add LST

F0:F030,F042,F072/3steppersLB/flash.c

@@ -94,7 +94,7 @@ static int binarySearch(int r, const uint8_t *start, int stor_size){
  */
 void flashstorage_init(){
     if(FLASH_SIZE > 0 && FLASH_SIZE < 20000){
-        uint32_t flsz = FLASH_SIZE * blocksize; // size in bytes
+        uint32_t flsz = FLASH_SIZE * 1024; // size in bytes
         flsz -= (uint32_t)(&__varsstart) - FLASH_BASE;
         maxCnum = flsz / sizeof(user_conf);
     }
@@ -155,7 +155,7 @@ static int erase_flash(const void *start, const void *end){
     uint32_t nblocks = 1, flsz = 0;
     if(!end){ // erase all remaining
         if(FLASH_SIZE > 0 && FLASH_SIZE < 20000){
-            flsz = FLASH_SIZE * blocksize; // size in bytes
+            flsz = FLASH_SIZE * 1024; // size in bytes
             flsz -= (uint32_t)start - FLASH_BASE;
         }
     }else{ // erase a part

F0:F030,F042,F072/Snippets/Flash_EEPROM/flash.c

@@ -96,7 +96,7 @@ static int binarySearch(int r, const uint8_t *start, int stor_size){
  */
 void flashstorage_init(){
     if(FLASH_SIZE > 0 && FLASH_SIZE < 20000){
-        uint32_t flsz = FLASH_SIZE * blocksize; // size in bytes
+        uint32_t flsz = FLASH_SIZE * 1024; // size in bytes
         flsz -= (uint32_t)(&__varsstart) - FLASH_BASE;
         maxCnum = flsz / sizeof(user_conf);
 //SEND("flsz="); printu(flsz);
@@ -165,7 +165,7 @@ static int erase_flash(const void *start, const void *end){
     uint32_t nblocks = 1, flsz = 0;
     if(!end){ // erase all remaining
         if(FLASH_SIZE > 0 && FLASH_SIZE < 20000){
-            flsz = FLASH_SIZE * blocksize; // size in bytes
+            flsz = FLASH_SIZE * 1024; // size in bytes
             flsz -= (uint32_t)start - FLASH_BASE;
         }
     }else{ // erase a part

F0:F030,F042,F072/usbcan_gpio/flash.c

@@ -103,7 +103,7 @@ static int binarySearch(int r, const uint8_t *start, int stor_size){
  */
 void flashstorage_init(){
     if(FLASH_SIZE > 0 && FLASH_SIZE < 20000){
-        uint32_t flsz = FLASH_SIZE * blocksize; // size in bytes
+        uint32_t flsz = FLASH_SIZE * 1024; // size in bytes
         flsz -= (uint32_t)(&__varsstart) - FLASH_BASE;
         maxCnum = flsz / sizeof(user_conf);
     }
@@ -164,7 +164,7 @@ static int erase_flash(const void *start, const void *end){
     uint32_t nblocks = 1, flsz = 0;
     if(!end){ // erase all remaining
         if(FLASH_SIZE > 0 && FLASH_SIZE < 20000){
-            flsz = FLASH_SIZE * blocksize; // size in bytes
+            flsz = FLASH_SIZE * 1024; // size in bytes
             flsz -= (uint32_t)start - FLASH_BASE;
         }
     }else{ // erase a part

F3:F303/MLX90640-allsky/gnuplot/mkplot

@@ -0,0 +1,25 @@
+#!/bin/bash
+
+if [[ $# != 2 ]]; then
+	echo "Usage: $0 <input file> <output file>" >&2
+	exit 1
+fi
+
+gnuplot << EOF
+set terminal jpeg size 800,600 enhanced font "Arial,10"
+set output '$2'
+
+# Standard thermal palette
+set pm3d map                      # Enables 2D map mode
+set palette rgbformulae 33,13,10  # Classic blue-green-red temperature palette
+set view map                      # Forces 2D top-down view
+
+set title "Temperature Distribution (degC)"
+set xlabel "X Coordinate"
+set ylabel "Y Coordinate"
+set cblabel "Temperature"         # Colorbar label
+
+# Plot matrix data as an image
+plot '$1' matrix with image
+EOF
+

G0:G070,G0B1/flash/flash.c

@@ -81,7 +81,7 @@ static int binarySearch(int r, const uint8_t *start, int stor_size){
  */
 void flashstorage_init(){
     if(FLASH_SIZE > 0 && FLASH_SIZE < 20000){
-        uint32_t flsz = FLASH_SIZE * blocksize; // size in bytes
+        uint32_t flsz = FLASH_SIZE * 1024; // size in bytes
         flsz -= (uint32_t)(&__varsstart) - FLASH_BASE;
         maxCnum = flsz / sizeof(user_conf);
     }
@@ -149,7 +149,7 @@ static int erase_flash(const void *start, const void *end){
     if(!start) return 1;
     uint32_t startb = (((uint32_t)start - FLASH_BASE) + blocksize - 1) / blocksize, endb;
     if(!end){ // erase all remaining
-        endb = FLASH_SIZE / blocksize;
+        endb = FLASH_SIZE * 1024 / blocksize;
     }else{ // erase a part
         endb = (((uint32_t)end - FLASH_BASE) + blocksize - 1) / blocksize;
     }

G4:G431/CORDIC/Makefile

@@ -0,0 +1,13 @@
+BINARY      := cordic
+PREFIX      := /usr/bin/arm-none-eabi
+CFLAGS       = -std=c23
+CPPFLAGS     = -std=c++11
+# MCU code
+MCU         := G431xx
+# change this linking script depending on particular MCU model,
+LDSCRIPT    := stm32g431xb.ld
+LDLIBS      += -lm
+
+include ../makefile.g4
+include ../../makefile.stm32
+

G4:G431/CORDIC/astro.c

@@ -0,0 +1,204 @@
+/*
+ * This file is part of the cordic project.
+ * Copyright 2026 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 <math.h>
+#include <stdint.h>
+
+#include "astro.h"
+#include "cordic.h"
+
+static int sincosflag = 0; // math.h
+// longitude/latitude + in rad/hrs
+//static float longitude = 41.44143375f, latitude = 43.6535278f;
+static float lat_rad = 43.6535278f * M_PIf / 180.f;
+static float long_hrs = 41.44143375f / 15.f;
+
+static void sincosf_m(float angle, float *s, float *c){
+    if(s) *s = sin(angle);
+    if(c) *c = cos(angle);
+}
+
+static void (*sincosf)(float, float*, float*) = sincosf_m;
+
+void set_sincos(int iscordic){
+    if(iscordic) sincosf = cordic_sincos;
+    else sincosf = sincosf_m;
+    sincosflag = iscordic;
+}
+
+int get_sincos(){ return sincosflag; }
+
+/* Helper functions for angle normalization (single precision) */
+static float normalize_degrees(float angle){
+    angle = fmodf(angle, 360.0f);
+    if (angle < 0.0f) angle += 360.0f;
+    return angle;
+}
+
+static float normalize_hours(float hours){
+    hours = fmodf(hours, 24.0f);
+    if (hours < 0.0f) hours += 24.0f;
+    return hours;
+}
+
+/* 1. Compute Modified Julian Date from UNIX time (seconds since 1970-01-01 00:00:00 UTC) */
+float MJD_from_unix(uint32_t t){
+    return 40587.f + (float)t / 86400.0f;
+}
+
+float LST_from_unix(uint32_t t){
+    uint32_t days = t / 86400;
+    uint32_t sec  = t % 86400;
+
+    float mjd_int = 40587.0f + (float)days;
+
+    float T = (mjd_int - 51544.5f) / 36525.0f, T2 = T*T, T3 = T2*T;
+    float gmst0_sec = 24110.54841f + 8640184.812866f*T + 0.093104f*T2 - 6.2e-6f*T3;
+    float ut1_sec = (float)sec * 1.00273790935f;
+    float gmst_sec = gmst0_sec + ut1_sec;
+    float lst_hours = gmst_sec / 3600.0f + long_hrs;
+    return normalize_hours(lst_hours);
+}
+
+/* 3. Convert Hour Angle (HA) to Right Ascension (RA) and vice versa.
+   All angles in degrees. LST is Local Sidereal Time in degrees. */
+float ha_to_ra(float ha, float lst){
+    float ra = lst - ha;
+    return normalize_degrees(ra);
+}
+
+float ra_to_ha(float ra, float lst){
+    float ha = lst - ra;
+    // Hour angle is usually in range [-180,180)
+    ha = normalize_degrees(ha);
+    if (ha > 180.0f) ha -= 360.0f;
+    return ha;
+}
+
+/* 4. Convert Altitude-Azimuth coordinates to Equatorial (Hour Angle, Declination)
+   and back. All angles in degrees. Azimuth is measured from North through East. */
+void altaz_to_hadec(float alt_deg, float az_deg, float *ha_deg, float *dec_deg){
+    float alt = alt_deg * M_PIf / 180.0f;
+    float az  = az_deg  * M_PIf / 180.0f;
+
+    float sin_alt, cos_alt, sin_az, cos_az, sin_lat, cos_lat;
+    sincosf(alt, &sin_alt, &cos_alt);
+    sincosf(az,  &sin_az,  &cos_az);
+    sincosf(lat_rad, &sin_lat, &cos_lat);
+
+    /* Declination */
+    float sin_dec = sin_alt * sin_lat + cos_alt * cos_lat * cos_az;
+    float dec = asinf(sin_dec);
+
+    /* Hour angle (using atan2f for sign determination) */
+    float x = sin_alt * cos_lat - cos_alt * sin_lat * cos_az;
+    float y = -cos_alt * sin_az;
+    float ha = atan2f(y, x);   // radians
+
+    *ha_deg  = ha * 180.0f / M_PIf;
+    *dec_deg = dec * 180.0f / M_PIf;
+}
+
+void hadec_to_altaz(float ha_deg, float dec_deg, float *alt_deg, float *az_deg){
+    float ha  = ha_deg  * M_PIf / 180.0f;
+    float dec = dec_deg * M_PIf / 180.0f;
+
+    float sin_dec, cos_dec, sin_ha, cos_ha, sin_lat, cos_lat;
+    sincosf(dec, &sin_dec, &cos_dec);
+    sincosf(ha,  &sin_ha,  &cos_ha);
+    sincosf(lat_rad, &sin_lat, &cos_lat);
+
+    /* Altitude */
+    float sin_alt = sin_lat * sin_dec + cos_lat * cos_dec * cos_ha;
+    float alt = asinf(sin_alt);
+
+    /* Azimuth (from North through East) */
+    float x = sin_dec * cos_lat - cos_dec * sin_lat * cos_ha;
+    float y = -cos_dec * sin_ha;
+    float az = atan2f(y, x);   // radians, [-π, π]
+
+    *alt_deg = alt * 180.0f / M_PIf;
+    *az_deg  = az * 180.0f / M_PIf;
+    if (*az_deg < 0.0f) *az_deg += 360.0f;
+}
+
+/**
+ * @brief Calculate refraction constants A and B for the model dZ = A*tan(Z) + B*tan^3(Z)
+ *
+ * This is a single-precision adaptation of the SOFA iauRefco / ERFA eraRefco function.
+ * Optimized for microcontrollers without hardware double-precision support (e.g., STM32G431).
+ *
+ * @param phpa    Pressure at the observer (hPa = mbar)
+ * @param tc      Ambient temperature at the observer (degrees C)
+ * @param rh      Relative humidity at the observer (range 0-1)
+ * @param wl      Wavelength (micrometers). Use 0.55 for optical, >100 for radio.
+ * @param refa    Output: tan(Z) coefficient (radians)
+ * @param refb    Output: tan^3(Z) coefficient (radians)
+ */
+static void refco_f32(float phpa, float tc, float rh, float wl, float *refa, float *refb) {
+    // Restrict input parameters to safe values (clamp)
+    float t = tc;
+    if(t < -150.0f) t = -150.0f;
+    if(t > 200.0f)  t = 200.0f;
+
+    float p = phpa;
+    if(p < 0.0f)     p = 0.0f;
+    if(p > 10000.0f) p = 10000.0f;
+
+    float r = rh;
+    if(r < 0.0f)    r = 0.0f;
+    if(r > 1.0f)    r = 1.0f;
+
+    float w = wl;
+    if(w < 0.1f)  w = 0.1f;
+    if(w > 10.0f) w = 10.0f;
+
+    // Water vapour pressure at the observer
+    float pw = 0.0f;
+    if(p > 0.0f){
+        // Saturation vapour pressure (empirical formula)
+        float ps = powf(10.0f, (0.7859f + 0.03477f * t) / (1.0f + 0.00412f * t))
+                   * (1.0f + p * (4.5e-6f + 6e-10f * t * t));
+        pw = r * ps / (1.0f - (1.0f - r) * ps / p);
+    }
+
+    // Temperature in Kelvin
+    float tk = t + 273.15f;
+
+    // Refractive index minus 1 at the observer (gamma = (n - 1) at the observer)
+    float gamma;
+    // Optical/IR: wavelength-dependent formula
+    float wlsq = w * w;
+    gamma = ((77.53484e-6f + (4.39108e-7f + 3.666e-9f / wlsq) / wlsq) * p
+             - 11.2684e-6f * pw) / tk;
+
+    // Beta coefficient (from Stone, with empirical adjustments)
+    float beta = 4.4474e-6f * tk;
+
+    // Refraction constants (from Green)
+    if(refa) *refa = gamma * (1.0f - beta);
+    if(refb) *refb = -gamma * (beta - gamma / 2.0f);
+}
+
+//alt_corrected = alt_apparent + refraction
+float refraction(float phpa, float tc, float rh, float Z_rad){
+    float A, B;
+    refco_f32(phpa, tc, rh, 0.55, &A, &B);
+    float tanZ = tanf(Z_rad);
+    return A * tanZ + B * tanZ * tanZ * tanZ;
+}

G4:G431/CORDIC/astro.h

@@ -0,0 +1,32 @@
+/*
+ * This file is part of the cordic project.
+ * Copyright 2026 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
+
+#include <stdint.h>
+
+void set_sincos(int iscordic);
+int get_sincos();
+float MJD_from_unix(uint32_t t);
+//float LST_from_mjd(float mjd);
+float LST_from_unix(uint32_t t);
+float ha_to_ra(float ha, float lst);
+float ra_to_ha(float ra, float lst);
+void altaz_to_hadec(float alt_deg, float az_deg, float *ha_deg, float *dec_deg);
+void hadec_to_altaz(float ha_deg, float dec_deg, float *alt_deg, float *az_deg);
+float refraction(float phpa, float tc, float rh, float Z_rad);

G4:G431/CORDIC/commproto.cpp

@@ -0,0 +1,266 @@
+/*
+ * This file is part of the cordic project.
+ * Copyright 2026 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 <cstring>
+
+extern "C"{
+#include <math.h>
+#include <stm32g4.h>
+
+#include "astro.h"
+#include "commproto.h"
+#include "cordic.h"
+#include "hardware.h"
+#include "strfunc.h"
+#include "test.h"
+}
+
+// sending function
+static int (*SEND)(const char *str) = nullptr;
+
+extern volatile uint32_t Tms;
+
+//static uint8_t curbuf[MAXSTRLEN];
+
+// COMMAND(USART,      "Read USART data or send (USART=hex)")
+
+#define STR_HELPER(x) #x
+#define STR(x) STR_HELPER(x)
+
+// list of all commands and handlers
+#define COMMAND_TABLE \
+    COMMAND(help,       "show this help") \
+    COMMAND(sets,       "set sin-cos to cordic (1) or math (0)") \
+    COMMAND(sincos,     "calculate sin/cos for given angle in degrees") \
+    COMMAND(testc,      "test CORDIC function: sincos, sin, cos, atan, sqrt, log") \
+    COMMAND(testm,      "test math function: sin, cos, atan, sqrt, log") \
+    COMMAND(time,       "show MJD and LST for given UNIX-time") \
+
+
+typedef struct {
+    const char *name;
+    const char *desc;
+} CmdInfo;
+
+// prototypes
+#define COMMAND(name, desc)   static errcodes_t cmd_ ## name(const char*, char*);
+COMMAND_TABLE
+#undef COMMAND
+
+static const CmdInfo cmdInfo[] = { // command name, description - for `help`
+#define COMMAND(name, desc)   { #name, desc },
+        COMMAND_TABLE
+#undef COMMAND
+};
+
+static const char* errtxt[ERR_AMOUNT] = {
+    [ERR_OK]        = "OK\n",
+    [ERR_BADCMD]    = "BADCMD\n",
+    [ERR_BADPAR]    = "BADPAR\n",
+    [ERR_BADVAL]    = "BADVAL\n",
+    [ERR_WRONGLEN]  = "WRONGLEN\n",
+    [ERR_CANTRUN]   = "CANTRUN\n",
+    [ERR_BUSY]      = "BUSY\n",
+    [ERR_OVERFLOW]  = "OVERFLOW\n",
+};
+
+const char *EQ = " = "; // equal sign for getters
+
+// send `command = `
+#define CMDEQ()   do{SEND(cmd); SEND(EQ);}while(0)
+// send `commandXXX = `
+#define CMDEQP(x)   do{SEND(cmd); SEND(u2str((uint32_t)x)); SEND(EQ);}while(0)
+// the same as last but with command as option and uint value
+#define SHOWPARU(cmd, x, val)  do{SEND(cmd); SEND(u2str((uint32_t)x)); SEND(EQ); SEND(u2str(val));}while(0)
+
+/**
+ * @brief splitargs - get command parameter and setter from `args`
+ * @param args (i) - rest of string after command (like `1 = PU OD OUT`)
+ * @param parno (o) - parameter number or -1 if none
+ * @return setter (part after `=` without leading spaces) or NULL if none
+ */
+static char *splitargs(char *args, int32_t *parno){
+    if(!args) return NULL;
+    uint32_t U32;
+    char *next = getnum(args, &U32);
+    int p = -1;
+    if(next != args && U32 <= MAXPARNO) p = U32;
+    if(parno) *parno = p;
+    next = strchr(next, '=');
+    if(next){
+        if(*(++next)) next = omit_spaces(next);
+        if(*next == 0) next = NULL;
+    }
+    return next;
+}
+
+/**
+ * @brief argsvals - split `args` into `parno` and setter's value
+ * @param args - rest of string after command
+ * @param parno (o) - parameter number or -1 if none
+ * @param parval - integer setter's value
+ * @return false if no setter or it's not a number, true - got setter's num
+ */
+static bool argsvals(char *args, int32_t *parno, int32_t *parval){
+    char *setter = splitargs(args, parno);
+    if(!setter) return false;
+    int32_t I32;
+    char *next = getint(setter, &I32);
+    if(next != setter){
+        if(parval) *parval = I32;
+        return true;
+    }
+    return false;
+}
+
+static errcodes_t cmd_help(const char*, char*){
+    SEND(REPOURL);
+    for(size_t i = 0; i < sizeof(cmdInfo)/sizeof(cmdInfo[0]); i++){
+        SEND(cmdInfo[i].name);
+        SEND(" - ");
+        SEND(cmdInfo[i].desc); SEND("\n");
+    }
+    return ERR_AMOUNT;
+}
+
+static const char* parse_func_name(char *args){
+    char *setter = splitargs(args, NULL);
+    if(!setter) return nullptr;
+    // remove trailing spaces
+    char *p = setter;
+    while(*p && *p > ' ') ++p;
+    *p = 0;
+    return setter;
+}
+
+// calculate sin/cos
+static errcodes_t cmd_sincos(const char *, char *args){
+    char *setter = splitargs(args, NULL);
+    float f;
+    if(!setter || !getfloat(setter, &f)) return ERR_BADVAL;
+    f = f/180.f * M_PIf;
+    SEND("mathsin="); SEND(float2str(sinf(f), 7));
+    SEND("\nmathcos="); SEND(float2str(cosf(f), 7));
+    float s, c;
+    cordic_sincos(f, &s, &c);
+    SEND("\ncordicsin="); SEND(float2str(s, 7));
+    SEND("\ncordiccos="); SEND(float2str(c, 7));
+    SEND("\n");
+    return ERR_AMOUNT;
+}
+
+// test math function
+static errcodes_t cmd_testm(const char*, char *args){
+    const char *fname = parse_func_name(args);
+    if(!fname) return ERR_BADPAR;
+    uint32_t elapsed = 0;
+    bool ok = true;
+    if(strcmp(fname, "sin") == 0){
+        elapsed = test_math_sin();
+    }else if(strcmp(fname, "cos") == 0){
+        elapsed = test_math_cos();
+    }else if(strcmp(fname, "atan") == 0){
+        elapsed = test_math_atan();
+    }else if(strcmp(fname, "sqrt") == 0){
+        elapsed = test_math_sqrt();
+    }else if(strcmp(fname, "log") == 0){
+        elapsed = test_math_log();
+    }else{
+        ok = false;
+    }
+    if(!ok) return ERR_BADVAL;
+    SEND("TIMEus=");
+    SEND(u2str(elapsed));
+    SEND("\n");
+    return ERR_AMOUNT;
+}
+
+
+// test CORDIC function
+static errcodes_t cmd_testc(const char*, char *args){
+    const char *fname = parse_func_name(args);
+    if(!fname) return ERR_BADPAR;
+    uint32_t elapsed = 0;
+    bool ok = true;
+    if(strcmp(fname, "sincos") == 0){
+        elapsed = test_cordic_sincos();
+    }
+    else if(strcmp(fname, "sin") == 0){
+        elapsed = test_cordic_sin();
+    }else if(strcmp(fname, "cos") == 0){
+        elapsed = test_cordic_cos();
+    }else if(strcmp(fname, "atan") == 0){
+        elapsed = test_cordic_atan();
+    }else if(strcmp(fname, "sqrt") == 0){
+        elapsed = test_cordic_sqrt();
+    }else if(strcmp(fname, "log") == 0){
+        elapsed = test_cordic_log();
+    }else{
+        ok = false;
+    }
+    if(!ok) return ERR_BADVAL;
+    SEND("TIMEus=");
+    SEND(u2str(elapsed));
+    SEND("\n");
+    return ERR_AMOUNT;
+}
+
+static errcodes_t cmd_time(const char *, char *args){
+    char *setter = splitargs(args, NULL);
+    if(!setter) return ERR_BADVAL;
+    uint32_t unix_time;
+    if(setter == getnum(setter, &unix_time)) return ERR_BADVAL;
+    float mjd = MJD_from_unix(unix_time);
+    SEND("MJD="); SEND(float2str(mjd, 7));
+    SEND("\nLST="); SEND(float2str(LST_from_unix(unix_time), 7));
+    SEND("\n");
+    return ERR_AMOUNT;
+}
+
+static errcodes_t cmd_sets(const char *cmd, char *args){
+    int32_t val;
+    if(argsvals(args, NULL, &val)) set_sincos(val);
+    CMDEQ();
+    if(get_sincos()) SEND("CORDIC\n");
+    else SEND("MATH\n");
+    return ERR_AMOUNT;
+}
+
+constexpr uint32_t hash(const char* str, uint32_t h = 0){
+    return *str ? hash(str + 1, h + ((h << 7) ^ *str)) : h;
+}
+
+const char *parse_cmd(int (*sendfun)(const char *), char *str){
+    SEND = sendfun;
+    char command[CMD_MAXLEN+1];
+    int i = 0;
+    while(*str > '@' && i < CMD_MAXLEN){ command[i++] = *str++; }
+    command[i] = 0;
+    while(*str && *str <= ' ') ++str;
+    char *restof = (char*) str;
+    uint32_t h = hash(command);
+    errcodes_t ecode = ERR_AMOUNT;
+    switch(h){
+#define COMMAND(name, desc) case hash(#name): ecode = cmd_ ## name(command, restof); break;
+        COMMAND_TABLE
+#undef COMMAND
+            default: SEND("Unknown command, try 'help'\n"); break;
+    }
+    if(ecode < ERR_AMOUNT) return errtxt[ecode];
+    return NULL;
+}

G4:G431/CORDIC/commproto.h

@@ -0,0 +1,53 @@
+/*
+ * This file is part of the cordic project.
+ * Copyright 2026 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
+
+#include "version.inc"
+
+#ifdef EBUG
+#define RLSDBG "debug"
+#else
+#define RLSDBG "release"
+#endif
+
+#define REPOURL     "https://github.com/eddyem/stm32samples/tree/master/TODO "  RLSDBG " build #" BUILD_NUMBER "@" BUILD_DATE "\n"
+
+
+// error codes for answer message
+typedef enum{
+    ERR_OK,         // all OK
+    ERR_BADCMD,     // wrong command
+    ERR_BADPAR,     // wrong parameter
+    ERR_BADVAL,     // wrong value (for setter)
+    ERR_WRONGLEN,   // wrong message length
+    ERR_CANTRUN,    // can't run given command due to bad parameters or other
+    ERR_BUSY,       // target interface busy, try later
+    ERR_OVERFLOW,   // string was too long -> overflow
+    ERR_AMOUNT      // amount of error codes or "send nothing"
+} errcodes_t;
+
+// maximal length of command (without trailing zero)
+#define CMD_MAXLEN  15
+// maximal available parameter number
+#define MAXPARNO    255
+// maximal string length includint terminating zero
+#define MAXSTRLEN   256
+
+extern const char *EQ;
+const char *parse_cmd(int (*sendfun)(const char*), char *buf);

G4:G431/CORDIC/cordic.c

@@ -0,0 +1,151 @@
+/*
+ * This file is part of the cordic project.
+ * Copyright 2026 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 <stm32g4.h>
+#include <math.h>
+#include "cordic.h"
+
+// default CSR settings
+#define CORDIC_CSR_DEF  (5 << CORDIC_CSR_PRECISION_Pos)
+
+// enable CORDIC
+static void cordic_enable(void){
+    RCC->AHB1ENR |= RCC_AHB1ENR_CORDICEN;
+    __DSB();
+}
+
+// Convert float to Q1.31 in [-1, 1)
+static int32_t float_to_q31(float x){
+    if(x >= 1.0f) x = 1.0f - 1e-6f;
+    if(x <= -1.0f) x = -1.0f + 1e-6f;
+    return (int32_t)(x * Q31_BASE);
+}
+
+// Convert Q1.31 to float
+static float q31_to_float(int32_t q){
+    return (float)q / Q31_BASE;
+}
+
+static void cordic_init(void){
+    static bool inited = false;
+    if(!inited){
+        cordic_enable();
+        inited = true;
+    }
+}
+
+#if 0
+// Common function for one arg (sin, cos, sqrt, log)
+static float cordic_scalar(uint32_t func_mode, float x, int arg_count){
+    cordic_init();
+    CORDIC->CSR = (func_mode << CORDIC_CSR_FUNC_Pos) |
+                  CORDIC_CSR_INSIZE_1 |            // in Q1.31
+                  CORDIC_CSR_OUTSIZE_0;            // out Q1.31
+    if(arg_count == 1){
+        CORDIC->WDATA = float_to_q31(x);
+    } else {
+...
+    }
+    cordic_wait_ready();
+    int32_t res = CORDIC->RDATA;
+    return q31_to_float(res);
+}
+#endif
+
+// sincos
+void cordic_sincos(float angle, float *s, float *c){
+    float norm = angle / M_PIf;
+    if(norm > 1.0f) norm = 1.0f;
+    if(norm < -1.0f) norm = -1.0f;
+    cordic_init();
+    CORDIC->CSR = (CORDIC_CSR_FUNC_SIN << CORDIC_CSR_FUNC_Pos) | CORDIC_CSR_DEF | CORDIC_CSR_NRES;
+    CORDIC->WDATA = float_to_q31(norm);
+    int32_t res = CORDIC->RDATA;
+    if(s) *s = q31_to_float(res);
+    res = CORDIC->RDATA;
+    if(c) *c = q31_to_float(res);
+}
+
+// sin
+float cordic_sin(float angle){
+    float norm = angle / M_PIf;
+    if(norm > 1.0f) norm = 1.0f;
+    if(norm < -1.0f) norm = -1.0f;
+    cordic_init();
+    CORDIC->CSR = (CORDIC_CSR_FUNC_SIN << CORDIC_CSR_FUNC_Pos) | CORDIC_CSR_DEF;
+    CORDIC->WDATA = float_to_q31(norm);
+    int32_t res = CORDIC->RDATA;
+    return q31_to_float(res);
+}
+
+// cos
+float cordic_cos(float angle){
+    float norm = angle / M_PIf;
+    if(norm > 1.0f) norm = 1.0f;
+    if(norm < -1.0f) norm = -1.0f;
+    cordic_init();
+    CORDIC->CSR = (CORDIC_CSR_FUNC_COS << CORDIC_CSR_FUNC_Pos) | CORDIC_CSR_DEF;
+    CORDIC->WDATA = float_to_q31(norm);
+    int32_t res = CORDIC->RDATA; // cos
+    return q31_to_float(res);
+}
+
+// atan2
+float cordic_atan(float val){
+    if(val > 1.f || val < -1.f) return NAN;
+    cordic_init();
+    CORDIC->CSR = (CORDIC_CSR_FUNC_ATAN << CORDIC_CSR_FUNC_Pos) | CORDIC_CSR_DEF;
+    CORDIC->WDATA = float_to_q31(val);
+    int32_t res = CORDIC->RDATA;
+    return q31_to_float(res) * M_PIf;
+}
+
+// sqrt
+float cordic_sqrt(float x){
+    if(x < 0.0f) x = 0.0f;
+    float scale = 1.0f;
+    if(x > 1.0f){
+        if(x < 100.f){ scale = 10.f; x /= 100.f;}
+        else if(x < 1e4f){ scale = 100.f; x /= 1e4f;}
+        else if(x < 1e6f){ scale = 1e3f; x /= 1e6f;}
+        else if(x < 1e10f){ scale = 1e5f; x /= 1e10f;}
+        else return NAN; // number is too big
+    }
+    cordic_init();
+    CORDIC->CSR = (CORDIC_CSR_FUNC_SQRT << CORDIC_CSR_FUNC_Pos) | CORDIC_CSR_DEF;
+    CORDIC->WDATA = float_to_q31(x);
+    int32_t res = CORDIC->RDATA;
+    return scale * q31_to_float(res);
+}
+
+// log
+float cordic_log(float x){
+    if(x <= 0.0f) x = 0.00001f;
+    float add = 0.f;
+    if(x > 1.0f){
+        if(x < 1000.f){ add = 6.907755279f; x /= 1000.f; }
+        else if(x < 1e6f){ add = 13.815510558f; x /= 1e6f; }
+        else if(x < 1e12f){ add = 27.63102112f; x /= 1e12f; }
+        else return NAN;
+    }
+    cordic_init();
+    CORDIC->CSR = (CORDIC_CSR_FUNC_LOG << CORDIC_CSR_FUNC_Pos) | CORDIC_CSR_DEF;
+    CORDIC->WDATA = float_to_q31(x);
+    int32_t res = CORDIC->RDATA;
+    return q31_to_float(res) * 0.6931471805599453f + add;
+}

G4:G431/CORDIC/cordic.cflags

@@ -0,0 +1 @@
+-std=c23

G4:G431/CORDIC/cordic.config

@@ -0,0 +1,3 @@
+#define EBUG
+#define STM32G4
+#define STM32G431xx

G4:G431/CORDIC/cordic.creator

@@ -0,0 +1 @@
+[General]

G4:G431/CORDIC/cordic.cxxflags

@@ -0,0 +1 @@
+-std=c++23

G4:G431/CORDIC/cordic.files

@@ -0,0 +1,21 @@
+astro.c
+astro.h
+commproto.cpp
+commproto.h
+cordic.c
+cordic.h
+flash.c
+flash.h
+hardware.c
+hardware.h
+main.c
+ringbuffer.c
+ringbuffer.h
+servo.c
+servo.h
+strfunc.c
+strfunc.h
+test.c
+test.h
+usart.c
+usart.h

G4:G431/CORDIC/cordic.h

@@ -0,0 +1,47 @@
+/*
+ * This file is part of the cordic project.
+ * Copyright 2026 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
+
+#include <stdint.h>
+
+#ifndef M_PIf
+#define M_PIf       3.141592653589793f
+#endif
+
+#define Q31_BASE    2147483648.0f
+
+// functions
+enum {
+    CORDIC_CSR_FUNC_COS = 0,
+    CORDIC_CSR_FUNC_SIN,
+    CORDIC_CSR_FUNC_PHASE,
+    CORDIC_CSR_FUNC_MOD,
+    CORDIC_CSR_FUNC_ATAN,
+    CORDIC_CSR_FUNC_COSH,
+    CORDIC_CSR_FUNC_ATANH,
+    CORDIC_CSR_FUNC_LOG,
+    CORDIC_CSR_FUNC_SQRT
+};
+
+void  cordic_sincos(float angle, float *s, float *c);
+float cordic_sin(float angle);
+float cordic_cos(float angle);
+float cordic_atan(float val);
+float cordic_sqrt(float x);
+float cordic_log(float x);

G4:G431/CORDIC/cordic.includes

@@ -0,0 +1,4 @@
+.
+../inc
+../inc/Fx
+../inc/cm

G4:G431/CORDIC/hardware.c

@@ -0,0 +1,69 @@
+/*
+ * This file is part of the cordic project.
+ * Copyright 2026 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 <stm32g4.h>
+
+#include "hardware.h"
+
+volatile uint32_t Tms = 0;
+
+/* Called when systick fires */
+void sys_tick_handler(){
+    ++Tms;
+}
+
+static void timer_setup(){
+    RCC->APB1ENR1 |= RCC_APB1ENR1_TIM3EN;
+    __DSB();
+    TIM3->CR1 = 0;              // disable counter
+    TIM3->PSC = 84;             // 85 MHz / 85 = 1 MHz
+    TIM3->ARR = 0xFFFFFFFF;     // 32-bit auto-reload (maximum)
+}
+
+void timer_start(){
+    TIM3->CNT = 0;
+    TIM3->CR1 = TIM_CR1_CEN;
+}
+
+void timer_stop(){
+    TIM3->CR1 = 0;
+}
+
+uint32_t timer_read(){
+    return TIM3->CNT;
+}
+
+void gpio_setup(){
+    RCC->AHB2ENR = RCC_AHB2ENR_GPIOAEN | RCC_AHB2ENR_GPIOCEN;
+    __DSB();
+    // PC6 as output, PC13 as input with pulldown
+    GPIOC->MODER = (0xffffffff & ~(GPIO_MODER_MODE6 | GPIO_MODER_MODE13)) | MODER_O(6) | MODER_I(13);
+    GPIOC->PUPDR = PUPD_PD(13);
+    GPIOC->OTYPER = OTYPER_PP(6);
+    // PA9 (Tx), PA10 (Rx) as alternate functions (for USART1)
+    GPIOA->MODER = (0xabffffff & ~(GPIO_MODER_MODE9 | GPIO_MODER_MODE10)) |
+                   MODER_AF(9) | MODER_AF(10);
+    GPIOA->AFR[1] = AFRf(7, 9) | AFRf(7, 10);
+    // count milliseconds
+    SysTick_Config(SysFreq / 1000);
+
+    // Setup TIM3 for microsecond counting
+    timer_setup();
+}
+
+

G4:G431/CORDIC/hardware.h

@@ -0,0 +1,43 @@
+/*
+ * This file is part of the cordic project.
+ * Copyright 2026 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
+
+// KEY (intpullup->0) - PC13
+// LED - PC6
+#define KEY_PORT    GPIOC
+#define KEY_PIN     (1<<13)
+#define LED_PORT    GPIOC
+#define LED_PIN     (1<<6)
+#define KEY_PRESSED() (pin_read(KEY_PORT, KEY_PIN) == 1)
+#define LED_ON()    do{pin_set(LED_PORT, LED_PIN);}while(0)
+#define LED_OFF()   do{pin_clear(LED_PORT, LED_PIN);}while(0)
+#define LED_TOGG()  do{pin_toggle(LED_PORT, LED_PIN);}while(0)
+
+#define SERVO_AMOUNT    4
+
+#define MIN_USART_SPEED 1200
+#define MAX_USART_SPEED 3000000
+
+extern volatile uint32_t Tms;
+
+void gpio_setup();
+
+void timer_start();
+void timer_stop();
+uint32_t timer_read();

G4:G431/CORDIC/main.c

@@ -0,0 +1,71 @@
+/*
+ * This file is part of the cordic project.
+ * Copyright 2023 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 <stm32g4.h>
+#include <string.h>
+
+#include "commproto.h"
+#include "hardware.h"
+#include "strfunc.h"
+#include "usart.h"
+
+// 40ms for debouncing
+#define TDEBOUNCE   (40)
+
+int main(void){
+    StartHSE();
+    // init storage first to take base values
+    gpio_setup();
+    usart_setup(115200);
+    bool pressed = false;
+    uint32_t Tblink = 0, Tkey = 0; // blink and key pressed time
+    uint32_t Tpressed = 0;
+    while(1){
+        USART_flags_t f = usart_process();
+        if(f.rxovrfl) usart_sendstr("Rx buffer overflow!\n");
+        if(f.txerr) usart_sendstr("Tx error!\n");
+        char *str = usart_getline();
+        if(str){
+            const char *ans = parse_cmd(usart_sendstr, str);
+            if(ans) usart_sendstr(ans);
+        }
+        if(Tms - Tblink > 499){
+            LED_TOGG();
+            Tblink = Tms;
+        }
+        if(KEY_PRESSED()){
+            if(!pressed){ // new event
+                pressed = true;
+                usart_sendstr("Key pressed\n");
+                timer_start();
+                Tpressed = Tms;
+            }
+            Tkey = Tms;
+        }else{ // key released
+            if(pressed && (Tms - Tkey) > TDEBOUNCE){ // wait for debounce
+                timer_stop();
+                uint32_t micros = timer_read();
+                uint32_t millis = Tms - Tpressed;
+                pressed = false;
+                usart_sendstr("Key released\n");
+                usart_sendstr("Tms="); usart_sendstr(u2str(millis));
+                usart_sendstr("\nTus="); usart_sendstr(u2str(micros)); usart_sendstr("\n");
+            }
+        }
+    }
+}

G4:G431/CORDIC/openocd.cfg

@@ -0,0 +1,4 @@
+set FLASH_SIZE 0x20000
+
+source [find interface/stlink-v2-1.cfg]
+source [find target/stm32g4x.cfg]

G4:G431/CORDIC/ringbuffer.c

@@ -0,0 +1,203 @@
+/*
+ * Copyright 2023 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 <string.h>
+#include <stm32g4.h>
+#include "ringbuffer.h"
+
+#define CHK(b)  do{if(!b) return -1;}while(0)
+
+static int datalen(ringbuffer *b){
+    if(b->tail >= b->head) return (b->tail - b->head);
+    else return (b->length - b->head + b->tail);
+}
+
+// stored data length
+int RB_datalen(ringbuffer *b){
+    CHK(b);
+    if(0 == datalen(b)) return 0; // don't block for empty RO operations
+    if(b->busy) return -1;
+    b->busy = true;
+    int l = datalen(b);
+    b->busy = false;
+    return l;
+}
+
+static int hasbyte(ringbuffer *b, uint8_t byte){
+    if(b->head == b->tail) return -1; // no data in buffer
+    int startidx = b->head;
+    if(b->head > b->tail){ //
+        for(int found = b->head; found < b->length; ++found)
+            if(b->data[found] == byte) return found;
+        startidx = 0;
+    }
+    for(int found = startidx; found < b->tail; ++found)
+        if(b->data[found] == byte) return found;
+    return -1;
+}
+
+/**
+ * @brief RB_hasbyte - check if buffer has given byte stored
+ * @param b - buffer
+ * @param byte - byte to find
+ * @return index if found, -1 if none or busy
+ */
+int RB_hasbyte(ringbuffer *b, uint8_t byte){
+    CHK(b);
+    if(b->busy) return -1;
+    b->busy = true;
+    int ret = hasbyte(b, byte);
+    b->busy = false;
+    return ret;
+}
+
+// increment head or tail
+TRUE_INLINE void incr(ringbuffer *b, volatile int *what, int n){
+    *what += n;
+    if(*what >= b->length) *what -= b->length;
+}
+
+static int read(ringbuffer *b, uint8_t *s, int len){
+    int l = datalen(b);
+    if(!l) return 0;
+    if(l > len) l = len;
+    int _1st = b->length - b->head;
+    if(_1st > l) _1st = l;
+    if(_1st > len) _1st = len;
+    memcpy(s, b->data + b->head, _1st);
+    if(_1st < len && l > _1st){
+        memcpy(s+_1st, b->data, l - _1st);
+        incr(b, &b->head, l);
+        return l;
+    }
+    incr(b, &b->head, _1st);
+    return _1st;
+}
+
+/**
+ * @brief RB_read - read data from ringbuffer
+ * @param b - buffer
+ * @param s - array to write data
+ * @param len - max len of `s`
+ * @return bytes read or -1 if busy
+ */
+int RB_read(ringbuffer *b, uint8_t *s, int len){
+    CHK(b);
+    if(!s || len < 1) return -1;
+    if(0 == datalen(b)) return 0;
+    if(b->busy) return -1;
+    b->busy = true;
+    int r = read(b, s, len);
+    b->busy = false;
+    return r;
+}
+
+// length of data from current position to `byte` (including byte)
+static int lento(ringbuffer *b, uint8_t byte){
+    int idx = hasbyte(b, byte);
+    if(idx < 0) return 0;
+    int partlen = idx + 1 - b->head;
+    // now calculate length of new data portion
+    if(idx < b->head) partlen += b->length;
+    return partlen;
+}
+
+static int readto(ringbuffer *b, uint8_t byte, uint8_t *s, int len){
+    int partlen = lento(b, byte);
+    if(!partlen) return 0;
+    if(partlen > len) return -1;
+    return read(b, s, partlen);
+}
+
+/**
+ * @brief RB_readto fill array `s` with data until byte `byte` (with it)
+ * @param b - ringbuffer
+ * @param byte - check byte
+ * @param s - buffer to write data or NULL to clear data
+ * @param len - length of `s` or 0 to clear data
+ * @return amount of bytes written (negative, if len<data in buffer or buffer is busy)
+ */
+int RB_readto(ringbuffer *b, uint8_t byte, uint8_t *s, int len){
+    CHK(b);
+    if(!s || len < 1) return -1;
+    if(0 == datalen(b)) return 0;
+    if(b->busy) return -1;
+    b->busy = true;
+    int n = 0;
+    if(s && len > 0){
+        n = readto(b, byte, s, len);
+    }else{
+        incr(b, &b->head, lento(b, byte)); // just throw data out
+    }
+    b->busy = false;
+    return n;
+}
+
+int RB_datalento(ringbuffer *b, uint8_t byte){
+    CHK(b);
+    if(0 == datalen(b)) return 0;
+    if(b->busy) return -1;
+    b->busy = true;
+    int n = lento(b, byte);
+    b->busy = false;
+    return n;
+}
+
+// if l < rest of buffer, truncate and return actually written bytes
+static int write(ringbuffer *b, const uint8_t *str, int l){
+    int r = b->length - 1 - datalen(b); // rest length
+    if(r < 1) return 0;
+    if(l > r) l = r;
+    int _1st = b->length - b->tail;
+    if(_1st > l) _1st = l;
+    memcpy(b->data + b->tail, str, _1st);
+    if(_1st < l){ // add another piece from start
+        memcpy(b->data, str+_1st, l-_1st);
+    }
+    incr(b, &b->tail, l);
+    return l;
+}
+
+/**
+ * @brief RB_write - write some data to ringbuffer
+ * @param b - buffer
+ * @param str - data
+ * @param l - length
+ * @return amount of bytes written or -1 if busy
+ */
+int RB_write(ringbuffer *b, const uint8_t *str, int l){
+    CHK(b);
+    if(!str || l < 1) return -1;
+    if(b->length - datalen(b) < 2) return 0;
+    if(b->busy) return -1;
+    b->busy = true;
+    int w = write(b, str, l);
+    b->busy = false;
+    return w;
+}
+
+// just delete all information in buffer `b`
+int RB_clearbuf(ringbuffer *b){
+    CHK(b);
+    if(b->busy) return -1;
+    b->busy = true;
+    b->head = 0;
+    b->tail = 0;
+    memset(b->data, 0, b->length);
+    b->busy = false;
+    return 1;
+}

G4:G431/CORDIC/ringbuffer.h

@@ -0,0 +1,36 @@
+/*
+ * Copyright 2023 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
+
+#include <stdint.h>
+
+typedef struct{
+    uint8_t *data;      // data buffer
+    const int length;   // its length
+    int head;           // head index
+    int tail;           // tail index
+    volatile bool busy; // == TRUE if buffer is busy now
+} ringbuffer;
+
+int RB_read(ringbuffer *b, uint8_t *s, int len);
+int RB_readto(ringbuffer *b, uint8_t byte, uint8_t *s, int len);
+int RB_hasbyte(ringbuffer *b, uint8_t byte);
+int RB_write(ringbuffer *b, const uint8_t *str, int l);
+int RB_datalen(ringbuffer *b);
+int RB_datalento(ringbuffer *b, uint8_t byte);
+int RB_clearbuf(ringbuffer *b);

G4:G431/CORDIC/strfunc.c

@@ -0,0 +1,378 @@
+/*
+ * Copyright 2025 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 <math.h> // isnan/isinf
+#include <stm32g4.h>
+#include <string.h>
+
+/**
+ * @brief hexdump - dump hex array by 16 bytes in string
+ * @param arr - array to dump
+ * @param len - length of `arr`
+ */
+void hexdump(int (*sendfun)(const char *), uint8_t *arr, uint16_t len){
+    char buf[52], *bptr = buf;
+    for(uint16_t l = 0; l < len; ++l, ++arr){
+        for(int16_t j = 1; j > -1; --j){
+            register uint8_t half = (*arr >> (4*j)) & 0x0f;
+            if(half < 10) *bptr++ = half + '0';
+            else *bptr++ = half - 10 + 'a';
+        }
+        if(l % 16 == 15){
+            *bptr++ = '\n';
+            *bptr = 0;
+            sendfun(buf);
+            bptr = buf;
+        }else *bptr++ = ' ';
+    }
+    if(bptr != buf){
+        *bptr++ = '\n';
+        *bptr = 0;
+        sendfun(buf);
+    }
+}
+
+/**
+ * @brief _2str - convert value into string buffer
+ * @param val - |value|
+ * @param minus - ==0 if value > 0
+ * @return buffer with number
+ */
+static char *_2str(uint32_t  val, uint8_t minus){
+    static char strbuf[12];
+    char *bufptr = &strbuf[11];
+    *bufptr = 0;
+    if(!val){
+        *(--bufptr) = '0';
+    }else{
+        while(val){
+            uint32_t x = val / 10;
+            *(--bufptr) = (val - 10*x) + '0';
+            val = x;
+        }
+    }
+    if(minus) *(--bufptr) = '-';
+    return bufptr;
+}
+
+// return string with number `val`
+char *u2str(uint32_t val){
+    return _2str(val, 0);
+}
+char *i2str(int32_t i){
+    uint8_t minus = 0;
+    uint32_t val;
+    if(i < 0){
+        minus = 1;
+        val = -i;
+    }else val = i;
+    return _2str(val, minus);
+}
+
+/**
+ * @brief uhex2str - print 32bit unsigned int as hex
+ * @param val - value
+ * @return string with number
+ */
+char *uhex2str(uint32_t val){
+    static char buf[12] = "0x";
+    int npos = 2;
+    uint8_t *ptr = (uint8_t*)&val + 3;
+    int8_t i, j, z=1;
+    for(i = 0; i < 4; ++i, --ptr){
+        if(*ptr == 0){ // omit leading zeros
+            if(i == 3) z = 0;
+            if(z) continue;
+        }
+        else z = 0;
+        for(j = 1; j > -1; --j){
+            uint8_t half = (*ptr >> (4*j)) & 0x0f;
+            if(half < 10) buf[npos++] = half + '0';
+            else buf[npos++] = half - 10 + 'a';
+        }
+    }
+    buf[npos] = 0;
+    return buf;
+}
+
+/**
+ * @brief omit_spaces - eliminate leading spaces and other trash in string
+ * @param buf - string
+ * @return - pointer to first character in `buf` > ' '
+ */
+char *omit_spaces(char *buf){
+    while(*buf){
+        if(*buf > ' ') break;
+        ++buf;
+    }
+    return buf;
+}
+
+/**
+ * @brief getdec - read decimal number & return pointer to next non-number symbol
+ * @param buf - string
+ * @param N - number read
+ * @return Next non-number symbol. In case of overflow return `buf` and N==0xffffffff
+ */
+static char *getdec(char *buf, uint32_t *N){
+    char *start = (char*)buf;
+    uint32_t num = 0;
+    while(*buf){
+        char c = *buf;
+        if(c < '0' || c > '9'){
+            break;
+        }
+        if(num > 429496729 || (num == 429496729 && c > '5')){ // overflow
+            *N = 0xffffff;
+            return start;
+        }
+        num *= 10;
+        num += c - '0';
+        ++buf;
+    }
+    *N = num;
+    return buf;
+}
+// read hexadecimal number (without 0x prefix!)
+char *gethex(char *buf, uint32_t *N){
+    char *start = buf;
+    uint32_t num = 0;
+    while(*buf){
+        char c = *buf;
+        uint8_t M = 0;
+        if(c >= '0' && c <= '9'){
+            M = '0';
+        }else if(c >= 'A' && c <= 'F'){
+            M = 'A' - 10;
+        }else if(c >= 'a' && c <= 'f'){
+            M = 'a' - 10;
+        }
+        if(M){
+            if(num & 0xf0000000){ // overflow
+                *N = 0xffffff;
+                return start;
+            }
+            num <<= 4;
+            num += c - M;
+        }else{
+            break;
+        }
+        ++buf;
+    }
+    *N = num;
+    return buf;
+}
+// read octal number (without 0 prefix!)
+static char *getoct(char *buf, uint32_t *N){
+    char *start = (char*)buf;
+    uint32_t num = 0;
+    while(*buf){
+        char c = *buf;
+        if(c < '0' || c > '7'){
+            break;
+        }
+        if(num & 0xe0000000){ // overflow
+            *N = 0xffffff;
+            return start;
+        }
+        num <<= 3;
+        num += c - '0';
+        ++buf;
+    }
+    *N = num;
+    return buf;
+}
+// read binary number (without b prefix!)
+static char *getbin(char *buf, uint32_t *N){
+    char *start = (char*)buf;
+    uint32_t num = 0;
+    while(*buf){
+        char c = *buf;
+        if(c < '0' || c > '1'){
+            break;
+        }
+        if(num & 0x80000000){ // overflow
+            *N = 0xffffff;
+            return start;
+        }
+        num <<= 1;
+        if(c == '1') num |= 1;
+        ++buf;
+    }
+    *N = num;
+    return buf;
+}
+
+/**
+ * @brief getnum - read uint32_t from string (dec, hex or bin: 127, 0x7f, 0b1111111)
+ * @param buf - buffer with number and so on
+ * @param N   - the number read
+ * @return pointer to first non-number symbol in buf
+ *      (if it is == buf, there's no number or if *N==0xffffffff there was overflow)
+ */
+char *getnum(char *txt, uint32_t *N){
+    char *nxt = NULL;
+    char *s = omit_spaces(txt);
+    if(*s == '0'){ // hex, oct or 0
+        if(s[1] == 'x' || s[1] == 'X'){ // hex
+            nxt = gethex(s+2, N);
+            if(nxt == s+2) nxt = (char*)txt;
+        }else if(s[1] > '0'-1 && s[1] < '8'){ // oct
+            nxt = getoct(s+1, N);
+            if(nxt == s+1) nxt = (char*)txt;
+        }else{ // 0
+            nxt = s+1;
+            *N = 0;
+        }
+    }else if(*s == 'b' || *s == 'B'){
+        nxt = getbin(s+1, N);
+        if(nxt == s+1) nxt = (char*)txt;
+    }else{
+        nxt = getdec(s, N);
+        if(nxt == s) nxt = (char*)txt;
+    }
+    return nxt;
+}
+
+// get signed integer
+char *getint(char *txt, int32_t *I){
+    char *s = omit_spaces(txt);
+    int32_t sign = 1;
+    uint32_t U;
+    if(*s == '-'){
+        sign = -1;
+        ++s;
+    }
+    char *nxt = getnum(s, &U);
+    if(nxt == s) return txt;
+    if(U & 0x80000000) return txt; // overfull
+    *I = sign * (int32_t)U;
+    return nxt;
+}
+
+// be careful: if pow10 would be bigger you should change str[] size!
+static const float pwr10[] = {1.f,   10.f,  100.f,  1000.f,  10000.f,  100000.f,  1000000.f,  10000000.f};
+static const float rounds[] = {0.5f, 0.05f, 0.005f, 0.0005f, 0.00005f, 0.000005f, 0.0000005f, 0.00000005f};
+#define P10L  (sizeof(pwr10)/sizeof(float) - 1)
+char *float2str(float x, uint8_t prec){
+    static char str[16] = {0}; // -117.5494E-36\0 - 14 symbols max!
+    if(prec > P10L) prec = P10L;
+    if(isnan(x)){ memcpy(str, "NAN", 4); return str;}
+    else{
+        int i = isinf(x);
+        if(i){memcpy(str, "-INF", 5); if(i == 1) return str+1; else return str;}
+    }
+    char *s = str + 14; // go to end of buffer
+    uint8_t minus = 0;
+    if(x < 0){
+        x = -x;
+        minus = 1;
+    }
+    int pow = 0; // xxxEpow
+    // now convert float to 1.xxxE3y
+    while(x > 1000.f){
+        x /= 1000.f;
+        pow += 3;
+    }
+    if(x > 0.) while(x < 1.){
+            x *= 1000.f;
+            pow -= 3;
+        }
+    // print Eyy
+    if(pow){
+        uint8_t m = 0;
+        if(pow < 0){pow = -pow; m = 1;}
+        while(pow){
+            int p10 = pow/10;
+            *s-- = '0' + (pow - 10*p10);
+            pow = p10;
+        }
+        if(m) *s-- = '-';
+        *s-- = 'E';
+    }
+    // now our number is in [1, 1000]
+    uint32_t units;
+    if(prec){
+        units = (uint32_t) x;
+        uint32_t decimals = (uint32_t)((x-units+rounds[prec])*pwr10[prec]);
+        // print decimals
+        while(prec){
+            int d10 = decimals / 10;
+            *s-- = '0' + (decimals - 10*d10);
+            decimals = d10;
+            --prec;
+        }
+        // decimal point
+        *s-- = '.';
+    }else{ // without decimal part
+        units = (uint32_t) (x + 0.5);
+    }
+    // print main units
+    if(units == 0) *s-- = '0';
+    else while(units){
+            uint32_t u10 = units / 10;
+            *s-- = '0' + (units - 10*u10);
+            units = u10;
+        }
+    if(minus) *s-- = '-';
+    return s+1;
+}
+
+char *getfloat(char *str, float *f){
+    str = omit_spaces(str);
+    int isminus = 0;
+    if(*str == '-'){
+        isminus = 1;
+        ++str;
+    }else if (*str == '+'){
+        ++str;
+    }
+    float result = 0.0f;
+    while(*str >= '0' && *str <= '9'){
+        result = result * 10.0f + (float)(*str - '0');
+        ++str;
+    }
+    if(*str != '.') goto retn;
+
+    ++str; // omit point
+    float frac = 0.0f;
+    float divisor = 1.0f;
+
+    while(*str >= '0' && *str <= '9'){
+        divisor *= 10.0f;
+        frac = frac * 10.0f + (float)(*str - '0');
+        ++str;
+    }
+
+    if(divisor > 1.0f){
+        result += frac / divisor;
+    }
+
+    if(*str == 'e' || *str == 'E'){ // exp
+        ++str;
+        int32_t E;
+        if(str != getint(str, &E)){
+            if(E > 0) while(E-- > 0) result *= 10.f;
+            else while(E++ < 0) result /= 10.f;
+        }
+    }
+
+retn:
+    if(f) *f = (isminus) ? -result : result;
+    return str;
+}
+

G4:G431/CORDIC/strfunc.h

@@ -0,0 +1,31 @@
+/*
+ * Copyright 2025 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
+
+#include <stdint.h>
+
+char *omit_spaces(char *buf);
+void hexdump(int (*sendfun)(const char*), uint8_t *arr, uint16_t len);
+char *u2str(uint32_t val);
+char *i2str(int32_t i);
+char *float2str(float x, uint8_t prec);
+char *uhex2str(uint32_t val);
+char *gethex(const char *buf, uint32_t *N);
+char *getnum(char *txt, uint32_t *N);
+char *getint(char *txt, int32_t *I);
+char *getfloat(char *str, float *f);

G4:G431/CORDIC/test.c

@@ -0,0 +1,127 @@
+/*
+ * This file is part of the cordic project.
+ * Copyright 2026 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 <math.h>
+#include <stdint.h>
+#include <stm32g4.h>
+
+#include "test.h"
+#include "hardware.h"
+#include "cordic.h"
+
+// amount of iterations over test
+#define N_TESTS     1000
+
+static float arr[N_TESTS];
+
+
+// RNG
+static uint32_t rand_state = 123456789;
+static uint32_t next_rand(){
+    rand_state = rand_state * 1664525 + 1013904223;
+    return rand_state;
+}
+
+// fill array with random angles
+static void fill_random_sin_cos(){
+    for(int i = 0; i < N_TESTS; ++i){
+        // angle from -pi to +pi
+        arr[i] = (float)(next_rand() % 62831853) / 10000000.0f - 3.14159265f;
+    }
+}
+
+static void fill_random_atan(){
+    for(int i = 0; i < N_TESTS; ++i){
+        arr[i] = (float)(next_rand() % 2000000) / 1e6f - 1e6f; // [-1,1]
+    }
+}
+
+static void fill_random_sqrt(){
+    for(int i = 0; i < N_TESTS; ++i){
+        arr[i] = (float)(next_rand() % 10000) / 100.0f; // [0,100]
+    }
+}
+
+static void fill_random_log(){
+    for(int i = 0; i < N_TESTS; ++i){
+        arr[i] = (float)(next_rand() % 10000 + 1) / 100.0f; // [0.01, 100]
+    }
+}
+
+// main test template
+static uint32_t run_test(void (*gen)(), float (*func)(float)){
+    gen();
+    volatile float result = 0.0f; // don't let gcc to optimize this cycle
+    timer_start();
+    for(int i = 0; i < N_TESTS; ++i){
+        result = func(arr[i]);
+        (void) result;
+    }
+    timer_stop();
+    return timer_read();
+}
+
+static uint32_t run_test2(void (*gen)(), void (*func)(float, float*, float*)){
+    gen();
+    volatile float result1 = 0.f, result2 = 0.f; // don't let gcc to optimize this cycle
+    timer_start();
+    for(int i = 0; i < N_TESTS; ++i){
+        func(arr[i], (float*)&result1, (float*)&result2);
+        (void) result1;
+        (void) result2;
+    }
+    timer_stop();
+    return timer_read();
+}
+
+// ------------- math.h tests -------------
+uint32_t test_math_sin(){
+    return run_test(fill_random_sin_cos, sinf);
+}
+uint32_t test_math_cos(){
+    return run_test(fill_random_sin_cos, cosf);
+}
+uint32_t test_math_atan(){
+    return run_test(fill_random_atan, atanf);
+}
+uint32_t test_math_sqrt(){
+    return run_test(fill_random_sqrt, sqrtf);
+}
+uint32_t test_math_log(){
+    return run_test(fill_random_log, logf);
+}
+
+// ------------- CORDIC tests -------------
+uint32_t test_cordic_sincos(){
+    return run_test2(fill_random_sin_cos, cordic_sincos);
+}
+uint32_t test_cordic_sin(){
+    return run_test(fill_random_sin_cos, cordic_sin);
+}
+uint32_t test_cordic_cos(){
+    return run_test(fill_random_sin_cos, cordic_cos);
+}
+uint32_t test_cordic_atan(){
+    return run_test(fill_random_atan, cordic_atan);
+}
+uint32_t test_cordic_sqrt(){
+    return run_test(fill_random_sqrt, cordic_sqrt);
+}
+uint32_t test_cordic_log(){
+    return run_test(fill_random_log, cordic_log);
+}

G4:G431/CORDIC/test.h

@@ -0,0 +1,36 @@
+/*
+ * This file is part of the cordic project.
+ * Copyright 2026 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
+
+#include <stdint.h>
+
+// libmath tests
+uint32_t test_math_sin();
+uint32_t test_math_cos();
+uint32_t test_math_atan();
+uint32_t test_math_sqrt();
+uint32_t test_math_log();
+
+// CORDIC tests
+uint32_t test_cordic_sincos();
+uint32_t test_cordic_sin();
+uint32_t test_cordic_cos();
+uint32_t test_cordic_atan();
+uint32_t test_cordic_sqrt();
+uint32_t test_cordic_log();

G4:G431/CORDIC/usart.c

@@ -0,0 +1,257 @@
+/*
+ * This file is part of the cordic project.
+ * Copyright 2026 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 <stm32g4.h>
+#include <string.h>
+
+#include "hardware.h" // Tms
+#include "ringbuffer.h"
+#include "usart.h"
+
+// USART for text-based protocol, each data portion ends with '\n'
+// RX works over circular DMA
+
+// USART-depending part ------->
+// USART1 @ PA9 (Tx) - MUX25 - and PA10 (Rx) - MUX24
+// select USART and its DMA channels
+#define USARTx      USART1
+#define USARTxAPB   APB2ENR
+#define USARTxEN    RCC_APB2ENR_USART1EN
+#define USART_APBEN RCC_APB2
+// DMAMUX channels: 24 - USART1Rx, 25 - USART1Tx
+#define DMAMUXRXN   (24)
+#define DMAMUXTXN   (25)
+// DMA channels: 1 (0 in MUX) - Rx, 2 (1 in MUX) - Tx; TC and error flags
+// use DMA ch2/3 because they both have single IRQ
+#define DMAx        DMA1
+#define DMAxEN      (RCC_AHB1ENR_DMA1EN | RCC_AHB1ENR_DMAMUX1EN)
+#define DMACHRX     DMA1_Channel1
+#define DMARXTCF    DMA_ISR_TCIF1
+#define DMARXEF     DMA_ISR_TEIF1
+#define DMACHTX     DMA1_Channel2
+#define DMATXTCF    DMA_ISR_TCIF2
+#define DMATXEF     DMA_ISR_TEIF2
+#define DMAMUXRX    DMAMUX1_Channel0
+#define DMAMUXTX    DMAMUX1_Channel1
+#define USARTIRQn   USART1_IRQn
+#define DMARXIRQ    DMA1_Channel1_IRQn
+#define DMATXIRQ    DMA1_Channel2_IRQn
+
+// interrupt aliases
+static void usart_isr();
+static void dmatx_isr();
+static void dmarx_isr();
+void usart1_isr() __attribute__ ((alias ("usart_isr")));
+void dma1_channel1_isr() __attribute__ ((alias ("dmarx_isr")));
+void dma1_channel2_isr() __attribute__ ((alias ("dmatx_isr")));
+// <-------- USART-depending part
+
+// RX/TX DMA->CCR without EN flag
+#define DMARXCCR    (DMA_CCR_MINC | DMA_CCR_CIRC | DMA_CCR_TEIE)
+#define DMATXCCR    (DMA_CCR_MINC | DMA_CCR_DIR | DMA_CCR_TCIE | DMA_CCR_TEIE)
+
+static volatile bool gotstring = true; // got '\n' in input stream -> force data reading to inbuf
+static volatile bool txrdy = true; // Tx DMA not busy
+static volatile USART_flags_t curflags; // current flags (cleared in `usart_process`)
+// rx/tx DMA buffers
+static uint8_t dmarxbuf[USARTRXDMABUFSZ];
+static uint8_t dmatxbuf[USARTTXDMABUFSZ];
+// index of last DMA read position
+static uint32_t dma_read_idx = 0;
+// for ringbuffer
+static uint8_t rbrxbuf[USARTRXBUFSZ], rbtxbuf[USARTTXBUFSZ];
+static ringbuffer TxRB = {.data = rbtxbuf, .length = USARTTXBUFSZ};
+static ringbuffer RxRB = {.data = rbrxbuf, .length = USARTRXBUFSZ};
+
+#define USART_BRR(speed)    ((SysFreq + (speed)/2) / (speed))
+
+static void reinit_rx_dma(){
+    dma_read_idx = 0;
+    RB_clearbuf(&RxRB);
+    DMACHRX->CCR = DMARXCCR; // stop to reload
+    DMACHRX->CNDTR = USARTRXDMABUFSZ;
+    DMACHRX->CMAR = (uint32_t) dmarxbuf;
+    DMACHRX->CCR = DMARXCCR | DMA_CCR_EN;
+}
+
+void usart_setup(uint32_t speed){
+    RCC->AHB1ENR |= DMAxEN; // enable DMA
+    // enable USART clocking
+    RCC->USARTxAPB |= USARTxEN;
+    // baudrate
+    USARTx->BRR = USART_BRR(speed);
+    // eol character: '/n'
+    USARTx->CR2 = USART_CR2_ADD_VAL('\n');
+    // enable DMA transmission
+    USARTx->CR3 = USART_CR3_DMAT | USART_CR3_DMAR;
+    // set up DMA channels
+    // Tx channel: mem++, mem->periph, 8bit, compl.&err. irq
+    DMACHTX->CCR = DMATXCCR;
+    DMACHTX->CPAR = (uint32_t) &USARTx->TDR; // peripherial address
+    // Rx channel: mem++, periph->mem, 8bit, compl.&err. irq
+    DMACHRX->CCR = DMARXCCR;
+    DMACHRX->CPAR = (uint32_t) &USARTx->RDR; // peripherial address
+    // set up DMAMUX channels
+    // enumeration of DMAMUX starts from 0 (DMA - from 1)!
+    DMAMUXRX->CCR = DMAMUXRXN;
+    DMAMUXTX->CCR = DMAMUXTXN;
+    // charmatch interrupt, enable transmitter and receiver, enable usart
+    USARTx->CR1 = USART_CR1_CMIE | USART_CR1_TE | USART_CR1_RE | USART_CR1_UE;
+    USARTx->ICR = 0xffffffff; // clear all flags
+    reinit_rx_dma();
+    NVIC_EnableIRQ(USARTIRQn);
+    NVIC_EnableIRQ(DMARXIRQ);
+    NVIC_EnableIRQ(DMATXIRQ);
+}
+
+/**
+ * @brief usart_sendbuf - send next data portion
+ * @return true if sent something
+ */
+static bool usart_sendbuf(){
+    if(!txrdy) return false;
+    int rd = RB_read(&TxRB, dmatxbuf, USARTTXDMABUFSZ);
+    if(rd < 1) return false; // nothing to write or busy
+    // set up DMA
+    DMACHTX->CCR = DMATXCCR;
+    DMACHTX->CMAR = (uint32_t) dmatxbuf;
+    DMACHTX->CNDTR = rd;
+    USARTx->ICR = USART_ICR_TCCF; // clear TC flag
+    txrdy = false;
+    // activate DMA
+    DMACHTX->CCR = DMATXCCR | DMA_CCR_EN;
+    return true;
+}
+
+int usart_send(const char *str, int len){
+    if(!str || len < 1) return 0;
+    uint32_t t = Tms;
+    int sent = 0;
+    do{
+        IWDG->KR = IWDG_REFRESH;
+        int put = RB_write(&TxRB, (uint8_t*)str, len);
+        if(put < 0) continue; // busy
+        else if(put == 0){
+            usart_sendbuf(); // no place
+            t = Tms;
+        }else{
+            len -= put;
+            sent += put;
+            str += put;
+        }
+    }while(len && (Tms - t) < USARTBLKTMOUT); // not more than `block` ms!
+    return sent;
+}
+
+int usart_sendstr(const char *str){
+    int l = strlen(str);
+    return usart_send(str, l);
+}
+
+static void addtoreadidx(int adder){
+    dma_read_idx += adder;
+    if(dma_read_idx >= USARTRXDMABUFSZ) dma_read_idx -= USARTRXDMABUFSZ;
+}
+
+// return current flags
+USART_flags_t usart_process(){
+    static uint32_t Tlast = 0;
+    USART_flags_t flags = curflags;
+    curflags.all = 0;
+    if(RB_datalento(&TxRB, '\n') > 1 || Tms - Tlast >= USARTSENDTMOUT){ // send buffer as we found '\n' or each 10ms
+        if(usart_sendbuf()) Tlast = Tms;
+    }
+    int remained = DMACHRX->CNDTR;
+    int write_idx = USARTRXDMABUFSZ - remained; // next symbol to be written
+    int available = (write_idx - dma_read_idx); // length of data available
+    if(available < 0) available += USARTRXDMABUFSZ; // write to the left of read
+    if(available == 0) return flags;
+    // add next data portion to RX ring buffer
+    if(available >= (USARTRXDMABUFSZ / 2) || gotstring){
+        // copy data in one or two chunks (wrap handling)
+        // check if we can write to RB `available` bytes
+        int rballow = RxRB.length - 1 - RB_datalen(&RxRB);
+        if(rballow < available){
+            if(available > USARTRXDMABUFSZ - 2){ // near overfull
+                flags.rxovrfl = 1;
+                reinit_rx_dma();
+                RB_clearbuf(&RxRB);
+                return flags;
+            }
+            if(rballow < 1) return flags;
+            available = rballow; // read at least as we can
+        }
+        if(dma_read_idx + available <= USARTRXDMABUFSZ){ // head before tail
+            int written = RB_write(&RxRB, &dmarxbuf[dma_read_idx], available);
+            if(written == available && dmarxbuf[dma_read_idx+available-1] == '\n') gotstring = 0;
+            if(written > 0) addtoreadidx(written);
+        }else{ // head after tail - two chunks
+            int first = USARTRXDMABUFSZ - dma_read_idx;
+            int written = RB_write(&RxRB, &dmarxbuf[dma_read_idx], first);
+            if(written != first){ // could write only part - just increase read index
+                if(written > 0) addtoreadidx(written);
+            }else{
+                dma_read_idx = 0;
+                int last = available - first;
+                written = RB_write(&RxRB, dmarxbuf, last);
+                if(written == last && dmarxbuf[last-1] == '\n') gotstring = 0;
+                if(written > 0) addtoreadidx(written);
+            }
+        }
+    }
+    return flags;
+}
+
+char *usart_getline(){
+    static char buff[MAX_INPLEN];
+    int l = RB_datalento(&RxRB, '\n');
+    if(l < 1){
+        l = RB_datalen(&RxRB); // Rx ringbuffer could be near overflow but without '\n'
+        if(l < MAX_INPLEN-1) return NULL; // allow to wait for last symbols
+    }
+    if(l > MAX_INPLEN-1){ // overflow -> read at least part of the string
+        l = MAX_INPLEN-1;
+    }
+    if(l != RB_read(&RxRB, (uint8_t*)buff, l)) return NULL;
+    buff[l] = 0; // return with '\n' at end of line (so user can detect non-finished overflowed lines)
+    return buff;
+}
+
+// interrupt by '\n'
+static void usart_isr(){
+    if(USARTx->ISR & USART_ISR_CMF){ // got '\n' @ USARTx
+        gotstring = true;
+    }
+    USARTx->ICR = 0xffffffff; // clear all flags
+}
+
+static void dmarx_isr(){
+    volatile uint32_t isr = DMAx->ISR;
+    if(isr & DMARXEF){ // error
+        reinit_rx_dma();
+        curflags.rxovrfl = 1;
+    }
+    DMAx->IFCR = DMARXEF; // clear all flags
+}
+
+static void dmatx_isr(){
+    volatile uint32_t isr = DMAx->ISR;
+    if(isr & DMATXTCF) txrdy = true;
+    if(isr & DMATXEF) curflags.txerr = 1;
+    DMAx->IFCR = DMATXTCF | DMATXEF; // clear all flags
+}

G4:G431/CORDIC/usart.h

@@ -0,0 +1,49 @@
+/*
+ * This file is part of the cordic project.
+ * Copyright 2026 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
+
+#include <stdint.h>
+
+// maximal length of input string (including '\n' and terminating zero)
+#define MAX_INPLEN      (128)
+// Rx/Tx ring buffer size
+#define USARTTXBUFSZ    (512)
+#define USARTRXBUFSZ    (512)
+// Rx/Tx DMA buffer size
+#define USARTTXDMABUFSZ (256)
+#define USARTRXDMABUFSZ (256)
+
+// blocking timeout - not more than 5ms
+#define USARTBLKTMOUT   (5)
+// send buffer each 10ms
+#define USARTSENDTMOUT  (10)
+
+typedef union{
+    struct{
+        uint8_t txerr       : 1; // transmit error
+        uint8_t rxovrfl     : 1; // receive buffer overflow
+    };
+    uint8_t all;
+} USART_flags_t;
+
+void usart_setup(uint32_t speed);
+int usart_send(const char *str, int len);
+char *usart_getline();
+int usart_sendstr(const char *str);
+USART_flags_t usart_process();

G4:G431/CORDIC/version.inc

@@ -0,0 +1,2 @@
+#define BUILD_NUMBER "48"
+#define BUILD_DATE "2026-08-12"

G4:G431/Servo/Makefile

@@ -0,0 +1,12 @@
+BINARY      := servo
+PREFIX      := /usr/bin/arm-none-eabi
+CFLAGS       = -std=c23
+CPPFLAGS     = -std=c++11
+# MCU code
+MCU         := G431xx
+# change this linking script depending on particular MCU model,
+LDSCRIPT    := stm32g431xb.ld
+
+include ../makefile.g4
+include ../../makefile.stm32
+

G4:G431/Servo/commproto.cpp

@@ -0,0 +1,344 @@
+/*
+ * This file is part of the as3935 project.
+ * Copyright 2026 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 <cstring>
+
+extern "C"{
+#include <stm32g4.h>
+
+#include "commproto.h"
+#include "flash.h"
+#include "hardware.h"
+#include "servo.h"
+#include "strfunc.h"
+}
+
+// sending function
+static int (*SEND)(const char *str) = nullptr;
+
+extern volatile uint32_t Tms;
+
+//static uint8_t curbuf[MAXSTRLEN];
+
+// COMMAND(USART,      "Read USART data or send (USART=hex)")
+
+#define STR_HELPER(x) #x
+#define STR(x) STR_HELPER(x)
+
+// list of all commands and handlers
+#define COMMAND_TABLE \
+    COMMAND(dumpconf,   "dump current config") \
+    COMMAND(eraseflash, "erase full flash storage") \
+    COMMAND(help,       "show this help") \
+    COMMAND(maxpos,     "servoN maximal allowed position (conf)") \
+    COMMAND(maxspeed,   "servoN maximal allowed speed (from 1 to " STR(SERVO_MAXSPEED) ", conf)") \
+    COMMAND(mcureset,   "reset MCU") \
+    COMMAND(minpos,     "servoN minimal allowed position (conf)") \
+    COMMAND(readconf,   "re-read config from flash") \
+    COMMAND(saveconf,   "save config to flash") \
+    COMMAND(servo,      "servoN value, mks (in allowed range)") \
+    COMMAND(servopos,   "servoN target position with given speed") \
+    COMMAND(servospeed, "servoN speed, mks per 20ms (1..maxspeed)") \
+    COMMAND(startpos,   "servoN started position (from " STR(SERVO_MINPULSE) " to " STR(SERVO_MAXPULSE) ", conf)") \
+    COMMAND(time,       "show current time (ms)") \
+    COMMAND(usart_speed,"speed of USART (set after reset, conf)") \
+
+
+typedef struct {
+    const char *name;
+    const char *desc;
+} CmdInfo;
+
+// prototypes
+#define COMMAND(name, desc)   static errcodes_t cmd_ ## name(const char*, char*);
+COMMAND_TABLE
+#undef COMMAND
+
+static const CmdInfo cmdInfo[] = { // command name, description - for `help`
+#define COMMAND(name, desc)   { #name, desc },
+        COMMAND_TABLE
+#undef COMMAND
+};
+
+static const char* errtxt[ERR_AMOUNT] = {
+    [ERR_OK]        = "OK\n",
+    [ERR_BADCMD]    = "BADCMD\n",
+    [ERR_BADPAR]    = "BADPAR\n",
+    [ERR_BADVAL]    = "BADVAL\n",
+    [ERR_WRONGLEN]  = "WRONGLEN\n",
+    [ERR_CANTRUN]   = "CANTRUN\n",
+    [ERR_BUSY]      = "BUSY\n",
+    [ERR_OVERFLOW]  = "OVERFLOW\n",
+};
+
+const char *EQ = " = "; // equal sign for getters
+
+// send `command = `
+#define CMDEQ()   do{SEND(cmd); SEND(EQ);}while(0)
+// send `commandXXX = `
+#define CMDEQP(x)   do{SEND(cmd); SEND(u2str((uint32_t)x)); SEND(EQ);}while(0)
+// the same as last but with command as option and uint value
+#define SHOWPARU(cmd, x, val)  do{SEND(cmd); SEND(u2str((uint32_t)x)); SEND(EQ); SEND(u2str(val));}while(0)
+
+/**
+ * @brief splitargs - get command parameter and setter from `args`
+ * @param args (i) - rest of string after command (like `1 = PU OD OUT`)
+ * @param parno (o) - parameter number or -1 if none
+ * @return setter (part after `=` without leading spaces) or NULL if none
+ */
+static char *splitargs(char *args, int32_t *parno){
+    if(!args) return NULL;
+    uint32_t U32;
+    char *next = getnum(args, &U32);
+    int p = -1;
+    if(next != args && U32 <= MAXPARNO) p = U32;
+    if(parno) *parno = p;
+    next = strchr(next, '=');
+    if(next){
+        if(*(++next)) next = omit_spaces(next);
+        if(*next == 0) next = NULL;
+    }
+    return next;
+}
+
+/**
+ * @brief argsvals - split `args` into `parno` and setter's value
+ * @param args - rest of string after command
+ * @param parno (o) - parameter number or -1 if none
+ * @param parval - integer setter's value
+ * @return false if no setter or it's not a number, true - got setter's num
+ */
+static bool argsvals(char *args, int32_t *parno, int32_t *parval){
+    char *setter = splitargs(args, parno);
+    if(!setter) return false;
+    int32_t I32;
+    char *next = getint(setter, &I32);
+    if(next != setter){
+        if(parval) *parval = I32;
+        return true;
+    }
+    return false;
+}
+
+static errcodes_t cmd_servo(const char *cmd, char *args){
+    int32_t val, parno;
+    if(argsvals(args, &parno, &val)){ // setter
+        if(parno < 0 || parno >= SERVO_AMOUNT) return ERR_BADPAR;
+        if(!set_servo((uint8_t)parno, (uint16_t)val)) return ERR_BADVAL;
+    }
+    uint16_t curval;
+    if(!get_servo((uint8_t)parno, &curval)) return ERR_BADPAR;
+    CMDEQP(parno);
+    SEND(u2str(curval));
+    SEND("\n");
+    return ERR_AMOUNT;
+}
+
+static errcodes_t cmd_servopos(const char *cmd, char *args){
+    int32_t val, parno;
+    if(argsvals(args, &parno, &val)){ // setter
+        if(parno < 0 || parno >= SERVO_AMOUNT) return ERR_BADPAR;
+        if(!servo_set_tagpos((uint8_t)parno, (uint16_t)val)) return ERR_BADVAL;
+    }
+    uint16_t curval;
+    if(!servo_get_tagpos((uint8_t)parno, &curval)) return ERR_BADPAR;
+    CMDEQP(parno);
+    SEND(u2str(curval));
+    SEND("\n");
+    return ERR_AMOUNT;
+}
+
+static errcodes_t cmd_servospeed(const char *cmd, char *args){
+    int32_t val, parno;
+    if(argsvals(args, &parno, &val)){ // setter
+        if(parno < 0 || parno >= SERVO_AMOUNT) return ERR_BADPAR;
+        if(!servo_set_speed((uint8_t)parno, (uint16_t)val)) return ERR_BADVAL;
+    }
+    uint16_t curval;
+    if(!servo_get_speed((uint8_t)parno, &curval)) return ERR_BADPAR;
+    CMDEQP(parno);
+    SEND(u2str(curval));
+    SEND("\n");
+    return ERR_AMOUNT;
+}
+
+static errcodes_t cmd_time(const char *cmd, char*){
+    CMDEQ();
+    SEND(u2str(Tms)); SEND("\n");
+    return ERR_AMOUNT;
+}
+
+static errcodes_t cmd_mcureset(const char*, char*){
+    NVIC_SystemReset();
+    return ERR_CANTRUN; // never reached
+}
+
+static errcodes_t cmd_saveconf(const char*, char*){
+    if(store_userconf()) return ERR_CANTRUN;
+    return ERR_OK;
+}
+
+static errcodes_t cmd_eraseflash(const char*, char*){
+    if(erase_storage()) return ERR_CANTRUN;
+    return ERR_OK;
+}
+
+static errcodes_t cmd_readconf(const char*, char*){
+    flashstorage_init();
+    return ERR_OK;
+}
+
+static errcodes_t cmd_dumpconf(const char*, char*){
+    SEND("userconf_sz="); SEND(u2str(the_conf.userconf_sz));
+    SEND("\ncurr_idx="); SEND(i2str(currentconfidx));
+    SEND("\ncapacity="); SEND(u2str(maxCnum-2));
+    SEND("\nusart_speed="); SEND(u2str(the_conf.usart_speed));
+    for(int i = 0; i < SERVO_AMOUNT ; ++i){
+        SHOWPARU("\nstartpos", i, the_conf.startpulse[i]);
+        SHOWPARU("\nminpos", i, the_conf.minpulse[i]);
+        SHOWPARU("\nmaxpos", i, the_conf.maxpulse[i]);
+        SHOWPARU("\nmaxspeed", i, the_conf.maxspeed[i]);
+    }
+    SEND("\n");
+    return ERR_AMOUNT;
+}
+
+static errcodes_t cmd_usart_speed(const char* cmd, char* args){
+    int32_t val;
+    if(argsvals(args, NULL, &val)){ // setter
+        if(val < MIN_USART_SPEED || val > MAX_USART_SPEED) return ERR_BADVAL;
+        the_conf.usart_speed = (uint32_t) val;
+    }
+    CMDEQ();
+    SEND(u2str(the_conf.usart_speed));
+    SEND("\n");
+    return ERR_AMOUNT;
+}
+
+static errcodes_t servo_valP(const char* cmd, char* args, uint16_t *confval){
+    int32_t val, parno;
+    if(argsvals(args, &parno, &val)){ // setter
+        if(parno < 0 || parno >= SERVO_AMOUNT) return ERR_BADPAR;
+        if(val < SERVO_MINPULSE || val > SERVO_MAXPULSE) return ERR_BADVAL;
+        confval[parno] = (uint16_t) val;
+    }
+    SHOWPARU(cmd, parno, confval[parno]);
+    SEND("\n");
+    return ERR_AMOUNT;
+}
+
+static errcodes_t cmd_maxpos(const char* cmd, char* args){
+    return servo_valP(cmd, args, the_conf.maxpulse);
+}
+
+static errcodes_t cmd_minpos(const char* cmd, char* args){
+    return servo_valP(cmd, args, the_conf.minpulse);
+}
+
+static errcodes_t cmd_startpos(const char* cmd, char* args){
+    return servo_valP(cmd, args, the_conf.startpulse);
+}
+
+static errcodes_t cmd_maxspeed(const char* cmd, char* args){
+    int32_t val, parno;
+    if(argsvals(args, &parno, &val)){ // setter
+        if(parno < 0 || parno >= SERVO_AMOUNT) return ERR_BADPAR;
+        if(val < 1 || val > SERVO_MAXSPEED) return ERR_BADVAL;
+        the_conf.maxspeed[parno] = (uint16_t) val;
+    }
+    SHOWPARU(cmd, parno, the_conf.maxspeed[parno]);
+    SEND("\n");
+    return ERR_AMOUNT;
+}
+
+static errcodes_t cmd_help(const char*, char*){
+    SEND(REPOURL);
+    for(size_t i = 0; i < sizeof(cmdInfo)/sizeof(cmdInfo[0]); i++){
+        SEND(cmdInfo[i].name);
+        SEND(" - ");
+        SEND(cmdInfo[i].desc); SEND("\n");
+    }
+    return ERR_AMOUNT;
+}
+
+#if 0
+/**
+ * @brief parse_hex_data - data parsing in case of `hex + text` input format
+ * @param input - input string
+ * @param output - output data
+ * @param max_len - length of `output`
+ * @return amount of parsed bytes or -1 in case of overflow or error
+ */
+static int parse_hex_data(char *input, uint8_t *output, int max_len){
+    if(!input || !*input || !output || max_len < 1) return 0;
+    char *p = input;
+    int out_idx = 0;
+    while(*p && out_idx < max_len){
+        while(*p == ' ' || *p == ',') ++p; // omit spaces and commas as delimeters
+        if(*p == '\0') break; // EOL
+        if(*p == '"'){ // TEXT (start/end)
+            ++p;
+            while(*p && *p != '"'){
+                if(out_idx >= max_len) return -1;
+                output[out_idx++] = *p++;
+            }
+            if(*p == '"'){
+                ++p; // go to next symbol after closing quotation mark
+            }else return -1; // no closing
+        }else{ // HEX number
+            char *start = p;
+            while(*p && *p != ' ' && *p != ',' && *p != '"') ++p;
+            char saved = *p;
+            *p = '\0'; // temporarily for `gethex`
+            uint32_t val;
+            const char *end = gethex(start, &val);
+            if(end != p || val > 0xFF){ // not a hex number or have more than 2 symbols
+                *p = saved;
+                return -1;
+            }
+            *p = saved;
+            output[out_idx++] = (uint8_t)val;
+        }
+    }
+    return out_idx;
+}
+#endif
+
+constexpr uint32_t hash(const char* str, uint32_t h = 0){
+    return *str ? hash(str + 1, h + ((h << 7) ^ *str)) : h;
+}
+
+const char *parse_cmd(int (*sendfun)(const char *), char *str){
+    SEND = sendfun;
+    char command[CMD_MAXLEN+1];
+    int i = 0;
+    while(*str > '@' && i < CMD_MAXLEN){ command[i++] = *str++; }
+    command[i] = 0;
+    while(*str && *str <= ' ') ++str;
+    char *restof = (char*) str;
+    uint32_t h = hash(command);
+    errcodes_t ecode = ERR_AMOUNT;
+    switch(h){
+#define COMMAND(name, desc) case hash(#name): ecode = cmd_ ## name(command, restof); break;
+        COMMAND_TABLE
+#undef COMMAND
+            default: SEND("Unknown command, try 'help'\n"); break;
+    }
+    if(ecode < ERR_AMOUNT) return errtxt[ecode];
+    return NULL;
+}

G4:G431/Servo/commproto.h

@@ -0,0 +1,53 @@
+/*
+ * This file is part of the servo project.
+ * Copyright 2026 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
+
+#include "version.inc"
+
+#ifdef EBUG
+#define RLSDBG "debug"
+#else
+#define RLSDBG "release"
+#endif
+
+#define REPOURL     "https://github.com/eddyem/stm32samples/tree/master/TODO "  RLSDBG " build #" BUILD_NUMBER "@" BUILD_DATE "\n"
+
+
+// error codes for answer message
+typedef enum{
+    ERR_OK,         // all OK
+    ERR_BADCMD,     // wrong command
+    ERR_BADPAR,     // wrong parameter
+    ERR_BADVAL,     // wrong value (for setter)
+    ERR_WRONGLEN,   // wrong message length
+    ERR_CANTRUN,    // can't run given command due to bad parameters or other
+    ERR_BUSY,       // target interface busy, try later
+    ERR_OVERFLOW,   // string was too long -> overflow
+    ERR_AMOUNT      // amount of error codes or "send nothing"
+} errcodes_t;
+
+// maximal length of command (without trailing zero)
+#define CMD_MAXLEN  15
+// maximal available parameter number
+#define MAXPARNO    255
+// maximal string length includint terminating zero
+#define MAXSTRLEN   256
+
+extern const char *EQ;
+const char *parse_cmd(int (*sendfun)(const char*), char *buf);

G4:G431/Servo/flash.c

@@ -0,0 +1,186 @@
+/*
+ * This file is part of the flash project.
+ * Copyright 2023 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 <stm32g4.h>
+#include <string.h> // memcpy
+
+#include "flash.h"
+#include "servo.h"
+
+extern const uint32_t __varsstart, _BLOCKSIZE;
+
+static const uint32_t blocksize = (uint32_t)&_BLOCKSIZE;
+
+// max amount of Config records stored (will be recalculate in flashstorage_init()
+uint32_t maxCnum = 1024 / sizeof(user_conf); // can't use blocksize here
+
+#define USERCONF_INITIALIZER  {             \
+     .userconf_sz = sizeof(user_conf)       \
+    ,.usart_speed = 115200 \
+    ,.startpulse = {SG90_MIDPULSE, SG90_MIDPULSE, SG90_MIDPULSE, SG90_MIDPULSE} \
+    ,.minpulse = {SG90_MINPULSE, SG90_MINPULSE, SG90_MINPULSE, SG90_MINPULSE} \
+    ,.maxpulse = {SG90_MAXPULSE, SG90_MAXPULSE, SG90_MAXPULSE, SG90_MAXPULSE} \
+    ,.maxspeed = {SG90_MAXSPEED, SG90_MAXSPEED, SG90_MAXSPEED, SG90_MAXSPEED} \
+    }
+
+static int erase_flash(const void*, const void*);
+static int write2flash(const void*, const void*, uint32_t);
+// don't write `static` here, or get error:
+//      'memcpy' forming offset 8 is out of the bounds [0, 4] of object '__varsstart' with type 'uint32_t'
+const user_conf *Flash_Data = (const user_conf *)(&__varsstart);
+
+user_conf the_conf = USERCONF_INITIALIZER;
+
+int currentconfidx = -1; // index of current configuration
+
+/**
+ * @brief binarySearch - binary search in flash for last non-empty cell
+ *          any struct searched should have its sizeof() @ the first field!!!
+ * @param l - left index
+ * @param r - right index (should be @1 less than last index!)
+ * @param start - starting address
+ * @param stor_size - size of structure to search
+ * @return index of non-empty cell or -1
+ */
+static int binarySearch(int r, const uint8_t *start, int stor_size){
+    int l = 0;
+    while(r >= l){
+        int mid = l + (r - l) / 2;
+        const uint8_t *s = start + mid * stor_size;
+        if(*((const uint16_t*)s) == stor_size){
+            if(*((const uint16_t*)(s + stor_size)) == 0xffff){ // next is free
+                return mid;
+            }else{ // element is to the right
+                l = mid + 1;
+            }
+        }else{ // element is to the left
+            r = mid - 1;
+        }
+    }
+    return -1; // not found
+}
+
+/**
+ * @brief flashstorage_init - initialization of user conf storage
+ * run in once @ start
+ */
+void flashstorage_init(){
+    if(FLASH_SIZE > 0 && FLASH_SIZE < 20000){
+        uint32_t flsz = FLASH_SIZE * 1024; // size in bytes
+        flsz -= (uint32_t)(&__varsstart) - FLASH_BASE;
+        maxCnum = flsz / sizeof(user_conf);
+    }
+    // -1 if there's no data at all & flash is clear; maxnum-1 if flash is full
+    currentconfidx = binarySearch((int)maxCnum-2, (const uint8_t*)Flash_Data, sizeof(user_conf));
+    if(currentconfidx > -1){
+        memcpy(&the_conf, &Flash_Data[currentconfidx], sizeof(user_conf));
+    }
+}
+
+// store new configuration
+// @return 0 if all OK
+int store_userconf(){
+    // maxnum - 3 means that there always should be at least one empty record after last data
+    // for binarySearch() checking that there's nothing more after it!
+    if(currentconfidx > (int)maxCnum - 3){ // there's no more place
+        currentconfidx = 0;
+        if(erase_flash(Flash_Data, NULL)) return 1;
+    }else ++currentconfidx; // take next data position (0 - within first run after firmware flashing)
+    return write2flash((const void*)&Flash_Data[currentconfidx], &the_conf, sizeof(the_conf));
+}
+
+static int write2flash(const void *start, const void *wrdata, uint32_t stor_size){
+    int ret = 0;
+    if (FLASH->CR & FLASH_CR_LOCK){ // unloch flash
+        FLASH->KEYR = FLASH_KEY1;
+        FLASH->KEYR = FLASH_KEY2;
+    }
+    // FLASH_SR_BSY2 for some
+    uint32_t count = (stor_size + 7) / 8;
+    volatile uint32_t *address = (volatile uint32_t*) start;
+    const uint32_t *data = (const uint32_t*) wrdata;
+    for(uint32_t i = 0; i < count; ++i){
+        while (FLASH->SR & (FLASH_SR_BSY)); // 1: check BSY
+        if(FLASH->SR & FLASH_SR_WRPERR){ // 2: check errors
+            return 1; // write protection
+        }
+        FLASH->SR = 0xffff; // clear all flags
+        FLASH->CR |= FLASH_CR_PG; // 3: set PG bit
+        IWDG->KR = IWDG_REFRESH;
+        *address++ = *data++; // 4: write both 32 bit words
+        *address++ = *data++;
+        while(FLASH->SR & FLASH_SR_BSY);
+        if(FLASH->SR &  FLASH_SR_PGSERR){
+            ret = 1; // program error - meet not 0xffff
+            break;
+        }/*else{
+            for(int _ = 0; _ < 9999 && (!(FLASH->SR & FLASH_SR_EOP)); ++_);
+        }*/
+        FLASH->SR = 0xffff;
+    }
+    FLASH->CR &= ~(FLASH_CR_PG); // 7: clear PG bit at end of process
+    FLASH->CR |= FLASH_CR_LOCK; // lock it back
+    return ret;
+}
+
+/**
+ * @brief erase_flash - erase N pages of flash memory
+ * @param start  - first address
+ * @param end    - last address (or NULL if need to erase all flash remaining)
+ * @return 0 if succeed
+ */
+static int erase_flash(const void *start, const void *end){
+    int ret = 0;
+    if(!start) return 1;
+    uint32_t startb = (((uint32_t)start - FLASH_BASE) + blocksize - 1) / blocksize, endb;
+    if(!end){ // erase all remaining
+        endb = FLASH_SIZE * 1024 / blocksize;
+    }else{ // erase a part
+        endb = (((uint32_t)end - FLASH_BASE) + blocksize - 1) / blocksize;
+    }
+    if ((FLASH->CR & FLASH_CR_LOCK) != 0){
+        FLASH->KEYR = FLASH_KEY1;
+        FLASH->KEYR = FLASH_KEY2;
+    }
+    for(uint32_t i = startb; i < endb; ++i){
+        IWDG->KR = IWDG_REFRESH;
+        /* (1) Wait till no operation is on going */
+        /* (2) Clear error & EOP bits */
+        while ((FLASH->SR & FLASH_SR_BSY) != 0){} /* (1) */
+        FLASH->SR = 0xffff;  /* (2) */
+        /* (1) Set the PER bit in the FLASH_CR register to enable page erasing */
+        /* (2) Select the page to erase (PNB) */
+        /* (3) Set the STRT bit in the FLASH_CR register to start the erasing */
+        /* (4) Wait until BSY1 cleared */
+        FLASH->CR |= FLASH_CR_PER | i << FLASH_CR_PNB_Pos; /* (1) (2) */
+        FLASH->CR |= FLASH_CR_STRT; /* (3) */
+        while ((FLASH->SR & FLASH_SR_BSY) != 0){} /* (4) */
+        FLASH->SR = FLASH_SR_EOP;
+        if(FLASH->SR & FLASH_SR_WRPERR){ /* Check Write protection error */
+            ret = 1;
+            FLASH->SR = FLASH_SR_WRPERR; /* Clear the flag by software by writing it at 1*/
+            break;
+        }
+        FLASH->CR &= ~FLASH_CR_PER; // clear PER
+    }
+    return ret;
+}
+
+int erase_storage(){
+    return erase_flash(Flash_Data, NULL);
+}

G4:G431/Servo/flash.h

@@ -0,0 +1,52 @@
+/*
+ * This file is part of the flash project.
+ * Copyright 2023 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
+
+#include <stdint.h>
+#include "hardware.h"
+
+// register with flash size (in blocks)
+#ifndef FLASH_SIZE_REG
+#define FLASH_SIZE_REG      ((uint32_t)0x1FFF75E0)
+#endif
+#ifndef FLASH_SIZE
+#define FLASH_SIZE          *((uint16_t*)FLASH_SIZE_REG)
+#endif
+
+/*
+ * struct to save user configurations
+ */
+typedef struct __attribute__((packed, aligned(8))){
+    uint16_t userconf_sz;               // "magick number"
+    uint32_t usart_speed;               // speed of interface
+    uint16_t startpulse[SERVO_AMOUNT];  // starting position
+    uint16_t minpulse[SERVO_AMOUNT];    // minimal position
+    uint16_t maxpulse[SERVO_AMOUNT];    // maximal position
+    uint16_t maxspeed[SERVO_AMOUNT];    // maximal speed
+} user_conf;
+
+extern user_conf the_conf; // global user config (read from FLASH to RAM)
+extern int currentconfidx;
+extern uint32_t maxCnum;
+
+void flashstorage_init();
+int store_userconf();
+void dump_userconf();
+int erase_storage();
+

G4:G431/Servo/hardware.c

@@ -0,0 +1,96 @@
+/*
+ * This file is part of the usart project.
+ * Copyright 2026 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 <stm32g4.h>
+
+#include "flash.h"
+#include "hardware.h"
+#include "servo.h"
+
+volatile uint32_t Tms = 0;
+
+/* Called when systick fires */
+void sys_tick_handler(){
+    ++Tms;
+}
+
+// try to set servo; if wrong return false
+bool set_servo(uint8_t N, uint16_t val){
+    if(N >= SERVO_AMOUNT) return false;
+    if(val < the_conf.minpulse[N] || val > the_conf.maxpulse[N]) return false;
+    volatile uint32_t *CCR = &(TIM3->CCR1);
+    CCR[N] = val;
+    return true;
+}
+
+bool get_servo(uint8_t N, uint16_t *val){
+    if(N >= SERVO_AMOUNT) return false;
+    volatile uint32_t *CCR = &(TIM3->CCR1);
+    if(val) *val = CCR[N];
+    return true;
+}
+
+static void tim3_setup(){
+    RCC->APB1ENR1 |= RCC_APB1ENR1_TIM3EN;
+    __DSB();
+    // PWM mode 1 (active -> inactive) on all three channels; preload enabled
+    TIM3->CCMR1 =   TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_1 |
+                    TIM_CCMR1_OC2M_2 | TIM_CCMR1_OC2M_1 |
+                    TIM_CCMR1_OC1PE | TIM_CCMR1_OC2PE;
+    TIM3->CCMR2 =   TIM_CCMR2_OC3M_2 | TIM_CCMR2_OC3M_1 |
+                    TIM_CCMR2_OC4M_2 | TIM_CCMR2_OC4M_1 |
+                    TIM_CCMR2_OC3PE | TIM_CCMR2_OC4PE;
+    // frequency
+    TIM3->PSC = 84; // 1MHz -> 1us per tick
+    // ARR for PWM
+    TIM3->ARR = 19999; // 20ms, 50Hz
+    // CCRx - minimal position
+    TIM3->CCR1 = the_conf.startpulse[0];
+    TIM3->CCR2 = the_conf.startpulse[1];
+    TIM3->CCR3 = the_conf.startpulse[2];
+    TIM3->CCR4 = the_conf.startpulse[3];
+    // enable main output (don't need for TIM3)
+    //TIMx->BDTR |= TIM_BDTR_MOE;
+    // enable PWM output
+    TIM3->CCER = TIM_CCER_CC1E | TIM_CCER_CC2E |TIM_CCER_CC3E | TIM_CCER_CC4E;
+    // enable timer & ARR buffering
+    TIM3->CR1 |= TIM_CR1_CEN | TIM_CR1_ARPE;
+    // update buffers
+    TIM3->EGR = TIM_EGR_UG;
+}
+
+// TIM3 channels: 1 - PA6 (AF2), 2 - PA7 (AF2), 3 - PB0 (AF2), 4 - PB1 (AF2)
+void gpio_setup(){
+    RCC->AHB2ENR = RCC_AHB2ENR_GPIOAEN | RCC_AHB2ENR_GPIOBEN | RCC_AHB2ENR_GPIOCEN;
+    __DSB(); // Data Synchronization Barrier - wait until data will be really written to AHB2ENR
+    // set PC6 as push-pull output, PC13 is pulldown input, other as default (AIN)
+    GPIOC->MODER = (0xffffffff & ~(GPIO_MODER_MODE6 | GPIO_MODER_MODE13)) | MODER_O(6) | MODER_I(13);
+    GPIOC->PUPDR = PUPD_PD(13); // pulldown
+    GPIOC->OTYPER = OTYPER_PP(6); // push-pull (default)
+    // PA9 (Tx) and PA10 (Rx) (don't forget about SWDIO)
+    GPIOA->MODER = (0xabffffff & ~(GPIO_MODER_MODE6 | GPIO_MODER_MODE7 | GPIO_MODER_MODE9 | GPIO_MODER_MODE10)) |
+                   MODER_AF(6) | MODER_AF(7) | MODER_AF(9) | MODER_AF(10);
+    GPIOA->AFR[0] = AFRf(2, 6) | AFRf(2, 7);
+    GPIOA->AFR[1] = AFRf(7, 9) | AFRf(7, 10); // SWDIO is 0 by default; USART1 is AF7
+    GPIOB->MODER = (0xffffffff & ~(GPIO_MODER_MODE0 | GPIO_MODER_MODE1)) |
+                   MODER_AF(0) | MODER_AF(1);
+    GPIOB->AFR[0] = AFRf(2, 0) | AFRf(2, 1);
+    // count milliseconds
+    SysTick_Config(SysFreq / 1000); // arg should be < 0xffffff
+    tim3_setup();
+}

G4:G431/Servo/hardware.h

@@ -0,0 +1,42 @@
+/*
+ * This file is part of the usart project.
+ * Copyright 2026 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
+
+// KEY (intpullup->0) - PC13
+// LED - PC6
+#define KEY_PORT    GPIOC
+#define KEY_PIN     (1<<13)
+#define LED_PORT    GPIOC
+#define LED_PIN     (1<<6)
+#define KEY_PRESSED() (pin_read(KEY_PORT, KEY_PIN) == 1)
+#define LED_ON()    do{pin_set(LED_PORT, LED_PIN);}while(0)
+#define LED_OFF()   do{pin_clear(LED_PORT, LED_PIN);}while(0)
+#define LED_TOGG()  do{pin_toggle(LED_PORT, LED_PIN);}while(0)
+
+#define SERVO_AMOUNT    4
+
+#define MIN_USART_SPEED 1200
+#define MAX_USART_SPEED 3000000
+
+extern volatile uint32_t Tms;
+
+void gpio_setup();
+
+bool set_servo(uint8_t N, uint16_t val);
+bool get_servo(uint8_t N, uint16_t *val);

G4:G431/Servo/main.c

@@ -0,0 +1,66 @@
+/*
+ * This file is part of the blink project.
+ * Copyright 2023 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 <stm32g4.h>
+#include <string.h>
+
+#include "commproto.h"
+#include "flash.h"
+#include "hardware.h"
+#include "servo.h"
+#include "usart.h"
+
+// 40ms for debouncing
+#define TDEBOUNCE   (40)
+
+int main(void){
+    StartHSE();
+    // init storage first to take base values
+    flashstorage_init();
+    gpio_setup();
+    usart_setup(the_conf.usart_speed);
+    bool pressed = false;
+    uint32_t Tblink = 0, Tkey = 0; // blink and key pressed time
+    while(1){
+        USART_flags_t f = usart_process();
+        if(f.rxovrfl) usart_sendstr("Rx buffer overflow!\n");
+        if(f.txerr) usart_sendstr("Tx error!\n");
+        char *str = usart_getline();
+        if(str){
+            const char *ans = parse_cmd(usart_sendstr, str);
+            if(ans) usart_sendstr(ans);
+        }
+        process_servo();
+        if(Tms - Tblink > 499){
+            LED_TOGG();
+            Tblink = Tms;
+        }
+        if(KEY_PRESSED()){
+            if(!pressed){ // new event
+                pressed = true;
+                usart_sendstr("Key pressed\n");
+            }
+            Tkey = Tms;
+        }else{ // key released
+            if(pressed && (Tms - Tkey) > TDEBOUNCE){ // wait for debounce
+                pressed = false;
+                usart_sendstr("Key released\n");
+            }
+        }
+    }
+}

G4:G431/Servo/openocd.cfg

@@ -0,0 +1,4 @@
+set FLASH_SIZE 0x20000
+
+source [find interface/stlink-v2-1.cfg]
+source [find target/stm32g4x.cfg]

G4:G431/Servo/ringbuffer.c

@@ -0,0 +1,203 @@
+/*
+ * Copyright 2023 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 <string.h>
+#include <stm32g4.h>
+#include "ringbuffer.h"
+
+#define CHK(b)  do{if(!b) return -1;}while(0)
+
+static int datalen(ringbuffer *b){
+    if(b->tail >= b->head) return (b->tail - b->head);
+    else return (b->length - b->head + b->tail);
+}
+
+// stored data length
+int RB_datalen(ringbuffer *b){
+    CHK(b);
+    if(0 == datalen(b)) return 0; // don't block for empty RO operations
+    if(b->busy) return -1;
+    b->busy = true;
+    int l = datalen(b);
+    b->busy = false;
+    return l;
+}
+
+static int hasbyte(ringbuffer *b, uint8_t byte){
+    if(b->head == b->tail) return -1; // no data in buffer
+    int startidx = b->head;
+    if(b->head > b->tail){ //
+        for(int found = b->head; found < b->length; ++found)
+            if(b->data[found] == byte) return found;
+        startidx = 0;
+    }
+    for(int found = startidx; found < b->tail; ++found)
+        if(b->data[found] == byte) return found;
+    return -1;
+}
+
+/**
+ * @brief RB_hasbyte - check if buffer has given byte stored
+ * @param b - buffer
+ * @param byte - byte to find
+ * @return index if found, -1 if none or busy
+ */
+int RB_hasbyte(ringbuffer *b, uint8_t byte){
+    CHK(b);
+    if(b->busy) return -1;
+    b->busy = true;
+    int ret = hasbyte(b, byte);
+    b->busy = false;
+    return ret;
+}
+
+// increment head or tail
+TRUE_INLINE void incr(ringbuffer *b, volatile int *what, int n){
+    *what += n;
+    if(*what >= b->length) *what -= b->length;
+}
+
+static int read(ringbuffer *b, uint8_t *s, int len){
+    int l = datalen(b);
+    if(!l) return 0;
+    if(l > len) l = len;
+    int _1st = b->length - b->head;
+    if(_1st > l) _1st = l;
+    if(_1st > len) _1st = len;
+    memcpy(s, b->data + b->head, _1st);
+    if(_1st < len && l > _1st){
+        memcpy(s+_1st, b->data, l - _1st);
+        incr(b, &b->head, l);
+        return l;
+    }
+    incr(b, &b->head, _1st);
+    return _1st;
+}
+
+/**
+ * @brief RB_read - read data from ringbuffer
+ * @param b - buffer
+ * @param s - array to write data
+ * @param len - max len of `s`
+ * @return bytes read or -1 if busy
+ */
+int RB_read(ringbuffer *b, uint8_t *s, int len){
+    CHK(b);
+    if(!s || len < 1) return -1;
+    if(0 == datalen(b)) return 0;
+    if(b->busy) return -1;
+    b->busy = true;
+    int r = read(b, s, len);
+    b->busy = false;
+    return r;
+}
+
+// length of data from current position to `byte` (including byte)
+static int lento(ringbuffer *b, uint8_t byte){
+    int idx = hasbyte(b, byte);
+    if(idx < 0) return 0;
+    int partlen = idx + 1 - b->head;
+    // now calculate length of new data portion
+    if(idx < b->head) partlen += b->length;
+    return partlen;
+}
+
+static int readto(ringbuffer *b, uint8_t byte, uint8_t *s, int len){
+    int partlen = lento(b, byte);
+    if(!partlen) return 0;
+    if(partlen > len) return -1;
+    return read(b, s, partlen);
+}
+
+/**
+ * @brief RB_readto fill array `s` with data until byte `byte` (with it)
+ * @param b - ringbuffer
+ * @param byte - check byte
+ * @param s - buffer to write data or NULL to clear data
+ * @param len - length of `s` or 0 to clear data
+ * @return amount of bytes written (negative, if len<data in buffer or buffer is busy)
+ */
+int RB_readto(ringbuffer *b, uint8_t byte, uint8_t *s, int len){
+    CHK(b);
+    if(!s || len < 1) return -1;
+    if(0 == datalen(b)) return 0;
+    if(b->busy) return -1;
+    b->busy = true;
+    int n = 0;
+    if(s && len > 0){
+        n = readto(b, byte, s, len);
+    }else{
+        incr(b, &b->head, lento(b, byte)); // just throw data out
+    }
+    b->busy = false;
+    return n;
+}
+
+int RB_datalento(ringbuffer *b, uint8_t byte){
+    CHK(b);
+    if(0 == datalen(b)) return 0;
+    if(b->busy) return -1;
+    b->busy = true;
+    int n = lento(b, byte);
+    b->busy = false;
+    return n;
+}
+
+// if l < rest of buffer, truncate and return actually written bytes
+static int write(ringbuffer *b, const uint8_t *str, int l){
+    int r = b->length - 1 - datalen(b); // rest length
+    if(r < 1) return 0;
+    if(l > r) l = r;
+    int _1st = b->length - b->tail;
+    if(_1st > l) _1st = l;
+    memcpy(b->data + b->tail, str, _1st);
+    if(_1st < l){ // add another piece from start
+        memcpy(b->data, str+_1st, l-_1st);
+    }
+    incr(b, &b->tail, l);
+    return l;
+}
+
+/**
+ * @brief RB_write - write some data to ringbuffer
+ * @param b - buffer
+ * @param str - data
+ * @param l - length
+ * @return amount of bytes written or -1 if busy
+ */
+int RB_write(ringbuffer *b, const uint8_t *str, int l){
+    CHK(b);
+    if(!str || l < 1) return -1;
+    if(b->length - datalen(b) < 2) return 0;
+    if(b->busy) return -1;
+    b->busy = true;
+    int w = write(b, str, l);
+    b->busy = false;
+    return w;
+}
+
+// just delete all information in buffer `b`
+int RB_clearbuf(ringbuffer *b){
+    CHK(b);
+    if(b->busy) return -1;
+    b->busy = true;
+    b->head = 0;
+    b->tail = 0;
+    memset(b->data, 0, b->length);
+    b->busy = false;
+    return 1;
+}

G4:G431/Servo/ringbuffer.h

@@ -0,0 +1,36 @@
+/*
+ * Copyright 2023 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
+
+#include <stdint.h>
+
+typedef struct{
+    uint8_t *data;      // data buffer
+    const int length;   // its length
+    int head;           // head index
+    int tail;           // tail index
+    volatile bool busy; // == TRUE if buffer is busy now
+} ringbuffer;
+
+int RB_read(ringbuffer *b, uint8_t *s, int len);
+int RB_readto(ringbuffer *b, uint8_t byte, uint8_t *s, int len);
+int RB_hasbyte(ringbuffer *b, uint8_t byte);
+int RB_write(ringbuffer *b, const uint8_t *str, int l);
+int RB_datalen(ringbuffer *b);
+int RB_datalento(ringbuffer *b, uint8_t byte);
+int RB_clearbuf(ringbuffer *b);

G4:G431/Servo/servo.c

@@ -0,0 +1,84 @@
+/*
+ * This file is part of the servo project.
+ * Copyright 2026 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 <stm32g4.h>
+#include <stdint.h>
+
+#include "flash.h"
+#include "hardware.h"
+#include "servo.h"
+
+static uint16_t servo_tagpos[SERVO_AMOUNT] = {SG90_MIDPULSE, SG90_MIDPULSE, SG90_MIDPULSE, SG90_MIDPULSE};
+static uint16_t servo_speed[SERVO_AMOUNT] = {0, 0, 0, 0};
+
+void process_servo(){
+    static bool notinited = true;
+#if SERVO_AMOUNT != 4
+#error "Add timers' variables"
+#endif
+    static const uint32_t trgflags[SERVO_AMOUNT] = {TIM_SR_CC1IF, TIM_SR_CC2IF, TIM_SR_CC3IF, TIM_SR_CC4IF};
+    if(notinited){ // init tagpos with starting values from settings at first run
+        for(int i = 0; i < SERVO_AMOUNT; ++i) servo_tagpos[i] = the_conf.startpulse[i];
+        notinited = false;
+    }
+    uint32_t sr = TIM3->SR;
+    uint32_t clear_mask = 0;
+    for(uint8_t i = 0; i < SERVO_AMOUNT; ++i){
+        uint16_t curpos;
+        if(!get_servo(i, &curpos) || !(sr & trgflags[i])) continue;
+        clear_mask |= trgflags[i];
+        if(servo_tagpos[i] == curpos || servo_speed[i] < 1) continue;
+        int32_t newpos = curpos;
+        if(servo_tagpos[i] > curpos){
+            newpos += servo_speed[i];
+            if(newpos > servo_tagpos[i]) newpos = servo_tagpos[i];
+        }else{
+            newpos -= servo_speed[i];
+            if(newpos < servo_tagpos[i]) newpos = servo_tagpos[i];
+        }
+        set_servo(i, (uint16_t) newpos);
+    }
+    if(clear_mask) TIM3->SR &= ~clear_mask;
+}
+
+// set speed in steps per tick
+bool servo_set_speed(uint8_t N, uint16_t s){
+    if(N >= SERVO_AMOUNT) return false;
+    if(s > the_conf.maxspeed[N]) return false; // let s==0: this will allow to stop mowing to tagpos
+    servo_speed[N] = s;
+    return true;
+}
+
+bool servo_get_speed(uint8_t N, uint16_t *s){
+    if(N >= SERVO_AMOUNT) return false;
+    if(s) *s = servo_speed[N];
+    return true;
+}
+
+bool servo_set_tagpos(uint8_t N, uint16_t pos){
+    if(N >= SERVO_AMOUNT) return false;
+    if(pos < the_conf.minpulse[N] || pos > the_conf.maxpulse[N]) return false;
+    servo_tagpos[N] = pos;
+    return true;
+}
+
+bool servo_get_tagpos(uint8_t N, uint16_t *pos){
+    if(N >= SERVO_AMOUNT) return false;
+    if(pos) *pos = servo_tagpos[N];
+    return true;
+}

G4:G431/Servo/servo.cflags

@@ -0,0 +1 @@
+-std=c23

G4:G431/Servo/servo.config

@@ -0,0 +1,3 @@
+#define EBUG
+#define STM32G4
+#define STM32G431xx

G4:G431/Servo/servo.creator

@@ -0,0 +1 @@
+[General]

G4:G431/Servo/servo.cxxflags

@@ -0,0 +1 @@
+-std=c++23

G4:G431/Servo/servo.files

@@ -0,0 +1,15 @@
+commproto.cpp
+commproto.h
+flash.c
+flash.h
+hardware.c
+hardware.h
+main.c
+ringbuffer.c
+ringbuffer.h
+servo.c
+servo.h
+strfunc.c
+strfunc.h
+usart.c
+usart.h

G4:G431/Servo/servo.h

@@ -0,0 +1,39 @@
+/*
+ * This file is part of the servo project.
+ * Copyright 2026 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
+
+// Default starting values
+// minimal and maximal pulse length for SG90
+#define SG90_MINPULSE   400
+#define SG90_MAXPULSE   2600
+#define SG90_MIDPULSE   ((SG90_MINPULSE+SG90_MAXPULSE)/2)
+#define SG90_AMPL       (SG90_MAXPULSE-SG90_MINPULSE)
+// maximal speed: 0.1s (5 ticks) per 60degr (1/3 of range):  (SG90_AMPL/15)
+#define SG90_MAXSPEED   93
+
+// Limiting values
+#define SERVO_MINPULSE  100
+#define SERVO_MAXPULSE  5000
+#define SERVO_MAXSPEED  300
+
+void process_servo();
+bool servo_set_speed(uint8_t N, uint16_t s);
+bool servo_get_speed(uint8_t N, uint16_t *s);
+bool servo_set_tagpos(uint8_t N, uint16_t pos);
+bool servo_get_tagpos(uint8_t N, uint16_t *pos);

G4:G431/Servo/servo.includes

@@ -0,0 +1,4 @@
+.
+../inc
+../inc/Fx
+../inc/cm

G4:G431/Servo/strfunc.c

@@ -0,0 +1,265 @@
+/*
+ * This file is part of the encoders project.
+ * Copyright 2025 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 <stm32g4.h>
+#include <string.h>
+
+/**
+ * @brief hexdump - dump hex array by 16 bytes in string
+ * @param arr - array to dump
+ * @param len - length of `arr`
+ */
+void hexdump(int (*sendfun)(const char *), uint8_t *arr, uint16_t len){
+    char buf[52], *bptr = buf;
+    for(uint16_t l = 0; l < len; ++l, ++arr){
+        for(int16_t j = 1; j > -1; --j){
+            register uint8_t half = (*arr >> (4*j)) & 0x0f;
+            if(half < 10) *bptr++ = half + '0';
+            else *bptr++ = half - 10 + 'a';
+        }
+        if(l % 16 == 15){
+            *bptr++ = '\n';
+            *bptr = 0;
+            sendfun(buf);
+            bptr = buf;
+        }else *bptr++ = ' ';
+    }
+    if(bptr != buf){
+        *bptr++ = '\n';
+        *bptr = 0;
+        sendfun(buf);
+    }
+}
+
+/**
+ * @brief _2str - convert value into string buffer
+ * @param val - |value|
+ * @param minus - ==0 if value > 0
+ * @return buffer with number
+ */
+static char *_2str(uint32_t  val, uint8_t minus){
+    static char strbuf[12];
+    char *bufptr = &strbuf[11];
+    *bufptr = 0;
+    if(!val){
+        *(--bufptr) = '0';
+    }else{
+        while(val){
+            uint32_t x = val / 10;
+            *(--bufptr) = (val - 10*x) + '0';
+            val = x;
+        }
+    }
+    if(minus) *(--bufptr) = '-';
+    return bufptr;
+}
+
+// return string with number `val`
+char *u2str(uint32_t val){
+    return _2str(val, 0);
+}
+char *i2str(int32_t i){
+    uint8_t minus = 0;
+    uint32_t val;
+    if(i < 0){
+        minus = 1;
+        val = -i;
+    }else val = i;
+    return _2str(val, minus);
+}
+
+/**
+ * @brief uhex2str - print 32bit unsigned int as hex
+ * @param val - value
+ * @return string with number
+ */
+char *uhex2str(uint32_t val){
+    static char buf[12] = "0x";
+    int npos = 2;
+    uint8_t *ptr = (uint8_t*)&val + 3;
+    int8_t i, j, z=1;
+    for(i = 0; i < 4; ++i, --ptr){
+        if(*ptr == 0){ // omit leading zeros
+            if(i == 3) z = 0;
+            if(z) continue;
+        }
+        else z = 0;
+        for(j = 1; j > -1; --j){
+            uint8_t half = (*ptr >> (4*j)) & 0x0f;
+            if(half < 10) buf[npos++] = half + '0';
+            else buf[npos++] = half - 10 + 'a';
+        }
+    }
+    buf[npos] = 0;
+    return buf;
+}
+
+/**
+ * @brief omit_spaces - eliminate leading spaces and other trash in string
+ * @param buf - string
+ * @return - pointer to first character in `buf` > ' '
+ */
+char *omit_spaces(char *buf){
+    while(*buf){
+        if(*buf > ' ') break;
+        ++buf;
+    }
+    return buf;
+}
+
+/**
+ * @brief getdec - read decimal number & return pointer to next non-number symbol
+ * @param buf - string
+ * @param N - number read
+ * @return Next non-number symbol. In case of overflow return `buf` and N==0xffffffff
+ */
+static char *getdec(char *buf, uint32_t *N){
+    char *start = (char*)buf;
+    uint32_t num = 0;
+    while(*buf){
+        char c = *buf;
+        if(c < '0' || c > '9'){
+            break;
+        }
+        if(num > 429496729 || (num == 429496729 && c > '5')){ // overflow
+            *N = 0xffffff;
+            return start;
+        }
+        num *= 10;
+        num += c - '0';
+        ++buf;
+    }
+    *N = num;
+    return buf;
+}
+// read hexadecimal number (without 0x prefix!)
+char *gethex(char *buf, uint32_t *N){
+    char *start = buf;
+    uint32_t num = 0;
+    while(*buf){
+        char c = *buf;
+        uint8_t M = 0;
+        if(c >= '0' && c <= '9'){
+            M = '0';
+        }else if(c >= 'A' && c <= 'F'){
+            M = 'A' - 10;
+        }else if(c >= 'a' && c <= 'f'){
+            M = 'a' - 10;
+        }
+        if(M){
+            if(num & 0xf0000000){ // overflow
+                *N = 0xffffff;
+                return start;
+            }
+            num <<= 4;
+            num += c - M;
+        }else{
+            break;
+        }
+        ++buf;
+    }
+    *N = num;
+    return buf;
+}
+// read octal number (without 0 prefix!)
+static char *getoct(char *buf, uint32_t *N){
+    char *start = (char*)buf;
+    uint32_t num = 0;
+    while(*buf){
+        char c = *buf;
+        if(c < '0' || c > '7'){
+            break;
+        }
+        if(num & 0xe0000000){ // overflow
+            *N = 0xffffff;
+            return start;
+        }
+        num <<= 3;
+        num += c - '0';
+        ++buf;
+    }
+    *N = num;
+    return buf;
+}
+// read binary number (without b prefix!)
+static char *getbin(char *buf, uint32_t *N){
+    char *start = (char*)buf;
+    uint32_t num = 0;
+    while(*buf){
+        char c = *buf;
+        if(c < '0' || c > '1'){
+            break;
+        }
+        if(num & 0x80000000){ // overflow
+            *N = 0xffffff;
+            return start;
+        }
+        num <<= 1;
+        if(c == '1') num |= 1;
+        ++buf;
+    }
+    *N = num;
+    return buf;
+}
+
+/**
+ * @brief getnum - read uint32_t from string (dec, hex or bin: 127, 0x7f, 0b1111111)
+ * @param buf - buffer with number and so on
+ * @param N   - the number read
+ * @return pointer to first non-number symbol in buf
+ *      (if it is == buf, there's no number or if *N==0xffffffff there was overflow)
+ */
+char *getnum(char *txt, uint32_t *N){
+    char *nxt = NULL;
+    char *s = omit_spaces(txt);
+    if(*s == '0'){ // hex, oct or 0
+        if(s[1] == 'x' || s[1] == 'X'){ // hex
+            nxt = gethex(s+2, N);
+            if(nxt == s+2) nxt = (char*)txt;
+        }else if(s[1] > '0'-1 && s[1] < '8'){ // oct
+            nxt = getoct(s+1, N);
+            if(nxt == s+1) nxt = (char*)txt;
+        }else{ // 0
+            nxt = s+1;
+            *N = 0;
+        }
+    }else if(*s == 'b' || *s == 'B'){
+        nxt = getbin(s+1, N);
+        if(nxt == s+1) nxt = (char*)txt;
+    }else{
+        nxt = getdec(s, N);
+        if(nxt == s) nxt = (char*)txt;
+    }
+    return nxt;
+}
+
+// get signed integer
+char *getint(char *txt, int32_t *I){
+    char *s = omit_spaces(txt);
+    int32_t sign = 1;
+    uint32_t U;
+    if(*s == '-'){
+        sign = -1;
+        ++s;
+    }
+    char *nxt = getnum(s, &U);
+    if(nxt == s) return txt;
+    if(U & 0x80000000) return txt; // overfull
+    *I = sign * (int32_t)U;
+    return nxt;
+}

G4:G431/Servo/strfunc.h

@@ -0,0 +1,31 @@
+/*
+ * This file is part of the encoders project.
+ * Copyright 2025 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
+
+#include <stdint.h>
+
+void hexdump(int (*sendfun)(const char*), uint8_t *arr, uint16_t len);
+char *u2str(uint32_t val);
+char *i2str(int32_t i);
+char *uhex2str(uint32_t val);
+char *gethex(const char *buf, uint32_t *N);
+char *getnum(char *txt, uint32_t *N);
+char *omit_spaces(char *buf);
+char *getint(char *txt, int32_t *I);
+

G4:G431/Servo/usart.c

@@ -0,0 +1,257 @@
+/*
+ * This file is part of the test project.
+ * Copyright 2026 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 <stm32g4.h>
+#include <string.h>
+
+#include "hardware.h" // Tms
+#include "ringbuffer.h"
+#include "usart.h"
+
+// USART for text-based protocol, each data portion ends with '\n'
+// RX works over circular DMA
+
+// USART-depending part ------->
+// USART1 @ PA9 (Tx) - MUX25 - and PA10 (Rx) - MUX24
+// select USART and its DMA channels
+#define USARTx      USART1
+#define USARTxAPB   APB2ENR
+#define USARTxEN    RCC_APB2ENR_USART1EN
+#define USART_APBEN RCC_APB2
+// DMAMUX channels: 24 - USART1Rx, 25 - USART1Tx
+#define DMAMUXRXN   (24)
+#define DMAMUXTXN   (25)
+// DMA channels: 1 (0 in MUX) - Rx, 2 (1 in MUX) - Tx; TC and error flags
+// use DMA ch2/3 because they both have single IRQ
+#define DMAx        DMA1
+#define DMAxEN      (RCC_AHB1ENR_DMA1EN | RCC_AHB1ENR_DMAMUX1EN)
+#define DMACHRX     DMA1_Channel1
+#define DMARXTCF    DMA_ISR_TCIF1
+#define DMARXEF     DMA_ISR_TEIF1
+#define DMACHTX     DMA1_Channel2
+#define DMATXTCF    DMA_ISR_TCIF2
+#define DMATXEF     DMA_ISR_TEIF2
+#define DMAMUXRX    DMAMUX1_Channel0
+#define DMAMUXTX    DMAMUX1_Channel1
+#define USARTIRQn   USART1_IRQn
+#define DMARXIRQ    DMA1_Channel1_IRQn
+#define DMATXIRQ    DMA1_Channel2_IRQn
+
+// interrupt aliases
+static void usart_isr();
+static void dmatx_isr();
+static void dmarx_isr();
+void usart1_isr() __attribute__ ((alias ("usart_isr")));
+void dma1_channel1_isr() __attribute__ ((alias ("dmarx_isr")));
+void dma1_channel2_isr() __attribute__ ((alias ("dmatx_isr")));
+// <-------- USART-depending part
+
+// RX/TX DMA->CCR without EN flag
+#define DMARXCCR    (DMA_CCR_MINC | DMA_CCR_CIRC | DMA_CCR_TEIE)
+#define DMATXCCR    (DMA_CCR_MINC | DMA_CCR_DIR | DMA_CCR_TCIE | DMA_CCR_TEIE)
+
+static volatile bool gotstring = true; // got '\n' in input stream -> force data reading to inbuf
+static volatile bool txrdy = true; // Tx DMA not busy
+static volatile USART_flags_t curflags; // current flags (cleared in `usart_process`)
+// rx/tx DMA buffers
+static uint8_t dmarxbuf[USARTRXDMABUFSZ];
+static uint8_t dmatxbuf[USARTTXDMABUFSZ];
+// index of last DMA read position
+static uint32_t dma_read_idx = 0;
+// for ringbuffer
+static uint8_t rbrxbuf[USARTRXBUFSZ], rbtxbuf[USARTTXBUFSZ];
+static ringbuffer TxRB = {.data = rbtxbuf, .length = USARTTXBUFSZ};
+static ringbuffer RxRB = {.data = rbrxbuf, .length = USARTRXBUFSZ};
+
+#define USART_BRR(speed)    ((SysFreq + (speed)/2) / (speed))
+
+static void reinit_rx_dma(){
+    dma_read_idx = 0;
+    RB_clearbuf(&RxRB);
+    DMACHRX->CCR = DMARXCCR; // stop to reload
+    DMACHRX->CNDTR = USARTRXDMABUFSZ;
+    DMACHRX->CMAR = (uint32_t) dmarxbuf;
+    DMACHRX->CCR = DMARXCCR | DMA_CCR_EN;
+}
+
+void usart_setup(uint32_t speed){
+    RCC->AHB1ENR |= DMAxEN; // enable DMA
+    // enable USART clocking
+    RCC->USARTxAPB |= USARTxEN;
+    // baudrate
+    USARTx->BRR = USART_BRR(speed);
+    // eol character: '/n'
+    USARTx->CR2 = USART_CR2_ADD_VAL('\n');
+    // enable DMA transmission
+    USARTx->CR3 = USART_CR3_DMAT | USART_CR3_DMAR;
+    // set up DMA channels
+    // Tx channel: mem++, mem->periph, 8bit, compl.&err. irq
+    DMACHTX->CCR = DMATXCCR;
+    DMACHTX->CPAR = (uint32_t) &USARTx->TDR; // peripherial address
+    // Rx channel: mem++, periph->mem, 8bit, compl.&err. irq
+    DMACHRX->CCR = DMARXCCR;
+    DMACHRX->CPAR = (uint32_t) &USARTx->RDR; // peripherial address
+    // set up DMAMUX channels
+    // enumeration of DMAMUX starts from 0 (DMA - from 1)!
+    DMAMUXRX->CCR = DMAMUXRXN;
+    DMAMUXTX->CCR = DMAMUXTXN;
+    // charmatch interrupt, enable transmitter and receiver, enable usart
+    USARTx->CR1 = USART_CR1_CMIE | USART_CR1_TE | USART_CR1_RE | USART_CR1_UE;
+    USARTx->ICR = 0xffffffff; // clear all flags
+    reinit_rx_dma();
+    NVIC_EnableIRQ(USARTIRQn);
+    NVIC_EnableIRQ(DMARXIRQ);
+    NVIC_EnableIRQ(DMATXIRQ);
+}
+
+/**
+ * @brief usart_sendbuf - send next data portion
+ * @return true if sent something
+ */
+static bool usart_sendbuf(){
+    if(!txrdy) return false;
+    int rd = RB_read(&TxRB, dmatxbuf, USARTTXDMABUFSZ);
+    if(rd < 1) return false; // nothing to write or busy
+    // set up DMA
+    DMACHTX->CCR = DMATXCCR;
+    DMACHTX->CMAR = (uint32_t) dmatxbuf;
+    DMACHTX->CNDTR = rd;
+    USARTx->ICR = USART_ICR_TCCF; // clear TC flag
+    txrdy = false;
+    // activate DMA
+    DMACHTX->CCR = DMATXCCR | DMA_CCR_EN;
+    return true;
+}
+
+int usart_send(const char *str, int len){
+    if(!str || len < 1) return 0;
+    uint32_t t = Tms;
+    int sent = 0;
+    do{
+        IWDG->KR = IWDG_REFRESH;
+        int put = RB_write(&TxRB, (uint8_t*)str, len);
+        if(put < 0) continue; // busy
+        else if(put == 0){
+            usart_sendbuf(); // no place
+            t = Tms;
+        }else{
+            len -= put;
+            sent += put;
+            str += put;
+        }
+    }while(len && (Tms - t) < USARTBLKTMOUT); // not more than `block` ms!
+    return sent;
+}
+
+int usart_sendstr(const char *str){
+    int l = strlen(str);
+    return usart_send(str, l);
+}
+
+static void addtoreadidx(int adder){
+    dma_read_idx += adder;
+    if(dma_read_idx >= USARTRXDMABUFSZ) dma_read_idx -= USARTRXDMABUFSZ;
+}
+
+// return current flags
+USART_flags_t usart_process(){
+    static uint32_t Tlast = 0;
+    USART_flags_t flags = curflags;
+    curflags.all = 0;
+    if(RB_datalento(&TxRB, '\n') > 1 || Tms - Tlast >= USARTSENDTMOUT){ // send buffer as we found '\n' or each 10ms
+        if(usart_sendbuf()) Tlast = Tms;
+    }
+    int remained = DMACHRX->CNDTR;
+    int write_idx = USARTRXDMABUFSZ - remained; // next symbol to be written
+    int available = (write_idx - dma_read_idx); // length of data available
+    if(available < 0) available += USARTRXDMABUFSZ; // write to the left of read
+    if(available == 0) return flags;
+    // add next data portion to RX ring buffer
+    if(available >= (USARTRXDMABUFSZ / 2) || gotstring){
+        // copy data in one or two chunks (wrap handling)
+        // check if we can write to RB `available` bytes
+        int rballow = RxRB.length - 1 - RB_datalen(&RxRB);
+        if(rballow < available){
+            if(available > USARTRXDMABUFSZ - 2){ // near overfull
+                flags.rxovrfl = 1;
+                reinit_rx_dma();
+                RB_clearbuf(&RxRB);
+                return flags;
+            }
+            if(rballow < 1) return flags;
+            available = rballow; // read at least as we can
+        }
+        if(dma_read_idx + available <= USARTRXDMABUFSZ){ // head before tail
+            int written = RB_write(&RxRB, &dmarxbuf[dma_read_idx], available);
+            if(written == available && dmarxbuf[dma_read_idx+available-1] == '\n') gotstring = 0;
+            if(written > 0) addtoreadidx(written);
+        }else{ // head after tail - two chunks
+            int first = USARTRXDMABUFSZ - dma_read_idx;
+            int written = RB_write(&RxRB, &dmarxbuf[dma_read_idx], first);
+            if(written != first){ // could write only part - just increase read index
+                if(written > 0) addtoreadidx(written);
+            }else{
+                dma_read_idx = 0;
+                int last = available - first;
+                written = RB_write(&RxRB, dmarxbuf, last);
+                if(written == last && dmarxbuf[last-1] == '\n') gotstring = 0;
+                if(written > 0) addtoreadidx(written);
+            }
+        }
+    }
+    return flags;
+}
+
+char *usart_getline(){
+    static char buff[MAX_INPLEN];
+    int l = RB_datalento(&RxRB, '\n');
+    if(l < 1){
+        l = RB_datalen(&RxRB); // Rx ringbuffer could be near overflow but without '\n'
+        if(l < MAX_INPLEN-1) return NULL; // allow to wait for last symbols
+    }
+    if(l > MAX_INPLEN-1){ // overflow -> read at least part of the string
+        l = MAX_INPLEN-1;
+    }
+    if(l != RB_read(&RxRB, (uint8_t*)buff, l)) return NULL;
+    buff[l] = 0; // return with '\n' at end of line (so user can detect non-finished overflowed lines)
+    return buff;
+}
+
+// interrupt by '\n'
+static void usart_isr(){
+    if(USARTx->ISR & USART_ISR_CMF){ // got '\n' @ USARTx
+        gotstring = true;
+    }
+    USARTx->ICR = 0xffffffff; // clear all flags
+}
+
+static void dmarx_isr(){
+    volatile uint32_t isr = DMAx->ISR;
+    if(isr & DMARXEF){ // error
+        reinit_rx_dma();
+        curflags.rxovrfl = 1;
+    }
+    DMAx->IFCR = DMARXEF; // clear all flags
+}
+
+static void dmatx_isr(){
+    volatile uint32_t isr = DMAx->ISR;
+    if(isr & DMATXTCF) txrdy = true;
+    if(isr & DMATXEF) curflags.txerr = 1;
+    DMAx->IFCR = DMATXTCF | DMATXEF; // clear all flags
+}

G4:G431/Servo/usart.h

@@ -0,0 +1,49 @@
+/*
+ * This file is part of the test project.
+ * Copyright 2026 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
+
+#include <stdint.h>
+
+// maximal length of input string (including '\n' and terminating zero)
+#define MAX_INPLEN      (128)
+// Rx/Tx ring buffer size
+#define USARTTXBUFSZ    (512)
+#define USARTRXBUFSZ    (512)
+// Rx/Tx DMA buffer size
+#define USARTTXDMABUFSZ (256)
+#define USARTRXDMABUFSZ (256)
+
+// blocking timeout - not more than 5ms
+#define USARTBLKTMOUT   (5)
+// send buffer each 10ms
+#define USARTSENDTMOUT  (10)
+
+typedef union{
+    struct{
+        uint8_t txerr       : 1; // transmit error
+        uint8_t rxovrfl     : 1; // receive buffer overflow
+    };
+    uint8_t all;
+} USART_flags_t;
+
+void usart_setup(uint32_t speed);
+int usart_send(const char *str, int len);
+char *usart_getline();
+int usart_sendstr(const char *str);
+USART_flags_t usart_process();

G4:G431/Servo/version.inc

@@ -0,0 +1,2 @@
+#define BUILD_NUMBER "28"
+#define BUILD_DATE "2026-07-29"

G4:G431/USB_CDC/Makefile

@@ -0,0 +1,11 @@
+BINARY      := usbcdc
+PREFIX      := /usr/bin/arm-none-eabi
+CFLAGS       = -std=c23
+# MCU code
+MCU         := G431xx
+# change this linking script depending on particular MCU model,
+LDSCRIPT    := stm32g431xb.ld
+
+include ../makefile.g4
+include ../../makefile.stm32
+

G4:G431/USB_CDC/dbg.h

@@ -0,0 +1,37 @@
+/*
+ * This file is part of the test project.
+ * Copyright 2026 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
+
+// debugging messages on config interface
+#ifdef EBUG
+#include "usart.h"
+
+#define STR_HELPER(s)   #s
+#define STR(s)          STR_HELPER(s)
+#define DBGl(str)       do{usart_sendstr(__FILE__ " (L" STR(__LINE__) "): " str); usart_send("\n", 1);}while(0)
+#define DBGs(str)       usart_sendstr(str)
+#define DBGch(ch)       usart_send(ch, 1)
+#define DBGn()          usart_send("\n", 1)
+#else
+#define DBGl(str)
+#define DBGs(str)
+#define DBGch(ch)
+#define DBGn()
+#define DBGpri()
+#endif

G4:G431/USB_CDC/hardware.c

@@ -0,0 +1,43 @@
+/*
+ * This file is part of the usart project.
+ * Copyright 2026 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 <stm32g4.h>
+
+#include "hardware.h"
+
+volatile uint32_t Tms = 0;
+
+/* Called when systick fires */
+void sys_tick_handler(){
+    ++Tms;
+}
+
+void gpio_setup(){
+    RCC->AHB2ENR = RCC_AHB2ENR_GPIOAEN | RCC_AHB2ENR_GPIOCEN; // enable PC & PA (USART1)
+    __DSB(); // Data Synchronization Barrier - wait until data will be really written to AHB2ENR
+    // set PC6 as push-pull output, PC13 is pulldown input, other as default (AIN)
+    GPIOC->MODER = (0xffffffff & ~(GPIO_MODER_MODE6 | GPIO_MODER_MODE13)) | MODER_O(6) | MODER_I(13);
+    GPIOC->PUPDR = PUPD_PD(13); // pulldown
+    GPIOC->OTYPER = OTYPER_PP(6); // push-pull (default)
+    // PA9 (Tx) and PA10 (Rx) (don't forget about SWDIO)
+    GPIOA->MODER = (0xabffffff & ~(GPIO_MODER_MODE9 | GPIO_MODER_MODE10)) | MODER_AF(9) | MODER_AF(10);
+    GPIOA->AFR[1] = AFRf(7, 9) | AFRf(7, 10); // SWDIO is 0 by default; USART1 is AF7
+    // count milliseconds
+    SysTick_Config(SysFreq / 1000); // arg should be < 0xffffff
+}
+

G4:G431/USB_CDC/hardware.h

@@ -0,0 +1,35 @@
+/*
+ * This file is part of the usart project.
+ * Copyright 2026 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
+
+// KEY (intpullup->0) - PC13
+// LED - PC6
+#define KEY_PORT    GPIOC
+#define KEY_PIN     (1<<13)
+#define LED_PORT    GPIOC
+#define LED_PIN     (1<<6)
+#define KEY_PRESSED() (pin_read(KEY_PORT, KEY_PIN) == 1)
+#define LED_ON()    do{pin_set(LED_PORT, LED_PIN);}while(0)
+#define LED_OFF()   do{pin_clear(LED_PORT, LED_PIN);}while(0)
+#define LED_TOGG()  do{pin_toggle(LED_PORT, LED_PIN);}while(0)
+
+
+extern volatile uint32_t Tms;
+
+void gpio_setup();

G4:G431/USB_CDC/main.c

@@ -0,0 +1,83 @@
+/*
+ * This file is part of the blink project.
+ * Copyright 2023 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 <stm32g4.h>
+#include <string.h>
+
+#include "hardware.h"
+#include "usart.h"
+#include "usb_dev.h"
+
+// 40ms for debouncing
+#define TDEBOUNCE   (40)
+// USB input buffer
+#define INBUFSZ     (256)
+
+int main(void){
+    char inbuff[INBUFSZ];
+    const char *spressed = "Key pressed\n", *sreleased = "Key released\n";
+    StartHSE();
+    gpio_setup();
+    usart_setup(115200);
+    USB_setup();
+    uint8_t pressed = 0;
+    uint32_t Tblink = 0, Tkey = 0; // blink and key pressed time
+    while(1){
+        USART_flags_t f = usart_process();
+        if(f.rxovrfl) usart_sendstr("Rx buffer overflow!\n");
+        if(f.txerr) usart_sendstr("Tx error!\n");
+        char *str = usart_getline();
+        if(str){
+            usart_sendstr("Received:\n");
+            usart_sendstr(str);
+            int l = strlen(str);
+            if(str[l-1] != '\n'){
+                usart_sendstr("\n(only part of line)\n");
+            }
+        }
+        if(Tms - Tblink > 499){
+            LED_TOGG();
+            Tblink = Tms;
+        }
+        if(KEY_PRESSED()){
+            if(!pressed){ // new event
+                pressed = 1;
+                usart_sendstr(spressed);
+                USB_putbyte('1'); USB_putbyte('1'); newline();
+                USB_sendstr(spressed);
+            }
+            Tkey = Tms;
+        }else{ // key released
+            if(pressed && (Tms - Tkey) > TDEBOUNCE){ // wait for debounce
+                pressed = 0;
+                usart_sendstr(sreleased);
+                USB_putbyte('0'); USB_putbyte('0'); newline();
+                USB_sendstr(sreleased);
+            }
+        }
+        int l = USB_receivestr(inbuff, INBUFSZ);
+        if(l < 0) usart_sendstr("ERROR: USB buffer overflow or string was too long\n");
+        else if(l){
+            usart_sendstr("USB:\n");
+            usart_sendstr(inbuff);
+            usart_send("\n", 1);
+            USB_sendstr(inbuff);
+            newline();
+        }
+    }
+}

G4:G431/USB_CDC/openocd.cfg

@@ -0,0 +1,4 @@
+set FLASH_SIZE 0x20000
+
+source [find interface/stlink-v2-1.cfg]
+source [find target/stm32g4x.cfg]

G4:G431/USB_CDC/ringbuffer.c

@@ -0,0 +1,203 @@
+/*
+ * Copyright 2023 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 <string.h>
+#include <stm32g4.h>
+#include "ringbuffer.h"
+
+#define CHK(b)  do{if(!b) return -1;}while(0)
+
+static int datalen(ringbuffer *b){
+    if(b->tail >= b->head) return (b->tail - b->head);
+    else return (b->length - b->head + b->tail);
+}
+
+// stored data length
+int RB_datalen(ringbuffer *b){
+    CHK(b);
+    if(0 == datalen(b)) return 0; // don't block for empty RO operations
+    if(b->busy) return -1;
+    b->busy = 1;
+    int l = datalen(b);
+    b->busy = 0;
+    return l;
+}
+
+static int hasbyte(ringbuffer *b, uint8_t byte){
+    if(b->head == b->tail) return -1; // no data in buffer
+    int startidx = b->head;
+    if(b->head > b->tail){ //
+        for(int found = b->head; found < b->length; ++found)
+            if(b->data[found] == byte) return found;
+        startidx = 0;
+    }
+    for(int found = startidx; found < b->tail; ++found)
+        if(b->data[found] == byte) return found;
+    return -1;
+}
+
+/**
+ * @brief RB_hasbyte - check if buffer has given byte stored
+ * @param b - buffer
+ * @param byte - byte to find
+ * @return index if found, -1 if none or busy
+ */
+int RB_hasbyte(ringbuffer *b, uint8_t byte){
+    CHK(b);
+    if(b->busy) return -1;
+    b->busy = 1;
+    int ret = hasbyte(b, byte);
+    b->busy = 0;
+    return ret;
+}
+
+// increment head or tail
+TRUE_INLINE void incr(ringbuffer *b, volatile int *what, int n){
+    *what += n;
+    if(*what >= b->length) *what -= b->length;
+}
+
+static int read(ringbuffer *b, uint8_t *s, int len){
+    int l = datalen(b);
+    if(!l) return 0;
+    if(l > len) l = len;
+    int _1st = b->length - b->head;
+    if(_1st > l) _1st = l;
+    if(_1st > len) _1st = len;
+    memcpy(s, b->data + b->head, _1st);
+    if(_1st < len && l > _1st){
+        memcpy(s+_1st, b->data, l - _1st);
+        incr(b, &b->head, l);
+        return l;
+    }
+    incr(b, &b->head, _1st);
+    return _1st;
+}
+
+/**
+ * @brief RB_read - read data from ringbuffer
+ * @param b - buffer
+ * @param s - array to write data
+ * @param len - max len of `s`
+ * @return bytes read or -1 if busy
+ */
+int RB_read(ringbuffer *b, uint8_t *s, int len){
+    CHK(b);
+    if(!s || len < 1) return -1;
+    if(0 == datalen(b)) return 0;
+    if(b->busy) return -1;
+    b->busy = 1;
+    int r = read(b, s, len);
+    b->busy = 0;
+    return r;
+}
+
+// length of data from current position to `byte` (including byte)
+static int lento(ringbuffer *b, uint8_t byte){
+    int idx = hasbyte(b, byte);
+    if(idx < 0) return 0;
+    int partlen = idx + 1 - b->head;
+    // now calculate length of new data portion
+    if(idx < b->head) partlen += b->length;
+    return partlen;
+}
+
+static int readto(ringbuffer *b, uint8_t byte, uint8_t *s, int len){
+    int partlen = lento(b, byte);
+    if(!partlen) return 0;
+    if(partlen > len) return -1;
+    return read(b, s, partlen);
+}
+
+/**
+ * @brief RB_readto fill array `s` with data until byte `byte` (with it)
+ * @param b - ringbuffer
+ * @param byte - check byte
+ * @param s - buffer to write data or NULL to clear data
+ * @param len - length of `s` or 0 to clear data
+ * @return amount of bytes written (negative, if len<data in buffer or buffer is busy)
+ */
+int RB_readto(ringbuffer *b, uint8_t byte, uint8_t *s, int len){
+    CHK(b);
+    if(!s || len < 1) return -1;
+    if(0 == datalen(b)) return 0;
+    if(b->busy) return -1;
+    b->busy = 1;
+    int n = 0;
+    if(s && len > 0){
+        n = readto(b, byte, s, len);
+    }else{
+        incr(b, &b->head, lento(b, byte)); // just throw data out
+    }
+    b->busy = 0;
+    return n;
+}
+
+int RB_datalento(ringbuffer *b, uint8_t byte){
+    CHK(b);
+    if(0 == datalen(b)) return 0;
+    if(b->busy) return -1;
+    b->busy = 1;
+    int n = lento(b, byte);
+    b->busy = 0;
+    return n;
+}
+
+// if l < rest of buffer, truncate and return actually written bytes
+static int write(ringbuffer *b, const uint8_t *str, int l){
+    int r = b->length - 1 - datalen(b); // rest length
+    if(r < 1) return 0;
+    if(l > r) l = r;
+    int _1st = b->length - b->tail;
+    if(_1st > l) _1st = l;
+    memcpy(b->data + b->tail, str, _1st);
+    if(_1st < l){ // add another piece from start
+        memcpy(b->data, str+_1st, l-_1st);
+    }
+    incr(b, &b->tail, l);
+    return l;
+}
+
+/**
+ * @brief RB_write - write some data to ringbuffer
+ * @param b - buffer
+ * @param str - data
+ * @param l - length
+ * @return amount of bytes written or -1 if busy
+ */
+int RB_write(ringbuffer *b, const uint8_t *str, int l){
+    CHK(b);
+    if(!str || l < 1) return -1;
+    if(b->length - datalen(b) < 2) return 0;
+    if(b->busy) return -1;
+    b->busy = 1;
+    int w = write(b, str, l);
+    b->busy = 0;
+    return w;
+}
+
+// just delete all information in buffer `b`
+int RB_clearbuf(ringbuffer *b){
+    CHK(b);
+    if(b->busy) return -1;
+    b->busy = 1;
+    b->head = 0;
+    b->tail = 0;
+    memset(b->data, 0, b->length);
+    b->busy = 0;
+    return 1;
+}

G4:G431/USB_CDC/ringbuffer.h

@@ -0,0 +1,36 @@
+/*
+ * Copyright 2023 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
+
+#include <stdint.h>
+
+typedef struct{
+    uint8_t *data;      // data buffer
+    const int length;   // its length
+    volatile int head;  // head index
+    volatile int tail;  // tail index
+    volatile uint8_t busy; // == TRUE if buffer is busy now
+} ringbuffer;
+
+int RB_read(ringbuffer *b, uint8_t *s, int len);
+int RB_readto(ringbuffer *b, uint8_t byte, uint8_t *s, int len);
+int RB_hasbyte(ringbuffer *b, uint8_t byte);
+int RB_write(ringbuffer *b, const uint8_t *str, int l);
+int RB_datalen(ringbuffer *b);
+int RB_datalento(ringbuffer *b, uint8_t byte);
+int RB_clearbuf(ringbuffer *b);

G4:G431/USB_CDC/usart.c

@@ -0,0 +1,257 @@
+/*
+ * This file is part of the test project.
+ * Copyright 2026 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 <stm32g4.h>
+#include <string.h>
+
+#include "hardware.h" // Tms
+#include "ringbuffer.h"
+#include "usart.h"
+
+// USART for text-based protocol, each data portion ends with '\n'
+// RX works over circular DMA
+
+// USART-depending part ------->
+// USART1 @ PA9 (Tx) - MUX25 - and PA10 (Rx) - MUX24
+// select USART and its DMA channels
+#define USARTx      USART1
+#define USARTxAPB   APB2ENR
+#define USARTxEN    RCC_APB2ENR_USART1EN
+#define USART_APBEN RCC_APB2
+// DMAMUX channels: 24 - USART1Rx, 25 - USART1Tx
+#define DMAMUXRXN   (24)
+#define DMAMUXTXN   (25)
+// DMA channels: 1 (0 in MUX) - Rx, 2 (1 in MUX) - Tx; TC and error flags
+// use DMA ch2/3 because they both have single IRQ
+#define DMAx        DMA1
+#define DMAxEN      (RCC_AHB1ENR_DMA1EN | RCC_AHB1ENR_DMAMUX1EN)
+#define DMACHRX     DMA1_Channel1
+#define DMARXTCF    DMA_ISR_TCIF1
+#define DMARXEF     DMA_ISR_TEIF1
+#define DMACHTX     DMA1_Channel2
+#define DMATXTCF    DMA_ISR_TCIF2
+#define DMATXEF     DMA_ISR_TEIF2
+#define DMAMUXRX    DMAMUX1_Channel0
+#define DMAMUXTX    DMAMUX1_Channel1
+#define USARTIRQn   USART1_IRQn
+#define DMARXIRQ    DMA1_Channel1_IRQn
+#define DMATXIRQ    DMA1_Channel2_IRQn
+
+// interrupt aliases
+static void usart_isr();
+static void dmatx_isr();
+static void dmarx_isr();
+void usart1_isr() __attribute__ ((alias ("usart_isr")));
+void dma1_channel1_isr() __attribute__ ((alias ("dmarx_isr")));
+void dma1_channel2_isr() __attribute__ ((alias ("dmatx_isr")));
+// <-------- USART-depending part
+
+// RX/TX DMA->CCR without EN flag
+#define DMARXCCR    (DMA_CCR_MINC | DMA_CCR_CIRC | DMA_CCR_TEIE)
+#define DMATXCCR    (DMA_CCR_MINC | DMA_CCR_DIR | DMA_CCR_TCIE | DMA_CCR_TEIE)
+
+static volatile uint8_t gotstring = 1; // got '\n' in input stream -> force data reading to inbuf
+static volatile uint8_t txrdy = 1; // Tx DMA not busy
+static volatile USART_flags_t curflags; // current flags (cleared in `usart_process`)
+// rx/tx DMA buffers
+static uint8_t dmarxbuf[USARTRXDMABUFSZ];
+static uint8_t dmatxbuf[USARTTXDMABUFSZ];
+// index of last DMA read position
+static volatile uint32_t dma_read_idx = 0;
+// for ringbuffer
+static uint8_t rbrxbuf[USARTRXBUFSZ], rbtxbuf[USARTTXBUFSZ];
+static ringbuffer TxRB = {.data = rbtxbuf, .length = USARTTXBUFSZ};
+static ringbuffer RxRB = {.data = rbrxbuf, .length = USARTRXBUFSZ};
+
+#define USART_BRR(speed)    ((SysFreq + (speed)/2) / (speed))
+
+static void reinit_rx_dma(){
+    dma_read_idx = 0;
+    RB_clearbuf(&RxRB);
+    DMACHRX->CCR = DMARXCCR; // stop to reload
+    DMACHRX->CNDTR = USARTRXDMABUFSZ;
+    DMACHRX->CMAR = (uint32_t) dmarxbuf;
+    DMACHRX->CCR = DMARXCCR | DMA_CCR_EN;
+}
+
+void usart_setup(uint32_t speed){
+    RCC->AHB1ENR |= DMAxEN; // enable DMA
+    // enable USART clocking
+    RCC->USARTxAPB |= USARTxEN;
+    // baudrate
+    USARTx->BRR = USART_BRR(speed);
+    // eol character: '/n'
+    USARTx->CR2 = USART_CR2_ADD_VAL('\n');
+    // enable DMA transmission
+    USARTx->CR3 = USART_CR3_DMAT | USART_CR3_DMAR;
+    // set up DMA channels
+    // Tx channel: mem++, mem->periph, 8bit, compl.&err. irq
+    DMACHTX->CCR = DMATXCCR;
+    DMACHTX->CPAR = (uint32_t) &USARTx->TDR; // peripherial address
+    // Rx channel: mem++, periph->mem, 8bit, compl.&err. irq
+    DMACHRX->CCR = DMARXCCR;
+    DMACHRX->CPAR = (uint32_t) &USARTx->RDR; // peripherial address
+    // set up DMAMUX channels
+    // enumeration of DMAMUX starts from 0 (DMA - from 1)!
+    DMAMUXRX->CCR = DMAMUXRXN;
+    DMAMUXTX->CCR = DMAMUXTXN;
+    // charmatch interrupt, enable transmitter and receiver, enable usart
+    USARTx->CR1 = USART_CR1_CMIE | USART_CR1_TE | USART_CR1_RE | USART_CR1_UE;
+    USARTx->ICR = 0xffffffff; // clear all flags
+    reinit_rx_dma();
+    NVIC_EnableIRQ(USARTIRQn);
+    NVIC_EnableIRQ(DMARXIRQ);
+    NVIC_EnableIRQ(DMATXIRQ);
+}
+
+/**
+ * @brief usart_sendbuf - send next data portion
+ * @return true if sent something
+ */
+static uint8_t usart_sendbuf(){
+    if(!txrdy) return 0;
+    int rd = RB_read(&TxRB, dmatxbuf, USARTTXDMABUFSZ);
+    if(rd < 1) return 0; // nothing to write or busy
+    // set up DMA
+    DMACHTX->CCR = DMATXCCR;
+    DMACHTX->CMAR = (uint32_t) dmatxbuf;
+    DMACHTX->CNDTR = rd;
+    USARTx->ICR = USART_ICR_TCCF; // clear TC flag
+    txrdy = 0;
+    // activate DMA
+    DMACHTX->CCR = DMATXCCR | DMA_CCR_EN;
+    return 1;
+}
+
+int usart_send(const char *str, int len){
+    if(!str || len < 1) return 0;
+    uint32_t t = Tms;
+    int sent = 0;
+    do{
+        IWDG->KR = IWDG_REFRESH;
+        int put = RB_write(&TxRB, (uint8_t*)str, len);
+        if(put < 0) continue; // busy
+        else if(put == 0){
+            usart_sendbuf(); // no place
+            t = Tms;
+        }else{
+            len -= put;
+            sent += put;
+            str += put;
+        }
+    }while(len && (Tms - t) < USARTBLKTMOUT); // not more than `block` ms!
+    return sent;
+}
+
+int usart_sendstr(const char *str){
+    int l = strlen(str);
+    return usart_send(str, l);
+}
+
+static void addtoreadidx(int adder){
+    dma_read_idx += adder;
+    if(dma_read_idx >= USARTRXDMABUFSZ) dma_read_idx -= USARTRXDMABUFSZ;
+}
+
+// return current flags
+USART_flags_t usart_process(){
+    static uint32_t Tlast = 0;
+    USART_flags_t flags = curflags;
+    curflags.all = 0;
+    if(RB_datalento(&TxRB, '\n') > 1 || Tms - Tlast >= USARTSENDTMOUT){ // send buffer as we found '\n' or each 10ms
+        if(usart_sendbuf()) Tlast = Tms;
+    }
+    int remained = DMACHRX->CNDTR;
+    int write_idx = USARTRXDMABUFSZ - remained; // next symbol to be written
+    int available = (write_idx - dma_read_idx); // length of data available
+    if(available < 0) available += USARTRXDMABUFSZ; // write to the left of read
+    if(available == 0) return flags;
+    // add next data portion to RX ring buffer
+    if(available >= (USARTRXDMABUFSZ / 2) || gotstring){
+        // copy data in one or two chunks (wrap handling)
+        // check if we can write to RB `available` bytes
+        int rballow = RxRB.length - 1 - RB_datalen(&RxRB);
+        if(rballow < available){
+            if(available > USARTRXDMABUFSZ - 2){ // near overfull
+                flags.rxovrfl = 1;
+                reinit_rx_dma();
+                RB_clearbuf(&RxRB);
+                return flags;
+            }
+            if(rballow < 1) return flags;
+            available = rballow; // read at least as we can
+        }
+        if(dma_read_idx + available <= USARTRXDMABUFSZ){ // head before tail
+            int written = RB_write(&RxRB, &dmarxbuf[dma_read_idx], available);
+            if(written == available && dmarxbuf[dma_read_idx+available-1] == '\n') gotstring = 0;
+            if(written > 0) addtoreadidx(written);
+        }else{ // head after tail - two chunks
+            int first = USARTRXDMABUFSZ - dma_read_idx;
+            int written = RB_write(&RxRB, &dmarxbuf[dma_read_idx], first);
+            if(written != first){ // could write only part - just increase read index
+                if(written > 0) addtoreadidx(written);
+            }else{
+                dma_read_idx = 0;
+                int last = available - first;
+                written = RB_write(&RxRB, dmarxbuf, last);
+                if(written == last && dmarxbuf[last-1] == '\n') gotstring = 0;
+                if(written > 0) addtoreadidx(written);
+            }
+        }
+    }
+    return flags;
+}
+
+char *usart_getline(){
+    static char buff[MAX_INPLEN];
+    int l = RB_datalento(&RxRB, '\n');
+    if(l < 1){
+        l = RB_datalen(&RxRB); // Rx ringbuffer could be near overflow but without '\n'
+        if(l < MAX_INPLEN-1) return NULL; // allow to wait for last symbols
+    }
+    if(l > MAX_INPLEN-1){ // overflow -> read at least part of the string
+        l = MAX_INPLEN-1;
+    }
+    if(l != RB_read(&RxRB, (uint8_t*)buff, l)) return NULL;
+    buff[l] = 0; // return with '\n' at end of line (so user can detect non-finished overflowed lines)
+    return buff;
+}
+
+// interrupt by '\n'
+static void usart_isr(){
+    if(USARTx->ISR & USART_ISR_CMF){ // got '\n' @ USARTx
+        gotstring = 1;
+    }
+    USARTx->ICR = 0xffffffff; // clear all flags
+}
+
+static void dmarx_isr(){
+    volatile uint32_t isr = DMAx->ISR;
+    if(isr & DMARXEF){ // error
+        reinit_rx_dma();
+        curflags.rxovrfl = 1;
+    }
+    DMAx->IFCR = DMARXEF; // clear all flags
+}
+
+static void dmatx_isr(){
+    volatile uint32_t isr = DMAx->ISR;
+    if(isr & DMATXTCF) txrdy = 1;
+    if(isr & DMATXEF) curflags.txerr = 1;
+    DMAx->IFCR = DMATXTCF | DMATXEF; // clear all flags
+}

G4:G431/USB_CDC/usart.h

@@ -0,0 +1,49 @@
+/*
+ * This file is part of the test project.
+ * Copyright 2026 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
+
+#include <stdint.h>
+
+// maximal length of input string (including '\n' and terminating zero)
+#define MAX_INPLEN      (128)
+// Rx/Tx ring buffer size
+#define USARTTXBUFSZ    (512)
+#define USARTRXBUFSZ    (512)
+// Rx/Tx DMA buffer size
+#define USARTTXDMABUFSZ (256)
+#define USARTRXDMABUFSZ (256)
+
+// blocking timeout - not more than 5ms
+#define USARTBLKTMOUT   (5)
+// send buffer each 10ms
+#define USARTSENDTMOUT  (10)
+
+typedef union{
+    struct{
+        uint8_t txerr       : 1; // transmit error
+        uint8_t rxovrfl     : 1; // receive buffer overflow
+    };
+    uint8_t all;
+} USART_flags_t;
+
+void usart_setup(uint32_t speed);
+int usart_send(const char *str, int len);
+char *usart_getline();
+int usart_sendstr(const char *str);
+USART_flags_t usart_process();

G4:G431/USB_CDC/usb.cflags

@@ -0,0 +1 @@
+-std=c23

G4:G431/USB_CDC/usb.config

@@ -0,0 +1,3 @@
+#define EBUG
+#define STM32G4
+#define STM32G431xx

G4:G431/USB_CDC/usb.creator

@@ -0,0 +1 @@
+[General]

G4:G431/USB_CDC/usb.cxxflags

@@ -0,0 +1 @@
+-std=c++23

G4:G431/USB_CDC/usb.files

@@ -0,0 +1,14 @@
+dbg.h
+hardware.c
+hardware.h
+main.c
+ringbuffer.c
+ringbuffer.h
+usart.c
+usart.h
+usb_descr.c
+usb_descr.h
+usb_dev.c
+usb_dev.h
+usb_lib.c
+usb_lib.h

G4:G431/USB_CDC/usb.includes

@@ -0,0 +1,4 @@
+.
+../inc
+../inc/Fx
+../inc/cm

G4:G431/USB_CDC/usb_descr.c

@@ -0,0 +1,210 @@
+/*
+ * Copyright 2024 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 "usb_descr.h"
+
+// low/high for uint16_t
+#define L16(x)              (x & 0xff)
+#define H16(x)              (x >> 8)
+
+static const uint8_t USB_DeviceDescriptor[] = {
+    USB_DT_DEVICE_SIZE, // bLength
+    USB_DT_DEVICE, // bDescriptorType
+    L16(bcdUSB), // bcdUSB_L
+    H16(bcdUSB), // bcdUSB_H
+    USB_CLASS_MISC, // bDeviceClass
+    bDeviceSubClass, // bDeviceSubClass
+    bDeviceProtocol, // bDeviceProtocol
+    USB_EP0BUFSZ, // bMaxPacketSize
+    L16(idVendor), // idVendor_L
+    H16(idVendor), // idVendor_H
+    L16(idProduct), // idProduct_L
+    H16(idProduct), // idProduct_H
+    L16(bcdDevice_Ver), // bcdDevice_Ver_L
+    H16(bcdDevice_Ver), // bcdDevice_Ver_H
+    iMANUFACTURER_DESCR, // iManufacturer - indexes of string descriptors in array
+    iPRODUCT_DESCR, // iProduct
+    iSERIAL_DESCR, // iSerial
+    bNumConfigurations // bNumConfigurations
+};
+
+static const uint8_t USB_DeviceQualifierDescriptor[] = {
+    USB_DT_QUALIFIER_SIZE, //bLength
+    USB_DT_QUALIFIER, // bDescriptorType
+    L16(bcdUSB), // bcdUSB_L
+    H16(bcdUSB), // bcdUSB_H
+    USB_CLASS_PER_INTERFACE, // bDeviceClass
+    bDeviceSubClass, // bDeviceSubClass
+    bDeviceProtocol, // bDeviceProtocol
+    USB_EP0BUFSZ, // bMaxPacketSize0
+    bNumConfigurations, // bNumConfigurations
+    0 // Reserved
+};
+
+#define wTotalLength  (USB_DT_CONFIG_SIZE + (bNumInterfaces * USB_DT_INTERFACE_SIZE) + (bTotNumEndpoints * USB_DT_ENDPOINT_SIZE) + (bNumCsInterfaces * USB_DT_CS_INTERFACE_SIZE) - 1)
+
+static const uint8_t USB_ConfigDescriptor[] = {
+    // Configuration Descriptor
+    USB_DT_CONFIG_SIZE, // bLength: Configuration Descriptor size
+    USB_DT_CONFIG, // bDescriptorType: Configuration
+    L16(wTotalLength),   // wTotalLength.L :no of returned bytes
+    H16(wTotalLength), // wTotalLength.H
+    bNumInterfaces, // bNumInterfaces
+    1, // bConfigurationValue: Current configuration value
+    0, // iConfiguration: Index of string descriptor describing the configuration or 0
+    BusPowered, // bmAttributes - Bus powered
+    50, // MaxPower in 2mA units
+    //---------------------------------------------------------------------------
+    // Virtual command Interface Descriptor
+    USB_DT_INTERFACE_SIZE, // bLength: Interface Descriptor size
+    USB_DT_INTERFACE, // bDescriptorType: Interface
+    0, // bInterfaceNumber: Number of Interface
+    0, // bAlternateSetting: Alternate setting
+    1, // bNumEndpoints: one for this
+    USB_CLASS_COMM, // bInterfaceClass
+    2, // bInterfaceSubClass: ACM
+    1, // bInterfaceProtocol: Common AT commands
+    iINTERFACE_DESCR1, // iInterface
+    // ---- CS Interfaces
+    USB_DT_CS_INTERFACE_SIZE, // bLength
+    USB_DT_CS_INTERFACE, // bDescriptorType: CS_INTERFACE
+    0, // bDescriptorSubtype: Header Func Desc
+    0x10, // bcdCDC: spec release number
+    1, // bDataInterface
+    USB_DT_CS_INTERFACE_SIZE, // bLength
+    USB_DT_CS_INTERFACE, // bDescriptorType: CS_INTERFACE
+    1, // bDescriptorSubtype: Call Management Func Desc
+    0, // bmCapabilities: D0+D1
+    1, // bDataInterface
+    USB_DT_CS_INTERFACE_SIZE-1, // bLength
+    USB_DT_CS_INTERFACE, // bDescriptorType: CS_INTERFACE
+    2, // bDescriptorSubtype: Abstract Control Management desc
+    2, // bmCapabilities
+    USB_DT_CS_INTERFACE_SIZE, // bLength
+    USB_DT_CS_INTERFACE, // bDescriptorType: CS_INTERFACE
+    6, // bDescriptorSubtype: Union func desc
+    0, // bMasterInterface: Communication class interface
+    1, // bSlaveInterface0: Data Class Interface
+    // Virtual endpoint 1 Descriptor
+    USB_DT_ENDPOINT_SIZE, // bLength: Endpoint Descriptor size
+    USB_DT_ENDPOINT, // bDescriptorType: Endpoint
+    0x8A, // bEndpointAddress IN10
+    USB_BM_ATTR_INTERRUPT, // bmAttributes: Interrupt
+    L16(USB_EP1BUFSZ), // wMaxPacketSize LO
+    H16(USB_EP1BUFSZ), // wMaxPacketSize HI
+    0x10, // bInterval: 16ms
+    //---------------------------------------------------------------------------
+    // Data interface
+    USB_DT_INTERFACE_SIZE, // bLength: Interface Descriptor size
+    USB_DT_INTERFACE, // bDescriptorType: Interface
+    1, // bInterfaceNumber: Number of Interface
+    0, // bAlternateSetting: Alternate setting
+    2, // bNumEndpoints: in and out
+    USB_CLASS_DATA, // bInterfaceClass
+    2, // bInterfaceSubClass: ACM
+    0, // bInterfaceProtocol
+    0, // iInterface
+    //Endpoint IN1 Descriptor
+    USB_DT_ENDPOINT_SIZE, // bLength: Endpoint Descriptor size
+    USB_DT_ENDPOINT, // bDescriptorType: Endpoint
+    0x81, // bEndpointAddress: IN1
+    USB_BM_ATTR_BULK, // bmAttributes: Bulk
+    L16(USB_TXBUFSZ), // wMaxPacketSize LO
+    H16(USB_TXBUFSZ), // wMaxPacketSize HI
+    0, // bInterval: ignore for Bulk transfer
+    // Endpoint OUT1 Descriptor
+    USB_DT_ENDPOINT_SIZE, // bLength: Endpoint Descriptor size
+    USB_DT_ENDPOINT, // bDescriptorType: Endpoint
+    0x01, // bEndpointAddress: OUT1
+    USB_BM_ATTR_BULK, // bmAttributes: Bulk
+    L16(USB_RXBUFSZ), // wMaxPacketSize LO
+    H16(USB_RXBUFSZ), // wMaxPacketSize HI
+    0, // bInterval: ignore for Bulk transfer
+
+};
+
+//const uint8_t HID_ReportDescriptor[];
+
+_USB_LANG_ID_(LD, LANG_US);
+_USB_STRING_(SD, u"0.0.2");
+_USB_STRING_(MD, u"eddy@sao.ru");
+_USB_STRING_(PD, u"USB-CDC");
+_USB_STRING_(ID, u"usbcdc");
+
+static const void* const StringDescriptor[iDESCR_AMOUNT] = {
+    [iLANGUAGE_DESCR] = &LD,
+    [iMANUFACTURER_DESCR] = &MD,
+    [iPRODUCT_DESCR] = &PD,
+    [iSERIAL_DESCR] = &SD,
+    [iINTERFACE_DESCR1] = &ID
+};
+
+static void wr0(const uint8_t *buf, uint16_t size, uint16_t askedsize){
+    if(askedsize < size) size = askedsize; // shortened request
+    if(size < USB_EP0BUFSZ){
+        EP_WriteIRQ(0, buf, size);
+        return;
+    }
+    while(size){
+        uint16_t l = size;
+        if(l > USB_EP0BUFSZ) l = USB_EP0BUFSZ;
+        EP_WriteIRQ(0, buf, l);
+        buf += l;
+        size -= l;
+        uint8_t needzlp = (l == USB_EP0BUFSZ) ? 1 : 0;
+        if(size || needzlp){ // send last data buffer
+            uint16_t epstatus = KEEP_DTOG(USB->EPnR[0]);
+            // keep DTOGs, clear CTR_RX,TX, set TX VALID, leave stat_Rx
+            USB->EPnR[0] = (epstatus & ~(USB_EPnR_CTR_RX|USB_EPnR_CTR_TX|USB_EPnR_STAT_RX))
+                           ^ USB_EPnR_STAT_TX;
+            uint32_t ctr = 1000000;
+            while(--ctr && (USB->ISTR & USB_ISTR_CTR) == 0){IWDG->KR = IWDG_REFRESH;};
+            if((USB->ISTR & USB_ISTR_CTR) == 0){
+                return;
+            }
+            if(needzlp) EP_WriteIRQ(0, NULL, 0);
+        }
+    }
+}
+
+void get_descriptor(config_pack_t *pack){
+    uint8_t descrtype = pack->wValue >> 8,
+        descridx = pack->wValue & 0xff;
+    switch(descrtype){
+        case DEVICE_DESCRIPTOR:
+            wr0(USB_DeviceDescriptor, sizeof(USB_DeviceDescriptor), pack->wLength);
+            break;
+        case CONFIGURATION_DESCRIPTOR:
+            wr0(USB_ConfigDescriptor, sizeof(USB_ConfigDescriptor), pack->wLength);
+            break;
+        case STRING_DESCRIPTOR:
+            if(descridx < iDESCR_AMOUNT){
+                wr0((const uint8_t *)StringDescriptor[descridx], *((uint8_t*)StringDescriptor[descridx]), pack->wLength);
+            }else{
+                EP_WriteIRQ(0, NULL, 0);
+            }
+            break;
+        case DEVICE_QUALIFIER_DESCRIPTOR:
+            wr0(USB_DeviceQualifierDescriptor, sizeof(USB_DeviceQualifierDescriptor), pack->wLength);
+            break;
+       /* case HID_REPORT_DESCRIPTOR:
+            wr0(HID_ReportDescriptor, sizeof(HID_ReportDescriptor), pack->wLength);
+            break;*/
+        default:
+            break;
+    }
+}

G4:G431/USB_CDC/usb_descr.h

@@ -0,0 +1,64 @@
+/*
+ * Copyright 2024 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
+
+#include <stdint.h>
+
+#include "usb_lib.h"
+
+// definition of parts common for USB_DeviceDescriptor & USB_DeviceQualifierDescriptor
+// bcdUSB: 1.10
+#define bcdUSB              0x0110
+// Class - Misc (EF), subclass - common (2), protocol - interface association descr (1)
+#define bDeviceSubClass     0x02
+#define bDeviceProtocol     0x01
+#define idVendor            0x0483
+#define idProduct           0x5740
+#define bcdDevice_Ver       0x0200
+#define bNumConfigurations  1
+
+// amount of interfaces and endpoints (except 0) used
+#define bNumInterfaces      2
+#define bTotNumEndpoints    3
+#define bNumCsInterfaces    4
+
+// powered
+#define BusPowered          (1<<7)
+#define SelfPowered         (1<<6)
+#define RemoteWakeup        (1<<5)
+
+// buffer sizes
+// Rx buffer should be not more than 64 and multiple of 2 (or 4 for STM32G0), or multiple of 32
+// Tx buffer should be multiple of 2 (or 4 for STM32G0)
+// for USB FS EP0 buffers are from 8 to 64 bytes long
+#define USB_EP0BUFSZ    64
+#define USB_EP1BUFSZ    10
+// Rx/Tx EPs (not more than 64 bytes for CDC)
+#define USB_RXBUFSZ     64
+#define USB_TXBUFSZ     64
+
+// string descriptors
+enum{
+    iLANGUAGE_DESCR,
+    iMANUFACTURER_DESCR,
+    iPRODUCT_DESCR,
+    iSERIAL_DESCR,
+    iINTERFACE_DESCR1,
+    iDESCR_AMOUNT
+};
+
+void get_descriptor(config_pack_t *pack);

G4:G431/USB_CDC/usb_dev.c

@@ -0,0 +1,256 @@
+/*
+ * Copyright 2024 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 <string.h>
+
+#include "ringbuffer.h"
+#include "usb_descr.h"
+#include "usb_dev.h"
+
+//#pragma GCC optimize ("O1")
+
+// Class-Specific Control Requests
+#define SEND_ENCAPSULATED_COMMAND       0x00    // unused
+#define GET_ENCAPSULATED_RESPONSE       0x01    // unused
+#define SET_COMM_FEATURE                0x02    // unused
+#define GET_COMM_FEATURE                0x03    // unused
+#define CLEAR_COMM_FEATURE              0x04    // unused
+#define SET_LINE_CODING                 0x20
+#define GET_LINE_CODING                 0x21
+#define SET_CONTROL_LINE_STATE          0x22
+#define SEND_BREAK                      0x23
+
+// control line states
+#define CONTROL_DTR                     0x01
+#define CONTROL_RTS                     0x02
+
+// inbuf overflow when receiving
+static volatile uint8_t bufovrfl = 0;
+
+// receive buffer: hold data until chkin() call
+static uint8_t volatile rcvbuf[USB_RXBUFSZ] __attribute__((aligned(4)));
+static uint8_t volatile rcvbuflen = 0;
+// line coding
+usb_LineCoding lineCoding = {115200, 0, 0, 8};
+// CDC configured and ready to use
+volatile uint8_t CDCready = 0;
+
+// ring buffers for incoming and outgoing data
+static uint8_t obuf[RBOUTSZ], ibuf[RBINSZ];
+static volatile ringbuffer rbout = {.data = obuf, .length = RBOUTSZ, .head = 0, .tail = 0};
+static volatile ringbuffer rbin = {.data = ibuf, .length = RBINSZ, .head = 0, .tail = 0};
+// last send data size
+static volatile int lastdsz = 0;
+
+static void chkin(){
+    if(bufovrfl) return; // allow user to know that previous buffer was overflowed and cleared
+    if(!rcvbuflen) return;
+    int w = RB_write((ringbuffer*)&rbin, (uint8_t*)rcvbuf, rcvbuflen);
+    if(w < 0){
+        return;
+    }
+    if(w != rcvbuflen) bufovrfl = 1;
+    rcvbuflen = 0;
+    uint16_t status = KEEP_DTOG(USB->EPnR[1]); // don't change DTOG
+    USB->EPnR[1] = (status & ~(USB_EPnR_STAT_TX|USB_EPnR_CTR_RX)) ^ USB_EPnR_STAT_RX; // prepare to get next data portion
+}
+
+// called from transmit EP to send next data portion or by user - when new transmission starts
+static void send_next(){
+    uint8_t usbbuff[USB_TXBUFSZ] __attribute__((aligned(4)));
+    int buflen = RB_read((ringbuffer*)&rbout, (uint8_t*)usbbuff, USB_TXBUFSZ);
+    if(buflen == 0){
+        if(lastdsz == USB_TXBUFSZ) EP_Write(1, NULL, 0); // send ZLP after USB_TXBUFSZ bits packet when nothing more to send
+        lastdsz = 0;
+        return;
+    }else if(buflen < 0){
+        lastdsz = 0;
+        return;
+    }
+    EP_Write(1, (uint8_t*)usbbuff, buflen);
+    lastdsz = buflen;
+}
+
+// data IN/OUT handler
+static void rxtx_handler(){
+    uint16_t epstatus = KEEP_DTOG(USB->EPnR[1]);
+    if(RX_FLAG(epstatus)){ // receive data
+        if(rcvbuflen){
+            bufovrfl = 1; // lost last data
+            rcvbuflen = 0;
+        }
+        rcvbuflen = EP_Read(1, (uint8_t*)rcvbuf);
+        USB->EPnR[1] = epstatus & ~(USB_EPnR_CTR_RX | USB_EPnR_STAT_RX | USB_EPnR_STAT_TX); // keep RX in STALL state until read data
+        chkin(); // try to write current data into RXbuf if it's not busy
+    }else{ // tx successfull
+        USB->EPnR[1] = (epstatus & ~(USB_EPnR_CTR_TX | USB_EPnR_STAT_TX)) ^ USB_EPnR_STAT_RX;
+        send_next();
+    }
+}
+
+// weak handlers: change them somewhere else if you want to setup USART
+// SET_LINE_CODING
+void linecoding_handler(usb_LineCoding *lc){
+    lineCoding = *lc;
+}
+
+// SET_CONTROL_LINE_STATE
+void clstate_handler(uint16_t val){
+    CDCready = val; // CONTROL_DTR | CONTROL_RTS -> interface connected; 0 -> disconnected
+}
+
+// SEND_BREAK
+void break_handler(){
+    CDCready = 0;
+}
+
+// USB is configured: setup endpoints
+void set_configuration(){
+    EP_Init(1, EP_TYPE_BULK, USB_TXBUFSZ, USB_RXBUFSZ, rxtx_handler); // IN1 and OUT1
+}
+
+// PL2303 CLASS request
+void usb_class_request(config_pack_t *req, uint8_t *data, uint16_t datalen){
+    uint8_t recipient = REQUEST_RECIPIENT(req->bmRequestType);
+    uint8_t dev2host = (req->bmRequestType & 0x80) ? 1 : 0;
+    switch(recipient){
+        case REQ_RECIPIENT_INTERFACE:
+            switch(req->bRequest){
+                case SET_LINE_CODING:
+                    if(!data || !datalen) break; // wait for data
+                    if(datalen == sizeof(usb_LineCoding))
+                        linecoding_handler((usb_LineCoding*)data);
+                break;
+                case GET_LINE_CODING:
+                    EP_WriteIRQ(0, (uint8_t*)&lineCoding, sizeof(lineCoding));
+                break;
+                case SET_CONTROL_LINE_STATE:
+                    clstate_handler(req->wValue);
+                break;
+                case SEND_BREAK:
+                    break_handler();
+                break;
+                default:
+                    break;
+            }
+        break;
+        default:
+            if(dev2host) EP_WriteIRQ(0, NULL, 0);
+    }
+    if(!dev2host) EP_WriteIRQ(0, NULL, 0);
+}
+
+// blocking send full content of ring buffer
+int USB_sendall(){
+    while(lastdsz > 0){
+        if(!CDCready) return FALSE;
+    }
+    return TRUE;
+}
+
+// put `buf` into queue to send
+int USB_send(const uint8_t *buf, int len){
+    if(!buf || !CDCready || !len) return FALSE;
+    while(len){
+        IWDG->KR = IWDG_REFRESH;
+        int l = RB_datalen((ringbuffer*)&rbout);
+        if(l < 0) continue;
+        int portion = rbout.length - 1 - l;
+        if(portion < 1){
+            if(lastdsz == 0) send_next();
+            continue;
+        }
+        if(portion > len) portion = len;
+        int a = RB_write((ringbuffer*)&rbout, buf, portion);
+        if(a > 0){
+            len -= a;
+            buf += a;
+        } else if (a < 0) continue; // do nothing if buffer is in reading state
+        if(lastdsz == 0) send_next(); // need to run manually - all data sent, so no IRQ on IN
+    }
+    return TRUE;
+}
+
+int USB_putbyte(uint8_t byte){
+    if(!CDCready) return FALSE;
+    int l = 0;
+    while((l = RB_write((ringbuffer*)&rbout, &byte, 1)) != 1){
+        if(l < 0) continue;
+        if(lastdsz == 0) send_next();
+    }
+    if(lastdsz == 0 && byte == '\n') send_next();
+    return TRUE;
+}
+
+int USB_sendstr(const char *string){
+    if(!string || !CDCready) return FALSE;
+    int len = 0;
+    const char *b = string;
+    while(*b++) ++len;
+    if(!len) return FALSE;
+    return USB_send((const uint8_t*)string, len);
+}
+
+/**
+ * @brief USB_receive - get binary data from receiving ring-buffer
+ * @param buf (i) - buffer for received data
+ * @param len - length of `buf`
+ * @return amount of received bytes (negative, if overfull happened)
+ */
+int USB_receive(uint8_t *buf, int len){
+    chkin();
+    if(bufovrfl){
+        while(1 != RB_clearbuf((ringbuffer*)&rbin));
+        bufovrfl = 0;
+        return -1;
+    }
+    int sz = RB_read((ringbuffer*)&rbin, buf, len);
+    if(sz < 0) return 0; // buffer in writting state
+    return sz;
+}
+
+/**
+ * @brief USB_receivestr - get string up to '\n' and replace '\n' with 0
+ * @param buf - receiving buffer
+ * @param len - its length
+ * @return strlen or negative value indicating overflow
+ */
+//__attribute__((noinline, noclone, optimize("O0")))
+int USB_receivestr(char *buf, int len){
+    chkin();
+    if(bufovrfl){
+        while(1 != RB_clearbuf((ringbuffer*)&rbin));
+        bufovrfl = 0;
+        return -1;
+    }
+    int l = RB_datalento((ringbuffer*)&rbin, '\n');
+    if(l > len){ // can't read: line too long -> clear it
+        RB_readto((ringbuffer*)&rbin, '\n', NULL, 0);
+        return -1;
+    }else if(l < 1){ // nothing or no '\n' ?
+        if(rbin.length == RB_datalen((ringbuffer*)&rbin)){ // buffer is full but no '\n' found
+            while(1 != RB_clearbuf((ringbuffer*)&rbin));
+            return -1;
+        }
+        return 0;
+    }
+    l = RB_readto((ringbuffer*)&rbin, '\n', (uint8_t*)buf, len);
+    if(l < 1) return 0;
+    buf[l-1] = 0; // replace '\n' with strend
+    return l;
+}
+

G4:G431/USB_CDC/usb_dev.h

@@ -0,0 +1,57 @@
+/*
+ * Copyright 2024 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
+
+#include <stdint.h>
+#include "usb_lib.h"
+
+typedef struct {
+    uint32_t dwDTERate;
+    uint8_t bCharFormat;
+#define USB_CDC_1_STOP_BITS   0
+#define USB_CDC_1_5_STOP_BITS 1
+#define USB_CDC_2_STOP_BITS   2
+    uint8_t bParityType;
+#define USB_CDC_NO_PARITY     0
+#define USB_CDC_ODD_PARITY    1
+#define USB_CDC_EVEN_PARITY   2
+#define USB_CDC_MARK_PARITY   3
+#define USB_CDC_SPACE_PARITY  4
+    uint8_t bDataBits;
+} __attribute__ ((packed)) usb_LineCoding;
+
+extern usb_LineCoding lineCoding;
+extern volatile uint8_t CDCready;
+
+void break_handler();
+void clstate_handler(uint16_t val);
+void linecoding_handler(usb_LineCoding *lc);
+
+
+// sizes of ringbuffers for outgoing and incoming data
+#define RBOUTSZ     (1024)
+#define RBINSZ      (1024)
+
+#define newline()   USB_putbyte('\n')
+#define USND(s)     do{USB_sendstr(s); USB_putbyte('\n');}while(0)
+
+int USB_sendall();
+int USB_send(const uint8_t *buf, int len);
+int USB_putbyte(uint8_t byte);
+int USB_sendstr(const char *string);
+int USB_receive(uint8_t *buf, int len);
+int USB_receivestr(char *buf, int len);

G4:G431/USB_CDC/usb_lib.c

@@ -0,0 +1,454 @@
+/*
+ * Copyright 2024 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 <stdint.h>
+
+#include "dbg.h"
+#include "usb_lib.h"
+#include "usb_descr.h"
+#include "usb_dev.h"
+
+static ep_t endpoints[STM32ENDPOINTS];
+
+static uint16_t USB_Addr = 0;
+static uint8_t setupdatabuf[EP0DATABUF_SIZE] __attribute__((aligned(4)));
+static config_pack_t *setup_packet = (config_pack_t*) setupdatabuf;
+volatile uint8_t usbON = 0; // device is configured and active
+
+static uint16_t configuration = 0; // reply for GET_CONFIGURATION (==1 if configured)
+static inline void std_d2h_req(){
+    uint16_t st = 0;
+    switch(setup_packet->bRequest){
+        case GET_DESCRIPTOR:
+            get_descriptor(setup_packet);
+        break;
+        case GET_STATUS:
+            EP_WriteIRQ(0, (uint8_t *)&st, 2); // send status: Bus Powered
+        break;
+        case GET_CONFIGURATION:
+            EP_WriteIRQ(0, (uint8_t*)&configuration, 1);
+        break;
+        default:
+            EP_WriteIRQ(0, NULL, 0);
+        break;
+    }
+}
+
+static inline void std_h2d_req(){
+    switch(setup_packet->bRequest){
+        case SET_ADDRESS:
+            // new address will be assigned later - after  acknowlegement or request to host
+            USB_Addr = setup_packet->wValue;
+        break;
+        case SET_CONFIGURATION:
+            // Now device configured
+            configuration = setup_packet->wValue;
+            set_configuration();
+            usbON = 1;
+        break;
+        default:
+        break;
+    }
+}
+
+void WEAK usb_standard_request(){
+    uint8_t recipient = REQUEST_RECIPIENT(setup_packet->bmRequestType);
+    uint8_t dev2host = (setup_packet->bmRequestType & 0x80) ? 1 : 0;
+    switch(recipient){
+        case REQ_RECIPIENT_DEVICE:
+            if(dev2host){
+                std_d2h_req();
+            }else{
+                std_h2d_req();
+            }
+        break;
+        case REQ_RECIPIENT_INTERFACE:
+            if(dev2host && setup_packet->bRequest == GET_DESCRIPTOR){
+                get_descriptor(setup_packet);
+            }
+        break;
+        case REQ_RECIPIENT_ENDPOINT:
+            if(setup_packet->bRequest == CLEAR_FEATURE){
+            }else{ /* wrong */ }
+        break;
+        default:
+        break;
+    }
+    if(!dev2host) EP_WriteIRQ(0, NULL, 0);
+}
+
+void WEAK usb_class_request(config_pack_t *req, uint8_t _U_ *data, uint16_t _U_ datalen){
+    switch(req->bRequest){
+        case GET_INTERFACE:
+        break;
+        case SET_CONFIGURATION: // set featuring by req->wValue
+        break;
+        default:
+            break;
+    }
+    if(0 == (setup_packet->bmRequestType & 0x80)) // host2dev
+        EP_WriteIRQ(0, NULL, 0);
+}
+
+void WEAK usb_vendor_request(config_pack_t _U_ *packet, uint8_t _U_ *data, uint16_t _U_ datalen){
+    if(0 == (setup_packet->bmRequestType & 0x80)) // host2dev
+        EP_WriteIRQ(0, NULL, 0);
+}
+
+/*
+bmRequestType: 76543210
+7    direction: 0 - host->device, 1 - device->host
+65   type: 0 - standard, 1 - class, 2 - vendor
+4..0 getter: 0 - device, 1 - interface, 2 - endpoint, 3 - other
+*/
+/**
+ * Endpoint0 (control) handler
+ */
+static void EP0_Handler(){
+    uint8_t ep0dbuflen = 0;
+    uint8_t ep0databuf[EP0DATABUF_SIZE] __attribute__((aligned(4)));
+    uint16_t epstatus = KEEP_DTOG(USB->EPnR[0]); // EP0R on input -> return this value after modifications
+    int rxflag = RX_FLAG(epstatus);
+    // check direction
+    if(USB->ISTR & USB_ISTR_DIR){ // OUT interrupt - receive data, CTR_RX==1 (if CTR_TX == 1 - two pending transactions: receive following by transmit)
+            if(epstatus & USB_EPnR_SETUP){ // setup packet -> copy data to conf_pack
+                EP_Read(0, setupdatabuf);
+                // interrupt handler will be called later
+            }else if(epstatus & USB_EPnR_CTR_RX){ // data packet -> push received data to ep0databuf
+                //if(endpoints[0].rx_cnt){ }
+                ep0dbuflen = EP_Read(0, ep0databuf);
+            }
+    }
+    if(rxflag){
+        uint8_t reqtype = REQUEST_TYPE(setup_packet->bmRequestType);
+        switch(reqtype){
+            case REQ_TYPE_STANDARD:
+                if(SETUP_FLAG(epstatus)){
+                    usb_standard_request();
+                }else{ }
+                break;
+            case REQ_TYPE_CLASS:
+                usb_class_request(setup_packet, ep0databuf, ep0dbuflen);
+                break;
+            case REQ_TYPE_VENDOR:
+                usb_vendor_request(setup_packet, ep0databuf, ep0dbuflen);
+                break;
+            default:
+                EP_WriteIRQ(0, NULL, 0);
+                break;
+        }
+    }
+    if(TX_FLAG(epstatus)){
+        // now we can change address after enumeration
+        if ((USB->DADDR & USB_DADDR_ADD) != USB_Addr){
+            USB->DADDR = USB_DADDR_EF | USB_Addr;
+            usbON = 0;
+        }
+    }
+    //epstatus = KEEP_DTOG(USB->EPnR[0]);
+    if(rxflag) epstatus ^= USB_EPnR_STAT_TX; // start ZLP or data transmission
+    else epstatus &= ~USB_EPnR_STAT_TX; // or leave unchanged
+    // keep DTOGs, clear CTR_RX,TX, set RX VALID
+    USB->EPnR[0] = (epstatus & ~(USB_EPnR_CTR_RX|USB_EPnR_CTR_TX)) ^ USB_EPnR_STAT_RX;
+}
+
+/**
+ * Write data to EP buffer (called from IRQ handler)
+ * @param number - EP number
+ * @param *buf - array with data
+ * @param size - its size
+ */
+void EP_WriteIRQ(uint8_t number, const uint8_t *buf, uint16_t size){
+    if(size > endpoints[number].txbufsz) size = endpoints[number].txbufsz;
+#ifndef USB32
+    uint16_t N2 = (size + 1) >> 1;
+    // the buffer is 16-bit, so we should copy data as it would be uint16_t
+    uint16_t *buf16 = (uint16_t *)buf;
+#else
+    int N4 = (size + 3) >> 2;
+    uint32_t *buf32 = (uint32_t *)buf;
+#endif
+#if defined USB1_16
+    // very bad: what if `size` is odd?
+    uint32_t *out = (uint32_t *)endpoints[number].tx_buf;
+    for(int i = 0; i < N2; ++i, ++out){
+        *out = buf16[i];
+    }
+#elif defined USB2_16
+    for(int i = 0; i < N2; ++i){
+        endpoints[number].tx_buf[i] = buf16[i];
+    }
+#elif defined USB32
+    // use memcpy instead?
+    for(int i = 0; i < N4; ++i) endpoints[number].tx_buf[i] = buf32[i];
+#else
+#error "Define USB1_16 / USB2_16 / USB32"
+#endif
+#ifndef USB32
+    USB_BTABLE->EP[number].USB_COUNT_TX = size;
+#else
+    USB_BTABLE->EP[number].USB_ADDR_COUNT_TX = (USB_BTABLE->EP[number].USB_ADDR_COUNT_TX & 0xffff) | (size << 16);
+#endif
+}
+
+/**
+ * Write data to EP buffer (called outside IRQ handler)
+ * @param number - EP number
+ * @param *buf - array with data
+ * @param size - its size
+ */
+void EP_Write(uint8_t number, const uint8_t *buf, uint16_t size){
+    EP_WriteIRQ(number, buf, size);
+    uint16_t epstatus = KEEP_DTOG(USB->EPnR[number]);
+    // keep DTOGs and RX stat, clear CTR_TX & set TX VALID to start transmission
+    USB->EPnR[number] = (epstatus & ~(USB_EPnR_CTR_TX | USB_EPnR_STAT_RX)) ^ USB_EPnR_STAT_TX;
+}
+
+/*
+ * Copy data from EP buffer into user buffer area
+ * @param *buf - user array for data
+ * @return amount of data read
+ */
+int EP_Read(uint8_t number, uint8_t *buf){
+    int sz = endpoints[number].rx_cnt;
+    if(!sz) return 0;
+    endpoints[number].rx_cnt = 0;
+#if defined USB1_16
+    int n = (sz + 1) >> 1;
+    uint32_t *in = (uint32_t*)endpoints[number].rx_buf;
+    uint16_t *out = (uint16_t*)buf;
+    for(int i = 0; i < n; ++i, ++in)
+        out[i] = *(uint16_t*)in;
+#elif defined USB2_16
+    // use memcpy instead?
+    for(int i = 0; i < sz; ++i)
+        buf[i] = endpoints[number].rx_buf[i];
+#elif defined USB32
+    uint32_t *u32buf = (uint32_t*) buf;
+    int N4 = (sz + 3) >> 2;
+    for(int i = 0; i < N4; ++i) u32buf[i] = endpoints[number].rx_buf[i];
+#else
+#error "Define USB1_16 / USB2_16 / USB32"
+#endif
+    return sz;
+}
+
+
+static uint16_t lastaddr = LASTADDR_DEFAULT;
+/**
+ * Endpoint initialisation
+ * @param number - EP num (0...7)
+ * @param type - EP type (EP_TYPE_BULK, EP_TYPE_CONTROL, EP_TYPE_ISO, EP_TYPE_INTERRUPT)
+ * @param txsz - transmission buffer size @ USB/CAN buffer
+ * @param rxsz - reception buffer size @ USB/CAN buffer
+ * @param uint16_t (*func)(ep_t *ep) - EP handler function
+ * @return 0 if all OK
+ */
+int EP_Init(uint8_t number, uint8_t type, uint16_t txsz, uint16_t rxsz, void (*func)()){
+#ifdef STM32G0
+    // in STM32G0 all buffers should be aligned by 32 bits
+    if(txsz & 3) txsz = ((txsz >> 2)+1) << 2;
+    if(rxsz & 3) rxsz = ((rxsz >> 2)+1) << 2;
+#endif
+    //DBGs("EP_init: TXsz="); DBGs(u2str(txsz));
+    //DBGs("; RXsz="); DBGs(u2str(rxsz)); DBGn();
+    if(number >= STM32ENDPOINTS) return 4; // out of configured amount
+    if(txsz > USB_BTABLE_SIZE/ACCESSZ || rxsz > USB_BTABLE_SIZE/ACCESSZ) return 1; // buffer too large
+    if(lastaddr + txsz + rxsz >= USB_BTABLE_SIZE/ACCESSZ) return 2; // out of btable
+    USB->EPnR[number] = (type << 9) | (number & USB_EPnR_EA);
+    USB->EPnR[number] ^= USB_EPnR_STAT_RX | USB_EPnR_STAT_TX;
+    if(rxsz & 1) return 3; // wrong rx buffer size
+    uint16_t countrx = 0;
+    if(rxsz < 64) countrx = rxsz / 2;
+    else{
+        if(rxsz & 0x1f) return 3; // should be multiple of 32
+        countrx = 31 + rxsz / 32;
+    }
+#ifdef USB32
+    endpoints[number].tx_buf = (uint32_t *)(USB_BTABLE_BASE + lastaddr * ACCESSZ);
+#else
+    endpoints[number].tx_buf = (uint16_t *)(USB_BTABLE_BASE + lastaddr * ACCESSZ);
+#endif
+    endpoints[number].txbufsz = txsz;
+#ifdef USB32
+    USB_BTABLE->EP[number].USB_ADDR_COUNT_TX = (uint32_t) lastaddr;
+#else
+    USB_BTABLE->EP[number].USB_ADDR_TX = lastaddr;
+    USB_BTABLE->EP[number].USB_COUNT_TX = 0;
+#endif
+    lastaddr += txsz;
+#ifdef USB32
+    endpoints[number].rx_buf = (uint32_t *)(USB_BTABLE_BASE + lastaddr * ACCESSZ);
+    USB_BTABLE->EP[number].USB_ADDR_COUNT_RX = (uint32_t) lastaddr | countrx << 26;
+#else
+    endpoints[number].rx_buf = (uint8_t *)(USB_BTABLE_BASE + lastaddr * ACCESSZ);
+    USB_BTABLE->EP[number].USB_ADDR_RX = lastaddr;
+    USB_BTABLE->EP[number].USB_COUNT_RX = countrx << 10;
+#endif
+    lastaddr += rxsz;
+    endpoints[number].func = func;
+    return 0;
+}
+
+// standard IRQ handler
+void USB_IRQ(){
+    uint32_t CNTR = USB->CNTR;
+    USB->CNTR = 0;
+    uint32_t istr = USB->ISTR;
+    if(istr & USB_ISTR_RESET){
+        usbON = 0;
+        // Reinit registers
+        CNTR = USB_CNTR_RESETM | USB_CNTR_CTRM | USB_CNTR_SUSPM;
+        // Endpoint 0 - CONTROL
+        // ON USB LS size of EP0 may be 8 bytes, but on FS it should be 64 bytes!
+        lastaddr = LASTADDR_DEFAULT;
+        // clear address, leave only enable bit
+        USB->DADDR = USB_DADDR_EF;
+        //USB->ISTR = ~(USB_ISTR_RESET); // clear all flags
+        if(EP_Init(0, EP_TYPE_CONTROL, USB_EP0BUFSZ, USB_EP0BUFSZ, EP0_Handler)){
+            DBGs("Can't init\n");
+            return;
+        };
+    }
+    if(istr & USB_ISTR_CTR){
+        // EP number
+        uint8_t n = istr & USB_ISTR_EPID;
+        if (istr & USB_ISTR_DIR){ // OUT
+        }else{ // IN
+        }
+        // copy received bytes amount
+        endpoints[n].rx_cnt =
+#ifdef USB32
+            (USB_BTABLE->EP[n].USB_ADDR_COUNT_RX >> 16) & 0x3FF;
+#else
+        USB_BTABLE->EP[n].USB_COUNT_RX & 0x3FF; // low 10 bits is counter
+#endif
+        // call EP handler
+        if(endpoints[n].func) endpoints[n].func();
+    }
+    if(istr & USB_ISTR_WKUP){ // wakeup
+#if defined STM32F0 || defined STM32G4
+        CNTR &= ~(USB_CNTR_FSUSP | USB_CNTR_LPMODE | USB_CNTR_WKUPM);
+#elif defined STM32G0
+        CNTR &= ~(USB_CNTR_SUSPEN | USB_CNTR_PDWN | USB_CNTR_WKUPM);
+#else
+        CNTR &= ~(USB_CNTR_FSUSP | USB_CNTR_LP_MODE | USB_CNTR_WKUPM); // clear suspend flags
+#endif
+        //USB->ISTR = ~USB_ISTR_WKUP;
+    }
+    if(istr & USB_ISTR_SUSP){ // suspend -> still no connection, may sleep
+        usbON = 0;
+#if defined STM32F0 || defined STM32G4
+        CNTR |= USB_CNTR_FSUSP | USB_CNTR_LPMODE | USB_CNTR_WKUPM;
+#elif defined STM32G0
+        CNTR |= USB_CNTR_SUSPEN | USB_CNTR_WKUPM;
+#else
+        CNTR |= USB_CNTR_FSUSP | USB_CNTR_LP_MODE | USB_CNTR_WKUPM;
+#endif
+        CNTR &= ~(USB_CNTR_SUSPM);
+        //USB->ISTR = ~USB_ISTR_SUSP;
+    }
+    USB->ISTR = 0; // clear all flags
+    USB->CNTR = CNTR; // rewoke interrupts
+}
+
+// here we suppose that all PIN settings done in hw_setup earlier
+void USB_setup(){
+    lastaddr = LASTADDR_DEFAULT; // clear last address settings
+#if defined STM32F3
+    NVIC_DisableIRQ(USB_LP_IRQn);
+    // remap USB LP & Wakeup interrupts to 75 and 76 - works only on pure F303
+    RCC->APB2ENR |= RCC_APB2ENR_SYSCFGEN; // enable tacting of SYSCFG
+    SYSCFG->CFGR1 |= SYSCFG_CFGR1_USB_IT_RMP;
+#elif defined STM32F1
+    NVIC_DisableIRQ(USB_LP_CAN1_RX0_IRQn);
+    NVIC_DisableIRQ(USB_HP_CAN1_TX_IRQn);
+#elif defined STM32F0
+    // All is clocking from HSI48
+    NVIC_DisableIRQ(USB_IRQn);
+    RCC->APB1ENR |= RCC_APB1ENR_CRSEN;
+    RCC->CFGR3 &= ~RCC_CFGR3_USBSW; // reset USB
+    RCC->CR2 |= RCC_CR2_HSI48ON; // turn ON HSI48
+    uint32_t tmout = 16000000;
+    while(!(RCC->CR2 & RCC_CR2_HSI48RDY)){if(--tmout == 0) break;}
+    FLASH->ACR = FLASH_ACR_PRFTBE | FLASH_ACR_LATENCY;
+    CRS->CFGR &= ~CRS_CFGR_SYNCSRC;
+    CRS->CFGR |= CRS_CFGR_SYNCSRC_1; // USB SOF selected as sync source
+    CRS->CR |= CRS_CR_AUTOTRIMEN; // enable auto trim
+    CRS->CR |= CRS_CR_CEN; // enable freq counter & block CRS->CFGR as read-only
+    RCC->CFGR |= RCC_CFGR_SW;
+#elif defined STM32G0
+    NVIC_DisableIRQ(USB_UCPD1_2_IRQn);
+    PWR->CR2 |= PWR_CR2_USV; // enable USB powering
+    //RCC->APBENR2 |= RCC_APBENR2_SYSCFGEN; // enable tacting of SYSCFG
+    // independent clocking of USB from HSI48
+    RCC->CR |= RCC_CR_HSI48ON;
+    uint32_t tmout = 16000000;
+    while(!(RCC->CR & RCC_CR_HSI48RDY)) if(--tmout == 0){ DBGl("HSI not ready!"); break;}
+    RCC->CCIPR2 &= ~RCC_CCIPR2_USBSEL; // select HSI48 for USB
+    RCC->APBENR1 |= RCC_APBENR1_CRSEN; // CRS clocking
+    CRS->CFGR = (31LL << CRS_CFGR_FELIM_Pos) | // tolerance (usually 31)
+                (48000LL / 1LL - 1LL) << CRS_CFGR_RELOAD_Pos | // 48MHz / 1kHZ (SOF)
+                CRS_CFGR_SYNCSRC_1; // USB SOF as sync source (0x2)
+    CRS->CR |= CRS_CR_AUTOTRIMEN | CRS_CR_CEN; // Enable autotrim and turn on Clock Recovery System
+    RCC->APBENR1 |= RCC_APBENR1_USBEN;
+#elif defined STM32G4
+    NVIC_DisableIRQ(USB_LP_IRQn);
+    // HSI48 & SOF sync already enabled in StartHSE()
+#endif
+#ifndef STM32G0
+    #ifdef STM32G4
+    RCC->APB1ENR1 |= RCC_APB1ENR1_USBEN;
+    #else
+    RCC->APB1ENR |= RCC_APB1ENR_USBEN;
+    #endif
+    USB->CNTR   = USB_CNTR_FRES; // Force USB Reset
+    USB->BTABLE = 0;
+#else
+    USB->CNTR   = USB_CNTR_USBRST;
+#endif
+    for(uint32_t ctr = 0; ctr < 72000; ++ctr) nop(); // wait >1ms
+    USB->CNTR   = USB_CNTR_RESETM; // allow only reset interrupts
+    USB->DADDR  = 0;
+    USB->ISTR   = 0;
+#if defined STM32F3
+    NVIC_EnableIRQ(USB_LP_IRQn);
+#elif defined STM32F1
+    NVIC_EnableIRQ(USB_LP_CAN1_RX0_IRQn);
+#elif defined STM32F0
+    USB->BCDR |= USB_BCDR_DPPU;
+    NVIC_EnableIRQ(USB_IRQn);
+#elif defined STM32G0
+    USB->BCDR |= USB_BCDR_DPPU; // turn ON DP pullup
+    NVIC_EnableIRQ(USB_UCPD1_2_IRQn);
+#elif defined STM32G4
+    NVIC_EnableIRQ(USB_LP_IRQn);
+    USB->BCDR |= USB_BCDR_DPPU;
+#endif
+    DBGl("USB ready");
+}
+
+
+#if defined STM32F3 || defined STM32G4
+void usb_lp_isr() __attribute__ ((alias ("USB_IRQ")));
+#elif defined STM32F1
+void usb_lp_can_rx0_isr() __attribute__ ((alias ("USB_IRQ")));
+#elif defined STM32F0
+void usb_isr() __attribute__ ((alias ("USB_IRQ")));
+#elif defined STM32G0
+void usb_ucpd1_2_isr() __attribute__ ((alias ("USB_IRQ")));
+#endif

G4:G431/USB_CDC/usb_lib.h

@@ -0,0 +1,352 @@
+/*
+ * Copyright 2024 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
+
+#include <stdint.h>
+#include <wchar.h>
+
+#ifndef _U_
+#define _U_         __attribute__((unused))
+#endif
+
+/******************************************************************
+ *             Hardware registers etc                             *
+ *****************************************************************/
+#if defined STM32F0
+#include <stm32f0.h>
+#elif defined STM32F1
+#include <stm32f1.h>
+// there's no this define in standard header
+#define USB_BASE                ((uint32_t)0x40005C00)
+#elif defined STM32F3
+#include <stm32f3.h>
+#elif defined STM32G0
+#include <stm32g0.h>
+#elif defined STM32G4
+#include <stm32g4.h>
+#endif
+
+// max endpoints number
+#define STM32ENDPOINTS          8
+/**
+ *                 Buffers size definition
+ **/
+
+//  F0, G4 - USB2_16 (2 half-words by 16 bits in each 32-bit word)
+//  F1 - USB1_16 (1 half-word in each 32-bit word)
+//  F3 - 1/2 depending on series
+//  G0 - USB32 (1 32-bit word in each 32-bit word)
+#if !defined USB1_16 && !defined USB2_16 && !defined USB32
+#if defined STM32F0 || defined STM32G4
+#define USB2_16
+#elif defined STM32F1
+#define USB1_16
+#elif defined STM32G0
+#define USB32
+#else
+#error "Can't determine USB1_16/USB2_16/USB32, define by hands"
+#endif
+#endif
+
+// BTABLE_SIZE FOR STM32F3:
+// In STM32F303/302xB/C, 512 bytes SRAM is not shared with CAN.
+// In STM32F302x6/x8 and STM32F30xxD/E, 726 bytes dedicated SRAM and 256 bytes shared SRAM with CAN i.e.
+//     1Kbytes dedicated SRAM in case CAN is disabled.
+// remember, that USB_BTABLE_SIZE will be divided by ACCESSZ, so don't divide it twice for 32-bit addressing
+
+#ifdef NOCAN
+#if defined STM32F0 || defined STM32F3
+#define USB_BTABLE_SIZE         1024
+#else
+#error "define STM32F0 or STM32F3"
+#endif
+#else // !NOCAN: F0/F3 with CAN or F1 (can't simultaneously run CAN and USB)
+#if defined STM32F0 || defined STM32F3
+#define USB_BTABLE_SIZE         768
+#elif defined STM32G0
+#define USB_BTABLE_SIZE         2048
+//#warning "Please, check real buffer size due to docs"
+#else // STM32F103: 1024 bytes but with 32-bit addressing or STM32G4 - 1024 bytes (512 half-words by 16 bit)
+#define USB_BTABLE_SIZE         1024
+#endif
+#endif // NOCAN
+
+// first 64 bytes of USB_BTABLE are registers!
+#ifndef STM32G0
+#define USB_BTABLE_BASE         0x40006000
+#else
+#define USB_BTABLE_BASE         0x40009800
+#endif
+#define USB                     ((USB_TypeDef *) USB_BASE)
+
+#ifdef USB_BTABLE
+#undef USB_BTABLE
+#endif
+#define USB_BTABLE              ((USB_BtableDef *)(USB_BTABLE_BASE))
+#define USB_ISTR_EPID           0x0000000F
+#define USB_FNR_LSOF_0          0x00000800
+#define USB_FNR_lSOF_1          0x00001000
+#define USB_LPMCSR_BESL_0       0x00000010
+#define USB_LPMCSR_BESL_1       0x00000020
+#define USB_LPMCSR_BESL_2       0x00000040
+#define USB_LPMCSR_BESL_3       0x00000080
+#define USB_EPnR_CTR_RX         0x00008000
+#define USB_EPnR_DTOG_RX        0x00004000
+#define USB_EPnR_STAT_RX        0x00003000
+#define USB_EPnR_STAT_RX_0      0x00001000
+#define USB_EPnR_STAT_RX_1      0x00002000
+#define USB_EPnR_SETUP          0x00000800
+#define USB_EPnR_EP_TYPE        0x00000600
+#define USB_EPnR_EP_TYPE_0      0x00000200
+#define USB_EPnR_EP_TYPE_1      0x00000400
+#define USB_EPnR_EP_KIND        0x00000100
+#define USB_EPnR_CTR_TX         0x00000080
+#define USB_EPnR_DTOG_TX        0x00000040
+#define USB_EPnR_STAT_TX        0x00000030
+#define USB_EPnR_STAT_TX_0      0x00000010
+#define USB_EPnR_STAT_TX_1      0x00000020
+#define USB_EPnR_EA             0x0000000F
+#define USB_COUNTn_RX_BLSIZE    0x00008000
+#define USB_COUNTn_NUM_BLOCK    0x00007C00
+#define USB_COUNTn_RX           0x0000003F
+
+#define USB_TypeDef USB_TypeDef_custom
+
+typedef struct {
+    __IO uint32_t EPnR[STM32ENDPOINTS];
+    __IO uint32_t RESERVED[STM32ENDPOINTS];
+    __IO uint32_t CNTR;
+    __IO uint32_t ISTR;
+    __IO uint32_t FNR;
+    __IO uint32_t DADDR;
+#ifndef USB32
+    __IO uint32_t BTABLE;
+#else
+    __IO uint32_t RESERVED1; // there's no BTABLE register in STM32G0
+#endif
+#if defined STM32F0 || defined STM32G4 || defined USB32
+    __IO uint32_t LPMCSR;
+    __IO uint32_t BCDR;
+#endif
+} USB_TypeDef;
+
+// F303 D/E have 2x16 access scheme
+typedef struct{
+#if defined USB2_16
+    __IO uint16_t USB_ADDR_TX;
+    __IO uint16_t USB_COUNT_TX;
+    __IO uint16_t USB_ADDR_RX;
+    __IO uint16_t USB_COUNT_RX;
+#define ACCESSZ (1)
+#elif defined USB1_16
+    __IO uint32_t USB_ADDR_TX;
+    __IO uint32_t USB_COUNT_TX;
+    __IO uint32_t USB_ADDR_RX;
+    __IO uint32_t USB_COUNT_RX;
+#define ACCESSZ (2)
+#elif defined USB32
+    // 32-bit registers: addr & count in one!
+    __IO uint32_t USB_ADDR_COUNT_TX;
+    __IO uint32_t USB_ADDR_COUNT_RX;
+#define ACCESSZ (1)
+#else
+#error "Define USB1_16 (16 bits over 32bit register), USB2_16 (16 bits over 16 bit register) or USB32 (32 bist over 32 bit register)"
+#endif
+} USB_EPDATA_TypeDef;
+
+
+typedef struct{
+    __IO USB_EPDATA_TypeDef EP[STM32ENDPOINTS];
+} USB_BtableDef;
+
+#define EP0DATABUF_SIZE                 (64)
+#define LASTADDR_DEFAULT                (STM32ENDPOINTS * 8)
+
+/******************************************************************
+ *             Defines from usb.h                                 *
+ *****************************************************************/
+
+/*
+ * Device and/or Interface Class codes
+ */
+#define USB_CLASS_PER_INTERFACE         0
+#define USB_CLASS_AUDIO                 1
+#define USB_CLASS_COMM                  2
+#define USB_CLASS_HID                   3
+#define USB_CLASS_PRINTER               7
+#define USB_CLASS_PTP                   6
+#define USB_CLASS_MASS_STORAGE          8
+#define USB_CLASS_HUB                   9
+#define USB_CLASS_DATA                  10
+#define USB_CLASS_MISC                  0xef
+#define USB_CLASS_VENDOR_SPEC           0xff
+
+/*
+ * Descriptor types
+ */
+#define USB_DT_DEVICE                   0x01
+#define USB_DT_CONFIG                   0x02
+#define USB_DT_STRING                   0x03
+#define USB_DT_INTERFACE                0x04
+#define USB_DT_ENDPOINT                 0x05
+#define USB_DT_QUALIFIER                0x06
+#define USB_DT_IAD                      0x0B
+
+#define USB_DT_HID                      0x21
+#define USB_DT_REPORT                   0x22
+#define USB_DT_PHYSICAL                 0x23
+#define USB_DT_CS_INTERFACE             0x24
+#define USB_DT_HUB                      0x29
+
+/*
+ * Descriptor sizes per descriptor type
+ */
+#define USB_DT_DEVICE_SIZE              18
+#define USB_DT_CONFIG_SIZE              9
+#define USB_DT_INTERFACE_SIZE           9
+#define USB_DT_HID_SIZE                 9
+#define USB_DT_ENDPOINT_SIZE            7
+#define USB_DT_QUALIFIER_SIZE           10
+#define USB_DT_CS_INTERFACE_SIZE        5
+#define USB_DT_IAD_SIZE                 8
+
+
+// bmRequestType & 0x80 == dev2host (1) or host2dev (0)
+// recipient: bmRequestType & 0x1f
+#define REQUEST_RECIPIENT(b)    (b & 0x1f)
+#define REQ_RECIPIENT_DEVICE    0
+#define REQ_RECIPIENT_INTERFACE 1
+#define REQ_RECIPIENT_ENDPOINT  2
+#define REQ_RECIPIENT_OTHER     3
+// type: [bmRequestType & 0x60 >> 5]
+#define REQUEST_TYPE(b)         ((b&0x60)>>5)
+#define REQ_TYPE_STANDARD       0
+#define REQ_TYPE_CLASS          1
+#define REQ_TYPE_VENDOR         2
+#define REQ_TYPE_RESERVED       3
+
+
+//#define VENDOR_REQUEST                  0x01
+
+// standard device requests
+#define GET_STATUS                      0x00
+#define CLEAR_FEATURE                   0x01
+#define SET_FEATURE                     0x03
+#define SET_ADDRESS                     0x05
+#define GET_DESCRIPTOR                  0x06
+#define SET_DESCRIPTOR                  0x07
+#define GET_CONFIGURATION               0x08
+#define SET_CONFIGURATION               0x09
+// and some standard interface requests
+#define GET_INTERFACE                   0x0A
+#define SET_INTERFACE                   0x0B
+// and some standard endpoint requests
+#define SYNC_FRAME                      0x0C
+
+// Types of descriptors
+#define DEVICE_DESCRIPTOR               0x01
+#define CONFIGURATION_DESCRIPTOR        0x02
+#define STRING_DESCRIPTOR               0x03
+#define DEVICE_QUALIFIER_DESCRIPTOR     0x06
+#define DEBUG_DESCRIPTOR                0x0a
+#define HID_REPORT_DESCRIPTOR           0x22
+
+// EP types for EP_init
+#define EP_TYPE_BULK                    0x00
+#define EP_TYPE_CONTROL                 0x01
+#define EP_TYPE_ISO                     0x02
+#define EP_TYPE_INTERRUPT               0x03
+
+// EP types for descriptors
+#define USB_BM_ATTR_CONTROL             0x00
+#define USB_BM_ATTR_ISO                 0x01
+#define USB_BM_ATTR_BULK                0x02
+#define USB_BM_ATTR_INTERRUPT           0x03
+
+
+/******************************************************************
+ *                 Other stuff                                    *
+ *****************************************************************/
+
+#define RX_FLAG(epstat)                 (epstat & USB_EPnR_CTR_RX)
+#define TX_FLAG(epstat)                 (epstat & USB_EPnR_CTR_TX)
+#define SETUP_FLAG(epstat)              (epstat & USB_EPnR_SETUP)
+
+// EPnR bits manipulation
+#define KEEP_DTOG_STAT(EPnR)            (EPnR & ~(USB_EPnR_STAT_RX|USB_EPnR_STAT_TX|USB_EPnR_DTOG_RX|USB_EPnR_DTOG_TX))
+#define KEEP_DTOG(EPnR)                 (EPnR & ~(USB_EPnR_DTOG_RX|USB_EPnR_DTOG_TX))
+
+#define LANG_US (uint16_t)0x0409
+
+#define _USB_STRING_(name, str)                  \
+static const struct name \
+{                          \
+        uint8_t  bLength;                       \
+        uint8_t  bDescriptorType;               \
+        uint16_t bString[(sizeof(str) - 2) / 2]; \
+    \
+} \
+name = {sizeof(name), 0x03, str}
+
+#define _USB_LANG_ID_(name, lng_id)     \
+static const struct name \
+{         \
+        uint8_t  bLength;         \
+        uint8_t  bDescriptorType; \
+        uint16_t bString;         \
+    \
+} \
+name = {0x04, 0x03, lng_id}
+
+// EP0 configuration packet
+typedef struct {
+    uint8_t bmRequestType;
+    uint8_t bRequest;
+    uint16_t wValue;
+    uint16_t wIndex;
+    uint16_t wLength;
+} config_pack_t;
+
+// endpoints state
+typedef struct{
+#ifdef USB32
+    uint32_t *tx_buf;           // transmission buffer address
+#else
+    uint16_t *tx_buf;           // transmission buffer address
+#endif
+    uint16_t txbufsz;           // transmission buffer size
+#ifdef USB32
+    uint32_t *rx_buf;            // reception buffer address
+#else
+    uint8_t *rx_buf;            // reception buffer address
+#endif
+    void (*func)();             // endpoint action function
+    unsigned rx_cnt  : 10;      // received data counter
+} ep_t;
+
+extern volatile uint8_t usbON;
+
+void USB_setup();
+int EP_Init(uint8_t number, uint8_t type, uint16_t txsz, uint16_t rxsz, void (*func)());
+void EP_WriteIRQ(uint8_t number, const uint8_t *buf, uint16_t size);
+void EP_Write(uint8_t number, const uint8_t *buf, uint16_t size);
+int EP_Read(uint8_t number, uint8_t *buf);
+
+// could be [re]defined in usb_dev.c
+extern void usb_class_request(config_pack_t *packet, uint8_t *data, uint16_t datalen);
+extern void usb_vendor_request(config_pack_t *packet, uint8_t *data, uint16_t datalen);
+extern void set_configuration();

makefile.stm32

@@ -49,20 +49,19 @@ LIB_DIR		:= $(INC_DIR)/ld
 
 ###############################################################################
 # C flags
-CFLAGS		+= -D__thumb2__=1 -MD
-CFLAGS		+= -Wall -Wextra -Wshadow -Wdouble-promotion
-CFLAGS		+= -fshort-enums -ffunction-sections -fdata-sections
-#CFLAGS		+= -fno-common -fno-stack-protector
-CFLAGS		+=  $(ARCH_FLAGS)
+FLAGS       := -D__thumb2__=1 -MD -Wall -Wextra -Wshadow -Wdouble-promotion -fshort-enums -ffunction-sections -fdata-sections
+# -fno-common -fno-stack-protector
+CFLAGS		+= $(FLAGS)  $(ARCH_FLAGS)
+CPPFLAGS	+= $(FLAGS)  $(ARCH_FLAGS)
 
 ###############################################################################
 # Linker flags
-LDFLAGS		+= -nostartfiles --static -specs=nosys.specs -specs=nano.specs
+LDFLAGS		+= -nostartfiles --static -specs=nano.specs
 LDFLAGS		+= $(ARCH_FLAGS)
 LDFLAGS		+= -L$(LIB_DIR) 
 #-L$(TOOLCHLIB)
 LDFLAGS		+= -T$(LDSCRIPT)
-LDFLAGS		+= -Wl,-Map=$(MAP),--cref -Wl,--gc-sections -Wl,--print-memory-usage
+LDFLAGS		+= -Wl,-Map=$(MAP),--cref -Wl,--gc-sections -Wl,--print-memory-usage -Wl,--trace-symbol=_sbrk 
 
 ###############################################################################
 # Used libraries
@@ -102,6 +101,8 @@ debug: CFLAGS += -O0 -DEBUG -Werror -g3 -gdwarf-2
 debug: TARGET := DEBUG
 debug: $(TARGFILE) bin list size
 
+all: $(BIN)
+
 $(TARGFILE): $(OBJDIR)
 	@echo -e "\t\tTARGET: $(TARGET)"
 	@echo "$(TARGET)" > $(TARGFILE)
@@ -128,15 +129,19 @@ $(VERSION_FILE): *.[ch]
 	@sed -i "s/#define BUILDNO.*/#define BUILDNO $(NEXTVER)/" $(VERSION_FILE)
 	@sed -i "s/#define BUILD_DATE.*/#define BUILD_DATE \"$(BUILDDATE)\"/" $(VERSION_FILE)
 
+$(OBJDIR)/commproto.o: commproto.cpp $(VERSION_FILE)
+
 $(OBJDIR)/proto.o: proto.c $(VERSION_FILE)
 
+$(OBJDIR)/usb_dev.o: CFLAGS := $(filter-out -flto,$(CFLAGS)) -fno-lto
+
 $(OBJDIR)/%.o: %.c
 	@echo "  CC      $<"
 	$(CC) $(CFLAGS) $(DEFS) $(INCLUDE) -o $@ -c $<
 
 $(OBJDIR)/%.o: %.cpp
 	@echo "  C++     $<"
-	$(CPP) -c $(CFLAGS) -fno-exceptions $(DEFS) $(INCLUDE) -o $@ -c $<
+	$(CPP) -c  $(CPPFLAGS) -fno-exceptions -fno-rtti -Wl,--trace-symbol=_sbrk $(DEFS) $(INCLUDE) -o $@ -c $<
 
 $(BIN): $(ELF)
 	@echo "  OBJCOPY $(BIN)"