From d8a4c99ec72e5ed043cdf4ffd46f88d805eb6fdc Mon Sep 17 00:00:00 2001
From: eddyem <eddyem@yandex.ru>
Date: Mon, 27 Jul 2020 20:58:18 +0300
Subject: [PATCH] DRV8825 works, PCB should be rebuild for ability of encoder
 connection

---
 F0-nolib/CANbus_stepper/kicad/stm32.sch     |   3 +-
 F0-nolib/CANbus_stepper/kicad/stm32.sch-bak |   4 +-
 F0-nolib/CANbus_stepper/src/canstepper.bin  | Bin 16036 -> 18204 bytes
 F0-nolib/CANbus_stepper/src/flash.c         |   6 +-
 F0-nolib/CANbus_stepper/src/flash.h         |   2 +-
 F0-nolib/CANbus_stepper/src/hardware.c      |  24 +++-
 F0-nolib/CANbus_stepper/src/hardware.h      |   7 +-
 F0-nolib/CANbus_stepper/src/main.c          |   3 +-
 F0-nolib/CANbus_stepper/src/proto.c         |  49 +++++--
 F0-nolib/CANbus_stepper/src/spi.c           | 112 ++++++++++++++++
 F0-nolib/CANbus_stepper/src/spi.h           |  38 ++++++
 F0-nolib/CANbus_stepper/src/steppers.c      | 134 ++++++++++++++++----
 F0-nolib/CANbus_stepper/src/steppers.h      |  22 +++-
 13 files changed, 347 insertions(+), 57 deletions(-)
 create mode 100644 F0-nolib/CANbus_stepper/src/spi.c
 create mode 100644 F0-nolib/CANbus_stepper/src/spi.h

diff --git a/F0-nolib/CANbus_stepper/kicad/stm32.sch b/F0-nolib/CANbus_stepper/kicad/stm32.sch
index 493bf7c..fee8ebb 100644
--- a/F0-nolib/CANbus_stepper/kicad/stm32.sch
+++ b/F0-nolib/CANbus_stepper/kicad/stm32.sch
@@ -1,5 +1,4 @@
 EESchema Schematic File Version 4
-LIBS:stm32-cache
 EELAYER 30 0
 EELAYER END
 $Descr A3 16535 11693
@@ -1888,4 +1887,6 @@ F 3 "" H 1600 2240 50  0000 C CNN
 $EndComp
 Text Label 1200 4540 2    60   ~ 0
 12Vin
+Text Notes 3850 5975 0    50   ~ 0
+TODO:\nESW0 & ESW2 should be @ encoder interface!\nTIM1: ch1 - PA8, ch2 - PA9\nTIM2: ch2 - PA1, PB3, \nTIM3: ch1 - PA6, PB4, ch2 - PA7, PB5
 $EndSCHEMATC
diff --git a/F0-nolib/CANbus_stepper/kicad/stm32.sch-bak b/F0-nolib/CANbus_stepper/kicad/stm32.sch-bak
index 1b283e8..493bf7c 100644
--- a/F0-nolib/CANbus_stepper/kicad/stm32.sch-bak
+++ b/F0-nolib/CANbus_stepper/kicad/stm32.sch-bak
@@ -445,7 +445,7 @@ L Device:D_Zener D7
 U 1 1 59684468
 P 9140 1520
 F 0 "D7" H 9140 1620 50  0000 C CNN
-F 1 "MM3Z3V9" H 9140 1420 50  0000 C CNN
+F 1 "MM3Z4V7" H 9140 1420 50  0000 C CNN
 F 2 "Diode_SMD:D_0805_2012Metric_Pad1.15x1.40mm_HandSolder" H 9140 1520 50  0001 C CNN
 F 3 "" H 9140 1520 50  0000 C CNN
 	1    9140 1520
@@ -1056,7 +1056,7 @@ L Device:D_Zener D8
 U 1 1 5E7D7999
 P 10080 1510
 F 0 "D8" H 10080 1610 50  0000 C CNN
-F 1 "MM3Z3V9" H 10080 1410 50  0000 C CNN
+F 1 "MM3Z4V7" H 10080 1410 50  0000 C CNN
 F 2 "Diode_SMD:D_0805_2012Metric_Pad1.15x1.40mm_HandSolder" H 10080 1510 50  0001 C CNN
 F 3 "" H 10080 1510 50  0000 C CNN
 	1    10080 1510
diff --git a/F0-nolib/CANbus_stepper/src/canstepper.bin b/F0-nolib/CANbus_stepper/src/canstepper.bin
index b2c1abe7c9e30b703aac60bedd0611fbb536b405..0a5b9491e82dfb210ada178ca0fd3350fb13c647 100755
GIT binary patch
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diff --git a/F0-nolib/CANbus_stepper/src/flash.c b/F0-nolib/CANbus_stepper/src/flash.c
index 2104943..05c18a7 100644
--- a/F0-nolib/CANbus_stepper/src/flash.c
+++ b/F0-nolib/CANbus_stepper/src/flash.c
@@ -48,10 +48,10 @@ static uint32_t maxCnum = FLASH_BLOCK_SIZE / sizeof(user_conf);
      .userconf_sz = sizeof(user_conf)       \
     ,.defflags.reverse = 0                  \
     ,.CANspeed = 100                        \
-    ,.driver_type = DRV_NONE                \
+    ,.driver_type = DRV_8825                \
     ,.microsteps = 16                       \
-    ,.accdecsteps = 100                     \
-    ,.motspd = 10                           \
+    ,.accdecsteps = 25                      \
+    ,.motspd = 1000                         \
     ,.maxsteps = 50000                      \
     }
 
diff --git a/F0-nolib/CANbus_stepper/src/flash.h b/F0-nolib/CANbus_stepper/src/flash.h
index 4f03c15..742990d 100644
--- a/F0-nolib/CANbus_stepper/src/flash.h
+++ b/F0-nolib/CANbus_stepper/src/flash.h
@@ -43,7 +43,7 @@ typedef struct __attribute__((packed, aligned(4))){
     uint16_t CANspeed;          // default CAN speed
     uint16_t microsteps;        // microsteps amount per step
     uint16_t accdecsteps;       // amount of steps need for full acceleration/deceleration cycle
-    uint16_t motspd;            // max motor speed ([3000 / motspd] steps per second)
+    uint16_t motspd;            // max motor speed (steps per second)
     defflags_t  defflags;       // default flags
     uint8_t  driver_type;       // user's settings: type of stepper's driver
 } user_conf;
diff --git a/F0-nolib/CANbus_stepper/src/hardware.c b/F0-nolib/CANbus_stepper/src/hardware.c
index 92d927f..8fb9b54 100644
--- a/F0-nolib/CANbus_stepper/src/hardware.c
+++ b/F0-nolib/CANbus_stepper/src/hardware.c
@@ -17,6 +17,8 @@
  */
 
 #include "hardware.h"
+#include "proto.h"
+#include "steppers.h"
 
 TIM_TypeDef *TIMx = TIM15; // stepper's timer
 
@@ -117,20 +119,30 @@ void gpio_setup(){
     brdADDR = READ_BRD_ADDR();
 }
 
-// PA3 (STEP): TIM15_CH2; 48MHz -> 48kHz
+// PA3 (STEP): TIM15_CH2; 48MHz -> 1MHz
 void timer_setup(){
+    // PA3  - Tim15Ch2 (AF0)
+    GPIOA->AFR[0] = (GPIOA->AFR[0] & ~GPIO_AFRL_AFRL3);
+    GPIOA->MODER = (GPIOA->MODER & ~GPIO_MODER_MODER3) | GPIO_MODER_MODER3_AF; // set alternate output
     RCC->APB2ENR |= RCC_APB2ENR_TIM15EN; // enable clocking
-    TIM15->CR1 &= ~TIM_CR1_CEN; // turn off timer
+    TIM15->CR1 = 0; // turn off timer
     TIM15->CCMR1 = TIM_CCMR1_OC2M_2; // Force inactive
-    TIM15->PSC = 999;
-    TIM15->CCER = TIM_CCER_CC2E;
-    TIM15->CCR1 = 1; // very short pulse
-    TIM15->ARR = 1000;
+    TIM15->PSC = TIM15PSC;
+    TIM15->CCR2 = TIM15CCR2;
+    TIM15->ARR = 1000; // this value will be changed later
+    TIM15->CCER = TIM_CCER_CC2E; // enable PWM out
+    TIM15->BDTR = TIM_BDTR_MOE; // enable main output
     // enable IRQ & update values
     TIM15->EGR = TIM_EGR_UG;
     TIM15->DIER = TIM_DIER_CC2IE;
     NVIC_EnableIRQ(TIM15_IRQn);
     NVIC_SetPriority(TIM15_IRQn, 0);
+/*
+    TIM15->CCMR1 = TIM_CCMR1_OC2M_2 | TIM_CCMR1_OC2M_1; // PWM mode 1: active->inacive
+    TIM15->BDTR = TIM_BDTR_MOE;
+    TIM15->CR1 = TIM_CR1_CEN;
+*/
+    MSG("Timer is ON\n");
 }
 
 uint8_t refreshBRDaddr(){
diff --git a/F0-nolib/CANbus_stepper/src/hardware.h b/F0-nolib/CANbus_stepper/src/hardware.h
index bf434d3..ecdc62b 100644
--- a/F0-nolib/CANbus_stepper/src/hardware.h
+++ b/F0-nolib/CANbus_stepper/src/hardware.h
@@ -68,12 +68,15 @@
 #define RESET_UST2()    do{GPIOC->BRR = 1<<14;}while(0)
 #define CS_ACTIVE()     do{GPIOC->BRR = 1<<14;}while(0)
 #define CS_PASSIVE()    do{GPIOC->BSRR = 1<<14;}while(0)
-// microstepping0 (PA7), 1 (PA5) - set PP
-#define UST01_CFG_PP()  do{GPIOA->MODER = (GPIOA->MODER & ~(GPIO_MODER_MODER5|GPIO_MODER_MODER7)) | (GPIO_MODER_MODER5_O|GPIO_MODER_MODER7_O);}while(0)
+// microstepping0 (PA7), 1 (PA5), ~reset (PA6) - PP config
+#define UST01_CFG_PP()  do{GPIOA->MODER = (GPIOA->MODER & ~(GPIO_MODER_MODER5|GPIO_MODER_MODER6|GPIO_MODER_MODER7)) | (GPIO_MODER_MODER5_O|GPIO_MODER_MODER6_O|GPIO_MODER_MODER7_O);}while(0)
 #define SET_UST0()      do{GPIOA->BSRR = 1<<7;}while(0)
 #define SET_UST1()      do{GPIOA->BSRR = 1<<5;}while(0)
 #define RESET_UST0()    do{GPIOA->BRR = 1<<7;}while(0)
 #define RESET_UST1()    do{GPIOA->BRR = 1<<5;}while(0)
+// ~RESET pin (inverse), PA6
+#define DRV_RESET_ON()  do{GPIOA->BRR = 1<<6;}while(0)
+#define DRV_RESET_OFF() do{GPIOA->BSRR = 1<<6;}while(0)
 // end-switches state
 #define ESW_STATE()     ((GPIOB->IDR & 0x07) | ((GPIOB->IDR>>7) & 0x08))
 // configure ~CS as PP output
diff --git a/F0-nolib/CANbus_stepper/src/main.c b/F0-nolib/CANbus_stepper/src/main.c
index aced506..e99a1e6 100644
--- a/F0-nolib/CANbus_stepper/src/main.c
+++ b/F0-nolib/CANbus_stepper/src/main.c
@@ -102,9 +102,10 @@ int main(void){
     USB_setup();
     iwdg_setup();
 
-    while (1){
+     while (1){
         IWDG->KR = IWDG_REFRESH; // refresh watchdog
         if(Tms - lastT > 499){
+            sendbuf();
             lastT = Tms;
         }
         can_proc();
diff --git a/F0-nolib/CANbus_stepper/src/proto.c b/F0-nolib/CANbus_stepper/src/proto.c
index cd5c3ca..c0373f2 100644
--- a/F0-nolib/CANbus_stepper/src/proto.c
+++ b/F0-nolib/CANbus_stepper/src/proto.c
@@ -218,7 +218,7 @@ TRUE_INLINE void setdefflags(char *txt){
             the_conf.defflags.reverse = U&1;
         break;
         default:
-            SEND("\nFlag commands:"
+            SEND("\nFlag commands:\n"
                  "r - set/clear reverse\n"
                  );
     }
@@ -230,7 +230,7 @@ TRUE_INLINE void setters(char *txt){
     uint8_t u8;
     const char *drvshould = "Driver type should be one of: 2130, 4988, 8825";
     const char *usshould = "Microsteps amount is a power of two: 1..512";
-    const char *motspdshould = "Motor speed should be from 2 to " STR(0xffff/LOWEST_SPEED_DIV);
+    const char *motspdshould = "Motor speed should be from 1 to " STR(10000);
     txt = omit_spaces(txt);
     if(!*txt){
         SEND("Setters need more arguments");
@@ -322,10 +322,11 @@ TRUE_INLINE void setters(char *txt){
             if(U != the_conf.maxsteps){
                 the_conf.maxsteps = U;
                 userconf_changed = 1;
+                SEND("Set maxsteps to "); printu(U);
             }
         break;
         case 's': // motor speed
-            if(nxt == txt + 1 || U < 2 || U > (0xffff/LOWEST_SPEED_DIV)){ // no number
+            if(nxt == txt + 1 || U < 1 || U > MAX_SPEED){ // no number
                 SEND(motspdshould); break;
             }
             if(the_conf.motspd != (uint16_t)U){
@@ -339,7 +340,7 @@ TRUE_INLINE void setters(char *txt){
                  "a - set accdecsteps\n"
                  "c - set default CAN speed\n"
                  "d - set driver type\n"
-                 "F - set flags"
+                 "F - set flags\n"
                  "m - set microsteps\n"
                  "M - set maxsteps\n"
                  "s - set motspd\n"
@@ -364,6 +365,17 @@ TRUE_INLINE void driver_commands(char *txt){
     char *nxt = getnum(txt, &U);
     stp_status st;
     switch(cmd){
+        case '0':
+            state = STP_MOVE0;
+            stp_process();
+        break;
+        case '1':
+            state = STP_MOVE1;
+            stp_process();
+        break;
+        case 'd':
+            SEND(stp_getdrvtype());
+        break;
         case 'e':
             SEND("ESW=");
             printu(ESW_STATE());
@@ -371,8 +383,12 @@ TRUE_INLINE void driver_commands(char *txt){
         case 'i': // init
             initDriver();
         break;
+        case 'l':
+            SEND("Stepsleft=");
+            printu(stpleft());
+        break;
         case 'm':
-            if(nxt == txt + 1 || U > (INT32_MAX-1)){
+            if(nxt == txt || U > (INT32_MAX-1)){
                 SEND("Give right steps amount: from -INT32_MAX to INT32_MAX");
                 return;
             }
@@ -395,16 +411,32 @@ TRUE_INLINE void driver_commands(char *txt){
                     SEND("Move to given steps amount");
             }
         break;
+        case 'p':
+            SEND("Motpos=");
+            if(stppos() < 0){
+                U = (uint32_t) -stppos();
+                bufputchar('-');
+            }else U = (uint32_t) stppos();
+            printu(U);
+        break;
         case 's':
             stp_stop();
             SEND("Stop motor");
         break;
+        case 'S':
+            SEND(stp_getstate());
+        break;
         default:
             SEND("\nDriver commands:\n"
+                 "0/1 - move to ESW0/ESW3 and stop there\n"
+                 "d - current driver type\n"
                  "e - end-switches state\n"
                  "i - init stepper driver (8825, 4988, 2130)\n"
+                 "l - steps left\n"
                  "m - move N steps\n"
+                 "p - motor position\n"
                  "s - stop\n"
+                 "S - state\n"
                 );
     }
 }
@@ -448,6 +480,9 @@ void cmd_parser(char *txt, uint8_t isUSB){
             can_accept_one();
             SEND("Accept only my ID @CAN");
         break;
+        case '1':
+            timer_setup();
+        break;
         case '@':
             can_accept_any();
             SEND("Accept any ID @CAN");
@@ -460,9 +495,6 @@ void cmd_parser(char *txt, uint8_t isUSB){
             sendbuf();
             Jump2Boot();
         break;
-        case 'd':
-            dump_userconf();
-        break;
         case 'g':
             SEND("Board address: ");
             printuhex(refreshBRDaddr());
@@ -498,7 +530,6 @@ void cmd_parser(char *txt, uint8_t isUSB){
             "@ - accept any IDs\n"
             "a - get raw ADC values\n"
             "b - switch to bootloader\n"
-            "d - dump userconf\n"
             "D? - stepper driver commands\n"
             "g - get board address\n"
             "j - get MCU temperature\n"
diff --git a/F0-nolib/CANbus_stepper/src/spi.c b/F0-nolib/CANbus_stepper/src/spi.c
new file mode 100644
index 0000000..9dbddf2
--- /dev/null
+++ b/F0-nolib/CANbus_stepper/src/spi.c
@@ -0,0 +1,112 @@
+/*
+ * This file is part of the Stepper project.
+ * Copyright 2020 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "hardware.h"
+#include "proto.h"
+#include "spi.h"
+
+#include <string.h> // memcpy
+
+// buffers for DMA rx/tx
+static uint8_t inbuff[SPIBUFSZ], outbuf[SPIBUFSZ];
+spiStatus SPI_status = SPI_NOTREADY;
+
+//SPI: PA5 - SCK, PA6 -MISO, PA7 - MOSI, PC14 - ~CS
+void spi_setup(){
+    /* (1) Select AF mode on PA5, PA6, PA7 */
+    /* (2) AF0 for SPI1 signals */
+    GPIOA->MODER = (GPIOA->MODER & ~(GPIO_MODER_MODER5 | GPIO_MODER_MODER6 | GPIO_MODER_MODER7)) |
+                    (GPIO_MODER_MODER5_AF | GPIO_MODER_MODER6_AF | GPIO_MODER_MODER7_AF); /* (1) */
+    GPIOA->AFR[0] = (GPIOA->AFR[0] & (GPIO_AFRL_AFRL5 | GPIO_AFRL_AFRL6 | GPIO_AFRL_AFRL7)); /* (2) */
+    // Configure DMA SPI
+    /* Enable the peripheral clock DMA11 */
+    RCC->AHBENR |= RCC_AHBENR_DMA1EN;
+    /* DMA1 Channel2 SPI1_RX config */
+    /* (1) Peripheral address */
+    /* (2) Memory address */
+    /* (3) Data size */
+    /* (4) Memory increment */
+    /*     Peripheral to memory */
+    /*     8-bit transfer */
+    DMA1_Channel2->CPAR = (uint32_t)&(SPI1->DR); /* (1) */
+    DMA1_Channel2->CMAR = (uint32_t)inbuff; /* (2) */
+    DMA1_Channel2->CNDTR = SPIBUFSZ; /* (3) */
+    DMA1_Channel2->CCR |= DMA_CCR_MINC | DMA_CCR_EN; /* (4) */
+    /* DMA1 Channel3 SPI1_TX config */
+    /* (5) Peripheral address */
+    /* (6) Memory address */
+    /* (7) Memory increment */
+    /*     Memory to peripheral*/
+    /*     8-bit transfer */
+    /*     Transfer complete IT */
+    DMA1_Channel3->CPAR = (uint32_t)&(SPI1->DR); /* (5) */
+    DMA1_Channel3->CMAR = (uint32_t)outbuf; /* (6) */
+    DMA1_Channel3->CCR |= DMA_CCR_MINC | DMA_CCR_TCIE | DMA_CCR_DIR; /* (7) */
+    /* Configure IT */
+    /* (8) Set priority for DMA1_Channel2_3_IRQn */
+    /* (9) Enable DMA1_Channel2_3_IRQn */
+    NVIC_SetPriority(DMA1_Channel2_3_IRQn, 0); /* (8) */
+    NVIC_EnableIRQ(DMA1_Channel2_3_IRQn); /* (9) */
+    // configure SPI (transmit only)
+    /* Enable the peripheral clock SPI1 */
+    RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;
+    /* Configure SPI1 in master */
+    /* (1) Master selection, BR: Fpclk/256 CPOL and CPHA at zero (rising first edge) */
+    /* (2) TX and RX with DMA, slave select output enabled, 8-bit Rx fifo */
+    /* (3) Enable SPI1 */
+    SPI1->CR1 = SPI_CR1_MSTR | SPI_CR1_BR; /* (1) */
+    SPI1->CR2 = SPI_CR2_TXDMAEN | SPI_CR2_RXDMAEN | SPI_CR2_DS_2 | SPI_CR2_DS_1 | SPI_CR2_DS_0; /* (2) */
+    SPI1->CR1 |= SPI_CR1_SPE; /* (3) */
+    SPI_status = SPI_READY;
+}
+
+void dma1_channel2_3_isr(){
+    if(DMA1->ISR & DMA_ISR_TCIF3){
+        DMA1->IFCR |= DMA_IFCR_CTCIF3;
+        SPI_status = SPI_READY;
+#ifdef EBUG
+    SEND("rxCNDTR="); printu(DMA1_Channel2->CNDTR); SEND(", txCNDTR="); printu(DMA1_Channel3->CNDTR); newline(); sendbuf();
+#endif
+    }
+}
+
+/**
+ * @brief SPI_transmit - transmit data over SPI DMA
+ * @param buf - data to transmit
+ * @param len - its length
+ * @return 0 if all OK
+ */
+uint8_t SPI_transmit(const uint8_t *buf, uint8_t len){
+    if(!buf || !len || len > SPIBUFSZ) return 1; // bad data format
+    if(SPI_status != SPI_READY) return 2; // spi not ready to transmit data
+    DMA1_Channel3->CCR &=~ DMA_CCR_EN;
+    memcpy(outbuf, buf, len);
+    DMA1_Channel3->CNDTR = len;
+    SPI_status = SPI_BUSY;
+#ifdef EBUG
+    SEND("SPI tx "); printu(len); SEND(" bytes\n"); sendbuf();
+#endif
+    DMA1_Channel3->CCR |= DMA_CCR_EN;
+    return 0;
+}
+
+/*
+static uint8_t *SPI_receive(uint8_t *len){
+    if(!len || SPI_status != SPI_READY) return NULL;
+    *len =
+}*/
diff --git a/F0-nolib/CANbus_stepper/src/spi.h b/F0-nolib/CANbus_stepper/src/spi.h
new file mode 100644
index 0000000..f7c39a6
--- /dev/null
+++ b/F0-nolib/CANbus_stepper/src/spi.h
@@ -0,0 +1,38 @@
+/*
+ * This file is part of the Stepper project.
+ * Copyright 2020 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+#ifndef SPI_H__
+#define SPI_H__
+
+#include "stm32f0.h"
+
+#define SPIBUFSZ    64
+
+typedef enum{
+    SPI_NOTREADY,
+    SPI_READY,
+    SPI_BUSY
+} spiStatus;
+
+extern spiStatus SPI_status;
+
+void spi_setup();
+uint8_t SPI_transmit(const uint8_t *buf, uint8_t len);
+
+#endif // SPI_H__
diff --git a/F0-nolib/CANbus_stepper/src/steppers.c b/F0-nolib/CANbus_stepper/src/steppers.c
index 9a21a29..6e4b597 100644
--- a/F0-nolib/CANbus_stepper/src/steppers.c
+++ b/F0-nolib/CANbus_stepper/src/steppers.c
@@ -18,6 +18,7 @@
 #include "flash.h"
 #include "hardware.h"
 #include "proto.h"
+#include "spi.h"
 #include "steppers.h"
 
 static drv_type driver = DRV_NONE;
@@ -32,11 +33,6 @@ static const uint16_t maxusteps[] = {
     [DRV_2130] = 256
 };
 
-// amount of steps need for full acceleration/deceleration cycle
-#define ACCDECSTEPS (the_conf.accdecsteps)
-// amount of microsteps in each step
-#define USTEPS      (the_conf.microsteps)
-
 int32_t mot_position = -1;  // current position of motor (from zero endswitch, -1 means inactive)
 uint32_t steps_left = 0;    // amount of steps left
 stp_state state = STP_SLEEP;// current state of motor
@@ -44,6 +40,7 @@ stp_state state = STP_SLEEP;// current state of motor
 static uint16_t stplowarr, stphigharr, stpsteparr;
 static int8_t dir = 0; // moving direction: -1 (negative) or 1 (positive)
 
+#if 0
 /**
  * @brief checkDrv - test if driver connected
  */
@@ -109,17 +106,19 @@ static void checkDrv(){
 ret:
     DRV_DISABLE();
     EN_CFG_OUT(); // return OUT conf
-    SLEEP_OFF();
+    SLEEP_ON();
     SLP_CFG_OUT();
 #ifdef EBUG
     sendbuf();
 #endif
 }
-
+#endif
 static drv_type ini2130(){ // init 2130: SPI etc.
     if(driver != DRV_2130) return DRV_MAILF;
-    ;
-    return DRV_MAILF;
+    VIO_ON();
+    spi_setup();
+    CS_ACTIVE();
+    return DRV_2130;
 }
 
 static drv_type ini4988_8825(){ // init 4988 or 8825
@@ -135,7 +134,9 @@ static drv_type ini4988_8825(){ // init 4988 or 8825
         SEND("Configure microstepping first\n");
         return DRV_MAILF;
     }
+    if(driver == DRV_4988) VIO_ON();
     // init microstepping pins and set config
+    DRV_RESET_ON(); // reset counters
     UST01_CFG_PP();
     uint8_t PINS = 0;
     if(the_conf.microsteps == 16 && driver == DRV_4988) PINS = 7; // microstepping settings for 4988 in 1/16 differs from 8825
@@ -153,6 +154,8 @@ static drv_type ini4988_8825(){ // init 4988 or 8825
     timer_setup();
     // recalculate defaults
     stp_chspd();
+    DRV_RESET_OFF(); // normal mode
+    SLEEP_OFF();
     SEND("Init OK\n");
     return driver;
 }
@@ -162,6 +165,10 @@ static drv_type ini4988_8825(){ // init 4988 or 8825
  * @return driver type
  */
 drv_type initDriver(){
+    stp_stop();
+    DRV_DISABLE();
+    VIO_OFF();
+    SLEEP_ON();
     if(driver != DRV_NOTINIT){ // reset all settings
         MSG("clear GPIO & other setup\n");
         STEP_TIMER_OFF();
@@ -169,7 +176,8 @@ drv_type initDriver(){
         gpio_setup(); // reset pins control
     }
     driver = the_conf.driver_type;
-    checkDrv();
+    //checkDrv();
+    state = STP_SLEEP;
     if(driver > DRV_MAX-1) return (driver = DRV_NONE);
     MSG("init pins\n");
     switch(driver){
@@ -192,14 +200,55 @@ uint16_t getMaxUsteps(){
     return maxusteps[driver];
 }
 
+static const char *stpstates[] = {
+     [STP_SLEEP] = "Relax"
+    ,[STP_ACCEL] = "Accelerated"
+    ,[STP_MOVE] = "Moving"
+    ,[STP_MVSLOW] = "Slowmoving"
+    ,[STP_DECEL] = "Decelerated"
+    ,[STP_STOP] = "Stopping"
+    ,[STP_STOPZERO] = "Stop0"
+    ,[STP_MOVE0] = "Moveto0"
+    ,[STP_MOVE1] = "Moveto1"
+};
+const char *stp_getstate(){
+    return stpstates[state];
+}
+
+static const char *drvtypes[] = {
+     [DRV_NONE] = "Absent"
+    ,[DRV_NOTINIT] = "NotInit"
+    ,[DRV_MAILF] = "Mailfunction"
+    ,[DRV_8825] = "DRV8825"
+    ,[DRV_4988] = "A4988"
+    ,[DRV_2130] = "TMC2130"
+};
+const char *stp_getdrvtype(){
+    return drvtypes[driver];
+}
+
 void stp_chspd(){
-    int i;
-    for(i = 0; i < 2; ++i){
-        uint16_t spd = the_conf.motspd;
-        stplowarr = spd;
-        stphigharr = spd * LOWEST_SPEED_DIV;
-        stpsteparr = (spd * (LOWEST_SPEED_DIV - 1)) / ((uint16_t)ACCDECSTEPS) + 1;
+    uint32_t arrval = DEFTICKSPERSEC / the_conf.motspd;
+    arrval /= the_conf.microsteps;
+    if(arrval > 0xffff){
+        SEND("The speed is too little for this microstepping settings, set min available\n");
+        arrval = 0xffff;
+    }else if(arrval < TIM15ARRMIN){
+        SEND("The speed is too big for this microstepping settings, set max available\n");
+        arrval = TIM15ARRMIN;
     }
+    stplowarr = (uint16_t)arrval;
+    arrval *= LOW_SPEED_DIVISOR;
+    if(arrval > 0xffff) arrval = 0xffff;
+    stphigharr = (uint16_t)arrval;
+    stpsteparr = (stphigharr - stplowarr) / ((uint16_t)the_conf.accdecsteps);
+    if(stpsteparr < 1) stpsteparr = 1;
+#ifdef EBUG
+    SEND("stplowarr="); printu(stplowarr);
+    SEND("\nstphigharr="); printu(stphigharr);
+    SEND("\nstpsteparr="); printu(stpsteparr);
+    newline();
+#endif
 }
 
 // check end-switches for stepper motors
@@ -221,8 +270,10 @@ void stp_process(){
         case STP_MVSLOW:
             if((esw&1) && dir == -1){ // move through ESW0
                 state = STP_STOPZERO; // stop @ end-switch
+                MSG("ESW0 active\n");
             }else if((esw&8) && dir ==  1){ // move through ESW3
                 state = STP_STOP; // stop @ ESW3
+                MSG("ESW3 active\n");
             }
         break;
         default: // stopping states - do nothing
@@ -233,17 +284,26 @@ void stp_process(){
 // move motor to `steps` steps, @return 0 if all OK
 stp_status stp_move(int32_t steps){
     if(state != STP_SLEEP && state != STP_MOVE0 && state != STP_MOVE1) return STPS_ACTIVE;
-    if(steps == 0)
+    if(steps == 0){
+        MSG("Zero move\n");
         return STPS_ZEROMOVE;
-    if(the_conf.maxsteps && steps > (int32_t)the_conf.maxsteps) return STPS_TOOBIG;
+    }
+    if(the_conf.maxsteps && steps > (int32_t)the_conf.maxsteps){
+        MSG("Too much steps\n");
+        return STPS_TOOBIG;
+    }
     int8_t d;
     if(steps < 0){
+        MSG("Negative direction\n");
         d = -1;
         steps = -steps;
     }else d = 1; // positive direction
     // check end-switches
     uint8_t esw = ESW_STATE();
-    if(((esw&1) && d == -1) || ((esw&8) && d == 1)) return STPS_ONESW; // can't move through esw
+    if(((esw&1) && d == -1) || ((esw&8) && d == 1)){
+        MSG("Stay @esw\n");
+        return STPS_ONESW; // can't move through esw
+    }
     dir = d;
     // change value of DIR pin
     if(the_conf.defflags.reverse){
@@ -264,14 +324,16 @@ stp_status stp_move(int32_t steps){
     TIMx->ARR = stphigharr;
     TIMx->CCMR1 = TIM_CCMR1_OC2M_2 | TIM_CCMR1_OC2M_1; // PWM mode 1: active->inacive, preload enable
     TIMx->CR1 |= TIM_CR1_CEN;
-    if(steps < ACCDECSTEPS*2) state = STP_MVSLOW; // move without acceleration
+    if(steps < the_conf.accdecsteps*2) state = STP_MVSLOW; // move without acceleration
     else state = STP_ACCEL; // move with acceleration
+    MSG("Start moving\n");
     return STPS_ALLOK;
 }
 
 // change ARR value
 void stp_chARR(uint32_t val){
-    if(val < 2) val = 2;
+    if(val < TIM15ARRMIN) val = TIM15ARRMIN;
+    else if(val > 0xffff) val = 0xffff;
     TIMx->ARR = (uint32_t)val;
 }
 
@@ -292,51 +354,67 @@ void stp_stop(){ // stop motor by demand or @ end-switch
 void timer_isr(){
     static uint16_t ustep = 0;
     uint16_t tmp, arrval;
-    if(USTEPS == ++ustep){ // prevent stop @ not full step
+    TIMx->SR = 0;
+    if(the_conf.microsteps == ++ustep){ // prevent stop @ not full step
         ustep = 0;
-        if(state == STP_STOPZERO)
+        if(state == STP_STOPZERO){
+            MSG("Stop @zero\n");
             mot_position = 0;
-        else{
-            if(0 == --steps_left) state = STP_STOP;
+        }else{
+            if(0 == --steps_left){
+                MSG("End moving\n");
+                state = STP_STOP;
+            }
             mot_position += dir;
         }
+        //SEND("Left ");printu(steps_left); newline(); sendbuf();
     }else return;
+    //SEND("state="); printu(state); newline(); sendbuf();
     switch(state){
         case STP_ACCEL: // acceleration phase
+            //SEND("ACC"); newline(); sendbuf();
             arrval = (uint16_t)TIMx->ARR - stpsteparr;
             tmp = stplowarr;
             if(arrval <= tmp || arrval > stphigharr){
                 arrval = tmp;
                 state = STP_MOVE; // end of acceleration phase
+                MSG("Accel end\n");
             }
             TIMx->ARR = arrval;
         break;
         case STP_DECEL: // deceleration phase
+            //SEND("DEC"); newline(); sendbuf();
             arrval = (uint16_t)TIMx->ARR + stpsteparr;
             tmp = stphigharr;
             if(arrval >= tmp || arrval < stplowarr){
                 arrval = tmp;
                 state = STP_MVSLOW; // end of deceleration phase, move @ lowest speed
+                MSG("Decel end\n");
             }
             TIMx->ARR = arrval;
         break;
         case STP_MOVE:   // moving with constant speed phases
-            if(steps_left <= ACCDECSTEPS){
+            //SEND("MOVE"); newline(); sendbuf();
+            if(steps_left <= the_conf.accdecsteps){
+                MSG("Decel start\n");
                 state = STP_DECEL; // change moving status to decelerate
             }
         break;
         case STP_MVSLOW:
+            //SEND("MVSLOW"); newline(); sendbuf();
             // nothing to do here: all done before switch()
         break;
         default: // STP_STOP, STP_STOPZERO
+            //SEND("DEFAULT"); newline(); sendbuf();
             ustep = 0;
-            TIMx->CCMR1 = TIM_CCMR1_OC1M_2; // Force inactive
+            TIMx->CCMR1 = TIM_CCMR1_OC2M_2; // Force inactive
             TIMx->CR1 &= ~TIM_CR1_CEN; // stop timer
             DRV_DISABLE();
+            CLEAR_DIR();
             dir = 0;
             steps_left = 0;
             state = STP_SLEEP;
+            MSG("Stop motor\n");
         break;
     }
-    TIMx->SR = 0;
 }
diff --git a/F0-nolib/CANbus_stepper/src/steppers.h b/F0-nolib/CANbus_stepper/src/steppers.h
index 9635696..70606e4 100644
--- a/F0-nolib/CANbus_stepper/src/steppers.h
+++ b/F0-nolib/CANbus_stepper/src/steppers.h
@@ -21,10 +21,20 @@
 
 #include <stm32f0.h>
 
-// the lowest speed equal to [max speed] / LOWEST_SPEED_DIV
-#define LOWEST_SPEED_DIV    30
+// TIM15->PSC for 4MHz (48MHz/(PSC+1))
+#define TIM15PSC            47
+// TIM15->CCR2: 20us for pulse duration, according to datasheet 1.9us is enough
+#define TIM15CCR2           20
+// TIM15->ARR minimum value
+#define TIM15ARRMIN         (2*TIM15CCR2)
+// timer settings give DEFTICKSPERSEC ticks per second
+#define DEFTICKSPERSEC      (48000000/(TIM15PSC+1))
+// max speed (steps per second)
+#define MAX_SPEED           10000
+// The lowest speed @acceleration (= current speed / LOW_SPEED_DIVISOR)
+#define LOW_SPEED_DIVISOR   30
 // min/max value of ACCDECSTEPS
-#define ACCDECSTEPS_MIN     30
+#define ACCDECSTEPS_MIN     1
 #define ACCDECSTEPS_MAX     2000
 
 typedef enum{
@@ -59,14 +69,18 @@ typedef enum{
 } stp_status;
 
 extern int32_t mot_position;
+#define stppos()    (mot_position)
 extern uint32_t steps_left;
+#define stpleft()   (steps_left)
 extern stp_state state;
-#define stp_getstate()  (state)
+#define stpstate()  (state)
 
 drv_type initDriver();
 drv_type getDrvType();
 uint16_t getMaxUsteps();
 
+const char *stp_getstate();
+const char *stp_getdrvtype();
 void stp_chspd();
 stp_status stp_move(int32_t steps);
 void stp_stop();