From cdef16cad15e18b6de50c22d1e5ef77716bb0b89 Mon Sep 17 00:00:00 2001
From: Edward Emelianov <eddy@sao.ru>
Date: Mon, 13 Jul 2026 16:55:49 +0300
Subject: [PATCH] some minor bugs fixed

---
 F3:F303/Multistepper/adc.c                    | 28 +------
 F3:F303/Multistepper/buttons.c                | 11 +--
 F3:F303/Multistepper/can.c                    | 73 ++-----------------
 F3:F303/Multistepper/commonproto.c            | 35 +++++----
 F3:F303/Multistepper/esprif.conf              |  6 +-
 F3:F303/Multistepper/flash.c                  | 25 +++----
 F3:F303/Multistepper/main.c                   |  7 --
 .../Multistepper/multistepper.creator.user    | 35 ++-------
 F3:F303/Multistepper/pdnuart.c                | 26 -------
 F3:F303/Multistepper/proto.c                  | 15 ----
 F3:F303/Multistepper/steppers.c               | 66 ++++++++++++-----
 F3:F303/Multistepper/steppers.h               |  2 +
 F3:F303/Multistepper/version.inc              |  4 +-
 13 files changed, 105 insertions(+), 228 deletions(-)

diff --git a/F3:F303/Multistepper/adc.c b/F3:F303/Multistepper/adc.c
index 956b85f..0aec0d3 100644
--- a/F3:F303/Multistepper/adc.c
+++ b/F3:F303/Multistepper/adc.c
@@ -17,9 +17,6 @@
  */
 
 #include "adc.h"
-#ifdef EBUG
-#include "proto.h"
-#endif
 
 /**
  * @brief ADCx_array - arrays for ADC channels with median filtering:
@@ -126,39 +123,23 @@ uint16_t getADCval(int nch){
     PIX_SORT(p[4], p[2]) ;
 #undef PIX_SORT
 #undef PIX_SWAP
-/*
-#ifdef EBUG
-    DBG("val: "); printu(p[4]); newline();
-#endif
-*/
     return p[4];
 }
 
 // get voltage @input nch (V) *1000V
 int32_t getADCvoltage(int nch){
-    float v = getADCval(nch) * 3.3;
-    v /= 4.096f; // 12bit ADC
-/*
-#ifdef EBUG
-    DBG("v="); printf(v); newline();
-#endif
-*/
+    float v = getADCval(nch) * getVdd();
+    v /= 4096.f; // 12bit ADC
     return (uint32_t) v;
 }
 
 // return MCU temperature (*1000 degrees of celsius)
 int32_t getMCUtemp(){
-    // make correction on Vdd value
     int32_t ADval = getADCval(ADC_TS);
     float temperature = (float) *TEMP30_CAL_ADDR - ADval;
     temperature *= (110.f - 30.f);
     temperature /= (float)(*TEMP30_CAL_ADDR - *TEMP110_CAL_ADDR);
     temperature += 30.f;
-/*
-#ifdef EBUG
-    DBG("t="); printf(temperature); newline();
-#endif
-*/
     return (uint32_t) (temperature*1000.f);
 }
 
@@ -166,10 +147,5 @@ int32_t getMCUtemp(){
 int32_t getVdd(){
     float vdd = ((float) *VREFINT_CAL_ADDR) * 3.3f; // 3.3V
     vdd /= getADCval(ADC_VREF);
-/*
-#ifdef EBUG
-    DBG("vdd="); printf(vdd); newline();
-#endif
-*/
     return (uint32_t) (vdd * 1000.f);
 }
diff --git a/F3:F303/Multistepper/buttons.c b/F3:F303/Multistepper/buttons.c
index 8544978..d96cd2c 100644
--- a/F3:F303/Multistepper/buttons.c
+++ b/F3:F303/Multistepper/buttons.c
@@ -31,9 +31,10 @@ uint32_t lastUnsleep = 0; // last keys activity time
 
 void process_keys(){
     static uint32_t lastT = 0;
-    if(Tms == lastT) return;
-    uint16_t d = (uint16_t)(Tms - lastT);
-    lastT = Tms;
+    uint32_t TmsNow = Tms; // make local copy to prevent variable changing
+    if(TmsNow == lastT) return;
+    uint16_t d = (uint16_t)(TmsNow - lastT);
+    lastT = TmsNow;
     for(int i = 0; i < BTNSNO; ++i){
         keybase *k = &allkeys[i];
         keyevent e = k->event;
@@ -62,8 +63,8 @@ void process_keys(){
             }
         }
         if(e != k->event){
-            k->lastTms = Tms;
-            lastUnsleep = Tms;
+            k->lastTms = TmsNow;
+            lastUnsleep = TmsNow;
         }
     }
 }
diff --git a/F3:F303/Multistepper/can.c b/F3:F303/Multistepper/can.c
index 5a1a54d..c01c29b 100644
--- a/F3:F303/Multistepper/can.c
+++ b/F3:F303/Multistepper/can.c
@@ -37,7 +37,6 @@ uint32_t floodT = FLOOD_PERIOD_MS; // flood period in ms
 static uint8_t incrflood = 0; // ==1 for incremental flooding
 static uint32_t incrmessagectr = 0; // counter for incremental flooding
 
-static uint32_t last_err_code = 0;
 static CAN_status can_status = CAN_STOP;
 
 static void can_process_fifo(uint8_t fifo_num);
@@ -54,17 +53,8 @@ CAN_status CAN_get_status(){
 // push next message into buffer; return 1 if buffer overfull
 static int CAN_messagebuf_push(CAN_message *msg){
     //MSG("Try to push\n");
-#ifdef EBUG
-        USB_sendstr("push: ");
-        for(int i = 0; i < msg->length; ++i){
-            printuhex(msg->data[i]); USB_putbyte(' ');
-        }
-        newline();
-#endif
+
     if(first_free_idx == first_nonfree_idx){
-#ifdef EBUG
-        USB_sendstr("INBUF OVERFULL\n");
-#endif
         return 1; // no free space
     }
     if(first_nonfree_idx < 0) first_nonfree_idx = 0;  // first message in empty buffer
@@ -77,22 +67,12 @@ static int CAN_messagebuf_push(CAN_message *msg){
 // pop message from buffer
 CAN_message *CAN_messagebuf_pop(){
     if(first_nonfree_idx < 0) return NULL;
-    #ifdef EBUG
-    //MSG("read from idx "); printu(first_nonfree_idx); NL();
-    #endif
     CAN_message *msg = &messages[first_nonfree_idx++];
     if(first_nonfree_idx == CAN_INMESSAGE_SIZE) first_nonfree_idx = 0;
     if(first_nonfree_idx == first_free_idx){ // buffer is empty - refresh it
         first_nonfree_idx = -1;
         first_free_idx = 0;
     }
-#ifdef EBUG
-        USB_sendstr("pop: ");
-        for(int i = 0; i < msg->length; ++i){
-            printuhex(msg->data[i]); USB_putbyte(' ');
-        }
-        newline();
-#endif
     return msg;
 }
 
@@ -150,7 +130,7 @@ void CAN_setup(uint16_t speed){
     CAN->MCR |= CAN_MCR_INRQ; /* (1) */
     while((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) /* (2) */
         if(--tmout == 0) break;
-    if(tmout==0){ DBG("timeout!\n");}
+    if(tmout==0){ DBG("Init mode entering timeout!\n");}
     CAN->MCR &=~ CAN_MCR_SLEEP; /* (3) */
     CAN->MCR |= CAN_MCR_ABOM; /* allow automatically bus-off */
 
@@ -159,7 +139,7 @@ void CAN_setup(uint16_t speed){
     tmout = 10000;
     while(CAN->MSR & CAN_MSR_INAK) /* (6) */
         if(--tmout == 0) break;
-    if(tmout==0){ DBG("timeout!\n");}
+    if(tmout==0){ DBG("Init mode exiting timeout!\n");}
     // accept ALL
     CAN->FMR = CAN_FMR_FINIT; /* (7) */
     CAN->FA1R = CAN_FA1R_FACT0 | CAN_FA1R_FACT1; /* (8) */
@@ -182,7 +162,7 @@ void CAN_setup(uint16_t speed){
 }
 
 void CAN_printerr(){
-    if(!last_err_code) last_err_code = CAN->ESR;
+    uint32_t last_err_code = CAN->ESR;
     if(!last_err_code){
         USB_sendstr("No errors\n");
         return;
@@ -207,19 +187,10 @@ void CAN_printerr(){
     if(last_err_code & CAN_ESR_BOFF) USB_sendstr("Bus off ");
     if(last_err_code & CAN_ESR_EPVF) USB_sendstr("Passive error limit ");
     if(last_err_code & CAN_ESR_EWGF) USB_sendstr("Error counter limit");
-    last_err_code = 0;
     USB_putbyte('\n');
 }
 
 void CAN_proc(){
-#ifdef EBUG
-    if(last_err_code){
-        USB_sendstr("Error, ESR=");
-        USB_sendstr(u2str(last_err_code));
-        USB_putbyte('\n');
-        last_err_code = 0;
-    }
-#endif
     // check for messages in FIFO0 & FIFO1
     if(CAN->RF0R & CAN_RF0R_FMP0){
         can_process_fifo(0);
@@ -254,20 +225,9 @@ CAN_status CAN_send(uint8_t *msg, uint8_t len, uint16_t target_id){
     if(CAN->TSR & (CAN_TSR_TME)){
         mailbox = (CAN->TSR & CAN_TSR_CODE) >> 24;
     }else{ // no free mailboxes
-#ifdef EBUG
-        USB_sendstr("No free mailboxes\n");
-#endif
         return CAN_BUSY;
     }
-#ifdef EBUG
-    USB_sendstr("Send data. Len="); USB_sendstr(u2str(len));
-    USB_sendstr(", tagid="); USB_sendstr(u2str(target_id));
-    USB_sendstr(", data=");
-    for(int i = 0; i < len; ++i){
-        USB_sendstr(" "); USB_sendstr(uhex2str(msg[i]));
-    }
-    USB_putbyte('\n');
-#endif
+
     CAN_TxMailBox_TypeDef *box = &CAN->sTxMailBox[mailbox];
     uint32_t lb = 0, hb = 0;
     switch(len){
@@ -339,19 +299,9 @@ TRUE_INLINE void formerr(CAN_message *msg, errcodes err){
  */
 TRUE_INLINE void parseCANcommand(CAN_message *msg){
     // we don't check msg here as it cannot be NULL
-#ifdef EBUG
-    DBG("Get data: ");
-    for(int i = 0; i < msg->length; ++i){
-        USB_sendstr(uhex2str(msg->data[i])); USB_putbyte(' ');
-    }
-    for(int i = msg->length-1; i < 8; ++i) msg->data[i] = 0;
-    newline();
-#endif
     if(msg->length == 0) goto sendmessage; // PING
     uint16_t Index = *(uint16_t*)msg->data;
-#ifdef EBUG
-    USB_sendstr("Index = "); USB_sendstr(u2str(Index)); newline();
-#endif
+
     if(Index >= CCMD_AMOUNT || !cancmdlist[Index]){
         formerr(msg, ERR_BADCMD);
         goto sendmessage;
@@ -369,9 +319,7 @@ TRUE_INLINE void parseCANcommand(CAN_message *msg){
         formerr(msg, ERR_WRONGLEN);
         goto sendmessage;
     }
-#ifdef EBUG
-    USB_sendstr("Run command\n");
-#endif
+
     errcodes ec = cancmdlist[Index](par, val);
     if(ec != ERR_OK){
         formerr(msg, ec);
@@ -387,10 +335,6 @@ static void can_process_fifo(uint8_t fifo_num){
     if(fifo_num > 1) return;
     CAN_FIFOMailBox_TypeDef *box = &CAN->sFIFOMailBox[fifo_num];
     volatile uint32_t *RFxR = (fifo_num) ? &CAN->RF1R : &CAN->RF0R;
-#ifdef EBUG
-        USB_sendstr(u2str(*RFxR & CAN_RF0R_FMP0)); USB_sendstr(" messages in FIFO #");
-        USB_sendstr(u2str(fifo_num)); newline();
-#endif
     // read all
     while(*RFxR & CAN_RF0R_FMP0){ // amount of messages pending
         // CAN_RDTxR: (16-31) - timestamp, (8-15) - filter match index, (0-3) - data length
@@ -456,9 +400,6 @@ void can1_rx1_isr(){ // Rx FIFO1 (overrun)
 
 void can1_sce_isr(){ // status changed
     if(CAN->MSR & CAN_MSR_ERRI){ // Error
-#ifdef EBUG
-        last_err_code = CAN->ESR;
-#endif
         CAN->MSR = CAN_MSR_ERRI; // clear flag
         // request abort for problem mailbox
         if(CAN->TSR & CAN_TSR_TERR0) CAN->TSR |= CAN_TSR_ABRQ0;
diff --git a/F3:F303/Multistepper/commonproto.c b/F3:F303/Multistepper/commonproto.c
index 5e1e756..0b3942e 100644
--- a/F3:F303/Multistepper/commonproto.c
+++ b/F3:F303/Multistepper/commonproto.c
@@ -55,6 +55,7 @@ errcodes cu_accel(uint8_t _U_ par, int32_t _U_ *val){
     uint8_t n; CHECKN(n, par);
     errcodes ret = ERR_OK;
     if(ISSETTER(par)){
+        if(ismoving(n)) return ERR_CANTRUN;
         if(*val/the_conf.microsteps[n] > ACCELMAXSTEPS || *val < 1) return ERR_BADVAL;
         uint16_t acc = the_conf.accel[n];
         the_conf.accel[n] = *val;
@@ -113,7 +114,7 @@ errcodes cu_drvtype(uint8_t par, int32_t *val){
     uint8_t n; CHECKN(n, par);
     motflags_t *fl = &the_conf.motflags[n];
     if(ISSETTER(par)){
-        if(*val >= DRVTYPE_AMOUNT) return ERR_BADVAL;
+        if(*val >= DRVTYPE_AMOUNT || *val < 0) return ERR_BADVAL;
         fl->drvtype = *val;
     }
     *val = fl->drvtype;
@@ -134,6 +135,7 @@ errcodes cu_emstop(uint8_t par, int32_t _U_ *val){
 
 errcodes cu_eraseflash(uint8_t _U_ par, int32_t _U_ *val){
     NOPARCHK(par);
+    if(isanymoving()) return ERR_CANTRUN;
     if(ISSETTER(par)){
         if(erase_storage(*val)) return ERR_BADVAL;
     }else if(erase_storage(-1)) return ERR_CANTRUN;
@@ -151,6 +153,7 @@ errcodes cu_eswreact(uint8_t _U_ par, int32_t _U_ *val){
     uint8_t n; CHECKN(n, par);
     errcodes ret = ERR_OK;
     if(ISSETTER(par)){
+        if(ismoving(n)) return ERR_CANTRUN;
         if(*val < 0 || *val > ESW_AMOUNT-1) return ERR_BADVAL;
         uint8_t react = the_conf.ESW_reaction[n];
         the_conf.ESW_reaction[n] = *val;
@@ -192,14 +195,7 @@ errcodes cu_gpio(uint8_t par, int32_t *val){
 #error "change the code!!!"
 #endif
     uint8_t n = PARBASE(par);
-#ifdef EBUG
-    USND("par="); printu(par);
-    USND(", n="); USB_putbyte('0'+n); newline();
-#endif
     if(n == CANMESG_NOPAR){ // all
-#ifdef EBUG
-        USND("ALL\n");
-#endif
         uint8_t g = (uint8_t)*val;
         if(ISSETTER(par)){
             for(int i = 0; i < EXTNO; ++i){
@@ -241,6 +237,7 @@ errcodes cu_maxspeed(uint8_t _U_ par, int32_t _U_ *val){
     uint8_t n; CHECKN(n, par);
     errcodes ret = ERR_OK;
     if(ISSETTER(par)){
+        if(ismoving(n)) return ERR_CANTRUN;
         if(*val <= the_conf.minspd[n]) return ERR_BADVAL;
         uint16_t maxspd = the_conf.maxspd[n];
         the_conf.maxspd[n] = getSPD(n, *val);
@@ -256,6 +253,7 @@ errcodes cu_maxspeed(uint8_t _U_ par, int32_t _U_ *val){
 errcodes cu_maxsteps(uint8_t _U_ par, int32_t _U_ *val){
     uint8_t n; CHECKN(n, par);
     if(ISSETTER(par)){
+        if(ismoving(n)) return ERR_CANTRUN;
         if(*val < 1) return ERR_BADVAL;
         the_conf.maxsteps[n] = *val;
     }
@@ -279,6 +277,7 @@ 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);
     if(ISSETTER(par)){
+        if(ismoving(n)) return ERR_CANTRUN;
 #if MICROSTEPSMAX > 512
 #error "Change the code anywhere!"
 #endif
@@ -305,6 +304,7 @@ errcodes cu_minspeed(uint8_t _U_ par, int32_t _U_ *val){
     uint8_t n; CHECKN(n, par);
     errcodes ret = ERR_OK;
     if(ISSETTER(par)){
+        if(ismoving(n)) return ERR_CANTRUN;
         if(*val >= the_conf.maxspd[n] || *val < 0) return ERR_BADVAL;
         uint16_t minspd = the_conf.minspd[n];
         the_conf.minspd[n] = getSPD(n, *val);
@@ -320,6 +320,7 @@ errcodes cu_minspeed(uint8_t _U_ par, int32_t _U_ *val){
 errcodes cu_motcurrent(uint8_t par, int32_t *val){
     uint8_t n; CHECKN(n, par);
     if(ISSETTER(par)){
+        if(ismoving(n)) return ERR_CANTRUN;
         if(*val < 0 || *val > 31) return ERR_BADVAL;
         the_conf.motcurrent[n] = *val;
         motflags_t *f = the_conf.motflags;
@@ -335,6 +336,7 @@ errcodes cu_motflags(uint8_t _U_ par, int32_t _U_ *val){
     uint8_t n; CHECKN(n, par);
     errcodes ret = ERR_OK;
     if(ISSETTER(par)){
+        if(ismoving(n)) return ERR_CANTRUN;
         motflags_t flags = the_conf.motflags[n];
         the_conf.motflags[n] = *((motflags_t*)val);
         if(!update_stepper(n)){
@@ -347,9 +349,10 @@ errcodes cu_motflags(uint8_t _U_ par, int32_t _U_ *val){
 }
 
 errcodes cu_motno(uint8_t _U_ par, int32_t _U_ *val){
-    if(*val < 0 || *val >= MOTORSNO) return ERR_BADVAL;
+    uint8_t n; CHECKN(n, par);
     if(ISSETTER(par)){
-        if(!pdnuart_setmotno(*val)) return ERR_CANTRUN;
+        if(ismoving(n)) return ERR_CANTRUN;
+        if(!pdnuart_setmotno(n)) return ERR_CANTRUN;
     }
     *val = pdnuart_getmotno();
     return ERR_OK;
@@ -362,16 +365,20 @@ errcodes cu_motmul(uint8_t _U_ par, int32_t _U_ *val){
 // witout parameter - reinit all steppers; with parameter - just update current
 errcodes cu_motreinit(uint8_t _U_ par, int32_t _U_ *val){
     uint8_t n = PARBASE(par);
-    if(n == CANMESG_NOPAR) init_steppers();
-    else{
+    if(n == CANMESG_NOPAR){
+        // check that neither motor is moving
+        if(isanymoving()) return ERR_CANTRUN;
+        init_steppers();
+    }else{
         if(n > MOTORSNO - 1) return ERR_BADPAR;
-        if(!update_stepper(n)) return ERR_CANTRUN;
+        if(ismoving(n) || !update_stepper(n)) return ERR_CANTRUN;
     }
     return ERR_OK;
 }
 
 errcodes cu_pdn(uint8_t par, int32_t *val){
-    uint8_t n = PARBASE(par);
+    uint8_t n; CHECKN(n, par);
+    if(ismoving(n)) return ERR_CANTRUN;
     if(ISSETTER(par)){
         if(!pdnuart_writereg(n, *val)) return ERR_CANTRUN;
     }
diff --git a/F3:F303/Multistepper/esprif.conf b/F3:F303/Multistepper/esprif.conf
index 661e342..47a9909 100644
--- a/F3:F303/Multistepper/esprif.conf
+++ b/F3:F303/Multistepper/esprif.conf
@@ -34,11 +34,11 @@ motflags3=0x78
 eswreact3=0
 microsteps4=32
 accel4=2000
-maxspeed4=2000
+maxspeed4=1000
 minspeed4=20
-maxsteps4=500000
+maxsteps4=40000
 motcurrent4=31
-motflags4=0x68
+motflags4=0x78
 eswreact4=0
 microsteps5=32
 accel5=500
diff --git a/F3:F303/Multistepper/flash.c b/F3:F303/Multistepper/flash.c
index 22f2f5d..9f29ff2 100644
--- a/F3:F303/Multistepper/flash.c
+++ b/F3:F303/Multistepper/flash.c
@@ -106,11 +106,13 @@ void flashstorage_init(){
 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;
+    int curidx = currentconfidx;
+    if(curidx > (int)maxCnum - 3){ // there's no more place
+        curidx = 0;
         if(erase_storage(-1)) 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));
+    }else ++curidx; // take next data position (0 - within first run after firmware flashing)
+    int r = write2flash((const void*)&Flash_Data[curidx], &the_conf, sizeof(the_conf));
+    if(0 == r) currentconfidx = curidx; // refresh counter only if succeed
 }
 
 static int write2flash(const void *start, const void *wrdata, uint32_t stor_size){
@@ -135,9 +137,6 @@ static int write2flash(const void *start, const void *wrdata, uint32_t stor_size
             ret = 1;
             break;
         }
-#ifdef EBUG
-        else{ USB_sendstr("Written "); printuhex(data[i]); newline();}
-#endif
         if(FLASH->SR & FLASH_SR_PGERR){
             USB_sendstr("Prog err\n");
             ret = 1; // program error - meet not 0xffff
@@ -152,9 +151,7 @@ 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
     USB_sendstr("Erase block #"); printu(N); newline();
-//#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;
@@ -233,13 +230,11 @@ int fn_dumpmot(uint32_t _U_ hash, char _U_ *args){ // "dumpmot" (1224122507)
 }
 
 int fn_dumpconf(uint32_t _U_ hash, char _U_ *args){ // "dumpconf" (3271513185)
-#ifdef EBUG
-    USB_sendstr("flashsize="); printu(FLASH_SIZE); USB_sendstr("kB\nblocksize=");
-    printu(FLASH_blocksize);
-    newline();
-#endif
-    USB_sendstr("userconf_addr="); printuhex((uint32_t)Flash_Data);
+    USB_sendstr("flashsize="); printu(FLASH_SIZE);
+    USB_sendstr("kB\nblocksize="); printu(FLASH_blocksize);
+    USB_sendstr("\nuserconf_addr="); printuhex((uint32_t)Flash_Data);
     USB_sendstr("\nuserconf_idx="); printi(currentconfidx);
+    USB_sendstr("\ncapacity="); printu(maxCnum-2);
     USB_sendstr("\nuserconf_sz="); printu(the_conf.userconf_sz);
     USB_sendstr("\ncanspeed="); printu(the_conf.CANspeed);
     USB_sendstr("\ncanid="); printu(the_conf.CANID);
diff --git a/F3:F303/Multistepper/main.c b/F3:F303/Multistepper/main.c
index a8b23b0..93c3aec 100644
--- a/F3:F303/Multistepper/main.c
+++ b/F3:F303/Multistepper/main.c
@@ -83,13 +83,6 @@ int main(void){
         int l = USB_receivestr(inbuff, MAXSTRLEN);
         if(l < 0) USB_sendstr("USB_BUF_OVERFLOW\n");
         else if(l){
-/*
-#ifdef EBUG
-            USB_sendstr("USB GOT:\n");
-            USB_sendstr(inbuff);
-            USB_sendstr("\n--------\n");
-#endif
-*/
             const char *ans = cmd_parser(inbuff);
             if(ans) USB_sendstr(ans);
         }
diff --git a/F3:F303/Multistepper/multistepper.creator.user b/F3:F303/Multistepper/multistepper.creator.user
index 6e3f9ac..06282db 100644
--- a/F3:F303/Multistepper/multistepper.creator.user
+++ b/F3:F303/Multistepper/multistepper.creator.user
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 18.0.1, 2026-01-20T16:33:49. -->
+<!-- Written by QtCreator 20.0.0, 2026-07-13T16:54:37. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>
@@ -14,8 +14,6 @@
   <variable>ProjectExplorer.Project.EditorSettings</variable>
   <valuemap type="QVariantMap">
    <value type="bool" key="EditorConfiguration.AutoDetect">true</value>
-   <value type="bool" key="EditorConfiguration.AutoIndent">true</value>
-   <value type="bool" key="EditorConfiguration.CamelCaseNavigation">true</value>
    <valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.0">
     <value type="QString" key="language">Cpp</value>
     <valuemap type="QVariantMap" key="value">
@@ -30,33 +28,15 @@
    </valuemap>
    <value type="qlonglong" key="EditorConfiguration.CodeStyle.Count">2</value>
    <value type="QByteArray" key="EditorConfiguration.Codec">KOI8-R</value>
-   <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>
    <value type="int" key="EditorConfiguration.PaddingMode">1</value>
-   <value type="int" key="EditorConfiguration.PreferAfterWhitespaceComments">0</value>
-   <value type="bool" key="EditorConfiguration.PreferSingleLineComments">false</value>
    <value type="bool" key="EditorConfiguration.ScrollWheelZooming">false</value>
-   <value type="bool" key="EditorConfiguration.ShowMargin">false</value>
    <value type="int" key="EditorConfiguration.SmartBackspaceBehavior">1</value>
-   <value type="bool" key="EditorConfiguration.SmartSelectionChanging">true</value>
    <value type="bool" key="EditorConfiguration.SpacesForTabs">true</value>
-   <value type="int" key="EditorConfiguration.TabKeyBehavior">0</value>
    <value type="int" key="EditorConfiguration.TabSize">8</value>
    <value type="bool" key="EditorConfiguration.UseGlobal">true</value>
-   <value type="bool" key="EditorConfiguration.UseIndenter">false</value>
-   <value type="int" key="EditorConfiguration.Utf8BomBehavior">1</value>
    <value type="bool" key="EditorConfiguration.addFinalNewLine">true</value>
-   <value type="bool" key="EditorConfiguration.cleanIndentation">true</value>
-   <value type="bool" key="EditorConfiguration.cleanWhitespace">true</value>
-   <value type="QString" key="EditorConfiguration.ignoreFileTypes">*.md, *.MD, Makefile</value>
    <value type="bool" key="EditorConfiguration.inEntireDocument">true</value>
-   <value type="bool" key="EditorConfiguration.skipTrailingWhitespace">true</value>
-   <value type="bool" key="EditorConfiguration.tintMarginArea">true</value>
   </valuemap>
  </data>
  <data>
@@ -76,11 +56,6 @@
    <value type="int" key="AutoTest.RunAfterBuild">0</value>
    <value type="bool" key="AutoTest.UseGlobal">true</value>
    <valuemap type="QVariantMap" key="ClangTools">
-    <value type="bool" key="ClangTools.AnalyzeOpenFiles">true</value>
-    <value type="bool" key="ClangTools.BuildBeforeAnalysis">true</value>
-    <value type="QString" key="ClangTools.DiagnosticConfig">Builtin.DefaultTidyAndClazy</value>
-    <value type="int" key="ClangTools.ParallelJobs">4</value>
-    <value type="bool" key="ClangTools.PreferConfigFile">true</value>
     <valuelist type="QVariantList" key="ClangTools.SelectedDirs"/>
     <valuelist type="QVariantList" key="ClangTools.SelectedFiles"/>
     <valuelist type="QVariantList" key="ClangTools.SuppressedDiagnostics"/>
@@ -132,7 +107,7 @@
     <value type="bool" key="ProjectExplorer.BuildConfiguration.ClearSystemEnvironment">false</value>
     <valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.CustomParsers"/>
     <value type="bool" key="ProjectExplorer.BuildConfiguration.ParseStandardOutput">false</value>
-    <valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.UserEnvironmentChanges"/>
+    <value type="UnknownType" key="ProjectExplorer.BuildConfiguration.UserEnvironmentChanges"></value>
     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">По умолчанию</value>
     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">GenericProjectManager.GenericBuildConfiguration</value>
     <value type="qlonglong" key="ProjectExplorer.Target.ActiveDeployConfiguration">0</value>
@@ -155,10 +130,11 @@
      <value type="bool" key="Analyzer.QmlProfiler.Settings.UseGlobalSettings">true</value>
      <value type="int" key="Analyzer.Valgrind.Callgrind.CostFormat">0</value>
      <value type="bool" key="Analyzer.Valgrind.Settings.UseGlobalSettings">true</value>
+     <valuelist type="QVariantList" key="Analyzer.Valgrind.SuppressionFiles"/>
      <value type="QList&lt;int&gt;" key="Analyzer.Valgrind.VisibleErrorKinds"></value>
      <valuelist type="QVariantList" key="CustomOutputParsers"/>
      <value type="int" key="PE.EnvironmentAspect.Base">2</value>
-     <valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
+     <value type="UnknownType" key="PE.EnvironmentAspect.Changes"></value>
      <value type="bool" key="PE.EnvironmentAspect.PrintOnRun">false</value>
      <value type="QString" key="PerfRecordArgsId">-e cpu-cycles --call-graph dwarf,4096 -F 250</value>
      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
@@ -190,10 +166,11 @@
     <value type="bool" key="Analyzer.QmlProfiler.Settings.UseGlobalSettings">true</value>
     <value type="int" key="Analyzer.Valgrind.Callgrind.CostFormat">0</value>
     <value type="bool" key="Analyzer.Valgrind.Settings.UseGlobalSettings">true</value>
+    <valuelist type="QVariantList" key="Analyzer.Valgrind.SuppressionFiles"/>
     <value type="QList&lt;int&gt;" key="Analyzer.Valgrind.VisibleErrorKinds"></value>
     <valuelist type="QVariantList" key="CustomOutputParsers"/>
     <value type="int" key="PE.EnvironmentAspect.Base">2</value>
-    <valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
+    <value type="UnknownType" key="PE.EnvironmentAspect.Changes"></value>
     <value type="bool" key="PE.EnvironmentAspect.PrintOnRun">false</value>
     <value type="QString" key="PerfRecordArgsId">-e cpu-cycles --call-graph dwarf,4096 -F 250</value>
     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
diff --git a/F3:F303/Multistepper/pdnuart.c b/F3:F303/Multistepper/pdnuart.c
index fbb50fe..67156fa 100644
--- a/F3:F303/Multistepper/pdnuart.c
+++ b/F3:F303/Multistepper/pdnuart.c
@@ -94,23 +94,12 @@ static int rwreg(uint8_t reg, uint32_t data, int w){
     ++nbytes;
     for(int i = 0; i < nbytes; ++i){
         IWDG->KR = IWDG_REFRESH;
-        /*
-#ifdef EBUG
-        USB_sendstr("Send byte "); USB_putbyte('0'+i); USB_sendstr(": "); printuhex(outbuf[i]); newline();
-#endif
-        */
         USART[no]->TDR = outbuf[i]; // transmit
         while(!(USART[no]->ISR & USART_ISR_TXE));
         int l = 0;
         for(; l < 10000; ++l) if(USART[no]->ISR & USART_ISR_RXNE) break;
         // clear Rx
         (void) USART[no]->RDR;
-        /*
-#ifdef EBUG
-        if(l == 10000) USND("Nothing received");
-        else {USB_sendstr("Rcv: "); printuhex(USART[no]->RDR); newline();}
-#endif
-        */
     }
     return TRUE;
 }
@@ -134,11 +123,6 @@ int pdnuart_readreg(uint8_t reg, uint32_t *data){
                 return FALSE;
             }
         buf[i] = USART[no]->RDR;
-/*
-#ifdef EBUG
-        USB_sendstr("Read byte: "); printuhex(buf[i]); newline();
-#endif
-*/
     }
     uint32_t o = 0;
     for(int i = 3; i < 7; ++i){
@@ -228,13 +212,3 @@ int pdnuart_init(uint8_t no){
     return TRUE;
 }
 
-/*
-static void parseRx(int no){
-    USB_sendstr("Got from ");
-    USB_putbyte('#'); printu(curslaveaddr[no] + no*4); USB_sendstr(": ");
-    for(int i = 0; i < 8; ++i){
-        printuhex(inbuf[no][i]); USB_putbyte(' ');
-    }
-    newline();
-}
-*/
diff --git a/F3:F303/Multistepper/proto.c b/F3:F303/Multistepper/proto.c
index 68385ed..aa0c6e3 100644
--- a/F3:F303/Multistepper/proto.c
+++ b/F3:F303/Multistepper/proto.c
@@ -484,13 +484,6 @@ static int canusb_function(uint32_t hash, char *args){
     uint32_t N;
     int32_t val = 0;
     uint8_t par = CANMESG_NOPAR;
-/*
-    DBG("CMD: hash=");
-#ifdef EBUG
-    printu(hash); USB_sendstr(", args=");
-    USND(args);
-#endif
-*/
     if(*args){
         const char *n = getnum(args, &N);
         if(n != args){ // get parameter
@@ -509,12 +502,6 @@ static int canusb_function(uint32_t hash, char *args){
             }
         }
     }
-/*
-#ifdef EBUG
-    USB_sendstr("par="); printuhex(par);
-    USB_sendstr(", val="); printi(val); newline();
-#endif
-*/
     switch(hash){
         case CMD_ADC:
             e = cu_adc(par, &val);
@@ -666,8 +653,6 @@ static int canusb_function(uint32_t hash, char *args){
             break;
     }
 
-    //if(e < ERR_OK || e >= ERR_AMOUNT) USND("Bad return code");
-    //else
     if(ERR_OK != e){
         USB_sendstr(errtxt[e]); newline();
     }else{
diff --git a/F3:F303/Multistepper/steppers.c b/F3:F303/Multistepper/steppers.c
index 13df5ec..d49524b 100644
--- a/F3:F303/Multistepper/steppers.c
+++ b/F3:F303/Multistepper/steppers.c
@@ -72,6 +72,7 @@ static uint32_t Taccel[MOTORSNO] = {0};
 
 // recalculate ARR according to new speed
 TRUE_INLINE void recalcARR(int i){
+    if(curspeed[i] < 1) curspeed[i] = 1;
     uint32_t ARR = (((PCLK/(MOTORTIM_PSC+1)) / curspeed[i]) >> ustepsshift[i]) - 1;
     if(ARR < MOTORTIM_ARRMIN) ARR = MOTORTIM_ARRMIN;
     else if(ARR > 0xffff) ARR = 0xffff;
@@ -144,15 +145,7 @@ errcodes getremainsteps(uint8_t i, int32_t *position){
 
 // calculate acceleration/deceleration parameters for motor i
 static void calcacceleration(uint8_t i){
-    switch(state[i]){ // do nothing in case of error/stopping
-        case STP_ERR:
-        case STP_RELAX:
-        case STP_STALL:
-            return;
-        break;
-        default:
-        break;
-    }
+    if(!ismoving(i)) return; // do nothing in non-moving state
     int32_t delta = targstppos[i] - stppos[i];
     if(delta > 0){ // positive direction
         if(delta > 2*(int32_t)accdecsteps[i]){ // can move by trapezoid
@@ -219,15 +212,9 @@ static int esw_block(uint8_t i){
 errcodes motor_absmove(uint8_t i, int32_t newpos){
     //if(i >= MOTORSNO) return ERR_BADPAR; // bad motor number
     int8_t dir = (newpos > stppos[i]) ? 1 : -1;
-    switch(state[i]){
-        case STP_ERR:
-        case STP_RELAX:
-        break;
-        case STP_STALL:
-        break;
-        default: // moving state
-            DBG("Is moving");
-            return ERR_CANTRUN;
+    if(ismoving(i)){
+        DBG("Is moving");
+        return ERR_CANTRUN;
     }
     if(newpos > (int32_t)the_conf.maxsteps[i] || newpos < -(int32_t)the_conf.maxsteps[i] || newpos == stppos[i]){
         DBG("Too much steps");
@@ -251,6 +238,9 @@ errcodes motor_absmove(uint8_t i, int32_t newpos){
     USB_sendstr(", accdecsteps="); printu(accdecsteps[i]); newline();
 #endif
     MOTOR_EN(i);
+    // clear counter and generate update event to refresh ARR
+    mottimers[i]->CNT = 0;
+    mottimers[i]->EGR = TIM_EGR_UG;
     mottimers[i]->CR1 |= TIM_CR1_CEN; // start timer
     return ERR_OK;
 }
@@ -282,13 +272,42 @@ void emstopmotor(uint8_t i){
         default:
         break;
     }
-    stopflag[i] = 1;
+    // check that timer is works
+    if(mottimers[i]->CR1 & TIM_CR1_CEN){
+        stopflag[i] = 1;
+    }else{
+        state[i] = STP_RELAX;
+        stopflag[i] = 0;
+    }
 }
 
 stp_state getmotstate(uint8_t i){
     return state[i];
 }
 
+// return TRUE if motor is in moving state
+uint8_t ismoving(uint8_t i){
+    switch(state[i]){
+        case STP_ACCEL:
+        case STP_MOVE:
+        case STP_MVSLOW:
+        case STP_DECEL:
+            return TRUE;
+            break;
+        default:
+            break;
+    }
+        return FALSE;
+}
+
+// return TRUE if any motor is in moving state
+uint8_t isanymoving(){
+    for(int i = 0; i < MOTORSNO; ++i){
+        if(ismoving(i)) return TRUE;
+    }
+    return FALSE;
+}
+
 // get DIAGN input
 uint8_t motdiagn(uint8_t i){
     if(i > MOTORSNO-1) return 0;
@@ -445,6 +464,13 @@ static void chkstepper(int i){
             }
             recalcARR(i);
         break;
+        case STP_MVSLOW:
+            if(!(mottimers[i]->CR1 & TIM_CR1_CEN)){ // timer stopped but state wasn't changed
+                state[i] = STP_RELAX;
+                stopflag[i] = 0;
+                DBG("MVSLOW with timer stopped");
+            }
+            break;
         default: // do nothing, check mvzerostate
         break;
     }
@@ -491,7 +517,7 @@ errcodes motor_goto0(uint8_t i){
     errcodes e = motor_absmove(i, -the_conf.maxsteps[i]);
     if(ERR_OK != e){
         if(!esw_block(i)) return e; // limit switch not block -> error
-    }else  ESW_reaction[i] = ESW_IGNORE1;
+    }else ESW_reaction[i] = ESW_IGNORE1;
     mvzerostate[i] = M0FAST;
     return e;
 }
diff --git a/F3:F303/Multistepper/steppers.h b/F3:F303/Multistepper/steppers.h
index 368bada..62e8bbb 100644
--- a/F3:F303/Multistepper/steppers.h
+++ b/F3:F303/Multistepper/steppers.h
@@ -69,5 +69,7 @@ uint8_t geteswreact(uint8_t i);
 void emstopmotor(uint8_t i);
 void stopmotor(uint8_t i);
 stp_state getmotstate(uint8_t i);
+uint8_t ismoving(uint8_t i);
+uint8_t isanymoving();
 uint8_t motdiagn(uint8_t i);
 void process_steppers();
diff --git a/F3:F303/Multistepper/version.inc b/F3:F303/Multistepper/version.inc
index c5f29b2..9e48e49 100644
--- a/F3:F303/Multistepper/version.inc
+++ b/F3:F303/Multistepper/version.inc
@@ -1,2 +1,2 @@
-#define BUILD_NUMBER "212"
-#define BUILD_DATE "2026-01-20"
+#define BUILD_NUMBER "215"
+#define BUILD_DATE "2026-07-13"