Updated README

Use 4.19-rt kernel
Ethernet Intel I210 controller
ethtool -C enp1s0 rx-usecs 0 tx-usecs 0
2 ms loop time in linuxcnc .ini and .xml and code
baseTimer period can be adjusted
startTime for baseTimer can also be adjusted.

.gitignore

@@ -3,3 +3,4 @@
 .vscode/c_cpp_properties.json
 .vscode/launch.json
 .vscode/ipch
+Octave

CubeMX-files/EtherCAT-PCB-v1.ioc

@@ -9,8 +9,9 @@ Mcu.CPN=STM32F407VGT6
 Mcu.Family=STM32F4
 Mcu.IP0=DAC
 Mcu.IP1=I2C2
-Mcu.IP10=TIM8
-Mcu.IP11=USART1
+Mcu.IP10=TIM5
+Mcu.IP11=TIM9
+Mcu.IP12=USART1
 Mcu.IP2=NVIC
 Mcu.IP3=RCC
 Mcu.IP4=SPI1
@@ -19,48 +20,44 @@ Mcu.IP6=TIM1
 Mcu.IP7=TIM2
 Mcu.IP8=TIM3
 Mcu.IP9=TIM4
-Mcu.IPNb=12
+Mcu.IPNb=13
 Mcu.Name=STM32F407V(E-G)Tx
 Mcu.Package=LQFP100
-Mcu.Pin0=PA0-WKUP
-Mcu.Pin1=PA1
-Mcu.Pin10=PB1
-Mcu.Pin11=PE7
-Mcu.Pin12=PE8
-Mcu.Pin13=PE9
-Mcu.Pin14=PE10
-Mcu.Pin15=PE11
-Mcu.Pin16=PE12
-Mcu.Pin17=PE13
-Mcu.Pin18=PE14
-Mcu.Pin19=PE15
-Mcu.Pin2=PA2
-Mcu.Pin20=PB10
-Mcu.Pin21=PB11
-Mcu.Pin22=PD11
-Mcu.Pin23=PD12
-Mcu.Pin24=PD13
-Mcu.Pin25=PC6
-Mcu.Pin26=PC7
-Mcu.Pin27=PC9
-Mcu.Pin28=PA8
-Mcu.Pin29=PA9
-Mcu.Pin3=PA4
-Mcu.Pin30=PA10
-Mcu.Pin31=PA11
-Mcu.Pin32=PA12
-Mcu.Pin33=PC10
-Mcu.Pin34=PB4
-Mcu.Pin35=PB5
-Mcu.Pin36=PB6
-Mcu.Pin37=VP_SYS_VS_Systick
-Mcu.Pin4=PA5
-Mcu.Pin5=PA6
-Mcu.Pin6=PA7
-Mcu.Pin7=PC4
-Mcu.Pin8=PC5
-Mcu.Pin9=PB0
-Mcu.PinsNb=38
+Mcu.Pin0=PE5
+Mcu.Pin1=PA0-WKUP
+Mcu.Pin10=PB0
+Mcu.Pin11=PB1
+Mcu.Pin12=PE7
+Mcu.Pin13=PE8
+Mcu.Pin14=PE9
+Mcu.Pin15=PE10
+Mcu.Pin16=PE11
+Mcu.Pin17=PE12
+Mcu.Pin18=PE13
+Mcu.Pin19=PE14
+Mcu.Pin2=PA1
+Mcu.Pin20=PE15
+Mcu.Pin21=PB10
+Mcu.Pin22=PB11
+Mcu.Pin23=PD11
+Mcu.Pin24=PD12
+Mcu.Pin25=PC9
+Mcu.Pin26=PA8
+Mcu.Pin27=PA9
+Mcu.Pin28=PA10
+Mcu.Pin29=PA11
+Mcu.Pin3=PA2
+Mcu.Pin30=PA12
+Mcu.Pin31=PC10
+Mcu.Pin32=PB6
+Mcu.Pin33=VP_SYS_VS_Systick
+Mcu.Pin4=PA4
+Mcu.Pin5=PA5
+Mcu.Pin6=PA6
+Mcu.Pin7=PA7
+Mcu.Pin8=PC4
+Mcu.Pin9=PC5
+Mcu.PinsNb=34
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F407VGTx
@@ -84,8 +81,7 @@ PA10.Signal=USART1_RX
 PA11.Signal=S_TIM1_CH4
 PA12.Locked=true
 PA12.Signal=GPIO_Output
-PA2.Locked=true
-PA2.Signal=GPIO_Input
+PA2.Signal=S_TIM5_CH3
 PA4.Signal=COMP_DAC1_group
 PA5.Mode=Full_Duplex_Master
 PA5.Signal=SPI1_SCK
@@ -105,8 +101,6 @@ PB10.Mode=I2C
 PB10.Signal=I2C2_SCL
 PB11.Mode=I2C
 PB11.Signal=I2C2_SDA
-PB4.Signal=S_TIM3_CH1
-PB5.Signal=S_TIM3_CH2
 PB6.Locked=true
 PB6.Signal=GPIO_Input
 PC10.Locked=true
@@ -115,13 +109,10 @@ PC4.Locked=true
 PC4.Signal=GPIO_Output
 PC5.Locked=true
 PC5.Signal=GPIO_Input
-PC6.Signal=S_TIM8_CH1
-PC7.Signal=S_TIM8_CH2
-PC9.Signal=S_TIM8_CH4
+PC9.Signal=S_TIM3_CH4
 PD11.Locked=true
 PD11.Signal=GPIO_Input
 PD12.Signal=S_TIM4_CH1
-PD13.Signal=S_TIM4_CH2
 PE10.Locked=true
 PE10.Signal=GPIO_Output
 PE11.Locked=true
@@ -134,6 +125,7 @@ PE14.Locked=true
 PE14.Signal=GPIO_Input
 PE15.Locked=true
 PE15.Signal=GPIO_Input
+PE5.Signal=S_TIM9_CH1
 PE7.Locked=true
 PE7.Signal=GPIO_Output
 PE8.Locked=true
@@ -200,20 +192,14 @@ SH.S_TIM2_CH1_ETR.0=TIM2_CH1,Encoder_Interface
 SH.S_TIM2_CH1_ETR.ConfNb=1
 SH.S_TIM2_CH2.0=TIM2_CH2,Encoder_Interface
 SH.S_TIM2_CH2.ConfNb=1
-SH.S_TIM3_CH1.0=TIM3_CH1,Encoder_Interface
-SH.S_TIM3_CH1.ConfNb=1
-SH.S_TIM3_CH2.0=TIM3_CH2,Encoder_Interface
-SH.S_TIM3_CH2.ConfNb=1
-SH.S_TIM4_CH1.0=TIM4_CH1,Encoder_Interface
+SH.S_TIM3_CH4.0=TIM3_CH4,PWM Generation4 CH4
+SH.S_TIM3_CH4.ConfNb=1
+SH.S_TIM4_CH1.0=TIM4_CH1,PWM Generation1 CH1
 SH.S_TIM4_CH1.ConfNb=1
-SH.S_TIM4_CH2.0=TIM4_CH2,Encoder_Interface
-SH.S_TIM4_CH2.ConfNb=1
-SH.S_TIM8_CH1.0=TIM8_CH1,Encoder_Interface
-SH.S_TIM8_CH1.ConfNb=1
-SH.S_TIM8_CH2.0=TIM8_CH2,Encoder_Interface
-SH.S_TIM8_CH2.ConfNb=1
-SH.S_TIM8_CH4.0=TIM8_CH4,PWM Generation4 CH4
-SH.S_TIM8_CH4.ConfNb=1
+SH.S_TIM5_CH3.0=TIM5_CH3,Input_Capture3_from_TI3
+SH.S_TIM5_CH3.ConfNb=1
+SH.S_TIM9_CH1.0=TIM9_CH1,PWM Generation1 CH1
+SH.S_TIM9_CH1.ConfNb=1
 SPI1.CalculateBaudRate=8.0 MBits/s
 SPI1.Direction=SPI_DIRECTION_2LINES
 SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate
@@ -221,8 +207,14 @@ SPI1.Mode=SPI_MODE_MASTER
 SPI1.VirtualType=VM_MASTER
 TIM1.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
 TIM1.IPParameters=Channel-PWM Generation4 CH4
-TIM8.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
-TIM8.IPParameters=Channel-PWM Generation4 CH4
+TIM3.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
+TIM3.IPParameters=Channel-PWM Generation4 CH4
+TIM4.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
+TIM4.IPParameters=Channel-PWM Generation1 CH1
+TIM5.Channel-Input_Capture3_from_TI3=TIM_CHANNEL_3
+TIM5.IPParameters=Channel-Input_Capture3_from_TI3
+TIM9.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
+TIM9.IPParameters=Channel-PWM Generation1 CH1
 USART1.IPParameters=VirtualMode
 USART1.VirtualMode=VM_ASYNC
 VP_SYS_VS_Systick.Mode=SysTick

EEPROM_generator/index.html

@@ -1,6 +1,6 @@
 <head>
    <meta charset="UTF-8">
-   <title>🔁 EEPROM Generator | ESI, EEPORM, SOES C code configuration tool</title>
+   <title>🔁 EEPROM Generator | ESI, EEPROM, SOES C code configuration tool</title>
 <!--
  * SOES EEPROM generator
  * This tool serves as:
@@ -52,10 +52,13 @@
                      <option value="INTEGER8">INTEGER8</option>
                      <option value="INTEGER16">INTEGER16</option>
                      <option value="INTEGER32">INTEGER32</option>
+                     <option value="INTEGER64">INTEGER64</option>
                      <option value="UNSIGNED8">UNSIGNED8</option>
                      <option value="UNSIGNED16">UNSIGNED16</option>
                      <option value="UNSIGNED32">UNSIGNED32</option>
+                     <option value="UNSIGNED64">UNSIGNED64</option>
                      <option value="REAL32">REAL32</option>
+                     <option value="REAL64">REAL64</option>
                      <option value="VISIBLE_STRING">VISIBLE STRING</option>
                   </select></td>
                </tr>
@@ -412,4 +415,4 @@
          <input id="restoreFileInput" type='file' accept=".json" style="visibility:hidden;" onchange="readFile(event)" />
       </form>
    </div>
-</body>
+</body>

EEPROM_generator/src/constants.js

@@ -28,10 +28,13 @@ const DTYPE = {
 	INTEGER8 : 'INTEGER8',
 	INTEGER16 : 'INTEGER16',
 	INTEGER32 : 'INTEGER32',
+	INTEGER64 : 'INTEGER64',
 	UNSIGNED8 : 'UNSIGNED8',
 	UNSIGNED16 : 'UNSIGNED16',
 	UNSIGNED32 : 'UNSIGNED32',
+	UNSIGNED64 : 'UNSIGNED64',
 	REAL32 : 'REAL32',
+	REAL64 : 'REAL64',
 	VISIBLE_STRING : 'VISIBLE_STRING',
 	/* TODO implement missing less common types */
 	// OCTET_STRING : 'OCTET_STRING',
@@ -49,10 +52,13 @@ const dtype_bitsize = {
 	'INTEGER8' : 8,
 	'INTEGER16' : 16,
 	'INTEGER32' : 32,
+	'INTEGER64' : 64,
 	'UNSIGNED8' : 8,
 	'UNSIGNED16' : 16,
 	'UNSIGNED32' : 32,
+	'UNSIGNED64' : 64,
 	'REAL32' : 32,
+	'REAL64' : 64,
 	'VISIBLE_STRING' : 8,
 };
 const booleanPaddingBitsize = 7;
@@ -62,10 +68,13 @@ const ESI_DT = {
 	'INTEGER8': { name: 'SINT', bitsize: 8, ctype: 'int8_t' },
 	'INTEGER16': { name: 'INT', bitsize: 16, ctype: 'int16_t' },
 	'INTEGER32': { name: 'DINT', bitsize: 32, ctype: 'int32_t' },
+	'INTEGER64': { name: 'LINT', bitsize: 64, ctype: 'int64_t' },
 	'UNSIGNED8': { name: 'USINT', bitsize: 8, ctype: 'uint8_t' },
 	'UNSIGNED16': { name: 'UINT', bitsize: 16, ctype: 'uint16_t' },
 	'UNSIGNED32': { name: 'UDINT', bitsize: 32, ctype: 'uint32_t' },
-	'REAL32': { name: 'REAL', bitsize: 32, ctype: 'float' }, // TODO check C type name
+	'UNSIGNED64': { name: 'ULINT', bitsize: 64, ctype: 'uint64_t' },
+	'REAL32': { name: 'REAL', bitsize: 32, ctype: 'float' }, 
+	'REAL64': { name: 'LREAL', bitsize: 64, ctype: 'double' }, 
 	'VISIBLE_STRING': { name: 'STRING', bitsize: 8, ctype: 'char *' }, // TODO check C type name
 };
 

EEPROM_generator/src/generators/objectlist.js

@@ -125,7 +125,7 @@ function objectlist_generator(form, od, indexes)
 				objd.items.slice(subindex).forEach(subitem => {
 					var subi = subindex_padded(subindex);
 					const value = objectlist_getItemValue(subitem, objd.dtype);
-					objectlist += `\n  {0x${subi}, DTYPE_${objd.dtype}, ${bitsize}, ${objectlist_objdFlags(objd)}, acName${index}_${subi}, ${value}, ${subitem.data || 'NULL'}},`;
+					objectlist += `\n  {${subi}, DTYPE_${objd.dtype}, ${bitsize}, ${objectlist_objdFlags(objd)}, acName${index}_${subi}, ${value}, ${subitem.data || 'NULL'}},`;
 					subindex++;
 				});
 				break;
@@ -138,7 +138,7 @@ function objectlist_generator(form, od, indexes)
 					const bitsize = dtype_bitsize[subitem.dtype];
 					const value = objectlist_getItemValue(subitem, subitem.dtype);
 					const atypeflag = objectlist_objdFlags(subitem);
-					objectlist += `\n  {0x${subi}, DTYPE_${subitem.dtype}, ${bitsize}, ${atypeflag}, acName${index}_${subi}, ${value}, ${subitem.data || 'NULL'}},`;
+					objectlist += `\n  {${subi}, DTYPE_${subitem.dtype}, ${bitsize}, ${atypeflag}, acName${index}_${subi}, ${value}, ${subitem.data || 'NULL'}},`;
 					subindex++;
 				});
 

Firmware/.gitignore

@@ -3,3 +3,4 @@
 .vscode/c_cpp_properties.json
 .vscode/launch.json
 .vscode/ipch
+.vscode/settings.json

Firmware/.vscode/settings.json

@@ -8,6 +8,11 @@
         "string": "cpp",
         "unordered_map": "cpp",
         "vector": "cpp",
-        "system_error": "cpp"
-    }
+        "system_error": "cpp",
+        "numeric": "cpp",
+        "ostream": "cpp",
+        "cmath": "cpp"
+    },
+    "C_Cpp.errorSquiggles": "disabled",
+    "cmake.configureOnOpen": false
 }

Firmware/doc/.gitignore

@@ -0,0 +1 @@
+.~lock.*

Firmware/include/MyEncoder.h

@@ -0,0 +1,38 @@
+#ifndef MYENCODER
+#define MYENCODER
+#include "Stm32F4_Encoder.h"
+#include <CircularBuffer.hpp>
+#define RINGBUFFERLEN 11
+
+class MyEncoder
+{
+public:
+    MyEncoder(TIM_TypeDef *_tim_base, uint8_t _indexPin, void irq(void));
+    int64_t unwrapEncoder(uint16_t in);
+    void indexPulse(void);
+    uint8_t indexHappened();
+    double currentPos();
+    double frequency(uint64_t time);
+    uint8_t getIndexState();
+    void setScale(double scale);
+    void setLatch(uint8_t latchEnable);
+
+private:
+    int64_t previousEncoderCounterValue = 0;
+    double PosScaleRes = 1.0;
+    uint32_t CurPosScale = 1;
+    uint8_t oldLatchCEnable = 0;
+    volatile uint8_t indexPulseFired = 0;
+    volatile uint8_t pleaseZeroTheCounter = 0;
+    Encoder EncoderInit;
+    uint8_t indexPin;
+
+    CircularBuffer<double_t, RINGBUFFERLEN> Pos;
+    CircularBuffer<uint32_t, RINGBUFFERLEN> TDelta;
+    double curPos;
+    double oldFrequency;
+
+    TIM_TypeDef *tim_base;
+};
+
+#endif

Firmware/include/StepGen.h

@@ -0,0 +1,43 @@
+
+#ifndef STEPGEN
+#define STEPGEN
+#include <HardwareTimer.h>
+
+class StepGen
+{
+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 uint8_t enabled;
+    HardwareTimer *MyTim;
+    HardwareTimer *MyTim2;
+    uint16_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;
+
+public:
+    static uint32_t sync0CycleTime;
+    volatile uint32_t pwmCycleTime;
+
+    StepGen(TIM_TypeDef *Timer, uint32_t timerChannel, PinName stepPin, uint8_t dirPin, void irq(void));
+    void reqPos(double_t pos);
+    double reqPos();
+    void actPos(double_t pos);
+    double actPos();
+    void handleStepper(void);
+    void timerCB();
+    void setScale(int16_t spm);
+    void enable(uint8_t yes);
+};
+
+#endif

Firmware/include/StepGen2.h

@@ -0,0 +1,53 @@
+
+#ifndef STEPGEN
+#define STEPGEN
+#include <HardwareTimer.h>
+
+class StepGen2
+{
+public:
+    volatile double_t actualPosition;
+    volatile int32_t nSteps;
+    volatile uint32_t timerFrequency;
+    volatile int32_t timerPosition = 0;
+    volatile int32_t timerEndPosition = 0;
+
+public:
+    volatile float Tstartf;    // Starting delay in secs
+    volatile uint32_t Tstartu; // Starting delay in usecs
+    volatile float Tpulses;    // Time it takes to do pulses. Debug
+
+    HardwareTimer *pulseTimer;
+    uint32_t pulseTimerChan;
+    HardwareTimer *startTimer; // Use timers 10,11,13,14
+    uint8_t dirPin;
+    PinName dirPinName;
+    PinName stepPin;
+    uint32_t Tjitter = 400; // Longest time from IRQ to handling in handleStepper, unit is microseconds
+    uint64_t dbg;
+    const uint16_t t2 = 5;                                            // DIR is ahead of PUL with at least 5 usecs
+    const uint16_t t3 = 5;                                            // Pulse width at least 2.5 usecs
+    const uint16_t t4 = 5;                                            // Low level width not less than 2.5 usecs
+    const float maxAllowedFrequency = 1000000 / float(t3 + t4) * 0.9; // 150 kHz for now
+
+public:
+    volatile double_t commandedPosition;    // End position when this cycle is completed
+    volatile int32_t commandedStepPosition; // End step position when this cycle is completed
+    volatile double_t initialPosition;      // From previous cycle
+    volatile int32_t initialStepPosition;   // From previous cycle
+    int16_t stepsPerMM;                     // This many steps per mm
+    volatile uint8_t enabled;               // Enabled step generator
+    volatile float frequency;
+
+    static uint32_t sync0CycleTime; // Nominal EtherCAT cycle time nanoseconds
+    volatile float lcncCycleTime;   // Linuxcnc nominal cycle time in sec (1 ms often)
+
+    StepGen2(TIM_TypeDef *Timer, uint32_t _timerChannel, PinName _stepPin, uint8_t _dirPin, void irq(void), TIM_TypeDef *Timer2, void irq2(void));
+
+    uint32_t handleStepper(uint64_t irqTime /* time when irq happened nanosecs */, uint16_t nLoops);
+    void startTimerCB();
+    void pulseTimerCB();
+    uint32_t updatePos(uint32_t i);
+};
+
+#endif

Firmware/include/StepGen3.h

@@ -0,0 +1,156 @@
+
+#ifndef STEPGEN3
+#define STEPGEN3
+#include <HardwareTimer.h>
+
+#define MAX_CHAN 16
+#define MAX_CYCLE 18
+#define USER_STEP_TYPE 13
+
+typedef struct
+{
+    /* stuff that is both read and written by makepulses */
+    volatile unsigned int timer1; /* times out when step pulse should end */
+    volatile unsigned int timer2; /* times out when safe to change dir */
+    volatile unsigned int timer3; /* times out when safe to step in new dir */
+    volatile int hold_dds;        /* prevents accumulator from updating */
+    volatile long addval;         /* actual frequency generator add value */
+    volatile long long accum;     /* frequency generator accumulator */
+    volatile int rawcount;        /* param: position feedback in counts */
+    volatile int curr_dir;        /* current direction */
+    volatile int state;           /* current position in state table */
+    /* stuff that is read but not written by makepulses */
+    volatile int enable;                /* pin for enable stepgen */
+    volatile int target_addval;         /* desired freq generator add value */
+    volatile long deltalim;             /* max allowed change per period */
+    volatile int step_len;              /* parameter: step pulse length */
+    volatile unsigned int dir_hold_dly; /* param: direction hold time or delay */
+    volatile unsigned int dir_setup;    /* param: direction setup time */
+    volatile int step_type;             /* stepping type - see list above */
+    volatile int cycle_max;             /* cycle length for step types 2 and up */
+    volatile int num_phases;            /* number of phases for types 2 and up */
+    volatile int phase[5];              /* pins for output signals */
+    volatile const unsigned char *lut;  /* pointer to state lookup table */
+                                        /* stuff that is not accessed by makepulses */
+    int pos_mode;                       /* 1 = position mode, 0 = velocity mode */
+    unsigned int step_space;            /* parameter: min step pulse spacing */
+    double old_pos_cmd;                 /* previous position command (counts) */
+    int count;                          /* pin: captured feedback in counts */
+#define double float
+    double pos_scale;          /* param: steps per position unit */
+    double old_scale;          /* stored scale value */
+    double scale_recip;        /* reciprocal value used for scaling */
+    double vel_cmd;            /* pin: velocity command (pos units/sec) */
+    double pos_cmd;            /* pin: position command (position units) */
+    double pos_fb;             /* pin: position feedback (position units) */
+    double freq;               /* param: frequency command */
+    double maxvel;             /* param: max velocity, (pos units/sec) */
+    double maxaccel;           /* param: max accel (pos units/sec^2) */
+    unsigned int old_step_len; /* used to detect parameter changes */
+    unsigned int old_step_space;
+    unsigned int old_dir_hold_dly;
+    unsigned int old_dir_setup;
+    int printed_error; /* flag to avoid repeated printing */
+} stepgen_t;
+
+#define MAX_STEP_TYPE 15
+
+#define STEP_PIN 0 /* output phase used for STEP signal */
+#define DIR_PIN 1  /* output phase used for DIR signal */
+#define UP_PIN 0   /* output phase used for UP signal */
+#define DOWN_PIN 1 /* output phase used for DOWN signal */
+
+#define PICKOFF 28 /* bit location in DDS accum */
+
+typedef enum CONTROL
+{
+    POSITION,
+    VELOCITY,
+    INVALID
+} CONTROL;
+
+class StepGen3
+{
+public:
+    int step_type[MAX_CHAN] = {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1};               // stepping types for up to 16 channels
+    char *ctrl_type[MAX_CHAN] = {0};                                                                          // control type ("p"pos or "v"vel) for up to 16 channels
+    int user_step_type[MAX_CYCLE] = {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}; // lookup table for user-defined step type
+    uint32_t stepPin[MAX_CHAN] = {0};
+    uint32_t dirPin[MAX_CHAN] = {0};
+
+    stepgen_t *stepgen_array = 0;
+
+    int num_chan = 0;          // number of step generators configured */
+    long periodns;             // makepulses function period in nanosec */
+    long old_periodns;         // used to detect changes in periodns */
+    double periodfp;           // makepulses function period in seconds */
+    double freqscale;          // conv. factor from Hz to addval counts */
+    double accelscale;         // conv. Hz/sec to addval cnts/period */
+    long old_dtns;             // update_freq funct period in nsec */
+    double dt;                 // update_freq period in seconds */
+    double recip_dt;           // recprocal of period, avoids divides */
+    volatile uint64_t cnt = 0; // Debug counter
+#undef double
+    StepGen3(void);
+    void updateStepGen(double pos_cmd1, double pos_cmd2);
+    void makeAllPulses(void);
+    int rtapi_app_main();
+    int export_stepgen(int num, stepgen_t *addr, int step_type, int pos_mode);
+    void make_pulses(void *arg, long period);
+    void update_freq(void *arg, long period);
+    void update_pos(void *arg, long period);
+    int setup_user_step_type(void);
+    CONTROL parse_ctrl_type(const char *ctrl);
+    unsigned long ulceil(unsigned long value, unsigned long increment);
+
+private:
+    /* lookup tables for stepping types 2 and higher - phase A is the LSB */
+
+    unsigned char master_lut[MAX_STEP_TYPE][MAX_CYCLE] = {
+        {1, 3, 2, 0, 0, 0, 0, 0, 0, 0},        /* type 2: Quadrature */
+        {1, 2, 4, 0, 0, 0, 0, 0, 0, 0},        /* type 3: Three Wire */
+        {1, 3, 2, 6, 4, 5, 0, 0, 0, 0},        /* type 4: Three Wire Half Step */
+        {1, 2, 4, 8, 0, 0, 0, 0, 0, 0},        /* 5: Unipolar Full Step 1 */
+        {3, 6, 12, 9, 0, 0, 0, 0, 0, 0},       /* 6: Unipoler Full Step 2 */
+        {1, 7, 14, 8, 0, 0, 0, 0, 0, 0},       /* 7: Bipolar Full Step 1 */
+        {5, 6, 10, 9, 0, 0, 0, 0, 0, 0},       /* 8: Bipoler Full Step 2 */
+        {1, 3, 2, 6, 4, 12, 8, 9, 0, 0},       /* 9: Unipolar Half Step */
+        {1, 5, 7, 6, 14, 10, 8, 9, 0, 0},      /* 10: Bipolar Half Step */
+        {1, 2, 4, 8, 16, 0, 0, 0, 0, 0},       /* 11: Five Wire Unipolar */
+        {3, 6, 12, 24, 17, 0, 0, 0, 0, 0},     /* 12: Five Wire Wave */
+        {1, 3, 2, 6, 4, 12, 8, 24, 16, 17},    /* 13: Five Wire Uni Half */
+        {3, 7, 6, 14, 12, 28, 24, 25, 17, 19}, /* 14: Five Wire Wave Half */
+        {0, 0, 0, 0, 0, 0, 0, 0, 0, 0}         /* 15: User-defined */
+    };
+
+    unsigned char cycle_len_lut[14] =
+        {4, 3, 6, 4, 4, 4, 4, 8, 8, 5, 5, 10, 10, 0};
+
+    unsigned char num_phases_lut[14] =
+        {
+            2,
+            3,
+            3,
+            4,
+            4,
+            4,
+            4,
+            4,
+            4,
+            5,
+            5,
+            5,
+            5,
+            0,
+    };
+};
+
+// For the example
+#define BASE_PERIOD 20000 
+#define SERVO_PERIOD 2000000
+#define JOINT_X_STEPGEN_MAXACCEL 0.0
+#define JOINT_Z_STEPGEN_MAXACCEL 0.0
+#define JOINT_X_SCALE -200
+#define JOINT_Z_SCALE -80
+
+#endif

Firmware/include/Stm32F4_Encoder.h

@@ -0,0 +1,652 @@
+
+#ifndef __Stm32F4_Encoder_H__
+#define __Stm32F4_Encoder_H__
+#include <Arduino.h>
+
+#define GPIO_Speed_50MHz 0x02 /*!< Fast speed */
+
+// #define GPIO_MODER_MODER0                    ((uint32_t)0x00000003)
+#define GPIO_Mode_OUT 0x01
+// #define GPIO_OSPEEDER_OSPEEDR0               ((uint32_t)0x00000003)
+// #define GPIO_OTYPER_OT_0                     ((uint32_t)0x00000001)
+// #define GPIO_PUPDR_PUPDR0                    ((uint32_t)0x00000003)
+
+#define GPIO_PuPd_NOPULL 0x00
+#define GPIO_Mode_AF 0x02
+#define GPIO_OType_PP 0x00
+#define GPIO_PuPd_NOPULL 0x00
+#define GPIO_Pin_0 ((uint16_t)0x0001)   /* Pin 0 selected */
+#define GPIO_Pin_1 ((uint16_t)0x0002)   /* Pin 1 selected */
+#define GPIO_Pin_2 ((uint16_t)0x0004)   /* Pin 2 selected */
+#define GPIO_Pin_3 ((uint16_t)0x0008)   /* Pin 3 selected */
+#define GPIO_Pin_4 ((uint16_t)0x0010)   /* Pin 4 selected */
+#define GPIO_Pin_5 ((uint16_t)0x0020)   /* Pin 5 selected */
+#define GPIO_Pin_6 ((uint16_t)0x0040)   /* Pin 6 selected */
+#define GPIO_Pin_7 ((uint16_t)0x0080)   /* Pin 7 selected */
+#define GPIO_Pin_8 ((uint16_t)0x0100)   /* Pin 8 selected */
+#define GPIO_Pin_9 ((uint16_t)0x0200)   /* Pin 9 selected */
+#define GPIO_Pin_10 ((uint16_t)0x0400)  /* Pin 10 selected */
+#define GPIO_Pin_11 ((uint16_t)0x0800)  /* Pin 11 selected */
+#define GPIO_Pin_12 ((uint16_t)0x1000)  /* Pin 12 selected */
+#define GPIO_Pin_13 ((uint16_t)0x2000)  /* Pin 13 selected */
+#define GPIO_Pin_14 ((uint16_t)0x4000)  /* Pin 14 selected */
+#define GPIO_Pin_15 ((uint16_t)0x8000)  /* Pin 15 selected */
+#define GPIO_Pin_All ((uint16_t)0xFFFF) /* All pins selected */
+
+typedef struct TIM_TimeBaseInitTypeDef
+{
+  uint16_t TIM_Prescaler; /*!< Specifies the prescaler value used to divide the TIM clock.
+                               This parameter can be a number between 0x0000 and 0xFFFF */
+
+  uint16_t TIM_CounterMode; /*!< Specifies the counter mode.
+                                 This parameter can be a value of @ref TIM_Counter_Mode */
+
+  uint32_t TIM_Period; /*!< Specifies the period value to be loaded into the active
+                            Auto-Reload Register at the next update event.
+                            This parameter must be a number between 0x0000 and 0xFFFF.  */
+
+  uint16_t TIM_ClockDivision; /*!< Specifies the clock division.
+                                  This parameter can be a value of @ref TIM_Clock_Division_CKD */
+
+  uint8_t TIM_RepetitionCounter; /*!< Specifies the repetition counter value. Each time the RCR downcounter
+                                      reaches zero, an update event is generated and counting restarts
+                                      from the RCR value (N).
+                                      This means in PWM mode that (N+1) corresponds to:
+                                         - the number of PWM periods in edge-aligned mode
+                                         - the number of half PWM period in center-aligned mode
+                                      This parameter must be a number between 0x00 and 0xFF.
+                                      @note This parameter is valid only for TIM1 and TIM8. */
+} TIM_TimeBaseInitTypeDef;
+
+typedef struct
+{
+  uint16_t setcount;
+
+} encoder;
+
+typedef struct
+{
+  uint16_t TIM_OCMode; /*!< Specifies the TIM mode.
+                            This parameter can be a value of @ref TIM_Output_Compare_and_PWM_modes */
+
+  uint16_t TIM_OutputState; /*!< Specifies the TIM Output Compare state.
+                                 This parameter can be a value of @ref TIM_Output_Compare_State */
+
+  uint16_t TIM_OutputNState; /*!< Specifies the TIM complementary Output Compare state.
+                                  This parameter can be a value of @ref TIM_Output_Compare_N_State
+                                  @note This parameter is valid only for TIM1 and TIM8. */
+
+  uint32_t TIM_Pulse; /*!< Specifies the pulse value to be loaded into the Capture Compare Register.
+                           This parameter can be a number between 0x0000 and 0xFFFF */
+
+  uint16_t TIM_OCPolarity; /*!< Specifies the output polarity.
+                                This parameter can be a value of @ref TIM_Output_Compare_Polarity */
+
+  uint16_t TIM_OCNPolarity; /*!< Specifies the complementary output polarity.
+                                 This parameter can be a value of @ref TIM_Output_Compare_N_Polarity
+                                 @note This parameter is valid only for TIM1 and TIM8. */
+
+  uint16_t TIM_OCIdleState; /*!< Specifies the TIM Output Compare pin state during Idle state.
+                                 This parameter can be a value of @ref TIM_Output_Compare_Idle_State
+                                 @note This parameter is valid only for TIM1 and TIM8. */
+
+  uint16_t TIM_OCNIdleState; /*!< Specifies the TIM Output Compare pin state during Idle state.
+                                  This parameter can be a value of @ref TIM_Output_Compare_N_Idle_State
+                                  @note This parameter is valid only for TIM1 and TIM8. */
+} TIM_OCInitTypeDef;
+
+typedef struct
+{
+
+  uint16_t TIM_Channel; /*!< Specifies the TIM channel.
+                             This parameter can be a value of @ref TIM_Channel */
+
+  uint16_t TIM_ICPolarity; /*!< Specifies the active edge of the input signal.
+                                This parameter can be a value of @ref TIM_Input_Capture_Polarity */
+
+  uint16_t TIM_ICSelection; /*!< Specifies the input.
+                                 This parameter can be a value of @ref TIM_Input_Capture_Selection */
+
+  uint16_t TIM_ICPrescaler; /*!< Specifies the Input Capture Prescaler.
+                                 This parameter can be a value of @ref TIM_Input_Capture_Prescaler */
+
+  uint16_t TIM_ICFilter; /*!< Specifies the input capture filter.
+                              This parameter can be a number between 0x0 and 0xF */
+} TIM_ICInitTypeDef;
+
+typedef struct
+{
+
+  uint16_t TIM_OSSRState; /*!< Specifies the Off-State selection used in Run mode.
+                               This parameter can be a value of @ref TIM_OSSR_Off_State_Selection_for_Run_mode_state */
+
+  uint16_t TIM_OSSIState; /*!< Specifies the Off-State used in Idle state.
+                               This parameter can be a value of @ref TIM_OSSI_Off_State_Selection_for_Idle_mode_state */
+
+  uint16_t TIM_LOCKLevel; /*!< Specifies the LOCK level parameters.
+                               This parameter can be a value of @ref TIM_Lock_level */
+
+  uint16_t TIM_DeadTime; /*!< Specifies the delay time between the switching-off and the
+                              switching-on of the outputs.
+                              This parameter can be a number between 0x00 and 0xFF  */
+
+  uint16_t TIM_Break; /*!< Specifies whether the TIM Break input is enabled or not.
+                           This parameter can be a value of @ref TIM_Break_Input_enable_disable */
+
+  uint16_t TIM_BreakPolarity; /*!< Specifies the TIM Break Input pin polarity.
+                                   This parameter can be a value of @ref TIM_Break_Polarity */
+
+  uint16_t TIM_AutomaticOutput; /*!< Specifies whether the TIM Automatic Output feature is enabled or not.
+                                     This parameter can be a value of @ref TIM_AOE_Bit_Set_Reset */
+} TIM_BDTRInitTypeDef;
+
+#define GPIO_PinSource0 ((uint8_t)0x00)
+#define GPIO_PinSource1 ((uint8_t)0x01)
+#define GPIO_PinSource2 ((uint8_t)0x02)
+#define GPIO_PinSource3 ((uint8_t)0x03)
+#define GPIO_PinSource4 ((uint8_t)0x04)
+#define GPIO_PinSource5 ((uint8_t)0x05)
+#define GPIO_PinSource6 ((uint8_t)0x06)
+#define GPIO_PinSource7 ((uint8_t)0x07)
+#define GPIO_PinSource8 ((uint8_t)0x08)
+#define GPIO_PinSource9 ((uint8_t)0x09)
+#define GPIO_PinSource10 ((uint8_t)0x0A)
+#define GPIO_PinSource11 ((uint8_t)0x0B)
+#define GPIO_PinSource12 ((uint8_t)0x0C)
+#define GPIO_PinSource13 ((uint8_t)0x0D)
+#define GPIO_PinSource14 ((uint8_t)0x0E)
+#define GPIO_PinSource15 ((uint8_t)0x0F)
+#define GPIO_AF_TIM8 ((uint8_t)0x03) /* TIM8 Alternate Function mapping */
+#define GPIO_AF_TIM3 ((uint8_t)0x02) /* TIM3 Alternate Function mapping */
+#define GPIO_AF_TIM4 ((uint8_t)0x02) /* TIM4 Alternate Function mapping */
+#define GPIO_AF_TIM5 ((uint8_t)0x02) /* TIM5 Alternate Function mapping */
+#define GPIO_AF_TIM1 ((uint8_t)0x01) /* TIM1 Alternate Function mapping */
+#define GPIO_AF_TIM2 ((uint8_t)0x01) /* TIM2 Alternate Function mapping */
+
+// #define TIM4 ((TIM_TypeDef *)TIM4_BASE)
+// #define TIM8 ((TIM_TypeDef *)TIM8_BASE)
+#define TIM_EncoderMode_TI12 ((uint16_t)0x0003)
+#define TIM_ICPolarity_Rising ((uint16_t)0x0000)
+#define TIM_ICPolarity_Falling ((uint16_t)0x0002)
+// #define  TIM_CR1_CEN                         ((uint16_t)0x0001)            /*!<Counter enable */
+// #define  TIM_CR1_CEN                         ((uint16_t)0x0001)            /*!<Counter enable */
+
+#define IS_TIM_ALL_PERIPH(PERIPH) (((PERIPH) == TIM1) ||   \
+                                   ((PERIPH) == TIM2) ||   \
+                                   ((PERIPH) == TIM3) ||   \
+                                   ((PERIPH) == TIM4) ||   \
+                                   ((PERIPH) == TIM5) ||   \
+                                   ((PERIPH) == TIM6) ||   \
+                                   ((PERIPH) == TIM7) ||   \
+                                   ((PERIPH) == TIM8) ||   \
+                                   ((PERIPH) == TIM9) ||   \
+                                   ((PERIPH) == TIM10) ||  \
+                                   ((PERIPH) == TIM11) ||  \
+                                   ((PERIPH) == TIM12) ||  \
+                                   (((PERIPH) == TIM13) || \
+                                    ((PERIPH) == TIM14)))
+
+#define IS_TIM_LIST1_PERIPH(PERIPH) (((PERIPH) == TIM1) ||  \
+                                     ((PERIPH) == TIM2) ||  \
+                                     ((PERIPH) == TIM3) ||  \
+                                     ((PERIPH) == TIM4) ||  \
+                                     ((PERIPH) == TIM5) ||  \
+                                     ((PERIPH) == TIM8) ||  \
+                                     ((PERIPH) == TIM9) ||  \
+                                     ((PERIPH) == TIM10) || \
+                                     ((PERIPH) == TIM11) || \
+                                     ((PERIPH) == TIM12) || \
+                                     ((PERIPH) == TIM13) || \
+                                     ((PERIPH) == TIM14))
+
+#define IS_TIM_LIST2_PERIPH(PERIPH) (((PERIPH) == TIM1) || \
+                                     ((PERIPH) == TIM2) || \
+                                     ((PERIPH) == TIM3) || \
+                                     ((PERIPH) == TIM4) || \
+                                     ((PERIPH) == TIM5) || \
+                                     ((PERIPH) == TIM8) || \
+                                     ((PERIPH) == TIM9) || \
+                                     ((PERIPH) == TIM12))
+
+#define IS_TIM_LIST3_PERIPH(PERIPH) (((PERIPH) == TIM1) || \
+                                     ((PERIPH) == TIM2) || \
+                                     ((PERIPH) == TIM3) || \
+                                     ((PERIPH) == TIM4) || \
+                                     ((PERIPH) == TIM5) || \
+                                     ((PERIPH) == TIM8))
+
+#define IS_TIM_LIST4_PERIPH(PERIPH) (((PERIPH) == TIM1) || \
+                                     ((PERIPH) == TIM8))
+
+#define IS_TIM_LIST5_PERIPH(PERIPH) (((PERIPH) == TIM1) || \
+                                     ((PERIPH) == TIM2) || \
+                                     ((PERIPH) == TIM3) || \
+                                     ((PERIPH) == TIM4) || \
+                                     ((PERIPH) == TIM5) || \
+                                     ((PERIPH) == TIM6) || \
+                                     ((PERIPH) == TIM7) || \
+                                     ((PERIPH) == TIM8))
+
+#define IS_TIM_LIST6_PERIPH(TIMx) (((TIMx) == TIM2) || \
+                                   ((TIMx) == TIM5) || \
+                                   ((TIMx) == TIM11))
+
+#define TIM_OCMode_Timing ((uint16_t)0x0000)
+#define TIM_OCMode_Active ((uint16_t)0x0010)
+#define TIM_OCMode_Inactive ((uint16_t)0x0020)
+#define TIM_OCMode_Toggle ((uint16_t)0x0030)
+#define TIM_OCMode_PWM1 ((uint16_t)0x0060)
+#define TIM_OCMode_PWM2 ((uint16_t)0x0070)
+//#define IS_TIM_OC_MODE(MODE) (((MODE) == TIM_OCMode_Timing) || \
+//                              ((MODE) == TIM_OCMode_Active) || \
+//                              ((MODE) == TIM_OCMode_Inactive) || \
+//                              ((MODE) == TIM_OCMode_Toggle)|| \
+//                              ((MODE) == TIM_OCMode_PWM1) || \
+//                              ((MODE) == TIM_OCMode_PWM2))
+#define IS_TIM_OCM(MODE) (((MODE) == TIM_OCMode_Timing) ||       \
+                          ((MODE) == TIM_OCMode_Active) ||       \
+                          ((MODE) == TIM_OCMode_Inactive) ||     \
+                          ((MODE) == TIM_OCMode_Toggle) ||       \
+                          ((MODE) == TIM_OCMode_PWM1) ||         \
+                          ((MODE) == TIM_OCMode_PWM2) ||         \
+                          ((MODE) == TIM_ForcedAction_Active) || \
+                          ((MODE) == TIM_ForcedAction_InActive))
+
+#define TIM_OPMode_Single ((uint16_t)0x0008)
+#define TIM_OPMode_Repetitive ((uint16_t)0x0000)
+//#define IS_TIM_OPM_MODE(MODE) (((MODE) == TIM_OPMode_Single) || \
+//                               ((MODE) == TIM_OPMode_Repetitive))
+
+#define TIM_Channel_1 ((uint16_t)0x0000)
+#define TIM_Channel_2 ((uint16_t)0x0004)
+#define TIM_Channel_3 ((uint16_t)0x0008)
+#define TIM_Channel_4 ((uint16_t)0x000C)
+
+#define IS_TIM_CHANNEL(CHANNEL) (((CHANNEL) == TIM_Channel_1) || \
+                                 ((CHANNEL) == TIM_Channel_2) || \
+                                 ((CHANNEL) == TIM_Channel_3) || \
+                                 ((CHANNEL) == TIM_Channel_4))
+
+#define IS_TIM_PWMI_CHANNEL(CHANNEL) (((CHANNEL) == TIM_Channel_1) || \
+                                      ((CHANNEL) == TIM_Channel_2))
+#define IS_TIM_COMPLEMENTARY_CHANNEL(CHANNEL) (((CHANNEL) == TIM_Channel_1) || \
+                                               ((CHANNEL) == TIM_Channel_2) || \
+                                               ((CHANNEL) == TIM_Channel_3))
+
+#define TIM_CKD_DIV1 ((uint16_t)0x0000)
+#define TIM_CKD_DIV2 ((uint16_t)0x0100)
+#define TIM_CKD_DIV4 ((uint16_t)0x0200)
+#define IS_TIM_CKD_DIV(DIV) (((DIV) == TIM_CKD_DIV1) || \
+                             ((DIV) == TIM_CKD_DIV2) || \
+                             ((DIV) == TIM_CKD_DIV4))
+
+#define TIM_CounterMode_Up ((uint16_t)0x0000)
+#define TIM_CounterMode_Down ((uint16_t)0x0010)
+#define TIM_CounterMode_CenterAligned1 ((uint16_t)0x0020)
+#define TIM_CounterMode_CenterAligned2 ((uint16_t)0x0040)
+#define TIM_CounterMode_CenterAligned3 ((uint16_t)0x0060)
+//#define IS_TIM_COUNTER_MODE(MODE) (((MODE) == TIM_CounterMode_Up) ||  \
+//                                   ((MODE) == TIM_CounterMode_Down) || \
+//                                   ((MODE) == TIM_CounterMode_CenterAligned1) || \
+//                                   ((MODE) == TIM_CounterMode_CenterAligned2) || \
+//                                   ((MODE) == TIM_CounterMode_CenterAligned3))
+
+#define TIM_OCPolarity_High ((uint16_t)0x0000)
+#define TIM_OCPolarity_Low ((uint16_t)0x0002)
+//#define IS_TIM_OC_POLARITY(POLARITY) (((POLARITY) == TIM_OCPolarity_High) || \
+//                                      ((POLARITY) == TIM_OCPolarity_Low))
+
+#define TIM_OCNPolarity_High ((uint16_t)0x0000)
+#define TIM_OCNPolarity_Low ((uint16_t)0x0008)
+//#define IS_TIM_OCN_POLARITY(POLARITY) (((POLARITY) == TIM_OCNPolarity_High) || \
+//                                       ((POLARITY) == TIM_OCNPolarity_Low))
+
+#define TIM_OutputState_Disable ((uint16_t)0x0000)
+#define TIM_OutputState_Enable ((uint16_t)0x0001)
+#define IS_TIM_OUTPUT_STATE(STATE) (((STATE) == TIM_OutputState_Disable) || \
+                                    ((STATE) == TIM_OutputState_Enable))
+
+#define TIM_OutputNState_Disable ((uint16_t)0x0000)
+#define TIM_OutputNState_Enable ((uint16_t)0x0004)
+#define IS_TIM_OUTPUTN_STATE(STATE) (((STATE) == TIM_OutputNState_Disable) || \
+                                     ((STATE) == TIM_OutputNState_Enable))
+
+#define TIM_CCx_Enable ((uint16_t)0x0001)
+#define TIM_CCx_Disable ((uint16_t)0x0000)
+#define IS_TIM_CCX(CCX) (((CCX) == TIM_CCx_Enable) || \
+                         ((CCX) == TIM_CCx_Disable))
+
+#define TIM_CCxN_Enable ((uint16_t)0x0004)
+#define TIM_CCxN_Disable ((uint16_t)0x0000)
+#define IS_TIM_CCXN(CCXN) (((CCXN) == TIM_CCxN_Enable) || \
+                           ((CCXN) == TIM_CCxN_Disable))
+
+#define TIM_Break_Enable ((uint16_t)0x1000)
+#define TIM_Break_Disable ((uint16_t)0x0000)
+//#define IS_TIM_BREAK_STATE(STATE) (((STATE) == TIM_Break_Enable) || \
+//                                   ((STATE) == TIM_Break_Disable))
+
+#define TIM_BreakPolarity_Low ((uint16_t)0x0000)
+#define TIM_BreakPolarity_High ((uint16_t)0x2000)
+//#define IS_TIM_BREAK_POLARITY(POLARITY) (((POLARITY) == TIM_BreakPolarity_Low) || \
+//    ((POLARITY) == TIM_BreakPolarity_High))
+
+#define TIM_AutomaticOutput_Enable ((uint16_t)0x4000)
+#define TIM_AutomaticOutput_Disable ((uint16_t)0x0000)
+//#define IS_TIM_AUTOMATIC_OUTPUT_STATE(STATE) (((STATE) == TIM_AutomaticOutput_Enable) || \
+//    ((STATE) == TIM_AutomaticOutput_Disable))
+
+#define TIM_LOCKLevel_OFF ((uint16_t)0x0000)
+#define TIM_LOCKLevel_1 ((uint16_t)0x0100)
+#define TIM_LOCKLevel_2 ((uint16_t)0x0200)
+#define TIM_LOCKLevel_3 ((uint16_t)0x0300)
+//#define IS_TIM_LOCK_LEVEL(LEVEL) (((LEVEL) == TIM_LOCKLevel_OFF) || \
+//                                  ((LEVEL) == TIM_LOCKLevel_1) || \
+//                                  ((LEVEL) == TIM_LOCKLevel_2) || \
+//                                  ((LEVEL) == TIM_LOCKLevel_3))
+
+#define TIM_OSSIState_Enable ((uint16_t)0x0400)
+#define TIM_OSSIState_Disable ((uint16_t)0x0000)
+//#define IS_TIM_OSSI_STATE(STATE) (((STATE) == TIM_OSSIState_Enable) || \
+//                                  ((STATE) == TIM_OSSIState_Disable))
+
+#define TIM_OSSRState_Enable ((uint16_t)0x0800)
+#define TIM_OSSRState_Disable ((uint16_t)0x0000)
+//#define IS_TIM_OSSR_STATE(STATE) (((STATE) == TIM_OSSRState_Enable) || \
+//                                  ((STATE) == TIM_OSSRState_Disable))
+
+#define TIM_OCIdleState_Set ((uint16_t)0x0100)
+#define TIM_OCIdleState_Reset ((uint16_t)0x0000)
+//#define IS_TIM_OCIDLE_STATE(STATE) (((STATE) == TIM_OCIdleState_Set) || \
+//                                    ((STATE) == TIM_OCIdleState_Reset))
+//
+
+#define TIM_OCNIdleState_Set ((uint16_t)0x0200)
+#define TIM_OCNIdleState_Reset ((uint16_t)0x0000)
+//#define IS_TIM_OCNIDLE_STATE(STATE) (((STATE) == TIM_OCNIdleState_Set) || \
+//                                     ((STATE) == TIM_OCNIdleState_Reset))
+
+#define TIM_ICPolarity_Rising ((uint16_t)0x0000)
+#define TIM_ICPolarity_Falling ((uint16_t)0x0002)
+#define TIM_ICPolarity_BothEdge ((uint16_t)0x000A)
+//#define IS_TIM_IC_POLARITY(POLARITY) (((POLARITY) == TIM_ICPolarity_Rising) || \
+//                                      ((POLARITY) == TIM_ICPolarity_Falling)|| \
+//                                      ((POLARITY) == TIM_ICPolarity_BothEdge))
+
+#define TIM_ICSelection_DirectTI ((uint16_t)0x0001)   /*!< TIM Input 1, 2, 3 or 4 is selected to be \
+                                                           connected to IC1, IC2, IC3 or IC4, respectively */
+#define TIM_ICSelection_IndirectTI ((uint16_t)0x0002) /*!< TIM Input 1, 2, 3 or 4 is selected to be \
+                                                           connected to IC2, IC1, IC4 or IC3, respectively. */
+#define TIM_ICSelection_TRC ((uint16_t)0x0003)        /*!< TIM Input 1, 2, 3 or 4 is selected to be connected to TRC. */
+//#define IS_TIM_IC_SELECTION(SELECTION) (((SELECTION) == TIM_ICSelection_DirectTI) || \
+//                                        ((SELECTION) == TIM_ICSelection_IndirectTI) || \
+//                                        ((SELECTION) == TIM_ICSelection_TRC))
+
+// #define TIM_ICPSC_DIV1                     ((uint16_t)0x0000) /*!< Capture performed each time an edge is detected on the capture input. */
+// #define TIM_ICPSC_DIV2                     ((uint16_t)0x0004) /*!< Capture performed once every 2 events. */
+// #define TIM_ICPSC_DIV4                     ((uint16_t)0x0008) /*!< Capture performed once every 4 events. */
+// #define TIM_ICPSC_DIV8                     ((uint16_t)0x000C) /*!< Capture performed once every 8 events. */
+// #define IS_TIM_IC_PRESCALER(PRESCALER) ( ((PRESCALER) == TIM_ICPSC_DIV1) || \
+//                                        ((PRESCALER) == TIM_ICPSC_DIV2) || \
+//                                        ((PRESCALER) == TIM_ICPSC_DIV4) || \
+//                                        ((PRESCALER) == TIM_ICPSC_DIV8))
+
+#define TIM_IT_Update ((uint16_t)0x0001)
+// #define TIM_IT_CC1                         ((uint16_t)0x0002)
+// #define TIM_IT_CC2                         ((uint16_t)0x0004)
+// #define TIM_IT_CC3                         ((uint16_t)0x0008)
+// #define TIM_IT_CC4                         ((uint16_t)0x0010)
+// #define TIM_IT_COM                         ((uint16_t)0x0020)
+#define TIM_IT_Trigger ((uint16_t)0x0040)
+#define TIM_IT_Break ((uint16_t)0x0080)
+#define IS_TIM_IT(IT) ((((IT) & (uint16_t)0xFF00) == 0x0000) && ((IT) != 0x0000))
+
+#define IS_TIM_GET_IT(IT) (((IT) == TIM_IT_Update) ||  \
+                           ((IT) == TIM_IT_CC1) ||     \
+                           ((IT) == TIM_IT_CC2) ||     \
+                           ((IT) == TIM_IT_CC3) ||     \
+                           ((IT) == TIM_IT_CC4) ||     \
+                           ((IT) == TIM_IT_COM) ||     \
+                           ((IT) == TIM_IT_Trigger) || \
+                           ((IT) == TIM_IT_Break))
+
+// #define TIM_DMABase_CR1                    ((uint16_t)0x0000)
+// #define TIM_DMABase_CR2                    ((uint16_t)0x0001)
+// #define TIM_DMABase_SMCR                   ((uint16_t)0x0002)
+// #define TIM_DMABase_DIER                   ((uint16_t)0x0003)
+// #define TIM_DMABase_SR                     ((uint16_t)0x0004)
+// #define TIM_DMABase_EGR                    ((uint16_t)0x0005)
+// #define TIM_DMABase_CCMR1                  ((uint16_t)0x0006)
+// #define TIM_DMABase_CCMR2                  ((uint16_t)0x0007)
+// #define TIM_DMABase_CCER                   ((uint16_t)0x0008)
+// #define TIM_DMABase_CNT                    ((uint16_t)0x0009)
+// #define TIM_DMABase_PSC                    ((uint16_t)0x000A)
+// #define TIM_DMABase_ARR                    ((uint16_t)0x000B)
+// #define TIM_DMABase_RCR                    ((uint16_t)0x000C)
+// #define TIM_DMABase_CCR1                   ((uint16_t)0x000D)
+// #define TIM_DMABase_CCR2                   ((uint16_t)0x000E)
+// #define TIM_DMABase_CCR3                   ((uint16_t)0x000F)
+// #define TIM_DMABase_CCR4                   ((uint16_t)0x0010)
+// #define TIM_DMABase_BDTR                   ((uint16_t)0x0011)
+// #define TIM_DMABase_DCR                    ((uint16_t)0x0012)
+// #define TIM_DMABase_OR                     ((uint16_t)0x0013)
+// #define IS_TIM_DMA_BASE(BASE) ( ((BASE) == TIM_DMABase_CR1) || \
+//                               ((BASE) == TIM_DMABase_CR2) || \
+//                               ((BASE) == TIM_DMABase_SMCR) || \
+//                               ((BASE) == TIM_DMABase_DIER) || \
+//                               ((BASE) == TIM_DMABase_SR) || \
+//                               ((BASE) == TIM_DMABase_EGR) || \
+//                               ((BASE) == TIM_DMABase_CCMR1) || \
+//                               ((BASE) == TIM_DMABase_CCMR2) || \
+//                               ((BASE) == TIM_DMABase_CCER) || \
+//                               ((BASE) == TIM_DMABase_CNT) || \
+//                               ((BASE) == TIM_DMABase_PSC) || \
+//                               ((BASE) == TIM_DMABase_ARR) || \
+//                               ((BASE) == TIM_DMABase_RCR) || \
+//                               ((BASE) == TIM_DMABase_CCR1) || \
+//                               ((BASE) == TIM_DMABase_CCR2) || \
+//                               ((BASE) == TIM_DMABase_CCR3) || \
+//                               ((BASE) == TIM_DMABase_CCR4) || \
+//                               ((BASE) == TIM_DMABase_BDTR) || \
+//                               ((BASE) == TIM_DMABase_DCR) || \
+//                               ((BASE) == TIM_DMABase_OR))
+
+// #define TIM_DMABurstLength_1Transfer           ((uint16_t)0x0000)
+// #define TIM_DMABurstLength_2Transfers          ((uint16_t)0x0100)
+// #define TIM_DMABurstLength_3Transfers          ((uint16_t)0x0200)
+// #define TIM_DMABurstLength_4Transfers          ((uint16_t)0x0300)
+// #define TIM_DMABurstLength_5Transfers          ((uint16_t)0x0400)
+// #define TIM_DMABurstLength_6Transfers          ((uint16_t)0x0500)
+// #define TIM_DMABurstLength_7Transfers          ((uint16_t)0x0600)
+// #define TIM_DMABurstLength_8Transfers          ((uint16_t)0x0700)
+// #define TIM_DMABurstLength_9Transfers          ((uint16_t)0x0800)
+// #define TIM_DMABurstLength_10Transfers         ((uint16_t)0x0900)
+// #define TIM_DMABurstLength_11Transfers         ((uint16_t)0x0A00)
+// #define TIM_DMABurstLength_12Transfers         ((uint16_t)0x0B00)
+// #define TIM_DMABurstLength_13Transfers         ((uint16_t)0x0C00)
+// #define TIM_DMABurstLength_14Transfers         ((uint16_t)0x0D00)
+// #define TIM_DMABurstLength_15Transfers         ((uint16_t)0x0E00)
+// #define TIM_DMABurstLength_16Transfers         ((uint16_t)0x0F00)
+// #define TIM_DMABurstLength_17Transfers         ((uint16_t)0x1000)
+// #define TIM_DMABurstLength_18Transfers         ((uint16_t)0x1100)
+// #define IS_TIM_DMA_LENGTH(LENGTH) ( ((LENGTH) == TIM_DMABurstLength_1Transfer) || \
+//                                   ((LENGTH) == TIM_DMABurstLength_2Transfers) || \
+//                                   ((LENGTH) == TIM_DMABurstLength_3Transfers) || \
+//                                   ((LENGTH) == TIM_DMABurstLength_4Transfers) || \
+//                                   ((LENGTH) == TIM_DMABurstLength_5Transfers) || \
+//                                   ((LENGTH) == TIM_DMABurstLength_6Transfers) || \
+//                                   ((LENGTH) == TIM_DMABurstLength_7Transfers) || \
+//                                   ((LENGTH) == TIM_DMABurstLength_8Transfers) || \
+//                                   ((LENGTH) == TIM_DMABurstLength_9Transfers) || \
+//                                   ((LENGTH) == TIM_DMABurstLength_10Transfers) || \
+//                                   ((LENGTH) == TIM_DMABurstLength_11Transfers) || \
+//                                   ((LENGTH) == TIM_DMABurstLength_12Transfers) || \
+//                                   ((LENGTH) == TIM_DMABurstLength_13Transfers) || \
+//                                   ((LENGTH) == TIM_DMABurstLength_14Transfers) || \
+//                                   ((LENGTH) == TIM_DMABurstLength_15Transfers) || \
+//                                   ((LENGTH) == TIM_DMABurstLength_16Transfers) || \
+//                                   ((LENGTH) == TIM_DMABurstLength_17Transfers) || \
+//                                   ((LENGTH) == TIM_DMABurstLength_18Transfers))
+
+// #define TIM_DMA_Update                     ((uint16_t)0x0100)
+// #define TIM_DMA_CC1                        ((uint16_t)0x0200)
+// #define TIM_DMA_CC2                        ((uint16_t)0x0400)
+// #define TIM_DMA_CC3                        ((uint16_t)0x0800)
+// #define TIM_DMA_CC4                        ((uint16_t)0x1000)
+// #define TIM_DMA_COM                        ((uint16_t)0x2000)
+// #define TIM_DMA_Trigger                    ((uint16_t)0x4000)
+// #define IS_TIM_DMA_SOURCE(SOURCE) ((((SOURCE) & (uint16_t)0x80FF) == 0x0000) && ((SOURCE) != 0x0000))
+
+#define TIM_ExtTRGPSC_OFF ((uint16_t)0x0000)
+#define TIM_ExtTRGPSC_DIV2 ((uint16_t)0x1000)
+#define TIM_ExtTRGPSC_DIV4 ((uint16_t)0x2000)
+#define TIM_ExtTRGPSC_DIV8 ((uint16_t)0x3000)
+#define IS_TIM_EXT_PRESCALER(PRESCALER) (((PRESCALER) == TIM_ExtTRGPSC_OFF) ||  \
+                                         ((PRESCALER) == TIM_ExtTRGPSC_DIV2) || \
+                                         ((PRESCALER) == TIM_ExtTRGPSC_DIV4) || \
+                                         ((PRESCALER) == TIM_ExtTRGPSC_DIV8))
+
+// #define TIM_TS_ITR0                        ((uint16_t)0x0000)
+// #define TIM_TS_ITR1                        ((uint16_t)0x0010)
+// #define TIM_TS_ITR2                        ((uint16_t)0x0020)
+// #define TIM_TS_ITR3                        ((uint16_t)0x0030)
+// #define TIM_TS_TI1F_ED                     ((uint16_t)0x0040)
+// #define TIM_TS_TI1FP1                      ((uint16_t)0x0050)
+// #define TIM_TS_TI2FP2                      ((uint16_t)0x0060)
+// #define TIM_TS_ETRF                        ((uint16_t)0x0070)
+// #def ine IS_TIM_TRIGGER_SELECTION(SELECTION) (((SELECTION) == TIM_TS_ITR0) || \
+//    ((SELECTION) == TIM_TS_ITR1) || \
+//    ((SELECTION) == TIM_TS_ITR2) || \
+//    ((SELECTION) == TIM_TS_ITR3) || \
+//    ((SELECTION) == TIM_TS_TI1F_ED) || \
+//    ((SELECTION) == TIM_TS_TI1FP1) || \
+//    ((SELECTION) == TIM_TS_TI2FP2) || \
+//    ((SELECTION) == TIM_TS_ETRF))
+#define IS_TIM_INTERNAL_TRIGGER_SELECTION(SELECTION) (((SELECTION) == TIM_TS_ITR0) || \
+                                                      ((SELECTION) == TIM_TS_ITR1) || \
+                                                      ((SELECTION) == TIM_TS_ITR2) || \
+                                                      ((SELECTION) == TIM_TS_ITR3))
+
+#define TIM_TIxExternalCLK1Source_TI1 ((uint16_t)0x0050)
+#define TIM_TIxExternalCLK1Source_TI2 ((uint16_t)0x0060)
+#define TIM_TIxExternalCLK1Source_TI1ED ((uint16_t)0x0040)
+
+#define TIM_ExtTRGPolarity_Inverted ((uint16_t)0x8000)
+#define TIM_ExtTRGPolarity_NonInverted ((uint16_t)0x0000)
+#define IS_TIM_EXT_POLARITY(POLARITY) (((POLARITY) == TIM_ExtTRGPolarity_Inverted) || \
+                                       ((POLARITY) == TIM_ExtTRGPolarity_NonInverted))
+
+#define TIM_PSCReloadMode_Update ((uint16_t)0x0000)
+#define TIM_PSCReloadMode_Immediate ((uint16_t)0x0001)
+#define IS_TIM_PRESCALER_RELOAD(RELOAD) (((RELOAD) == TIM_PSCReloadMode_Update) || \
+                                         ((RELOAD) == TIM_PSCReloadMode_Immediate))
+
+#define TIM_ForcedAction_Active ((uint16_t)0x0050)
+#define TIM_ForcedAction_InActive ((uint16_t)0x0040)
+#define IS_TIM_FORCED_ACTION(ACTION) (((ACTION) == TIM_ForcedAction_Active) || \
+                                      ((ACTION) == TIM_ForcedAction_InActive))
+
+#define TIM_EncoderMode_TI1 ((uint16_t)0x0001)
+#define TIM_EncoderMode_TI2 ((uint16_t)0x0002)
+#define TIM_EncoderMode_TI12 ((uint16_t)0x0003)
+//#define IS_TIM_ENCODER_MODE(MODE) (((MODE) == TIM_EncoderMode_TI1) || \
+//                                   ((MODE) == TIM_EncoderMode_TI2) || \
+//                                   ((MODE) == TIM_EncoderMode_TI12))
+
+// #define TIM_EventSource_Update             ((uint16_t)0x0001)
+// #define TIM_EventSource_CC1                ((uint16_t)0x0002)
+// #define TIM_EventSource_CC2                ((uint16_t)0x0004)
+// #define TIM_EventSource_CC3                ((uint16_t)0x0008)
+// #define TIM_EventSource_CC4                ((uint16_t)0x0010)
+// #define TIM_EventSource_COM                ((uint16_t)0x0020)
+// #define TIM_EventSource_Trigger            ((uint16_t)0x0040)
+// #define TIM_EventSource_Break              ((uint16_t)0x0080)
+// #define IS_TIM_EVENT_SOURCE(SOURCE) ((((SOURCE) & (uint16_t)0xFF00) == 0x0000) && ((SOURCE) != 0x0000))
+
+#define TIM_UpdateSource_Global ((uint16_t)0x0000)  /*!< Source of update is the counter overflow/underflow \
+                                                         or the setting of UG bit, or an update generation  \
+                                                         through the slave mode controller. */
+#define TIM_UpdateSource_Regular ((uint16_t)0x0001) /*!< Source of update is counter overflow/underflow. */
+#define IS_TIM_UPDATE_SOURCE(SOURCE) (((SOURCE) == TIM_UpdateSource_Global) || \
+                                      ((SOURCE) == TIM_UpdateSource_Regular))
+
+#define TIM_OCPreload_Enable ((uint16_t)0x0008)
+#define TIM_OCPreload_Disable ((uint16_t)0x0000)
+#define IS_TIM_OCPRELOAD_STATE(STATE) (((STATE) == TIM_OCPreload_Enable) || \
+                                       ((STATE) == TIM_OCPreload_Disable))
+
+#define TIM_OCFast_Enable ((uint16_t)0x0004)
+#define TIM_OCFast_Disable ((uint16_t)0x0000)
+#define IS_TIM_OCFAST_STATE(STATE) (((STATE) == TIM_OCFast_Enable) || \
+                                    ((STATE) == TIM_OCFast_Disable))
+
+#define TIM_OCClear_Enable ((uint16_t)0x0080)
+#define TIM_OCClear_Disable ((uint16_t)0x0000)
+#define IS_TIM_OCCLEAR_STATE(STATE) (((STATE) == TIM_OCClear_Enable) || \
+                                     ((STATE) == TIM_OCClear_Disable))
+
+#define TIM_TRGOSource_Reset ((uint16_t)0x0000)
+#define TIM_TRGOSource_Enable ((uint16_t)0x0010)
+#define TIM_TRGOSource_Update ((uint16_t)0x0020)
+#define TIM_TRGOSource_OC1 ((uint16_t)0x0030)
+#define TIM_TRGOSource_OC1Ref ((uint16_t)0x0040)
+#define TIM_TRGOSource_OC2Ref ((uint16_t)0x0050)
+#define TIM_TRGOSource_OC3Ref ((uint16_t)0x0060)
+#define TIM_TRGOSource_OC4Ref ((uint16_t)0x0070)
+//#define IS_TIM_TRGO_SOURCE(SOURCE) (((SOURCE) == TIM_TRGOSource_Reset) || \
+//                                    ((SOURCE) == TIM_TRGOSource_Enable) || \
+//                                    ((SOURCE) == TIM_TRGOSource_Update) || \
+//                                    ((SOURCE) == TIM_TRGOSource_OC1) || \
+//                                    ((SOURCE) == TIM_TRGOSource_OC1Ref) || \
+//                                    ((SOURCE) == TIM_TRGOSource_OC2Ref) || \
+//                                    ((SOURCE) == TIM_TRGOSource_OC3Ref) || \
+//                                    ((SOURCE) == TIM_TRGOSource_OC4Ref))
+
+#define TIM_SlaveMode_Reset ((uint16_t)0x0004)
+#define TIM_SlaveMode_Gated ((uint16_t)0x0005)
+#define TIM_SlaveMode_Trigger ((uint16_t)0x0006)
+#define TIM_SlaveMode_External1 ((uint16_t)0x0007)
+//#define IS_TIM_SLAVE_MODE(MODE) (((MODE) == TIM_SlaveMode_Reset) || \
+//                                 ((MODE) == TIM_SlaveMode_Gated) || \
+//                                 ((MODE) == TIM_SlaveMode_Trigger) || \
+//                                 ((MODE) == TIM_SlaveMode_External1))
+
+#define TIM_MasterSlaveMode_Enable ((uint16_t)0x0080)
+#define TIM_MasterSlaveMode_Disable ((uint16_t)0x0000)
+//#define IS_TIM_MSM_STATE(STATE) (((STATE) == TIM_MasterSlaveMode_Enable) || \
+//                                 ((STATE) == TIM_MasterSlaveMode_Disable))
+
+#define TIM2_TIM8_TRGO ((uint16_t)0x0000)
+#define TIM2_ETH_PTP ((uint16_t)0x0400)
+#define TIM2_USBFS_SOF ((uint16_t)0x0800)
+#define TIM2_USBHS_SOF ((uint16_t)0x0C00)
+
+#define TIM5_GPIO ((uint16_t)0x0000)
+#define TIM5_LSI ((uint16_t)0x0040)
+#define TIM5_LSE ((uint16_t)0x0080)
+#define TIM5_RTC ((uint16_t)0x00C0)
+
+#define TIM11_GPIO ((uint16_t)0x0000)
+#define TIM11_HSE ((uint16_t)0x0002)
+
+class Encoder
+{
+private:
+  int _pin;
+
+public:
+  TIM_TypeDef *tim_base;
+  Encoder();
+  void SetCount(int64_t Counter);
+  uint16_t GetCount();
+};
+
+void encoder_config();
+void encoder2_config(); // Experimental
+void GpioConfigPortA(GPIO_TypeDef *GPIOx);
+void GpioConfigPortC(GPIO_TypeDef *GPIOx);
+void GpioConfigPortD(GPIO_TypeDef *GPIOx);
+void TIM_EncoderInterConfig(TIM_TypeDef *TIMx, uint16_t TIM_EncoderMode, uint16_t TIM_IC1Polarity, uint16_t TIM_IC2Polarity);
+void TIM_TimeBaseStructInit(TIM_TimeBaseInitTypeDef *TIM_TimeBaseInitStruct);
+void TIM_TimeBaseInit(TIM_TypeDef *TIMx, TIM_TimeBaseInitTypeDef *TIM_TimeBaseInitStruct);
+#endif

Firmware/include/extend32to64.h

@@ -0,0 +1,14 @@
+#ifndef EXTEND32TO64
+#define EXTEND32TO54
+
+#include <Arduino.h>
+
+class extend32to64
+{
+public:
+    int64_t previousTimeValue = 0;
+    const uint64_t ONE_PERIOD = 4294967296;  // almost UINT32_MAX;
+    const uint64_t HALF_PERIOD = 2147483648; // Half of that
+    int64_t extendTime(uint32_t in);
+};
+#endif

Firmware/lib/soes/ecat_options.h

@@ -33,8 +33,8 @@
 #define SM3_smc          0x20
 #define SM3_act          1
 
-#define MAX_MAPPINGS_SM2 2
-#define MAX_MAPPINGS_SM3 5
+#define MAX_MAPPINGS_SM2 5
+#define MAX_MAPPINGS_SM3 11
 
 #define MAX_RXPDO_SIZE   512
 #define MAX_TXPDO_SIZE   512

Firmware/lib/soes/ecat_slv.c

@@ -13,25 +13,25 @@
 #define IS_TXPDO(index) ((index) >= 0x1A00 && (index) < 0x1C00)
 
 /* Global variables used by the stack */
-uint8_t     MBX[MBXBUFFERS * MAX(MBXSIZE,MBXSIZEBOOT)];
+uint8_t MBX[MBXBUFFERS * MAX(MBXSIZE, MBXSIZEBOOT)];
 _MBXcontrol MBXcontrol[MBXBUFFERS];
-_SMmap      SMmap2[MAX_MAPPINGS_SM2];
-_SMmap      SMmap3[MAX_MAPPINGS_SM3];
-_ESCvar     ESCvar;
+_SMmap SMmap2[MAX_MAPPINGS_SM2];
+_SMmap SMmap3[MAX_MAPPINGS_SM3];
+_ESCvar ESCvar;
 
 /* Private variables */
 static volatile int watchdog;
 
 #if MAX_MAPPINGS_SM2 > 0
-static uint8_t rxpdo[MAX_RXPDO_SIZE] __attribute__((aligned (8)));
+static uint8_t rxpdo[MAX_RXPDO_SIZE] __attribute__((aligned(8)));
 #else
-extern uint8_t * rxpdo;
+extern uint8_t *rxpdo;
 #endif
 
 #if MAX_MAPPINGS_SM3 > 0
-static uint8_t txpdo[MAX_TXPDO_SIZE] __attribute__((aligned (8)));
+static uint8_t txpdo[MAX_TXPDO_SIZE] __attribute__((aligned(8)));
 #else
-extern uint8_t * txpdo;
+extern uint8_t *txpdo;
 #endif
 
 /** Function to pre-qualify the incoming SDO download.
@@ -40,19 +40,19 @@ extern uint8_t * txpdo;
  * @param[in] sub-index  = sub-index of SDO download request to check
  * @return SDO abort code, or 0 on success
  */
-uint32_t ESC_download_pre_objecthandler (uint16_t index,
-      uint8_t subindex,
-      void * data,
-      size_t size,
-      uint16_t flags)
+uint32_t ESC_download_pre_objecthandler(uint16_t index,
+                                        uint8_t subindex,
+                                        void *data,
+                                        size_t size,
+                                        uint16_t flags)
 {
-   if (IS_RXPDO (index) ||
-       IS_TXPDO (index) ||
+   if (IS_RXPDO(index) ||
+       IS_TXPDO(index) ||
        index == RX_PDO_OBJIDX ||
        index == TX_PDO_OBJIDX)
    {
       uint8_t minSub = ((flags & COMPLETE_ACCESS_FLAG) == 0) ? 0 : 1;
-      if (subindex > minSub && COE_maxSub (index) != 0)
+      if (subindex > minSub && COE_maxSub(index) != 0)
       {
          return ABORT_SUBINDEX0_NOT_ZERO;
       }
@@ -60,11 +60,11 @@ uint32_t ESC_download_pre_objecthandler (uint16_t index,
 
    if (ESCvar.pre_object_download_hook)
    {
-      return (ESCvar.pre_object_download_hook) (index,
-            subindex,
-            data,
-            size,
-            flags);
+      return (ESCvar.pre_object_download_hook)(index,
+                                               subindex,
+                                               data,
+                                               size,
+                                               flags);
    }
 
    return 0;
@@ -77,7 +77,7 @@ uint32_t ESC_download_pre_objecthandler (uint16_t index,
  * @param[in] sub-index  = sub-index of SDO download request to handle
  * @return SDO abort code, or 0 on success
  */
-uint32_t ESC_download_post_objecthandler (uint16_t index, uint8_t subindex, uint16_t flags)
+uint32_t ESC_download_post_objecthandler(uint16_t index, uint8_t subindex, uint16_t flags)
 {
    if (ESCvar.post_object_download_hook != NULL)
    {
@@ -93,19 +93,19 @@ uint32_t ESC_download_post_objecthandler (uint16_t index, uint8_t subindex, uint
  * @param[in] sub-index  = sub-index of SDO upload request to handle
  * @return SDO abort code, or 0 on success
  */
-uint32_t ESC_upload_pre_objecthandler (uint16_t index,
-      uint8_t subindex,
-      void * data,
-      size_t size,
-      uint16_t flags)
+uint32_t ESC_upload_pre_objecthandler(uint16_t index,
+                                      uint8_t subindex,
+                                      void *data,
+                                      size_t size,
+                                      uint16_t flags)
 {
    if (ESCvar.pre_object_upload_hook != NULL)
    {
-      return (ESCvar.pre_object_upload_hook) (index,
-            subindex,
-            data,
-            size,
-            flags);
+      return (ESCvar.pre_object_upload_hook)(index,
+                                             subindex,
+                                             data,
+                                             size,
+                                             flags);
    }
 
    return 0;
@@ -118,7 +118,7 @@ uint32_t ESC_upload_pre_objecthandler (uint16_t index,
  * @param[in] sub-index  = sub-index of SDO upload request to handle
  * @return SDO abort code, or 0 on success
  */
-uint32_t ESC_upload_post_objecthandler (uint16_t index, uint8_t subindex, uint16_t flags)
+uint32_t ESC_upload_post_objecthandler(uint16_t index, uint8_t subindex, uint16_t flags)
 {
    if (ESCvar.post_object_upload_hook != NULL)
    {
@@ -131,11 +131,11 @@ uint32_t ESC_upload_post_objecthandler (uint16_t index, uint8_t subindex, uint16
 /** Hook called from the slave stack ESC_stopoutputs to act on state changes
  * forcing us to stop outputs. Here we can set them to a safe state.
  */
-void APP_safeoutput (void)
+void APP_safeoutput(void)
 {
-   DPRINT ("APP_safeoutput\n");
+   DPRINT("APP_safeoutput\n");
 
-   if(ESCvar.safeoutput_override != NULL)
+   if (ESCvar.safeoutput_override != NULL)
    {
       (ESCvar.safeoutput_override)();
    }
@@ -143,9 +143,9 @@ void APP_safeoutput (void)
 
 /** Write local process data to Sync Manager 3, Master Inputs.
  */
-void TXPDO_update (void)
+void TXPDO_update(void)
 {
-   if(ESCvar.txpdo_override != NULL)
+   if (ESCvar.txpdo_override != NULL)
    {
       (ESCvar.txpdo_override)();
    }
@@ -153,26 +153,26 @@ void TXPDO_update (void)
    {
       if (MAX_MAPPINGS_SM3 > 0)
       {
-         COE_pdoPack (txpdo, ESCvar.sm3mappings, SMmap3);
+         COE_pdoPack(txpdo, ESCvar.sm3mappings, SMmap3);
       }
-      ESC_write (ESC_SM3_sma, txpdo, ESCvar.ESC_SM3_sml);
+      ESC_write(ESC_SM3_sma, txpdo, ESCvar.ESC_SM3_sml);
    }
 }
 
 /** Read Sync Manager 2 to local process data, Master Outputs.
  */
-void RXPDO_update (void)
+void RXPDO_update(void)
 {
-   if(ESCvar.rxpdo_override != NULL)
+   if (ESCvar.rxpdo_override != NULL)
    {
       (ESCvar.rxpdo_override)();
    }
    else
    {
-      ESC_read (ESC_SM2_sma, rxpdo, ESCvar.ESC_SM2_sml);
+      ESC_read(ESC_SM2_sma, rxpdo, ESCvar.ESC_SM2_sml);
       if (MAX_MAPPINGS_SM2 > 0)
       {
-         COE_pdoUnpack (rxpdo, ESCvar.sm2mappings, SMmap2);
+         COE_pdoUnpack(rxpdo, ESCvar.sm2mappings, SMmap2);
       }
    }
 }
@@ -182,7 +182,7 @@ void RXPDO_update (void)
  *
  * @param[in] watchdogcnt  = new watchdog count value
  */
-void APP_setwatchdog (int watchdogcnt)
+void APP_setwatchdog(int watchdogcnt)
 {
    CC_ATOMIC_SET(ESCvar.watchdogcnt, watchdogcnt);
 }
@@ -191,10 +191,11 @@ void APP_setwatchdog (int watchdogcnt)
  * write ethercat inputs. Implement watch-dog counter to count-out if we have
  * made state change affecting the App.state.
  */
-void DIG_process (uint8_t flags)
+
+void DIG_process(uint16_t ALEvent, uint8_t flags)
 {
    /* Handle watchdog */
-   if((flags & DIG_PROCESS_WD_FLAG) > 0)
+   if ((flags & DIG_PROCESS_WD_FLAG) > 0)
    {
       if (CC_ATOMIC_GET(watchdog) > 0)
       {
@@ -207,7 +208,7 @@ void DIG_process (uint8_t flags)
          DPRINT("DIG_process watchdog expired\n");
          ESC_ALstatusgotoerror((ESCsafeop | ESCerror), ALERR_WATCHDOG);
       }
-      else if(((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) == 0))
+      else if (((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) == 0))
       {
          CC_ATOMIC_SET(watchdog, ESCvar.watchdogcnt);
       }
@@ -216,15 +217,15 @@ void DIG_process (uint8_t flags)
    /* Handle Outputs */
    if ((flags & DIG_PROCESS_OUTPUTS_FLAG) > 0)
    {
-      if(((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0) &&
-         (ESCvar.ALevent & ESCREG_ALEVENT_SM2))
+      if (((CC_ATOMIC_GET(ESCvar.App.state) & APPSTATE_OUTPUT) > 0) &&
+          (ALEvent & ESCREG_ALEVENT_SM2))
       {
          RXPDO_update();
          CC_ATOMIC_SET(watchdog, ESCvar.watchdogcnt);
          /* Set outputs */
          cb_set_outputs();
       }
-      else if (ESCvar.ALevent & ESCREG_ALEVENT_SM2)
+      else if (ALEvent & ESCREG_ALEVENT_SM2)
       {
          RXPDO_update();
       }
@@ -243,7 +244,7 @@ void DIG_process (uint8_t flags)
    /* Handle Inputs */
    if ((flags & DIG_PROCESS_INPUTS_FLAG) > 0)
    {
-      if(CC_ATOMIC_GET(ESCvar.App.state) > 0)
+      if (CC_ATOMIC_GET(ESCvar.App.state) > 0)
       {
          /* Update inputs */
          cb_get_inputs();
@@ -257,7 +258,7 @@ void DIG_process (uint8_t flags)
  * control what interrupts that should be served and re-activated with
  * event mask argument
  */
-void ecat_slv_worker (uint32_t event_mask)
+void ecat_slv_worker(uint32_t event_mask)
 {
    do
    {
@@ -289,21 +290,21 @@ void ecat_slv_worker (uint32_t event_mask)
 
       CC_ATOMIC_SET(ESCvar.ALevent, ESC_ALeventread());
 
-   }while(ESCvar.ALevent & event_mask);
+   } while (ESCvar.ALevent & event_mask);
 
    ESC_ALeventmaskwrite(ESC_ALeventmaskread() | event_mask);
 }
 
 /*
- * Polling function. It should be called periodically for an application 
+ * Polling function. It should be called periodically for an application
  * when only SM2/DC interrupt is active.
  * Read and handle events for the EtherCAT state, status, mailbox and eeprom.
  */
-void ecat_slv_poll (void)
+void ecat_slv_poll(void)
 {
    /* Read local time from ESC*/
-   ESC_read (ESCREG_LOCALTIME, (void *) &ESCvar.Time, sizeof (ESCvar.Time));
-   ESCvar.Time = etohl (ESCvar.Time);
+   ESC_read(ESCREG_LOCALTIME, (void *)&ESCvar.Time, sizeof(ESCvar.Time));
+   ESCvar.Time = etohl(ESCvar.Time);
 
    /* Check the state machine */
    ESC_state();
@@ -336,50 +337,50 @@ void ecat_slv_poll (void)
 /*
  * Poll all events in a free-run application
  */
-void ecat_slv (void)
+void ecat_slv(void)
 {
    ecat_slv_poll();
-   DIG_process(DIG_PROCESS_WD_FLAG | DIG_PROCESS_OUTPUTS_FLAG |
-         DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG);
+   DIG_process(ESC_ALeventread(), DIG_PROCESS_WD_FLAG | DIG_PROCESS_OUTPUTS_FLAG |
+                                      DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG);
 }
 
 /*
  * Initialize the slave stack.
  */
-void ecat_slv_init (esc_cfg_t * config)
+void ecat_slv_init(esc_cfg_t *config)
 {
    /* Init watchdog */
    watchdog = config->watchdog_cnt;
 
    /* Call stack configuration */
-   ESC_config (config);
+   ESC_config(config);
    /* Call HW init */
-   ESC_init (config);
+   ESC_init(config);
 
    /*  wait until ESC is started up */
    while ((ESCvar.DLstatus & 0x0001) == 0)
    {
-      ESC_read (ESCREG_DLSTATUS, (void *) &ESCvar.DLstatus,
-                sizeof (ESCvar.DLstatus));
-      ESCvar.DLstatus = etohs (ESCvar.DLstatus);
+      ESC_read(ESCREG_DLSTATUS, (void *)&ESCvar.DLstatus,
+               sizeof(ESCvar.DLstatus));
+      ESCvar.DLstatus = etohs(ESCvar.DLstatus);
    }
 
 #if USE_FOE
    /* Init FoE */
-   FOE_init ();
+   FOE_init();
 #endif
 
 #if USE_EOE
    /* Init EoE */
-   EOE_init ();
+   EOE_init();
 #endif
 
    /* reset ESC to init state */
-   ESC_ALstatus (ESCinit);
-   ESC_ALerror (ALERR_NONE);
-   ESC_stopmbx ();
-   ESC_stopinput ();
-   ESC_stopoutput ();
+   ESC_ALstatus(ESCinit);
+   ESC_ALerror(ALERR_NONE);
+   ESC_stopmbx();
+   ESC_stopinput();
+   ESC_stopoutput();
    /* Init Object Dictionary default values */
-   COE_initDefaultValues ();
+   COE_initDefaultValues();
 }

Firmware/lib/soes/ecat_slv.h

@@ -15,7 +15,7 @@
 void cb_get_inputs();
 
 /**
-* This function is called when to set outputs values
+ * This function is called when to set outputs values
  */
 void cb_set_outputs();
 
@@ -23,12 +23,12 @@ void cb_set_outputs();
  *
  * @param[in] watchdogcnt  = new watchdog count value
  */
-void APP_setwatchdog (int watchdogcnt);
+void APP_setwatchdog(int watchdogcnt);
 
-#define DIG_PROCESS_INPUTS_FLAG     0x01
-#define DIG_PROCESS_OUTPUTS_FLAG    0x02
-#define DIG_PROCESS_WD_FLAG         0x04
-#define DIG_PROCESS_APP_HOOK_FLAG   0x08
+#define DIG_PROCESS_INPUTS_FLAG 0x01
+#define DIG_PROCESS_OUTPUTS_FLAG 0x02
+#define DIG_PROCESS_WD_FLAG 0x04
+#define DIG_PROCESS_APP_HOOK_FLAG 0x08
 /** Implements the watch-dog counter to count if we should make a state change
  * due to missing incoming SM2 events. Updates local I/O and run the application
  * in the following order, call read EtherCAT outputs, execute user provided
@@ -36,7 +36,7 @@ void APP_setwatchdog (int watchdogcnt);
  *
  * @param[in]   flags     = User input what to execute
  */
-void DIG_process (uint8_t flags);
+void DIG_process(uint16_t ALEvent, uint8_t flags);
 
 /**
  * Handler for SM change, SM0/1, AL CONTROL and EEPROM events, the application
@@ -46,24 +46,24 @@ void DIG_process (uint8_t flags);
  * @param[in]   event_mask = Event mask for interrupts to serve and re-activate
  *                           after served
  */
-void ecat_slv_worker (uint32_t event_mask);
+void ecat_slv_worker(uint32_t event_mask);
 
 /**
  * Poll SM0/1, EEPROM and AL CONTROL events in a SM/DC synchronization
  * application
  */
-void ecat_slv_poll (void);
+void ecat_slv_poll(void);
 
 /**
  * Poll all events in a free-run application
  */
-void ecat_slv (void);
+void ecat_slv(void);
 
 /**
  * Initialize the slave stack
  *
  * @param[in]   config     = User input how to configure the stack
  */
-void ecat_slv_init (esc_cfg_t * config);
+void ecat_slv_init(esc_cfg_t *config);
 
 #endif /* __ECAT_SLV_H__ */

Firmware/lib/soes/esi.json

@@ -79,7 +79,7 @@
         "pdo_mappings": [
           "txpdo"
         ],
-        "dtype": "UNSIGNED32",
+        "dtype": "UNSIGNED16",
         "value": "0",
         "data": "&Obj.DiffT"
       },
@@ -104,21 +104,76 @@
         "dtype": "UNSIGNED32",
         "value": "0",
         "data": "&Obj.IndexStatus"
+      },
+      "6005": {
+        "otype": "VAR",
+        "name": "ActualPosition1",
+        "access": "RO",
+        "pdo_mappings": [
+          "txpdo"
+        ],
+        "dtype": "REAL32",
+        "value": "0",
+        "data": "&Obj.ActualPosition1"
+      },
+      "6006": {
+        "otype": "VAR",
+        "name": "ActualPosition2",
+        "access": "RO",
+        "pdo_mappings": [
+          "txpdo"
+        ],
+        "dtype": "REAL32",
+        "value": "0",
+        "data": "&Obj.ActualPosition2"
+      },
+      "6007": {
+        "otype": "VAR",
+        "name": "D1",
+        "access": "RO",
+        "pdo_mappings": [
+          "txpdo"
+        ],
+        "dtype": "INTEGER16",
+        "value": "0",
+        "data": "&Obj.D1"
+      },
+      "6008": {
+        "otype": "VAR",
+        "name": "D2",
+        "access": "RO",
+        "pdo_mappings": [
+          "txpdo"
+        ],
+        "dtype": "INTEGER16",
+        "value": "0",
+        "data": "&Obj.D2"
+      },
+      "6009": {
+        "otype": "VAR",
+        "name": "D3",
+        "access": "RO",
+        "pdo_mappings": [
+          "txpdo"
+        ],
+        "dtype": "INTEGER16",
+        "value": "0",
+        "data": "&Obj.D3"
+      },
+      "600A": {
+        "otype": "VAR",
+        "name": "D4",
+        "access": "RO",
+        "pdo_mappings": [
+          "txpdo"
+        ],
+        "dtype": "INTEGER16",
+        "value": "0",
+        "data": "&Obj.D4"
       }
     },
     "rxpdo": {
       "7000": {
-        "otype": "VAR",
-        "name": "EncPosScale",
-        "access": "RO",
-        "pdo_mappings": [
-          "rxpdo"
-        ],
-        "dtype": "INTEGER32",
-        "value": "0",
-        "data": "&Obj.EncPosScale"
-      },
-      "7001": {
         "otype": "VAR",
         "name": "IndexLatchEnable",
         "access": "RO",
@@ -129,6 +184,50 @@
         "value": "0",
         "data": "&Obj.IndexLatchEnable"
       },
+      "7001": {
+        "otype": "VAR",
+        "name": "CommandedPosition1",
+        "access": "RO",
+        "pdo_mappings": [
+          "rxpdo"
+        ],
+        "dtype": "REAL32",
+        "value": "0",
+        "data": "&Obj.CommandedPosition1"
+      },
+      "7002": {
+        "otype": "VAR",
+        "name": "CommandedPosition2",
+        "access": "RO",
+        "pdo_mappings": [
+          "rxpdo"
+        ],
+        "dtype": "REAL32",
+        "value": "0",
+        "data": "&Obj.CommandedPosition2"
+      },
+      "7003": {
+        "otype": "VAR",
+        "name": "StepsPerMM1",
+        "access": "RO",
+        "pdo_mappings": [
+          "rxpdo"
+        ],
+        "dtype": "INTEGER16",
+        "value": "0",
+        "data": "&Obj.StepsPerMM1"
+      },
+      "7004": {
+        "otype": "VAR",
+        "name": "StepsPerMM2",
+        "access": "RO",
+        "pdo_mappings": [
+          "rxpdo"
+        ],
+        "dtype": "INTEGER16",
+        "value": "0",
+        "data": "&Obj.StepsPerMM2"
+      },
       "60664": {
         "otype": "VAR",
         "name": "ActualPosition",

Firmware/lib/soes/objectlist.c

@@ -13,12 +13,21 @@ static const char acName1018_01[] = "Vendor ID";
 static const char acName1018_02[] = "Product Code";
 static const char acName1018_03[] = "Revision Number";
 static const char acName1018_04[] = "Serial Number";
-static const char acName1600[] = "EncPosScale";
+static const char acName1600[] = "IndexLatchEnable";
 static const char acName1600_00[] = "Max SubIndex";
-static const char acName1600_01[] = "EncPosScale";
-static const char acName1601[] = "IndexLatchEnable";
+static const char acName1600_01[] = "IndexLatchEnable";
+static const char acName1601[] = "CommandedPosition1";
 static const char acName1601_00[] = "Max SubIndex";
-static const char acName1601_01[] = "IndexLatchEnable";
+static const char acName1601_01[] = "CommandedPosition1";
+static const char acName1602[] = "CommandedPosition2";
+static const char acName1602_00[] = "Max SubIndex";
+static const char acName1602_01[] = "CommandedPosition2";
+static const char acName1603[] = "StepsPerMM1";
+static const char acName1603_00[] = "Max SubIndex";
+static const char acName1603_01[] = "StepsPerMM1";
+static const char acName1604[] = "StepsPerMM2";
+static const char acName1604_00[] = "Max SubIndex";
+static const char acName1604_01[] = "StepsPerMM2";
 static const char acName1A00[] = "EncPos";
 static const char acName1A00_00[] = "Max SubIndex";
 static const char acName1A00_01[] = "EncPos";
@@ -34,6 +43,24 @@ static const char acName1A03_01[] = "IndexByte";
 static const char acName1A04[] = "IndexStatus";
 static const char acName1A04_00[] = "Max SubIndex";
 static const char acName1A04_01[] = "IndexStatus";
+static const char acName1A05[] = "ActualPosition1";
+static const char acName1A05_00[] = "Max SubIndex";
+static const char acName1A05_01[] = "ActualPosition1";
+static const char acName1A06[] = "ActualPosition2";
+static const char acName1A06_00[] = "Max SubIndex";
+static const char acName1A06_01[] = "ActualPosition2";
+static const char acName1A07[] = "D1";
+static const char acName1A07_00[] = "Max SubIndex";
+static const char acName1A07_01[] = "D1";
+static const char acName1A08[] = "D2";
+static const char acName1A08_00[] = "Max SubIndex";
+static const char acName1A08_01[] = "D2";
+static const char acName1A09[] = "D3";
+static const char acName1A09_00[] = "Max SubIndex";
+static const char acName1A09_01[] = "D3";
+static const char acName1A0A[] = "D4";
+static const char acName1A0A_00[] = "Max SubIndex";
+static const char acName1A0A_01[] = "D4";
 static const char acName1C00[] = "Sync Manager Communication Type";
 static const char acName1C00_00[] = "Max SubIndex";
 static const char acName1C00_01[] = "Communications Type SM0";
@@ -44,6 +71,9 @@ static const char acName1C12[] = "Sync Manager 2 PDO Assignment";
 static const char acName1C12_00[] = "Max SubIndex";
 static const char acName1C12_01[] = "PDO Mapping";
 static const char acName1C12_02[] = "PDO Mapping";
+static const char acName1C12_03[] = "PDO Mapping";
+static const char acName1C12_04[] = "PDO Mapping";
+static const char acName1C12_05[] = "PDO Mapping";
 static const char acName1C13[] = "Sync Manager 3 PDO Assignment";
 static const char acName1C13_00[] = "Max SubIndex";
 static const char acName1C13_01[] = "PDO Mapping";
@@ -51,13 +81,28 @@ static const char acName1C13_02[] = "PDO Mapping";
 static const char acName1C13_03[] = "PDO Mapping";
 static const char acName1C13_04[] = "PDO Mapping";
 static const char acName1C13_05[] = "PDO Mapping";
+static const char acName1C13_06[] = "PDO Mapping";
+static const char acName1C13_07[] = "PDO Mapping";
+static const char acName1C13_08[] = "PDO Mapping";
+static const char acName1C13_09[] = "PDO Mapping";
+static const char acName1C13_10[] = "PDO Mapping";
+static const char acName1C13_11[] = "PDO Mapping";
 static const char acName6000[] = "EncPos";
 static const char acName6001[] = "EncFrequency";
 static const char acName6002[] = "DiffT";
 static const char acName6003[] = "IndexByte";
 static const char acName6004[] = "IndexStatus";
-static const char acName7000[] = "EncPosScale";
-static const char acName7001[] = "IndexLatchEnable";
+static const char acName6005[] = "ActualPosition1";
+static const char acName6006[] = "ActualPosition2";
+static const char acName6007[] = "D1";
+static const char acName6008[] = "D2";
+static const char acName6009[] = "D3";
+static const char acName600A[] = "D4";
+static const char acName7000[] = "IndexLatchEnable";
+static const char acName7001[] = "CommandedPosition1";
+static const char acName7002[] = "CommandedPosition2";
+static const char acName7003[] = "StepsPerMM1";
+static const char acName7004[] = "StepsPerMM2";
 
 const _objd SDO1000[] =
 {
@@ -93,6 +138,21 @@ const _objd SDO1601[] =
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1601_00, 1, NULL},
   {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1601_01, 0x70010020, NULL},
 };
+const _objd SDO1602[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1602_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1602_01, 0x70020020, NULL},
+};
+const _objd SDO1603[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1603_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1603_01, 0x70030010, NULL},
+};
+const _objd SDO1604[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1604_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1604_01, 0x70040010, NULL},
+};
 const _objd SDO1A00[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A00_00, 1, NULL},
@@ -106,7 +166,7 @@ const _objd SDO1A01[] =
 const _objd SDO1A02[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A02_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A02_01, 0x60020020, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A02_01, 0x60020010, NULL},
 };
 const _objd SDO1A03[] =
 {
@@ -118,6 +178,36 @@ const _objd SDO1A04[] =
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A04_00, 1, NULL},
   {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A04_01, 0x60040020, NULL},
 };
+const _objd SDO1A05[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A05_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A05_01, 0x60050020, NULL},
+};
+const _objd SDO1A06[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A06_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A06_01, 0x60060020, NULL},
+};
+const _objd SDO1A07[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A07_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A07_01, 0x60070010, NULL},
+};
+const _objd SDO1A08[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A08_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A08_01, 0x60080010, NULL},
+};
+const _objd SDO1A09[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A09_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A09_01, 0x60090010, NULL},
+};
+const _objd SDO1A0A[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A0A_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A0A_01, 0x600A0010, NULL},
+};
 const _objd SDO1C00[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_00, 4, NULL},
@@ -128,18 +218,27 @@ const _objd SDO1C00[] =
 };
 const _objd SDO1C12[] =
 {
-  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C12_00, 2, NULL},
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C12_00, 5, NULL},
   {0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_01, 0x1600, NULL},
   {0x02, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_02, 0x1601, NULL},
+  {0x03, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_03, 0x1602, NULL},
+  {0x04, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_04, 0x1603, NULL},
+  {0x05, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_05, 0x1604, NULL},
 };
 const _objd SDO1C13[] =
 {
-  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C13_00, 5, NULL},
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C13_00, 11, NULL},
   {0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_01, 0x1A00, NULL},
   {0x02, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_02, 0x1A01, NULL},
   {0x03, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_03, 0x1A02, NULL},
   {0x04, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_04, 0x1A03, NULL},
   {0x05, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_05, 0x1A04, NULL},
+  {0x06, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_06, 0x1A05, NULL},
+  {0x07, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_07, 0x1A06, NULL},
+  {0x08, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_08, 0x1A07, NULL},
+  {0x09, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_09, 0x1A08, NULL},
+  {0x0a, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_10, 0x1A09, NULL},
+  {0x0b, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_11, 0x1A0A, NULL},
 };
 const _objd SDO6000[] =
 {
@@ -151,7 +250,7 @@ const _objd SDO6001[] =
 };
 const _objd SDO6002[] =
 {
-  {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_TXPDO, acName6002, 0, &Obj.DiffT},
+  {0x0, DTYPE_UNSIGNED16, 16, ATYPE_RO | ATYPE_TXPDO, acName6002, 0, &Obj.DiffT},
 };
 const _objd SDO6003[] =
 {
@@ -161,13 +260,49 @@ const _objd SDO6004[] =
 {
   {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_TXPDO, acName6004, 0, &Obj.IndexStatus},
 };
+const _objd SDO6005[] =
+{
+  {0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6005, 0x00000000, &Obj.ActualPosition1},
+};
+const _objd SDO6006[] =
+{
+  {0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6006, 0x00000000, &Obj.ActualPosition2},
+};
+const _objd SDO6007[] =
+{
+  {0x0, DTYPE_INTEGER16, 16, ATYPE_RO | ATYPE_TXPDO, acName6007, 0, &Obj.D1},
+};
+const _objd SDO6008[] =
+{
+  {0x0, DTYPE_INTEGER16, 16, ATYPE_RO | ATYPE_TXPDO, acName6008, 0, &Obj.D2},
+};
+const _objd SDO6009[] =
+{
+  {0x0, DTYPE_INTEGER16, 16, ATYPE_RO | ATYPE_TXPDO, acName6009, 0, &Obj.D3},
+};
+const _objd SDO600A[] =
+{
+  {0x0, DTYPE_INTEGER16, 16, ATYPE_RO | ATYPE_TXPDO, acName600A, 0, &Obj.D4},
+};
 const _objd SDO7000[] =
 {
-  {0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_RXPDO, acName7000, 0, &Obj.EncPosScale},
+  {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_RXPDO, acName7000, 0, &Obj.IndexLatchEnable},
 };
 const _objd SDO7001[] =
 {
-  {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_RXPDO, acName7001, 0, &Obj.IndexLatchEnable},
+  {0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName7001, 0x00000000, &Obj.CommandedPosition1},
+};
+const _objd SDO7002[] =
+{
+  {0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_RXPDO, acName7002, 0x00000000, &Obj.CommandedPosition2},
+};
+const _objd SDO7003[] =
+{
+  {0x0, DTYPE_INTEGER16, 16, ATYPE_RO | ATYPE_RXPDO, acName7003, 0, &Obj.StepsPerMM1},
+};
+const _objd SDO7004[] =
+{
+  {0x0, DTYPE_INTEGER16, 16, ATYPE_RO | ATYPE_RXPDO, acName7004, 0, &Obj.StepsPerMM2},
 };
 
 const _objectlist SDOobjects[] =
@@ -179,20 +314,38 @@ const _objectlist SDOobjects[] =
   {0x1018, OTYPE_RECORD, 4, 0, acName1018, SDO1018},
   {0x1600, OTYPE_RECORD, 1, 0, acName1600, SDO1600},
   {0x1601, OTYPE_RECORD, 1, 0, acName1601, SDO1601},
+  {0x1602, OTYPE_RECORD, 1, 0, acName1602, SDO1602},
+  {0x1603, OTYPE_RECORD, 1, 0, acName1603, SDO1603},
+  {0x1604, OTYPE_RECORD, 1, 0, acName1604, SDO1604},
   {0x1A00, OTYPE_RECORD, 1, 0, acName1A00, SDO1A00},
   {0x1A01, OTYPE_RECORD, 1, 0, acName1A01, SDO1A01},
   {0x1A02, OTYPE_RECORD, 1, 0, acName1A02, SDO1A02},
   {0x1A03, OTYPE_RECORD, 1, 0, acName1A03, SDO1A03},
   {0x1A04, OTYPE_RECORD, 1, 0, acName1A04, SDO1A04},
+  {0x1A05, OTYPE_RECORD, 1, 0, acName1A05, SDO1A05},
+  {0x1A06, OTYPE_RECORD, 1, 0, acName1A06, SDO1A06},
+  {0x1A07, OTYPE_RECORD, 1, 0, acName1A07, SDO1A07},
+  {0x1A08, OTYPE_RECORD, 1, 0, acName1A08, SDO1A08},
+  {0x1A09, OTYPE_RECORD, 1, 0, acName1A09, SDO1A09},
+  {0x1A0A, OTYPE_RECORD, 1, 0, acName1A0A, SDO1A0A},
   {0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00},
-  {0x1C12, OTYPE_ARRAY, 2, 0, acName1C12, SDO1C12},
-  {0x1C13, OTYPE_ARRAY, 5, 0, acName1C13, SDO1C13},
+  {0x1C12, OTYPE_ARRAY, 5, 0, acName1C12, SDO1C12},
+  {0x1C13, OTYPE_ARRAY, 11, 0, acName1C13, SDO1C13},
   {0x6000, OTYPE_VAR, 0, 0, acName6000, SDO6000},
   {0x6001, OTYPE_VAR, 0, 0, acName6001, SDO6001},
   {0x6002, OTYPE_VAR, 0, 0, acName6002, SDO6002},
   {0x6003, OTYPE_VAR, 0, 0, acName6003, SDO6003},
   {0x6004, OTYPE_VAR, 0, 0, acName6004, SDO6004},
+  {0x6005, OTYPE_VAR, 0, 0, acName6005, SDO6005},
+  {0x6006, OTYPE_VAR, 0, 0, acName6006, SDO6006},
+  {0x6007, OTYPE_VAR, 0, 0, acName6007, SDO6007},
+  {0x6008, OTYPE_VAR, 0, 0, acName6008, SDO6008},
+  {0x6009, OTYPE_VAR, 0, 0, acName6009, SDO6009},
+  {0x600A, OTYPE_VAR, 0, 0, acName600A, SDO600A},
   {0x7000, OTYPE_VAR, 0, 0, acName7000, SDO7000},
   {0x7001, OTYPE_VAR, 0, 0, acName7001, SDO7001},
+  {0x7002, OTYPE_VAR, 0, 0, acName7002, SDO7002},
+  {0x7003, OTYPE_VAR, 0, 0, acName7003, SDO7003},
+  {0x7004, OTYPE_VAR, 0, 0, acName7004, SDO7004},
   {0xffff, 0xff, 0xff, 0xff, NULL, NULL}
 };

Firmware/lib/soes/utypes.h

@@ -15,14 +15,23 @@ typedef struct
 
    float EncPos;
    float EncFrequency;
-   uint32_t DiffT;
+   uint16_t DiffT;
    uint32_t IndexByte;
    uint32_t IndexStatus;
+   float ActualPosition1;
+   float ActualPosition2;
+   int16_t D1;
+   int16_t D2;
+   int16_t D3;
+   int16_t D4;
 
    /* Outputs */
 
-   int32_t EncPosScale;
    uint32_t IndexLatchEnable;
+   float CommandedPosition1;
+   float CommandedPosition2;
+   int16_t StepsPerMM1;
+   int16_t StepsPerMM2;
 
 } _Objects;
 

Firmware/platformio.ini

@@ -16,8 +16,9 @@ upload_protocol = stlink
 debug_tool = stlink
 debug_build_flags = -O0 -g -ggdb
 monitor_port = COM7
+monitor_filters = send_on_enter, time, colorize, log2file
 monitor_speed = 115200
 build_flags = -Wl,--no-warn-rwx-segment
 lib_deps = 
 	SPI
-	rlogiacco/CircularBuffer@^1.3.3
+	rlogiacco/CircularBuffer

Firmware/src/MyEncoder.cpp

@@ -0,0 +1,99 @@
+#include "MyENcoder.h"
+
+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
+
+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
+
+    // wrap difference from -HALF_PERIOD to HALF_PERIOD. modulo prevents differences after the wrap from having an incorrect result
+    int32_t mod_dif = ((dif + HALF_PERIOD) % ONE_PERIOD) - HALF_PERIOD;
+    if (dif < -HALF_PERIOD)
+        mod_dif += ONE_PERIOD; // account for mod of negative number behavior in C
+
+    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
+}
+
+void MyEncoder::indexPulse(void)
+{
+    if (pleaseZeroTheCounter)
+    {
+        tim_base->CNT = 0;
+        indexPulseFired = 1;
+        Pos.clear();
+        TDelta.clear();
+        pleaseZeroTheCounter = 0;
+    }
+}
+
+uint8_t MyEncoder::indexHappened()
+{
+    if (indexPulseFired)
+    {
+        indexPulseFired = 0;
+        previousEncoderCounterValue = 0;
+        return 1;
+    }
+    return 0;
+}
+
+double MyEncoder::currentPos()
+{
+    curPos = unwrapEncoder(tim_base->CNT) * PosScaleRes;
+    return curPos;
+}
+
+double MyEncoder::frequency(uint64_t time)
+{
+
+    double diffT = 0;
+    double diffPos = 0;
+    double frequency;
+    TDelta.push(time); // Running average over the length of the circular buffer
+    Pos.push(curPos);
+    if (Pos.size() == RINGBUFFERLEN)
+    {
+        diffT = 1.0e-6 * (TDelta.last() - TDelta.first()); // Time is in microseconds
+        diffPos = fabs(Pos.last() - Pos.first());
+        frequency = diffPos / diffT;
+        oldFrequency = frequency;
+        return frequency; // Revolutions per second
+    }
+    else
+        return oldFrequency;
+}
+uint8_t MyEncoder::getIndexState()
+{
+    return digitalRead(indexPin);
+}
+
+void MyEncoder::setScale(double scale)
+{
+    if (CurPosScale != scale && scale != 0)
+    {
+        CurPosScale = scale;
+        PosScaleRes = 1.0 / double(scale);
+    }
+}
+
+void MyEncoder::setLatch(uint8_t latchEnable)
+{
+    if (latchEnable && !oldLatchCEnable) // Should only happen first time IndexCEnable is set
+    {
+        pleaseZeroTheCounter = 1;
+    }
+    oldLatchCEnable = latchEnable;
+}

Firmware/src/StepGen.cpp

@@ -0,0 +1,148 @@
+#include <Arduino.h>
+#include <stdio.h>
+#include "StepGen.h"
+
+StepGen::StepGen(TIM_TypeDef *Timer, uint32_t _timerChannel, PinName _stepPin, uint8_t _dirPin, void irq(void))
+{
+    timerIsRunning = 0;
+    timerStepPosition = 0;
+    timerStepDirection = 0;
+    timerStepPositionAtEnd = 0;
+    timerNewEndStepPosition = 0;
+    actualPosition = 0;
+    requestedPosition = 0;
+    stepsPerMM = 0;
+    enabled = 0;
+
+    dirPin = _dirPin;
+    stepPin = _stepPin;
+    timerChan = _timerChannel;
+    MyTim = new HardwareTimer(Timer);
+    MyTim->attachInterrupt(irq);
+    pinMode(dirPin, OUTPUT);
+}
+void StepGen::reqPos(double_t pos)
+{
+    requestedPosition = pos;
+}
+double StepGen::reqPos()
+{
+    return requestedPosition;
+}
+void StepGen::actPos(double pos)
+{
+    actualPosition = pos;
+}
+double StepGen::actPos()
+{
+    return actualPosition;
+}
+
+void StepGen::enable(uint8_t yes)
+{
+    enabled = yes;
+}
+
+void StepGen::handleStepper(void)
+{
+    if (!enabled)
+        return;
+    pwmCycleTime = StepGen::sync0CycleTime;
+
+    actPos(timerStepPosition / double(stepsPerMM));
+    double diffPosition = reqPos() - actPos();
+#if 1
+// Wild "tone" kludge. map() function
+#define SPEED_MIN 0.00005
+#define SPEED_MAX 0.0005
+#define FACT_LOW 1.0
+#define FACT_HIGH 20.0
+    if (abs(diffPosition) < SPEED_MIN) // 60 mm/min = 0.001 mm/ms
+    {
+        pwmCycleTime = FACT_LOW * StepGen::sync0CycleTime;
+    }
+    else if (abs(diffPosition) > SPEED_MAX) // 60 mm/min = 0.001 mm/ms
+    {
+        pwmCycleTime = FACT_HIGH * StepGen::sync0CycleTime;
+    }
+    else
+    {
+        pwmCycleTime = (FACT_LOW + (FACT_HIGH - FACT_LOW) * (abs(diffPosition) - SPEED_MIN) / (SPEED_MAX - SPEED_MIN)) * StepGen::sync0CycleTime;
+    }
+#endif
+    uint64_t fre = (abs(diffPosition) * stepsPerMM * 1000000) / pwmCycleTime; // Frequency needed
+    if (fre > maxFreq)                                                        // Only do maxFre
+    {
+        double maxDist = (maxFreq * pwmCycleTime) / (stepsPerMM * 1000000.0) * (diffPosition > 0 ? 1 : -1);
+        reqPos(actPos() + maxDist);
+    }
+    int32_t pulsesAtEndOfCycle = stepsPerMM * reqPos();
+
+    // Will be picked up by the timer_CB and the timer is reloaded, if it runs.
+    timerNewEndStepPosition = pulsesAtEndOfCycle;
+
+    if (!timerIsRunning) // Timer isn't running. Start it here
+    {
+        int32_t steps = pulsesAtEndOfCycle - timerStepPosition; // Pulses to go + or -
+        if (steps != 0)
+        {
+            if (steps > 0)
+            {
+                digitalWrite(dirPin, HIGH);
+                timerStepDirection = 1;
+            }
+            else
+            {
+                digitalWrite(dirPin, LOW);
+                timerStepDirection = -1;
+            }
+            timerStepPositionAtEnd = pulsesAtEndOfCycle; // Current Position
+            float_t freqf = abs(steps) / (pwmCycleTime*1.0e-6);
+            uint32_t freq = uint32_t(freqf);
+            MyTim->setMode(timerChan, TIMER_OUTPUT_COMPARE_PWM2, stepPin);
+            MyTim->setOverflow(freq, HERTZ_FORMAT);
+            MyTim->setCaptureCompare(timerChan, 50, PERCENT_COMPARE_FORMAT); // 50 %
+            timerIsRunning = 1;
+            MyTim->resume();
+        }
+    }
+}
+void StepGen::timerCB()
+{
+    timerStepPosition += timerStepDirection; // The step that was just completed
+    if (timerNewEndStepPosition != 0)        // Are we going to reload?
+    {
+        // Input for reload is timerNewEndStepPosition
+        // The timer has current position and from this
+        // can set new frequency and new endtarget for steps
+        MyTim->pause(); // We are not at stop, let's stop it. Note stepPin is floating
+        int32_t steps = timerNewEndStepPosition - timerStepPosition;
+        if (steps != 0)
+        {
+            uint8_t sgn = steps > 0 ? HIGH : LOW;
+            digitalWrite(dirPin, sgn);
+            float_t freqf = abs(steps) / float(pwmCycleTime*1.0e-6);
+            uint32_t freq = uint32_t(freqf);
+            timerStepDirection = steps > 0 ? 1 : -1;
+            timerStepPositionAtEnd = timerNewEndStepPosition;
+            timerNewEndStepPosition = 0; // Set to zero to not reload next time
+            MyTim->setMode(timerChan, TIMER_OUTPUT_COMPARE_PWM2, stepPin);
+            MyTim->setOverflow(freq, HERTZ_FORMAT);
+            MyTim->setCaptureCompare(timerChan, 50, PERCENT_COMPARE_FORMAT); // 50 %
+            MyTim->resume();
+            timerIsRunning = 1;
+        }
+    }
+    if (timerStepPosition == timerStepPositionAtEnd) // Are we finished?
+    {
+        timerIsRunning = 0;
+        MyTim->pause();
+    }
+}
+
+void StepGen::setScale(int16_t spm)
+{
+    stepsPerMM = spm;
+}
+
+uint32_t StepGen::sync0CycleTime = 0;

Firmware/src/StepGen2.cpp

@@ -0,0 +1,124 @@
+#include <Arduino.h>
+#include <stdio.h>
+#include "StepGen2.h"
+#include "extend32to64.h"
+
+extern "C"
+{
+#include "esc.h"
+}
+extern extend32to64 longTime;
+
+StepGen2::StepGen2(TIM_TypeDef *Timer, uint32_t _timerChannel, PinName _stepPin, uint8_t _dirPin, void irq(void), TIM_TypeDef *Timer2, void irq2(void))
+{
+    actualPosition = 0;
+    commandedPosition = 0;
+    commandedStepPosition = 0;
+    initialPosition = 0;
+    initialStepPosition = 0;
+    stepsPerMM = 0;
+    enabled = 0;
+
+    dirPin = _dirPin;
+    dirPinName = digitalPinToPinName(dirPin);
+    stepPin = _stepPin;
+    pulseTimerChan = _timerChannel;
+    pulseTimer = new HardwareTimer(Timer);
+    pulseTimer->attachInterrupt(pulseTimerChan, irq); // Capture/compare innterrupt
+    pinMode(dirPin, OUTPUT);
+    startTimer = new HardwareTimer(Timer2);
+    startTimer->attachInterrupt(irq2);
+}
+
+uint32_t StepGen2::handleStepper(uint64_t irqTime, uint16_t nLoops)
+{
+    frequency = 0;
+    nSteps = 0;
+    dbg = 0;
+    if (!enabled) // Just .... don't
+        return updatePos(0);
+
+    commandedStepPosition = floor(commandedPosition * stepsPerMM); // Scale position to steps
+    nSteps = commandedStepPosition - initialStepPosition;
+    if (nSteps == 0) // No movement
+    {
+        return updatePos(1);
+    }
+    lcncCycleTime = nLoops * StepGen2::sync0CycleTime * 1.0e-9; // nLoops is there in case we missed an ethercat cycle. secs
+
+    if (abs(nSteps) < 0)                                                                    // Some small number
+    {                                                                                       //
+        frequency = (abs(nSteps) + 1) / lcncCycleTime;                                      // Distribute steps inside available time
+        Tpulses = abs(nSteps) / frequency;                                                  //
+        Tstartf = (lcncCycleTime - Tpulses) / 2.0;                                          //
+    }                                                                                       //
+    else                                                                                    // Regular step train, up or down
+    {                                                                                       //
+        float kTRAJ = (commandedPosition - initialPosition) / lcncCycleTime;                // Straight line equation.  position = kTRAJ x time + mTRAJ
+        float mTRAJ = initialPosition;                                                      // Operating on incoming positions (not steps)
+        if (kTRAJ > 0)                                                                      //
+            Tstartf = (float(initialStepPosition + 1) / float(stepsPerMM) - mTRAJ) / kTRAJ; // Crossing upwards
+        else                                                                                //
+            Tstartf = (float(initialStepPosition) / float(stepsPerMM) - mTRAJ) / kTRAJ;     // Crossing downwards
+        frequency = fabs(kTRAJ * stepsPerMM);                                               //
+        Tpulses = abs(nSteps) / frequency;
+    }
+    updatePos(5);
+
+    uint32_t timeSinceISR = (longTime.extendTime(micros()) - irqTime); // Diff time from ISR (usecs)
+    dbg = timeSinceISR;                                                //
+    Tstartu = Tjitter + uint32_t(Tstartf * 1e6) - timeSinceISR;        // Have already wasted some time since the irq.
+
+    if (nSteps == 0) // Can do this much earlier, but want some calculated data for debugging
+        return updatePos(1);
+
+    timerFrequency = uint32_t(ceil(frequency));
+    startTimer->setOverflow(Tstartu, MICROSEC_FORMAT); // All handled by irqs
+    startTimer->refresh();
+    startTimer->resume();
+    return 1;
+}
+
+void StepGen2::startTimerCB()
+{
+    startTimer->pause();                                   // Once is enough.
+    digitalWriteFast(dirPinName, nSteps < 0 ? HIGH : LOW); // nSteps negative => decrease, HIGH
+                                                           // There will be a short break here for t2 usecs, in the future.
+
+    timerEndPosition += nSteps;
+    pulseTimer->setMode(pulseTimerChan, TIMER_OUTPUT_COMPARE_PWM2, stepPin);
+    pulseTimer->setOverflow(timerFrequency, HERTZ_FORMAT);
+    // pulseTimer->setCaptureCompare(pulseTimerChan, 50, PERCENT_COMPARE_FORMAT);
+    pulseTimer->setCaptureCompare(pulseTimerChan, t3, MICROSEC_COMPARE_FORMAT);
+    pulseTimer->refresh();
+    pulseTimer->resume();
+}
+
+void StepGen2::pulseTimerCB()
+{
+    int16_t dir = digitalReadFast(dirPinName); //
+    if (dir == HIGH)                           // The step just taken
+        timerPosition--;
+    else
+        timerPosition++;
+    int32_t diffPosition = timerEndPosition - timerPosition; // Same "polarity" as nSteps
+    if (diffPosition == 0)
+        pulseTimer->pause();
+    else
+    {
+        if (diffPosition < 0 && dir == LOW)     // Change direction. Should not end up here, but alas
+            digitalWriteFast(dirPinName, HIGH); // Normal is to be HIGH when decreasing
+        if (diffPosition > 0 && dir == HIGH)    // Change direction. Should not end up here, but alas
+            digitalWriteFast(dirPinName, LOW);  // Normal is to be LOW when increasing
+                                                // Normally nothing is needed
+    }
+}
+
+uint32_t StepGen2::updatePos(uint32_t i)
+{                                                //
+    initialPosition = commandedPosition;         // Save the numeric position for next step
+    initialStepPosition = commandedStepPosition; // also the step we are at}
+    return i;
+}
+
+uint32_t StepGen2::sync0CycleTime = 0;

Firmware/src/Stm32F4_Encoder.cpp

@@ -5,45 +5,21 @@
     Created on: Nov 20, 2020
         Author: GoktugH.
 */
-
+// TIM2, TIM3, TIM4, TIM8
 Encoder::Encoder()
 {
     int unit;
 }
 
-void Encoder::eattach(int enco)
+// void Encoder::SetCount(enum EncTimer enc, int64_t Counter)
+void Encoder::SetCount(int64_t Counter)
 {
+    tim_base->CNT = Counter;
 }
-
-void Encoder::attachh(int encoNumber)
+// uint16_t Encoder::GetCount(enum EncTimer enc)
+uint16_t Encoder::GetCount()
 {
-    eattach(encoNumber);
-}
-
-void Encoder::SetCount(enum EncTimer enc, int64_t Counter)
-{
-
-    if (enc == Tim2)
-        TIM2->CNT = Counter;
-    else if (enc == Tim3)
-        TIM3->CNT = Counter;
-    else if (enc == Tim4)
-        TIM4->CNT = Counter;
-    else if (enc == Tim8)
-        TIM8->CNT = Counter;
-}
-uint16_t Encoder::GetCount(enum EncTimer enc)
-{
-
-    if (enc == Tim2)
-        c = (TIM2->CNT);
-    else if (enc == Tim3)
-        c = (TIM3->CNT);
-    else if (enc == Tim4)
-        c = (TIM4->CNT);
-    else if (enc == Tim8)
-        c = (TIM8->CNT);
-    return c;
+    return tim_base->CNT;
 }
 
 void GpioConfigPortA(GPIO_TypeDef *GPIOx)
@@ -287,7 +263,7 @@ void GPIO_PinAF(GPIO_TypeDef *GPIOx, uint16_t GPIO_PinSource, uint8_t GPIO_AF)
     GPIOx->AFR[GPIO_PinSource >> 0x03] = temp_2;
 }
 
-void rcc_config()
+void encoder_config()
 {
     RCC->AHB1ENR |= 0x1;  // GPIOA
     RCC->AHB1ENR |= 0x4;  // GPIOC
@@ -295,27 +271,27 @@ void rcc_config()
     RCC->AHB1ENR |= 0x10; // GPIOE
 
     RCC->APB1ENR |= 0x20000000; // ENABLE DAC
-    RCC->APB2ENR |= 0x00000002; // APB2 TIM8
+                                //  RCC->APB2ENR |= 0x00000002; // APB2 TIM8
     RCC->APB1ENR |= 0x00000004; // APB1 TIM4
     RCC->APB1ENR |= 0x00000001; // APB1 TIM2
-    RCC->APB1ENR |= 0x00000002; // APB1 TIM3
+                                //   RCC->APB1ENR |= 0x00000002; // APB1 TIM3
 
     GpioConfigPortA(GPIOA);
-    GpioConfigPortC(GPIOC);
+    //   GpioConfigPortC(GPIOC);
     GpioConfigPortD(GPIOD);
-
+#if 0 // Skipping since TIM8 is step generator and TIM3, chan4 is smae as TIM8, chan4
     GPIO_PinAF(GPIOA, GPIO_PinSource6, GPIO_AF_TIM3);
     GPIO_PinAF(GPIOA, GPIO_PinSource7, GPIO_AF_TIM3);
-
+ 
     GPIO_PinAF(GPIOC, GPIO_PinSource6, GPIO_AF_TIM8);
     GPIO_PinAF(GPIOC, GPIO_PinSource7, GPIO_AF_TIM8);
-
+#endif
     GPIO_PinAF(GPIOD, GPIO_PinSource12, GPIO_AF_TIM4);
     GPIO_PinAF(GPIOD, GPIO_PinSource13, GPIO_AF_TIM4);
 
     GPIO_PinAF(GPIOA, GPIO_PinSource0, GPIO_AF_TIM2);
     GPIO_PinAF(GPIOA, GPIO_PinSource1, GPIO_AF_TIM2);
-
+#if 0 // Skipping since I use TIM8 as stepper generator
     TIM_EncoderInterConfig(TIM8, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Falling);
     TIMER_InitStructure.TIM_Period = 65535;
     TIMER_InitStructure.TIM_CounterMode = TIM_CounterMode_Up | TIM_CounterMode_Down;
@@ -323,7 +299,7 @@ void rcc_config()
     TIM_TimeBaseStructInit(&TIMER_InitStructure);
     TIM_Cmd(TIM8, ENABLE);
     TIM8->CNT = 0;
-
+#endif
     TIM_EncoderInterConfig(TIM4, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Falling);
     TIMER_InitStructureE.TIM_Period = 65535;
     TIMER_InitStructureE.TIM_CounterMode = TIM_CounterMode_Up | TIM_CounterMode_Down;
@@ -340,7 +316,7 @@ void rcc_config()
     TIM_Cmd(TIM2, ENABLE);
 
     TIM2->CNT = 0;
-
+#if 0
     TIM_EncoderInterConfig(TIM3, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Falling);
     TIMER_InitStructureEEG.TIM_Period = 65535;
     TIMER_InitStructureEEG.TIM_CounterMode = TIM_CounterMode_Up | TIM_CounterMode_Down;
@@ -349,4 +325,67 @@ void rcc_config()
     TIM_Cmd(TIM3, ENABLE);
 
     TIM3->CNT = 0;
+#endif
+}
+
+void encoder2_config()
+{
+#if 0
+#include "mbed.h"
+#include "stm32f4xx.h"
+#include "stm32f4xx_hal_tim_ex.h"
+
+    TIM_HandleTypeDef timer;
+    TIM_Encoder_InitTypeDef encoder;
+
+    // direction to PA_9 -- step pulse to PA_8
+
+    int main()
+    {
+
+     GPIO_InitTypeDef GPIO_InitStruct;
+        __TIM1_CLK_ENABLE();
+        __GPIOA_CLK_ENABLE();
+        GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9;
+        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+        GPIO_InitStruct.Pull = GPIO_PULLDOWN;
+        GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
+        GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
+        HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+    timer.Instance = TIM1;
+    timer.Init.Period = 0xffff;
+    timer.Init.Prescaler = 0;
+    timer.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+    timer.Init.CounterMode = TIM_COUNTERMODE_UP;
+
+    encoder.EncoderMode = TIM_ENCODERMODE_TI12; 
+    encoder.IC1Filter = 0x0f;
+    encoder.IC1Polarity = TIM_INPUTCHANNELPOLARITY_RISING; 
+    encoder.IC1Prescaler = TIM_ICPSC_DIV4;
+    encoder.IC1Selection = TIM_ICSELECTION_DIRECTTI;
+
+    encoder.IC2Filter = 0x0f;
+    encoder.IC2Polarity = TIM_INPUTCHANNELPOLARITY_FALLING;    
+    encoder.IC2Prescaler = TIM_ICPSC_DIV4;
+    encoder.IC2Selection = TIM_ICSELECTION_DIRECTTI;
+
+    HAL_TIM_Encoder_Init(&timer, &encoder);
+    HAL_TIM_Encoder_Start(&timer,TIM_CHANNEL_1);   
+
+
+    TIM1->EGR = 1;           // Generate an update event
+    TIM1->CR1 = 1;           // Enable the counter
+
+
+ while (1) {
+        int16_t count1; 
+        count1=TIM1->CNT; 
+
+        printf("%d\r\n", count1);
+        wait(1.0);
+
+ };
+}
+#endif
 }

Firmware/src/extend32to64.cpp

@@ -0,0 +1,18 @@
+#include "extend32to64.h"
+
+// Extend from 32-bit to 64-bit precision
+int64_t extend32to64::extendTime(uint32_t in)
+{
+    int64_t c64 = (int64_t)in - HALF_PERIOD; // remove half period to determine (+/-) sign of the wrap
+    int64_t dif = (c64 - previousTimeValue); // core concept: prev + (current - prev) = current
+
+    // wrap difference from -HALF_PERIOD to HALF_PERIOD. modulo prevents differences after the wrap from having an incorrect result
+    int64_t mod_dif = ((dif + HALF_PERIOD) % ONE_PERIOD) - HALF_PERIOD;
+    if (dif < int64_t(-HALF_PERIOD))
+        mod_dif += ONE_PERIOD; // account for mod of negative number behavior in C
+
+    int64_t unwrapped = previousTimeValue + mod_dif;
+    previousTimeValue = unwrapped; // load previous value
+
+    return unwrapped + HALF_PERIOD; // remove the shift we applied at the beginning, and return
+}

Firmware/src/main.cpp

@@ -0,0 +1,332 @@
+#include <Arduino.h>
+#include <stdio.h>
+extern "C"
+{
+#include "ecat_slv.h"
+#include "utypes.h"
+};
+_Objects Obj;
+
+HardwareSerial Serial1(PA10, PA9);
+
+volatile uint16_t ALEventIRQ; // ALEvent that caused the interrupt
+HardwareTimer *baseTimer;     // The base period timer
+HardwareTimer *syncTimer;     // The timer that syncs "with linuxcnc cycle"
+uint16_t sync0CycleTime;      // usecs
+
+#include "MyEncoder.h"
+volatile uint16_t encCnt = 0;
+void indexPulseEncoderCB1(void);
+MyEncoder Encoder1(TIM2, PA2, indexPulseEncoderCB1);
+void indexPulseEncoderCB1(void)
+{
+   encCnt++;
+   Encoder1.indexPulse();
+}
+// #include <RunningAverage.h>
+// RunningAverage irqServeDelays(1000); // To get the max delay of the irq serve time over the last second
+CircularBuffer<uint16_t, 1000> irqServeDelays;
+
+#include "StepGen3.h"
+StepGen3 *Step = 0;
+
+#include "extend32to64.h"
+
+volatile uint64_t irqTime = 0, irqCnt = 0;
+extend32to64 longTime;
+
+void setFrequencyAdjustedMicrosSeconds(HardwareTimer *timer, uint32_t usecs);
+
+void cb_set_outputs(void) // Master outputs gets here, slave inputs, first operation
+{
+   Encoder1.setLatch(Obj.IndexLatchEnable);
+   Encoder1.setScale(2000);
+}
+
+volatile uint16_t basePeriodCnt;
+volatile uint64_t makePulsesCnt = 0, prevMakePulsesCnt = 0;
+volatile uint16_t deltaMakePulsesCnt;
+
+volatile double pos_cmd1, pos_cmd2;
+void syncWithLCNC()
+{
+   syncTimer->pause();
+   baseTimer->pause();
+   deltaMakePulsesCnt = makePulsesCnt - prevMakePulsesCnt;
+   prevMakePulsesCnt = makePulsesCnt;
+   Step->updateStepGen(pos_cmd1, pos_cmd2);    // Update positions
+   Step->makeAllPulses();                      // Make first step right here
+   basePeriodCnt = SERVO_PERIOD / BASE_PERIOD; //
+   baseTimer->refresh();                       //
+   baseTimer->resume();                        // Make the other steps in ISR
+}
+
+void basePeriodCB(void)
+{
+   if (--basePeriodCnt > 0) // Stop
+      Step->makeAllPulses();
+   else
+      baseTimer->pause();
+}
+
+int32_t delayT;
+uint16_t thisCycleTime; // In usecs
+int16_t maxIrqServeTime = 0;
+uint64_t oldIrqTime = 0;
+uint16_t nLoops;
+
+void handleStepper(void)
+{
+   if (oldIrqTime != 0) // See if there is a delay in data, normally it *should* be nLoops=1, but sometimes it is more
+   {
+      thisCycleTime = irqTime - oldIrqTime;
+      nLoops = round(float(thisCycleTime) / float(sync0CycleTime));
+   }
+   oldIrqTime = irqTime;
+
+   uint32_t diffT = longTime.extendTime(micros()) - irqTime; // Time from interrupt was received by isr
+   irqServeDelays.push(diffT);
+   if (irqServeDelays.isFull()) // Do max calcs, just waiting a second
+   {
+      uint16_t maxInBuffer = 0;
+      using index_t = decltype(irqServeDelays)::index_t;
+      for (index_t i = 0; i < irqServeDelays.size(); i++)
+      {
+         if (maxInBuffer < irqServeDelays[i])
+            maxInBuffer = irqServeDelays[i];
+      }
+      if (maxIrqServeTime > maxInBuffer) // Reduce by one, slowly eating up excess time
+         maxIrqServeTime--;
+      if (maxIrqServeTime < maxInBuffer)
+         maxIrqServeTime = maxInBuffer;
+   }
+
+   pos_cmd1 = Obj.CommandedPosition1;
+   pos_cmd2 = Obj.CommandedPosition2;
+
+   Obj.ActualPosition1 = Obj.CommandedPosition1;
+   Obj.ActualPosition2 = Obj.CommandedPosition2;
+
+   Step->stepgen_array[0].pos_scale = -Obj.StepsPerMM1;
+   Step->stepgen_array[1].pos_scale = -Obj.StepsPerMM2;
+
+   // Obj.ActualPosition1 = Step->stepgen_array[0].pos_fb;
+   // Obj.ActualPosition2 = Step->stepgen_array[1].pos_fb;
+
+   delayT = maxIrqServeTime - diffT; // Add 10 as some safety margin
+   if (delayT > 0 && delayT < 900)
+   {
+      syncTimer->setOverflow(delayT, MICROSEC_FORMAT); // Work in flawed units, its ok
+      syncTimer->refresh();
+      syncTimer->resume();
+   }
+   else
+   {
+      syncWithLCNC();
+   }
+}
+
+float_t oldCommandedPosition = 0;
+void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
+{
+   Obj.IndexStatus = Encoder1.indexHappened();
+   Obj.EncPos = Encoder1.currentPos();
+   Obj.EncFrequency = Encoder1.frequency(longTime.extendTime(micros()));
+   Obj.IndexByte = Encoder1.getIndexState();
+
+   Obj.DiffT = nLoops;
+   Obj.D1 = 1000 * Obj.CommandedPosition2;                          // abs(1000 * (ap2 - Obj.CommandedPosition2)); // Step2.actPos();
+   Obj.D2 = 1000 * Obj.ActualPosition2;                             // Step->stepgen_array[1].pos_fb; // Step->stepgen_array[1].rawcount % INT16_MAX;                          // Step->stepgen_array[1].freq;
+   Obj.D3 = encCnt % 256;                                           // Step->stepgen_array[1].freq;
+   Obj.D4 = 1000 * (Obj.CommandedPosition2 - oldCommandedPosition); // deltaMakePulsesCnt;            // Step->stepgen_array[1].rawcount % UINT16_MAX;
+   oldCommandedPosition = Obj.CommandedPosition2;
+}
+
+void ESC_interrupt_enable(uint32_t mask);
+void ESC_interrupt_disable(uint32_t mask);
+uint16_t dc_checker(void);
+void sync0Handler(void);
+
+static esc_cfg_t config =
+    {
+        .user_arg = NULL,
+        .use_interrupt = 1,
+        .watchdog_cnt = 150,
+        .set_defaults_hook = NULL,
+        .pre_state_change_hook = NULL,
+        .post_state_change_hook = NULL,
+        .application_hook = handleStepper,
+        .safeoutput_override = NULL,
+        .pre_object_download_hook = NULL,
+        .post_object_download_hook = NULL,
+        .rxpdo_override = NULL,
+        .txpdo_override = NULL,
+        .esc_hw_interrupt_enable = ESC_interrupt_enable,
+        .esc_hw_interrupt_disable = ESC_interrupt_disable,
+        .esc_hw_eep_handler = NULL,
+        .esc_check_dc_handler = dc_checker,
+};
+
+void measureCrystalFrequency(void);
+
+volatile byte serveIRQ = 0;
+
+void setup(void)
+{
+   Serial1.begin(115200);
+#if 0
+   measureCrystalFrequency(); // Calibrate crystal frequency
+#endif
+   Step = new StepGen3;
+
+   encoder_config(); // Needed by encoder, probably breaks some timers.
+   ecat_slv_init(&config);
+
+   pinMode(PA11, OUTPUT); // Step X
+   pinMode(PA12, OUTPUT); // Dir X
+   pinMode(PC9, OUTPUT);  // Step Z
+   pinMode(PC10, OUTPUT); // Dir Z
+
+   baseTimer = new HardwareTimer(TIM11); // The base period timer
+   setFrequencyAdjustedMicrosSeconds(baseTimer, BASE_PERIOD / 1000);
+   // baseTimer->setOverflow(BASE_PERIOD / 1000, MICROSEC_FORMAT); // Or the line above, This one is uncalibrated
+   baseTimer->attachInterrupt(basePeriodCB);
+
+   syncTimer = new HardwareTimer(TIM3); // The Linuxcnc servo period sync timer
+   syncTimer->attachInterrupt(syncWithLCNC);
+}
+
+void loop(void)
+{
+   uint64_t dTime;
+   if (serveIRQ)
+   {
+      DIG_process(ALEventIRQ, DIG_PROCESS_WD_FLAG | DIG_PROCESS_OUTPUTS_FLAG |
+                                  DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG);
+      serveIRQ = 0;
+      ESCvar.PrevTime = ESCvar.Time;
+      ecat_slv_poll();
+   }
+   dTime = longTime.extendTime(micros()) - irqTime;
+   if (dTime > 5000) // Don't run ecat_slv_poll when expecting to serve interrupt
+      ecat_slv_poll();
+}
+
+void sync0Handler(void)
+{
+   ALEventIRQ = ESC_ALeventread();
+   // if (ALEventIRQ & ESCREG_ALEVENT_SM2)
+   {
+      irqTime = longTime.extendTime(micros());
+      serveIRQ = 1;
+   }
+   irqCnt++; // debug output
+}
+
+// Enable SM2 interrupts
+void ESC_interrupt_enable(uint32_t mask)
+{
+   // Enable interrupt for SYNC0 or SM2 or SM3
+   // uint32_t user_int_mask = ESCREG_ALEVENT_DC_SYNC0 | ESCREG_ALEVENT_SM2 | ESCREG_ALEVENT_SM3;
+   uint32_t user_int_mask = ESCREG_ALEVENT_SM2; // Only SM2
+   if (mask & user_int_mask)
+   {
+      ESC_ALeventmaskwrite(ESC_ALeventmaskread() | (mask & user_int_mask));
+      ESC_ALeventmaskwrite(ESC_ALeventmaskread() & ~(ESCREG_ALEVENT_DC_SYNC0 | ESCREG_ALEVENT_SM3));
+      attachInterrupt(digitalPinToInterrupt(PC3), sync0Handler, RISING);
+
+      // Set LAN9252 interrupt pin driver as push-pull active high
+      uint32_t bits = 0x00000111;
+      ESC_write(0x54, &bits, 4);
+
+      // Enable LAN9252 interrupt
+      bits = 0x00000001;
+      ESC_write(0x5c, &bits, 4);
+   }
+}
+
+// Disable SM2 interrupts
+void ESC_interrupt_disable(uint32_t mask)
+{
+   // Enable interrupt for SYNC0 or SM2 or SM3
+   // uint32_t user_int_mask = ESCREG_ALEVENT_DC_SYNC0 | ESCREG_ALEVENT_SM2 | ESCREG_ALEVENT_SM3;
+   uint32_t user_int_mask = ESCREG_ALEVENT_SM2;
+
+   if (mask & user_int_mask)
+   {
+      // Disable interrupt from SYNC0
+      ESC_ALeventmaskwrite(ESC_ALeventmaskread() & ~(mask & user_int_mask));
+      detachInterrupt(digitalPinToInterrupt(PC3));
+      // Disable LAN9252 interrupt
+      uint32_t bits = 0x00000000;
+      ESC_write(0x5c, &bits, 4);
+   }
+}
+
+extern "C" uint32_t ESC_SYNC0cycletime(void);
+
+// Setup of DC
+uint16_t dc_checker(void)
+{
+   // Indicate we run DC
+   ESCvar.dcsync = 1;
+   sync0CycleTime = ESC_SYNC0cycletime() / 1000; // usecs
+   return 0;
+}
+
+//
+// Code to calibrate the crystal.
+//
+
+#include <HardwareTimer.h>
+HardwareTimer *timer;
+volatile uint32_t cnt;
+
+void CB(void)
+{
+   if (cnt-- == 0)
+   {
+      timer->pause();
+   }
+}
+
+void setFrequencyAdjustedMicrosSeconds(HardwareTimer *timer, uint32_t usecs)
+{
+   const uint16_t calibrated1000 = 1042;                                               // <- This is the factor to adjust to make 1 sec = 1 sec
+   uint32_t period_cyc = (usecs * (timer->getTimerClkFreq() / 1000)) / calibrated1000; // Avoid overflow during math
+   uint32_t Prescalerfactor = (period_cyc / 0x10000) + 1;
+   uint32_t PeriodTicks = period_cyc / Prescalerfactor;
+   timer->setPrescaleFactor(Prescalerfactor);
+   timer->setOverflow(PeriodTicks, TICK_FORMAT);
+   // Serial1.printf("Period_cyc=%u Prescalefactor =%u ticks = %u\n", period_cyc, Prescalerfactor, PeriodTicks);
+}
+
+void measureCrystalFrequency(void)
+{
+   timer = new HardwareTimer(TIM1);
+   Serial1.begin(115200);
+   delay(3000);
+   Serial1.printf("Clock freq = %u\n", timer->getTimerClkFreq());
+   setFrequencyAdjustedMicrosSeconds(timer, 1000);
+   timer->refresh();
+   timer->attachInterrupt(CB);
+   cnt = 10000;
+
+   Serial1.printf("\n");
+   uint32_t startT = micros();
+   timer->resume();
+
+   while (cnt != 0)
+      ;
+
+   uint32_t endT = micros();
+   uint32_t diffT = endT - startT;
+   Serial1.printf("\n");
+   Serial1.printf("diff = %u\n", diffT);
+
+   Serial1.printf("\n");
+   delay(10000);
+   Serial1.printf("\n");
+
+   exit(0);
+}

Kicad/Ax58100-stm32-ethercat/.gitignore

@@ -0,0 +1,14 @@
+AX58100-stm32-ethercat-backups
+.~lock*
+fp-info-cache
+\#auto_saved_file*
+gerbers/
+Ax58100-stm32-ethercat-backups/
+freerouting.*
+*.dsn
+*.frb
+*.rules
+*.ses
+
+Ax58100-stm32-ethercat.csv
+Ax58100-stm32-ethercat.ods

Kicad/Ax58100-stm32-ethercat/AX58100_phy_etc.kicad_sch

@@ -4,6 +4,10 @@
 
   (paper "A4")
 
+  (title_block
+    (title "MetalMusings EaserCAT 3000")
+  )
+
   (lib_symbols
     (symbol "Device:C" (pin_numbers hide) (pin_names (offset 0.254)) (in_bom yes) (on_board yes)
       (property "Reference" "C" (at 0.635 2.54 0)
@@ -2937,7 +2941,7 @@
   (symbol (lib_id "Device:R") (at 245.11 88.9 270) (unit 1)
     (in_bom yes) (on_board yes) (dnp no)
     (uuid 0156fcd2-2fd8-4277-bfea-a43d1b5d2609)
-    (property "Reference" "R44" (at 245.11 88.9 90)
+    (property "Reference" "R63" (at 245.11 88.9 90)
       (effects (font (size 1.27 1.27)))
     )
     (property "Value" "510" (at 250.19 87.63 90)
@@ -2952,9 +2956,9 @@
     (pin "1" (uuid 3752539c-2c69-46a2-a3d9-8913b7ee49c7))
     (pin "2" (uuid 8f74b202-e220-4289-9977-65720527d874))
     (instances
-      (project "AX58100-stm32-ethercat"
+      (project "Ax58100-stm32-ethercat"
         (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/5bf93325-f5d9-4344-9bf3-f5fc91bc1622"
-          (reference "R44") (unit 1)
+          (reference "R63") (unit 1)
         )
       )
     )
@@ -2963,7 +2967,7 @@
   (symbol (lib_id "Device:FerriteBead_Small") (at 137.16 162.56 90) (unit 1)
     (in_bom yes) (on_board yes) (dnp no)
     (uuid 044bfca2-fe85-424e-89e6-85976fdf3676)
-    (property "Reference" "B7" (at 137.16 160.02 90)
+    (property "Reference" "B6" (at 137.16 160.02 90)
       (effects (font (size 1.27 1.27)))
     )
     (property "Value" "BLM18EG221SN1D" (at 137.16 165.1 90)
@@ -2978,9 +2982,9 @@
     (pin "1" (uuid ce30afd8-a25d-4870-9efa-022fce854733))
     (pin "2" (uuid 85e1ac12-3de6-46da-8cce-3f5869ed6d28))
     (instances
-      (project "AX58100-stm32-ethercat"
+      (project "Ax58100-stm32-ethercat"
         (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/5bf93325-f5d9-4344-9bf3-f5fc91bc1622"
-          (reference "B7") (unit 1)
+          (reference "B6") (unit 1)
         )
       )
     )
@@ -3003,7 +3007,7 @@
     )
     (pin "1" (uuid b4286fda-2783-4812-9fb8-e6104bd26acc))
     (instances
-      (project "AX58100-stm32-ethercat"
+      (project "Ax58100-stm32-ethercat"
         (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/d564400f-40ba-4aca-9c2a-14ec52a8353b"
           (reference "#PWR?") (unit 1)
         )
@@ -3017,10 +3021,10 @@
   (symbol (lib_id "Device:R") (at 222.25 127 270) (unit 1)
     (in_bom yes) (on_board yes) (dnp no)
     (uuid 137b958d-6c66-4243-b922-13e0d4e0ff22)
-    (property "Reference" "R40" (at 222.25 127 90)
+    (property "Reference" "R71" (at 222.25 127 90)
       (effects (font (size 1.27 1.27)))
     )
-    (property "Value" "4.7k" (at 227.33 125.73 90)
+    (property "Value" "4k7" (at 227.33 125.73 90)
       (effects (font (size 1.27 1.27)))
     )
     (property "Footprint" "Resistor_SMD:R_0805_2012Metric" (at 222.25 125.222 90)
@@ -3032,9 +3036,9 @@
     (pin "1" (uuid 8aa0f7bb-c0f5-48e6-b540-08704181c12d))
     (pin "2" (uuid 8c988c69-1f95-43c3-9bcb-d12d0b7d82ba))
     (instances
-      (project "AX58100-stm32-ethercat"
+      (project "Ax58100-stm32-ethercat"
         (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/5bf93325-f5d9-4344-9bf3-f5fc91bc1622"
-          (reference "R40") (unit 1)
+          (reference "R71") (unit 1)
         )
       )
     )
@@ -3057,7 +3061,7 @@
     )
     (pin "1" (uuid 150b4d57-c89c-479b-bff0-e2310444c77d))
     (instances
-      (project "AX58100-stm32-ethercat"
+      (project "Ax58100-stm32-ethercat"
         (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/5bf93325-f5d9-4344-9bf3-f5fc91bc1622"
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@@ -4503,7 +4507,7 @@
     )
     (pin "1" (uuid 81caf3f2-0098-48eb-a202-af0f48031eea))
     (instances
-      (project "AX58100-stm32-ethercat"
+      (project "Ax58100-stm32-ethercat"
         (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/d564400f-40ba-4aca-9c2a-14ec52a8353b"
           (reference "#PWR076") (unit 1)
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@@ -4517,7 +4521,7 @@
   (symbol (lib_id "Device:C") (at 62.23 68.58 180) (unit 1)
     (in_bom yes) (on_board yes) (dnp no)
     (uuid e534b46c-80d1-4c34-8578-50b240333e0c)
-    (property "Reference" "C27" (at 63.5 72.39 90)
+    (property "Reference" "C33" (at 63.5 72.39 90)
       (effects (font (size 1.27 1.27)))
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     (property "Value" "0.1uF" (at 63.5 64.77 90)
@@ -4532,9 +4536,9 @@
     (pin "1" (uuid a494194d-e3e9-4e84-8f25-57021a681151))
     (pin "2" (uuid fda7cb74-15e1-4095-86ad-f40f74f32994))
     (instances
-      (project "AX58100-stm32-ethercat"
+      (project "Ax58100-stm32-ethercat"
         (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/5bf93325-f5d9-4344-9bf3-f5fc91bc1622"
-          (reference "C27") (unit 1)
+          (reference "C33") (unit 1)
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@@ -4543,7 +4547,7 @@
   (symbol (lib_id "Device:R") (at 133.35 107.95 270) (unit 1)
     (in_bom yes) (on_board yes) (dnp no)
     (uuid e59e1dd2-d274-40ca-a8b1-cb4b3dd2162e)
-    (property "Reference" "R26" (at 133.35 107.95 90)
+    (property "Reference" "R59" (at 133.35 107.95 90)
       (effects (font (size 1.27 1.27)))
     )
     (property "Value" "510" (at 138.43 106.68 90)
@@ -4558,9 +4562,9 @@
     (pin "1" (uuid e69298fd-5d70-4531-8e3f-b8874f7ca308))
     (pin "2" (uuid 84f1b763-3dd2-4f94-a728-23eb2c7796a1))
     (instances
-      (project "AX58100-stm32-ethercat"
+      (project "Ax58100-stm32-ethercat"
         (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/5bf93325-f5d9-4344-9bf3-f5fc91bc1622"
-          (reference "R26") (unit 1)
+          (reference "R59") (unit 1)
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@@ -4583,7 +4587,7 @@
     )
     (pin "1" (uuid 74c16fc2-2f7f-4219-a10d-cf4d95b7a13d))
     (instances
-      (project "AX58100-stm32-ethercat"
+      (project "Ax58100-stm32-ethercat"
         (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/d564400f-40ba-4aca-9c2a-14ec52a8353b"
           (reference "#PWR?") (unit 1)
         )
@@ -4612,12 +4616,12 @@
     (pin "1" (uuid 29258ff3-4fe0-4432-b3ff-89955c464507))
     (pin "2" (uuid fec31ab5-a849-42cc-a850-7ddcfa2a77ff))
     (instances
-      (project "AX58100-stm32-ethercat"
+      (project "Ax58100-stm32-ethercat"
         (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/d564400f-40ba-4aca-9c2a-14ec52a8353b"
           (reference "C33") (unit 1)
         )
         (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/5bf93325-f5d9-4344-9bf3-f5fc91bc1622"
-          (reference "C30") (unit 1)
+          (reference "C41") (unit 1)
         )
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@@ -4640,7 +4644,7 @@
     )
     (pin "1" (uuid b2972075-1562-47db-afb1-79554c578966))
     (instances
-      (project "AX58100-stm32-ethercat"
+      (project "Ax58100-stm32-ethercat"
         (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/d564400f-40ba-4aca-9c2a-14ec52a8353b"
           (reference "#PWR?") (unit 1)
         )
@@ -4668,7 +4672,7 @@
     )
     (pin "1" (uuid fcfa09ab-80ac-4dc6-ba9c-88dd0a5125d5))
     (instances
-      (project "AX58100-stm32-ethercat"
+      (project "Ax58100-stm32-ethercat"
         (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/d564400f-40ba-4aca-9c2a-14ec52a8353b"
           (reference "#PWR?") (unit 1)
         )
@@ -4682,7 +4686,7 @@
   (symbol (lib_id "Device:C") (at 41.91 68.58 180) (unit 1)
     (in_bom yes) (on_board yes) (dnp no)
     (uuid f493fbdd-16cf-47a4-8571-5bdeffa77b8e)
-    (property "Reference" "C19" (at 43.18 72.39 90)
+    (property "Reference" "C37" (at 43.18 72.39 90)
       (effects (font (size 1.27 1.27)))
     )
     (property "Value" "10pF" (at 43.18 64.77 90)
@@ -4697,9 +4701,9 @@
     (pin "1" (uuid e54f216a-ea35-40fd-aa1a-c01d8d1f7d8f))
     (pin "2" (uuid c6622106-637b-49de-9814-56476189b207))
     (instances
-      (project "AX58100-stm32-ethercat"
+      (project "Ax58100-stm32-ethercat"
         (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/5bf93325-f5d9-4344-9bf3-f5fc91bc1622"
-          (reference "C19") (unit 1)
+          (reference "C37") (unit 1)
         )
       )
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@@ -4723,12 +4727,12 @@
     (pin "1" (uuid 090848c6-f3e5-45eb-98fb-58e65424c4c1))
     (pin "2" (uuid 29c609db-ee06-4a19-a4ca-ca0bef5009fe))
     (instances
-      (project "AX58100-stm32-ethercat"
+      (project "Ax58100-stm32-ethercat"
         (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/d564400f-40ba-4aca-9c2a-14ec52a8353b"
           (reference "C41") (unit 1)
         )
         (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/5bf93325-f5d9-4344-9bf3-f5fc91bc1622"
-          (reference "C32") (unit 1)
+          (reference "C42") (unit 1)
         )
       )
     )
@@ -4737,7 +4741,7 @@
   (symbol (lib_id "Device:FerriteBead_Small") (at 137.16 154.94 90) (unit 1)
     (in_bom yes) (on_board yes) (dnp no)
     (uuid f76a00b9-0511-4931-90f1-d259b14389f9)
-    (property "Reference" "B6" (at 137.16 152.4 90)
+    (property "Reference" "B7" (at 137.16 152.4 90)
       (effects (font (size 1.27 1.27)))
     )
     (property "Value" "BLM18EG221SN1D" (at 137.16 157.48 90)
@@ -4752,9 +4756,9 @@
     (pin "1" (uuid 8f7870e9-0ecb-4199-98c4-4167acd78afa))
     (pin "2" (uuid 40420d30-3763-4098-9a65-10e3fbe31313))
     (instances
-      (project "AX58100-stm32-ethercat"
+      (project "Ax58100-stm32-ethercat"
         (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/5bf93325-f5d9-4344-9bf3-f5fc91bc1622"
-          (reference "B6") (unit 1)
+          (reference "B7") (unit 1)
         )
       )
     )
@@ -4763,7 +4767,7 @@
   (symbol (lib_id "Device:R") (at 138.43 119.38 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no)
     (uuid f8848c60-f91f-414b-a5b0-c8e97aca000a)
-    (property "Reference" "R28" (at 138.43 119.38 90)
+    (property "Reference" "R60" (at 138.43 119.38 90)
       (effects (font (size 1.27 1.27)))
     )
     (property "Value" "510" (at 137.16 114.3 90)
@@ -4778,9 +4782,9 @@
     (pin "1" (uuid a6c9a9ea-cdb1-4a0c-aa67-80e3e5544517))
     (pin "2" (uuid 313cc12d-9b4d-405e-ba92-c1e1b836e59b))
     (instances
-      (project "AX58100-stm32-ethercat"
+      (project "Ax58100-stm32-ethercat"
         (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/5bf93325-f5d9-4344-9bf3-f5fc91bc1622"
-          (reference "R28") (unit 1)
+          (reference "R60") (unit 1)
         )
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     )

Kicad/Ax58100-stm32-ethercat/Ax58100-stm32-ethercat.kicad_prl

@@ -1,6 +1,6 @@
 {
   "board": {
-    "active_layer": 0,
+    "active_layer": 36,
     "active_layer_preset": "",
     "auto_track_width": true,
     "hidden_netclasses": [],
@@ -14,6 +14,7 @@
       "vias": 1.0,
       "zones": 0.6
     },
+    "ratsnest_display_mode": 0,
     "selection_filter": {
       "dimensions": true,
       "footprints": true,
@@ -64,7 +65,7 @@
       39,
       40
     ],
-    "visible_layers": "7ffffff_80000001",
+    "visible_layers": "ffc0000_ffffffff",
     "zone_display_mode": 0
   },
   "meta": {

Kicad/Ax58100-stm32-ethercat/Ax58100-stm32-ethercat.kicad_pro

@@ -23,13 +23,13 @@
         },
         "fab_line_width": 0.09999999999999999,
         "fab_text_italic": false,
-        "fab_text_size_h": 1.0,
+        "fab_text_size_h": 0.6,
         "fab_text_size_v": 1.0,
         "fab_text_thickness": 0.15,
         "fab_text_upright": false,
         "other_line_width": 0.15,
         "other_text_italic": false,
-        "other_text_size_h": 1.0,
+        "other_text_size_h": 0.6,
         "other_text_size_v": 1.0,
         "other_text_thickness": 0.15,
         "other_text_upright": false,
@@ -40,12 +40,13 @@
         },
         "silk_line_width": 0.15,
         "silk_text_italic": false,
-        "silk_text_size_h": 1.0,
+        "silk_text_size_h": 0.6,
         "silk_text_size_v": 1.0,
         "silk_text_thickness": 0.15,
         "silk_text_upright": false,
         "zones": {
-          "min_clearance": 0.5
+          "45_degree_only": false,
+          "min_clearance": 0.0
         }
       },
       "diff_pair_dimensions": [
@@ -72,7 +73,7 @@
         "duplicate_footprints": "warning",
         "extra_footprint": "warning",
         "footprint": "error",
-        "footprint_type_mismatch": "ignore",
+        "footprint_type_mismatch": "warning",
         "hole_clearance": "error",
         "hole_near_hole": "error",
         "invalid_outline": "error",
@@ -84,12 +85,12 @@
         "lib_footprint_mismatch": "warning",
         "malformed_courtyard": "error",
         "microvia_drill_out_of_range": "error",
-        "missing_courtyard": "ignore",
+        "missing_courtyard": "error",
         "missing_footprint": "warning",
         "net_conflict": "warning",
-        "npth_inside_courtyard": "ignore",
+        "npth_inside_courtyard": "warning",
         "padstack": "warning",
-        "pth_inside_courtyard": "ignore",
+        "pth_inside_courtyard": "warning",
         "shorting_items": "error",
         "silk_edge_clearance": "warning",
         "silk_over_copper": "warning",
@@ -110,6 +111,8 @@
         "zones_intersect": "error"
       },
       "rules": {
+        "allow_blind_buried_vias": false,
+        "allow_microvias": false,
         "max_error": 0.005,
         "min_clearance": 0.0,
         "min_connection": 0.0,
@@ -120,10 +123,10 @@
         "min_microvia_drill": 0.09999999999999999,
         "min_resolved_spokes": 2,
         "min_silk_clearance": 0.0,
-        "min_text_height": 0.7999999999999999,
+        "min_text_height": 0.6,
         "min_text_thickness": 0.08,
         "min_through_hole_diameter": 0.3,
-        "min_track_width": 0.0,
+        "min_track_width": 0.19999999999999998,
         "min_via_annular_width": 0.09999999999999999,
         "min_via_diameter": 0.5,
         "solder_mask_clearance": 0.0,
@@ -180,7 +183,8 @@
           "drill": 0.0
         }
       ],
-      "zones_allow_external_fillets": false
+      "zones_allow_external_fillets": false,
+      "zones_use_no_outline": true
     },
     "layer_presets": [],
     "viewports": []
@@ -390,7 +394,7 @@
       "no_connect_dangling": "warning",
       "pin_not_connected": "error",
       "pin_not_driven": "error",
-      "pin_to_pin": "warning",
+      "pin_to_pin": "error",
       "power_pin_not_driven": "error",
       "similar_labels": "warning",
       "simulation_model_issue": "ignore",
@@ -499,7 +503,11 @@
     ],
     [
       "0a376a6c-0f15-42f8-81f6-3a55619be267",
-      "Peripherals"
+      "Input-Output"
+    ],
+    [
+      "cd91a270-7393-4003-91a3-e42304da540b",
+      "Stepper+encoder"
     ]
   ],
   "text_variables": {}

Kicad/Ax58100-stm32-ethercat/Ax58100-stm32-ethercat.kicad_sch

@@ -0,0 +1,103 @@
+(kicad_sch (version 20230121) (generator eeschema)
+
+  (uuid 5597aedc-b607-407f-bbfd-31b3b298ecb1)
+
+  (paper "A4")
+
+  (title_block
+    (title "MetalMusings EaserCAT 3000")
+  )
+
+  (lib_symbols
+  )
+
+
+  (sheet (at 57.15 156.21) (size 93.98 39.37) (fields_autoplaced)
+    (stroke (width 0.1524) (type solid))
+    (fill (color 0 0 0 0.0000))
+    (uuid 0a376a6c-0f15-42f8-81f6-3a55619be267)
+    (property "Sheetname" "Input-Output" (at 57.15 155.4984 0)
+      (effects (font (size 1.27 1.27)) (justify left bottom))
+    )
+    (property "Sheetfile" "peripherals.kicad_sch" (at 57.15 196.1646 0)
+      (effects (font (size 1.27 1.27)) (justify left top))
+    )
+    (instances
+      (project "Ax58100-stm32-ethercat"
+        (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1" (page "5"))
+      )
+    )
+  )
+
+  (sheet (at 170.18 31.75) (size 101.6 58.42) (fields_autoplaced)
+    (stroke (width 0.1524) (type solid))
+    (fill (color 0 0 0 0.0000))
+    (uuid 5bf93325-f5d9-4344-9bf3-f5fc91bc1622)
+    (property "Sheetname" "AX58100 phys etc" (at 170.18 31.0384 0)
+      (effects (font (size 1.27 1.27)) (justify left bottom))
+    )
+    (property "Sheetfile" "AX58100_phy_etc.kicad_sch" (at 170.18 90.7546 0)
+      (effects (font (size 1.27 1.27)) (justify left top))
+    )
+    (instances
+      (project "Ax58100-stm32-ethercat"
+        (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1" (page "3"))
+      )
+    )
+  )
+
+  (sheet (at 57.15 31.75) (size 93.98 60.96) (fields_autoplaced)
+    (stroke (width 0.1524) (type solid))
+    (fill (color 0 0 0 0.0000))
+    (uuid 9f485422-734f-43d3-94ea-443cbc453d2e)
+    (property "Sheetname" "AX58100" (at 57.15 31.0384 0)
+      (effects (font (size 1.27 1.27)) (justify left bottom))
+    )
+    (property "Sheetfile" "AX48100.kicad_sch" (at 57.15 93.2946 0)
+      (effects (font (size 1.27 1.27)) (justify left top))
+    )
+    (instances
+      (project "Ax58100-stm32-ethercat"
+        (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1" (page "2"))
+      )
+    )
+  )
+
+  (sheet (at 171.45 156.21) (size 105.41 39.37) (fields_autoplaced)
+    (stroke (width 0.1524) (type solid))
+    (fill (color 0 0 0 0.0000))
+    (uuid cd91a270-7393-4003-91a3-e42304da540b)
+    (property "Sheetname" "Stepper+encoder" (at 171.45 155.4984 0)
+      (effects (font (size 1.27 1.27)) (justify left bottom))
+    )
+    (property "Sheetfile" "Steppers.kicad_sch" (at 171.45 196.1646 0)
+      (effects (font (size 1.27 1.27)) (justify left top))
+    )
+    (instances
+      (project "Ax58100-stm32-ethercat"
+        (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1" (page "6"))
+      )
+    )
+  )
+
+  (sheet (at 57.15 106.68) (size 93.98 35.56) (fields_autoplaced)
+    (stroke (width 0.1524) (type solid))
+    (fill (color 0 0 0 0.0000))
+    (uuid d564400f-40ba-4aca-9c2a-14ec52a8353b)
+    (property "Sheetname" "STM32F4" (at 57.15 105.9684 0)
+      (effects (font (size 1.27 1.27)) (justify left bottom))
+    )
+    (property "Sheetfile" "STM32F4.kicad_sch" (at 57.15 142.8246 0)
+      (effects (font (size 1.27 1.27)) (justify left top))
+    )
+    (instances
+      (project "Ax58100-stm32-ethercat"
+        (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1" (page "4"))
+      )
+    )
+  )
+
+  (sheet_instances
+    (path "/" (page "1"))
+  )
+)

Kicad/Ethercat-stm32/Ethercat-stm32.kicad_prl

@@ -64,7 +64,7 @@
       39,
       40
     ],
-    "visible_layers": "002202a_00000001",
+    "visible_layers": "002202b_80000005",
     "zone_display_mode": 0
   },
   "meta": {