Two encoders and two steppers declared. Encoder is 64-bit again

Firmware/include/MyEncoder.h

@@ -8,9 +8,8 @@ class MyEncoder
 {
 public:
     MyEncoder(TIM_TypeDef *_tim_base, uint8_t _indexPin, void irq(void));
-    int32_t unwrapEncoder(uint16_t in);
+    int64_t unwrapEncoder(uint16_t in);
     void indexPulse(void);
-    void init();
     uint8_t indexHappened();
     double currentPos();
     double frequency(uint64_t time);
@@ -19,7 +18,7 @@ public:
     void setLatch(uint8_t latchEnable);
 
 private:
-    int32_t previousEncoderCounterValue = 0;
+    int64_t previousEncoderCounterValue = 0;
     double PosScaleRes = 1.0;
     uint32_t CurPosScale = 1;
     uint8_t oldLatchCEnable = 0;

Firmware/src/MyEncoder.cpp

@@ -5,12 +5,13 @@ 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
+    EncoderInit.SetCount(0);
 }
 
 #define ONE_PERIOD 65536
 #define HALF_PERIOD 32768
 
-int32_t MyEncoder::unwrapEncoder(uint16_t in)
+int64_t MyEncoder::unwrapEncoder(uint16_t in)
 {
     int32_t c32 = (int32_t)in - HALF_PERIOD;           // remove half period to determine (+/-) sign of the wrap
     int32_t dif = (c32 - previousEncoderCounterValue); // core concept: prev + (current - prev) = current
@@ -20,7 +21,7 @@ int32_t MyEncoder::unwrapEncoder(uint16_t in)
     if (dif < -HALF_PERIOD)
         mod_dif += ONE_PERIOD; // account for mod of negative number behavior in C
 
-    int32_t unwrapped = previousEncoderCounterValue + mod_dif;
+    int64_t unwrapped = previousEncoderCounterValue + mod_dif;
     previousEncoderCounterValue = unwrapped; // load previous value
 
     return unwrapped + HALF_PERIOD; // remove the shift we applied at the beginning, and return
@@ -37,11 +38,6 @@ void MyEncoder::indexPulse(void)
         pleaseZeroTheCounter = 0;
     }
 }
-void MyEncoder::init()
-{
-    // Set starting count value
-    EncoderInit.SetCount(0);
-}
 
 uint8_t MyEncoder::indexHappened()
 {
@@ -96,4 +92,3 @@ void MyEncoder::setLatch(uint8_t latchEnable)
     }
     oldLatchCEnable = latchEnable;
 }
-

Firmware/src/main.cpp

@@ -10,13 +10,20 @@ _Objects Obj;
 HardwareSerial Serial1(PA10, PA9);
 
 #include "MyEncoder.h"
-#define INDEX_PIN PA2
 void indexPulseEncoderCB1(void);
-MyEncoder Encoder1(TIM2, INDEX_PIN, indexPulseEncoderCB1);
+MyEncoder Encoder1(TIM2, PA2, indexPulseEncoderCB1);
 void indexPulseEncoderCB1(void)
 {
    Encoder1.indexPulse();
 }
+#if 1
+void indexPulseEncoderCB2(void);
+MyEncoder Encoder2(TIM3, PB6, indexPulseEncoderCB2);
+void indexPulseEncoderCB2(void)
+{
+   Encoder2.indexPulse();
+}
+#endif
 
 #include "StepGen.h"
 void timerCallbackStep1(void);
@@ -25,12 +32,20 @@ void timerCallbackStep1(void)
 {
    Step1.timerCB();
 }
+#if 1
+void timerCallbackStep2(void);
+StepGen Step2(TIM8, 4, PC9, PC10, timerCallbackStep2);
+void timerCallbackStep2(void)
+{
+   Step2.timerCB();
+}
+#endif
 
 void cb_set_outputs(void) // Master outputs gets here, slave inputs, first operation
 {
    Encoder1.setLatch(Obj.IndexLatchEnable);
    Encoder1.setScale(Obj.EncPosScale);
-   
+
    Step1.cmdPos(Obj.StepGenIn1.CommandedPosition);
 }
 
@@ -85,7 +100,6 @@ void setup(void)
    rcc_config();
 
    Step1.setScale(500);
-   Encoder1.init();
 
    ecat_slv_init(&config);
 }