More encapsulation of timer info.

Firmware/include/MyEncoder.h

@@ -7,12 +7,12 @@
 class MyEncoder
 {
 public:
-    MyEncoder(uint8_t _indexPin, void irq(void));
+    MyEncoder(TIM_TypeDef *_tim_base, uint8_t _indexPin, void irq(void));
     int32_t unwrapEncoder(uint16_t in);
     void indexPulse(void);
-    void init(TIM_TypeDef *_tim_base);
+    void init();
     uint8_t indexHappened();
-    double currentPos(volatile uint32_t cnt);
+    double currentPos();
     double frequency(uint64_t time);
     uint8_t getIndexState();
     void setScale(double scale);

Firmware/src/MyEncoder.cpp

@@ -1,7 +1,8 @@
 #include "MyENcoder.h"
 
-MyEncoder::MyEncoder(uint8_t _indexPin, void irq(void))
+MyEncoder::MyEncoder(TIM_TypeDef *_tim_base, uint8_t _indexPin, void irq(void))
 {
+    tim_base = _tim_base;
     indexPin = _indexPin;
     attachInterrupt(digitalPinToInterrupt(indexPin), irq, RISING); // When Index triggered
 }
@@ -29,21 +30,17 @@ void MyEncoder::indexPulse(void)
 {
     if (pleaseZeroTheCounter)
     {
-        TIM2->CNT = 0;
+        tim_base->CNT = 0;
         indexPulseFired = 1;
         Pos.clear();
         TDelta.clear();
         pleaseZeroTheCounter = 0;
     }
 }
-void MyEncoder::init(TIM_TypeDef *_tim_base)
+void MyEncoder::init()
 {
-    EncoderInit.tim_base = _tim_base;
     // Set starting count value
     EncoderInit.SetCount(0);
-    // EncoderInit.SetCount(Tim3, 0);
-    // EncoderInit.SetCount(Tim4, 0);
-    // EncoderInit.SetCount(Tim8, 0);
 }
 
 uint8_t MyEncoder::indexHappened()
@@ -57,7 +54,7 @@ uint8_t MyEncoder::indexHappened()
     return 0;
 }
 
-double MyEncoder::currentPos(volatile uint32_t cnt)
+double MyEncoder::currentPos()
 {
     curPos = unwrapEncoder(tim_base->CNT) * PosScaleRes;
     return curPos;

Firmware/src/main.cpp

@@ -12,7 +12,7 @@ HardwareSerial Serial1(PA10, PA9);
 #include "MyEncoder.h"
 #define INDEX_PIN PA2
 void indexPulseEncoderCB1(void);
-MyEncoder Encoder1(INDEX_PIN, indexPulseEncoderCB1);
+MyEncoder Encoder1(TIM2, INDEX_PIN, indexPulseEncoderCB1);
 void indexPulseEncoderCB1(void)
 {
    Encoder1.indexPulse();
@@ -30,6 +30,7 @@ void cb_set_outputs(void) // Master outputs gets here, slave inputs, first opera
 {
    Encoder1.setLatch(Obj.IndexLatchEnable);
    Encoder1.setScale(Obj.EncPosScale);
+   
    Step1.cmdPos(Obj.StepGenIn1.CommandedPosition);
 }
 
@@ -41,11 +42,12 @@ void handleStepper(void)
 void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
 {
    Obj.IndexStatus = Encoder1.indexHappened();
-   Obj.EncPos = Encoder1.currentPos(TIM2->CNT);
+   Obj.EncPos = Encoder1.currentPos();
    Obj.EncFrequency = Encoder1.frequency(ESCvar.Time);
    Obj.IndexByte = Encoder1.getIndexState();
    if (Obj.IndexByte)
       Serial1.printf("IS 1\n");
+
    Obj.StepGenOut1.ActualPosition = Step1.actPos();
    Obj.DiffT = 10000 * Step1.reqPos();
 }
@@ -83,7 +85,7 @@ void setup(void)
    rcc_config();
 
    Step1.setScale(500);
-   Encoder1.init(TIM2);
+   Encoder1.init();
 
    ecat_slv_init(&config);
 }