fixed some bugs

documentation
readme
2026-06-21 11:26:24 +03:00 · 2026-06-01 09:34:53 +03:00 · 2026-05-29 11:49:55 +03:00 · 2026-05-29 09:07:29 +03:00
15 changed files with 568 additions and 86 deletions
--- a/F3:F303/MLX90640-allsky/Readme.md
+++ b/F3:F303/MLX90640-allsky/Readme.md
@@ -1,49 +1,280 @@
-IR allsky-camera project using 5 sensors MLX90640
-=================================================
+# IR All-Sky Camera Documentation

-When attached, udev will create symlink /dev/ir-allsky0. This is the udev rule:
+## Project Overview

-```
+This firmware implements an **infrared all-sky camera system** based on up to five **MLX90640**
+thermal imaging sensors (32×24 pixels each), designed for **cloud monitoring** at the Special
+Astrophysical Observatory of the Russian Academy of Sciences. The system automates sky quality
+assessment for 0.5-meter telescopes of the "Astro-M" complex.

-ACTION=="add", ENV{USB_IDS}=="0483:5740", ATTRS{interface}=="?*", PROGRAM="/bin/bash -c \"ls /dev | grep $attr{interface} | wc -l \"", SYMLINK+="$attr{interface}%c", MODE="0666", GROUP="tty"
+The device continuously captures thermal images from multiple sensors (Zenith, East, South, West,
+North), processes environmental data from a **BMP280** pressure/humidity/temperature sensor, and
+controls **PWM heaters** to prevent dew formation on optics.

-```
+**Repository:** [https://github.com/eddyem/stm32samples/tree/master/F3%3AF303/MLX90640-allsky](https://github.com/eddyem/stm32samples/tree/master/F3%3AF303/MLX90640-allsky)

-Protocol:
+---

-```
-
-dn - draw nth image in ASCII
-gn - get nth image 'as is' - float array of 768x4 bytes
-l - list active sensors IDs
-mn - show temperature map of nth image
-tn - show nth image aquisition time
-B - reinit BME280
-E - get environment parameters (temperature etc)
-G - get MLX state
-R - reset device
-T - print current Tms
-    Debugging options:
-aa - change I2C address to a (a should be non-shifted value!!!)
-c - continue MLX
-i0..4 - setup I2C with speed 10k, 100k, 400k, 1M or 2M (experimental!)
-p - pause MLX
-s - stop MLX (and start from zero @ 'c')
-C - "cartoon" mode on/off (show each new image) - USB only!!!
-Dn - dump MLX parameters for sensor number n
-Ia addr [n] - set  device address for interactive work or (with n) change address of n'th sensor
-Ir reg n - read n words from 16-bit register
-Iw words - send words (hex/dec/oct/bin) to I2C
-Is - scan I2C bus
-Us - send string 's' to other interface
-
-
-```
-
-To call this help just print '?', 'h' or 'H' in terminal.
+## Hardware Requirements

+### Microcontroller
+- **STM32F303** series (tested on F303)
+- 72 MHz system clock (HSE) or 48 MHz (HSI)

 ### Sensors
+| Sensor | Interface | Purpose |
+|--------|-----------|---------|
+| MLX90640 (up to 5) | I²C (400 kHz) | Thermal imaging (32×24 pixels, -40..+300°C) |
+| BMP280 / BME280 | SPI | Ambient temperature, pressure, humidity |
+| NTC thermistors (4) | ADC (12-bit) | Heater feedback / backup temperature |
+
+### Outputs
+- **DAC output** (PA5) – Onboard heater control (0–3.3V)
+- **PWM channels** (TIM3) – External heaters (PA6, PA7, PB0, PB1)
+- **UART1** – Main debug/auxiliary interface
+- **USB** (CDC class) – Secondary interface
+
+
+### Pin Assignment (STM32F303)
+
+| Pin | Function | Notes |
+|-----|----------|-------|
+| PA0–PA3 | NTC1–NTC4 | ADC inputs |
+| PA4 | DAC_OUT1 | Onboard heater |
+| PA5 | ADC_IN2 | DAC feedback |
+| PA6, PA7 | PWM CH1, CH2 | TIM3_CH1, TIM3_CH2 (external heaters) |
+| PA9, PA10 | UART1 TX/RX | Controlling interface |
+| PA11, PA12 | USB DP/DM | CDC virtual COM |
+| PA13, PA14 | SWD | Programming/debug |
+| PA15 | USB DP pullup | USB pullup management for development board |
+| PB0, PB1 | PWM CH3, CH4 | TIM3_CH3, CH4 (sky-quality + T-proportional) |
+| PB3, PB4, PB5 | SPI SCK, MISO, MOSI | BMP280 interface |
+| PB6, PB7 | I²C1 SCL/SDA | MLX90640 bus |
+| PB9 | SPI CS | BMP280 chip select |
+
+---
+
+## Firmware Architecture
+
+The firmware is **event-driven** with a **state machine** for MLX90640 data acquisition and a
+**command parser** for bidirectional communication over USB and UART.
+
+### Core Modules
+
+| File | Responsibility |
+|------|----------------|
+| `main.c` | Main loop, SysTick, initialization, state machine orchestration |
+| `adc.c/h` | ADC setup (DMA, median filtering), NTC reading, Vdd measurement |
+| `i2c.c/h` | I²C low-level + DMA, multi-word transfers, bus scanning |
+| `mlxproc.c/h` | MLX90640 state machine (5 sensors), parameter caching, image processing |
+| `mlx90640.c/h` | MLX90640 calibration math (from Melexis datasheet) |
+| `BMP280.c/h` | SPI-based BMP280/BME280 driver |
+| `heater.c/h` | PWM heater control, dew-point avoidance logic |
+| `commproto.cpp/h` | Command parser (USB/UART), ASCII maps, binary image export |
+| `usb_dev.c/h` | USB CDC stack (bulk endpoints, ring buffers) |
+| `usart.c/h` | UART driver with DMA and ring buffers |
+| `spi.c/h` | SPI driver for BMP280 |
+| `ringbuffer.c/h` | Circular buffers |
+| `strfunc.c/h` | Number/string conversions, hexdumps |
+
+### Data Flow
+
+```
+MLX90640 sensors (I²C DMA)
+       ↓
+mlxproc.c (state machine, 5× parameter loading)
+       ↓
+mlx90640.c (pixel-by-pixel temperature calculation)
+       ↓
+user requests via USB/UART (ASCII map, binary, temperature map)
+
+BMP280 (SPI)
+       ↓
+Temperature, Pressure, Humidity, Dew point
+       ↓
+Heater logic (auto or setpoint) → PWM outputs
+
+ADC (DMA + median filter)
+       ↓
+NTC temperatures, MCU temperature, Vdd
+```
+
+---
+
+## MLX90640 Processing
+
+### State Machine (`mlxproc.c`)
+
+The firmware manages up to **5 sensors** (addresses 0x10..0x14 left-shifted for I²C). The state
+machine cycles through:
+
+1. **NOTINIT** – Read calibration parameters (832 words) from each sensor over I²C DMA.
+2. **WAITPARAMS** – Wait for DMA completion, calculate parameters via `get_parameters()`.
+3. **WAITSUBPAGE** – Poll `REG_STATUS` for `NEWDATA` flag, skip subpage 0.
+4. **READSUBPAGE** – Read image data (832 words) via DMA, process with `process_image()`.
+
+**Key features:**
+- Automatic sensor exclusion after `MLX_MAX_ERRORS` (default 11) consecutive errors.
+- `Tlastimage[]` timestamps for each sensor (used by "cartoon mode" and timeout recovery).
+- Supports changing sensor I²C addresses at runtime (`mlx_sethwaddr()`).
+
+### Temperature Calculation (`mlx90640.c`)
+
+Implementation follows **Melexis MLX90640 Datasheet (Section 11)**:
+- Supply voltage compensation (`kVdd`, `vdd25`)
+- Ambient temperature (`KvPTAT`, `KtPTAT`, `vPTAT25`)
+- Gain normalization
+- Offset correction (per-pixel `offset[]`, `kta[]`, `kv[]`)
+- TGC (temperature gradient compensation)
+- Pixel sensitivity (`alpha[]`) + KsTa, KsTo, range detection (CT3, CT4)
+- **Extended temperature range** (up to 400°C) via `alphacorr[]`
+
+Output: **float array of 768 temperatures** (°C) per sensor.
+
+---
+
+## Environmental & Heater Control
+
+### BMP280/BME280 Readings
+- **Temperature** (°C)
+- **Pressure** (Pa, also converted to hPa and mmHg)
+- **Humidity** (%)
+- **Dew point** (°C) – calculated via Magnus formula.
+
+Measurements are triggered every `ENV_MEAS_PERIOD` (10 seconds) in forced mode.
+
+### Heater Modes
+
+| Mode | Activation | Behavior |
+|------|------------|----------|
+| **Auto** (`autoheater=1`) | Humidity > 90% | Sets holding temperature = ambient + dew_over_delta (7°C) + 0.5°C (min 5°C) |
+| **Hold** (`setheater N`) | Manual command | Maintains N°C ±5°C hysteresis using PWM |
+| **Off** | Default | All heaters disabled |
+
+**PWM channels:**
+- `ch0`, `ch1` – External heaters (controlled identically for symmetry)
+- `ch2` – Proportional to ambient temperature: `(T_ambient + 20) × 2` %, clamped 0–100
+- `ch3` – Proportional to `(35°C – T_ambient + T_sky) × 2.5` %, clamped 0–100
+
+**Anti-overheating:** If any NTC exceeds setpoint by >5°C, PWM is reduced to `PWM_HOLD_VAL` (10%).
+
+---
+
+## Command Protocol
+
+The device presents a **virtual COM port** (CDC) over USB and a second UART interface. Both share
+the same command set.
+
+### Command Syntax
+```
+<command> [parameter] [= value]
+```
+- Commands are **case-sensitive** (lowercase).
+- Parameters are **decimal** (or hex with `0x`, binary with `b`).
+- Use `help` for full list.
+- Lines end with `\n` (newline).
+
+### Core Commands
+
+#### MLX90640 Image Commands
+
+| Command | Description | Example |
+|---------|-------------|---------|
+| `ascii n` | Draw ASCII-art thermal map (16 grayscale levels) | `ascii 0` |
+| `tempmap n` | Print numeric temperature grid (°C) | `tempmap 1` |
+| `binary n` | Dump raw float array (768×4 bytes) | `binary 2` |
+| `acqtime n` | Show last image acquisition timestamp (ms) | `acqtime 3` |
+| `cartoon` | Toggle live ASCII animation over USB | `cartoon` |
+
+#### Sensor Management
+
+| Command | Description | Example |
+|---------|-------------|---------|
+| `listids` | List active I²C addresses of all sensors | `listids` |
+| `mlxaddr n [= addr]` | Get/set I²C address for sensor n (0–4) | `mlxaddr 2 = 0x15` |
+| `mlxdump n` | Dump all calibration parameters for sensor n | `mlxdump 0` |
+| `state` | Show MLX90640 state machine status | `state` |
+| `mlxpause` / `mlxcont` / `mlxstop` | Control acquisition | – |
+
+#### Environment
+
+| Command | Description | Example |
+|---------|-------------|---------|
+| `environ` | Print T, P, H, dew point, Tsky | `environ` |
+| `bmereinit` | Reinitialize BMP280 | – |
+| `ntc [n]` | Get NTC temperature (°C) for channel n (0–3) | `ntc 1` |
+
+#### Heater Control
+
+| Command | Description | Example |
+|---------|-------------|---------|
+| `autoheater [= 0/1]` | Enable/disable automatic dew avoidance | `autoheater = 1` |
+| `setheater [= N]` | Set holding temperature (°C) | `setheater = 25` |
+| `clearheater` | Disable holding, turn off heaters | – |
+| `pwm [n] [= val]` | Get/set PWM duty cycle (0–100%) for channel n | `pwm 0 = 50` |
+
+#### System & Debug
+
+| Command | Description | Example |
+|---------|-------------|---------|
+| `adc [n]` | Get raw ADC value (0–4095) for channel n | `adc 4` |
+| `dac [= val]` | Get/set DAC output (0–4095) | `dac = 2048` |
+| `mcutemp` | Show MCU internal temperature (°C) | – |
+| `mcuvdd` | Show Vdd (V) | – |
+| `time` | Show SysTick counter (ms) | – |
+| `reset` | Software reset | – |
+| `sendstr = text` | Forward string to other interface | `sendstr = "hello"` |
+
+#### Raw I²C (for debugging)
+
+| Command | Description | Example |
+|---------|-------------|---------|
+| `iicscan` | Scan I²C bus, report found addresses | – |
+| `iicaddr [= addr]` | Get/set current I²C target address (non-shifted) | `iicaddr = 0x33` |
+| `iicspeed [= n]` | Set I²C speed: 0=10k,1=100k,2=400k,3=1M,4=2M | – |
+| `readreg reg [= n]` | Read n 16-bit registers | `readreg 0x8000` |
+| `writedata = v1 v2 ...` | Write 16-bit values | `writedata = 0x1234 0x5678` |
+| `hwaddr addr` | Change hardware I²C address of MLX90640 (non-shifted) | `hwaddr 0x15` |
+
+### Output Formats
+
+#### ASCII Thermal Map (`ascii`)
+```
+RANGE=12.345
+MIN=-5.67
+MAX=6.78
+ .':;+*oxX#&%B$@
+ .':;+*oxX#&%B$@
+ ...
+```
+Uses 16‑character grayscale ramp: space (coldest) → `@` (hottest).
+
+#### Numeric Map (`tempmap`)
+```
+-2.3 1.2 3.4 ...
+ 5.6 7.8 9.0 ...
+...
+```
+
+#### Binary Image (`binary n`)
+```
+BINARY0=<768×4 bytes raw float array>ENDIMAGE\n
+```
+Little-endian IEEE 754 `float` values. Exact size: 3072 bytes per image.
+
+#### Environment Output
+```
+TEMPERATURE=22.34
+SKYTEMPERATURE=-15.67
+PRESSURE_HPA=1013.25
+PRESSURE_MM=759.98
+HUMIDITY=65.20
+TEMP_DEW=15.60
+T_MEASUREMENT=12345678
+```
+
+
+### Sensors location

 | N | ID   | Cardinal direction |
 |---|------|--------------------|
@@ -53,3 +284,132 @@ To call this help just print '?', 'h' or 'H' in terminal.
 | 3 | 0x13 | West               |
 | 4 | 0x14 | North              |
 ---------------------------------
+
+
+---
+
+## Building & Flashing
+
+### Prerequisites
+- ARM GCC toolchain (`arm-none-eabi-gcc`)
+- Make
+- [st-flash](https://github.com/texane/stlink),
+       [stm32flash](https://sourceforge.net/projects/stm32flash/) or
+       [OpenOCD](https://openocd.sourceforge.io) (for flashing MCU)
+
+### Build
+```bash
+git clone --depth=1 https://github.com/eddyem/stm32samples.git
+cd stm32samples/F3:F303/MLX90640-allsky
+make
+```
+
+### Configuration
+- `EBUG` flag in Makefile enables debug output (slower, but verbose).
+- `NOCAN` – define if CAN peripheral not used (increases USB buffer).
+- `BUILD_NUMBER` and `BUILD_DATE` in `version.inc` are auto-generated.
+
+### Flashing
+```bash
+make flash # for flashing over st-link
+# make boot - for flashing over USART1 bootloader
+# make dfuboot - for flashing over USB-DFU
+```
+or manually (over st-link):
+```bash
+openocd -f interface/stlink.cfg -f target/stm32f3x.cfg -c "program build/firmware.elf verify reset exit"
+```
+
+### udev Rule (Linux)
+Create `/etc/udev/rules.d/99-USBiinterface.rules`:
+```
+ACTION=="add", ENV{USB_IDS}=="0483:5740", ATTRS{interface}=="?*", PROGRAM="/bin/bash -c \"ls /dev | grep $attr{interface} | wc -l \"", SYMLINK+="$attr{interface}%c", MODE="0666", GROUP="tty"
+```
+After replug, device appears as `/dev/ir-allsky0`.
+
+---
+
+## Calibration & Tuning
+
+### NTC Thermistors
+The firmware includes a **lookup table (LUT)** for NTC with B=3950, R25=1000Ω, covering -10..+59°C.
+If a sensor reads `<5 ADC` → short circuit; `>4090 ADC` → open circuit.
+
+To calibrate your NTCs, modify `Rlut[]` in `adc.c`.
+
+### MLX90640
+Calibration data is **per-sensor** and stored in EEPROM. The firmware reads it automatically on
+startup.
+No user calibration is required – the factory data is used.
+
+### Vdd Measurement
+Internal Vrefint (1.2V typical) and factory calibration value `*VREFINT_CAL_ADDR` are used:
+```
+Vdd = (VREFINT_CAL * 3.3) / ADC_VREF
+```
+
+### MCU Temperature
+Internal sensor (ADC1_IN16) uses factory calibration `TEMP30_CAL_ADDR` and `TEMP110_CAL_ADDR`.
+
+---
+
+## Troubleshooting
+
+### No USB device detected
+- Check `USBPU_ON()` in `main.c` – some boards need pull-up control, others constant.
+- Verify PA11/PA12 are configured as AF14.
+- Try different USB cable / port.
+
+### I²C communication errors
+- Reduce speed: `iicspeed = 1` (100 kHz).
+- Check pull-up resistors (2.2k–10kΩ on SCL/SDA).
+- Use `iicscan` to verify sensor addresses.
+
+### BMP280 not responding
+- Check SPI wiring (PB3–PB5, PB9 CS).
+- Try software reset: `bmereinit`.
+- Verify chip ID: should be 0x58 (BMP280) or 0x60 (BME280).
+
+### Heater not working
+- Check `autoheater` status: `autoheater`.
+- Verify NTC readings: `ntc`.
+- For manual mode: `setheater = 25`, observe `pwm`.
+
+### Cartoon mode stops updating
+- Cartoon mode works **only over USB**, not UART.
+- If no new images, check `state` – may be paused or in error.
+
+### Watchdog resets
+- IWDG period is 2 seconds. Long operations (e.g., full calibration dump) may trigger reset.  
+- Disable in debug builds (remove `IWDG_REFRESH` calls or undefine `EBUG`).
+
+---
+
+## Performance & Limitations
+
+| Parameter | Value |
+|-----------|-------|
+| Image update rate (5 sensors) | ~1–2 Hz (depends on I²C speed) |
+| RAM usage | ~39 kB (image buffers + parameters) |
+| Flash usage | ~26 kB |
+| Maximum sensors | 5 (limited by I²C address space 0x10–0x14) |
+| Temperature range | -40..+300°C (MLX90640) |
+| Accuracy | ±1°C (typical after calibration) |
+
+---
+
+## License
+
+All source files are licensed under **GNU General Public License v3.0** unless stated otherwise.  
+The BMP280 driver includes MIT-licensed code from sheinz (2016).
+
+---
+
+## Credits & References
+
+- **Author:** Edward V. Emelianov <edward.emelianoff@gmail.com>
+- **MLX90640 Datasheet:** Melexis (Document REV 10)
+- **BMP280 Datasheet:** Bosch Sensortec
+- **STM32F303 Reference Manual:** STMicroelectronics (RM0316)
+
+For questions, bug reports, or contributions, please use the GitHub issue tracker.
--- a/F3:F303/MLX90640-allsky/adc.c
+++ b/F3:F303/MLX90640-allsky/adc.c
@@ -46,19 +46,20 @@ TRUE_INLINE void calADC(ADC_TypeDef *chnl){
    chnl->CR = ADC_CR_ADVREGEN_0;
    // wait for 10us
    uint16_t ctr = 0;
-    while(++ctr < 1000){nop();}
+    while(++ctr < 1000){IWDG->KR = IWDG_REFRESH;}
    // ADCALDIF=0 (single channels)
    if((chnl->CR & ADC_CR_ADEN)){
        chnl->CR |= ADC_CR_ADSTP;
        chnl->CR |= ADC_CR_ADDIS;
    }
    chnl->CR |= ADC_CR_ADCAL;
-    while((chnl->CR & ADC_CR_ADCAL) != 0 && ++ctr < 0xfff0){};
+    while((chnl->CR & ADC_CR_ADCAL) != 0 && ++ctr < 0xfff0){IWDG->KR = IWDG_REFRESH;};
    chnl->CR = ADC_CR_ADVREGEN_0;
    // enable ADC
    ctr = 0;
    do{
        chnl->CR |= ADC_CR_ADEN;
+        IWDG->KR = IWDG_REFRESH;
    }while((chnl->ISR & ADC_ISR_ADRDY) == 0 && ++ctr < 0xfff0);
 }

@@ -80,14 +81,16 @@ void adc_setup(){
    ADC12_COMMON->CCR = ADC_CCR_TSEN | ADC_CCR_VREFEN | ADC_CCR_CKMODE; // enable Tsens and Vref, HCLK/4
    calADC(ADC1);
    calADC(ADC2);
-    // ADC1: channels 1,2,3,4,16,18
-    ADC1->SMPR1 = ADC_SMPR1_SMP0 | ADC_SMPR1_SMP1 | ADC_SMPR1_SMP2 | ADC_SMPR1_SMP3;
-    ADC1->SMPR2 = ADC_SMPR2_SMP15 | ADC_SMPR2_SMP17;
+    // ADC1: channels 1,2,3,4,16,18; 601.5 clock cycles
+    //ADC1->SMPR1 = ADC_SMPR1_SMP0 | ADC_SMPR1_SMP1 | ADC_SMPR1_SMP2 | ADC_SMPR1_SMP3;
+    ADC1->SMPR1 = ADC_SMPR1_SMP1 | ADC_SMPR1_SMP2 | ADC_SMPR1_SMP3 | ADC_SMPR1_SMP4;
+    //ADC1->SMPR2 = ADC_SMPR2_SMP15 | ADC_SMPR2_SMP17;
+    ADC1->SMPR2 = ADC_SMPR2_SMP16 | ADC_SMPR2_SMP18;
    // 6 conversions in group: 1->2->3->4->16->18
    ADC1->SQR1 = (1<<6) | (2<<12) | (3<<18) | (4<<24) | (NUMBER_OF_ADC1_CHANNELS-1);
    ADC1->SQR2 = (16<<0) | (18<<6);
    // ADC2: channel 2
-    ADC2->SMPR1 = ADC_SMPR1_SMP1;
+    ADC2->SMPR1 = ADC_SMPR1_SMP2;
    ADC2->SQR1 = (2<<6) | (NUMBER_OF_ADC2_CHANNELS-1);
    // configure DMA for ADC
    RCC->AHBENR |= RCC_AHBENR_DMA1EN | RCC_AHBENR_DMA2EN;
@@ -122,12 +125,12 @@ void adc_setup(){
 */
 uint16_t getADCval(uint8_t nch){
    if(nch >= NUMBER_OF_ADC_CHANNELS) return 0;
-    register uint16_t temp;
+    uint16_t temp;
 #define PIX_SORT(a,b) { if ((a)>(b)) PIX_SWAP((a),(b)); }
 #define PIX_SWAP(a,b) { temp=(a);(a)=(b);(b)=temp; }
    uint16_t p[9];
    int adval = (nch >= NUMBER_OF_ADC1_CHANNELS) ? NUMBER_OF_ADC2_CHANNELS : NUMBER_OF_ADC1_CHANNELS;
-    int addr = (nch >= NUMBER_OF_ADC1_CHANNELS) ? nch - NUMBER_OF_ADC2_CHANNELS + ADC2START: nch;
+    int addr = (nch >= NUMBER_OF_ADC1_CHANNELS) ? nch - NUMBER_OF_ADC1_CHANNELS + ADC2START: nch;
    for(int i = 0; i < 9; ++i, addr += adval) // first we should prepare array for optmed
        p[i] = ADC_array[addr];
    PIX_SORT(p[1], p[2]) ; PIX_SORT(p[4], p[5]) ; PIX_SORT(p[7], p[8]) ;
--- a/F3:F303/MLX90640-allsky/allsky.bin
+++ b/F3:F303/MLX90640-allsky/allsky.bin
--- a/F3:F303/MLX90640-allsky/commproto.cpp
+++ b/F3:F303/MLX90640-allsky/commproto.cpp
@@ -595,9 +595,8 @@ static 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 *buf) {
-    if(!buf || !*buf || !sendfun) return NULL;
+// set temporary sender
+void set_sender(sendfun_t sendfun){
    SEND = sendfun;
    if(sendfun == usb_sender){
        putb = usb_putb;
@@ -606,6 +605,15 @@ const char *parse_cmd(int (*sendfun)(const char*), char *buf) {
        putb = usart_putb;
        sendbin = usart_sendbin;
    }
+}
+
+sendfun_t get_sender(){
+    return SEND;
+}
+
+const char *parse_cmd(sendfun_t sendfun, char *buf) {
+    if(!buf || !*buf || !sendfun) return NULL;
+    set_sender(sendfun);
    char command[CMD_MAXLEN+1];
    int i = 0;
    while(*buf > '@' && i < CMD_MAXLEN) command[i++] = *buf++;
--- a/F3:F303/MLX90640-allsky/commproto.h
+++ b/F3:F303/MLX90640-allsky/commproto.h
@@ -49,10 +49,14 @@ typedef enum{
 // maximal available parameter number (for 16-bit registers is 0xffff
 #define MAXPARNO    0xffff

+typedef int (*sendfun_t)(const char*);
+
 extern const char *EQ;
-const char *parse_cmd(int (*sendfun)(const char*), char *buf);
+const char *parse_cmd(sendfun_t sendfun, char *buf);
 void set_senders(int (*usbs)(const char*), int (*usbb)(uint8_t), int (*usbbin)(const uint8_t*, int),
                 int (*usarts)(const char*), int (*usartb)(uint8_t),  int (*usartbin)(const uint8_t*, int));
+void set_sender(sendfun_t sendfun);
+sendfun_t get_sender();

 extern const char *const Timage;

--- a/F3:F303/MLX90640-allsky/heater.c
+++ b/F3:F303/MLX90640-allsky/heater.c
@@ -22,8 +22,8 @@

 #ifdef EBUG
 #include "strfunc.h"
-#include "usb_dev.h"
 #endif
+#include "usb_dev.h"

 // turn on/off automatic cover heater in case of high humidity
 uint8_t AutoHeater = 0;
--- a/F3:F303/MLX90640-allsky/i2c.c
+++ b/F3:F303/MLX90640-allsky/i2c.c
@@ -116,6 +116,8 @@ void i2c_setup(i2c_speed_t speed){
    RCC->AHBENR |= RCC_AHBENR_DMA1EN;
    NVIC_EnableIRQ(DMA1_Channel6_IRQn);
    NVIC_EnableIRQ(DMA1_Channel7_IRQn);
+    NVIC_SetPriority(DMA1_Channel6_IRQn, 3);
+    NVIC_SetPriority(DMA1_Channel7_IRQn, 3);
    I2Cbusy = 0;
    i2c_curspeed = speed;
 }
@@ -153,7 +155,7 @@ static uint8_t waitISRbit(uint32_t bit, uint8_t isset){
    }
    return 1;
 goterr:
-    I2C1->ICR = 0xff;
+    I2C1->ICR = 0x3f38; // clear all errors
    return 0;
 }

--- a/F3:F303/MLX90640-allsky/ir-allsky.creator.user
+++ b/F3:F303/MLX90640-allsky/ir-allsky.creator.user
@@ -1,10 +1,10 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 19.0.1, 2026-05-20T22:25:52. -->
+<!-- Written by QtCreator 19.0.2, 2026-06-01T09:34:42. -->
 <qtcreator>
 <data>
  <variable>EnvironmentId</variable>
-  <value type="QByteArray">{7bd84e39-ca37-46d3-be9d-99ebea85bc0d}</value>
+  <value type="QByteArray">{cf63021e-ef53-49b0-b03b-2f2570cdf3b6}</value>
 </data>
 <data>
  <variable>ProjectExplorer.Project.ActiveTarget</variable>
@@ -32,7 +32,7 @@
   <value type="QByteArray" key="EditorConfiguration.Codec">KOI8-R</value>
   <value type="bool" key="EditorConfiguration.ConstrainTooltips">false</value>
   <value type="int" key="EditorConfiguration.IndentSize">4</value>
-   <value type="bool" key="EditorConfiguration.KeyboardTooltips">false</value>
+   <value type="bool" key="EditorConfiguration.KeyboardTooltips">true</value>
   <value type="int" key="EditorConfiguration.LineEndingBehavior">0</value>
   <value type="int" key="EditorConfiguration.MarginColumn">80</value>
   <value type="bool" key="EditorConfiguration.MouseHiding">true</value>
@@ -40,9 +40,9 @@
   <value type="int" key="EditorConfiguration.PaddingMode">1</value>
   <value type="int" key="EditorConfiguration.PreferAfterWhitespaceComments">0</value>
   <value type="bool" key="EditorConfiguration.PreferSingleLineComments">false</value>
-   <value type="bool" key="EditorConfiguration.ScrollWheelZooming">true</value>
+   <value type="bool" key="EditorConfiguration.ScrollWheelZooming">false</value>
   <value type="bool" key="EditorConfiguration.ShowMargin">false</value>
-   <value type="int" key="EditorConfiguration.SmartBackspaceBehavior">0</value>
+   <value type="int" key="EditorConfiguration.SmartBackspaceBehavior">1</value>
   <value type="bool" key="EditorConfiguration.SmartSelectionChanging">true</value>
   <value type="bool" key="EditorConfiguration.SpacesForTabs">true</value>
   <value type="int" key="EditorConfiguration.TabKeyBehavior">0</value>
@@ -51,10 +51,10 @@
   <value type="bool" key="EditorConfiguration.UseIndenter">false</value>
   <value type="int" key="EditorConfiguration.Utf8BomBehavior">1</value>
   <value type="bool" key="EditorConfiguration.addFinalNewLine">true</value>
-   <value type="bool" key="EditorConfiguration.cleanIndentation">false</value>
+   <value type="bool" key="EditorConfiguration.cleanIndentation">true</value>
   <value type="bool" key="EditorConfiguration.cleanWhitespace">true</value>
   <value type="QString" key="EditorConfiguration.ignoreFileTypes">*.md, *.MD, Makefile</value>
-   <value type="bool" key="EditorConfiguration.inEntireDocument">false</value>
+   <value type="bool" key="EditorConfiguration.inEntireDocument">true</value>
   <value type="bool" key="EditorConfiguration.skipTrailingWhitespace">true</value>
   <value type="bool" key="EditorConfiguration.tintMarginArea">true</value>
  </valuemap>
@@ -79,8 +79,8 @@
    <value type="bool" key="ClangTools.AnalyzeOpenFiles">true</value>
    <value type="bool" key="ClangTools.BuildBeforeAnalysis">true</value>
    <value type="QString" key="ClangTools.DiagnosticConfig">Builtin.DefaultTidyAndClazy</value>
-    <value type="int" key="ClangTools.ParallelJobs">2</value>
-    <value type="bool" key="ClangTools.PreferConfigFile">false</value>
+    <value type="int" key="ClangTools.ParallelJobs">4</value>
+    <value type="bool" key="ClangTools.PreferConfigFile">true</value>
    <valuelist type="QVariantList" key="ClangTools.SelectedDirs"/>
    <valuelist type="QVariantList" key="ClangTools.SelectedFiles"/>
    <valuelist type="QVariantList" key="ClangTools.SuppressedDiagnostics"/>
@@ -96,12 +96,12 @@
   <value type="bool" key="HasPerBcDcs">true</value>
   <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Desktop</value>
   <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Desktop</value>
-   <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{65a14f9e-e008-4c1b-89df-4eaa4774b6e3}</value>
+   <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{91347f2c-5221-46a7-80b1-0a054ca02f79}</value>
   <value type="qlonglong" key="ProjectExplorer.Target.ActiveBuildConfiguration">0</value>
   <value type="qlonglong" key="ProjectExplorer.Target.ActiveDeployConfiguration">0</value>
   <value type="qlonglong" key="ProjectExplorer.Target.ActiveRunConfiguration">0</value>
   <valuemap type="QVariantMap" key="ProjectExplorer.Target.BuildConfiguration.0">
-    <value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/Big/Data/00__Electronics/STM32/F303-nolib/blink</value>
+    <value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/home/eddy/Yandex.Disk/Projects/stm32samples/F3:F303/MLX90640-allsky</value>
    <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
     <valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
      <valuelist type="QVariantList" key="GenericProjectManager.GenericMakeStep.BuildTargets">
@@ -153,8 +153,10 @@
    <valuemap type="QVariantMap" key="ProjectExplorer.Target.RunConfiguration.0">
     <value type="bool" key="Analyzer.Perf.Settings.UseGlobalSettings">true</value>
     <value type="bool" key="Analyzer.QmlProfiler.Settings.UseGlobalSettings">true</value>
+     <value type="int" key="Analyzer.Valgrind.Callgrind.CostFormat">0</value>
     <value type="bool" key="Analyzer.Valgrind.Settings.UseGlobalSettings">true</value>
     <valuelist type="QVariantList" key="Analyzer.Valgrind.SuppressionFiles"/>
+     <value type="QList&lt;int&gt;" key="Analyzer.Valgrind.VisibleErrorKinds"></value>
     <valuelist type="QVariantList" key="CustomOutputParsers"/>
     <value type="int" key="PE.EnvironmentAspect.Base">2</value>
     <valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
@@ -167,6 +169,7 @@
     <value type="QString" key="ProjectExplorer.RunConfiguration.UniqueId"></value>
     <value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
     <value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
+     <value type="QString" key="RunConfiguration.WorkingDirectory.default">%{RunConfig:Executable:Path}</value>
    </valuemap>
    <value type="qlonglong" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
   </valuemap>
@@ -187,8 +190,10 @@
   <valuemap type="QVariantMap" key="ProjectExplorer.Target.RunConfiguration.0">
    <value type="bool" key="Analyzer.Perf.Settings.UseGlobalSettings">true</value>
    <value type="bool" key="Analyzer.QmlProfiler.Settings.UseGlobalSettings">true</value>
+    <value type="int" key="Analyzer.Valgrind.Callgrind.CostFormat">0</value>
    <value type="bool" key="Analyzer.Valgrind.Settings.UseGlobalSettings">true</value>
    <valuelist type="QVariantList" key="Analyzer.Valgrind.SuppressionFiles"/>
+    <value type="QList&lt;int&gt;" key="Analyzer.Valgrind.VisibleErrorKinds"></value>
    <valuelist type="QVariantList" key="CustomOutputParsers"/>
    <value type="int" key="PE.EnvironmentAspect.Base">2</value>
    <valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
@@ -201,6 +206,7 @@
    <value type="QString" key="ProjectExplorer.RunConfiguration.UniqueId"></value>
    <value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
    <value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
+    <value type="QString" key="RunConfiguration.WorkingDirectory.default">%{RunConfig:Executable:Path}</value>
   </valuemap>
   <value type="qlonglong" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
  </valuemap>
--- a/F3:F303/MLX90640-allsky/ir-allsky.files
+++ b/F3:F303/MLX90640-allsky/ir-allsky.files
@@ -1,5 +1,6 @@
 BMP280.c
 BMP280.h
+Readme.md
 adc.c
 adc.h
 commproto.cpp
--- a/F3:F303/MLX90640-allsky/main.c
+++ b/F3:F303/MLX90640-allsky/main.c
@@ -83,16 +83,19 @@ int main(void){
                usart_sendstr(foundid); usart_sendstr(straddr); usart_putbyte('\n');
            }
        }
+        IWDG->KR = IWDG_REFRESH;
        mlx_process();
-        if(cartoon) for(int i = 0; i < N_SENSORS; ++i){ // USB-only
+        if(cartoon && CDCready) for(int i = 0; i < N_SENSORS; ++i){ // USB-only
            uint32_t Tnow = mlx_lastimT(i);
            if(Tnow != Tlastima[i]){
                fp_t *im = mlx_getimage(i);
                if(im){
-                    //U(Sensno); UN(i2str(i));
+                    sendfun_t cursender = get_sender();
+                    set_sender(USB_sendstr);
                    U(Timage); USB_putbyte('0'+i); USB_putbyte('='); UN(u2str(Tnow));
                    drawIma(im);
                    Tlastima[i] = Tnow;
+                    set_sender(cursender);
                }
            }
        }
--- a/F3:F303/MLX90640-allsky/mlx90640.c
+++ b/F3:F303/MLX90640-allsky/mlx90640.c
@@ -43,7 +43,7 @@ static void occacc(int8_t *arr, int l, const uint16_t *regstart){
    int n = l >> 2; // divide by 4
    int8_t *p = arr;
    for(int i = 0; i < n; ++i){
-        register uint16_t val = *regstart++;
+        uint16_t val = *regstart++;
        *p++ = (val & 0x000F) >> 0;
        *p++ = (val & 0x00F0) >> 4;
        *p++ = (val & 0x0F00) >> 8;
@@ -123,7 +123,7 @@ MLX90640_params *get_parameters(const uint16_t dataarray[MLX_DMA_MAXLEN]){
        int idx = (row&1)<<1;
        for(int col = 0; col < MLX_W; ++col){
            // offset
-            register uint16_t rv = *pu16++;
+            uint16_t rv = *pu16++;
            i16 = (rv & 0xFC00) >> 10;
            if(i16 > 0x1F) i16 -= 0x40;
            *offset++ = (fp_t)offavg + (fp_t)occRow[row]*occRowScale + (fp_t)occColumn[col]*occColumnScale + (fp_t)i16*occRemScale;
--- a/F3:F303/MLX90640-allsky/strfunc.c
+++ b/F3:F303/MLX90640-allsky/strfunc.c
@@ -23,7 +23,7 @@
 // hex line number for hexdumps
 void u16s(uint16_t n, char *buf){
    for(int j = 3; j > -1; --j){
-        register uint8_t q = n & 0xf;
+        uint8_t q = n & 0xf;
        n >>= 4;
        if(q < 10) buf[j] = q + '0';
        else buf[j] = q - 10 + 'a';
@@ -40,7 +40,7 @@ void hexdump(int (*sendfun)(const char *s), uint8_t *arr, uint16_t len){
    char buf[64] = "0000  ", *bptr = &buf[6];
    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;
+            uint8_t half = (*arr >> (4*j)) & 0x0f;
            if(half < 10) *bptr++ = half + '0';
            else *bptr++ = half - 10 + 'a';
        }
@@ -66,7 +66,7 @@ void hexdump16(int (*sendfun)(const char *s), uint16_t *arr, uint16_t len){
        //uint16_t val = *arr;
        u16s(*arr, bptr);
        /*for(int16_t j = 3; j > -1; --j){
-            register uint8_t q = val & 0xf;
+            uint8_t q = val & 0xf;
            val >>= 4;
            if(q < 10) bptr[j] = q + '0';
            else bptr[j] = q - 10 + 'a';
@@ -341,7 +341,7 @@ char *float2str(float x, uint8_t prec){
        uint8_t m = 0;
        if(pow < 0){pow = -pow; m = 1;}
        while(pow){
-            register int p10 = pow/10;
+            int p10 = pow/10;
            *s-- = '0' + (pow - 10*p10);
            pow = p10;
        }
@@ -355,7 +355,7 @@ char *float2str(float x, uint8_t prec){
        uint32_t decimals = (uint32_t)((x-units+rounds[prec])*pwr10[prec]);
        // print decimals
        while(prec){
-            register int d10 = decimals / 10;
+            int d10 = decimals / 10;
            *s-- = '0' + (decimals - 10*d10);
            decimals = d10;
            --prec;
@@ -368,7 +368,7 @@ char *float2str(float x, uint8_t prec){
    // print main units
    if(units == 0) *s-- = '0';
    else while(units){
-        register uint32_t u10 = units / 10;
+        uint32_t u10 = units / 10;
        *s-- = '0' + (units - 10*u10);
        units = u10;
    }
--- a/F3:F303/MLX90640-allsky/usart.c
+++ b/F3:F303/MLX90640-allsky/usart.c
@@ -149,8 +149,9 @@ int usart_setup(uint32_t speed){
    NVIC_EnableIRQ(USART1_IRQn);
    NVIC_EnableIRQ(DMA1_Channel4_IRQn);
    NVIC_EnableIRQ(DMA1_Channel5_IRQn);
-    NVIC_SetPriority(DMA1_Channel5_IRQn, 0);
-    NVIC_SetPriority(USART1_IRQn, 4); // set character match priority lower
+    NVIC_SetPriority(DMA1_Channel4_IRQn, 4);
+    NVIC_SetPriority(DMA1_Channel5_IRQn, 4);
+    NVIC_SetPriority(USART1_IRQn, 5); // set character match priority lower
    return TRUE;
 }

@@ -162,7 +163,7 @@ void usart_stop(){
 void usart1_exti25_isr(){
    DMA1_Channel5->CCR &= ~DMA_CCR_EN; // temporaly disable DMA
    USART1->ICR = USART_ICR_CMCF; // clear character match flag
-    register int l = UARTBUFSZI - DMA1_Channel5->CNDTR - 1; // substitute '\n' with '\0', omit empty strings!
+    int l = UARTBUFSZI - DMA1_Channel5->CNDTR - 1; // substitute '\n' with '\0', omit empty strings!
    if(l > 0){
        if(recvdatalen){ // user didn't read old data - mark as buffer overflow
            bufovr = 1;
--- a/F3:F303/MLX90640-allsky/version.inc
+++ b/F3:F303/MLX90640-allsky/version.inc
@@ -1,2 +1,2 @@
-#define BUILD_NUMBER "65"
-#define BUILD_DATE "2026-05-06"
+#define BUILD_NUMBER "68"
+#define BUILD_DATE "2026-06-01"
--- a/Readme.md
+++ b/Readme.md
@@ -1,10 +1,104 @@
-Some working code examples for STM32
-====================================
+# Repository Overview

-Built without any third-party library. 
+The `stm32samples` repository is a collection of low-level, bare-metal code examples and complete
+projects for various STM32 microcontroller series (F0, F1, F3, F4, G0). It uses CMSIS header files
+from `modm-io/cmsis-header-stm32` for register definitions.

-Supported F0, F1, F3, F4 and G0 series.
+## Project Structure by MCU Series

+### STM32F0 (F030, F042, F072)
+- **3steppersLB** – Controls 3 stepper motors with encoders via USB/CAN bus
+- **blink** – Simple LED toggling
+- **CANbus4BTA** – CAN replacement for PEP-CAN
+- **CANBUS_SSI** – Works with BTA SSI azimuth encoder
+- **Chiller** – Basic chiller temperature controller
+- **F0_testbrd** – Tests STM32F0x2 on custom board
+- **htu21d_nucleo** – Reads HTU-21D sensor on Nucleo-F042K
+- **morze** – Echoes USART1 data as Morse code on TIM3CH1 (PA6)
+- **NUCLEO_SPI** – SSI over SPI on Nucleo-F042K
+- **PL2303_ringbuffer** – USB CDC ACM with ring buffers
+- **QuadEncoder** – Quadrature encoder via timer
+- **Servo** – Controls SG-90 style servos
+- **Socket_fans** – Manages multiple fans
+- **TM1637** – Drives 7‑segment displays
+- **tsys01_nucleo** – Reads two TSYS01 sensors
+- **uart_blink & uart_blink_dma** – USART echo with DMA
+- **usbcan_relay** – Relay board over CAN bus
+- **usbcan_ringbuffer** – USB‑CAN adapter with ring buffers
+- **USBHID** – USB HID keyboard + mouse

-CMSIS-headers:
-https://github.com/modm-io/cmsis-header-stm32
+### STM32F1 (F103) 
+- **BMP180, BMP280** – I²C temperature/pressure sensors
+- **Canon_managing_device** – Controls Canon lenses
+- **canUART** – UART‑CAN bridge
+- **DHT22_DHT11** – Humidity sensors using timer+DMA
+- **DS18** – DS18x20 temperature sensors
+- **F1_testbrd** – Test board for LQFP48 packages
+- **I2Cscan** – I²C scanner with register R/W
+- **LED_Screen** – Drives 32×16 LED matrices (P10)
+- **MAX7219_screen** – Controls 8×8 LED matrices
+- **RGB_LED_Screen** – HUB75E RGB panel with 8.8.4 color
+- **SevenCDCs** – Seven USB‑CDC ACM instances on one MCU (joke project)
+- **shutter** – Bistable shutter via USB/external signal
+- **Tetris** – Tetris on HUB75E panel
+- **USB_HID** – USB HID mouse+keyboard
+- **ws2815** – Rainbow effect on WS2815 strips
+
+### STM32F3 (F303)
+- **ADC** – Works with ADC peripheral
+- **blink** – Toggles LEDs on PB0/PB1
+- **CANusb** – USB‑CAN adapter
+- **floatPrintf** – Converts floats to strings
+- **Multistepper** – Controls up to 64 multiplexed steppers
+- **NitrogenFlooding** – Automatic nitrogen flooding
+- **PL2303** – PL2303 emulator (old)
+- **Seven_CDCs** – Seven USB CDC ACM interfaces
+- **usart1fullDMA** – USART1 Rx/Tx DMA with match detection
+- **USB_template_CDC** – USB‑CDC template
+
+### STM32F4 (F401)
+- **blink** – Simple LED toggling
+
+### STM32G0 (G070, G0B1)
+- **blink** – Basic LED blink
+- **RTC** – Real‑time clock
+- **flash** – Flash memory operations
+- **g0b1** – USB‑CDC working on G0B1
+- **i2c** – I²C operations
+- **usart** – USART communication
+
+### Other Directories
+- **deprecated** – Archive of older, no‑longer‑maintained code
+- **snippets** – Small reusable code fragments
+- **testboard** – KiCad 8 design files
+
+## Development Environment
+
+- **Toolchain**: arm-none-eabi‑gcc with `-flto` optimisations
+- **Build**: Structured Makefiles per series
+- **Debug**: OpenOCD configuration files provided
+- **Libraries**: No third‑party libraries; only CMSIS‑SVD headers
+
+## Project Maturity
+
+- **Alpha**: USB template for F303, MLX90640 all‑sky camera
+- **Stable**: LED blink, UART echo, sensor interfaces, USB‑CDC
+- **Draft**: CANbus4BTA, MLX90640multi
+- **Deprecated**: Older code in `deprecated/`
+
+## Summary
+
+This repository is a valuable resource for learning low‑level STM32 programming without vendor
+libraries. It covers practical applications:
+- **Industrial control**: Stepper motors, CAN bus, relay boards
+- **Sensor interfacing**: Temperature, pressure, humidity, encoders
+- **Human‑machine interfaces**: LED matrices, 7‑segment displays, USB HID
+- **Communication**: UART, SPI, I²C, USB‑CDC, USB‑HID, CAN
+- **Prototyping**: Test boards for F0, F1, F3, G0
+
+For the latest updates, check the repository on GitHub.
+
+## License
+
+This repository is provided under the GNU General Public License v3 or later.
+Full text of the GPLv3 is available at <https://www.gnu.org/licenses/gpl-3.0.html>.
Author	SHA1	Message	Date
Edward Emelianov	1f79a43326	fixed some bugs	2026-06-01 09:34:53 +03:00
Edward Emelianov	9096866812	documentation	2026-05-29 11:49:55 +03:00
Edward Emelianov	21141c29b2	readme	2026-05-29 09:07:29 +03:00