     for(uint32_t i = start; i < end; ++i){
+        IWDG->KR = IWDG_REFRESH;
         if(erase_pageN(i)){
             ret = 1;
             break;

F3:F303/Multistepper/multistepper.creator.user

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 14.0.2, 2024-11-13T08:41:23. -->
+<!-- Written by QtCreator 15.0.1, 2025-02-06T16:30:11. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>
@@ -33,6 +33,7 @@
    <value type="bool" key="EditorConfiguration.ConstrainTooltips">false</value>
    <value type="int" key="EditorConfiguration.IndentSize">4</value>
    <value type="bool" key="EditorConfiguration.KeyboardTooltips">false</value>
+   <value type="int" key="EditorConfiguration.LineEndingBehavior">0</value>
    <value type="int" key="EditorConfiguration.MarginColumn">80</value>
    <value type="bool" key="EditorConfiguration.MouseHiding">true</value>
    <value type="bool" key="EditorConfiguration.MouseNavigation">true</value>

F3:F303/Multistepper/proto.c

@@ -40,6 +40,15 @@ uint8_t ShowMsgs = 1;
 static uint16_t Ignore_IDs[IGN_SIZE];
 static uint8_t IgnSz = 0;
 
+static const char* errtxt[ERR_AMOUNT] = {
+    [ERR_OK] =   "OK",
+    [ERR_BADPAR] =  "BADPAR",
+    [ERR_BADVAL] = "BADVAL",
+    [ERR_WRONGLEN] = "WRONGLEN",
+    [ERR_BADCMD] = "BADCMD",
+    [ERR_CANTRUN] = "CANTRUN",
+};
+
 // parse `txt` to CAN_message
 static CAN_message *parseCANmsg(const char *txt){
     static CAN_message canmsg;
@@ -134,7 +143,7 @@ int fn_canignore(uint32_t _U_ hash,  char *args){
 
 int fn_canreinit(uint32_t _U_ hash, char _U_ *args){
     CAN_reinit(0);
-    USND("OK");
+    USND(errtxt[ERR_OK]);
     return RET_GOOD;
 }
 
@@ -287,8 +296,10 @@ int fn_canfilter(uint32_t _U_ hash,  char *args){
 }
 
 int fn_canflood(uint32_t _U_ hash,  char *args){
-    CAN_flood(parseCANmsg(args), 0);
+    if(CAN_flood(parseCANmsg(args), 0))
-    USB_sendstr("Simple flooding is ON (send with empty ID to stop)\n");
+        USB_sendstr("Simple flooding is ON (send with empty ID to stop)\n");
+    else
+        USB_sendstr("CAN flooding is OFF\n");
     return RET_GOOD;
 }
 
@@ -343,8 +354,8 @@ int fn_canspeed(uint32_t _U_ hash,  char _U_ *args){
     uint32_t N;
     const char *n = getnum(args, &N);
     if(args == n){
-        USB_sendstr("No speed given");
+        USB_sendstr("canspeed=");
-        return RET_GOOD;
+        goto rtn;
     }
     if(N < 50){
         USND("Lower speed is 50kbps");
@@ -355,9 +366,10 @@ int fn_canspeed(uint32_t _U_ hash,  char _U_ *args){
     }
     CAN_reinit((uint16_t)N);
     uint32_t regval = 4500 / N;
-    the_conf.CANspeed = 4500 * regval;
+    the_conf.CANspeed = 4500 / regval;
     USB_sendstr("Reinit CAN bus with speed ");
-    printu(the_conf.CANspeed); USB_sendstr("kbps"); newline();
+rtn:
+    printu(the_conf.CANspeed); USND("kbps");
     return RET_GOOD;
 }
 
@@ -422,14 +434,6 @@ int fn_dumpmotflags(uint32_t _U_ hash,  char _U_ *args){ // "dumpmotflags" (3615
     return RET_GOOD;
 }
 
-static const char* errtxt[ERR_AMOUNT] = {
-    [ERR_OK] =   "OK",
-    [ERR_BADPAR] =  "BADPAR",
-    [ERR_BADVAL] = "BADVAL",
-    [ERR_WRONGLEN] = "WRONGLEN",
-    [ERR_BADCMD] = "BADCMD",
-    [ERR_CANTRUN] = "CANTRUN",
-};
 int fn_dumperr(uint32_t _U_ hash,  char _U_ *args){ // "dumperr" (1223989764)
     USND("Error codes:");
     for(int i = 0; i < ERR_AMOUNT; ++i){
@@ -559,7 +563,7 @@ static int canusb_function(uint32_t hash, char *args){
         break;
         case CMD_EMSTOP:
             e = cu_emstop(par, &val);
-            if(e == ERR_OK){ USND("OK"); return RET_GOOD;}
+            if(e == ERR_OK){ USND(errtxt[ERR_OK]); return RET_GOOD;}
         break;
         case CMD_ESWREACT:
             e = cu_eswreact(par, &val);
@@ -608,6 +612,7 @@ static int canusb_function(uint32_t hash, char *args){
         break;
         case CMD_MOTREINIT:
             e = cu_motreinit(par, &val);
+            if(e == ERR_OK){ USND(errtxt[ERR_OK]); return RET_GOOD;}
         break;
         case CMD_PDN:
             e = cu_pdn(par, &val);
@@ -623,6 +628,7 @@ static int canusb_function(uint32_t hash, char *args){
         break;
         case CMD_SAVECONF:
             e = cu_saveconf(par, &val);
+            if(e == ERR_OK){ USND(errtxt[ERR_OK]); return RET_GOOD;}
         break;
         case CMD_SCREEN:
             e = cu_screen(par, &val);
@@ -635,6 +641,7 @@ static int canusb_function(uint32_t hash, char *args){
         break;
         case CMD_STOP:
             e = cu_stop(par, &val);
+            if(e == ERR_OK){ USND(errtxt[ERR_OK]); return RET_GOOD;}
         break;
         case CMD_TIME:
             e = cu_time(par, &val);

F3:F303/Multistepper/version.inc

@@ -1,2 +1,2 @@
-#define BUILD_NUMBER "192"
+#define BUILD_NUMBER "200"
-#define BUILD_DATE "2025-02-05"
+#define BUILD_DATE "2025-02-06"