some code fixes, start to draw new schematic

F0:F030,F042,F072/CANbus_stepper/kicad/stm32.kicad_prl

@@ -3,10 +3,12 @@
     "active_layer": 0,
     "active_layer_preset": "",
     "auto_track_width": true,
+    "hidden_netclasses": [],
     "hidden_nets": [],
     "high_contrast_mode": 0,
     "net_color_mode": 1,
     "opacity": {
+      "images": 0.6,
       "pads": 1.0,
       "tracks": 1.0,
       "vias": 1.0,
@@ -63,7 +65,13 @@
       36
     ],
     "visible_layers": "fffffff_ffffffff",
-    "zone_display_mode": 0
+    "zone_display_mode": 1
+  },
+  "git": {
+    "repo_password": "",
+    "repo_type": "",
+    "repo_username": "",
+    "ssh_key": ""
   },
   "meta": {
     "filename": "stm32.kicad_prl",
@@ -71,5 +79,18 @@
   },
   "project": {
     "files": []
+  },
+  "schematic": {
+    "selection_filter": {
+      "graphics": true,
+      "images": true,
+      "labels": true,
+      "lockedItems": false,
+      "otherItems": true,
+      "pins": true,
+      "symbols": true,
+      "text": true,
+      "wires": true
+    }
   }
 }

F0:F030,F042,F072/CANbus_stepper/kicad/stm32.kicad_pro

@@ -1,64 +1,222 @@
 {
   "board": {
+    "3dviewports": [],
     "design_settings": {
       "defaults": {
+        "apply_defaults_to_fp_fields": false,
+        "apply_defaults_to_fp_shapes": false,
+        "apply_defaults_to_fp_text": false,
         "board_outline_line_width": 0.15,
         "copper_line_width": 0.2,
         "copper_text_italic": false,
         "copper_text_size_h": 1.5,
         "copper_text_size_v": 1.5,
         "copper_text_thickness": 0.3,
-        "copper_text_upright": true,
+        "copper_text_upright": false,
         "courtyard_line_width": 0.05,
-        "other_line_width": 0.15,
+        "dimension_precision": 4,
+        "dimension_units": 3,
+        "dimensions": {
+          "arrow_length": 1270000,
+          "extension_offset": 500000,
+          "keep_text_aligned": true,
+          "suppress_zeroes": false,
+          "text_position": 0,
+          "units_format": 1
+        },
+        "fab_line_width": 0.1,
+        "fab_text_italic": false,
+        "fab_text_size_h": 1.0,
+        "fab_text_size_v": 1.0,
+        "fab_text_thickness": 0.15,
+        "fab_text_upright": false,
+        "other_line_width": 0.1,
         "other_text_italic": false,
         "other_text_size_h": 1.0,
         "other_text_size_v": 1.0,
         "other_text_thickness": 0.15,
-        "other_text_upright": true,
+        "other_text_upright": false,
+        "pads": {
+          "drill": 0.8,
+          "height": 1.5,
+          "width": 1.5
+        },
         "silk_line_width": 0.15,
         "silk_text_italic": false,
         "silk_text_size_h": 1.0,
         "silk_text_size_v": 1.0,
         "silk_text_thickness": 0.15,
-        "silk_text_upright": true
+        "silk_text_upright": false,
-      },
+        "zones": {
-      "diff_pair_dimensions": [
+          "min_clearance": 0.5
-        {
-          "gap": 0.25,
-          "via_gap": 0.25,
-          "width": 0.2
         }
-      ],
+      },
+      "diff_pair_dimensions": [],
       "drc_exclusions": [],
+      "meta": {
+        "filename": "board_design_settings.json",
+        "version": 2
+      },
+      "rule_severities": {
+        "annular_width": "error",
+        "clearance": "error",
+        "connection_width": "warning",
+        "copper_edge_clearance": "error",
+        "copper_sliver": "warning",
+        "courtyards_overlap": "error",
+        "diff_pair_gap_out_of_range": "error",
+        "diff_pair_uncoupled_length_too_long": "error",
+        "drill_out_of_range": "error",
+        "duplicate_footprints": "warning",
+        "extra_footprint": "warning",
+        "footprint": "error",
+        "footprint_symbol_mismatch": "warning",
+        "footprint_type_mismatch": "ignore",
+        "hole_clearance": "error",
+        "hole_near_hole": "error",
+        "invalid_outline": "error",
+        "isolated_copper": "warning",
+        "item_on_disabled_layer": "error",
+        "items_not_allowed": "error",
+        "length_out_of_range": "error",
+        "lib_footprint_issues": "warning",
+        "lib_footprint_mismatch": "warning",
+        "malformed_courtyard": "error",
+        "microvia_drill_out_of_range": "error",
+        "missing_courtyard": "ignore",
+        "missing_footprint": "warning",
+        "net_conflict": "warning",
+        "npth_inside_courtyard": "ignore",
+        "padstack": "warning",
+        "pth_inside_courtyard": "ignore",
+        "shorting_items": "error",
+        "silk_edge_clearance": "warning",
+        "silk_over_copper": "warning",
+        "silk_overlap": "warning",
+        "skew_out_of_range": "error",
+        "solder_mask_bridge": "error",
+        "starved_thermal": "error",
+        "text_height": "warning",
+        "text_thickness": "warning",
+        "through_hole_pad_without_hole": "error",
+        "too_many_vias": "error",
+        "track_dangling": "warning",
+        "track_width": "error",
+        "tracks_crossing": "error",
+        "unconnected_items": "error",
+        "unresolved_variable": "error",
+        "via_dangling": "warning",
+        "zones_intersect": "error"
+      },
       "rule_severitieslegacy_courtyards_overlap": true,
       "rule_severitieslegacy_no_courtyard_defined": false,
       "rules": {
         "allow_blind_buried_vias": false,
         "allow_microvias": false,
+        "max_error": 0.005,
+        "min_clearance": 0.0,
+        "min_connection": 0.0,
+        "min_copper_edge_clearance": 0.075,
+        "min_hole_clearance": 0.25,
         "min_hole_to_hole": 0.25,
         "min_microvia_diameter": 0.2,
-        "min_microvia_drill": 0.09999999999999999,
+        "min_microvia_drill": 0.1,
+        "min_resolved_spokes": 2,
+        "min_silk_clearance": 0.0,
+        "min_text_height": 0.8,
+        "min_text_thickness": 0.08,
         "min_through_hole_diameter": 0.5,
         "min_track_width": 0.2,
-        "min_via_diameter": 0.7999999999999999,
+        "min_via_annular_width": 0.1,
+        "min_via_diameter": 0.8,
         "solder_mask_clearance": 0.2,
         "solder_mask_min_width": 0.0,
+        "solder_mask_to_copper_clearance": 0.0,
         "solder_paste_clearance": 0.0,
-        "solder_paste_margin_ratio": -0.0
+        "solder_paste_margin_ratio": -0.0,
+        "use_height_for_length_calcs": true
       },
+      "teardrop_options": [
+        {
+          "td_onpadsmd": true,
+          "td_onroundshapesonly": false,
+          "td_ontrackend": false,
+          "td_onviapad": true
+        }
+      ],
+      "teardrop_parameters": [
+        {
+          "td_allow_use_two_tracks": true,
+          "td_curve_segcount": 0,
+          "td_height_ratio": 1.0,
+          "td_length_ratio": 0.5,
+          "td_maxheight": 2.0,
+          "td_maxlen": 1.0,
+          "td_on_pad_in_zone": false,
+          "td_target_name": "td_round_shape",
+          "td_width_to_size_filter_ratio": 0.9
+        },
+        {
+          "td_allow_use_two_tracks": true,
+          "td_curve_segcount": 0,
+          "td_height_ratio": 1.0,
+          "td_length_ratio": 0.5,
+          "td_maxheight": 2.0,
+          "td_maxlen": 1.0,
+          "td_on_pad_in_zone": false,
+          "td_target_name": "td_rect_shape",
+          "td_width_to_size_filter_ratio": 0.9
+        },
+        {
+          "td_allow_use_two_tracks": true,
+          "td_curve_segcount": 0,
+          "td_height_ratio": 1.0,
+          "td_length_ratio": 0.5,
+          "td_maxheight": 2.0,
+          "td_maxlen": 1.0,
+          "td_on_pad_in_zone": false,
+          "td_target_name": "td_track_end",
+          "td_width_to_size_filter_ratio": 0.9
+        }
+      ],
       "track_widths": [
-        0.2,
+        0.0,
         0.2,
         0.3,
         0.5,
         1.0,
         2.0
       ],
+      "tuning_pattern_settings": {
+        "diff_pair_defaults": {
+          "corner_radius_percentage": 80,
+          "corner_style": 1,
+          "max_amplitude": 1.0,
+          "min_amplitude": 0.2,
+          "single_sided": false,
+          "spacing": 1.0
+        },
+        "diff_pair_skew_defaults": {
+          "corner_radius_percentage": 80,
+          "corner_style": 1,
+          "max_amplitude": 1.0,
+          "min_amplitude": 0.2,
+          "single_sided": false,
+          "spacing": 0.6
+        },
+        "single_track_defaults": {
+          "corner_radius_percentage": 80,
+          "corner_style": 1,
+          "max_amplitude": 1.0,
+          "min_amplitude": 0.2,
+          "single_sided": false,
+          "spacing": 0.6
+        }
+      },
       "via_dimensions": [
         {
-          "diameter": 1.0,
+          "diameter": 0.0,
-          "drill": 0.6
+          "drill": 0.0
         },
         {
           "diameter": 1.0,
@@ -68,9 +226,18 @@
           "diameter": 1.5,
           "drill": 0.8
         }
-      ]
+      ],
+      "zones_allow_external_fillets": false
     },
-    "layer_presets": []
+    "ipc2581": {
+      "dist": "",
+      "distpn": "",
+      "internal_id": "",
+      "mfg": "",
+      "mpn": ""
+    },
+    "layer_presets": [],
+    "viewports": []
   },
   "boards": [],
   "cvpcb": {
@@ -257,15 +424,23 @@
       "bus_label_syntax": "error",
       "bus_to_bus_conflict": "error",
       "bus_to_net_conflict": "error",
+      "conflicting_netclasses": "error",
       "different_unit_footprint": "error",
       "different_unit_net": "error",
       "duplicate_reference": "error",
       "duplicate_sheet_names": "error",
+      "endpoint_off_grid": "warning",
       "extra_units": "error",
+      "footprint_link_issues": "warning",
       "global_label_dangling": "warning",
       "hier_label_mismatch": "error",
       "label_dangling": "error",
       "lib_symbol_issues": "warning",
+      "lib_symbol_mismatch": "warning",
+      "missing_bidi_pin": "warning",
+      "missing_input_pin": "warning",
+      "missing_power_pin": "error",
+      "missing_unit": "warning",
       "multiple_net_names": "warning",
       "net_not_bus_member": "warning",
       "no_connect_connected": "warning",
@@ -275,6 +450,7 @@
       "pin_to_pin": "warning",
       "power_pin_not_driven": "error",
       "similar_labels": "warning",
+      "simulation_model_issue": "ignore",
       "unannotated": "error",
       "unit_value_mismatch": "error",
       "unresolved_variable": "error",
@@ -292,7 +468,7 @@
   "net_settings": {
     "classes": [
       {
-        "bus_width": 12.0,
+        "bus_width": 12,
         "clearance": 0.2,
         "diff_pair_gap": 0.25,
         "diff_pair_via_gap": 0.25,
@@ -303,31 +479,375 @@
         "name": "Default",
         "pcb_color": "rgba(0, 0, 0, 0.000)",
         "schematic_color": "rgba(0, 0, 0, 0.000)",
-        "track_width": 0.25,
+        "track_width": 0.2,
-        "via_diameter": 0.8,
+        "via_diameter": 1.0,
-        "via_drill": 0.4,
+        "via_drill": 0.6,
-        "wire_width": 6.0
+        "wire_width": 6
+      },
+      {
+        "bus_width": 12,
+        "clearance": 0.3,
+        "diff_pair_gap": 0.25,
+        "diff_pair_via_gap": 0.25,
+        "diff_pair_width": 0.2,
+        "line_style": 0,
+        "microvia_diameter": 0.3,
+        "microvia_drill": 0.1,
+        "name": "0.5",
+        "pcb_color": "rgba(0, 0, 0, 0.000)",
+        "schematic_color": "rgba(0, 0, 0, 0.000)",
+        "track_width": 0.5,
+        "via_diameter": 1.0,
+        "via_drill": 0.6,
+        "wire_width": 6
+      },
+      {
+        "bus_width": 12,
+        "clearance": 0.5,
+        "diff_pair_gap": 0.25,
+        "diff_pair_via_gap": 0.25,
+        "diff_pair_width": 0.2,
+        "line_style": 0,
+        "microvia_diameter": 0.3,
+        "microvia_drill": 0.1,
+        "name": "1",
+        "pcb_color": "rgba(0, 0, 0, 0.000)",
+        "schematic_color": "rgba(0, 0, 0, 0.000)",
+        "track_width": 1.0,
+        "via_diameter": 1.5,
+        "via_drill": 0.8,
+        "wire_width": 6
       }
     ],
     "meta": {
-      "version": 2
+      "version": 3
     },
-    "net_colors": null
+    "net_colors": null,
+    "netclass_assignments": null,
+    "netclass_patterns": [
+      {
+        "netclass": "Default",
+        "pattern": "+3V3"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "+5V"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "/5Vin"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "/5Vusb"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "/AIN0"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "/AIN1"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "/BOOT0"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "/CAN_Rx"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "/CAN_Tx"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "/DIR"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "/ESW0"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "/ESW1"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "/ESW2"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "/ESW3"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "/MISO"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "/MOSI"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "/NRST"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "/Rx"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "/SCK"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "/STEP"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "/SWCLK"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "/SWDIO"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "/Tx"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "/Tx|Rx"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "/VIO_on"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "/brdaddr0"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "/brdaddr1"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "/brdaddr2"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "/brdaddr3"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "/~{CS}"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "/~{EN}"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "/~{FAULT}"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "/~{SLEEP}"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "GND"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "Net-(D4-Pad1)"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "Net-(D4-Pad2)"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "Net-(D5-Pad2)"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "Net-(D6-Pad2)"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "Net-(D6-Pad3)"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "Net-(D6-Pad6)"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "Net-(D6-Pad7)"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "Net-(F1-Pad1)"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "Net-(F1-Pad2)"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "Net-(J1-Pad1)"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "Net-(J1-Pad2)"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "Net-(J12-Pad1)"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "Net-(J12-Pad2)"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "Net-(J13-Pad6)"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "Net-(J2-Pad1)"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "Net-(J2-Pad2)"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "Net-(J5-Pad1)"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "Net-(J7-Pad1)"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "Net-(J7-Pad2)"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "Net-(J8-Pad1)"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "Net-(J8-Pad2)"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "Net-(Q1-Pad1)"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "Net-(R11-Pad2)"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "Net-(R12-Pad2)"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "Net-(R4-Pad1)"
+      },
+      {
+        "netclass": "Default",
+        "pattern": "Net-(R9-Pad1)"
+      },
+      {
+        "netclass": "0.5",
+        "pattern": "/12Vin"
+      }
+    ]
   },
   "pcbnew": {
     "last_paths": {
       "gencad": "",
       "idf": "",
       "netlist": "stm32.net",
+      "plot": "",
+      "pos_files": "",
       "specctra_dsn": "",
       "step": "",
+      "svg": "",
       "vrml": ""
     },
     "page_layout_descr_file": ""
   },
   "schematic": {
     "annotate_start_num": 0,
+    "bom_fmt_presets": [],
+    "bom_fmt_settings": {
+      "field_delimiter": ",",
+      "keep_line_breaks": false,
+      "keep_tabs": false,
+      "name": "CSV",
+      "ref_delimiter": ",",
+      "ref_range_delimiter": "",
+      "string_delimiter": "\""
+    },
+    "bom_presets": [],
+    "bom_settings": {
+      "exclude_dnp": false,
+      "fields_ordered": [
+        {
+          "group_by": false,
+          "label": "Reference",
+          "name": "Reference",
+          "show": true
+        },
+        {
+          "group_by": true,
+          "label": "Value",
+          "name": "Value",
+          "show": true
+        },
+        {
+          "group_by": false,
+          "label": "Datasheet",
+          "name": "Datasheet",
+          "show": true
+        },
+        {
+          "group_by": false,
+          "label": "Footprint",
+          "name": "Footprint",
+          "show": true
+        },
+        {
+          "group_by": false,
+          "label": "Qty",
+          "name": "${QUANTITY}",
+          "show": true
+        },
+        {
+          "group_by": true,
+          "label": "DNP",
+          "name": "${DNP}",
+          "show": true
+        }
+      ],
+      "filter_string": "",
+      "group_symbols": true,
+      "name": "Grouped By Value",
+      "sort_asc": true,
+      "sort_field": "Reference"
+    },
+    "connection_grid_size": 50.0,
     "drawing": {
+      "dashed_lines_dash_length_ratio": 12.0,
+      "dashed_lines_gap_length_ratio": 3.0,
       "default_line_thickness": 6.0,
       "default_text_size": 50.0,
       "field_names": [],
@@ -338,6 +858,11 @@
       "intersheets_ref_suffix": "",
       "junction_size_choice": 3,
       "label_size_ratio": 0.25,
+      "operating_point_overlay_i_precision": 3,
+      "operating_point_overlay_i_range": "~A",
+      "operating_point_overlay_v_precision": 3,
+      "operating_point_overlay_v_range": "~V",
+      "overbar_offset_ratio": 1.23,
       "pin_symbol_size": 0.0,
       "text_offset_ratio": 0.08
     },
@@ -359,14 +884,19 @@
     "page_layout_descr_file": "",
     "plot_directory": "",
     "spice_adjust_passive_values": false,
+    "spice_current_sheet_as_root": false,
     "spice_external_command": "spice \"%I\"",
+    "spice_model_current_sheet_as_root": true,
+    "spice_save_all_currents": false,
+    "spice_save_all_dissipations": false,
+    "spice_save_all_voltages": false,
     "subpart_first_id": 49,
     "subpart_id_separator": 46
   },
   "sheets": [
     [
       "99e5cbe8-ca46-48a4-a6fc-cabce62e3612",
-      ""
+      "Root"
     ]
   ],
   "text_variables": {}

F3:F303/CANbus4BTA/canbus4bta.creator.user

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 12.0.2, 2024-03-07T19:39:35. -->
+<!-- Written by QtCreator 12.0.2, 2024-03-18T00:40:28. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>

F3:F303/CANbus4BTA/commonfunctions.c

@@ -133,6 +133,11 @@ static errcodes initspi2(CAN_message _U_ *msg){
     spi_setup(2);
     return ERR_OK;
 }
+// deinit SPI2
+static errcodes deinitspi2(CAN_message _U_ *msg){
+    spi_deinit(2);
+    return ERR_OK;
+}
 // send/read 1..4 bytes
 static errcodes sendspi2(CAN_message *msg){
     int n = msg->length - 4;
@@ -175,6 +180,7 @@ static errcodes flagsetget(CAN_message *msg){
     uint8_t bit = 32;
     switch(idx){
         case CMD_ENCISSSI: bit = FLAGBIT(ENC_IS_SSI); break;
+        case CMD_EMULPEP: bit = FLAGBIT(EMULATE_PEP); break;
         default: break;
     }
     if(bit > 31) return ERR_CANTRUN; // unknown error
@@ -220,6 +226,7 @@ static const commonfunction funclist[CMD_AMOUNT] = {
     [CMD_EMULPEP] = {flagsetget, 0, 0, 0},
     [CMD_ENCREINIT] = {encreinit, 0, 0, 0},
     [CMD_TIMESTAMP] = {timestamp_getset, 0, 0xffffff, 0},
+    [CMD_SPIDEINIT] = {deinitspi2, 0, 0, 0},
 };
 
 

F3:F303/CANbus4BTA/encoder.c

@@ -38,9 +38,24 @@ void encoder_setup(){
 // read encoder value into buffer `outbuf`
 // return TRUE if all OK
 int read_encoder(uint8_t outbuf[4]){
-    if(!FLAG(ENC_IS_SSI)) return FALSE;
     *((uint32_t*)outbuf) = 0;
-    return spi_writeread(ENCODER_SPI, outbuf, 4);
+    if(FLAG(ENC_IS_SSI)){
+        int r = spi_read(ENCODER_SPI, outbuf, 4);
+        return r;
+    }
+    usart_rstbuf();
+    // just send some trash over USART1 if encoder is RS-422
+    usart_send("teststring\n");
+    char *x;
+    uint32_t Tl = Tms;
+    while(Tms - Tl < 10){
+        int l = usart_getline(&x);
+        if(l){
+            for(int i = 0; i < l && i < 4; ++i) outbuf[i] = x[i];
+            return TRUE;
+        }
+    }
+    return FALSE;
 }
 
 // send encoder data
@@ -57,7 +72,6 @@ void CANsendEnc(){
 // send limit-switches data
 void CANsendLim(){
     CAN_message msg = {.data = {0}, .ID = the_conf.limitsID, .length = 8};
-    msg.data[2] = getESW(0);
+    msg.data[2] = getESW(1);
-    msg.data[3] = getESW(1);
     CAN_send(&msg);
 }

F3:F303/CANbus4BTA/kicad/optocouple.kicad_sch

@@ -4,6 +4,11 @@
 	(generator_version "8.99")
 	(uuid "c774fcd8-2321-49e3-82b6-f080291ee83c")
 	(paper "A4")
+	(title_block
+		(date "2024-03-18")
+		(company "SAO RAS")
+		(comment 1 "Instead of PEP controller")
+	)
 	(lib_symbols
 		(symbol "Device:R"
 			(pin_numbers hide)
@@ -518,7 +523,7 @@
 				(justify left)
 			)
 		)
-		(property "Value" "360"
+		(property "Value" "3k3"
 			(at 109.093 51.943 90)
 			(effects
 				(font
@@ -527,7 +532,7 @@
 				(justify left)
 			)
 		)
-		(property "Footprint" "Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder"
+		(property "Footprint" "Resistor_SMD:R_2010_5025Metric_Pad1.40x2.65mm_HandSolder"
 			(at 107.442 50.419 90)
 			(effects
 				(font

F3:F303/CANbus4BTA/kicad/stm32.kicad_prl

@@ -65,7 +65,7 @@
       36
     ],
     "visible_layers": "fffffff_ffffffff",
-    "zone_display_mode": 0
+    "zone_display_mode": 1
   },
   "git": {
     "repo_password": "",

F3:F303/CANbus4BTA/kicad/stm32.kicad_pro

@@ -565,11 +565,29 @@
           "label": "DNP",
           "name": "${DNP}",
           "show": true
+        },
+        {
+          "group_by": false,
+          "label": "#",
+          "name": "${ITEM_NUMBER}",
+          "show": false
+        },
+        {
+          "group_by": false,
+          "label": "Manufacturer",
+          "name": "Manufacturer",
+          "show": false
+        },
+        {
+          "group_by": false,
+          "label": "Description",
+          "name": "Description",
+          "show": false
         }
       ],
       "filter_string": "",
       "group_symbols": true,
-      "name": "Grouped By Value",
+      "name": "",
       "sort_asc": true,
       "sort_field": "Reference"
     },
@@ -619,8 +637,8 @@
     "spice_save_all_currents": false,
     "spice_save_all_dissipations": false,
     "spice_save_all_voltages": false,
-    "subpart_first_id": 65,
+    "subpart_first_id": 49,
-    "subpart_id_separator": 0
+    "subpart_id_separator": 46
   },
   "sheets": [
     [

F3:F303/CANbus4BTA/proto.h

@@ -72,6 +72,7 @@ typedef enum{
     CMD_EMULPEP,    // 19 - emulate (1) / not (0) PEP
     CMD_ENCREINIT,  // 20 - reinit encoder
     CMD_TIMESTAMP,  // 21 - 2mks 24-bit timestamp
+    CMD_SPIDEINIT,  // 22 - turn off SPI2
     CMD_AMOUNT      // amount of CAN commands
 } can_cmd;
 

F3:F303/CANbus4BTA/spi.c

@@ -81,10 +81,17 @@ void spi_setup(uint8_t idx){
     // DS=8bit; RXNE generates after 8bit of data in FIFO;
     SPI->CR2 |= SPI_CR2_FRXTH | SPI_CR2_DS_2|SPI_CR2_DS_1|SPI_CR2_DS_0;
     spi_status[idx] = SPI_READY;
-    SPI->CR1 |= SPI_CR1_SPE;
+    if(idx == 2) SPI->CR1 |= SPI_CR1_SPE; // turn on SPI1 only when reading data
     DBG("SPI works");
 }
 
+void spi_onoff(uint8_t idx, uint8_t on){
+    CHKIDX(idx);
+    volatile SPI_TypeDef *SPI = SPIs[idx];
+    if(on) SPI->CR1 |= SPI_CR1_SPE;
+    else SPI->CR1 &= ~SPI_CR1_SPE;
+}
+
 // turn off given SPI channel and release GPIO
 void spi_deinit(uint8_t idx){
     CHKIDX(idx);
@@ -100,6 +107,7 @@ void spi_deinit(uint8_t idx){
         GPIOB->AFR[1] = GPIOB->AFR[1] & ~(GPIO_AFRH_AFRH4 | GPIO_AFRH_AFRH5 | GPIO_AFRH_AFRH6 | GPIO_AFRH_AFRH7);
         GPIOB->MODER = GPIOB->MODER & ~(GPIO_MODER_MODER12 | GPIO_MODER_MODER13 | GPIO_MODER_MODER14 | GPIO_MODER_MODER15);
     }
+    spi_status[idx] = SPI_NOTREADY;
 }
 
 int spi_waitbsy(uint8_t idx){
@@ -120,6 +128,8 @@ int spi_writeread(uint8_t idx, uint8_t *data, uint32_t n){
         DBG("not ready");
         return 0;
     }
+    // clear SPI Rx FIFO
+    for(int i = 0; i < 4; ++i) (void) SPI2->DR;
     for(uint32_t x = 0; x < n; ++x){
         WAITX(!(SPIs[idx]->SR & SPI_SR_TXE));
         *((volatile uint8_t*)&SPIs[idx]->DR) = data[x];
@@ -129,6 +139,26 @@ int spi_writeread(uint8_t idx, uint8_t *data, uint32_t n){
     return 1;
 }
 
+// read data through SPI in read-only mode
+int spi_read(uint8_t idx, uint8_t *data, uint32_t n){
+    CHKIDXR(idx);
+    if(spi_status[idx] != SPI_READY || !data || !n){
+        DBG("not ready");
+        return 0;
+    }
+    // clear SPI Rx FIFO
+    for(int i = 0; i < 4; ++i) (void) SPI2->DR;
+    spi_onoff(idx, TRUE);
+    for(uint32_t x = 0; x < n; ++x){
+        if(x == n - 1) SPIs[idx]->CR1 &= ~SPI_CR1_RXONLY;
+        WAITX(!(SPIs[idx]->SR & SPI_SR_RXNE));
+        data[x] = *((volatile uint8_t*)&SPIs[idx]->DR);
+    }
+    spi_onoff(idx, FALSE);
+    SPIs[idx]->CR1 |= SPI_CR1_RXONLY;
+    return 1;
+}
+
 /**
  * @brief spi_send_dma - send data over SPI2 through DMA (used both for writing and reading)
  * @param data - data to read

F3:F303/CANbus4BTA/spi.h

@@ -29,10 +29,12 @@ typedef enum{
 
 extern spiStatus spi_status[AMOUNT_OF_SPI+1];
 
+void spi_onoff(uint8_t idx, uint8_t on);
 void spi_deinit(uint8_t idx);
 void spi_setup(uint8_t idx);
 int spi_waitbsy(uint8_t idx);
 int spi_writeread(uint8_t idx, uint8_t *data, uint32_t n);
+int spi_read(uint8_t idx, uint8_t *data, uint32_t n);
 //int spi_write_dma(const uint8_t *data, uint8_t *rxbuf, uint32_t n);
 //int spi_read(uint8_t idx, uint8_t *data, uint32_t n);
 //uint8_t *spi_read_dma(uint32_t *n);

F3:F303/CANbus4BTA/strfunc.c

@@ -263,8 +263,11 @@ const char *getint(const char *txt, int32_t *I){
     }
     const char *nxt = getnum(s, &U);
     if(nxt == s) return txt;
-    if(U & 0x80000000) return txt; // overfull
+    if(U & 0x80000000){ // uint32_t
+        *I = (int32_t)U;
+    }else{
         *I = sign * (int32_t)U;
+    }
     return nxt;
 }
 

F3:F303/CANbus4BTA/textfunctions.c

@@ -70,6 +70,7 @@ static const funcdescr funclist[] = {
     {"reset", CMD_RESET, "reset MCU"},
     {"s", -TCMD_CANSEND, "send CAN message: ID 0..8 data bytes"},
     {"saveconf", CMD_SAVECONF, "save configuration"},
+    {"spideinit", CMD_SPIDEINIT, "turn off SPI2"},
     {"spiinit", CMD_SPIINIT, "init SPI2"},
     {"spisend", CMD_SPISEND, "send 4 bytes over SPI2"},
     {"time", CMD_TIME, "get/set time (1ms, 32bit)"},
@@ -90,6 +91,7 @@ static errcodes wdtest(const char _U_ *str){
 // names of bit flags (ordered from LSE of[0])
 static const char * const bitfields[] = {
     "encisSSI",
+    "emulatePEP",
     NULL
 };
 
@@ -112,7 +114,7 @@ static errcodes dumpconf(const char _U_ *str){
     USB_sendstr("\nusartspeed="); printu(the_conf.usartspeed);
     const char * const *p = bitfields;
     int bit = 0;
-    while(p){
+    while(*p){
         newline();
         USB_sendstr(*p); USB_putbyte('='); USB_putbyte((the_conf.flags & (1<<bit)) ? '1' : '0');
         if(++bit > 31) break;

F3:F303/CANbus4BTA/usart.c

@@ -32,6 +32,14 @@ static volatile int rbufno = 0; // current rbuf number
 static char rbuf[2][UARTBUFSZ]; // receive buffers
 static volatile char *recvdata = NULL;
 
+// reset incoming buffer
+void usart_rstbuf(){
+    linerdy = 0;
+    dlen = 0;
+    bufovr = 0;
+    recvdata = NULL;
+}
+
 /**
  * return length of received data (without trailing zero)
  */

F3:F303/CANbus4BTA/usart.h

@@ -23,6 +23,7 @@
 // input buffers size
 #define UARTBUFSZ  (80)
 
+void usart_rstbuf();
 void usart_setup();
 void usart_deinit();
 int usart_getline(char **line);

F3:F303/CANbus4BTA/version.inc

@@ -1,2 +1,2 @@
-#define BUILD_NUMBER "84"
+#define BUILD_NUMBER "93"
-#define BUILD_DATE "2024-03-08"
+#define BUILD_DATE "2024-03-17"