Update README.md

Updated readme pending video release.
After building the first board.
2024-02-19 22:16:27 +01:00 · 2024-02-19 21:51:31 +01:00 · 2024-02-19 18:02:48 +01:00 · 2024-01-29 12:08:01 +01:00 · 2024-01-26 22:02:32 +01:00 · 2024-01-26 16:38:10 +01:00
33 changed files with 41266 additions and 52126 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -3,3 +3,4 @@
 .vscode/c_cpp_properties.json
 .vscode/launch.json
 .vscode/ipch
+Octave
--- a/CubeMX-files/EtherCAT-PCB-v1.ioc
+++ b/CubeMX-files/EtherCAT-PCB-v1.ioc
@@ -9,8 +9,9 @@ Mcu.CPN=STM32F407VGT6
 Mcu.Family=STM32F4
 Mcu.IP0=DAC
 Mcu.IP1=I2C2
-Mcu.IP10=TIM8
-Mcu.IP11=USART1
+Mcu.IP10=TIM5
+Mcu.IP11=TIM9
+Mcu.IP12=USART1
 Mcu.IP2=NVIC
 Mcu.IP3=RCC
 Mcu.IP4=SPI1
@@ -19,48 +20,44 @@ Mcu.IP6=TIM1
 Mcu.IP7=TIM2
 Mcu.IP8=TIM3
 Mcu.IP9=TIM4
-Mcu.IPNb=12
+Mcu.IPNb=13
 Mcu.Name=STM32F407V(E-G)Tx
 Mcu.Package=LQFP100
-Mcu.Pin0=PA0-WKUP
-Mcu.Pin1=PA1
-Mcu.Pin10=PB1
-Mcu.Pin11=PE7
-Mcu.Pin12=PE8
-Mcu.Pin13=PE9
-Mcu.Pin14=PE10
-Mcu.Pin15=PE11
-Mcu.Pin16=PE12
-Mcu.Pin17=PE13
-Mcu.Pin18=PE14
-Mcu.Pin19=PE15
-Mcu.Pin2=PA2
-Mcu.Pin20=PB10
-Mcu.Pin21=PB11
-Mcu.Pin22=PD11
-Mcu.Pin23=PD12
-Mcu.Pin24=PD13
-Mcu.Pin25=PC6
-Mcu.Pin26=PC7
-Mcu.Pin27=PC9
-Mcu.Pin28=PA8
-Mcu.Pin29=PA9
-Mcu.Pin3=PA4
-Mcu.Pin30=PA10
-Mcu.Pin31=PA11
-Mcu.Pin32=PA12
-Mcu.Pin33=PC10
-Mcu.Pin34=PB4
-Mcu.Pin35=PB5
-Mcu.Pin36=PB6
-Mcu.Pin37=VP_SYS_VS_Systick
-Mcu.Pin4=PA5
-Mcu.Pin5=PA6
-Mcu.Pin6=PA7
-Mcu.Pin7=PC4
-Mcu.Pin8=PC5
-Mcu.Pin9=PB0
-Mcu.PinsNb=38
+Mcu.Pin0=PE5
+Mcu.Pin1=PA0-WKUP
+Mcu.Pin10=PB0
+Mcu.Pin11=PB1
+Mcu.Pin12=PE7
+Mcu.Pin13=PE8
+Mcu.Pin14=PE9
+Mcu.Pin15=PE10
+Mcu.Pin16=PE11
+Mcu.Pin17=PE12
+Mcu.Pin18=PE13
+Mcu.Pin19=PE14
+Mcu.Pin2=PA1
+Mcu.Pin20=PE15
+Mcu.Pin21=PB10
+Mcu.Pin22=PB11
+Mcu.Pin23=PD11
+Mcu.Pin24=PD12
+Mcu.Pin25=PC9
+Mcu.Pin26=PA8
+Mcu.Pin27=PA9
+Mcu.Pin28=PA10
+Mcu.Pin29=PA11
+Mcu.Pin3=PA2
+Mcu.Pin30=PA12
+Mcu.Pin31=PC10
+Mcu.Pin32=PB6
+Mcu.Pin33=VP_SYS_VS_Systick
+Mcu.Pin4=PA4
+Mcu.Pin5=PA5
+Mcu.Pin6=PA6
+Mcu.Pin7=PA7
+Mcu.Pin8=PC4
+Mcu.Pin9=PC5
+Mcu.PinsNb=34
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F407VGTx
@@ -84,8 +81,7 @@ PA10.Signal=USART1_RX
 PA11.Signal=S_TIM1_CH4
 PA12.Locked=true
 PA12.Signal=GPIO_Output
-PA2.Locked=true
-PA2.Signal=GPIO_Input
+PA2.Signal=S_TIM5_CH3
 PA4.Signal=COMP_DAC1_group
 PA5.Mode=Full_Duplex_Master
 PA5.Signal=SPI1_SCK
@@ -105,8 +101,6 @@ PB10.Mode=I2C
 PB10.Signal=I2C2_SCL
 PB11.Mode=I2C
 PB11.Signal=I2C2_SDA
-PB4.Signal=S_TIM3_CH1
-PB5.Signal=S_TIM3_CH2
 PB6.Locked=true
 PB6.Signal=GPIO_Input
 PC10.Locked=true
@@ -115,13 +109,10 @@ PC4.Locked=true
 PC4.Signal=GPIO_Output
 PC5.Locked=true
 PC5.Signal=GPIO_Input
-PC6.Signal=S_TIM8_CH1
-PC7.Signal=S_TIM8_CH2
-PC9.Signal=S_TIM8_CH4
+PC9.Signal=S_TIM3_CH4
 PD11.Locked=true
 PD11.Signal=GPIO_Input
 PD12.Signal=S_TIM4_CH1
-PD13.Signal=S_TIM4_CH2
 PE10.Locked=true
 PE10.Signal=GPIO_Output
 PE11.Locked=true
@@ -134,6 +125,7 @@ PE14.Locked=true
 PE14.Signal=GPIO_Input
 PE15.Locked=true
 PE15.Signal=GPIO_Input
+PE5.Signal=S_TIM9_CH1
 PE7.Locked=true
 PE7.Signal=GPIO_Output
 PE8.Locked=true
@@ -200,20 +192,14 @@ SH.S_TIM2_CH1_ETR.0=TIM2_CH1,Encoder_Interface
 SH.S_TIM2_CH1_ETR.ConfNb=1
 SH.S_TIM2_CH2.0=TIM2_CH2,Encoder_Interface
 SH.S_TIM2_CH2.ConfNb=1
-SH.S_TIM3_CH1.0=TIM3_CH1,Encoder_Interface
-SH.S_TIM3_CH1.ConfNb=1
-SH.S_TIM3_CH2.0=TIM3_CH2,Encoder_Interface
-SH.S_TIM3_CH2.ConfNb=1
-SH.S_TIM4_CH1.0=TIM4_CH1,Encoder_Interface
+SH.S_TIM3_CH4.0=TIM3_CH4,PWM Generation4 CH4
+SH.S_TIM3_CH4.ConfNb=1
+SH.S_TIM4_CH1.0=TIM4_CH1,PWM Generation1 CH1
 SH.S_TIM4_CH1.ConfNb=1
-SH.S_TIM4_CH2.0=TIM4_CH2,Encoder_Interface
-SH.S_TIM4_CH2.ConfNb=1
-SH.S_TIM8_CH1.0=TIM8_CH1,Encoder_Interface
-SH.S_TIM8_CH1.ConfNb=1
-SH.S_TIM8_CH2.0=TIM8_CH2,Encoder_Interface
-SH.S_TIM8_CH2.ConfNb=1
-SH.S_TIM8_CH4.0=TIM8_CH4,PWM Generation4 CH4
-SH.S_TIM8_CH4.ConfNb=1
+SH.S_TIM5_CH3.0=TIM5_CH3,Input_Capture3_from_TI3
+SH.S_TIM5_CH3.ConfNb=1
+SH.S_TIM9_CH1.0=TIM9_CH1,PWM Generation1 CH1
+SH.S_TIM9_CH1.ConfNb=1
 SPI1.CalculateBaudRate=8.0 MBits/s
 SPI1.Direction=SPI_DIRECTION_2LINES
 SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate
@@ -221,8 +207,14 @@ SPI1.Mode=SPI_MODE_MASTER
 SPI1.VirtualType=VM_MASTER
 TIM1.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
 TIM1.IPParameters=Channel-PWM Generation4 CH4
-TIM8.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
-TIM8.IPParameters=Channel-PWM Generation4 CH4
+TIM3.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
+TIM3.IPParameters=Channel-PWM Generation4 CH4
+TIM4.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
+TIM4.IPParameters=Channel-PWM Generation1 CH1
+TIM5.Channel-Input_Capture3_from_TI3=TIM_CHANNEL_3
+TIM5.IPParameters=Channel-Input_Capture3_from_TI3
+TIM9.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
+TIM9.IPParameters=Channel-PWM Generation1 CH1
 USART1.IPParameters=VirtualMode
 USART1.VirtualMode=VM_ASYNC
 VP_SYS_VS_Systick.Mode=SysTick
--- a/EEPROM_generator/index.html
+++ b/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:
--- a/Firmware/.vscode/settings.json
+++ b/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
 }
--- a/Firmware/include/MyEncoder.h
+++ b/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
--- a/Firmware/include/StepGen.h
+++ b/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
--- a/Firmware/include/Stepper.h
+++ b/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 */
--- a/Firmware/include/Stm32F4_Encoder.h
+++ b/Firmware/include/Stm32F4_Encoder.h
--- a/Firmware/lib/soes/MetalMusings_EaserCAT_2000.xml
+++ b/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>
--- a/Firmware/lib/soes/ecat_options.h
+++ b/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_SM3 6
+#define MAX_MAPPINGS_SM2 8
+#define MAX_MAPPINGS_SM3 7

 #define MAX_RXPDO_SIZE   512
 #define MAX_TXPDO_SIZE   512
--- a/Firmware/lib/soes/esi.json
+++ b/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",
-            "dtype": "REAL64",
+            "name": "StepsPerMM",
+            "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",
--- a/Firmware/lib/soes/objectlist.c
+++ b/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},
-  {0x1C13, OTYPE_ARRAY, 6, 0, acName1C13, SDO1C13},
+  {0x1C12, OTYPE_ARRAY, 5, 0, acName1C12, SDO1C12},
+  {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}
 };
--- a/Firmware/lib/soes/utypes.h
+++ b/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;

--- a/Firmware/src/MyEncoder.cpp
+++ b/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;
+}
--- a/Firmware/src/StepGen.cpp
+++ b/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;
--- a/Firmware/src/Stm32F4_Encoder.cpp
+++ b/Firmware/src/Stm32F4_Encoder.cpp
@@ -5,45 +5,21 @@
    Created on: Nov 20, 2020
        Author: GoktugH.
 */
-
+// TIM2, TIM3, TIM4, TIM8
 Encoder::Encoder()
 {
    int unit;
 }

-void Encoder::eattach(int enco)
+// void Encoder::SetCount(enum EncTimer enc, int64_t Counter)
+void Encoder::SetCount(int64_t Counter)
 {
+    tim_base->CNT = Counter;
 }
-
-void Encoder::attachh(int encoNumber)
+// uint16_t Encoder::GetCount(enum EncTimer enc)
+uint16_t Encoder::GetCount()
 {
-    eattach(encoNumber);
-}
-
-void Encoder::SetCount(enum EncTimer enc, int64_t Counter)
-{
-
-    if (enc == Tim2)
-        TIM2->CNT = Counter;
-    else if (enc == Tim3)
-        TIM3->CNT = Counter;
-    else if (enc == Tim4)
-        TIM4->CNT = Counter;
-    else if (enc == Tim8)
-        TIM8->CNT = Counter;
-}
-uint16_t Encoder::GetCount(enum EncTimer enc)
-{
-
-    if (enc == Tim2)
-        c = (TIM2->CNT);
-    else if (enc == Tim3)
-        c = (TIM3->CNT);
-    else if (enc == Tim4)
-        c = (TIM4->CNT);
-    else if (enc == Tim8)
-        c = (TIM8->CNT);
-    return c;
+    return tim_base->CNT;
 }

 void GpioConfigPortA(GPIO_TypeDef *GPIOx)
@@ -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
 }
--- a/Firmware/src/main.cpp
+++ b/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);
-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;
+HardwareSerial Serial1(PA10, PA9);

-#define STEPPER_DIR_PIN PA12
-#define STEPPER_STEP_PIN PA11
-HardwareTimer *MyTim;
-volatile uint32_t stepCount = 0, stepPulses = 0;
-volatile double_t actualPosition = 0;
-volatile double_t requestedPosition, requestedVelocity;
+#define DEBUG_TIM8 1
+#include "MyEncoder.h"
+void indexPulseEncoderCB1(void);
+MyEncoder Encoder1(TIM2, PA2, indexPulseEncoderCB1);
+void indexPulseEncoderCB1(void)
+{
+   Encoder1.indexPulse();
+}

-uint32_t sync0CycleTime = 0;
+#include "StepGen.h"

-void handleStepper(void);
-void makePulses(uint32_t period /* in usecs */, int32_t pulses /* nr of pulses to do*/);
+void timerCallbackStep1(void);
+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
-   {
-      pleaseZeroTheCounter = 1;
-   }
-   OldLatchCEnable = Obj.IndexLatchEnable;
+   Encoder1.setLatch(Obj.IndexLatchEnable);
+   Encoder1.setScale(Obj.EncPosScale);

-   if (CurPosScale != Obj.EncPosScale && Obj.EncPosScale != 0)
-   {
-      CurPosScale = Obj.EncPosScale;
-      PosScaleRes = 1.0 / double(CurPosScale);
-   }
-   requestedPosition = Obj.StepGenIn1.CommandedPosition;
-   requestedVelocity = Obj.StepGenIn1.CommandedVelocity;
+   Step1.reqPos(Obj.StepGenIn1.CommandedPosition);
+   Step1.setScale(Obj.StepGenIn1.StepsPerMM);
+   Step1.enable(Obj.Enable1);
+   Step2.reqPos(Obj.StepGenIn2.CommandedPosition);
+   Step2.setScale(Obj.StepGenIn2.StepsPerMM);
+   Step2.enable(Obj.Enable1);
+}
+
+void handleStepper(void)
+{
+   Step1.handleStepper();
+   Step2.handleStepper();
 }

 void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
 {
-   Obj.IndexStatus = 0;
-   if (indexPulseFired)
+   Obj.IndexStatus = Encoder1.indexHappened();
+   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;
-      indexPulseFired = 0;
-      nFires++;
-      PreviousEncoderCounterValue = 0;
+      uint32_t aTim = Tim[i];
+      if (aTim > max_Tim)
+         max_Tim = aTim;
+      if (aTim < min_Tim)
+         min_Tim = aTim;
   }
-   // Obj.DiffT = sync0CycleTime;
-
-   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;
+   thenTime = nowTime;
+   Obj.DiffT = max_Tim - min_Tim; // Debug
 }

 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,
@@ -118,90 +106,28 @@ static esc_cfg_t config =
        .esc_check_dc_handler = dc_checker,
 };

-void TimerStep_CB(void)
-{
-   stepCount++;
-   if (stepCount == stepPulses)
-   {
-      MyTim->pause();
-   }
-}
+volatile byte serveIRQ = 0;

-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();
-
-   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);
-
+   rcc_config(); // probably breaks some timers.
   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;
   }
-   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;
-   }
+   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();
 }

 void sync0Handler(void)
@@ -209,21 +135,11 @@ 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 |
-                            ESCREG_ALEVENT_SM2 |
-                            ESCREG_ALEVENT_SM3;
+   // uint32_t user_int_mask = ESCREG_ALEVENT_DC_SYNC0 | ESCREG_ALEVENT_SM2 | ESCREG_ALEVENT_SM3;
+   uint32_t user_int_mask = ESCREG_ALEVENT_SM2; // Only SM2
   if (mask & user_int_mask)
   {
      ESC_ALeventmaskwrite(ESC_ALeventmaskread() | (mask & user_int_mask));
@@ -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 |
-                            ESCREG_ALEVENT_SM2 |
-                            ESCREG_ALEVENT_SM3;
+   // uint32_t user_int_mask = ESCREG_ALEVENT_DC_SYNC0 | ESCREG_ALEVENT_SM2 | ESCREG_ALEVENT_SM3;
+   uint32_t user_int_mask = ESCREG_ALEVENT_SM2;

   if (mask & user_int_mask)
   {
@@ -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;
-   sync0CycleTime = ESC_SYNC0cycletime();
+   ESCvar.dcsync = 1;
+   StepGen::sync0CycleTime = ESC_SYNC0cycletime() / 1000; // usecs
   return 0;
 }
--- a/Kicad/Ax58100-stm32-ethercat/.gitignore
+++ b/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
--- a/Kicad/Ax58100-stm32-ethercat/AX48100.kicad_sch
+++ b/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)
-  )
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    (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)
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@@ -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)
    )
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@@ -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 @@
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    (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)
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@@ -1803,7 +1814,7 @@
  (symbol (lib_id "Device:Crystal_GND24") (at 227.33 34.29 0) (unit 1)
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    (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 @@
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        (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/9f485422-734f-43d3-94ea-443cbc453d2e"
-          (reference "Y1") (unit 1)
+          (reference "Y2") (unit 1)
        )
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@@ -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))
    )
    (property "Value" "18pF" (at 240.411 40.5821 0)
@@ -1848,7 +1859,7 @@
    (instances
      (project "Ax58100-stm32-ethercat"
        (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/9f485422-734f-43d3-94ea-443cbc453d2e"
-          (reference "C12") (unit 1)
+          (reference "C51") (unit 1)
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@@ -1885,7 +1896,7 @@
  (symbol (lib_id "HakansLibrary:AX58100") (at 139.7 134.62 0) (unit 1)
    (in_bom yes) (on_board yes) (dnp no)
    (uuid 151decbc-1b66-4082-88a8-6da1bb3d9015)
-    (property "Reference" "U2" (at 91.44 83.82 0)
+    (property "Reference" "U10" (at 91.44 83.82 0)
      (effects (font (size 1.27 1.27)))
    )
    (property "Value" "AX58100" (at 139.7 134.62 0)
@@ -1981,7 +1992,7 @@
    (instances
      (project "Ax58100-stm32-ethercat"
        (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/9f485422-734f-43d3-94ea-443cbc453d2e"
-          (reference "U2") (unit 1)
+          (reference "U10") (unit 1)
        )
      )
    )
@@ -2015,6 +2026,38 @@
    )
  )

+  (symbol (lib_id "Device:R") (at 37.465 102.87 0) (mirror x) (unit 1)
+    (in_bom yes) (on_board yes) (dnp no)
+    (uuid 19d42dc4-fd87-4164-bac8-0603985804da)
+    (property "Reference" "R46" (at 37.465 102.87 90)
+      (effects (font (size 1.27 1.27)))
+    )
+    (property "Value" "4k7" (at 34.925 102.87 90)
+      (effects (font (size 1.27 1.27)))
+    )
+    (property "Footprint" "Resistor_SMD:R_0603_1608Metric" (at 35.687 102.87 90)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Datasheet" "~" (at 37.465 102.87 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (pin "1" (uuid 421d68b0-205a-407e-a601-90c4e8fac9f1))
+    (pin "2" (uuid 3fb62006-6df3-4595-8d3f-4992742be454))
+    (instances
+      (project "Ax58100-stm32-ethercat"
+        (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/d564400f-40ba-4aca-9c2a-14ec52a8353b"
+          (reference "R46") (unit 1)
+        )
+        (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/0a376a6c-0f15-42f8-81f6-3a55619be267"
+          (reference "R2") (unit 1)
+        )
+        (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/9f485422-734f-43d3-94ea-443cbc453d2e"
+          (reference "R42") (unit 1)
+        )
+      )
+    )
+  )
+
  (symbol (lib_id "power:GND") (at 147.32 168.91 0) (unit 1)
    (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
    (uuid 21e7ff22-3038-45da-a38c-8a0064bd7007)
@@ -2121,7 +2164,7 @@
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    (in_bom yes) (on_board yes) (dnp no)
    (uuid 28999b48-7a3f-4a2d-8295-808981bd0f46)
-    (property "Reference" "C30" (at 132.08 162.56 0)
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    (property "Value" "0.1uF" (at 132.08 167.64 0)
@@ -2138,7 +2181,7 @@
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        (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/9f485422-734f-43d3-94ea-443cbc453d2e"
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+          (reference "C24") (unit 1)
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@@ -2175,7 +2218,7 @@
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    (uuid 32075a8b-69da-4a9b-bc51-4abd88b43499)
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@@ -2192,7 +2235,7 @@
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        (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/9f485422-734f-43d3-94ea-443cbc453d2e"
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@@ -2332,7 +2375,7 @@
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@@ -2349,7 +2392,7 @@
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@@ -2358,7 +2401,7 @@
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    (property "Value" "0.1uF" (at 154.94 167.64 0)
@@ -2375,7 +2418,7 @@
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+          (reference "C48") (unit 1)
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@@ -2465,10 +2508,10 @@
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-    (property "Reference" "R24" (at 236.22 78.74 90)
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-    (property "Value" "4.7k" (at 234.95 76.2 90)
+    (property "Value" "4k7" (at 234.95 76.2 90)
      (effects (font (size 1.27 1.27)) (justify right))
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    (property "Footprint" "Resistor_SMD:R_0805_2012Metric" (at 237.998 78.74 90)
@@ -2482,7 +2525,7 @@
    (instances
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-          (reference "R24") (unit 1)
+          (reference "R67") (unit 1)
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@@ -2513,6 +2556,31 @@
    )
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+  (symbol (lib_id "power:+3.3V") (at 37.465 99.06 0) (unit 1)
+    (in_bom yes) (on_board yes) (dnp no)
+    (uuid 5e12ee82-fcda-4974-89c8-6d39855dd9a7)
+    (property "Reference" "#PWR0122" (at 37.465 102.87 0)
+      (effects (font (size 1.27 1.27)) hide)
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+    (property "Value" "+3.3V" (at 37.465 92.71 90)
+      (effects (font (size 1.27 1.27)))
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+    (property "Footprint" "" (at 37.465 99.06 0)
+      (effects (font (size 1.27 1.27)) hide)
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+    (property "Datasheet" "" (at 37.465 99.06 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (pin "1" (uuid fd5e815d-25e7-463e-abf0-345676136502))
+    (instances
+      (project "Ax58100-stm32-ethercat"
+        (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/9f485422-734f-43d3-94ea-443cbc453d2e"
+          (reference "#PWR0122") (unit 1)
+        )
+      )
+    )
+  )
+
  (symbol (lib_id "power:GND") (at 80.01 168.91 0) (unit 1)
    (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
    (uuid 5eab1301-c652-4034-b7ac-a7c7e2e2d177)
@@ -2572,10 +2640,10 @@
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    (uuid 64094713-7d76-4b8b-9bf9-b7f64f75c920)
-    (property "Reference" "R21" (at 142.24 73.66 90)
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      (effects (font (size 1.27 1.27)))
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-    (property "Value" "4.7k" (at 144.78 72.39 90)
+    (property "Value" "4k7" (at 144.78 72.39 90)
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    (property "Footprint" "Resistor_SMD:R_0805_2012Metric" (at 142.24 75.438 90)
@@ -2589,7 +2657,7 @@
    (instances
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-    (property "Value" "4.7k" (at 144.78 90.17 90)
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    (property "Footprint" "Resistor_SMD:R_0805_2012Metric" (at 142.24 93.218 90)
@@ -2615,7 +2683,7 @@
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@@ -2641,7 +2709,7 @@
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@@ -2650,10 +2718,10 @@
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-    (property "Value" "4.7k" (at 234.95 128.27 90)
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    (property "Footprint" "Resistor_SMD:R_0805_2012Metric" (at 234.442 133.35 90)
@@ -2667,7 +2735,7 @@
    (instances
      (project "Ax58100-stm32-ethercat"
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--- a/Kicad/Ax58100-stm32-ethercat/AX58100_phy_etc.kicad_sch
+++ b/Kicad/Ax58100-stm32-ethercat/AX58100_phy_etc.kicad_sch
@@ -4,6 +4,10 @@

  (paper "A4")

+  (title_block
+    (title "MetalMusings EaserCAT 3000")
+  )
+
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+    (property "Reference" "C35" (at 53.34 72.39 90)
      (effects (font (size 1.27 1.27)))
    )
    (property "Value" "10pF" (at 53.34 64.77 90)
@@ -4428,7 +4432,7 @@
    (instances
      (project "Ax58100-stm32-ethercat"
        (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/5bf93325-f5d9-4344-9bf3-f5fc91bc1622"
-          (reference "C3") (unit 1)
+          (reference "C35") (unit 1)
        )
      )
    )
@@ -4437,7 +4441,7 @@
  (symbol (lib_id "Device:R") (at 58.42 96.52 180) (unit 1)
    (in_bom yes) (on_board yes) (dnp no)
    (uuid dcb1369b-bcf1-4c3e-bd29-50410ac94349)
-    (property "Reference" "R17" (at 58.42 96.52 90)
+    (property "Reference" "R49" (at 58.42 96.52 90)
      (effects (font (size 1.27 1.27)))
    )
    (property "Value" "49.9" (at 57.15 91.44 90)
@@ -4454,7 +4458,7 @@
    (instances
      (project "Ax58100-stm32-ethercat"
        (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/5bf93325-f5d9-4344-9bf3-f5fc91bc1622"
-          (reference "R17") (unit 1)
+          (reference "R49") (unit 1)
        )
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    )
@@ -4463,7 +4467,7 @@
  (symbol (lib_id "Device:C") (at 57.15 68.58 180) (unit 1)
    (in_bom yes) (on_board yes) (dnp no)
    (uuid e0f26f8b-8985-49e6-8c97-f11bdae1e3a3)
-    (property "Reference" "C4" (at 58.42 72.39 90)
+    (property "Reference" "C34" (at 58.42 72.39 90)
      (effects (font (size 1.27 1.27)))
    )
    (property "Value" "10pF" (at 58.42 64.77 90)
@@ -4480,7 +4484,7 @@
    (instances
      (project "Ax58100-stm32-ethercat"
        (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/5bf93325-f5d9-4344-9bf3-f5fc91bc1622"
-          (reference "C4") (unit 1)
+          (reference "C34") (unit 1)
        )
      )
    )
@@ -4517,7 +4521,7 @@
  (symbol (lib_id "Device:C") (at 62.23 68.58 180) (unit 1)
    (in_bom yes) (on_board yes) (dnp no)
    (uuid e534b46c-80d1-4c34-8578-50b240333e0c)
-    (property "Reference" "C5" (at 63.5 72.39 90)
+    (property "Reference" "C33" (at 63.5 72.39 90)
      (effects (font (size 1.27 1.27)))
    )
    (property "Value" "0.1uF" (at 63.5 64.77 90)
@@ -4534,7 +4538,7 @@
    (instances
      (project "Ax58100-stm32-ethercat"
        (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/5bf93325-f5d9-4344-9bf3-f5fc91bc1622"
-          (reference "C5") (unit 1)
+          (reference "C33") (unit 1)
        )
      )
    )
@@ -4543,7 +4547,7 @@
  (symbol (lib_id "Device:R") (at 133.35 107.95 270) (unit 1)
    (in_bom yes) (on_board yes) (dnp no)
    (uuid e59e1dd2-d274-40ca-a8b1-cb4b3dd2162e)
-    (property "Reference" "R7" (at 133.35 107.95 90)
+    (property "Reference" "R59" (at 133.35 107.95 90)
      (effects (font (size 1.27 1.27)))
    )
    (property "Value" "510" (at 138.43 106.68 90)
@@ -4560,7 +4564,7 @@
    (instances
      (project "Ax58100-stm32-ethercat"
        (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/5bf93325-f5d9-4344-9bf3-f5fc91bc1622"
-          (reference "R7") (unit 1)
+          (reference "R59") (unit 1)
        )
      )
    )
@@ -4617,7 +4621,7 @@
          (reference "C33") (unit 1)
        )
        (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/5bf93325-f5d9-4344-9bf3-f5fc91bc1622"
-          (reference "C22") (unit 1)
+          (reference "C41") (unit 1)
        )
      )
    )
@@ -4682,7 +4686,7 @@
  (symbol (lib_id "Device:C") (at 41.91 68.58 180) (unit 1)
    (in_bom yes) (on_board yes) (dnp no)
    (uuid f493fbdd-16cf-47a4-8571-5bdeffa77b8e)
-    (property "Reference" "C1" (at 43.18 72.39 90)
+    (property "Reference" "C37" (at 43.18 72.39 90)
      (effects (font (size 1.27 1.27)))
    )
    (property "Value" "10pF" (at 43.18 64.77 90)
@@ -4699,7 +4703,7 @@
    (instances
      (project "Ax58100-stm32-ethercat"
        (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/5bf93325-f5d9-4344-9bf3-f5fc91bc1622"
-          (reference "C1") (unit 1)
+          (reference "C37") (unit 1)
        )
      )
    )
@@ -4728,7 +4732,7 @@
          (reference "C41") (unit 1)
        )
        (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/5bf93325-f5d9-4344-9bf3-f5fc91bc1622"
-          (reference "C21") (unit 1)
+          (reference "C42") (unit 1)
        )
      )
    )
@@ -4737,7 +4741,7 @@
  (symbol (lib_id "Device:FerriteBead_Small") (at 137.16 154.94 90) (unit 1)
    (in_bom yes) (on_board yes) (dnp no)
    (uuid f76a00b9-0511-4931-90f1-d259b14389f9)
-    (property "Reference" "B3" (at 137.16 152.4 90)
+    (property "Reference" "B7" (at 137.16 152.4 90)
      (effects (font (size 1.27 1.27)))
    )
    (property "Value" "BLM18EG221SN1D" (at 137.16 157.48 90)
@@ -4754,7 +4758,7 @@
    (instances
      (project "Ax58100-stm32-ethercat"
        (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/5bf93325-f5d9-4344-9bf3-f5fc91bc1622"
-          (reference "B3") (unit 1)
+          (reference "B7") (unit 1)
        )
      )
    )
@@ -4763,7 +4767,7 @@
  (symbol (lib_id "Device:R") (at 138.43 119.38 0) (unit 1)
    (in_bom yes) (on_board yes) (dnp no)
    (uuid f8848c60-f91f-414b-a5b0-c8e97aca000a)
-    (property "Reference" "R6" (at 138.43 119.38 90)
+    (property "Reference" "R60" (at 138.43 119.38 90)
      (effects (font (size 1.27 1.27)))
    )
    (property "Value" "510" (at 137.16 114.3 90)
@@ -4780,7 +4784,7 @@
    (instances
      (project "Ax58100-stm32-ethercat"
        (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/5bf93325-f5d9-4344-9bf3-f5fc91bc1622"
-          (reference "R6") (unit 1)
+          (reference "R60") (unit 1)
        )
      )
    )
--- a/Kicad/Ax58100-stm32-ethercat/Ax58100-stm32-ethercat.csv
+++ b/Kicad/Ax58100-stm32-ethercat/Ax58100-stm32-ethercat.csv
@@ -1,40 +0,0 @@
-"Id";"Designator";"Footprint";"Quantity";"Designation";"Supplier and ref";
-1;"J8";"JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical";1;"Stepper 2";;;
-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%";;;
--- a/Kicad/Ax58100-stm32-ethercat/Ax58100-stm32-ethercat.dsn
+++ b/Kicad/Ax58100-stm32-ethercat/Ax58100-stm32-ethercat.dsn
--- a/Kicad/Ax58100-stm32-ethercat/Ax58100-stm32-ethercat.kicad_pcb
+++ b/Kicad/Ax58100-stm32-ethercat/Ax58100-stm32-ethercat.kicad_pcb
--- a/Kicad/Ax58100-stm32-ethercat/Ax58100-stm32-ethercat.kicad_prl
+++ b/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": {
--- a/Kicad/Ax58100-stm32-ethercat/Ax58100-stm32-ethercat.kicad_pro
+++ b/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": {}
--- a/Kicad/Ax58100-stm32-ethercat/Ax58100-stm32-ethercat.kicad_sch
+++ b/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)
-    (effects (font (size 1.27 1.27)) (justify left bottom))
-    (uuid adf2be63-7ec7-44be-837f-901ddbc80717)
-  )
-
-  (sheet (at 144.78 224.79) (size 71.12 16.51) (fields_autoplaced)
+  (sheet (at 57.15 156.21) (size 93.98 39.37) (fields_autoplaced)
    (stroke (width 0.1524) (type solid))
    (fill (color 0 0 0 0.0000))
    (uuid 0a376a6c-0f15-42f8-81f6-3a55619be267)
-    (property "Sheetname" "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 @@
    )
  )

-  (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)
    (stroke (width 0.1524) (type solid))
    (fill (color 0 0 0 0.0000))
    (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 @@
    )
  )

-  (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)
+    (property "Sheetname" "STM32F4" (at 57.15 105.9684 0)
      (effects (font (size 1.27 1.27)) (justify left bottom))
    )
-    (property "Sheetfile" "STM32F4.kicad_sch" (at 142.24 219.0246 0)
+    (property "Sheetfile" "STM32F4.kicad_sch" (at 57.15 142.8246 0)
      (effects (font (size 1.27 1.27)) (justify left top))
    )
    (instances
--- a/Kicad/Ax58100-stm32-ethercat/Ax58100-stm32-ethercat.ods
+++ b/Kicad/Ax58100-stm32-ethercat/Ax58100-stm32-ethercat.ods
--- a/Kicad/Ax58100-stm32-ethercat/Ax58100-stm32-ethercat.ses
+++ b/Kicad/Ax58100-stm32-ethercat/Ax58100-stm32-ethercat.ses
--- a/Kicad/Ax58100-stm32-ethercat/STM32F4.kicad_sch
+++ b/Kicad/Ax58100-stm32-ethercat/STM32F4.kicad_sch
--- a/Kicad/Ax58100-stm32-ethercat/Steppers.kicad_sch
+++ b/Kicad/Ax58100-stm32-ethercat/Steppers.kicad_sch
--- a/Kicad/Ax58100-stm32-ethercat/peripherals.kicad_sch
+++ b/Kicad/Ax58100-stm32-ethercat/peripherals.kicad_sch
--- a/Kicad/Ethercat-stm32/Ethercat-stm32.kicad_prl
+++ b/Kicad/Ethercat-stm32/Ethercat-stm32.kicad_prl
@@ -64,7 +64,7 @@
      39,
      40
    ],
-    "visible_layers": "002202a_00000001",
+    "visible_layers": "002202b_80000005",
    "zone_display_mode": 0
  },
  "meta": {
--- a/README.md
+++ b/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 folder](Kicad/Ax58100-stm32-ethercat)
+
+[![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
@@ -92,4 +116,4 @@ Arduino sketch to program the AT24C32 eeprom with a valid eeprom content. Hook u

 ###License

-Don't violate the original licenses. No warranties. Use it any way you like.
+Don't violate the original licenses. No warranties. Use it any way you like.
Author	SHA1	Message	Date
Håkan Båstedt	a99d0f0eda	Update README.md	2024-02-19 22:16:27 +01:00
Hakan Bastedt	c21d42cf0b	Updated readme pending video release.	2024-02-19 21:51:31 +01:00
Hakan Bastedt	7ffd757fb5	After building the first board.	2024-02-19 18:02:48 +01:00
Hakan Bastedt	934f3cb028	Octave files not commited	2024-01-29 12:08:01 +01:00
Hakan Bastedt	d60822388e	ordered	2024-01-26 22:02:32 +01:00
Hakan Bastedt	31d24e2676	Fab from this version	2024-01-26 16:38:10 +01:00
Hakan Bastedt	c444f9a496	Getting ready for fab	2024-01-26 16:27:17 +01:00
Hakan Bastedt	e234ea7a97	morfe copper in +5V leads	2024-01-26 13:44:45 +01:00
Hakan Bastedt	eb63adbdc2	all leds are now 0603	2024-01-26 13:21:14 +01:00
Hakan Bastedt	70014d3b1d	Added 4k7 pullup onm scs_func. Think not needed since it is to a pin on stm32, but in case	2024-01-26 12:38:11 +01:00
Hakan Bastedt	990801f2d0	4.7k to 4k7	2024-01-26 01:10:08 +01:00
Hakan Bastedt	329474309d	Might be in final shape.	2024-01-25 22:35:25 +01:00
Hakan Bastedt	da2b1f6376	resistor overhaul	2024-01-25 13:08:04 +01:00
Hakan Bastedt	a88090a853	wip	2024-01-25 11:31:48 +01:00
Hakan Bastedt	aa955aec67	Two-layer now	2024-01-25 00:30:19 +01:00
Hakan Bastedt	e641fd04b7	First component placement	2024-01-25 00:27:56 +01:00
Hakan Bastedt	ac711cd168	Assigned footprints	2024-01-24 20:10:20 +01:00
Hakan Bastedt	ee56f85c53	Steppers, encoders, IO, etc remapped	2024-01-24 19:44:33 +01:00
Hakan Bastedt	69357d35a4	Wip optocoupler input and outputs	2024-01-23 23:42:32 +01:00
Hakan Bastedt	84d790c687	Cleaning old gerber files.	2024-01-23 23:00:09 +01:00
Hakan Bastedt	e7fc20fec5	micros() in irq is suspicous. Some optomization of stepper parameters. Comments.	2024-01-23 22:40:15 +01:00
Hakan Bastedt	f8cec1ac69	How many times to fix it?	2024-01-23 17:51:44 +01:00
Hakan Bastedt	ddffbe5f8b	Actually don't run ecat-slv_poll()	2024-01-23 15:48:59 +01:00
Håkan Båstedt	e95a098367	Update README.md	2024-01-23 13:27:26 +01:00
Hakan Bastedt	1d36ffbf69	Pending video7 release	2024-01-23 13:16:31 +01:00
Hakan Bastedt	c97e1fa96a	Moved ESCvar.PrevTime. It's not used though	2024-01-23 11:22:09 +01:00
Hakan Bastedt	ef84d552e4	Debug comments	2024-01-23 11:17:00 +01:00
Hakan Bastedt	d93adac4a2	Don't run ecat_slv_poll() when expecting to serve interrupt	2024-01-23 11:00:47 +01:00
Hakan Bastedt	ca3ceac5c6	wip inputs with photodiodes etc	2024-01-21 23:31:45 +01:00
Hakan Bastedt	b534e3d4da	Kludge with 'tone' of steppers. Gives ferror, but nice tone	2024-01-21 23:29:59 +01:00
Hakan Bastedt	6ac0949f26	Added optional pull-down to step generators	2024-01-21 00:24:36 +01:00
Hakan Bastedt	1f97534133	New pwmCycleTime different from sync0CycleTime	2024-01-20 12:37:42 +01:00
Hakan Bastedt	e6bfe4f880	Tests for growling. That 10xcycle time seems to do it, but it's not right.	2024-01-19 21:31:15 +01:00
Hakan Bastedt	8f05f33e58	Both steppers work in simulated environment	2024-01-18 18:21:21 +01:00
Hakan Bastedt	9e311038c1	TIM8 replaced with TIM3. TIM3,chan4 works on PC9. TIM8,chan4 should work but doesn't. How should one know?	2024-01-18 17:21:12 +01:00
Hakan Bastedt	9ab4afabe4	New enable input. Add dc ability. Set only SM2 synchronization. Various to make lathe work	2024-01-18 14:26:51 +01:00
Hakan Bastedt	38825bbaf3	Trying to make stepper suing tim8 work	2024-01-18 14:25:19 +01:00
Hakan Bastedt	0a04124b35	Remove TIM8, TIM8 is stepper generator timer.	2024-01-17 00:29:06 +01:00
Hakan Bastedt	760944afe5	Various improvements. New pdo variable stepsPerMM.	2024-01-17 00:24:17 +01:00
Hakan Bastedt	044e8fd2c5	Removed unnecessary condition in timerCB, was aleady test on ´steps´	2024-01-15 23:10:25 +01:00
Hakan Bastedt	697ea19dae	Bug, digitalWrite of stepPin should be dirPin in timerCB. Reshuffling	2024-01-15 23:07:46 +01:00
Hakan Bastedt	20ca9d4974	Maybe works better now. Using G0 can not provoke the scrape sound. Jogging for a long while can provoke still.	2024-01-15 21:12:23 +01:00
Hakan Bastedt	c6857d0be2	Still problem with overlapping cycles in stepgen. TIM8 works for stepgen now.	2024-01-15 20:21:14 +01:00
Hakan Bastedt	f14b0160f6	Spelling	2024-01-15 15:54:11 +01:00
Hakan Bastedt	deadd488dd	Two stepgens active pending lathe test	2024-01-13 22:44:08 +01:00
Hakan Bastedt	25c2aa7b3c	Some cleanup.	2024-01-12 14:37:25 +01:00
Hakan Bastedt	7a63d27303	Two encoders and two steppers declared. Encoder is 64-bit again	2024-01-11 21:10:27 +01:00
Hakan Bastedt	6176166b3a	More encapsulation of timer info.	2024-01-11 16:44:28 +01:00
Hakan Bastedt	5df911296c	sync0CycleTime static member of StepGen	2024-01-11 10:54:13 +01:00
Hakan Bastedt	a4488da9fa	Cleanup encoder code	2024-01-11 10:42:29 +01:00
Hakan Bastedt	cd8388ea58	Reshuffle in main.cpp	2024-01-10 23:42:05 +01:00
Hakan Bastedt	6f29a0d492	Further cleanup and modularization	2024-01-10 22:27:04 +01:00
Hakan Bastedt	3bbf089d01	MyEncoder split into cpp and h file	2024-01-10 22:05:38 +01:00
Hakan Bastedt	2e4e768d5e	Raw classified encoder. Compiles, untested	2024-01-10 21:58:11 +01:00
Hakan Bastedt	6c168d96d9	Test with different stepscale. ok	2024-01-10 20:25:26 +01:00
Hakan Bastedt	f8fc5fccd6	Max step-rate introduced - solves initial step storm	2024-01-10 20:08:30 +01:00
Hakan Bastedt	f6abd73c58	Split class into cpp and h file. Works at commands, but initial isn't ok	2024-01-10 18:59:16 +01:00
Hakan Bastedt	c5a95074dc	Moved stepper into C++ class. Seems to work. Basic	2024-01-10 18:44:58 +01:00
Hakan Bastedt	8614d1dfd3	Moved stepper into C++ class. Seems to work. Basic	2024-01-10 18:44:40 +01:00
Hakan Bastedt	251fd29d23	wip	2024-01-10 15:32:45 +01:00
Hakan Bastedt	5ad02fae03	New gerber files for ax58100 for pcb quotations	2024-01-10 15:30:41 +01:00
Hakan Bastedt	9adae08b98	It seems to work now, with reload in the timer_CB. Avoid micros()	2024-01-09 22:20:20 +01:00
Hakan Bastedt	0b9ce37200	Reloading in irq might possibly work	2024-01-09 10:39:56 +01:00
Hakan Bastedt	120b423f59	Restructure, makes pulses again	2024-01-08 21:13:34 +01:00
Hakan Bastedt	222e5857dc	Reorganize	2024-01-07 19:38:22 +01:00