Added timer2 for proper start point

Firmware/include/StepGen.h

@@ -16,6 +16,7 @@ private:
     volatile double_t requestedPosition;
     volatile uint8_t enabled;
     HardwareTimer *MyTim;
+    HardwareTimer *MyTim2;
     uint16_t stepsPerMM;
     uint8_t dirPin;
     PinName stepPin;

Firmware/include/StepGen2.h

@@ -18,6 +18,7 @@ private:
     volatile int32_t oldStepPosition;
     volatile uint8_t enabled;
     HardwareTimer *MyTim;
+    HardwareTimer *MyTim2;
     int16_t stepsPerMM;
     uint8_t dirPin;
     PinName stepPin;
@@ -33,7 +34,7 @@ public:
     static uint32_t sync0CycleTime;
     volatile uint32_t lcncCycleTime; // Linuxcnc nominal cycle time (1 ms often)
 
-    StepGen2(TIM_TypeDef *Timer, uint32_t timerChannel, PinName stepPin, uint8_t dirPin, void irq(void));
+    StepGen2(TIM_TypeDef *Timer, TIM_TypeDef *Timer2, uint32_t _timerChannel, PinName _stepPin, uint8_t _dirPin, void irq(void));
 
     uint32_t handleStepper(void);
     void timerCB();
@@ -50,7 +51,6 @@ public:
     void setScale(int16_t spm) { stepsPerMM = spm; }
     int16_t getScale() { return stepsPerMM; }
     uint32_t updatePosAndReturn(int32_t stepPosStop, uint32_t i);
-
 };
 
 #endif

Firmware/src/StepGen2.cpp

@@ -2,7 +2,7 @@
 #include <stdio.h>
 #include "StepGen2.h"
 
-StepGen2::StepGen2(TIM_TypeDef *Timer, uint32_t _timerChannel, PinName _stepPin, uint8_t _dirPin, void irq(void))
+StepGen2::StepGen2(TIM_TypeDef *Timer, TIM_TypeDef *Timer2, uint32_t _timerChannel, PinName _stepPin, uint8_t _dirPin, void irq(void))
 {
     timerIsRunning = 0;
     timerStepPosition = 0;
@@ -22,6 +22,7 @@ StepGen2::StepGen2(TIM_TypeDef *Timer, uint32_t _timerChannel, PinName _stepPin,
     MyTim = new HardwareTimer(Timer);
     MyTim->attachInterrupt(irq);
     pinMode(dirPin, OUTPUT);
+    MyTim2 = new HardwareTimer(Timer2);
 }
 
 uint32_t StepGen2::handleStepper(void)

Firmware/src/main.cpp

@@ -33,6 +33,9 @@ void timerCallbackStep2(void)
 }
 #endif
 #include "StepGen2.h"
+void timerCallbackStep(void);
+StepGen2 Step(TIM1, TIM10, 4, PA_11, PA12, timerCallbackStep);
+void timerCallbackStep(void) { Step.timerCB(); }
 CircularBuffer<uint32_t, 200> Tim;
 volatile uint64_t nowTime = 0, thenTime = 0;