From d23d2ab89d302211586e093456938a3c7b81931e Mon Sep 17 00:00:00 2001
From: Edward Emelianov <edward.emelianoff@gmail.com>
Date: Wed, 1 Mar 2023 22:03:03 +0300
Subject: [PATCH] Still don't work :(

---
 F3:F303/Multistepper/commonproto.c       |  49 ++++++++++++--
 F3:F303/Multistepper/commonproto.h       |  22 ++++---
 F3:F303/Multistepper/flash.c             |   4 +-
 F3:F303/Multistepper/flash.h             |  13 +++-
 F3:F303/Multistepper/hashgen/hdr.c       |  15 +++++
 F3:F303/Multistepper/hashgen/hdr.h       |   3 +
 F3:F303/Multistepper/hashgen/helpcmds.in |   3 +
 F3:F303/Multistepper/hashgen/testdic     |   3 +
 F3:F303/Multistepper/main.c              |   4 ++
 F3:F303/Multistepper/multistepper.bin    | Bin 28936 -> 30300 bytes
 F3:F303/Multistepper/pdnuart.c           |  80 ++++++++++++++++++++---
 F3:F303/Multistepper/pdnuart.h           |   9 ++-
 F3:F303/Multistepper/proto.c             |  27 ++++++--
 F3:F303/Multistepper/tmc2209.h           |   2 +-
 F3:F303/Multistepper/version.inc         |   4 +-
 15 files changed, 204 insertions(+), 34 deletions(-)

diff --git a/F3:F303/Multistepper/commonproto.c b/F3:F303/Multistepper/commonproto.c
index 9bd6966..169c51c 100644
--- a/F3:F303/Multistepper/commonproto.c
+++ b/F3:F303/Multistepper/commonproto.c
@@ -87,6 +87,17 @@ errcodes cu_diagn(uint8_t _U_ par, int32_t _U_ *val){
     return ERR_BADCMD;
 }
 
+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;
+        fl->drvtype = *val;
+    }
+    *val = fl->drvtype;
+    return ERR_OK;
+}
+
 errcodes cu_emstop(uint8_t _U_ par, int32_t _U_ *val){
     uint8_t n; CHECKN(n, par);
     emstopmotor(n);
@@ -235,6 +246,10 @@ errcodes cu_microsteps(uint8_t _U_ par, int32_t _U_ *val){
         if(m != 1<<MSB(m)) return ERR_BADVAL;
         if(the_conf.maxspd[n] * m > PCLK/(MOTORTIM_PSC+1)/(MOTORTIM_ARRMIN+1)) return ERR_BADVAL;
         the_conf.microsteps[n] = m;
+        motflags_t *f = the_conf.motflags;
+        if(f->drvtype == DRVTYPE_UART){
+            if(!pdnuart_microsteps(n, m)) return ERR_CANTRUN;
+        }
         update_stepper(n);
     }
     *val = the_conf.microsteps[n];
@@ -244,7 +259,7 @@ errcodes cu_microsteps(uint8_t _U_ par, int32_t _U_ *val){
 errcodes cu_minspeed(uint8_t _U_ par, int32_t _U_ *val){
     uint8_t n; CHECKN(n, par);
     if(ISSETTER(par)){
-        if(*val >= the_conf.maxspd[n]) return ERR_BADVAL;
+        if(*val >= the_conf.maxspd[n] || *val < 0) return ERR_BADVAL;
         the_conf.minspd[n] = getSPD(n, *val);
         update_stepper(n);
     }
@@ -252,6 +267,20 @@ errcodes cu_minspeed(uint8_t _U_ par, int32_t _U_ *val){
     return ERR_OK;
 }
 
+errcodes cu_motcurrent(uint8_t par, int32_t *val){
+    uint8_t n; CHECKN(n, par);
+    if(ISSETTER(par)){
+        if(*val < 1 || *val > 32) return ERR_BADVAL;
+        the_conf.motcurrent[n] = *val;
+        motflags_t *f = the_conf.motflags;
+        if(f->drvtype == DRVTYPE_UART){
+            if(!pdnuart_setcurrent(n, *val)) return ERR_CANTRUN;
+        }
+    }
+    *val = the_conf.motcurrent[n];
+    return ERR_OK;
+}
+
 errcodes cu_motflags(uint8_t _U_ par, int32_t _U_ *val){
     uint8_t n; CHECKN(n, par);
     if(ISSETTER(par)){
@@ -262,6 +291,15 @@ errcodes cu_motflags(uint8_t _U_ par, int32_t _U_ *val){
     return ERR_OK;
 }
 
+errcodes cu_motno(uint8_t _U_ par, int32_t _U_ *val){
+    if(*val < 0 || *val >= MOTORSNO) return ERR_BADVAL;
+    if(ISSETTER(par)){
+        if(!pdnuart_setmotno(*val)) return ERR_CANTRUN;
+    }
+    *val = pdnuart_getmotno();
+    return ERR_OK;
+}
+
 errcodes cu_motmul(uint8_t _U_ par, int32_t _U_ *val){
     return ERR_BADCMD;
 }
@@ -275,9 +313,9 @@ errcodes cu_motreinit(uint8_t _U_ par, int32_t _U_ *val){
 errcodes cu_pdn(uint8_t par, int32_t *val){
     uint8_t n = PARBASE(par);
     if(ISSETTER(par)){
-        if(!pdnuart_writereg(0, n, *val)) return ERR_CANTRUN;
+        if(!pdnuart_writereg(n, *val)) return ERR_CANTRUN;
     }
-    if(!pdnuart_readreg(0, n, (uint32_t*)val)) return ERR_CANTRUN;
+    if(!pdnuart_readreg(n, (uint32_t*)val)) return ERR_CANTRUN;
     return ERR_OK;
 }
 
@@ -449,5 +487,8 @@ const char* cancmds[CCMD_AMOUNT] = {
     [CCMD_USARTSTATUS] = "usartstatus",
     [CCMD_VDRIVE] = "vdrive",
     [CCMD_VFIVE] = "vfive",
-    [CCMD_PDN] = "pdn"
+    [CCMD_PDN] = "pdn",
+    [CCMD_MOTNO] = "motno",
+    [CCMD_DRVTYPE] = "drvtype",
+    [CCMD_MOTCURRENT] = "motcurrent",
 };
diff --git a/F3:F303/Multistepper/commonproto.h b/F3:F303/Multistepper/commonproto.h
index e9788bb..0b369bb 100644
--- a/F3:F303/Multistepper/commonproto.h
+++ b/F3:F303/Multistepper/commonproto.h
@@ -86,14 +86,17 @@ enum{
     ,CCMD_MOTORSTATE         // motor state
     ,CCMD_ENCPOS             // position of encoder (independing on settings)
     ,CCMD_SETPOS             // set motor position
-    ,CCMD_MOTMUL
-    ,CCMD_DIAGN
-    ,CCMD_ERASEFLASH
-    ,CCMD_UDATA
-    ,CCMD_USARTSTATUS
-    ,CCMD_VDRIVE
-    ,CCMD_VFIVE
-    ,CCMD_PDN
+    ,CCMD_MOTMUL             // operations with motor multiplexer
+    ,CCMD_DIAGN              // DIAGN state for all motors
+    ,CCMD_ERASEFLASH         // erase full storage
+    ,CCMD_UDATA              // incoming data by USART1
+    ,CCMD_USARTSTATUS        // current status of USART1
+    ,CCMD_VDRIVE             // Vdrive voltage
+    ,CCMD_VFIVE              // 5V voltage
+    ,CCMD_PDN                // write/read TMC2209 registers over UART
+    ,CCMD_MOTNO              // motor number for next PDN command
+    ,CCMD_DRVTYPE            // driver type (0 - only step/dir, 1 - UART, 2 - SPI, 3 - reserved)
+    ,CCMD_MOTCURRENT         // motor current (1..32 for 1/32..32/32 of max current)
     // should be the last:
     ,CCMD_AMOUNT             // amount of common commands
 };
@@ -108,6 +111,7 @@ errcodes cu_adc(uint8_t par, int32_t *val);
 errcodes cu_button(uint8_t par, int32_t *val);
 errcodes cu_canid(uint8_t par, int32_t *val);
 errcodes cu_diagn(uint8_t par, int32_t *val);
+errcodes cu_drvtype(uint8_t par, int32_t *val);
 errcodes cu_emstop(uint8_t par, int32_t *val);
 errcodes cu_eraseflash(uint8_t par, int32_t *val);
 errcodes cu_esw(uint8_t par, int32_t *val);
@@ -122,7 +126,9 @@ errcodes cu_mcut(uint8_t par, int32_t *val);
 errcodes cu_mcuvdd(uint8_t par, int32_t *val);
 errcodes cu_microsteps(uint8_t par, int32_t *val);
 errcodes cu_minspeed(uint8_t par, int32_t *val);
+errcodes cu_motcurrent(uint8_t par, int32_t *val);
 errcodes cu_motflags(uint8_t par, int32_t *val);
+errcodes cu_motno(uint8_t par, int32_t *val);
 errcodes cu_motmul(uint8_t par, int32_t *val);
 errcodes cu_motreinit(uint8_t par, int32_t *val);
 errcodes cu_pdn(uint8_t par, int32_t *val);
diff --git a/F3:F303/Multistepper/flash.c b/F3:F303/Multistepper/flash.c
index d963443..c120c35 100644
--- a/F3:F303/Multistepper/flash.c
+++ b/F3:F303/Multistepper/flash.c
@@ -32,7 +32,7 @@ static const uint32_t FLASH_blocksize = (uint32_t)&_BLOCKSIZE;
 // max amount of Config records stored (will be recalculate in flashstorage_init()
 static uint32_t maxCnum = 1024 / sizeof(user_conf); // can't use blocksize here
 
-#define DEFMF   {.donthold = 1}
+#define DEFMF   {.donthold = 1, .drvtype = DRVTYPE_UART}
 
 #define USERCONF_INITIALIZER  {             \
      .userconf_sz = sizeof(user_conf)       \
@@ -226,6 +226,8 @@ int fn_dumpconf(uint32_t _U_ hash, char _U_ *args){ // "dumpconf" (3271513185)
         printu(the_conf.minspd[i]);
         PROPNAME("maxsteps");
         printu(the_conf.maxsteps[i]);
+        PROPNAME("motcurrent");
+        printu(the_conf.motcurrent[i]);
         PROPNAME("motflags");
         printuhex(*((uint8_t*)&the_conf.motflags[i]));
         PROPNAME("eswreaction");
diff --git a/F3:F303/Multistepper/flash.h b/F3:F303/Multistepper/flash.h
index 21fcf75..c59322b 100644
--- a/F3:F303/Multistepper/flash.h
+++ b/F3:F303/Multistepper/flash.h
@@ -38,7 +38,16 @@
 
 #define FLASH_SIZE          *((uint16_t*)FLASH_SIZE_REG)
 
-#define MOTFLAGS_AMOUNT     6
+#define MOTFLAGS_AMOUNT     7
+
+enum{
+    DRVTYPE_SIMPLE,
+    DRVTYPE_UART,
+    DRVTYPE_SPI,
+    DRVTYPE_RESERVED,
+    DRVTYPE_AMOUNT
+};
+
 // motor flags
 typedef struct{
     uint8_t reverse : 1;        // bit0 - reversing motor rotation
@@ -47,6 +56,7 @@ typedef struct{
     uint8_t donthold : 1;       // bit3 - clear power @ stop (don't hold motor when stopped)
     uint8_t eswinv : 1;         // bit4 - inverse end-switches
     uint8_t keeppos : 1;        // bit5 - keep current position (as servo motor) - NOT USED HERE!!!
+    uint8_t drvtype : 2;        // bits 6,7 - driver type (0 - only step/dir, 1 - UART, 2 - SPI, 3 - reserved)
 } motflags_t;
 
 /*
@@ -63,6 +73,7 @@ typedef struct __attribute__((packed, aligned(4))){
     uint32_t maxsteps[MOTORSNO];    // maximal amount of steps
     motflags_t motflags[MOTORSNO];  // motor's flags
     uint8_t ESW_reaction[MOTORSNO]; // end-switches reaction (esw_react)
+    uint8_t motcurrent[MOTORSNO];   // IRUN as fraction of max current (1..32)
     uint8_t isSPI;                  // ==1 if there's SPI drivers instead of UART
 } user_conf;
 
diff --git a/F3:F303/Multistepper/hashgen/hdr.c b/F3:F303/Multistepper/hashgen/hdr.c
index 8e9ca17..0f6e5bf 100644
--- a/F3:F303/Multistepper/hashgen/hdr.c
+++ b/F3:F303/Multistepper/hashgen/hdr.c
@@ -46,6 +46,8 @@ int fn_canstat(uint32_t _U_ hash, char _U_ *args) WAL; // "canstat" (237384179)
 
 int fn_diagn(uint32_t _U_ hash, char _U_ *args) WAL; // "diagn" (2334137736)
 
+int fn_drvtype(uint32_t _U_ hash, char _U_ *args) WAL; // "drvtype" (3930242451)
+
 int fn_dumpcmd(uint32_t _U_ hash, char _U_ *args) WAL; // "dumpcmd" (1223955823)
 
 int fn_dumpconf(uint32_t _U_ hash, char _U_ *args) WAL; // "dumpconf" (3271513185)
@@ -84,10 +86,14 @@ int fn_microsteps(uint32_t _U_ hash, char _U_ *args) WAL; // "microsteps" (39743
 
 int fn_minspeed(uint32_t _U_ hash, char _U_ *args) WAL; // "minspeed" (3234848090)
 
+int fn_motcurrent(uint32_t _U_ hash, char _U_ *args) WAL; // "motcurrent" (1926997848)
+
 int fn_motflags(uint32_t _U_ hash, char _U_ *args) WAL; // "motflags" (2153634658)
 
 int fn_motmul(uint32_t _U_ hash, char _U_ *args) WAL; // "motmul" (1543400099)
 
+int fn_motno(uint32_t _U_ hash, char _U_ *args) WAL; // "motno" (544673586)
+
 int fn_motreinit(uint32_t _U_ hash, char _U_ *args) WAL; // "motreinit" (199682784)
 
 int fn_pdn(uint32_t _U_ hash, char _U_ *args) WAL; // "pdn" (2963275719)
@@ -197,6 +203,9 @@ int parsecmd(const char *str){
         case CMD_DIAGN:
             return fn_diagn(h, args);
         break;
+        case CMD_DRVTYPE:
+            return fn_drvtype(h, args);
+        break;
         case CMD_DUMPCMD:
             return fn_dumpcmd(h, args);
         break;
@@ -254,12 +263,18 @@ int parsecmd(const char *str){
         case CMD_MINSPEED:
             return fn_minspeed(h, args);
         break;
+        case CMD_MOTCURRENT:
+            return fn_motcurrent(h, args);
+        break;
         case CMD_MOTFLAGS:
             return fn_motflags(h, args);
         break;
         case CMD_MOTMUL:
             return fn_motmul(h, args);
         break;
+        case CMD_MOTNO:
+            return fn_motno(h, args);
+        break;
         case CMD_MOTREINIT:
             return fn_motreinit(h, args);
         break;
diff --git a/F3:F303/Multistepper/hashgen/hdr.h b/F3:F303/Multistepper/hashgen/hdr.h
index a4c134a..872029f 100644
--- a/F3:F303/Multistepper/hashgen/hdr.h
+++ b/F3:F303/Multistepper/hashgen/hdr.h
@@ -31,6 +31,7 @@ int parsecmd(const char *cmdwargs);
 #define CMD_CANSPEED        (549265992)
 #define CMD_CANSTAT         (237384179)
 #define CMD_DIAGN           (2334137736)
+#define CMD_DRVTYPE         (3930242451)
 #define CMD_DUMPCMD         (1223955823)
 #define CMD_DUMPCONF        (3271513185)
 #define CMD_DUMPERR         (1223989764)
@@ -50,8 +51,10 @@ int parsecmd(const char *cmdwargs);
 #define CMD_MCUVDD          (2517587080)
 #define CMD_MICROSTEPS      (3974395854)
 #define CMD_MINSPEED        (3234848090)
+#define CMD_MOTCURRENT      (1926997848)
 #define CMD_MOTFLAGS        (2153634658)
 #define CMD_MOTMUL          (1543400099)
+#define CMD_MOTNO           (544673586)
 #define CMD_MOTREINIT       (199682784)
 #define CMD_PDN             (2963275719)
 #define CMD_PING            (10561715)
diff --git a/F3:F303/Multistepper/hashgen/helpcmds.in b/F3:F303/Multistepper/hashgen/helpcmds.in
index e557709..d03b2aa 100644
--- a/F3:F303/Multistepper/hashgen/helpcmds.in
+++ b/F3:F303/Multistepper/hashgen/helpcmds.in
@@ -16,6 +16,7 @@
     "canspeed - GS CAN speed (reinit if setter)\n"
     "canstat - G CAN status\n"
     "diagn[N]* - G DIAG state of motor N (or all)\n"
+    "drvtypeN - GS driver type (0 - only step/dir, 1 - UART, 2 - SPI, 3 - reserved)\n"
     "dumperr - dump error codes\n"
     "dumpcmd - dump command codes\n"
     "dumpconf - dump current configuration\n"
@@ -35,8 +36,10 @@
     "mcuvdd - G MCU Vdd\n"
     "microstepsN - GS microsteps settings (2^0..2^9)\n"
     "minspeedN -  min speed (steps per sec)\n"
+    "motcurrentN - GS motor current (1..32 for 1/32..32/32 of max current)\n"
     "motflagsN - motorN flags\n"
     "motmul* - GS external multiplexer status (<0 - disable, 0..7 - enable and set address)\n"
+    "motno - GS motor number for next `pdn` commands\n"
     "motreinit - re-init motors after configuration changed\n"
     "pdnN - GS read/write TMC2209 registers over uart @ motor0\n"
     "ping - echo given command back\n"
diff --git a/F3:F303/Multistepper/hashgen/testdic b/F3:F303/Multistepper/hashgen/testdic
index 1c1ff4f..daaab7e 100644
--- a/F3:F303/Multistepper/hashgen/testdic
+++ b/F3:F303/Multistepper/hashgen/testdic
@@ -16,6 +16,7 @@ cansend
 canspeed
 canstat
 diagn
+drvtype
 dumperr
 dumpcmd
 dumpconf
@@ -35,8 +36,10 @@ mcut
 mcuvdd
 microsteps
 minspeed
+motcurrent
 motflags
 motmul
+motno
 motreinit
 pdn
 ping
diff --git a/F3:F303/Multistepper/main.c b/F3:F303/Multistepper/main.c
index 6fa117f..86aaa0c 100644
--- a/F3:F303/Multistepper/main.c
+++ b/F3:F303/Multistepper/main.c
@@ -51,6 +51,10 @@ int main(void){
     adc_setup();
     pdnuart_setup();
     USBPU_ON();
+    for(int i = 0; i < MOTORSNO; ++i){
+        motflags_t flag = the_conf.motflags[i];
+        if(flag.drvtype == DRVTYPE_UART) pdnuart_init(i);
+    }
     uint32_t ctr = 0;
     CAN_message *can_mesg;
     while(1){
diff --git a/F3:F303/Multistepper/multistepper.bin b/F3:F303/Multistepper/multistepper.bin
index d4b0917e315a1f1085b55c74695dca5b632bfd6c..0fc5ae46b0a1c8d60759fe89198b196403d00c5e 100755
GIT binary patch
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diff --git a/F3:F303/Multistepper/pdnuart.c b/F3:F303/Multistepper/pdnuart.c
index e05335e..e510f9e 100644
--- a/F3:F303/Multistepper/pdnuart.c
+++ b/F3:F303/Multistepper/pdnuart.c
@@ -18,10 +18,13 @@
 
 #include <stm32f3.h>
 
+#include "flash.h"
 #include "hardware.h"
 #include "proto.h"
+#include "tmc2209.h"
 
 extern volatile uint32_t Tms;
+static uint8_t motorno = 0;
 
 #define MAXBUFLEN           (8)
 // timeout, milliseconds
@@ -66,16 +69,18 @@ void pdnuart_setup(){
     setup_usart(1);
 }
 
-static int rwreg(uint8_t motorno, uint8_t reg, uint32_t data, int w){
+static int rwreg(uint8_t reg, uint32_t data, int w){
     if(motorno >= MOTORSNO || reg & 0x80) return FALSE;
+    uint32_t x = Tms;
+    while(Tms - x < 1);
     int no = motorno >> 2;
     uint8_t outbuf[MAXBUFLEN];
-    outbuf[0] = 0xa0;
+    outbuf[0] = 0x05;
     outbuf[1] = motorno - (no << 2);
-    outbuf[2] = reg << 1;
+    outbuf[2] = reg;
     int nbytes = 3;
     if(w){
-        outbuf[2] |= 1;
+        outbuf[2] |= 0x80;
         for(int i = 6; i > 2; --i){
             outbuf[i] = data & 0xff;
             data >>= 8;
@@ -85,20 +90,25 @@ static int rwreg(uint8_t motorno, uint8_t reg, uint32_t data, int w){
     calcCRC(outbuf, nbytes);
     ++nbytes;
     for(int i = 0; i < nbytes; ++i){
+        USB_sendstr("Send byte "); USB_putbyte('0'+i); USB_sendstr(": "); printuhex(outbuf[i]); newline();
         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;
+        if(l == 10000) USND("Nothing received");
+        else {USB_sendstr("Rcv: "); printuhex(USART[no]->RDR); newline();}
     }
     return TRUE;
 }
 
 // return FALSE if failed
-int pdnuart_writereg(uint8_t motorno, uint8_t reg, uint32_t data){
-    return rwreg(motorno, reg, data, 1);
+int pdnuart_writereg(uint8_t reg, uint32_t data){
+    return rwreg(reg, data, 1);
 }
 
 // return FALSE if failed
-int pdnuart_readreg(uint8_t motorno, uint8_t reg, uint32_t *data){
-    if(!rwreg(motorno, reg, 0, 0)) return FALSE;
+int pdnuart_readreg(uint8_t reg, uint32_t *data){
+    if(!rwreg(reg, 0, 0)) return FALSE;
     uint32_t Tstart = Tms;
     uint8_t buf[8];
     int no = motorno >> 2;
@@ -117,6 +127,60 @@ int pdnuart_readreg(uint8_t motorno, uint8_t reg, uint32_t *data){
     return TRUE;
 }
 
+static int readregister(uint8_t no, uint8_t reg, uint32_t *data){
+    int n = motorno; motorno = no;
+    int r = pdnuart_readreg(reg, data);
+    motorno = n;
+    return r;
+}
+
+static int writeregister(uint8_t no, uint8_t reg, uint32_t data){
+    int n = motorno; motorno = no;
+    int r = pdnuart_writereg(reg, data);
+    motorno = n;
+    return r;
+}
+
+uint8_t pdnuart_getmotno(){
+    return motorno;
+}
+
+int pdnuart_setmotno(uint8_t no){
+    if(no >= MOTORSNO) return FALSE;
+    motorno = no;
+    return TRUE;
+}
+
+// write val into IHOLD_IRUN over UART to n'th motor
+int pdnuart_setcurrent(uint8_t no, uint8_t val){
+    TMC2209_ihold_irun_reg_t regval;
+    if(!readregister(no, TMC2209Reg_IHOLD_IRUN, &regval.value)) return FALSE;
+    regval.irun = val;
+    return writeregister(no, TMC2209Reg_IHOLD_IRUN, regval.value);
+}
+
+// set microsteps over UART
+int pdnuart_microsteps(uint8_t no, uint32_t val){
+    if(val > 256) return FALSE;
+    TMC2209_chopconf_reg_t regval;
+    if(!readregister(no, TMC2209Reg_CHOPCONF, &regval.value)) return FALSE;
+    if(val == 256) regval.mres = 0;
+    else regval.mres = MSB(val) + 1;
+    return writeregister(no, TMC2209Reg_CHOPCONF, regval.value);
+}
+
+// init driver number `no`
+int pdnuart_init(uint8_t no){
+    TMC2209_gconf_reg_t gconf;
+    if(!readregister(no, TMC2209Reg_GCONF, &gconf.value)) return FALSE;
+    gconf.pdn_disable = 1; // PDN now is UART
+    gconf.mstep_reg_select = 1; // microsteps are by MSTEP
+    if(!writeregister(no, TMC2209Reg_GCONF, gconf.value)) return FALSE;
+    if(!pdnuart_microsteps(no, the_conf.microsteps[no])) return FALSE;
+    if(!pdnuart_setcurrent(no, the_conf.motcurrent[no])) return FALSE;
+    return TRUE;
+}
+
 /*
 static void parseRx(int no){
     USB_sendstr("Got from ");
diff --git a/F3:F303/Multistepper/pdnuart.h b/F3:F303/Multistepper/pdnuart.h
index 3636f22..c036beb 100644
--- a/F3:F303/Multistepper/pdnuart.h
+++ b/F3:F303/Multistepper/pdnuart.h
@@ -21,5 +21,10 @@
 #include <stdint.h>
 
 void pdnuart_setup();
-int pdnuart_writereg(uint8_t motorno, uint8_t reg, uint32_t data);
-int pdnuart_readreg(uint8_t motorno, uint8_t reg, uint32_t *data);
+int pdnuart_writereg(uint8_t reg, uint32_t data);
+int pdnuart_readreg(uint8_t reg, uint32_t *data);
+int pdnuart_setmotno(uint8_t no);
+uint8_t pdnuart_getmotno();
+int pdnuart_setcurrent(uint8_t no, uint8_t val);
+int pdnuart_microsteps(uint8_t no, uint32_t val);
+int pdnuart_init(uint8_t no);
diff --git a/F3:F303/Multistepper/proto.c b/F3:F303/Multistepper/proto.c
index 1311e12..d79191b 100644
--- a/F3:F303/Multistepper/proto.c
+++ b/F3:F303/Multistepper/proto.c
@@ -405,12 +405,13 @@ int fn_time(uint32_t _U_ hash,  char _U_ *args){ // "time" (19148340)
 
 
 static const char* motfl[MOTFLAGS_AMOUNT] = {
-    "reverse - invert motor's rotation",
-    "[reserved]",
-    "[reserved]",
-    "donthold - clear motor's power after stop",
-    "eswinv - inverse end-switches (1->0 instead of 0->1)",
-    "[reserved]"
+    "0: reverse - invert motor's rotation",
+    "1: [reserved]",
+    "2: [reserved]",
+    "3: donthold - clear motor's power after stop",
+    "4: eswinv - inverse end-switches (1->0 instead of 0->1)",
+    "5: [reserved]",
+    "6,7: drvtype - driver type (0 - only step/dir, 1 - UART, 2 - SPI, 3 - reserved)"
 };
 static const char *eswfl[ESW_AMOUNT] = {
     [ESW_IGNORE] = "ignore end-switches",
@@ -568,6 +569,9 @@ static int canusb_function(uint32_t hash, char *args){
         case CMD_DIAGN:
             e = cu_diagn(par, &val);
         break;
+        case CMD_DRVTYPE:
+            e = cu_drvtype(par, &val);
+        break;
         case CMD_EMSTOP:
             e = cu_emstop(par, &val);
         break;
@@ -612,12 +616,18 @@ static int canusb_function(uint32_t hash, char *args){
         case CMD_MINSPEED:
             e = cu_minspeed(par, &val);
         break;
+        case CMD_MOTCURRENT:
+            e = cu_motcurrent(par, &val);
+        break;
         case CMD_MOTFLAGS:
             e = cu_motflags(par, &val);
         break;
         case CMD_MOTMUL:
             e = cu_motmul(par, &val);
         break;
+        case CMD_MOTNO:
+            e = cu_motno(par, &val);
+        break;
         case CMD_MOTREINIT:
             e = cu_motreinit(par, &val);
         break;
@@ -674,7 +684,7 @@ static int canusb_function(uint32_t hash, char *args){
         USB_sendstr(errtxt[e]); newline();
     }else{
         USB_sendstr("OK par");
-        if(par != CANMESG_NOPAR) printu(PARBASE(par));
+        if(PARBASE(par) != CANMESG_NOPAR) printu(PARBASE(par));
         USB_putbyte('='); printi(val);
         newline();
     }
@@ -689,6 +699,7 @@ int fn_accel(uint32_t _U_ hash,  char _U_ *args) AL; //* "accel" (1490521981)
 int fn_adc(uint32_t _U_ hash,  char _U_ *args) AL; // "adc" (2963026093)
 int fn_button(uint32_t _U_ hash,  char _U_ *args) AL; // "button" (1093508897)
 int fn_diagn(uint32_t _U_ hash,  char _U_ *args) AL; //* "diagn" (2334137736)
+int fn_drvtype(uint32_t _U_ hash, char _U_ *args) AL; // "drvtype" (3930242451)
 int fn_emstop(uint32_t _U_ hash,  char _U_ *args) AL; //* "emstop" (2965919005)
 int fn_eraseflash(uint32_t _U_ hash,  char _U_ *args) AL; //* "eraseflash" (3177247267)
 int fn_esw(uint32_t _U_ hash,  char _U_ *args) AL; // "esw" (2963094612)
@@ -703,8 +714,10 @@ int fn_mcut(uint32_t _U_ hash,  char _U_ *args) AL; // "mcut" (4022718)
 int fn_mcuvdd(uint32_t _U_ hash,  char _U_ *args) AL; // "mcuvdd" (2517587080)
 int fn_microsteps(uint32_t _U_ hash,  char _U_ *args) AL; //* "microsteps" (3974395854)
 int fn_minspeed(uint32_t _U_ hash,  char _U_ *args) AL; //* "minspeed" (3234848090)
+int fn_motcurrent(uint32_t _U_ hash, char _U_ *args) AL; // "motcurrent" (1926997848)
 int fn_motflags(uint32_t _U_ hash,  char _U_ *args) AL; //* "motflags" (2153634658)
 int fn_motmul(uint32_t _U_ hash,  char _U_ *args) AL; //* "motmul" (1543400099)
+int fn_motno(uint32_t _U_ hash, char _U_ *args) AL; // "motno" (544673586)
 int fn_motreinit(uint32_t _U_ hash,  char _U_ *args) AL; //* "motreinit" (199682784)
 int fn_pdn(uint32_t _U_ hash, char _U_ *args) AL; // "pdn" (2963275719)
 int fn_ping(uint32_t _U_ hash,  char _U_ *args) AL; // "ping" (10561715)
diff --git a/F3:F303/Multistepper/tmc2209.h b/F3:F303/Multistepper/tmc2209.h
index 8448bcd..bb486b3 100644
--- a/F3:F303/Multistepper/tmc2209.h
+++ b/F3:F303/Multistepper/tmc2209.h
@@ -707,7 +707,7 @@ typedef struct {
 
     TMC2209_status_t driver_status;
 
-    trinamic_config_t config;
+//    trinamic_config_t config;
 } TMC2209_t;
 
 #pragma pack(pop)
diff --git a/F3:F303/Multistepper/version.inc b/F3:F303/Multistepper/version.inc
index e6cecc3..29c91ef 100644
--- a/F3:F303/Multistepper/version.inc
+++ b/F3:F303/Multistepper/version.inc
@@ -1,2 +1,2 @@
-#define BUILD_NUMBER "84"
-#define BUILD_DATE "2023-02-26"
+#define BUILD_NUMBER "95"
+#define BUILD_DATE "2023-03-01"