logic might be there

Firmware/include/StepGen2.h

@@ -0,0 +1,53 @@
+
+#ifndef STEPGEN
+#define STEPGEN
+#include <HardwareTimer.h>
+
+class StepGen2
+{
+private:
+    volatile uint8_t timerIsRunning;
+    volatile int32_t timerStepPosition;
+    volatile int32_t timerStepDirection;
+    volatile int32_t timerStepPositionAtEnd;
+    volatile int32_t timerNewEndStepPosition;
+    volatile uint32_t timerNewCycleTime;
+    volatile double_t actualPosition;
+    volatile double_t requestedPosition;
+    volatile double_t oldPosition;
+    volatile int32_t oldStepPosition;
+    volatile uint8_t enabled;
+    HardwareTimer *MyTim;
+    int16_t stepsPerMM;
+    uint8_t dirPin;
+    PinName stepPin;
+    uint32_t timerChan;
+    const uint32_t maxFreq = 100000;
+    volatile uint32_t prevFreq1 = 0;
+    volatile uint32_t prevFreq2 = 0;
+
+    uint32_t err = 0;
+
+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));
+
+    void handleStepper(void);
+    void timerCB();
+    void enable(uint8_t yes);
+
+    void reqPos(double_t pos) { requestedPosition = pos; };
+    double reqPos() { return requestedPosition; };
+    void oldPos(double_t pos) { oldPosition = pos; };
+    double oldPos() { return oldPosition; };
+    void oldStepPos(int32_t pos) { oldStepPosition = pos; }
+    int32_t oldStepPos() { return oldStepPosition; }
+    void actPos(double_t pos) { actualPosition = pos; };
+    double actPos() { return actualPosition; };
+    void setScale(int16_t spm) { stepsPerMM = spm; }
+    int16_t getScale() { return stepsPerMM; }
+};
+
+#endif