encoders works fine

F1:F103/BISS_C_encoders/Readme.md

@@ -1,5 +1,124 @@
 Get data from 2 encoders by BISS-C protocol
 ===========================================
 
+This device works with two BISS-C encoders (resolution from 8 to 32 bit).
+
+If you want to test readout from device, run `./testDev /dev/encoder_X0` or `./testDev /dev/encoder_X0`.
+
+** Encoder cable pinout:
+
+* 1 - NC or shield
+* 2 - CLK_A - positive of SSI clock out
+* 3 - CLC_B - negative of SSI clock out
+* 4 - NC or shield
+* 5 - +5V - 5V power for sensor (at least 250mA)
+* 6 - DATA_A - positive of data in
+* 7 - DATA_B - negative of data in
+* 8 - NC
+* 9 - Gnd - common ground
+
+
+** Device interfaces
+
+After connection you will see device 0483:5740 with three CDC interfaces. Each interface
+have its own `iInterface` field, by default they are: 
+
+* encoder_cmd - configure/command/debugging interface
+* encoder_X - X sensor output
+* encoder_Y - Y sensor output
+
+Add to udev-rules file `99-myHW.rules` which will create symlinks to each interface in `/dev/` directory.
+You can change all three `iInterface` values and store them in device' flash memory.
+
+The readout of encoders depends on settings. If you save in flash `autom=1`, readout of both encoders
+will repeat each `amperiod` milliseconds. Also you always can ask for readout sending any '\n'-terminated
+data into encoder's interface or running commands `readenc`, `readX` or `readY` in command interface.
+
+
+** Protocol
+
+The device have simple text protocol, each text string should be closed by '\n'.
+Base format is 'param [ = value]', where 'param' could be command to run some procedure
+or getter, 'value' is setter.
+
+Answer for all getters is 'param=value'. Here are answers for setters and procedures:
+
+* OK - all OK
+* FAIL - procedure failed to run
+* BADCMD - your entered wrong command
+* BADPAR - parameter of setter is out of allowable range
+
+Some procedures (like 'help' or 'readenc') returns a lot of data after calling.
+
+
+*** Base commands on command interface
+
+These are commands for directrly work with SPI interfaces:
+
+* readenc - read both encoders once
+* readX - read X encoder once
+* readY - read Y encoder once
+* help - show full help
+* reset - reset MCU
+* spideinit - deinit SPI
+* spiinit - init SPI
+* spistat - get status of both SPI interfaces
+
+
+*** Configuration commands
+
+This set of commands allows to change current configuration (remember: each time SPI configuration changes
+you need to run `spiinit`) and store it into flash memory.
+
+* autom - turn on or off automonitoring
+* amperiod - period of monitoring, 1..255 milliseconds
+* BR - change SPI BR register (1 - 18MHz ... 7 - 281kHz)
+* CPHA - change CPHA value (0/1)
+* CPOL - change CPOL value (0/1)
+* dumpconf - dump current configuration
+* encbits - set encoder data bits amount (26/32)
+* encbufsz - change encoder auxiliary buffer size (8..32 bytes)
+* erasestorage - erase full storage or current page (=n)
+* maxzeros - maximal amount of zeros in preamble
+* minzeros - minimal amount of zeros in preamble
+* setiface1 - set name of first (command) interface
+* setiface2 - set name of second (axis X) interface
+* setiface3 - set name of third (axis Y) interface
+* storeconf - store configuration in flash memory
+
+Here is example of default configuration ouput (`dumpconf`):
+
+```
+userconf_sz=108
+currentconfidx=-1
+setiface1=
+setiface2=
+setiface3=
+autom=0
+amperiod=1
+BR=4
+CPHA=0
+CPOL=1
+encbits=26
+encbufsz=12
+maxzeros=50
+minzeros=4
+```
+
+`userconf_sz` is some type of "magick sequence" to find start of last record in flash memory.
+`currentconfidx` shows number of record (-1 means that the storage is empty and you see default values).
+Empty field of `setifaceX` means default interface name.
+
+
+*** Debugging commands
+
+Some of these commands could be usefull when you're trying to play with settings or want to measure maximal
+readout speed for encoders (when each reading starts immediately after parsing previous result).
+
+* dummy - dummy integer setter/getter
+* fin - reinit flash (e.g. to restore last configuration)
+* sendx - send text string to X encoder's terminal
+* sendy - send text string to Y encoder's terminal
+* testx - test X-axis throughput
+* testy - test Y-axis throughput
 
-tl;dr

F1:F103/BISS_C_encoders/bissC.c

@@ -17,16 +17,14 @@
  */
 
 #include "bissC.h"
-#include "usb_dev.h"
+#include "flash.h"
 #ifdef EBUG
 #include "strfunc.h"
 #endif
-#include "flash.h"
+#include "spi.h"
+#include "usb_dev.h"
 
-#define MAX_BITSTREAM_UINTS 4  // 4 * 32 = 128 bits capacity
+#define MAX_BITSTREAM_UINTS (ENCODER_BUFSZ_MAX / 4)  // ENCODER_BUFSZ_MAX bits capacity
-// min/max zeros before preambule
-#define MINZEROS    4
-#define MAXZEROS    40
 
 static uint32_t bitstream[MAX_BITSTREAM_UINTS] = {0};
 
@@ -50,11 +48,6 @@ static void bytes_to_bitstream(const uint8_t *bytes, uint32_t num_bytes, uint32_
             }
         }
     }
-    /* Store remaining bits if any
-    if(*num_bits % 32 != 0){
-        current <<= (32 - (*num_bits % 32));
-        bitstream[pos] = current;
-    }*/
 }
 
 // Compute CRC-6 using polynomial x^6 + x + 1
@@ -102,7 +95,7 @@ BiSS_Frame parse_biss_frame(const uint8_t *bytes, uint32_t num_bytes){
             if(!curbit){
                 zero_count++;
             }else{
-                if(zero_count >= MINZEROS && zero_count <= MAXZEROS){
+                if(zero_count >= the_conf.minzeros && zero_count <= the_conf.maxzeros){
                     if((i + 1) < num_bits && !get_bit(i + 1)){
                         data_start = i + 2;
                         found = 1;

F1:F103/BISS_C_encoders/bissC.h

@@ -20,6 +20,11 @@
 
 #include <stdint.h>
 
+#include "spi.h"
+#if ENCRESOL_MAX > 32
+#error "Change full code. Current don't support more than 32 bits of encoder resolution."
+#endif
+
 typedef struct {
     uint32_t data;              // 26/32/36-bit data
     uint8_t error : 1;          // error flag (0 - error: bad value or high temperature)

F1:F103/BISS_C_encoders/encoders.creator.user

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 15.0.1, 2025-04-02T14:36:26. -->
+<!-- Written by QtCreator 15.0.1, 2025-04-02T18:29:56. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>

F1:F103/BISS_C_encoders/flash.c

@@ -33,7 +33,11 @@ user_conf the_conf = {
     .userconf_sz = sizeof(user_conf),
     .flags.CPOL = 1,
     .flags.BR = 4,
-    .encbits = 26
+    .encbits = 26,
+    .encbufsz = 12,
+    .minzeros = 4,
+    .maxzeros = 50,
+    .monittime = 1,
 };
 
 int currentconfidx = -1; // index of current configuration

F1:F103/BISS_C_encoders/flash.h

@@ -27,10 +27,17 @@
 // maximal size (in letters) of iInterface for settings
 #define MAX_IINTERFACE_SZ   (16)
 
+// min/max zeros before preambule
+#define MINZEROS_MIN    2
+#define MINZEROS_MAX    60
+#define MAXZEROS_MIN    4
+#define MAXZEROS_MAX    120
+
 typedef struct{
     uint8_t CPOL : 1;
     uint8_t CPHA : 1;
     uint8_t BR   : 3;
+    uint8_t monit: 1; // auto monitoring of encoder each `monittime` milliseconds
 } flags_t;
 
 /*
@@ -40,8 +47,12 @@ typedef struct __attribute__((packed, aligned(4))){
     uint16_t userconf_sz;       // "magick number"
     uint16_t iInterface[bTotNumEndpoints][MAX_IINTERFACE_SZ]; // hryunikod!
     uint8_t iIlengths[bTotNumEndpoints];
-    flags_t flags;      // flags: CPOL, CPHA etc
     uint8_t encbits;    // encoder bits: 26 or 32
+    uint8_t encbufsz;   // encoder buffer size (up to ENCODER_BUFSZ_MAX)
+    uint8_t minzeros;   // min/max zeros in preamble when searching start of record
+    uint8_t maxzeros;
+    uint8_t monittime;  // auto monitoring period (ms)
+    flags_t flags;      // flags: CPOL, CPHA etc
 } user_conf;
 
 extern user_conf the_conf;

F1:F103/BISS_C_encoders/main.c

@@ -27,6 +27,7 @@
 
 volatile uint32_t Tms = 0;
 static char inbuff[RBINSZ];
+static uint32_t monitT[2] = {0};
 
 /* Called when systick fires */
 void sys_tick_handler(void){
@@ -47,7 +48,6 @@ static void printResult(BiSS_Frame *result){
 }
 
 static void proc_enc(uint8_t idx){
-    uint8_t encbuf[ENCODER_BUFSZ];
     static uint32_t lastMSG[2], gotgood[2], gotwrong[2];
     int iface = idx ? I_Y : I_X;
     char ifacechr = idx ? 'Y' : 'X';
@@ -65,9 +65,11 @@ static void proc_enc(uint8_t idx){
                 CMDWR("'\n");
             }
         }
+        if(l > 0) spi_start_enc(idx); // start encoder reading on each request from given interface
     }
-    if(!spi_read_enc(idx, encbuf)) return;
+    uint8_t *encbuf = spi_read_enc(idx);
-    BiSS_Frame result = parse_biss_frame(encbuf, ENCODER_BUFSZ);
+    if(!encbuf) return;
+    BiSS_Frame result = parse_biss_frame(encbuf, the_conf.encbufsz);
     char *str = result.crc_valid ? u2str(result.data) : NULL;
     uint8_t testflag = (idx) ? user_pars.testy : user_pars.testx;
     if(CDCready[I_CMD]){
@@ -86,11 +88,11 @@ static void proc_enc(uint8_t idx){
                 if(str) ++gotgood[idx];
                 else ++gotwrong[idx];
             }
-        }else{
+        }else if(!the_conf.flags.monit){
             printResult(&result);
             CMDWR("ENC"); USB_putbyte(I_CMD, ifacechr);
             USB_putbyte(I_CMD, '=');
-            hexdump(I_CMD, encbuf, ENCODER_BUFSZ);
+            hexdump(I_CMD, encbuf, the_conf.encbufsz);
             CMDWR(" (");
             if(str) CMDWR(str);
             else CMDWR("wrong");
@@ -102,22 +104,17 @@ static void proc_enc(uint8_t idx){
         USB_putbyte(iface, '\n');
     }
     if(result.error) spi_setup(1+idx); // reinit SPI in case of error
-    if(testflag) spi_start_enc(idx);
+    if(the_conf.flags.monit) monitT[idx] = Tms;
+    else if(testflag) spi_start_enc(idx);
 }
 
 int main(){
-    uint32_t lastT = 0;//, lastS = 0;
+    uint32_t lastT = 0;
     StartHSE();
     flashstorage_init();
     hw_setup();
     USBPU_OFF();
     SysTick_Config(72000);
-/*
-#ifdef EBUG
-    usart_setup();
-    uint32_t tt = 0;
-#endif
-*/
     USB_setup();
 #ifndef EBUG
     iwdg_setup();
@@ -129,29 +126,18 @@ int main(){
             LED_blink(LED0);
             lastT = Tms;
         }
-/*
-#ifdef EBUG
-        if(Tms != tt){
-            __disable_irq();
-            usart_transmit();
-            tt = Tms;
-            __enable_irq();
-        }
-#endif
-*/
         if(CDCready[I_CMD]){
-            /*if(Tms - lastS > 9999){
-                USB_sendstr(I_CMD, "Tms=");
-                USB_sendstr(I_CMD, u2str(Tms));
-                CMDn();
-                lastS = Tms;
-            }*/
             int l = USB_receivestr(I_CMD, inbuff, RBINSZ);
             if(l < 0) CMDWRn("ERROR: CMD USB buffer overflow or string was too long");
             else if(l) parse_cmd(inbuff);
         }
         proc_enc(0);
         proc_enc(1);
+        if(the_conf.flags.monit){
+            for(int i = 0; i < 2; ++i){
+                if(Tms - monitT[i] >= the_conf.monittime) spi_start_enc(i);
+            }
+        }
     }
     return 0;
 }

F1:F103/BISS_C_encoders/openocd.cfg

@@ -1,94 +1,4 @@
 set FLASH_SIZE 0x10000
 
 source [find interface/stlink.cfg]
-
+source [find target/stm32f1x.cfg]
-
-# script for stm32f1x family
-
-#
-# stm32 devices support both JTAG and SWD transports.
-#
-source [find target/swj-dp.tcl]
-source [find mem_helper.tcl]
-
-if { [info exists CHIPNAME] } {
-   set _CHIPNAME $CHIPNAME
-} else {
-   set _CHIPNAME stm32f1x
-}
-
-set _ENDIAN little
-
-# Work-area is a space in RAM used for flash programming
-# By default use 4kB (as found on some STM32F100s)
-if { [info exists WORKAREASIZE] } {
-   set _WORKAREASIZE $WORKAREASIZE
-} else {
-   set _WORKAREASIZE 0x1000
-}
-
-# Allow overriding the Flash bank size
-if { [info exists FLASH_SIZE] } {
-    set _FLASH_SIZE $FLASH_SIZE
-} else {
-    # autodetect size
-    set _FLASH_SIZE 0
-}
-
-#jtag scan chain
-if { [info exists CPUTAPID] } {
-   set _CPUTAPID $CPUTAPID
-} else {
-   if { [using_jtag] } {
-      # See STM Document RM0008 Section 26.6.3
-      set _CPUTAPID 0x2ba01477
-   } {
-      # this is the SW-DP tap id not the jtag tap id
-      set _CPUTAPID 0x2ba01477
-   }
-}
-
-swj_newdap $_CHIPNAME cpu -irlen 4 -ircapture 0x1 -irmask 0xf -expected-id $_CPUTAPID
-dap create $_CHIPNAME.dap -chain-position $_CHIPNAME.cpu
-
-if {[using_jtag]} {
-   jtag newtap $_CHIPNAME bs -irlen 5
-}
-
-set _TARGETNAME $_CHIPNAME.cpu
-target create $_TARGETNAME cortex_m -endian $_ENDIAN -dap $_CHIPNAME.dap
-
-$_TARGETNAME configure -work-area-phys 0x20000000 -work-area-size $_WORKAREASIZE -work-area-backup 0
-
-# flash size will be probed
-set _FLASHNAME $_CHIPNAME.flash
-flash bank $_FLASHNAME stm32f1x 0x08000000 $_FLASH_SIZE 0 0 $_TARGETNAME
-
-# JTAG speed should be <= F_CPU/6. F_CPU after reset is 8MHz, so use F_JTAG = 1MHz
-adapter_khz 1000
-
-adapter_nsrst_delay 100
-if {[using_jtag]} {
- jtag_ntrst_delay 100
-}
-
-reset_config srst_nogate
-
-if {![using_hla]} {
-    # if srst is not fitted use SYSRESETREQ to
-    # perform a soft reset
-    cortex_m reset_config sysresetreq
-}
-
-$_TARGETNAME configure -event examine-end {
-	# DBGMCU_CR |= DBG_WWDG_STOP | DBG_IWDG_STOP |
-	#              DBG_STANDBY | DBG_STOP | DBG_SLEEP
-	mmw 0xE0042004 0x00000307 0
-}
-
-$_TARGETNAME configure -event trace-config {
-	# Set TRACE_IOEN; TRACE_MODE is set to async; when using sync
-	# change this value accordingly to configure trace pins
-	# assignment
-	mmw 0xE0042004 0x00000020 0
-}

F1:F103/BISS_C_encoders/openocd.cfg_

@@ -1,4 +0,0 @@
-set FLASH_SIZE 0x10000
-
-source [find interface/stlink.cfg]
-source [find target/stm32f1x.cfg]

F1:F103/BISS_C_encoders/proto.c

@@ -72,6 +72,11 @@ typedef enum{
     C_encbits,
     C_testX,
     C_testY,
+    C_encbufsz,
+    C_minzeros,
+    C_maxzeros,
+    C_autom,
+    C_amperiod,
     C_AMOUNT
 } cmd_e;
 
@@ -223,58 +228,64 @@ static errcode_e spideinit(_U_ cmd_e idx, _U_ char *par){
     return ERR_SILENCE;
 }
 
-static errcode_e setflags(cmd_e idx, char *par){
+static errcode_e setuintpar(cmd_e idx, char *par){
+    uint32_t val;
     if(par){
-        if(*par < '0' || *par > '9') return ERR_BADPAR;
+        if(par == getnum(par, &val)) return ERR_BADPAR;
-        uint8_t val = *par - '0';
         switch(idx){
-        case C_cpha:
+            case C_br:
-            if(val > 1) return ERR_BADPAR;
+                if(val == 0 || val > 7) return ERR_BADPAR;
-            the_conf.flags.CPHA = val;
+                the_conf.flags.BR = val;
-            break;
+                break;
-        case C_cpol:
+            case C_encbits:
-            if(val > 1) return ERR_BADPAR;
+                if(val < ENCRESOL_MIN || val > ENCRESOL_MAX) return ERR_BADPAR; // don't support less than 8 of more than 32
-            the_conf.flags.CPOL = val;
+                the_conf.encbits = val;
-            break;
+                break;
+            case C_encbufsz:
+                if(val < 8 || val > ENCODER_BUFSZ_MAX) return ERR_BADPAR;
+                the_conf.encbufsz = val;
+                break;
+            case C_minzeros:
+                if(val < MINZEROS_MIN || val > MINZEROS_MAX) return ERR_BADPAR;
+                the_conf.minzeros = val;
+                break;
+            case C_maxzeros:
+                if(val < MAXZEROS_MIN || val > MAXZEROS_MAX) return ERR_BADPAR;
+                the_conf.maxzeros = val;
+                break;
+            case C_amperiod:
+                if(val > 255 || val == 0) return ERR_BADPAR;
+                the_conf.monittime = val;
+                break;
+            default:
+                return ERR_BADCMD;
+        }
+    }
+    CMDWR(commands[idx].cmd);
+    USB_putbyte(I_CMD, '=');
+    switch(idx){
         case C_br:
-            if(val == 0 || val > 7) return ERR_BADPAR;
+            val = the_conf.flags.BR;
-            the_conf.flags.BR = val;
+            break;
+        case C_encbits:
+            val = the_conf.encbits;
+            break;
+        case C_encbufsz:
+            val = the_conf.encbufsz;
+            break;
+        case C_minzeros:
+            val = the_conf.minzeros;
+            break;
+        case C_maxzeros:
+            val = the_conf.maxzeros;
+            break;
+        case C_amperiod:
+            val = the_conf.monittime;
             break;
         default:
             return ERR_BADCMD;
-        }
     }
-    uint8_t val = 0;
+    CMDWR(u2str(val));
-    switch(idx){
-    case C_cpha:
-        val = the_conf.flags.CPHA;
-        break;
-    case C_cpol:
-        val = the_conf.flags.CPOL;
-        break;
-    case C_br:
-        val = the_conf.flags.BR;
-        break;
-    default:
-        return ERR_BADCMD;
-    }
-    CMDWR(commands[idx].cmd);
-    USB_putbyte(I_CMD, '=');
-    USB_putbyte(I_CMD, '0' + val);
-    CMDn();
-    return ERR_SILENCE;
-}
-
-static errcode_e encbits(cmd_e idx, char *par){
-    if(par){
-        uint32_t N;
-        if(par == getnum(par, &N)) return ERR_BADPAR;
-        if(N < 26 || N > 32) return ERR_BADPAR; // don't support less than 26 of more than 32
-        the_conf.encbits = N;
-    }
-    CMDWR(commands[idx].cmd);
-    USB_putbyte(I_CMD, '=');
-    CMDWR(u2str(the_conf.encbits));
     CMDn();
     return ERR_SILENCE;
 }
@@ -285,25 +296,43 @@ static errcode_e setboolpar(cmd_e idx, char *par){
         if(*par != '0' && *par != '1') return ERR_BADPAR;
         val = *par - '0';
         switch(idx){
+            case C_cpha:
+                the_conf.flags.CPHA = val;
+                break;
+            case C_cpol:
+                the_conf.flags.CPOL = val;
+                break;
             case C_testX:
                 user_pars.testx = val;
-            break;
+                if(val) spi_start_enc(0);
+                break;
             case C_testY:
                 user_pars.testy = val;
-            break;
+                if(val) spi_start_enc(1);
+                break;
+            case C_autom:
+                the_conf.flags.monit = val;
+                break;
             default:
                 return ERR_BADCMD;
         }
     }
     switch(idx){
+        case C_cpha:
+            val = the_conf.flags.CPHA;
+            break;
+        case C_cpol:
+            val = the_conf.flags.CPOL;
+            break;
         case C_testX:
             val = user_pars.testx;
-            if(val) spi_start_enc(0);
+            break;
-        break;
         case C_testY:
             val = user_pars.testy;
-            if(val) spi_start_enc(1);
+            break;
-        break;
+        case C_autom:
+            val = the_conf.flags.monit;
+            break;
         default:
             return ERR_BADCMD;
     }
@@ -320,10 +349,15 @@ static errcode_e dumpconf(cmd_e _U_ idx, char _U_ *par){
     CMDn();
     for(int i = 0; i < bTotNumEndpoints; ++i)
         setiface(C_setiface1 + i, NULL);
-    setflags(C_br, NULL);
+    setboolpar(C_autom, NULL);
-    setflags(C_cpha, NULL);
+    setuintpar(C_amperiod, NULL);
-    setflags(C_cpol, NULL);
+    setuintpar(C_br, NULL);
-    encbits(C_encbits, NULL);
+    setboolpar(C_cpha, NULL);
+    setboolpar(C_cpol, NULL);
+    setuintpar(C_encbits, NULL);
+    setuintpar(C_encbufsz, NULL);
+    setuintpar(C_maxzeros, NULL);
+    setuintpar(C_minzeros, NULL);
     return ERR_SILENCE;
 }
 
@@ -347,12 +381,17 @@ static const funcdescr_t commands[C_AMOUNT] = {
     [C_spistat] = {"spistat", spistat},
     [C_spiinit] = {"spiinit", spiinit},
     [C_spideinit] = {"spideinit", spideinit},
-    [C_cpol] = {"CPOL", setflags},
+    [C_cpol] = {"CPOL", setboolpar},
-    [C_cpha] = {"CPHA", setflags},
+    [C_cpha] = {"CPHA", setboolpar},
-    [C_br] = {"BR", setflags},
+    [C_br] = {"BR", setuintpar},
-    [C_encbits] = {"encbits", encbits},
+    [C_encbits] = {"encbits", setuintpar},
     [C_testX] = {"testx", setboolpar},
     [C_testY] = {"testy", setboolpar},
+    [C_encbufsz] = {"encbufsz", setuintpar},
+    [C_minzeros] = {"minzeros", setuintpar},
+    [C_maxzeros] = {"maxzeros", setuintpar},
+    [C_autom] = {"autom", setboolpar},
+    [C_amperiod] = {"amperiod", setuintpar},
 };
 
 typedef struct{
@@ -362,28 +401,33 @@ typedef struct{
 
 // SHOUL be sorted and grouped
 static const help_t helpmessages[] = {
-    {-1, "Configuration"},
+    {-1, "Base commands"},
-    {C_dumpconf, "dump current configuration"},
+    {C_encstart, "read both encoders once"},
-    {C_erasestorage, "erase full storage or current page (=n)"},
+    {C_encX, "read X encoder once"},
-    {C_setiface1, "set name of first (command) interface"},
+    {C_encY, "read Y encoder once"},
-    {C_setiface2, "set name of second (axis X) interface"},
-    {C_setiface3, "set name of third (axis Y) interface"},
-    {C_storeconf, "store configuration in flash memory"},
-    {-1, "Different commands"},
-    {C_dummy, "dummy integer setter/getter"},
-    {C_encstart, "start reading encoders"},
-    {C_encX, "read only X encoder"},
-    {C_encY, "read only Y encoder"},
     {C_help, "show this help"},
     {C_reset, "reset MCU"},
     {C_spideinit, "deinit SPI"},
     {C_spiinit, "init SPI"},
     {C_spistat, "get status of both SPI interfaces"},
-    {-1, "Debug"},
+    {-1, "Configuration"},
+    {C_autom, "turn on or off automonitoring"},
+    {C_amperiod, "period (ms) of monitoring, 1..255"},
     {C_br, "change SPI BR register (1 - 18MHz ... 7 - 281kHz)"},
     {C_cpha, "change CPHA value (0/1)"},
     {C_cpol, "change CPOL value (0/1)"},
-    {C_encbits, "set encoder data bits amount"},
+    {C_dumpconf, "dump current configuration"},
+    {C_encbits, "set encoder data bits amount (26/32)"},
+    {C_encbufsz, "change encoder auxiliary buffer size (8..32 bytes)"},
+    {C_erasestorage, "erase full storage or current page (=n)"},
+    {C_maxzeros, "maximal amount of zeros in preamble"},
+    {C_minzeros, "minimal amount of zeros in preamble"},
+    {C_setiface1, "set name of first (command) interface"},
+    {C_setiface2, "set name of second (axis X) interface"},
+    {C_setiface3, "set name of third (axis Y) interface"},
+    {C_storeconf, "store configuration in flash memory"},
+    {-1, "Debug commands"},
+    {C_dummy, "dummy integer setter/getter"},
     {C_fin, "reinit flash"},
     {C_sendX, "send text string to X encoder's terminal"},
     {C_sendY, "send text string to Y encoder's terminal"},

F1:F103/BISS_C_encoders/spi.c

@@ -34,7 +34,7 @@ static volatile SPI_TypeDef* const SPIs[AMOUNT_OF_SPI+1] = {NULL, SPI1, SPI2};
 static volatile DMA_Channel_TypeDef * const DMAs[AMOUNT_OF_SPI+1] = {NULL, DMA1_Channel2, DMA1_Channel4};
 #define WAITX(x)  do{volatile uint32_t  wctr = 0; while((x) && (++wctr < 3600)) IWDG->KR = IWDG_REFRESH; if(wctr==3600){ DBG("timeout"); return 0;}}while(0)
 
-static uint8_t encoderbuf[AMOUNT_OF_SPI][ENCODER_BUFSZ] = {0};
+static uint8_t encoderbuf[AMOUNT_OF_SPI][ENCODER_BUFSZ_MAX] = {0};
 static uint8_t freshdata[AMOUNT_OF_SPI] = {0};
 
 // init SPI to work RX-only with DMA
@@ -81,8 +81,6 @@ void spi_onoff(uint8_t idx, uint8_t on){
     CHKIDX(idx);
     volatile SPI_TypeDef *SPI = SPIs[idx];
     if(on){
-        //DBGs(u2str(idx));
-        //DBG("turn on SPI");
         SPI->CR1 |= SPI_CR1_SPE;
         spi_status[idx] = SPI_BUSY;
     }else{
@@ -114,20 +112,15 @@ static int spi_waitbsy(uint8_t idx){
         DBG("Busy - turn off");
         spi_onoff(idx, 0); // turn off SPI if it's busy
     }
-    //DBGs(u2str(idx));
-    //DBG("wait busy");
-    //WAITX(SPIs[idx]->SR & SPI_SR_BSY);
     return 1;
 }
 
 // just copy last read encoder value into `buf`
-// @return TRUE if got fresh data
+// @return pointer to buffer if got fresh data
-int spi_read_enc(uint8_t encno, uint8_t buf[ENCODER_BUFSZ]){
+uint8_t *spi_read_enc(uint8_t encno){
-    if(encno > 1 || !freshdata[encno]) return FALSE;
+    if(encno > 1 || !freshdata[encno]) return NULL;
-    //DBGs(u2str(encno)); DBG("Read encoder data");
-    memcpy(buf, encoderbuf[encno], ENCODER_BUFSZ);
     freshdata[encno] = 0; // clear fresh status
-    return TRUE;
+    return encoderbuf[encno];
 }
 
 // start encoder reading over DMA
@@ -135,16 +128,12 @@ int spi_read_enc(uint8_t encno, uint8_t buf[ENCODER_BUFSZ]){
 // here `encodernum` is 0 (SPI1) or 1 (SPI2), not 1/2 as SPI index!
 int spi_start_enc(int encodernum){
     int spiidx = encodernum + 1;
-    //DBG("start enc");
     if(spiidx < 1 || spiidx > AMOUNT_OF_SPI) return FALSE;
     if(spi_status[spiidx] != SPI_READY) return FALSE;
     if(!spi_waitbsy(spiidx)) return FALSE;
-    if(SPI1->CR1 & SPI_CR1_SPE){ DBG("spi1 works!");}
-    if(SPI2->CR1 & SPI_CR1_SPE){ DBG("spi2 works!");}
     volatile DMA_Channel_TypeDef *DMA = DMAs[spiidx];
     DMA->CMAR = (uint32_t) encoderbuf[encodernum];
-    DMA->CNDTR = ENCODER_BUFSZ;
+    DMA->CNDTR = the_conf.encbufsz;
-    //DBG("turn on spi");
     spi_onoff(spiidx, 1);
     DMA->CCR |= DMA_CCR_EN;
     return TRUE;
@@ -159,12 +148,8 @@ void dma1_channel2_isr(){
         DMA1->IFCR = DMA_IFCR_CTEIF2;
     }
     if(DMA1->ISR & DMA_ISR_TCIF2){
-        //uint32_t ctr = TIM2->CNT;
         DMA1->IFCR = DMA_IFCR_CTCIF2;
         freshdata[0] = 1;
-        //encoderbuf[5] = (ctr >> 16) & 0xff;
-        //encoderbuf[6] = (ctr >> 8 ) & 0xff;
-        //encoderbuf[7] = (ctr >> 0 ) & 0xff;
     }
     spi_status[1] = SPI_READY;
 }

F1:F103/BISS_C_encoders/spi.h

@@ -2,9 +2,13 @@
 #pragma once
 #include <stdint.h>
 
+// two SPI interfaces for two sensors
 #define AMOUNT_OF_SPI   (2)
-
+// static buffer size
-#define ENCODER_BUFSZ   (12)
+#define ENCODER_BUFSZ_MAX   (32)
+// encoder resolution
+#define ENCRESOL_MIN    (8)
+#define ENCRESOL_MAX    (32)
 
 typedef enum{
     SPI_NOTREADY,
@@ -18,4 +22,4 @@ void spi_onoff(uint8_t idx, uint8_t on);
 void spi_deinit(uint8_t idx);
 void spi_setup(uint8_t idx);
 int spi_start_enc(int encodernum);
-int spi_read_enc(uint8_t encno, uint8_t buf[ENCODER_BUFSZ]);
+uint8_t *spi_read_enc(uint8_t encno);

F1:F103/BISS_C_encoders/usart.c

@@ -1,100 +0,0 @@
-/*
- * usart.c
- *
- * Copyright 2018 Edward V. Emelianoff <eddy@sao.ru, 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 2 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, write to the Free Software
- * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
- * MA 02110-1301, USA.
- */
-
-#include <string.h>
-
-#include "stm32f1.h"
-#include "usart.h"
-#include "ringbuffer.h"
-
-extern volatile uint32_t Tms;
-// buffers for out ringbuffer and DMA send
-static uint8_t buf[UARTBUFSZ], txbuf[UARTBUFSZ];
-static ringbuffer ringbuf = {.data = buf, .length = UARTBUFSZ};
-
-static volatile int usart_txrdy = 1; // transmission done
-
-// transmit current tbuf
-void usart_transmit(){
-    if(RB_hasbyte(&ringbuf, '\n') < 0 || !usart_txrdy) return;
-    int L = 0, l = 0;
-    do{
-        l = RB_readto(&ringbuf, '\n', txbuf + L, UARTBUFSZ - L);
-        if(l > 0) L += l;
-    }while(l > 0 && L < UARTBUFSZ);
-    if(L < 1) return;
-    usart_txrdy = 0;
-    if(L < UARTBUFSZ-1){
-        txbuf[L++] = '$'; txbuf[L++] = '\n';
-    }
-    DMA1_Channel4->CCR &= ~DMA_CCR_EN;
-    DMA1_Channel4->CMAR = (uint32_t) txbuf; // mem
-    DMA1_Channel4->CNDTR = L;
-    DMA1_Channel4->CCR |= DMA_CCR_EN;
-}
-
-void usart_putchar(const char ch){
-    RB_write(&ringbuf, (const uint8_t*)&ch, 1);
-}
-
-void usart_send(const char *str){
-    int l = strlen(str);
-    if(RB_datalen(&ringbuf) > UARTBUFSZ/2) usart_transmit();
-    RB_write(&ringbuf, (const uint8_t*)str, l);
-}
-
-/*
- * USART speed: baudrate = Fck/(USARTDIV)
- * USARTDIV stored in USART->BRR
- *
- * for 72MHz USARTDIV=72000/f(kboud); so for 115200 USARTDIV=72000/115.2=625 -> BRR=0x271
- *         9600: BRR = 7500 (0x1D4C)
- */
-
-void usart_setup(){
-    uint32_t tmout = 16000000;
-    // PA9 - Tx, PA10 - Rx
-    RCC->APB2ENR |= RCC_APB2ENR_IOPAEN | RCC_APB2ENR_USART1EN | RCC_APB2ENR_AFIOEN;
-    RCC->AHBENR |= RCC_AHBENR_DMA1EN;
-    GPIOA->CRH |= CRH(9, CNF_AFPP|MODE_NORMAL) | CRH(10, CNF_FLINPUT|MODE_INPUT);
-
-    // USART1 Tx DMA - Channel4 (Rx - channel 5)
-    DMA1_Channel4->CPAR = (uint32_t) &USART1->DR; // periph
-    DMA1_Channel4->CCR |= DMA_CCR_MINC | DMA_CCR_DIR | DMA_CCR_TCIE; // 8bit, mem++, mem->per, transcompl irq
-    // Tx CNDTR set @ each transmission due to data size
-    NVIC_SetPriority(DMA1_Channel4_IRQn, 3);
-    NVIC_EnableIRQ(DMA1_Channel4_IRQn);
-    NVIC_SetPriority(USART1_IRQn, 0);
-    // setup usart1
-    USART1->BRR = 72000000 / 4000000;
-    USART1->CR1 = USART_CR1_TE | USART_CR1_UE; // 1start,8data,nstop; enable Rx,Tx,USART
-    while(!(USART1->SR & USART_SR_TC)){if(--tmout == 0) break;} // polling idle frame Transmission
-    USART1->SR = 0; // clear flags
-    USART1->CR1 |= USART_CR1_RXNEIE; // allow Rx IRQ
-    USART1->CR3 = USART_CR3_DMAT; // enable DMA Tx
-}
-
-void dma1_channel4_isr(){
-    if(DMA1->ISR & DMA_ISR_TCIF4){ // Tx
-        DMA1->IFCR = DMA_IFCR_CTCIF4; // clear TC flag
-        usart_txrdy = 1;
-    }
-}

F1:F103/BISS_C_encoders/version.inc

@@ -1,2 +1,2 @@
-#define BUILD_NUMBER "91"
+#define BUILD_NUMBER "96"
-#define BUILD_DATE "2025-04-02"
+#define BUILD_DATE "2025-04-04"

F1:F103/USB_New_concept/USB_NEW_concept_7inone/usb_dev.c

@@ -78,13 +78,19 @@ static void chkin(uint8_t ifno){
 static void send_next(uint8_t ifno){
     uint8_t usbbuff[USB_TXBUFSZ];
     int buflen = RB_read((ringbuffer*)&rbout[ifno], (uint8_t*)usbbuff, USB_TXBUFSZ);
+    if(!CDCready[ifno]){
+        lastdsz[ifno] = -1;
+        return;
+    }
     if(buflen == 0){
-        if(lastdsz[ifno] == 64) EP_Write(1+ifno, NULL, 0); // send ZLP after 64 bits packet when nothing more to send
+        if(lastdsz[ifno] == USB_TXBUFSZ){
-        lastdsz[ifno] = 0;
+            EP_Write(1+ifno, NULL, 0); // send ZLP after 64 bits packet when nothing more to send
+            lastdsz[ifno] = 0;
+        }else lastdsz[ifno] = -1; // OK. User can start sending data
         return;
     }else if(buflen < 0){
         DBG("Buff busy");
-        lastdsz[ifno] = 0;
+        lastdsz[ifno] = -1;
         return;
     }
     DBG("Got data in buf");
@@ -221,14 +227,17 @@ int USB_send(uint8_t ifno, const uint8_t *buf, int len){
     if(!buf || !CDCready[ifno] || !len) return FALSE;
     DBG("USB_send");
     while(len){
+        if(!CDCready[ifno]) return FALSE;
         IWDG->KR = IWDG_REFRESH;
         int a = RB_write((ringbuffer*)&rbout[ifno], buf, len);
-        if(lastdsz[ifno] == 0) send_next(ifno); // need to run manually - all data sent, so no IRQ on IN
         if(a > 0){
             len -= a;
             buf += a;
-        } else if (a < 0) continue; // do nothing if buffer is in reading state
+        }else if(a == 0){ // overfull
+            if(lastdsz[ifno] < 0) send_next(ifno);
+        }
     }
+    if(buf[len-1] == '\n' && lastdsz[ifno] < 0) send_next(ifno);
     return TRUE;
 }
 
@@ -236,10 +245,15 @@ int USB_putbyte(uint8_t ifno, uint8_t byte){
     if(!CDCready[ifno]) return FALSE;
     int l = 0;
     while((l = RB_write((ringbuffer*)&rbout[ifno], &byte, 1)) != 1){
+        if(!CDCready[ifno]) return FALSE;
         IWDG->KR = IWDG_REFRESH;
-        if(lastdsz[ifno] == 0) send_next(ifno); // need to run manually - all data sent, so no IRQ on IN
+        if(l == 0){ // overfull
-        if(l < 0) continue;
+            if(lastdsz[ifno] < 0) send_next(ifno);
+            continue;
+        }
     }
+    // send line if got EOL
+    if(byte == '\n' && lastdsz[ifno] < 0) send_next(ifno);
     return TRUE;
 }
 

F1:F103/USB_New_concept/USB_NEW_concept_CDC/usb_dev.c

@@ -75,13 +75,19 @@ static void chkin(){
 static void send_next(){
     uint8_t usbbuff[USB_TXBUFSZ];
     int buflen = RB_read((ringbuffer*)&rbout, (uint8_t*)usbbuff, USB_TXBUFSZ);
+    if(!CDCready){
+        lastdsz = -1;
+        return;
+    }
     if(buflen == 0){
-        if(lastdsz == 64) EP_Write(1, NULL, 0); // send ZLP after 64 bits packet when nothing more to send
+        if(lastdsz == USB_TXBUFSZ){
-        lastdsz = 0;
+            EP_Write(1, NULL, 0); // send ZLP after 64 bits packet when nothing more to send
+            lastdsz = 0;
+        }else lastdsz = -1;
         return;
     }else if(buflen < 0){
         DBG("Buff busy");
-        lastdsz = 0;
+        lastdsz = -1;
         return;
     }
     DBG("Got data in buf");
@@ -193,14 +199,17 @@ int USB_send(const uint8_t *buf, int len){
     if(!buf || !CDCready || !len) return FALSE;
     DBG("USB_send");
     while(len){
+        if(!CDCready) return FALSE;
         IWDG->KR = IWDG_REFRESH;
         int a = RB_write((ringbuffer*)&rbout, buf, len);
-        if(lastdsz == 0) send_next(); // need to run manually - all data sent, so no IRQ on IN
         if(a > 0){
             len -= a;
             buf += a;
-        } else if (a < 0) continue; // do nothing if buffer is in reading state
+        }else if(a == 0){ // overfull
+            if(lastdsz < 0) send_next();
+        }
     }
+    if(buf[len-1] == '\n' && lastdsz < 0) send_next();
     return TRUE;
 }
 
@@ -208,10 +217,14 @@ int USB_putbyte(uint8_t byte){
     if(!CDCready) return FALSE;
     int l = 0;
     while((l = RB_write((ringbuffer*)&rbout, &byte, 1)) != 1){
+        if(!CDCready) return FALSE;
         IWDG->KR = IWDG_REFRESH;
-        if(lastdsz == 0) send_next(); // need to run manually - all data sent, so no IRQ on IN
+        if(l == 0){ // overfull
-        if(l < 0) continue;
+            if(lastdsz < 0) send_next();
+            continue;
+        }
     }
+    if(byte == '\n' && lastdsz < 0) send_next();
     return TRUE;
 }
 

F1:F103/USB_New_concept/USB_NEW_concept_PL2303/usb_dev.c

@@ -81,12 +81,18 @@ static void chkin(){
 static void send_next(){
     uint8_t usbbuff[USB_TXBUFSZ];
     int buflen = RB_read((ringbuffer*)&rbout, (uint8_t*)usbbuff, USB_TXBUFSZ);
+    if(!CDCready){
+        lastdsz = -1;
+        return;
+    }
     if(buflen == 0){
-        if(lastdsz == 64) EP_Write(3, NULL, 0); // send ZLP after 64 bits packet when nothing more to send
+        if(lastdsz == 64){
-        lastdsz = 0;
+            EP_Write(3, NULL, 0); // send ZLP after 64 bits packet when nothing more to send
+            lastdsz = 0;
+        } else lastdsz = -1; // OK. User can start sending data
         return;
     }else if(buflen < 0){
-        lastdsz = 0;
+        lastdsz = -1;
         return;
     }
     EP_Write(3, (uint8_t*)usbbuff, buflen);
@@ -231,16 +237,19 @@ int USB_sendall(){
 // put `buf` into queue to send
 int USB_send(const uint8_t *buf, int len){
     if(!buf || !CDCready || !len) return FALSE;
-    DBG("send");
+    DBG("USB_send");
     while(len){
+        if(!CDCready) return FALSE;
         IWDG->KR = IWDG_REFRESH;
         int a = RB_write((ringbuffer*)&rbout, buf, len);
-        if(lastdsz == 0) send_next(); // need to run manually - all data sent, so no IRQ on IN
         if(a > 0){
             len -= a;
             buf += a;
-        } else if (a < 0) continue; // do nothing if buffer is in reading state
+        }else if(a == 0){ // overfull
+            if(lastdsz < 0) send_next();
         }
+    }
+    if(buf[len-1] == '\n' && lastdsz < 0) send_next();
     return TRUE;
 }
 
@@ -248,10 +257,15 @@ int USB_putbyte(uint8_t byte){
     if(!CDCready) return FALSE;
     int l = 0;
     while((l = RB_write((ringbuffer*)&rbout, &byte, 1)) != 1){
+        if(!CDCready) return FALSE;
         IWDG->KR = IWDG_REFRESH;
-        if(lastdsz == 0) send_next(); // need to run manually - all data sent, so no IRQ on IN
+        if(l == 0){ // overfull
-        if(l < 0) continue;
+            if(lastdsz < 0) send_next();
+            continue;
+        }
     }
+    // send line if got EOL
+    if(byte == '\n' && lastdsz < 0) send_next();
     return TRUE;
 }