From 5df911296c55303767d581bb4f11967fb02dff06 Mon Sep 17 00:00:00 2001
From: Hakan Bastedt <hakan.bastedt@gmail.com>
Date: Thu, 11 Jan 2024 10:54:13 +0100
Subject: [PATCH] sync0CycleTime static member of StepGen

---
 Firmware/include/StepGen.h | 3 +--
 Firmware/src/MyEncoder.cpp | 1 +
 Firmware/src/StepGen.cpp   | 6 ++----
 Firmware/src/main.cpp      | 3 ++-
 4 files changed, 6 insertions(+), 7 deletions(-)

diff --git a/Firmware/include/StepGen.h b/Firmware/include/StepGen.h
index 095e5fd..eeeb469 100755
--- a/Firmware/include/StepGen.h
+++ b/Firmware/include/StepGen.h
@@ -16,7 +16,7 @@ public:
     volatile double_t requestedPosition;
     HardwareTimer *MyTim;
     uint32_t stepsPerMM;
-    uint32_t sync0CycleTime;
+    static uint32_t sync0CycleTime;
     uint8_t dirPin;
     uint8_t stepPin;
     uint8_t timerChan;
@@ -27,7 +27,6 @@ public:
     double actPos();
     double reqPos();
     void handleStepper(void);
-    void setCycleTime(uint32_t cycleTime);
     void makePulses(uint64_t cycleTime /* in usecs */, int32_t pulsesAtEnd /* end position*/);
     void timerCB();
     void setScale(int32_t spm);
diff --git a/Firmware/src/MyEncoder.cpp b/Firmware/src/MyEncoder.cpp
index 0d53d06..79abbb2 100755
--- a/Firmware/src/MyEncoder.cpp
+++ b/Firmware/src/MyEncoder.cpp
@@ -99,3 +99,4 @@ void MyEncoder::setLatch(uint8_t latchEnable)
     }
     oldLatchCEnable = latchEnable;
 }
+
diff --git a/Firmware/src/StepGen.cpp b/Firmware/src/StepGen.cpp
index 8bfa1de..7fc8122 100755
--- a/Firmware/src/StepGen.cpp
+++ b/Firmware/src/StepGen.cpp
@@ -57,10 +57,6 @@ void StepGen::handleStepper(void)
     int32_t pulsesAtEndOfCycle = stepsPerMM * requestedPosition; // From Turner.hal X:5000 Z:2000 ps/mm
     makePulses(sync0CycleTime, pulsesAtEndOfCycle);              // Make the pulses using hardware timer
 }
-void StepGen::setCycleTime(uint32_t cycleTime)
-{
-    sync0CycleTime = cycleTime;
-}
 
 void StepGen::makePulses(uint64_t cycleTime /* in usecs */, int32_t pulsesAtEnd /* end position*/)
 {
@@ -134,3 +130,5 @@ void StepGen::setScale(int32_t spm)
 {
     stepsPerMM = spm;
 }
+
+uint32_t StepGen::sync0CycleTime = 0;
\ No newline at end of file
diff --git a/Firmware/src/main.cpp b/Firmware/src/main.cpp
index 724899f..6c5836f 100755
--- a/Firmware/src/main.cpp
+++ b/Firmware/src/main.cpp
@@ -150,6 +150,7 @@ uint16_t dc_checker(void)
 {
    // Indicate we run DC
    ESCvar.dcsync = 0;
-   Step1.setCycleTime(ESC_SYNC0cycletime() / 1000); // nsec to usec
+   //Step1.setCycleTime(ESC_SYNC0cycletime() / 1000); // nsec to usec
+   StepGen::sync0CycleTime = ESC_SYNC0cycletime() / 1000;
    return 0;
 }