Merge pull request #5 from MetalMusings/Video8

Video8

.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.IP10=TIM5
-Mcu.IP11=USART1
+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.Pin0=PE5
-Mcu.Pin1=PA1
+Mcu.Pin1=PA0-WKUP
-Mcu.Pin10=PB1
+Mcu.Pin10=PB0
-Mcu.Pin11=PE7
+Mcu.Pin11=PB1
-Mcu.Pin12=PE8
+Mcu.Pin12=PE7
-Mcu.Pin13=PE9
+Mcu.Pin13=PE8
-Mcu.Pin14=PE10
+Mcu.Pin14=PE9
-Mcu.Pin15=PE11
+Mcu.Pin15=PE10
-Mcu.Pin16=PE12
+Mcu.Pin16=PE11
-Mcu.Pin17=PE13
+Mcu.Pin17=PE12
-Mcu.Pin18=PE14
+Mcu.Pin18=PE13
-Mcu.Pin19=PE15
+Mcu.Pin19=PE14
-Mcu.Pin2=PA2
+Mcu.Pin2=PA1
-Mcu.Pin20=PB10
+Mcu.Pin20=PE15
-Mcu.Pin21=PB11
+Mcu.Pin21=PB10
-Mcu.Pin22=PD11
+Mcu.Pin22=PB11
-Mcu.Pin23=PD12
+Mcu.Pin23=PD11
-Mcu.Pin24=PD13
+Mcu.Pin24=PD12
-Mcu.Pin25=PC6
+Mcu.Pin25=PC9
-Mcu.Pin26=PC7
+Mcu.Pin26=PA8
-Mcu.Pin27=PC9
+Mcu.Pin27=PA9
-Mcu.Pin28=PA8
+Mcu.Pin28=PA10
-Mcu.Pin29=PA9
+Mcu.Pin29=PA11
-Mcu.Pin3=PA4
+Mcu.Pin3=PA2
-Mcu.Pin30=PA10
+Mcu.Pin30=PA12
-Mcu.Pin31=PA11
+Mcu.Pin31=PC10
-Mcu.Pin32=PA12
+Mcu.Pin32=PB6
-Mcu.Pin33=PC10
+Mcu.Pin33=VP_SYS_VS_Systick
-Mcu.Pin34=PB4
+Mcu.Pin4=PA4
-Mcu.Pin35=PB5
+Mcu.Pin5=PA5
-Mcu.Pin36=PB6
+Mcu.Pin6=PA6
-Mcu.Pin37=VP_SYS_VS_Systick
+Mcu.Pin7=PA7
-Mcu.Pin4=PA5
+Mcu.Pin8=PC4
-Mcu.Pin5=PA6
+Mcu.Pin9=PC5
-Mcu.Pin6=PA7
+Mcu.PinsNb=34
-Mcu.Pin7=PC4
-Mcu.Pin8=PC5
-Mcu.Pin9=PB0
-Mcu.PinsNb=38
 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=S_TIM5_CH3
-PA2.Signal=GPIO_Input
 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
+PC9.Signal=S_TIM3_CH4
-PC7.Signal=S_TIM8_CH2
-PC9.Signal=S_TIM8_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_CH4.0=TIM3_CH4,PWM Generation4 CH4
-SH.S_TIM3_CH1.ConfNb=1
+SH.S_TIM3_CH4.ConfNb=1
-SH.S_TIM3_CH2.0=TIM3_CH2,Encoder_Interface
+SH.S_TIM4_CH1.0=TIM4_CH1,PWM Generation1 CH1
-SH.S_TIM3_CH2.ConfNb=1
-SH.S_TIM4_CH1.0=TIM4_CH1,Encoder_Interface
 SH.S_TIM4_CH1.ConfNb=1
-SH.S_TIM4_CH2.0=TIM4_CH2,Encoder_Interface
+SH.S_TIM5_CH3.0=TIM5_CH3,Input_Capture3_from_TI3
-SH.S_TIM4_CH2.ConfNb=1
+SH.S_TIM5_CH3.ConfNb=1
-SH.S_TIM8_CH1.0=TIM8_CH1,Encoder_Interface
+SH.S_TIM9_CH1.0=TIM9_CH1,PWM Generation1 CH1
-SH.S_TIM8_CH1.ConfNb=1
+SH.S_TIM9_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
 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
+TIM3.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
-TIM8.IPParameters=Channel-PWM Generation4 CH4
+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:

Firmware/.vscode/settings.json

@@ -8,7 +8,10 @@
         "string": "cpp",
         "unordered_map": "cpp",
         "vector": "cpp",
-        "system_error": "cpp"
+        "system_error": "cpp",
+        "numeric": "cpp",
+        "ostream": "cpp"
     },
-    "C_Cpp.errorSquiggles": "disabled"
+    "C_Cpp.errorSquiggles": "disabled",
+    "cmake.configureOnOpen": false
 }

Firmware/include/MyEncoder.h

@@ -0,0 +1,37 @@
+#ifndef MYENCODER
+#define MYENCODER
+#include "Stm32F4_Encoder.h"
+#include <CircularBuffer.h>
+#define RINGBUFFERLEN 101
+
+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;
+
+    TIM_TypeDef *tim_base;
+};
+
+#endif

Firmware/include/StepGen.h

@@ -0,0 +1,42 @@
+
+#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;
+    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/Stepper.h

@@ -1,38 +0,0 @@
-/* USER CODE BEGIN Header */
-/**
-  ******************************************************************************
-  * @file           : main.h
-  * @brief          : Header for main.c file.
-  *                   This file contains the common defines of the application.
-  ******************************************************************************
-  * @attention
-  *
-  * Copyright (c) 2023 STMicroelectronics.
-  * All rights reserved.
-  *
-  * This software is licensed under terms that can be found in the LICENSE file
-  * in the root directory of this software component.
-  * If no LICENSE file comes with this software, it is provided AS-IS.
-  *
-  ******************************************************************************
-  */
-/* USER CODE END Header */
-
-/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __MAIN_H
-#define __MAIN_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-void StepperSetup(void);
-/* Includes ------------------------------------------------------------------*/
-#include "stm32f4xx_hal.h"
-
-void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
-void makePulses(uint32_t totalLength /* µsec */, uint32_t nPulses);
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __MAIN_H */

Firmware/include/Stm32F4_Encoder.h

@@ -3,7 +3,6 @@
 #define __Stm32F4_Encoder_H__
 #include <Arduino.h>
 
-
 #define GPIO_Speed_50MHz 0x02 /*!< Fast speed */
 
 // #define GPIO_MODER_MODER0                    ((uint32_t)0x00000003)
@@ -34,9 +33,6 @@
 #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.
@@ -62,17 +58,12 @@ typedef struct TIM_TimeBaseInitTypeDef
                                       @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.
@@ -104,8 +95,6 @@ typedef struct
                                   @note This parameter is valid only for TIM1 and TIM8. */
 } TIM_OCInitTypeDef;
 
-
-
 typedef struct
 {
 
@@ -125,8 +114,6 @@ typedef struct
                               This parameter can be a number between 0x0 and 0xF */
 } TIM_ICInitTypeDef;
 
-
-
 typedef struct
 {
 
@@ -153,7 +140,6 @@ typedef struct
                                      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)
@@ -177,8 +163,8 @@ typedef struct
 #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 TIM4 ((TIM_TypeDef *)TIM4_BASE)
-#define TIM8                ((TIM_TypeDef *) TIM8_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)
@@ -213,7 +199,6 @@ typedef struct
                                      ((PERIPH) == TIM13) || \
                                      ((PERIPH) == TIM14))
 
-
 #define IS_TIM_LIST2_PERIPH(PERIPH) (((PERIPH) == TIM1) || \
                                      ((PERIPH) == TIM2) || \
                                      ((PERIPH) == TIM3) || \
@@ -246,8 +231,6 @@ typedef struct
                                    ((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)
@@ -269,13 +252,11 @@ typedef struct
                           ((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)
@@ -292,7 +273,6 @@ typedef struct
                                                ((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)
@@ -300,7 +280,6 @@ typedef struct
                              ((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)
@@ -312,13 +291,11 @@ typedef struct
 //                                   ((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) || \
@@ -329,43 +306,36 @@ typedef struct
 #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)
@@ -375,19 +345,16 @@ typedef struct
 //                                  ((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) || \
@@ -399,7 +366,6 @@ typedef struct
 //#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)
@@ -407,17 +373,15 @@ typedef struct
 //                                      ((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 \
-#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
+#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. */
@@ -427,7 +391,6 @@ typedef struct
 //                                        ((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)
@@ -447,7 +410,6 @@ typedef struct
                            ((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)
@@ -489,7 +451,6 @@ typedef struct
 //                               ((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)
@@ -527,7 +488,6 @@ typedef struct
 //                                   ((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)
@@ -537,8 +497,6 @@ typedef struct
 // #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)
@@ -548,7 +506,6 @@ typedef struct
                                          ((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)
@@ -570,18 +527,15 @@ typedef struct
                                                       ((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) || \
@@ -592,7 +546,6 @@ typedef struct
 #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)
@@ -600,7 +553,6 @@ typedef struct
 //                                   ((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)
@@ -611,28 +563,23 @@ typedef struct
 // #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  \
-#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) || \
@@ -655,9 +602,6 @@ typedef struct
 //                                    ((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)
@@ -685,26 +629,16 @@ typedef struct
 #define TIM11_GPIO ((uint16_t)0x0000)
 #define TIM11_HSE ((uint16_t)0x0002)
 
-
-enum EncTimer {
-  Tim2,
-  Tim3,
-  Tim4,
-  Tim8
-};
-
 class Encoder
 {
 private:
   int _pin;
 
 public:
-    void  eattach(int enco);
+  TIM_TypeDef *tim_base;
   Encoder();
-    void SetCount( enum EncTimer enc, int64_t Counter);
+  void SetCount(int64_t Counter);
-    uint16_t  GetCount( enum EncTimer enc);
+  uint16_t GetCount();
-    void attachh(int encoNumber);
-    uint16_t c;
 };
 
 void rcc_config();

Firmware/lib/soes/MetalMusings_EaserCAT_2000.xml

@@ -148,7 +148,75 @@
                 </SubItem>
                 <SubItem>
                   <SubIdx>2</SubIdx>
-                  <Name>CommandedVelocity</Name>
+                  <Name>StepsPerMM</Name>
+                  <Type>ULINT</Type>
+                  <BitSize>64</BitSize>
+                  <BitOffs>80</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT1603</Name>
+                <BitSize>144</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>Max SubIndex</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>CommandedPosition</Name>
+                  <Type>ULINT</Type>
+                  <BitSize>64</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>StepsPerMM</Name>
+                  <Type>ULINT</Type>
+                  <BitSize>64</BitSize>
+                  <BitOffs>80</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT1604</Name>
+                <BitSize>144</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>Max SubIndex</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>Enable1</Name>
+                  <Type>ULINT</Type>
+                  <BitSize>64</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>Padding 1</Name>
                   <Type>ULINT</Type>
                   <BitSize>64</BitSize>
                   <BitOffs>80</BitOffs>
@@ -301,6 +369,30 @@
                   </Flags>
                 </SubItem>
               </DataType>
+              <DataType>
+                <Name>DT1A06</Name>
+                <BitSize>80</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>Max SubIndex</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>ActualPosition</Name>
+                  <Type>ULINT</Type>
+                  <BitSize>64</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                  </Flags>
+                </SubItem>
+              </DataType>
               <DataType>
                 <Name>DT1C00ARR</Name>
                 <BaseType>USINT</BaseType>
@@ -336,15 +428,15 @@
               <DataType>
                 <Name>DT1C12ARR</Name>
                 <BaseType>UINT</BaseType>
-                <BitSize>48</BitSize>
+                <BitSize>80</BitSize>
                 <ArrayInfo>
                   <LBound>1</LBound>
-                  <Elements>3</Elements>
+                  <Elements>5</Elements>
                 </ArrayInfo>
               </DataType>
               <DataType>
                 <Name>DT1C12</Name>
-                <BitSize>64</BitSize>
+                <BitSize>96</BitSize>
                 <SubItem>
                   <SubIdx>0</SubIdx>
                   <Name>Max SubIndex</Name>
@@ -358,7 +450,7 @@
                 <SubItem>
                   <Name>Elements</Name>
                   <Type>DT1C12ARR</Type>
-                  <BitSize>48</BitSize>
+                  <BitSize>80</BitSize>
                   <BitOffs>16</BitOffs>
                   <Flags>
                     <Access>ro</Access>
@@ -368,15 +460,15 @@
               <DataType>
                 <Name>DT1C13ARR</Name>
                 <BaseType>UINT</BaseType>
-                <BitSize>96</BitSize>
+                <BitSize>112</BitSize>
                 <ArrayInfo>
                   <LBound>1</LBound>
-                  <Elements>6</Elements>
+                  <Elements>7</Elements>
                 </ArrayInfo>
               </DataType>
               <DataType>
                 <Name>DT1C13</Name>
-                <BitSize>112</BitSize>
+                <BitSize>128</BitSize>
                 <SubItem>
                   <SubIdx>0</SubIdx>
                   <Name>Max SubIndex</Name>
@@ -390,7 +482,7 @@
                 <SubItem>
                   <Name>Elements</Name>
                   <Type>DT1C13ARR</Type>
-                  <BitSize>96</BitSize>
+                  <BitSize>112</BitSize>
                   <BitOffs>16</BitOffs>
                   <Flags>
                     <Access>ro</Access>
@@ -422,9 +514,34 @@
                   </Flags>
                 </SubItem>
               </DataType>
+              <DataType>
+                <Name>DT6006</Name>
+                <BitSize>80</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>Max SubIndex</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>ActualPosition</Name>
+                  <Type>LREAL</Type>
+                  <BitSize>64</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access WriteRestrictions="PreOP">ro</Access>
+                  <PdoMapping>T</PdoMapping>
+                  </Flags>
+                </SubItem>
+              </DataType>
               <DataType>
                 <Name>DT7002</Name>
-                <BitSize>144</BitSize>
+                <BitSize>96</BitSize>
                 <SubItem>
                   <SubIdx>0</SubIdx>
                   <Name>Max SubIndex</Name>
@@ -448,9 +565,45 @@
                 </SubItem>
                 <SubItem>
                   <SubIdx>2</SubIdx>
-                  <Name>CommandedVelocity</Name>
+                  <Name>StepsPerMM</Name>
+                  <Type>INT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>80</BitOffs>
+                  <Flags>
+                    <Access WriteRestrictions="PreOP">ro</Access>
+                  <PdoMapping>R</PdoMapping>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT7003</Name>
+                <BitSize>96</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>Max SubIndex</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>CommandedPosition</Name>
                   <Type>LREAL</Type>
                   <BitSize>64</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access WriteRestrictions="PreOP">ro</Access>
+                  <PdoMapping>R</PdoMapping>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>StepsPerMM</Name>
+                  <Type>INT</Type>
+                  <BitSize>16</BitSize>
                   <BitOffs>80</BitOffs>
                   <Flags>
                     <Access WriteRestrictions="PreOP">ro</Access>
@@ -490,6 +643,14 @@
                 <Name>DINT</Name>
                 <BitSize>32</BitSize>
               </DataType>
+              <DataType>
+                <Name>INT</Name>
+                <BitSize>16</BitSize>
+              </DataType>
+              <DataType>
+                <Name>BOOL</Name>
+                <BitSize>1</BitSize>
+              </DataType>
             </DataTypes>
             <Objects>
               <Object>
@@ -648,9 +809,67 @@
                     </Info>
                   </SubItem>
                   <SubItem>
-                    <Name>CommandedVelocity</Name>
+                    <Name>StepsPerMM</Name>
                     <Info>
-                      <DefaultValue>#x70020240</DefaultValue>
+                      <DefaultValue>#x70020210</DefaultValue>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x1603</Index>
+                <Name>StepGenIn2</Name>
+                <Type>DT1603</Type>
+                <BitSize>144</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>Max SubIndex</Name>
+                    <Info>
+                      <DefaultValue>2</DefaultValue>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>CommandedPosition</Name>
+                    <Info>
+                      <DefaultValue>#x70030140</DefaultValue>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>StepsPerMM</Name>
+                    <Info>
+                      <DefaultValue>#x70030210</DefaultValue>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x1604</Index>
+                <Name>Enable1</Name>
+                <Type>DT1604</Type>
+                <BitSize>144</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>Max SubIndex</Name>
+                    <Info>
+                      <DefaultValue>2</DefaultValue>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Enable1</Name>
+                    <Info>
+                      <DefaultValue>#x70040001</DefaultValue>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Padding 1</Name>
+                    <Info>
+                      <DefaultValue>#x00000007</DefaultValue>
                     </Info>
                   </SubItem>
                 </Info>
@@ -796,6 +1015,29 @@
                   <Access>ro</Access>
                 </Flags>
               </Object>
+              <Object>
+                <Index>#x1A06</Index>
+                <Name>StepGenOut2</Name>
+                <Type>DT1A06</Type>
+                <BitSize>80</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>Max SubIndex</Name>
+                    <Info>
+                      <DefaultValue>1</DefaultValue>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>ActualPosition</Name>
+                    <Info>
+                      <DefaultValue>#x60060140</DefaultValue>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                </Flags>
+              </Object>
               <Object>
                 <Index>#x1C00</Index>
                 <Name>Sync Manager Communication Type</Name>
@@ -841,12 +1083,12 @@
                 <Index>#x1C12</Index>
                 <Name>Sync Manager 2 PDO Assignment</Name>
                 <Type>DT1C12</Type>
-                <BitSize>64</BitSize>
+                <BitSize>96</BitSize>
                 <Info>
                   <SubItem>
                     <Name>Max SubIndex</Name>
                     <Info>
-                      <DefaultValue>3</DefaultValue>
+                      <DefaultValue>5</DefaultValue>
                     </Info>
                   </SubItem>
                   <SubItem>
@@ -867,6 +1109,18 @@
                       <DefaultValue>#x1602</DefaultValue>
                     </Info>
                   </SubItem>
+                  <SubItem>
+                    <Name>PDO Mapping</Name>
+                    <Info>
+                      <DefaultValue>#x1603</DefaultValue>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>PDO Mapping</Name>
+                    <Info>
+                      <DefaultValue>#x1604</DefaultValue>
+                    </Info>
+                  </SubItem>
                 </Info>
                 <Flags>
                   <Access>ro</Access>
@@ -876,12 +1130,12 @@
                 <Index>#x1C13</Index>
                 <Name>Sync Manager 3 PDO Assignment</Name>
                 <Type>DT1C13</Type>
-                <BitSize>112</BitSize>
+                <BitSize>128</BitSize>
                 <Info>
                   <SubItem>
                     <Name>Max SubIndex</Name>
                     <Info>
-                      <DefaultValue>6</DefaultValue>
+                      <DefaultValue>7</DefaultValue>
                     </Info>
                   </SubItem>
                   <SubItem>
@@ -920,6 +1174,12 @@
                       <DefaultValue>#x1A05</DefaultValue>
                     </Info>
                   </SubItem>
+                  <SubItem>
+                    <Name>PDO Mapping</Name>
+                    <Info>
+                      <DefaultValue>#x1A06</DefaultValue>
+                    </Info>
+                  </SubItem>
                 </Info>
                 <Flags>
                   <Access>ro</Access>
@@ -1013,6 +1273,29 @@
                   <Access>ro</Access>
                 </Flags>
               </Object>
+              <Object>
+                <Index>#x6006</Index>
+                <Name>StepGenOut2</Name>
+                <Type>DT6006</Type>
+                <BitSize>80</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>Max SubIndex</Name>
+                    <Info>
+                      <DefaultValue>1</DefaultValue>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>ActualPosition</Name>
+                    <Info>
+                      <DefaultValue>0</DefaultValue>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                </Flags>
+              </Object>
               <Object>
                 <Index>#x7000</Index>
                 <Name>EncPosScale</Name>
@@ -1043,7 +1326,7 @@
                 <Index>#x7002</Index>
                 <Name>StepGenIn1</Name>
                 <Type>DT7002</Type>
-                <BitSize>144</BitSize>
+                <BitSize>96</BitSize>
                 <Info>
                   <SubItem>
                     <Name>Max SubIndex</Name>
@@ -1058,7 +1341,7 @@
                     </Info>
                   </SubItem>
                   <SubItem>
-                    <Name>CommandedVelocity</Name>
+                    <Name>StepsPerMM</Name>
                     <Info>
                       <DefaultValue>0</DefaultValue>
                     </Info>
@@ -1068,6 +1351,48 @@
                   <Access>ro</Access>
                 </Flags>
               </Object>
+              <Object>
+                <Index>#x7003</Index>
+                <Name>StepGenIn2</Name>
+                <Type>DT7003</Type>
+                <BitSize>96</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>Max SubIndex</Name>
+                    <Info>
+                      <DefaultValue>2</DefaultValue>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>CommandedPosition</Name>
+                    <Info>
+                      <DefaultValue>0</DefaultValue>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>StepsPerMM</Name>
+                    <Info>
+                      <DefaultValue>0</DefaultValue>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x7004</Index>
+                <Name>Enable1</Name>
+                <Type>BOOL</Type>
+                <BitSize>1</BitSize>
+                <Info>
+                  <DefaultValue>0</DefaultValue>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <PdoMapping>R</PdoMapping>
+                </Flags>
+              </Object>
             </Objects>
           </Dictionary>
         </Profile>
@@ -1113,10 +1438,44 @@
           <Entry>
             <Index>#x7002</Index>
             <SubIndex>#x2</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>StepsPerMM</Name>
+            <DataType>INT</DataType>
+          </Entry>
+        </RxPdo>
+        <RxPdo Fixed="true" Mandatory="true" Sm="2">
+          <Index>#x1603</Index>
+          <Name>StepGenIn2</Name>
+          <Entry>
+            <Index>#x7003</Index>
+            <SubIndex>#x1</SubIndex>
             <BitLen>64</BitLen>
-            <Name>CommandedVelocity</Name>
+            <Name>CommandedPosition</Name>
             <DataType>LREAL</DataType>
           </Entry>
+          <Entry>
+            <Index>#x7003</Index>
+            <SubIndex>#x2</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>StepsPerMM</Name>
+            <DataType>INT</DataType>
+          </Entry>
+        </RxPdo>
+        <RxPdo Fixed="true" Mandatory="true" Sm="2">
+          <Index>#x1604</Index>
+          <Name>Enable1</Name>
+          <Entry>
+            <Index>#x7004</Index>
+            <SubIndex>#x0</SubIndex>
+            <BitLen>1</BitLen>
+            <Name>Enable1</Name>
+            <DataType>BOOL</DataType>
+          </Entry>
+          <Entry>
+            <Index>0</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>7</BitLen>
+          </Entry>
         </RxPdo>
         <TxPdo Fixed="true" Mandatory="true" Sm="3">
           <Index>#x1A00</Index>
@@ -1184,6 +1543,17 @@
             <DataType>LREAL</DataType>
           </Entry>
         </TxPdo>
+        <TxPdo Fixed="true" Mandatory="true" Sm="3">
+          <Index>#x1A06</Index>
+          <Name>StepGenOut2</Name>
+          <Entry>
+            <Index>#x6006</Index>
+            <SubIndex>#x1</SubIndex>
+            <BitLen>64</BitLen>
+            <Name>ActualPosition</Name>
+            <DataType>LREAL</DataType>
+          </Entry>
+        </TxPdo>
         <Mailbox DataLinkLayer="true">
           <CoE SdoInfo="true" PdoAssign="false" PdoConfig="false" PdoUpload="true" CompleteAccess="false" />
         </Mailbox>

Firmware/lib/soes/ecat_options.h

@@ -33,8 +33,8 @@
 #define SM3_smc          0x20
 #define SM3_act          1
 
-#define MAX_MAPPINGS_SM2 4
+#define MAX_MAPPINGS_SM2 8
-#define MAX_MAPPINGS_SM3 6
+#define MAX_MAPPINGS_SM3 7
 
 #define MAX_RXPDO_SIZE   512
 #define MAX_TXPDO_SIZE   512

Firmware/lib/soes/esi.json

@@ -124,6 +124,26 @@
         "pdo_mappings": [
           "txpdo"
         ]
+      },
+      "6006": {
+        "otype": "RECORD",
+        "name": "StepGenOut2",
+        "access": "RO",
+        "items": [
+          {
+            "name": "Max SubIndex"
+          },
+          {
+            "name": "ActualPosition",
+            "dtype": "REAL64",
+            "data": "&Obj.StepGenOut2.ActualPosition",
+            "value": "0",
+            "access": "RO"
+          }
+        ],
+        "pdo_mappings": [
+          "txpdo"
+        ]
       }
     },
     "rxpdo": {
@@ -165,17 +185,55 @@
             "access": "RO"
           },
           {
-            "name": "CommandedVelocity",
+            "name": "StepsPerMM",
-            "dtype": "REAL64",
+            "dtype": "INTEGER16",
             "value": "0",
             "access": "RO",
-            "data": "&Obj.StepGenIn1.CommandedVelocity"
+            "data": "&Obj.StepGenIn1.StepsPerMM"
           }
         ],
         "pdo_mappings": [
           "rxpdo"
         ]
       },
+      "7003": {
+        "otype": "RECORD",
+        "name": "StepGenIn2",
+        "access": "RO",
+        "items": [
+          {
+            "name": "Max SubIndex"
+          },
+          {
+            "name": "CommandedPosition",
+            "dtype": "REAL64",
+            "data": "&Obj.StepGenIn2.CommandedPosition",
+            "value": "0",
+            "access": "RO"
+          },
+          {
+            "name": "StepsPerMM",
+            "dtype": "INTEGER16",
+            "value": "0",
+            "access": "RO",
+            "data": "&Obj.StepGenIn2.StepsPerMM"
+          }
+        ],
+        "pdo_mappings": [
+          "rxpdo"
+        ]
+      },
+      "7004": {
+        "otype": "VAR",
+        "name": "Enable1",
+        "access": "RO",
+        "pdo_mappings": [
+          "rxpdo"
+        ],
+        "dtype": "BOOLEAN",
+        "value": "0",
+        "data": "&Obj.Enable1"
+      },
       "60664": {
         "otype": "VAR",
         "name": "ActualPosition",

Firmware/lib/soes/objectlist.c

@@ -22,7 +22,15 @@ static const char acName1601_01[] = "IndexLatchEnable";
 static const char acName1602[] = "StepGenIn1";
 static const char acName1602_00[] = "Max SubIndex";
 static const char acName1602_01[] = "CommandedPosition";
-static const char acName1602_02[] = "CommandedVelocity";
+static const char acName1602_02[] = "StepsPerMM";
+static const char acName1603[] = "StepGenIn2";
+static const char acName1603_00[] = "Max SubIndex";
+static const char acName1603_01[] = "CommandedPosition";
+static const char acName1603_02[] = "StepsPerMM";
+static const char acName1604[] = "Enable1";
+static const char acName1604_00[] = "Max SubIndex";
+static const char acName1604_01[] = "Enable1";
+static const char acName1604_02[] = "Padding 1";
 static const char acName1A00[] = "EncPos";
 static const char acName1A00_00[] = "Max SubIndex";
 static const char acName1A00_01[] = "EncPos";
@@ -41,6 +49,9 @@ static const char acName1A04_01[] = "IndexStatus";
 static const char acName1A05[] = "StepGenOut1";
 static const char acName1A05_00[] = "Max SubIndex";
 static const char acName1A05_01[] = "ActualPosition";
+static const char acName1A06[] = "StepGenOut2";
+static const char acName1A06_00[] = "Max SubIndex";
+static const char acName1A06_01[] = "ActualPosition";
 static const char acName1C00[] = "Sync Manager Communication Type";
 static const char acName1C00_00[] = "Max SubIndex";
 static const char acName1C00_01[] = "Communications Type SM0";
@@ -52,6 +63,8 @@ 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";
@@ -60,6 +73,7 @@ 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 acName6000[] = "EncPos";
 static const char acName6001[] = "EncFrequency";
 static const char acName6002[] = "DiffT";
@@ -68,12 +82,20 @@ static const char acName6004[] = "IndexStatus";
 static const char acName6005[] = "StepGenOut1";
 static const char acName6005_00[] = "Max SubIndex";
 static const char acName6005_01[] = "ActualPosition";
+static const char acName6006[] = "StepGenOut2";
+static const char acName6006_00[] = "Max SubIndex";
+static const char acName6006_01[] = "ActualPosition";
 static const char acName7000[] = "EncPosScale";
 static const char acName7001[] = "IndexLatchEnable";
 static const char acName7002[] = "StepGenIn1";
 static const char acName7002_00[] = "Max SubIndex";
 static const char acName7002_01[] = "CommandedPosition";
-static const char acName7002_02[] = "CommandedVelocity";
+static const char acName7002_02[] = "StepsPerMM";
+static const char acName7003[] = "StepGenIn2";
+static const char acName7003_00[] = "Max SubIndex";
+static const char acName7003_01[] = "CommandedPosition";
+static const char acName7003_02[] = "StepsPerMM";
+static const char acName7004[] = "Enable1";
 
 const _objd SDO1000[] =
 {
@@ -113,7 +135,19 @@ const _objd SDO1602[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1602_00, 2, NULL},
   {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1602_01, 0x70020140, NULL},
-  {0x02, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1602_02, 0x70020240, NULL},
+  {0x02, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1602_02, 0x70020210, NULL},
+};
+const _objd SDO1603[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1603_00, 2, NULL},
+  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1603_01, 0x70030140, NULL},
+  {0x02, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1603_02, 0x70030210, NULL},
+};
+const _objd SDO1604[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1604_00, 2, NULL},
+  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1604_01, 0x70040001, NULL},
+  {0x02, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1604_02, 0x00000007, NULL},
 };
 const _objd SDO1A00[] =
 {
@@ -145,6 +179,11 @@ const _objd SDO1A05[] =
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A05_00, 1, NULL},
   {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A05_01, 0x60050140, NULL},
 };
+const _objd SDO1A06[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A06_00, 1, NULL},
+  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A06_01, 0x60060140, NULL},
+};
 const _objd SDO1C00[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C00_00, 4, NULL},
@@ -155,20 +194,23 @@ const _objd SDO1C00[] =
 };
 const _objd SDO1C12[] =
 {
-  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C12_00, 3, 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, 6, NULL},
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C13_00, 7, 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},
 };
 const _objd SDO6000[] =
 {
@@ -195,6 +237,11 @@ const _objd SDO6005[] =
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6005_00, 1, NULL},
   {0x01, DTYPE_REAL64, 64, ATYPE_RO, acName6005_01, 0, &Obj.StepGenOut1.ActualPosition},
 };
+const _objd SDO6006[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName6006_00, 1, NULL},
+  {0x01, DTYPE_REAL64, 64, ATYPE_RO, acName6006_01, 0, &Obj.StepGenOut2.ActualPosition},
+};
 const _objd SDO7000[] =
 {
   {0x0, DTYPE_INTEGER32, 32, ATYPE_RO | ATYPE_RXPDO, acName7000, 0, &Obj.EncPosScale},
@@ -207,7 +254,17 @@ const _objd SDO7002[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7002_00, 2, NULL},
   {0x01, DTYPE_REAL64, 64, ATYPE_RO, acName7002_01, 0, &Obj.StepGenIn1.CommandedPosition},
-  {0x02, DTYPE_REAL64, 64, ATYPE_RO, acName7002_02, 0, &Obj.StepGenIn1.CommandedVelocity},
+  {0x02, DTYPE_INTEGER16, 16, ATYPE_RO, acName7002_02, 0, &Obj.StepGenIn1.StepsPerMM},
+};
+const _objd SDO7003[] =
+{
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName7003_00, 2, NULL},
+  {0x01, DTYPE_REAL64, 64, ATYPE_RO, acName7003_01, 0, &Obj.StepGenIn2.CommandedPosition},
+  {0x02, DTYPE_INTEGER16, 16, ATYPE_RO, acName7003_02, 0, &Obj.StepGenIn2.StepsPerMM},
+};
+const _objd SDO7004[] =
+{
+  {0x0, DTYPE_BOOLEAN, 1, ATYPE_RO | ATYPE_RXPDO, acName7004, 0, &Obj.Enable1},
 };
 
 const _objectlist SDOobjects[] =
@@ -220,23 +277,29 @@ const _objectlist SDOobjects[] =
   {0x1600, OTYPE_RECORD, 1, 0, acName1600, SDO1600},
   {0x1601, OTYPE_RECORD, 1, 0, acName1601, SDO1601},
   {0x1602, OTYPE_RECORD, 2, 0, acName1602, SDO1602},
+  {0x1603, OTYPE_RECORD, 2, 0, acName1603, SDO1603},
+  {0x1604, OTYPE_RECORD, 2, 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},
   {0x1C00, OTYPE_ARRAY, 4, 0, acName1C00, SDO1C00},
-  {0x1C12, OTYPE_ARRAY, 3, 0, acName1C12, SDO1C12},
+  {0x1C12, OTYPE_ARRAY, 5, 0, acName1C12, SDO1C12},
-  {0x1C13, OTYPE_ARRAY, 6, 0, acName1C13, SDO1C13},
+  {0x1C13, OTYPE_ARRAY, 7, 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_RECORD, 1, 0, acName6005, SDO6005},
+  {0x6006, OTYPE_RECORD, 1, 0, acName6006, SDO6006},
   {0x7000, OTYPE_VAR, 0, 0, acName7000, SDO7000},
   {0x7001, OTYPE_VAR, 0, 0, acName7001, SDO7001},
   {0x7002, OTYPE_RECORD, 2, 0, acName7002, SDO7002},
+  {0x7003, OTYPE_RECORD, 2, 0, acName7003, SDO7003},
+  {0x7004, OTYPE_VAR, 0, 0, acName7004, SDO7004},
   {0xffff, 0xff, 0xff, 0xff, NULL, NULL}
 };

Firmware/lib/soes/utypes.h

@@ -22,6 +22,10 @@ typedef struct
    {
       double ActualPosition;
    } StepGenOut1;
+   struct
+   {
+      double ActualPosition;
+   } StepGenOut2;
 
    /* Outputs */
 
@@ -30,8 +34,14 @@ typedef struct
    struct
    {
       double CommandedPosition;
-      double CommandedVelocity;
+      int16_t StepsPerMM;
    } StepGenIn1;
+   struct
+   {
+      double CommandedPosition;
+      int16_t StepsPerMM;
+   } StepGenIn2;
+   uint8_t Enable1;
 
 } _Objects;
 

Firmware/src/MyEncoder.cpp

@@ -0,0 +1,94 @@
+#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;
+    TDelta.push(time); // Running average over the length of the circular buffer
+    Pos.push(curPos);
+    if (Pos.size() >= 2)
+    {
+        diffT = 1.0e-9 * (TDelta.last() - TDelta.first()); // Time is in nanoseconds
+        diffPos = fabs(Pos.last() - Pos.first());
+    }
+    return diffT != 0 ? diffPos / diffT : 0.0; // Revolutions per second
+}
+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/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;
 }
-
+// uint16_t Encoder::GetCount(enum EncTimer enc)
-void Encoder::attachh(int encoNumber)
+uint16_t Encoder::GetCount()
 {
-    eattach(encoNumber);
+    return tim_base->CNT;
-}
-
-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;
 }
 
 void GpioConfigPortA(GPIO_TypeDef *GPIOx)
@@ -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 +325,5 @@ void rcc_config()
     TIM_Cmd(TIM3, ENABLE);
 
     TIM3->CNT = 0;
+#endif
 }

Firmware/src/main.cpp

@@ -1,102 +1,90 @@
 #include <Arduino.h>
-#include <HardwareTimer.h>
-
 #include <stdio.h>
 extern "C"
 {
 #include "ecat_slv.h"
 #include "utypes.h"
 };
-#include <CircularBuffer.h>
-#define RINGBUFFERLEN 101
-CircularBuffer<double_t, RINGBUFFERLEN> Pos;
-CircularBuffer<uint32_t, RINGBUFFERLEN> TDelta;
-
-#include <Stm32F4_Encoder.h>
-int64_t PreviousEncoderCounterValue = 0;
-int64_t unwrap_encoder(uint16_t in, int64_t *prev);
-Encoder EncoderInit;
-Encoder *encP = &EncoderInit;
-
-#define INDEX_PIN PA2
-HardwareSerial Serial1(PA10, PA9);
 _Objects Obj;
 
-void indexPulse(void);
+HardwareSerial Serial1(PA10, PA9);
-double PosScaleRes = 1.0;
-uint32_t CurPosScale = 1;
-uint8_t OldLatchCEnable = 0;
-volatile uint8_t indexPulseFired = 0;
-uint32_t nFires = 0;
-volatile uint8_t pleaseZeroTheCounter = 0;
 
-#define STEPPER_DIR_PIN PA12
+#define DEBUG_TIM8 1
-#define STEPPER_STEP_PIN PA11
+#include "MyEncoder.h"
-HardwareTimer *MyTim;
+void indexPulseEncoderCB1(void);
-volatile uint32_t stepCount = 0, stepPulses = 0;
+MyEncoder Encoder1(TIM2, PA2, indexPulseEncoderCB1);
-volatile double_t actualPosition = 0;
+void indexPulseEncoderCB1(void)
-volatile double_t requestedPosition, requestedVelocity;
+{
+   Encoder1.indexPulse();
+}
 
-uint32_t sync0CycleTime = 0;
+#include "StepGen.h"
 
-void handleStepper(void);
+void timerCallbackStep1(void);
-void makePulses(uint32_t period /* in usecs */, int32_t pulses /* nr of pulses to do*/);
+StepGen Step1(TIM1, 4, PA_11, PA12, timerCallbackStep1);
+void timerCallbackStep1(void)
+{
+   Step1.timerCB();
+}
+
+void timerCallbackStep2(void);
+StepGen Step2(TIM3, 4, PC_9, PC10, timerCallbackStep2);
+void timerCallbackStep2(void)
+{
+   Step2.timerCB();
+}
+
+CircularBuffer<uint32_t, 200> Tim;
+volatile uint64_t nowTime = 0, thenTime = 0;
 
 void cb_set_outputs(void) // Master outputs gets here, slave inputs, first operation
 {
-   if (Obj.IndexLatchEnable && !OldLatchCEnable) // Should only happen first time IndexCEnable is set
+   Encoder1.setLatch(Obj.IndexLatchEnable);
-   {
+   Encoder1.setScale(Obj.EncPosScale);
-      pleaseZeroTheCounter = 1;
-   }
-   OldLatchCEnable = Obj.IndexLatchEnable;
 
-   if (CurPosScale != Obj.EncPosScale && Obj.EncPosScale != 0)
+   Step1.reqPos(Obj.StepGenIn1.CommandedPosition);
-   {
+   Step1.setScale(Obj.StepGenIn1.StepsPerMM);
-      CurPosScale = Obj.EncPosScale;
+   Step1.enable(Obj.Enable1);
-      PosScaleRes = 1.0 / double(CurPosScale);
+   Step2.reqPos(Obj.StepGenIn2.CommandedPosition);
+   Step2.setScale(Obj.StepGenIn2.StepsPerMM);
+   Step2.enable(Obj.Enable1);
 }
-   requestedPosition = Obj.StepGenIn1.CommandedPosition;
+
-   requestedVelocity = Obj.StepGenIn1.CommandedVelocity;
+void handleStepper(void)
+{
+   Step1.handleStepper();
+   Step2.handleStepper();
 }
 
 void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
 {
-   Obj.IndexStatus = 0;
+   Obj.IndexStatus = Encoder1.indexHappened();
-   if (indexPulseFired)
+   Obj.EncPos = Encoder1.currentPos();
+   Obj.EncFrequency = Encoder1.frequency(ESCvar.Time);
+   Obj.IndexByte = Encoder1.getIndexState();
+
+   Obj.StepGenOut1.ActualPosition = Step1.actPos();
+   Obj.StepGenOut2.ActualPosition = Step2.actPos();
+
+   uint32_t dTim = nowTime - thenTime; // Debug. Getting jitter over the last 200 milliseconds
+   Tim.push(dTim);
+   uint32_t max_Tim = 0, min_Tim = UINT32_MAX;
+   for (decltype(Tim)::index_t i = 0; i < Tim.size(); i++)
    {
-      Obj.IndexStatus = 1;
+      uint32_t aTim = Tim[i];
-      indexPulseFired = 0;
+      if (aTim > max_Tim)
-      nFires++;
+         max_Tim = aTim;
-      PreviousEncoderCounterValue = 0;
+      if (aTim < min_Tim)
+         min_Tim = aTim;
    }
-   // Obj.DiffT = sync0CycleTime;
+   thenTime = nowTime;
-
+   Obj.DiffT = max_Tim - min_Tim; // Debug
-   int64_t pos = unwrap_encoder(TIM2->CNT, &PreviousEncoderCounterValue);
-   double CurPos = pos * PosScaleRes;
-   Obj.EncPos = CurPos;
-
-   double diffT = 0;
-   double diffPos = 0;
-   TDelta.push(ESCvar.Time); // Running average over the length of the circular buffer
-   Pos.push(CurPos);
-   if (Pos.size() >= 2)
-   {
-      diffT = 1.0e-9 * (TDelta.last() - TDelta.first()); // Time is in nanoseconds
-      diffPos = fabs(Pos.last() - Pos.first());
-   }
-   Obj.EncFrequency = diffT != 0 ? diffPos / diffT : 0.0; // Revolutions per second
-
-   Obj.IndexByte = digitalRead(INDEX_PIN);
-   if (Obj.IndexByte)
-      Serial1.printf("IS 1\n");
-
-   Obj.StepGenOut1.ActualPosition = actualPosition;
-   Obj.DiffT = 10000 * requestedPosition; // deltaT;
 }
 
 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 =
     {
@@ -106,7 +94,7 @@ static esc_cfg_t config =
         .set_defaults_hook = NULL,
         .pre_state_change_hook = NULL,
         .post_state_change_hook = NULL,
-        .application_hook = handleStepper, // StepGen,
+        .application_hook = handleStepper,
         .safeoutput_override = NULL,
         .pre_object_download_hook = NULL,
         .post_object_download_hook = NULL,
@@ -118,112 +106,40 @@ static esc_cfg_t config =
         .esc_check_dc_handler = dc_checker,
 };
 
-void TimerStep_CB(void)
+volatile byte serveIRQ = 0;
-{
-   stepCount++;
-   if (stepCount == stepPulses)
-   {
-      MyTim->pause();
-   }
-}
 
-void makePulses(uint32_t period /* in usecs */, int32_t pulses /* nr of pulses to do*/)
-{
-   byte sgn = pulses > 0 ? HIGH : LOW;
-   digitalWrite(STEPPER_DIR_PIN, sgn); // I think one should really wait a bit when changed
-   uint32_t puls = abs(pulses);
-   MyTim->setOverflow(abs(pulses) * 1000000 / period, HERTZ_FORMAT);
-   MyTim->setCaptureCompare(4, 50, PERCENT_COMPARE_FORMAT); // 50 %
-   stepCount = 0;
-   stepPulses = abs(pulses);
-   MyTim->resume();
-}
-
-void sync0Handler(void);
 void setup(void)
 {
    Serial1.begin(115200);
-   rcc_config();
+   rcc_config(); // probably breaks some timers.
-
-   TIM_TypeDef *Instance = TIM1;
-   MyTim = new HardwareTimer(Instance);
-   MyTim->setMode(4, TIMER_OUTPUT_COMPARE_PWM2, STEPPER_STEP_PIN);
-   MyTim->attachInterrupt(TimerStep_CB);
-   pinMode(STEPPER_DIR_PIN, OUTPUT);
-
-   // Set starting count value
-   EncoderInit.SetCount(Tim2, 0);
-   attachInterrupt(digitalPinToInterrupt(INDEX_PIN), indexPulse, RISING); // Always when Index triggered
-   // EncoderInit.SetCount(Tim3, 0);
-   // EncoderInit.SetCount(Tim4, 0);
-   // EncoderInit.SetCount(Tim8, 0);
-
    ecat_slv_init(&config);
 }
-volatile byte serveIRQ = 0;
+
 void loop(void)
 {
-   ESCvar.PrevTime = ESCvar.Time;
    if (serveIRQ)
    {
+      nowTime = micros();
       DIG_process(DIG_PROCESS_WD_FLAG | DIG_PROCESS_OUTPUTS_FLAG |
                   DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG);
       serveIRQ = 0;
+      ESCvar.PrevTime = ESCvar.Time;
    }
+   uint32_t dTime = micros() - nowTime;
+   if ((dTime > 200 && dTime < 500) || dTime > 1500) // Don't run ecat_slv_poll when expecting to serve interrupt
       ecat_slv_poll();
 }
 
-#define ONE_PERIOD 65536
-#define HALF_PERIOD 32768
-
-int64_t unwrap_encoder(uint16_t in, int64_t *prev)
-{
-   int64_t c64 = (int32_t)in - HALF_PERIOD; // remove half period to determine (+/-) sign of the wrap
-   int64_t dif = (c64 - *prev);             // 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 < -HALF_PERIOD)
-      mod_dif += ONE_PERIOD; // account for mod of negative number behavior in C
-
-   int64_t unwrapped = *prev + mod_dif;
-   *prev = unwrapped; // load previous value
-
-   return unwrapped + HALF_PERIOD; // remove the shift we applied at the beginning, and return
-}
-
-void indexPulse(void)
-{
-   if (pleaseZeroTheCounter)
-   {
-      TIM2->CNT = 0;
-      indexPulseFired = 1;
-      Pos.clear();
-      TDelta.clear();
-      pleaseZeroTheCounter = 0;
-   }
-}
-
 void sync0Handler(void)
 {
    serveIRQ = 1;
 }
 
-void handleStepper(void)
-{
-   byte forwardDirection = 0; // 1 if going forward
-   int32_t pulsesToGo = 100 * (requestedPosition - actualPosition);
-   if (pulsesToGo != 0)
-      makePulses(900, pulsesToGo); // Make the pulses using hardware timer
-
-   actualPosition = requestedPosition;
-}
 void ESC_interrupt_enable(uint32_t mask)
 {
    // Enable interrupt for SYNC0 or SM2 or SM3
-   uint32_t user_int_mask = ESCREG_ALEVENT_DC_SYNC0 |
+   // uint32_t user_int_mask = ESCREG_ALEVENT_DC_SYNC0 | ESCREG_ALEVENT_SM2 | ESCREG_ALEVENT_SM3;
-                            ESCREG_ALEVENT_SM2 |
+   uint32_t user_int_mask = ESCREG_ALEVENT_SM2; // Only SM2
-                            ESCREG_ALEVENT_SM3;
    if (mask & user_int_mask)
    {
       ESC_ALeventmaskwrite(ESC_ALeventmaskread() | (mask & user_int_mask));
@@ -242,9 +158,8 @@ void ESC_interrupt_enable(uint32_t mask)
 void ESC_interrupt_disable(uint32_t mask)
 {
    // Enable interrupt for SYNC0 or SM2 or SM3
-   uint32_t user_int_mask = ESCREG_ALEVENT_DC_SYNC0 |
+   // uint32_t user_int_mask = ESCREG_ALEVENT_DC_SYNC0 | ESCREG_ALEVENT_SM2 | ESCREG_ALEVENT_SM3;
-                            ESCREG_ALEVENT_SM2 |
+   uint32_t user_int_mask = ESCREG_ALEVENT_SM2;
-                            ESCREG_ALEVENT_SM3;
 
    if (mask & user_int_mask)
    {
@@ -258,11 +173,12 @@ void ESC_interrupt_disable(uint32_t mask)
 }
 
 extern "C" uint32_t ESC_SYNC0cycletime(void);
+
 // Setup of DC
 uint16_t dc_checker(void)
 {
    // Indicate we run DC
-   ESCvar.dcsync = 0;
+   ESCvar.dcsync = 1;
-   sync0CycleTime = ESC_SYNC0cycletime();
+   StepGen::sync0CycleTime = ESC_SYNC0cycletime() / 1000; // usecs
    return 0;
 }

Kicad/Ax58100-stm32-ethercat/.gitignore

@@ -1,3 +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/AX48100.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)
@@ -883,6 +887,9 @@
   (junction (at 153.67 76.2) (diameter 0) (color 0 0 0 0)
     (uuid 1d94dd01-6dce-414e-82ad-3ac082fe20b1)
   )
+  (junction (at 37.465 106.68) (diameter 0) (color 0 0 0 0)
+    (uuid 1f401ea1-91c2-4b1c-8946-0cebb61cc079)
+  )
   (junction (at 241.3 125.73) (diameter 0) (color 0 0 0 0)
     (uuid 24742ea1-03d5-4527-95f5-a7eea04d187b)
   )
@@ -1077,10 +1084,6 @@
     (stroke (width 0) (type default))
     (uuid 329bb402-dfdb-48ca-96e4-cd8113da5fed)
   )
-  (wire (pts (xy 44.45 106.68) (xy 59.69 106.68))
-    (stroke (width 0) (type default))
-    (uuid 34f3e2b5-6955-4782-bb5a-a609e45555c8)
-  )
   (wire (pts (xy 44.45 66.04) (xy 59.69 66.04))
     (stroke (width 0) (type default))
     (uuid 3ec5c533-9953-4224-b74b-0735dd26a008)
@@ -1105,7 +1108,7 @@
     (stroke (width 0) (type default))
     (uuid 47db0b49-0009-4a05-8b96-6b8f84d107d5)
   )
-  (wire (pts (xy 44.45 101.6) (xy 59.69 101.6))
+  (wire (pts (xy 52.07 101.6) (xy 59.69 101.6))
     (stroke (width 0) (type default))
     (uuid 4d357d9e-d279-48fb-988a-f7a606aaaceb)
   )
@@ -1269,7 +1272,7 @@
     (stroke (width 0) (type default))
     (uuid 9585e42b-254e-4035-872d-73149242942a)
   )
-  (wire (pts (xy 44.45 104.14) (xy 59.69 104.14))
+  (wire (pts (xy 52.07 104.14) (xy 59.69 104.14))
     (stroke (width 0) (type default))
     (uuid 980d2c40-5368-442a-bca9-5b05633779dc)
   )
@@ -1297,6 +1300,10 @@
     (stroke (width 0) (type default))
     (uuid a8f7bd69-6ca5-40d2-94f6-95e3f5e577ec)
   )
+  (wire (pts (xy 33.02 106.68) (xy 37.465 106.68))
+    (stroke (width 0) (type default))
+    (uuid ab06e9f6-751e-4e57-8ad8-4e32f30960c6)
+  )
   (wire (pts (xy 128.27 81.28) (xy 121.92 81.28))
     (stroke (width 0) (type default))
     (uuid ac3cbfb3-166c-465f-abf3-8aa52050d758)
@@ -1329,6 +1336,10 @@
     (stroke (width 0) (type default))
     (uuid bc9e0b10-af0b-4c3d-ac1d-d925f4391c1b)
   )
+  (wire (pts (xy 37.465 106.68) (xy 59.69 106.68))
+    (stroke (width 0) (type default))
+    (uuid bcc30d1c-f679-4fb9-93ef-8f4572d2ba2f)
+  )
   (wire (pts (xy 53.34 86.36) (xy 59.69 86.36))
     (stroke (width 0) (type default))
     (uuid be5e8aa3-0c6a-4679-a6c3-2d7b538935e0)
@@ -1541,10 +1552,10 @@
       (effects (font (size 1.27 1.27)) (justify left) hide)
     )
   )
-  (global_label "SPI_MOSI" (shape input) (at 44.45 101.6 180) (fields_autoplaced)
+  (global_label "SPI_MOSI" (shape input) (at 52.07 101.6 180) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify right))
     (uuid 5584513c-826f-4b8d-805f-97d18e92e5c9)
-    (property "Intersheetrefs" "${INTERSHEET_REFS}" (at 32.8167 101.6 0)
+    (property "Intersheetrefs" "${INTERSHEET_REFS}" (at 40.4367 101.6 0)
       (effects (font (size 1.27 1.27)) (justify right) hide)
     )
   )
@@ -1569,10 +1580,10 @@
       (effects (font (size 1.27 1.27)) (justify left) hide)
     )
   )
-  (global_label "SCS_FUNC" (shape input) (at 44.45 106.68 180) (fields_autoplaced)
+  (global_label "SCS_FUNC" (shape input) (at 33.02 106.68 180) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify right))
     (uuid 7e0714f5-2bf0-4368-8a15-1f7b363302fe)
-    (property "Intersheetrefs" "${INTERSHEET_REFS}" (at 31.7886 106.68 0)
+    (property "Intersheetrefs" "${INTERSHEET_REFS}" (at 20.3586 106.68 0)
       (effects (font (size 1.27 1.27)) (justify right) hide)
     )
   )
@@ -1583,10 +1594,10 @@
       (effects (font (size 1.27 1.27)) (justify right) hide)
     )
   )
-  (global_label "SPI_CS" (shape input) (at 44.45 104.14 180) (fields_autoplaced)
+  (global_label "SPI_CS" (shape input) (at 52.07 104.14 180) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify right))
     (uuid 88863808-4577-46ee-a6dc-85331fa7a41f)
-    (property "Intersheetrefs" "${INTERSHEET_REFS}" (at 34.9334 104.14 0)
+    (property "Intersheetrefs" "${INTERSHEET_REFS}" (at 42.5534 104.14 0)
       (effects (font (size 1.27 1.27)) (justify right) hide)
     )
   )
@@ -1777,7 +1788,7 @@
   (symbol (lib_id "Device:C") (at 87.63 165.1 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no)
     (uuid 103155a9-e700-4183-b756-a6fc8ca57bcd)
-    (property "Reference" "C17" (at 87.63 162.56 0)
+    (property "Reference" "C47" (at 87.63 162.56 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
     (property "Value" "0.1uF" (at 87.63 167.64 0)
@@ -1794,7 +1805,7 @@
     (instances
       (project "Ax58100-stm32-ethercat"
         (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/9f485422-734f-43d3-94ea-443cbc453d2e"
-          (reference "C17") (unit 1)
+          (reference "C47") (unit 1)
         )
       )
     )
@@ -1803,7 +1814,7 @@
   (symbol (lib_id "Device:Crystal_GND24") (at 227.33 34.29 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no)
     (uuid 115ef340-5699-4045-a27b-e4216819b835)
-    (property "Reference" "Y1" (at 227.33 34.29 0)
+    (property "Reference" "Y2" (at 227.33 34.29 0)
       (effects (font (size 1.27 1.27)))
     )
     (property "Value" "NXK25.000AE12F-KAB6-12" (at 228.6 27.94 0)
@@ -1822,7 +1833,7 @@
     (instances
       (project "Ax58100-stm32-ethercat"
         (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/9f485422-734f-43d3-94ea-443cbc453d2e"
-          (reference "Y1") (unit 1)
+          (reference "Y2") (unit 1)
         )
       )
     )
@@ -1831,7 +1842,7 @@
   (symbol (lib_id "Device:C") (at 237.49 39.37 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
     (uuid 11d5ea8f-3a28-42fa-b01d-beb1a86a57de)
-    (property "Reference" "C12" (at 240.411 38.1579 0)
+    (property "Reference" "C51" (at 240.411 38.1579 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
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@@ -1981,7 +1992,7 @@
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Kicad/Ax58100-stm32-ethercat/AX58100_phy_etc.kicad_sch

@@ -4,6 +4,10 @@
 
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Kicad/Ax58100-stm32-ethercat/Ax58100-stm32-ethercat.csv

@@ -1,40 +0,0 @@
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-2;"U1";"LQFP-80-1EP_10x10mm_P0.4mm_EP5.3x4.5mm_ThermalVias";1;"AX58100";;;
-3;"B3,B7,B4,B6,B5";"C_0805_2012Metric";5;"BLM18EG221SN1D";;;
-4;"R59,R61,R51,R45,R60,R58,R50,R57,R53,R52,R56,R55,R46,R54";"R_0805_2012Metric";14;"1k";;;
-5;"U5";"LQFP-100_14x14mm_P0.5mm";1;"STM32F407VGT6";;;
-6;"U2";"SOIC-8_3.9x4.9mm_P1.27mm";1;"24LC32A";;;
-7;"R3,R49,R2,R48,R1";"R_0805_2012Metric";5;"22";;;
-8;"C23,C21,C24,C22,C19,C25,C26,C20";"C_0805_2012Metric";8;"10pF";;;
-9;"J3,J4,J5";"JST_XH_B6B-XH-A_1x06_P2.50mm_Vertical";3;"Conn_01x06_Pin";;;
-10;"J9";"PinHeader_1x04_P2.54mm_Vertical";1;"I2C bus2";;;
-11;"C45,C36,C34,C37,C38,C9,C39,C27,C13,C12,C40,C10,C8,C6,C29,C11,C46,C28,C3,C33,C41,C5,C2,C31,C18,C43,C14,C4,C7,C1";"C_0805_2012Metric";30;"0.1uF";;;
-12;"Y2";"Crystal_HC49-U_Vertical";1;"8 MHz";;;
-13;"R11,R7,R30,R12,R5,R10,R38,R13,R40,R33,R8";"R_0805_2012Metric";11;"4.7k";;;
-14;"D1,D2";"LED_0805_2012Metric";2;"Green led";;;
-15;"R28,R39,R25,R41,R26,R44,R27";"R_0805_2012Metric";7;"510";;;
-16;"J14";"JST_XH_B5B-XH-A_1x05_P2.50mm_Vertical";1;"Encoder 4";;;
-17;"C35,C32,C44,C30";"C_0805_2012Metric";4;"10uF";;;
-18;"C49,C53";"C_0805_2012Metric";2;"2.2uF";;;
-19;"D4,D5";"LED_0805_2012Metric";2;"Blue led";;;
-20;"R22,R18,R19,R20,R17,R23,R21,R24";"R_0805_2012Metric";8;"49.9";;;
-21;"C17,C15";"C_0805_2012Metric";2;"18pF";;;
-22;"Y1";"Crystal_SMD_SeikoEpson_TSX3225-4Pin_3.2x2.5mm";1;"NXK25.000AE12F-KAB6-12";;;
-23;"J12";"JST_XH_B5B-XH-A_1x05_P2.50mm_Vertical";1;"Encoder 2";;;
-24;"J1";"JST_XH_B2B-XH-A_1x02_P2.50mm_Vertical";1;"Conn_01x02_Pin";;;
-25;"IN1,OUT1";"PulseJack JB0011D01BNL";2;"J0011D01BNL";;;
-26;"J2";"JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical";1;"STLINK";;;
-27;"C52,C51";"C_0805_2012Metric";2;"22pF";;;
-28;"B2,B1";"C_0805_2012Metric";2;"BLM18EG221S";;;
-29;"J10";"JST_XH_B3B-XH-A_1x03_P2.50mm_Vertical";1;"DAC1";;;
-30;"U4";"SOT-223-3_TabPin2";1;"AMS1117-3.3";;;
-31;"J7";"JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical";1;"Stepper 1";;;
-32;"J6";"JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical";1;"Serial usart1";;;
-33;"SW1";"SW_Push_1P1T_XKB_TS-1187A";1;"SW PB";;;
-34;"C16";"C_0805_2012Metric";1;"1uF";;;
-35;"D3";"LED_0805_2012Metric";1;"Red led";;;
-36;"J13";"JST_XH_B5B-XH-A_1x05_P2.50mm_Vertical";1;"Encoder 3";;;
-37;"J11";"JST_XH_B5B-XH-A_1x05_P2.50mm_Vertical";1;"Encoder 1";;;
-38;"U3";"SOT-223-3_TabPin2";1;"AMS1117-1.2";;;
-39;"R6";"R_0805_2012Metric";1;"12k 1%";;;

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

@@ -2,25 +2,24 @@
 
   (uuid 5597aedc-b607-407f-bbfd-31b3b298ecb1)
 
-  (paper "A3")
+  (paper "A4")
+
+  (title_block
+    (title "MetalMusings EaserCAT 3000")
+  )
 
   (lib_symbols
   )
 
 
-  (text "Huvudsida" (at 162.56 85.09 0)
+  (sheet (at 57.15 156.21) (size 93.98 39.37) (fields_autoplaced)
-    (effects (font (size 1.27 1.27)) (justify left bottom))
-    (uuid adf2be63-7ec7-44be-837f-901ddbc80717)
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     (uuid 0a376a6c-0f15-42f8-81f6-3a55619be267)
-    (property "Sheetname" "Peripherals" (at 144.78 224.0784 0)
+    (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 144.78 241.8846 0)
+    (property "Sheetfile" "peripherals.kicad_sch" (at 57.15 196.1646 0)
       (effects (font (size 1.27 1.27)) (justify left top))
     )
     (instances
@@ -30,14 +29,14 @@
     )
   )
 
-  (sheet (at 234.95 198.12) (size 102.87 34.29) (fields_autoplaced)
+  (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 234.95 197.4084 0)
+    (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 234.95 232.9946 0)
+    (property "Sheetfile" "AX58100_phy_etc.kicad_sch" (at 170.18 90.7546 0)
       (effects (font (size 1.27 1.27)) (justify left top))
     )
     (instances
@@ -47,14 +46,14 @@
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-  (sheet (at 233.68 123.19) (size 93.98 60.96) (fields_autoplaced)
+  (sheet (at 57.15 31.75) (size 93.98 60.96) (fields_autoplaced)
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     (uuid 9f485422-734f-43d3-94ea-443cbc453d2e)
-    (property "Sheetname" "AX58100" (at 233.68 122.4784 0)
+    (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 233.68 184.7346 0)
+    (property "Sheetfile" "AX48100.kicad_sch" (at 57.15 93.2946 0)
       (effects (font (size 1.27 1.27)) (justify left top))
     )
     (instances
@@ -64,14 +63,31 @@
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   )
 
-  (sheet (at 142.24 200.66) (size 74.93 17.78) (fields_autoplaced)
+  (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 142.24 199.9484 0)
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-    (property "Sheetfile" "STM32F4.kicad_sch" (at 142.24 219.0246 0)
+    (property "Sheetfile" "STM32F4.kicad_sch" (at 57.15 142.8246 0)
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Kicad/Ethercat-stm32/Ethercat-stm32.kicad_prl

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

README.md

@@ -6,6 +6,30 @@ that I used during the creation of my own EtherCAT device.
 This job is documented in a series of Youtube videos, from my first attempts to understand
 how EtherCAT works, to making my own pcb, program it and testing it in LinuxCNC.
 
+
+## Make my own EtherCAT device 8. EaserCAT 3000
+
+Introducing the new **EaserCAT 3000** board. It's an evolution of the EaserCAT 2000
+and intended to be used in my plasma cutter. It features four stepper driver outputs,
+input for a THCAD arc voltage card, an encoder, an analog output (for spindle +- 10V),
+eigth digital inputs, four digital outputs, plus some 12 I/O for any possible extension.
+
+The KiCAD files are in the (Kicad/Ax58100-stm32-ethercat) folder
+
+[![Watch the video](https://img.youtube.com/vi/boanv6ihYtI/default.jpg)](https://youtu.be/boanv6ihYtI)
+
+
+## Make my own EtherCAT device 7. Turning in the lathe
+
+I have now put things together so the EaserCAT 2000 card controls
+my small CNC lathe. Two stepper generators, one each for the X and Z axes,
+and an encoder counter for the spindle encoder are on this small card.
+
+While it works there are still issues caused by the variation in cycle time. Thankfully
+I was able to reduce the variation from 80-100 microseconds down to 2-3 microseconds,
+
+[![Watch the video](https://img.youtube.com/vi/Bqi1KXEVI1Q/default.jpg)](https://youtu.be/Bqi1KXEVI1Q)
+
 ## Make my own EtherCAT device 6. Stepper motor driver
 
 The stepper driver generator shows up and makes some stepper motor sounds. The two big things