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some minor bugs fixed

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This commit is contained in:
Edward Emelianov
2026-07-13 16:55:49 +03:00
parent 852d34204f
commit cdef16cad1
13 changed files with 105 additions and 228 deletions
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28
F3:F303/Multistepper/adc.c
View File

@@ -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);
}

11
F3:F303/Multistepper/buttons.c
View File

@@ -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;
}
}
}

73
F3:F303/Multistepper/can.c
View File

@@ -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;

35
F3:F303/Multistepper/commonproto.c
View File

@@ -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;
}

6
F3:F303/Multistepper/esprif.conf
View File

@@ -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

25
F3:F303/Multistepper/flash.c
View File

@@ -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);

7
F3:F303/Multistepper/main.c
View File

@@ -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);
}

35
F3:F303/Multistepper/multistepper.creator.user
View File

@@ -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>

26
F3:F303/Multistepper/pdnuart.c
View File

@@ -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();
}
*/

15
F3:F303/Multistepper/proto.c
View File

@@ -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{

66
F3:F303/Multistepper/steppers.c
View File

@@ -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;
}

2
F3:F303/Multistepper/steppers.h
View File

@@ -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();

4
F3:F303/Multistepper/version.inc
View File

@@ -1,2 +1,2 @@
#define BUILD_NUMBER "212"
#define BUILD_DATE "2026-01-20"
#define BUILD_NUMBER "215"
#define BUILD_DATE "2026-07-13"