add some pinouts to README

only one motor

Inc/address_selector.h

@@ -0,0 +1,6 @@
+#include <stdint.h>
+
+void adress_selector_init_gpio();
+uint8_t read_address();
+
+extern uint8_t dmx_address;

Inc/stepper.h

@@ -0,0 +1,29 @@
+#include "stm32g0b1xx.h"
+#include <stdint.h>
+
+typedef struct {
+    GPIO_TypeDef* en_port;
+    uint8_t en_pin;
+    GPIO_TypeDef* dir_port;
+    uint8_t dir_pin;
+    GPIO_TypeDef* step_port;
+    uint8_t step_pin;
+    GPIO_TypeDef* home_port;
+    uint8_t home_pin;
+    uint8_t homed:1;
+    uint8_t trigger_step:1;
+    int32_t home_position;
+    int32_t pos;
+    int32_t endless_rot_integrator;
+    int32_t speed;
+    int32_t ramp_to_speed;
+    uint32_t next_step;
+} stepper_T;
+  
+#define STEPPER_MAX_SPEED 400
+
+#define STEPPER_STEPS_PER_ROTATION 3200*4 
+
+void Timer1_Init(void);
+void stepper_gpio_init();
+void do_steps();

Inc/uart_dmx.h

@@ -0,0 +1,9 @@
+#include "stm32g0b1xx.h"
+
+#define BUFFER_SIZE 515
+
+extern uint8_t rxBuffer[BUFFER_SIZE];
+extern uint16_t rxBufferPos;
+
+void init_UART1_it();
+void init_UART1_dma();

Makefile

@@ -22,7 +22,7 @@ TARGET = Parafraktor
 # debug build?
 DEBUG = 1
 # optimization
-OPT = -Og
+OPT = -O0
 
 
 #######################################
@@ -37,6 +37,9 @@ BUILD_DIR = build
 # C sources
 C_SOURCES =  \
 Src/main.c \
+Src/uart_dmx.c \
+Src/address_selector.c \
+Src/stepper.c \
 Src/stm32g0xx_it.c \
 Src/stm32g0xx_hal_msp.c \
 Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_tim.c \
@@ -59,7 +62,7 @@ Drivers/RTT/RTT/SEGGER_RTT.c \
 Drivers/RTT/RTT/SEGGER_RTT_printf.c \
 Drivers/RTT/Syscalls/SEGGER_RTT_Syscalls_GCC.c \
 Drivers/SystemView/SYSVIEW/SEGGER_SYSVIEW.c \
-Drivers/SystemView/Sample/NoOS/Config/Cortex-M0/SEGGER_SYSVIEW_Config_NoOS_CM0.c\
+Drivers/SystemView/Sample/NoOS/Config/Cortex-M0/SEGGER_SYSVIEW_Config_NoOS_CM0.c \
 Src/system_stm32g0xx.c
 
 # ASM sources
@@ -112,7 +115,11 @@ AS_DEFS =
 # C defines
 C_DEFS =  \
 -DUSE_HAL_DRIVER \
--DSTM32G0B1xx
+-DSTM32G0B1xx \
+
+ifneq ($(DMX_ADDRESS),)
+    C_DEFS += -DDMX_ADDRESS=$(DMX_ADDRESS)
+endif
 
 
 # AS includes

README.md

@@ -0,0 +1,89 @@
+# Parafraktor
+## Hardware Connections
+- Motor1: P30 (M1)
+- Motor2: P53 (M2)
+- Motor3: P46 (M3A)
+- Motor4: P70 (M4)
+- Motor5: P31 (M5)
+- Motor6: P71 (M7)
+- 24V: Power + -
+- TTL-level DMX: FWS 
+- Limit switches: EXP2 (optional)
+- Address selector: EXP1 (optional)
+- VM/VBB(?) Jumper must be set on every motor driver
+
+## DMX Registers
+
+Control Motors 1 - 6 
+
+| Offset  | Motor | Function     | Values    |                                |
+| ------- | ----- | ------------ | --------- | ------------------------------ |
+| 1       |   1   | Tilt         | 000 - 255 | 8bit Position values can be combined to 16bit value   |
+| 2       |   1   | Tilt fine    | 000 - 255 |         |
+| 3       |   1   | Endless Tilt | 000 - 004 | No function                    |
+|         |       |              | 005 - 121 | Forward Rotation fast -> slow  |
+|         |       |              | 122 - 132 | Stop                           |
+|         |       |              | 133 - 250 | Backward Rotation slow -> fast |
+|         |       |              | 251 - 255 | No function                    |
+| ...     |  ...  | ...          | ...       | ...                            |
+| 16      |   6   | Tilt         |           |                                |
+| 17      |   6   | Tilt fine    |           |                                |
+| 18      |   6   | Endless Tilt |           |                                |
+
+## Compile, Flash & Debug
+
+requirements:
+- for compiling: arm-none-eabi-toolchain, gnu-make, git
+- for flashing: SEGGER J-Link, JLinkGDBServer (other Debug Probes can be used, see Makefile)
+
+run gdb-server<br />
+`./gdb.sh`
+
+build and flash firmware with static DMX-Address<br />
+`make program DMX_ADDRESS=99`
+
+build and flash firmware with address selector on EXP1<br />
+`make program`
+
+open serial RTT prints:<br />
+`telnet localhost 9000`
+
+open cgdb debugger:<br />
+`./debug.sh`
+
+## non-obvious PinOuts
+
+### DMX/UART/FWS
+| Pin # | connect to RS485 Transceiver
+| - | ----------|
+| 1 | NC        |
+| 2 | DATA-in   |
+| 3 | GND       |
+| 4 | 5V  (only connect if not powered by other board) |
+
+
+### Limit Switches/EXP2
+|Pin #| Switch    |Pin #| Switch    |
+| --- | ----------| --- | ----------|
+|  1  | M1 (PB14) |  2  | M2 (PB13) |
+|  3  | M3 (PF7)  |  4  | M4 (PB12) |
+|  5  | M5 (PE7)  |  6  | M6 (PB11) |
+|  7  |           |  8  |           |
+|  9  | GND       | 10  |           |
+
+### Address Selector/EXP1
+|Pin #| Switch    |Pin #| Switch    |
+| --- | ----------| --- | ----------|
+|  1  |           |  2  |           |
+|  3  |           |  4  |           |
+|  5  |           |  6  |           |
+|  7  |           |  8  |           |
+|  9  | GND       | 10  | 5V        |
+
+
+## Hardware
+
+- BIGTREETECH Manta M8P v1.1
+    - https://github.com/bigtreetech/Manta-M8P/tree/master/V1.0_V1.1/Hardware
+    - https://github.com/bigtreetech/Manta-M8P
+    - https://bttwiki.com/M8P.html#product-profile

Src/address_selector.c

@@ -0,0 +1,53 @@
+#include "stm32g0b1xx.h"
+#include <stdio.h>
+
+uint8_t dmx_address;
+
+void adress_selector_init_gpio(){
+    RCC->IOPENR |= RCC_IOPENR_GPIOEEN;
+    RCC->IOPENR |= RCC_IOPENR_GPIOBEN;
+
+    GPIOE->MODER &= ~(0x3 << (9 * 2));
+    GPIOE->MODER &= ~(0x3 << (10 * 2));
+    GPIOE->MODER &= ~(0x3 << (11 * 2));
+    GPIOE->MODER &= ~(0x3 << (12 * 2));
+    GPIOE->MODER &= ~(0x3 << (13 * 2));
+    GPIOE->MODER &= ~(0x3 << (14 * 2));
+    GPIOE->MODER &= ~(0x3 << (15 * 2));
+    GPIOB->MODER &= ~(0x3 << (10 * 2)); // B10
+
+    GPIOE->PUPDR &= ~(0x3 << (9 * 2));
+    GPIOE->PUPDR |=  (0x1 << (9 * 2));
+
+    GPIOE->PUPDR &= ~(0x3 << (10 * 2));
+    GPIOE->PUPDR |=  (0x1 << (10 * 2));
+
+    GPIOE->PUPDR &= ~(0x3 << (11 * 2));
+    GPIOE->PUPDR |=  (0x1 << (11 * 2));
+
+    GPIOE->PUPDR &= ~(0x3 << (12 * 2));
+    GPIOE->PUPDR |=  (0x1 << (12 * 2));
+
+    GPIOE->PUPDR |=  (0x1 << (13 * 2));
+    GPIOE->PUPDR &= ~(0x3 << (13 * 2));
+
+    GPIOE->PUPDR |=  (0x1 << (14 * 2));
+    GPIOE->PUPDR &= ~(0x3 << (14 * 2));
+
+    GPIOE->PUPDR |=  (0x1 << (15 * 2));
+    GPIOE->PUPDR &= ~(0x3 << (15 * 2));
+
+    GPIOB->PUPDR &= ~(0x3 << (10 * 2)); // B10
+    GPIOB->PUPDR |=  (0x1 << (10 * 2));
+}
+
+uint8_t read_address(){
+#ifndef DMX_ADDRESS
+    uint16_t address = ((GPIOE->IDR >> 9)&0x7F) | (GPIOB->IDR & (1<<10))>>3;
+    printf("read address: %d = 0x%x\n", address, address);
+#else
+    uint16_t address = DMX_ADDRESS;
+    printf("static address: %d\n", address);
+#endif
+    return address;
+}

Src/main.c

@@ -27,6 +27,10 @@
 #include "stm32g0xx_hal_cortex.h"
 #include <stdint.h>
 #include <stdio.h>
+
+#include "uart_dmx.h"
+#include "stepper.h"
+#include "address_selector.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -53,157 +57,14 @@
 /* Private function prototypes -----------------------------------------------*/
 void SystemClock_Config(void);
 static void MX_GPIO_Init(void);
+
 /* USER CODE BEGIN PFP */
 
 /* USER CODE END PFP */
 
 /* Private user code ---------------------------------------------------------*/
 /* USER CODE BEGIN 0 */
-#define BUFFER_SIZE 515
-uint8_t rxBuffer[BUFFER_SIZE];
-uint16_t rxBufferPos = 0;
-
-void init_UART1_it(){
-    RCC->APBENR2 |= RCC_APBENR2_USART1EN;
-    RCC->IOPENR |= RCC_IOPENR_GPIOCEN;
-
-    GPIOC->MODER &= ~GPIO_MODER_MODE5; // Alternate function mode on RX pin
-    GPIOC->MODER |= GPIO_MODER_MODE5_1;
-    GPIOC->AFR[0] &= GPIO_AFRL_AFSEL5;
-    GPIOC->AFR[0] |= 1 << GPIO_AFRL_AFSEL5_Pos; // AF1 -> USART1 RX
-
-    USART1->BRR = 128; // 32000000÷250000
-    USART1->CR1 = USART_CR1_RE;
-
-    USART1->CR3 |= USART_CR3_EIE; // Interrupt on BREAK (and other errors)
-    USART1->CR1 |= USART_CR1_RXNEIE_RXFNEIE; // RX Interrupt
-
-    USART1->CR1 |= USART_CR1_UE;
-
-    HAL_NVIC_SetPriority(USART1_IRQn, 0, 0);
-    HAL_NVIC_EnableIRQ(USART1_IRQn);
-}
-
-void init_UART1_dma(){
-    RCC->IOPENR |= RCC_IOPENR_GPIOCEN;
-    RCC->APBENR2 |= RCC_APBENR2_USART1EN;
-    RCC->AHBENR |= RCC_AHBENR_DMA1EN;
-
-    GPIOC->MODER &= ~GPIO_MODER_MODE5; // Alternate function mode on RX pin
-    GPIOC->MODER |= GPIO_MODER_MODE5_1;
-    GPIOC->AFR[0] &= GPIO_AFRL_AFSEL5;
-    GPIOC->AFR[0] |= 1 << GPIO_AFRL_AFSEL5_Pos; // AF1 -> USART1 RX
-
-    USART1->BRR = 256; // 64000000÷250000
-    USART1->CR1 = USART_CR1_RE;
-
-    USART1->CR3 |= USART_CR3_EIE; // Interrupt on BREAK (and other errors)
-    USART1->CR3 |= USART_CR3_DMAR; // DMA Receiver mode
-
-    DMA1_Channel1->CCR = (0x02 << DMA_CCR_PL_Pos) | DMA_CCR_MINC | DMA_CCR_TCIE;
-
-    DMA1_Channel1->CMAR  = ( uint32_t )&rxBuffer[0];
-    DMA1_Channel1->CPAR  = ( uint32_t )&(USART1->RDR);
-    DMA1_Channel1->CNDTR = 5;
-
-    DMAMUX1_Channel0->CCR &= ~( DMAMUX_CxCR_DMAREQ_ID );
-    DMAMUX1_Channel0->CCR |=  ( 50 << DMAMUX_CxCR_DMAREQ_ID_Pos ); // 50 -> USART1 RX
-
-    USART1->CR1 |= USART_CR1_UE;
-
-    HAL_NVIC_SetPriority(USART1_IRQn, 0, 0);
-    HAL_NVIC_EnableIRQ(USART1_IRQn);
 
-    HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
-    HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
-}
-
-void Reset_DMA(void) {
-    // Disable the DMA channel
-    DMA1_Channel1->CCR &= ~DMA_CCR_EN; // Disable DMA Channel 1
-
-    // Clear the transfer complete flag
-    DMA1->IFCR |= DMA_IFCR_CTCIF1; // Clear transfer complete flag for Channel 1
-
-    // Reconfigure the DMA
-    DMA1_Channel1->CMAR = (uint32_t)rxBuffer; // Set memory address to the start of the buffer
-    DMA1_Channel1->CNDTR = BUFFER_SIZE; // Set number of data items to transfer
-
-    // Enable the DMA channel again
-    DMA1_Channel1->CCR |= DMA_CCR_EN; // Enable DMA Channel 1
-}
-
-void USART1_IRQHandler(){
-    SEGGER_SYSVIEW_RecordEnterISR();
-     if(USART1->ISR & USART_ISR_RXNE_RXFNE){
-         //SEGGER_SYSVIEW_PrintfHost("RXNE");
-         //printf("%x ", USART1->RDR);
-         rxBuffer[rxBufferPos++] = USART1->RDR;
-         if(rxBufferPos >= BUFFER_SIZE){
-             rxBufferPos = 0;
-         }
-     }
-
-     if(USART1->ISR & USART_ISR_FE){
-         //TODO read rx==0
-         USART1->ICR = USART_ICR_FECF;
-         //if(rxBufferPos != 514)
-         //    printf("FE after %d\n",rxBufferPos);
-         //rxBufferPos = 0;
-         //DMA1_Channel1->CNDTR = 1;
-         SEGGER_SYSVIEW_PrintfHost("FE");
-         Reset_DMA();
-         //DMA1_Channel1->CCR &= ~( DMA_CCR_EN );
-         //DMA1_Channel1->CNDTR = 512;
-         //DMA1_Channel1->CMAR  = ( uint32_t )&rxBuffer[0];
-         //DMA1_Channel1->CCR |= ( DMA_CCR_EN );
-         ////DMA1_Channel1->CCR |= ( DMA_CCR_EN );
-     }
-     if(USART1->ISR & USART_ISR_ORE){
-         USART1->ICR = USART_ICR_ORECF;
-         //printf("ORE\n");
-         //SEGGER_SYSVIEW_PrintfHost("ORE");
-     }
-     if(USART1->ISR & USART_ISR_NE){
-         USART1->ICR = USART_ICR_NECF;
-         printf("NE\n");
-     }
-     if(USART1->ISR & USART_ISR_UDR){
-         USART1->ICR = USART_ICR_UDRCF;
-         printf("UDR\n");
-     }
-    SEGGER_SYSVIEW_RecordExitISR();
-}
-
-void DMA1_Channel1_IRQHandler(){
-    SEGGER_SYSVIEW_RecordEnterISR();
-    if(DMA1->ISR & DMA_ISR_TCIF1){
-        DMA1->IFCR = DMA_IFCR_CTCIF1;
-    }
-    SEGGER_SYSVIEW_PrintfHost("DMA");
-    SEGGER_SYSVIEW_RecordExitISR();
-}
-
-void init_stepper(){
-    RCC->IOPENR |= RCC_IOPENR_GPIOBEN;
-    RCC->IOPENR |= RCC_IOPENR_GPIOCEN;
-    RCC->IOPENR |= RCC_IOPENR_GPIOEEN;
-
-    // Set to output (00: Input, 01: Output, 10: Alternate function, 11: Analog)
-    // PB4 Direction
-    GPIOB->MODER &= ~(0x3 << (4 * 2)); // Clear mode bits for PB4
-    GPIOB->MODER |= (0x1 << (4 * 2));  // Set mode to output for PB4
-
-    // PC11 Enable
-    GPIOC->MODER &= ~(0x3 << (11 * 2)); // Clear mode bits for PC11
-    GPIOC->MODER |= (0x1 << (11 * 2));  // Set mode to output for PC11
-
-    // PE2 Step
-    GPIOE->MODER &= ~(0x3 << (2 * 2));   // Clear mode bits for PE2
-    GPIOE->MODER |= (0x1 << (2 * 2));    // Set mode to output for PE2
-
-    GPIOC->BSRR |= GPIO_BSRR_BS11;
-}
 /* USER CODE END 0 */
 
 /**
@@ -239,24 +100,28 @@ int main(void)
   MX_GPIO_Init();
   /* USER CODE BEGIN 2 */
   init_UART1_dma(); 
-  init_stepper();
+  stepper_gpio_init();
+  adress_selector_init_gpio();
+  dmx_address = read_address();
+  
+  Timer1_Init();
   /* USER CODE END 2 */
 
   /* Infinite loop */
   /* USER CODE BEGIN WHILE */
-  //HAL_UART_Receive_DMA(&huart1, rxBuffer, BUFFER_SIZE);
+  //uint16_t cnt = 0;
-  uint16_t cnt = 0;
   while (1)
   {
-      printf("buf: ");
+      //printf("buf: ");
-      for(uint16_t i=0; i<10; i++)
+      //for(uint16_t i=0; i<10; i++)
-          printf("0x%02X ", rxBuffer[i]);
+      //    printf("0x%02X ", rxBuffer[i]);
-      printf("\n");
+      //printf("\n");
       SEGGER_SYSVIEW_OnIdle();
-      if(cnt++ >= 260-rxBuffer[1]){
+      //read_address();
-          cnt = 0;
+      //if(cnt++ >= 256-rxBuffer[1]){
-          GPIOE->ODR ^= GPIO_ODR_OD2;
+      //    cnt = 0;
-      }
+      //    GPIOE->ODR ^= GPIO_ODR_OD2;
+      //}
     /* USER CODE END WHILE */
 
     /* USER CODE BEGIN 3 */

Src/stepper.c

@@ -0,0 +1,227 @@
+#include "stm32g0b1xx.h"
+#include "stepper.h"
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+#include "SEGGER_SYSVIEW.h"
+#include "uart_dmx.h"
+#include "address_selector.h"
+
+stepper_T steppers[] = {
+    {.en_port=GPIOC, .en_pin=11, .dir_port=GPIOB, .dir_pin=4,  .step_port=GPIOE, .step_pin=2,  .home_port=GPIOB, .home_pin=14, .home_position=0, .homed = 0},
+    {.en_port=GPIOB, .en_pin=3,  .dir_port=GPIOF, .dir_pin=11, .step_port=GPIOF, .step_pin=12, .home_port=GPIOB, .home_pin=13, .home_position=0, .homed = 0},
+    {.en_port=GPIOF, .en_pin=10, .dir_port=GPIOD, .dir_pin=6,  .step_port=GPIOD, .step_pin=7,  .home_port=GPIOF, .home_pin=7,  .home_position=0, .homed = 0},
+    {.en_port=GPIOD, .en_pin=5,  .dir_port=GPIOD, .dir_pin=2,  .step_port=GPIOD, .step_pin=3,  .home_port=GPIOB, .home_pin=12, .home_position=0, .homed = 0},
+    {.en_port=GPIOD, .en_pin=1,  .dir_port=GPIOC, .dir_pin=8,  .step_port=GPIOC, .step_pin=9,  .home_port=GPIOE, .home_pin=7,  .home_position=0, .homed = 0},
+    {.en_port=GPIOD, .en_pin=15, .dir_port=GPIOD, .dir_pin=9,  .step_port=GPIOD, .step_pin=11, .home_port=GPIOB, .home_pin=11, .home_position=0, .homed = 0},
+    //{.en_port=GPIOA, .en_pin=15, .dir_port=GPIOA, .dir_pin=14, .step_port=GPIOA, .step_pin=10, .home_port=GPIOB, .home_pin=11, .home_position=0, .homed = 1},
+};
+
+void set_pins(stepper_T* stp){
+    // Set direction (00: Input, 01: Output, 10: Alternate function, 11: Analog)
+
+    // enable
+    stp->en_port->MODER &= ~(0x3 << (stp->en_pin * 2));
+    stp->en_port->MODER |=  (0x1 << (stp->en_pin * 2));
+
+    // direction
+    stp->dir_port->MODER &= ~(0x3 << (stp->dir_pin * 2));
+    stp->dir_port->MODER |=  (0x1 << (stp->dir_pin * 2));
+
+    // step
+    stp->step_port->MODER &= ~(0x3 << (stp->step_pin * 2));
+    stp->step_port->MODER |=  (0x1 << (stp->step_pin * 2));
+
+    // home switch
+    stp->home_port->MODER &= ~(0x3 << (stp->home_pin * 2));
+    stp->home_port->PUPDR &= ~(0x3 << (stp->home_pin * 2));
+    stp->home_port->PUPDR |=  (0x1 << (stp->home_pin * 2));
+
+    // make shure stepper is enabled (active low)
+    stp->en_port->BSRR |= (0x1 << (stp->en_pin + 16));
+}
+
+void stepper_gpio_init(){
+    RCC->IOPENR |= RCC_IOPENR_GPIOAEN;
+    RCC->IOPENR |= RCC_IOPENR_GPIOBEN;
+    RCC->IOPENR |= RCC_IOPENR_GPIOCEN;
+    RCC->IOPENR |= RCC_IOPENR_GPIODEN;
+    RCC->IOPENR |= RCC_IOPENR_GPIOEEN;
+    RCC->IOPENR |= RCC_IOPENR_GPIOFEN;
+
+    for(uint8_t i=0; i<(sizeof(steppers)/sizeof(stepper_T)); i++){
+        set_pins(&steppers[i]);
+    }
+}
+
+void Timer1_Init(void) {
+    // Step 1: Enable the clock for Timer 1
+    RCC->APBENR2 |= RCC_APBENR2_TIM1EN;  // Enable TIM1 clock
+
+    // Step 2: Configure Timer 1
+    TIM1->PSC = 64;
+    TIM1->ARR = 100;
+    TIM1->DIER |= TIM_DIER_UIE; // Enable update interrupt
+
+    // Step 3: Enable Timer 1
+    TIM1->CR1 |= TIM_CR1_CEN; // Enable the timer
+
+    // Step 4: Enable the interrupt in NVIC
+    NVIC_EnableIRQ(TIM1_BRK_UP_TRG_COM_IRQn); // Enable Timer 1 interrupt in NVIC
+}
+
+// Timer 1 Update Interrupt Handler
+void TIM1_BRK_UP_TRG_COM_IRQHandler(void) {
+    SEGGER_SYSVIEW_RecordEnterISR();
+    if (TIM1->SR & TIM_SR_UIF) { // Check if the update interrupt flag is set
+        TIM1->SR &= ~TIM_SR_UIF; // Clear the update interrupt flag
+
+        //SEGGER_SYSVIEW_PrintfHost("do step");
+        do_steps();
+    }
+    SEGGER_SYSVIEW_RecordExitISR();
+}
+
+void do_steps(){
+    static uint32_t timer = 0;
+    int16_t rotation_speed = 0;
+    timer++;
+
+    for(uint8_t i=0; i<(sizeof(steppers)/sizeof(stepper_T)); i++){
+        if((steppers[i].ramp_to_speed != 0 && steppers[i].next_step == timer) || steppers[i].trigger_step){
+            /* reset trigger */
+            steppers[i].trigger_step = 0;
+
+            /* ramp speed */
+            if(steppers[i].speed < steppers[i].ramp_to_speed)
+               steppers[i].speed++;
+            if(steppers[i].speed > steppers[i].ramp_to_speed)
+               steppers[i].speed--;
+
+            /* limit max speed */
+            if(steppers[i].speed >= STEPPER_MAX_SPEED)
+               steppers[i].speed=STEPPER_MAX_SPEED;
+            if(steppers[i].speed <= -STEPPER_MAX_SPEED)
+               steppers[i].speed=-STEPPER_MAX_SPEED;
+
+            /* get direction from sign */
+            if(steppers[i].speed>0)
+                steppers[i].dir_port->BSRR |= 1 << steppers[i].dir_pin;
+            if(steppers[i].speed<0)
+                steppers[i].dir_port->BSRR |= 1 << (steppers[i].dir_pin + 16);
+
+            // avoid division by zero
+            if(steppers[i].speed != 0){
+                /* calculate next step time 
+                 *
+                 * should be safe for 1 overflow; speeds which
+                 * require longer wait times than uint32_max not supported
+                 * */
+                steppers[i].next_step = timer + (1000/abs(steppers[i].speed));
+
+                /* step and count position */
+                steppers[i].step_port->ODR ^= 1 << steppers[i].step_pin;
+                if(steppers[i].speed>0)
+                    steppers[i].pos++;
+                if(steppers[i].speed<0)
+                    steppers[i].pos--;
+
+            }
+            else{
+                // dont send step at speed == 0
+                steppers[i].next_step = timer + 1;
+            }
+
+            //printf("motor[%d]: pos %ld\trot: %ld\tspeed %ld\n", i, steppers[i].pos, steppers[i].endless_rot_integrator, steppers[i].speed);
+            //printf("rotation speed: %d\n", rotation_speed);
+        }
+
+        if(steppers[i].homed){
+            static uint16_t old_ramp_to_speed;
+            old_ramp_to_speed = steppers[i].ramp_to_speed;
+
+            uint8_t raw_endless = rxBuffer[3*i + dmx_address + 2];
+
+            /* deadzone on top and bottom */
+            if(raw_endless >= 5 && raw_endless <= 250) {
+                rotation_speed = raw_endless - 127;
+
+                /* dead zone in the middle */
+                if(rotation_speed >= 5)
+                    rotation_speed -= 5;
+                else if(rotation_speed <= -5)
+                    rotation_speed += 5;
+                else
+                    rotation_speed = 0;
+            }
+            else{
+                rotation_speed = 0;
+            }
+
+            if(steppers[i].pos == STEPPER_STEPS_PER_ROTATION+1){
+                steppers[i].pos = 1;
+            }
+            if(steppers[i].pos == -1){
+                steppers[i].pos = STEPPER_STEPS_PER_ROTATION-1;
+            }
+
+            ///* handle endless rotation offset and wraparound */
+            //if(rotation_speed){
+            //    steppers[i].endless_rot_integrator += rotation_speed;
+            //    if(steppers[i].endless_rot_integrator >= STEPPER_STEPS_PER_ROTATION)
+            //    {
+            //        steppers[i].endless_rot_integrator -= STEPPER_STEPS_PER_ROTATION;
+            //        steppers[i].pos -= STEPPER_STEPS_PER_ROTATION;
+            //    }
+            //    else if(steppers[i].endless_rot_integrator <= 0)
+            //    {
+            //        steppers[i].endless_rot_integrator += STEPPER_STEPS_PER_ROTATION;
+            //        steppers[i].pos += STEPPER_STEPS_PER_ROTATION;
+            //    }
+            //}
+            //else
+            //    steppers[i].endless_rot_integrator = 0;
+
+            if(rotation_speed){
+                steppers[i].ramp_to_speed = rotation_speed;
+            }
+            else{
+                int32_t swapped_val = rxBuffer[3*i + dmx_address]<<8 | (rxBuffer[3*i+dmx_address+1]&0xFF);
+                //swapped_val += steppers[i].endless_rot_integrator;
+                int32_t scaled_steps = swapped_val * STEPPER_STEPS_PER_ROTATION / UINT16_MAX;
+                steppers[i].ramp_to_speed = scaled_steps - steppers[i].pos;
+                //static int cnt = 0;
+                //if(i==5 && ++cnt==10000){
+                //    printf("swapped_val[%d]: %d\n", i, swapped_val);
+                //    cnt=0;
+                //}
+            }
+
+            if(old_ramp_to_speed == 0 && steppers[i].ramp_to_speed != 0)
+                steppers[i].trigger_step = 1;
+        }
+        else{
+            if(~(steppers[i].home_port->IDR) & (1 << steppers[i].home_pin)){
+                steppers[i].pos = steppers[i].home_position;
+                steppers[i].homed = 1;
+                steppers[i].speed = 0;
+                steppers[i].ramp_to_speed = 0;
+                printf("homed %d\n", i);
+            }
+            else if(steppers[i].pos == 2*STEPPER_STEPS_PER_ROTATION){
+                steppers[i].pos = 0;
+                steppers[i].homed = 1;
+                steppers[i].speed = 0;
+                steppers[i].ramp_to_speed = 0;
+                printf("cant home %d, setting 0 now\n", i);
+            }
+            else{
+                if(steppers[i].ramp_to_speed == 0){
+                    steppers[i].ramp_to_speed=80;
+                    steppers[i].trigger_step = 1; // trigger first step
+                }
+            }
+        }
+    }
+}

Src/uart_dmx.c

@@ -0,0 +1,129 @@
+#include "uart_dmx.h"
+#include "SEGGER_SYSVIEW.h"
+#include "stdio.h"
+#include "stm32g0xx_hal.h"
+#include "system_stm32g0xx.h"
+
+uint8_t rxBuffer[BUFFER_SIZE];
+uint16_t rxBufferPos = 0;
+
+void init_UART1_it(){
+    RCC->APBENR2 |= RCC_APBENR2_USART1EN;
+    RCC->IOPENR |= RCC_IOPENR_GPIOCEN;
+
+    GPIOC->MODER &= ~GPIO_MODER_MODE5; // Alternate function mode on RX pin
+    GPIOC->MODER |= GPIO_MODER_MODE5_1;
+    GPIOC->AFR[0] &= GPIO_AFRL_AFSEL5;
+    GPIOC->AFR[0] |= 1 << GPIO_AFRL_AFSEL5_Pos; // AF1 -> USART1 RX
+
+    USART1->BRR = 128; // 32000000÷250000
+    USART1->CR1 = USART_CR1_RE;
+
+    USART1->CR3 |= USART_CR3_EIE; // Interrupt on BREAK (and other errors)
+    USART1->CR1 |= USART_CR1_RXNEIE_RXFNEIE; // RX Interrupt
+
+    USART1->CR1 |= USART_CR1_UE;
+
+    HAL_NVIC_SetPriority(USART1_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(USART1_IRQn);
+}
+
+void init_UART1_dma(){
+    RCC->IOPENR |= RCC_IOPENR_GPIOCEN;
+    RCC->APBENR2 |= RCC_APBENR2_USART1EN;
+    RCC->AHBENR |= RCC_AHBENR_DMA1EN;
+
+    GPIOC->MODER &= ~GPIO_MODER_MODE5; // Alternate function mode on RX pin
+    GPIOC->MODER |= GPIO_MODER_MODE5_1;
+    GPIOC->AFR[0] &= GPIO_AFRL_AFSEL5;
+    GPIOC->AFR[0] |= 1 << GPIO_AFRL_AFSEL5_Pos; // AF1 -> USART1 RX
+
+    USART1->BRR = SystemCoreClock / 250000; // 64000000÷250000
+    USART1->CR1 = USART_CR1_RE;
+
+    USART1->CR3 |= USART_CR3_EIE; // Interrupt on BREAK (and other errors)
+    USART1->CR3 |= USART_CR3_DMAR; // DMA Receiver mode
+
+    DMA1_Channel1->CCR = (0x02 << DMA_CCR_PL_Pos) | DMA_CCR_MINC | DMA_CCR_TCIE;
+
+    DMA1_Channel1->CMAR  = ( uint32_t )&rxBuffer[0];
+    DMA1_Channel1->CPAR  = ( uint32_t )&(USART1->RDR);
+    DMA1_Channel1->CNDTR = 5;
+
+    DMAMUX1_Channel0->CCR &= ~( DMAMUX_CxCR_DMAREQ_ID );
+    DMAMUX1_Channel0->CCR |=  ( 50 << DMAMUX_CxCR_DMAREQ_ID_Pos ); // 50 -> USART1 RX
+
+    USART1->CR1 |= USART_CR1_UE;
+
+    HAL_NVIC_SetPriority(USART1_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(USART1_IRQn);
+
+    HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
+}
+
+void Reset_DMA(void) {
+    // Disable the DMA channel
+    DMA1_Channel1->CCR &= ~DMA_CCR_EN; // Disable DMA Channel 1
+
+    // Clear the transfer complete flag
+    DMA1->IFCR |= DMA_IFCR_CTCIF1; // Clear transfer complete flag for Channel 1
+
+    // Reconfigure the DMA
+    DMA1_Channel1->CMAR = (uint32_t)rxBuffer; // Set memory address to the start of the buffer
+    DMA1_Channel1->CNDTR = BUFFER_SIZE; // Set number of data items to transfer
+
+    // Enable the DMA channel again
+    DMA1_Channel1->CCR |= DMA_CCR_EN; // Enable DMA Channel 1
+}
+
+void USART1_IRQHandler(){
+    SEGGER_SYSVIEW_RecordEnterISR();
+     if(USART1->ISR & USART_ISR_RXNE_RXFNE){
+         //SEGGER_SYSVIEW_PrintfHost("RXNE");
+         //printf("%x ", USART1->RDR);
+         rxBuffer[rxBufferPos++] = USART1->RDR;
+         if(rxBufferPos >= BUFFER_SIZE){
+             rxBufferPos = 0;
+         }
+     }
+
+     if(USART1->ISR & USART_ISR_FE){
+         //TODO read rx==0
+         USART1->ICR = USART_ICR_FECF;
+         //if(rxBufferPos != 514)
+         //    printf("FE after %d\n",rxBufferPos);
+         //rxBufferPos = 0;
+         //DMA1_Channel1->CNDTR = 1;
+         SEGGER_SYSVIEW_PrintfHost("FE");
+         Reset_DMA();
+         //DMA1_Channel1->CCR &= ~( DMA_CCR_EN );
+         //DMA1_Channel1->CNDTR = 512;
+         //DMA1_Channel1->CMAR  = ( uint32_t )&rxBuffer[0];
+         //DMA1_Channel1->CCR |= ( DMA_CCR_EN );
+         ////DMA1_Channel1->CCR |= ( DMA_CCR_EN );
+     }
+     if(USART1->ISR & USART_ISR_ORE){
+         USART1->ICR = USART_ICR_ORECF;
+         //printf("ORE\n");
+         //SEGGER_SYSVIEW_PrintfHost("ORE");
+     }
+     if(USART1->ISR & USART_ISR_NE){
+         USART1->ICR = USART_ICR_NECF;
+         printf("NE\n");
+     }
+     if(USART1->ISR & USART_ISR_UDR){
+         USART1->ICR = USART_ICR_UDRCF;
+         printf("UDR\n");
+     }
+    SEGGER_SYSVIEW_RecordExitISR();
+}
+
+void DMA1_Channel1_IRQHandler(){
+    SEGGER_SYSVIEW_RecordEnterISR();
+    if(DMA1->ISR & DMA_ISR_TCIF1){
+        DMA1->IFCR = DMA_IFCR_CTCIF1;
+    }
+    SEGGER_SYSVIEW_PrintfHost("DMA");
+    SEGGER_SYSVIEW_RecordExitISR();
+}

compile_flags.txt

@@ -2,6 +2,7 @@
 -mthumb
 -DUSE_HAL_DRIVER
 -DSTM32G0B1xx
+-DDMX_ADDRESS=99
 -IInc
 -IDrivers/STM32G0xx_HAL_Driver/Inc
 -IDrivers/STM32G0xx_HAL_Driver/Inc/Legacy
@@ -12,7 +13,7 @@
 -IDrivers/SystemView/Config
 -IDrivers/SystemView/SEGGER
 -IDrivers/SystemView/SYSVIEW
--Og
+-O0
 -Wall
 -fdata-sections
 -ffunction-sections

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