Added support of GD32F405 and many fixes.

README.md

@@ -7,7 +7,7 @@ PMC is an open project that aims to build the quality permanent magnet
 synchronous machine (PMSM) controller for use in a variety of scopes like RC or
 electric transport.
 
-## Brief
+## Brief description
 
 PMC is ready to use in most intended applications. You can flash any supported
 third-party hardware to work with PMC or use our original hardware.
@@ -111,7 +111,7 @@ There are a few videos about PMC on [youtube](https://www.youtube.com/@romblv).
 	- Battery energy (Wh) and charge (Ah) consumed.
 	- Fuel gauge percentage.
 
-## Hardware specification (`REV5A`)
+## Hardware specification (`REV5A`, `REV5B`)
 
 - Dimension: 82mm x 55mm x 35mm.
 - Weight: 40g (PCB) or about 400g (with wires and heatsink).

doc/InputStepDirection.md

@@ -8,7 +8,7 @@ The step and direction signals are fed to STEP and DIR pins.
 
 ```
 	           +---------------< STEP (or CW)
-               |    +----------< DIR (or CCW)
+	           |    +----------< DIR (or CCW)
 	           |    |    +-----> GND
 	           |    |    |
 	+----------+----+----+-------------------------+

phobia/link.c

@@ -14,6 +14,9 @@
 #define LINK_SPACE			" \t"
 #define LINK_EXTRA			"])"
 
+#define LINK_ALLOC_MAX			92160U
+#define LINK_CACHE_MAX			4096U
+
 enum {
 	LINK_MODE_IDLE			= 0,
 	LINK_MODE_HWINFO,
@@ -40,8 +43,10 @@ struct link_priv {
 	char			hw_build[LINK_NAME_MAX];
 	char			hw_crc32[LINK_NAME_MAX];
 
-	char			mb[81920];
+	char			mb[LINK_ALLOC_MAX];
 	char			*mbflow;
+
+	int			cache[LINK_CACHE_MAX];
 };
 
 const char *lk_stoi(int *x, const char *s)
@@ -183,13 +188,32 @@ lk_token(char **sp)
 	return r;
 }
 
+static unsigned int
+lk_hash(const char *sym)
+{
+	unsigned long		hash = 0U;
+
+	while (*sym != 0) {
+
+		hash = (hash + *sym) * 1149773U;
+		hash ^= (hash << 1) + (hash >> 4);
+
+		++sym;
+	}
+
+	hash ^= (hash << 15);
+	hash = (hash >> 16) & (LINK_CACHE_MAX - 1U);
+
+	return hash;
+}
+
 static char *
 link_mballoc(struct link_pmc *lp, int len)
 {
 	struct link_priv	*priv = lp->priv;
 	char			*mb = NULL;
 
-	if ((int) (priv->mbflow - priv->mb) < sizeof(priv->mb) - len) {
+	if ((int) (priv->mbflow - priv->mb) < LINK_ALLOC_MAX - len) {
 
 		mb = priv->mbflow;
 		priv->mbflow += len;
@@ -203,7 +227,7 @@ link_fetch_network(struct link_pmc *lp)
 {
 	struct link_priv	*priv = lp->priv;
 	char			*lbuf = priv->lbuf;
-	int			n, rc = 0;
+	int			net_ID, rc = 0;
 
 	if (strstr(lbuf, "(pmc)") == lbuf) {
 
@@ -214,9 +238,9 @@ link_fetch_network(struct link_pmc *lp)
 
 	if (strstr(lbuf, "(net/") == lbuf) {
 
-		if (lk_stoi(&n, lbuf + 5) != NULL) {
+		if (lk_stoi(&net_ID, lbuf + 5) != NULL) {
 
-			sprintf(lp->network, "REMOTE/%i", n);
+			sprintf(lp->network, "REMOTE/%i", net_ID);
 		}
 		else {
 			lp->network[0] = 0;
@@ -894,17 +918,32 @@ int link_command(struct link_pmc *lp, const char *command)
 
 struct link_reg *link_reg_lookup(struct link_pmc *lp, const char *sym)
 {
-	struct link_reg			*reg = NULL;
-	int				reg_ID;
+	struct link_priv	*priv = lp->priv;
+	struct link_reg		*reg = NULL;
+	int			hash, reg_ID;
 
-	for (reg_ID = 0; reg_ID < lp->reg_MAX_N; ++reg_ID) {
+	if (lp->linked == 0)
+		return NULL;
 
-		if (lp->reg[reg_ID].sym[0] != 0) {
+	hash = lk_hash(sym);
+	reg_ID = priv->cache[hash];
 
-			if (strcmp(lp->reg[reg_ID].sym, sym) == 0) {
+	if (strcmp(lp->reg[reg_ID].sym, sym) == 0) {
 
-				reg = &lp->reg[reg_ID];
-				break;
+		reg = &lp->reg[reg_ID];
+	}
+	else {
+		for (reg_ID = 0; reg_ID < lp->reg_MAX_N; ++reg_ID) {
+
+			if (lp->reg[reg_ID].sym[0] != 0) {
+
+				if (strcmp(lp->reg[reg_ID].sym, sym) == 0) {
+
+					priv->cache[hash] = reg_ID;
+					reg = &lp->reg[reg_ID];
+
+					break;
+				}
 			}
 		}
 	}
@@ -914,31 +953,50 @@ struct link_reg *link_reg_lookup(struct link_pmc *lp, const char *sym)
 
 int link_reg_lookup_range(struct link_pmc *lp, const char *sym, int *min, int *max)
 {
-	int				n, rc, reg_ID;
+	struct link_priv	*priv = lp->priv;
+	int			len, hash, reg_ID, found = 0;
 
-	n = strlen(sym);
-	rc = 0;
+	if (lp->linked == 0)
+		return 0;
 
-	for (reg_ID = 0; reg_ID < lp->reg_MAX_N; ++reg_ID) {
+	len = strlen(sym);
+
+	hash = lk_hash(sym);
+	reg_ID = priv->cache[hash];
+
+	if (strncmp(lp->reg[reg_ID].sym, sym, len) == 0) {
+
+		*min = reg_ID;
+		*max = reg_ID++;
+
+		found = 1;
+	}
+	else {
+		reg_ID = 0;
+	}
+
+	for (; reg_ID < lp->reg_MAX_N; ++reg_ID) {
 
 		if (lp->reg[reg_ID].sym[0] != 0) {
 
-			if (strncmp(lp->reg[reg_ID].sym, sym, n) == 0) {
+			if (strncmp(lp->reg[reg_ID].sym, sym, len) == 0) {
 
-				if (rc == 0) {
+				if (found == 0) {
+
+					priv->cache[hash] = reg_ID;
 
 					*min = reg_ID;
-					rc = 1;
+					found = 1;
 				}
 
 				*max = reg_ID;
 			}
-			else if (rc != 0)
+			else if (found != 0)
 				break;
 		}
 	}
 
-	return rc;
+	return found;
 }
 
 void link_reg_fetch_all_shown(struct link_pmc *lp)

phobia/phobia.c

@@ -3099,6 +3099,11 @@ page_hal(struct public *pub)
 	nk_layout_row_dynamic(ctx, 0, 1);
 	nk_spacer(ctx);
 
+	reg_enum_errno(pub, "hal.MCU_ID", "MCU ID", 0);
+
+	nk_layout_row_dynamic(ctx, 0, 1);
+	nk_spacer(ctx);
+
 	reg_float(pub, "hal.USART_baudrate", "USART baudrate");
 	reg_enum_combo(pub, "hal.USART_parity", "USART parity", 0);
 
@@ -5291,7 +5296,7 @@ page_flash(struct public *pub)
 	nk_spacer(ctx);
 	pub_drawing_flash_colored(nk, 'a');
 	nk_spacer(ctx);
-	nk_label(ctx, "Data block with correct CRC", NK_TEXT_LEFT);
+	nk_label(ctx, "Data block (with correct CRC)", NK_TEXT_LEFT);
 
 	nk_spacer(ctx);
 	pub_drawing_flash_colored(nk, 'x');

src/Makefile

@@ -148,7 +148,7 @@ $(TARGET): $(BUILD_OBJS)
 
 $(IMAGE): $(TARGET)
 	@ echo "  OC    " $(notdir $@)
-	@ $(OC) -j .text -j .data -O binary -S $< $@
+	@ $(OC) -O binary -S $< $@
 
 gdb: $(TARGET)
 	@ echo "  GDB   " $(notdir $<)

src/app/as5047.c

@@ -79,7 +79,7 @@ LD_TASK void app_AS5047(void *pData)
 {
 	volatile int		*knob = (volatile int *) pData;
 
-	SPI_startup(HW_SPI_EXT_ID, AS5047_FREQUENCY, SPI_LOW_FALLING | SPI_DMA);
+	SPI_startup(HW_SPI_EXT_ID, AS5047_FREQUENCY, SPI_LOW_FALLING | SPI_DMA | SPI_NSS_ON);
 
 	hal_memory_fence();
 

src/cherry/usbd_cdc.c

@@ -6,9 +6,6 @@
 #include "usbd_core.h"
 #include "usbd_cdc.h"
 
-const char *stop_name[] = { "1", "1.5", "2" };
-const char *parity_name[] = { "N", "O", "E", "M", "S" };
-
 static int cdc_acm_class_interface_request_handler(struct usb_setup_packet *setup, uint8_t **data, uint32_t *len)
 {
     USB_LOG_DBG("CDC Class request: "
@@ -40,12 +37,12 @@ static int cdc_acm_class_interface_request_handler(struct usb_setup_packet *setu
             /* 6      | bDataBits  |   1   | Number Data bits (5, 6, 7, 8 or 16).          */
             /*******************************************************************************/
             memcpy(&line_coding, *data, setup->wLength);
-            USB_LOG_DBG("Set intf:%d linecoding <%d %d %s %s>\r\n",
+            USB_LOG_DBG("Set intf:%d linecoding <%d %d %d %d>\r\n",
                         intf_num,
                         line_coding.dwDTERate,
                         line_coding.bDataBits,
-                        parity_name[line_coding.bParityType],
-                        stop_name[line_coding.bCharFormat]);
+                        line_coding.bParityType,
+                        line_coding.bCharFormat);
 
             usbd_cdc_acm_set_line_coding(intf_num, &line_coding);
             break;

src/epcan.h

@@ -29,7 +29,7 @@ enum {
 	EPCAN_NODE_TX,				/* send to remote node */
 	EPCAN_NODE_GET,				/* request to GET register data */
 	EPCAN_NODE_SET,				/* request to SET register data */
-	EPCAN_NODE_DATA				/* reply to GET request */
+	EPCAN_NODE_DATA				/* reply to the GET request */
 };
 
 enum {
@@ -70,7 +70,7 @@ typedef struct {
 	int		ID;		/* CAN ID of the endpoint (EP) */
 	int		clock_ID;	/* CAN ID used as clock */
 
-	float		reg_DATA;	/* current DATA */
+	float		reg_DATA;	/* actual DATA */
 	int		reg_ID;		/* linked register ID */
 
 	int		PAYLOAD;	/* packet payload type */