added current monitoring to pcb, many code fixes for the protocol / feed control logic, completely reworked diagnostic tool

code/Core/Inc/main.h

@@ -65,6 +65,12 @@ void Error_Handler(void);
 #define PEEL1_GPIO_Port GPIOA
 #define PEEL2_Pin GPIO_PIN_3
 #define PEEL2_GPIO_Port GPIOA
+#define ONEWIRE_Pin GPIO_PIN_6
+#define ONEWIRE_GPIO_Port GPIOA
+#define IPROP_PEEL_Pin GPIO_PIN_7
+#define IPROP_PEEL_GPIO_Port GPIOA
+#define IPROP_DRIVE_Pin GPIO_PIN_12
+#define IPROP_DRIVE_GPIO_Port GPIOB
 #define DRIVE1_Pin GPIO_PIN_8
 #define DRIVE1_GPIO_Port GPIOA
 #define DRIVE2_Pin GPIO_PIN_9
@@ -73,8 +79,6 @@ void Error_Handler(void);
 #define QUAD_A_GPIO_Port GPIOC
 #define QUAD_B_Pin GPIO_PIN_7
 #define QUAD_B_GPIO_Port GPIOC
-#define ONEWIRE_Pin GPIO_PIN_10
-#define ONEWIRE_GPIO_Port GPIOA
 #define LED_R_Pin GPIO_PIN_3
 #define LED_R_GPIO_Port GPIOB
 #define LED_B_Pin GPIO_PIN_4

code/Core/Inc/pid.h

@@ -82,8 +82,8 @@ static inline pid_motor_cmd_t pid_update_motor(pid_i32_t *pid,
 
     int32_t error = setpoint - position;
 
-    // Deadband: if within ±3 counts, hold position and reset integrator
-    if (error >= -3 && error <= 3) {
+    // Deadband: if within ±1 count (~0.005mm), hold position and reset integrator
+    if (error >= -1 && error <= 1) {
         pid->integrator = 0;
         pid->prev_error = 0;
         pid->last_output = 0;

code/Core/Inc/stm32c0xx_hal_conf.h

@@ -35,7 +35,7 @@ extern "C" {
   * @brief This is the list of modules to be used in the HAL driver
   */
 #define HAL_MODULE_ENABLED
-/* #define HAL_ADC_MODULE_ENABLED   */
+#define HAL_ADC_MODULE_ENABLED
 /* #define HAL_CRC_MODULE_ENABLED   */
 /* #define HAL_CRYP_MODULE_ENABLED   */
 /* #define HAL_I2C_MODULE_ENABLED   */

code/Core/Inc/stm32c0xx_it.h

@@ -57,6 +57,7 @@ void DMA1_Channel2_3_IRQHandler(void);
 void TIM14_IRQHandler(void);
 void TIM16_IRQHandler(void);
 void TIM17_IRQHandler(void);
+void USART2_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 
 /* USER CODE END EFP */