Revert "Video6 uploaded"

Video6 uploaded

.gitignore

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

Firmware/include/MyEncoder.h

@@ -1,37 +0,0 @@
-#ifndef MYENCODER
-#define MYENCODER
-#include "Stm32F4_Encoder.h"
-#include <CircularBuffer.h>
-#define RINGBUFFERLEN 101
-
-class MyEncoder
-{
-public:
-    MyEncoder(TIM_TypeDef *_tim_base, uint8_t _indexPin, void irq(void));
-    int64_t unwrapEncoder(uint16_t in);
-    void indexPulse(void);
-    uint8_t indexHappened();
-    double currentPos();
-    double frequency(uint64_t time);
-    uint8_t getIndexState();
-    void setScale(double scale);
-    void setLatch(uint8_t latchEnable);
-
-private:
-    int64_t previousEncoderCounterValue = 0;
-    double PosScaleRes = 1.0;
-    uint32_t CurPosScale = 1;
-    uint8_t oldLatchCEnable = 0;
-    volatile uint8_t indexPulseFired = 0;
-    volatile uint8_t pleaseZeroTheCounter = 0;
-    Encoder EncoderInit;
-    uint8_t indexPin;
-
-    CircularBuffer<double_t, RINGBUFFERLEN> Pos;
-    CircularBuffer<uint32_t, RINGBUFFERLEN> TDelta;
-    double curPos;
-
-    TIM_TypeDef *tim_base;
-};
-
-#endif

Firmware/include/StepGen.h

@@ -1,42 +0,0 @@
-
-#ifndef STEPGEN
-#define STEPGEN
-#include <HardwareTimer.h>
-
-class StepGen
-{
-private:
-    volatile uint8_t timerIsRunning;
-    volatile int32_t timerStepPosition;
-    volatile int32_t timerStepDirection;
-    volatile int32_t timerStepPositionAtEnd;
-    volatile int32_t timerNewEndStepPosition;
-    volatile uint32_t timerNewCycleTime;
-    volatile double_t actualPosition;
-    volatile double_t requestedPosition;
-    volatile uint8_t enabled;
-    HardwareTimer *MyTim;
-    uint16_t stepsPerMM;
-    uint8_t dirPin;
-    PinName stepPin;
-    uint32_t timerChan;
-    const uint32_t maxFreq = 100000;
-    volatile uint32_t prevFreq1 = 0;
-    volatile uint32_t prevFreq2 = 0;
-
-public:
-    static uint32_t sync0CycleTime;
-    volatile uint32_t pwmCycleTime;
-
-    StepGen(TIM_TypeDef *Timer, uint32_t timerChannel, PinName stepPin, uint8_t dirPin, void irq(void));
-    void reqPos(double_t pos);
-    double reqPos();
-    void actPos(double_t pos);
-    double actPos();
-    void handleStepper(void);
-    void timerCB();
-    void setScale(int16_t spm);
-    void enable(uint8_t yes);
-};
-
-#endif

Firmware/include/Stm32F4_Encoder.h

@@ -1,651 +0,0 @@
-
-#ifndef __Stm32F4_Encoder_H__
-#define __Stm32F4_Encoder_H__
-#include <Arduino.h>
-
-#define GPIO_Speed_50MHz 0x02 /*!< Fast speed */
-
-// #define GPIO_MODER_MODER0                    ((uint32_t)0x00000003)
-#define GPIO_Mode_OUT 0x01
-// #define GPIO_OSPEEDER_OSPEEDR0               ((uint32_t)0x00000003)
-// #define GPIO_OTYPER_OT_0                     ((uint32_t)0x00000001)
-// #define GPIO_PUPDR_PUPDR0                    ((uint32_t)0x00000003)
-
-#define GPIO_PuPd_NOPULL 0x00
-#define GPIO_Mode_AF 0x02
-#define GPIO_OType_PP 0x00
-#define GPIO_PuPd_NOPULL 0x00
-#define GPIO_Pin_0 ((uint16_t)0x0001)   /* Pin 0 selected */
-#define GPIO_Pin_1 ((uint16_t)0x0002)   /* Pin 1 selected */
-#define GPIO_Pin_2 ((uint16_t)0x0004)   /* Pin 2 selected */
-#define GPIO_Pin_3 ((uint16_t)0x0008)   /* Pin 3 selected */
-#define GPIO_Pin_4 ((uint16_t)0x0010)   /* Pin 4 selected */
-#define GPIO_Pin_5 ((uint16_t)0x0020)   /* Pin 5 selected */
-#define GPIO_Pin_6 ((uint16_t)0x0040)   /* Pin 6 selected */
-#define GPIO_Pin_7 ((uint16_t)0x0080)   /* Pin 7 selected */
-#define GPIO_Pin_8 ((uint16_t)0x0100)   /* Pin 8 selected */
-#define GPIO_Pin_9 ((uint16_t)0x0200)   /* Pin 9 selected */
-#define GPIO_Pin_10 ((uint16_t)0x0400)  /* Pin 10 selected */
-#define GPIO_Pin_11 ((uint16_t)0x0800)  /* Pin 11 selected */
-#define GPIO_Pin_12 ((uint16_t)0x1000)  /* Pin 12 selected */
-#define GPIO_Pin_13 ((uint16_t)0x2000)  /* Pin 13 selected */
-#define GPIO_Pin_14 ((uint16_t)0x4000)  /* Pin 14 selected */
-#define GPIO_Pin_15 ((uint16_t)0x8000)  /* Pin 15 selected */
-#define GPIO_Pin_All ((uint16_t)0xFFFF) /* All pins selected */
-
-typedef struct TIM_TimeBaseInitTypeDef
-{
-  uint16_t TIM_Prescaler; /*!< Specifies the prescaler value used to divide the TIM clock.
-                               This parameter can be a number between 0x0000 and 0xFFFF */
-
-  uint16_t TIM_CounterMode; /*!< Specifies the counter mode.
-                                 This parameter can be a value of @ref TIM_Counter_Mode */
-
-  uint32_t TIM_Period; /*!< Specifies the period value to be loaded into the active
-                            Auto-Reload Register at the next update event.
-                            This parameter must be a number between 0x0000 and 0xFFFF.  */
-
-  uint16_t TIM_ClockDivision; /*!< Specifies the clock division.
-                                  This parameter can be a value of @ref TIM_Clock_Division_CKD */
-
-  uint8_t TIM_RepetitionCounter; /*!< Specifies the repetition counter value. Each time the RCR downcounter
-                                      reaches zero, an update event is generated and counting restarts
-                                      from the RCR value (N).
-                                      This means in PWM mode that (N+1) corresponds to:
-                                         - the number of PWM periods in edge-aligned mode
-                                         - the number of half PWM period in center-aligned mode
-                                      This parameter must be a number between 0x00 and 0xFF.
-                                      @note This parameter is valid only for TIM1 and TIM8. */
-} TIM_TimeBaseInitTypeDef;
-
-typedef struct
-{
-  uint16_t setcount;
-
-} encoder;
-
-typedef struct
-{
-  uint16_t TIM_OCMode; /*!< Specifies the TIM mode.
-                            This parameter can be a value of @ref TIM_Output_Compare_and_PWM_modes */
-
-  uint16_t TIM_OutputState; /*!< Specifies the TIM Output Compare state.
-                                 This parameter can be a value of @ref TIM_Output_Compare_State */
-
-  uint16_t TIM_OutputNState; /*!< Specifies the TIM complementary Output Compare state.
-                                  This parameter can be a value of @ref TIM_Output_Compare_N_State
-                                  @note This parameter is valid only for TIM1 and TIM8. */
-
-  uint32_t TIM_Pulse; /*!< Specifies the pulse value to be loaded into the Capture Compare Register.
-                           This parameter can be a number between 0x0000 and 0xFFFF */
-
-  uint16_t TIM_OCPolarity; /*!< Specifies the output polarity.
-                                This parameter can be a value of @ref TIM_Output_Compare_Polarity */
-
-  uint16_t TIM_OCNPolarity; /*!< Specifies the complementary output polarity.
-                                 This parameter can be a value of @ref TIM_Output_Compare_N_Polarity
-                                 @note This parameter is valid only for TIM1 and TIM8. */
-
-  uint16_t TIM_OCIdleState; /*!< Specifies the TIM Output Compare pin state during Idle state.
-                                 This parameter can be a value of @ref TIM_Output_Compare_Idle_State
-                                 @note This parameter is valid only for TIM1 and TIM8. */
-
-  uint16_t TIM_OCNIdleState; /*!< Specifies the TIM Output Compare pin state during Idle state.
-                                  This parameter can be a value of @ref TIM_Output_Compare_N_Idle_State
-                                  @note This parameter is valid only for TIM1 and TIM8. */
-} TIM_OCInitTypeDef;
-
-typedef struct
-{
-
-  uint16_t TIM_Channel; /*!< Specifies the TIM channel.
-                             This parameter can be a value of @ref TIM_Channel */
-
-  uint16_t TIM_ICPolarity; /*!< Specifies the active edge of the input signal.
-                                This parameter can be a value of @ref TIM_Input_Capture_Polarity */
-
-  uint16_t TIM_ICSelection; /*!< Specifies the input.
-                                 This parameter can be a value of @ref TIM_Input_Capture_Selection */
-
-  uint16_t TIM_ICPrescaler; /*!< Specifies the Input Capture Prescaler.
-                                 This parameter can be a value of @ref TIM_Input_Capture_Prescaler */
-
-  uint16_t TIM_ICFilter; /*!< Specifies the input capture filter.
-                              This parameter can be a number between 0x0 and 0xF */
-} TIM_ICInitTypeDef;
-
-typedef struct
-{
-
-  uint16_t TIM_OSSRState; /*!< Specifies the Off-State selection used in Run mode.
-                               This parameter can be a value of @ref TIM_OSSR_Off_State_Selection_for_Run_mode_state */
-
-  uint16_t TIM_OSSIState; /*!< Specifies the Off-State used in Idle state.
-                               This parameter can be a value of @ref TIM_OSSI_Off_State_Selection_for_Idle_mode_state */
-
-  uint16_t TIM_LOCKLevel; /*!< Specifies the LOCK level parameters.
-                               This parameter can be a value of @ref TIM_Lock_level */
-
-  uint16_t TIM_DeadTime; /*!< Specifies the delay time between the switching-off and the
-                              switching-on of the outputs.
-                              This parameter can be a number between 0x00 and 0xFF  */
-
-  uint16_t TIM_Break; /*!< Specifies whether the TIM Break input is enabled or not.
-                           This parameter can be a value of @ref TIM_Break_Input_enable_disable */
-
-  uint16_t TIM_BreakPolarity; /*!< Specifies the TIM Break Input pin polarity.
-                                   This parameter can be a value of @ref TIM_Break_Polarity */
-
-  uint16_t TIM_AutomaticOutput; /*!< Specifies whether the TIM Automatic Output feature is enabled or not.
-                                     This parameter can be a value of @ref TIM_AOE_Bit_Set_Reset */
-} TIM_BDTRInitTypeDef;
-
-#define GPIO_PinSource0 ((uint8_t)0x00)
-#define GPIO_PinSource1 ((uint8_t)0x01)
-#define GPIO_PinSource2 ((uint8_t)0x02)
-#define GPIO_PinSource3 ((uint8_t)0x03)
-#define GPIO_PinSource4 ((uint8_t)0x04)
-#define GPIO_PinSource5 ((uint8_t)0x05)
-#define GPIO_PinSource6 ((uint8_t)0x06)
-#define GPIO_PinSource7 ((uint8_t)0x07)
-#define GPIO_PinSource8 ((uint8_t)0x08)
-#define GPIO_PinSource9 ((uint8_t)0x09)
-#define GPIO_PinSource10 ((uint8_t)0x0A)
-#define GPIO_PinSource11 ((uint8_t)0x0B)
-#define GPIO_PinSource12 ((uint8_t)0x0C)
-#define GPIO_PinSource13 ((uint8_t)0x0D)
-#define GPIO_PinSource14 ((uint8_t)0x0E)
-#define GPIO_PinSource15 ((uint8_t)0x0F)
-#define GPIO_AF_TIM8 ((uint8_t)0x03) /* TIM8 Alternate Function mapping */
-#define GPIO_AF_TIM3 ((uint8_t)0x02) /* TIM3 Alternate Function mapping */
-#define GPIO_AF_TIM4 ((uint8_t)0x02) /* TIM4 Alternate Function mapping */
-#define GPIO_AF_TIM5 ((uint8_t)0x02) /* TIM5 Alternate Function mapping */
-#define GPIO_AF_TIM1 ((uint8_t)0x01) /* TIM1 Alternate Function mapping */
-#define GPIO_AF_TIM2 ((uint8_t)0x01) /* TIM2 Alternate Function mapping */
-
-// #define TIM4 ((TIM_TypeDef *)TIM4_BASE)
-// #define TIM8 ((TIM_TypeDef *)TIM8_BASE)
-#define TIM_EncoderMode_TI12 ((uint16_t)0x0003)
-#define TIM_ICPolarity_Rising ((uint16_t)0x0000)
-#define TIM_ICPolarity_Falling ((uint16_t)0x0002)
-// #define  TIM_CR1_CEN                         ((uint16_t)0x0001)            /*!<Counter enable */
-// #define  TIM_CR1_CEN                         ((uint16_t)0x0001)            /*!<Counter enable */
-
-#define IS_TIM_ALL_PERIPH(PERIPH) (((PERIPH) == TIM1) ||   \
-                                   ((PERIPH) == TIM2) ||   \
-                                   ((PERIPH) == TIM3) ||   \
-                                   ((PERIPH) == TIM4) ||   \
-                                   ((PERIPH) == TIM5) ||   \
-                                   ((PERIPH) == TIM6) ||   \
-                                   ((PERIPH) == TIM7) ||   \
-                                   ((PERIPH) == TIM8) ||   \
-                                   ((PERIPH) == TIM9) ||   \
-                                   ((PERIPH) == TIM10) ||  \
-                                   ((PERIPH) == TIM11) ||  \
-                                   ((PERIPH) == TIM12) ||  \
-                                   (((PERIPH) == TIM13) || \
-                                    ((PERIPH) == TIM14)))
-
-#define IS_TIM_LIST1_PERIPH(PERIPH) (((PERIPH) == TIM1) ||  \
-                                     ((PERIPH) == TIM2) ||  \
-                                     ((PERIPH) == TIM3) ||  \
-                                     ((PERIPH) == TIM4) ||  \
-                                     ((PERIPH) == TIM5) ||  \
-                                     ((PERIPH) == TIM8) ||  \
-                                     ((PERIPH) == TIM9) ||  \
-                                     ((PERIPH) == TIM10) || \
-                                     ((PERIPH) == TIM11) || \
-                                     ((PERIPH) == TIM12) || \
-                                     ((PERIPH) == TIM13) || \
-                                     ((PERIPH) == TIM14))
-
-#define IS_TIM_LIST2_PERIPH(PERIPH) (((PERIPH) == TIM1) || \
-                                     ((PERIPH) == TIM2) || \
-                                     ((PERIPH) == TIM3) || \
-                                     ((PERIPH) == TIM4) || \
-                                     ((PERIPH) == TIM5) || \
-                                     ((PERIPH) == TIM8) || \
-                                     ((PERIPH) == TIM9) || \
-                                     ((PERIPH) == TIM12))
-
-#define IS_TIM_LIST3_PERIPH(PERIPH) (((PERIPH) == TIM1) || \
-                                     ((PERIPH) == TIM2) || \
-                                     ((PERIPH) == TIM3) || \
-                                     ((PERIPH) == TIM4) || \
-                                     ((PERIPH) == TIM5) || \
-                                     ((PERIPH) == TIM8))
-
-#define IS_TIM_LIST4_PERIPH(PERIPH) (((PERIPH) == TIM1) || \
-                                     ((PERIPH) == TIM8))
-
-#define IS_TIM_LIST5_PERIPH(PERIPH) (((PERIPH) == TIM1) || \
-                                     ((PERIPH) == TIM2) || \
-                                     ((PERIPH) == TIM3) || \
-                                     ((PERIPH) == TIM4) || \
-                                     ((PERIPH) == TIM5) || \
-                                     ((PERIPH) == TIM6) || \
-                                     ((PERIPH) == TIM7) || \
-                                     ((PERIPH) == TIM8))
-
-#define IS_TIM_LIST6_PERIPH(TIMx) (((TIMx) == TIM2) || \
-                                   ((TIMx) == TIM5) || \
-                                   ((TIMx) == TIM11))
-
-#define TIM_OCMode_Timing ((uint16_t)0x0000)
-#define TIM_OCMode_Active ((uint16_t)0x0010)
-#define TIM_OCMode_Inactive ((uint16_t)0x0020)
-#define TIM_OCMode_Toggle ((uint16_t)0x0030)
-#define TIM_OCMode_PWM1 ((uint16_t)0x0060)
-#define TIM_OCMode_PWM2 ((uint16_t)0x0070)
-//#define IS_TIM_OC_MODE(MODE) (((MODE) == TIM_OCMode_Timing) || \
-//                              ((MODE) == TIM_OCMode_Active) || \
-//                              ((MODE) == TIM_OCMode_Inactive) || \
-//                              ((MODE) == TIM_OCMode_Toggle)|| \
-//                              ((MODE) == TIM_OCMode_PWM1) || \
-//                              ((MODE) == TIM_OCMode_PWM2))
-#define IS_TIM_OCM(MODE) (((MODE) == TIM_OCMode_Timing) ||       \
-                          ((MODE) == TIM_OCMode_Active) ||       \
-                          ((MODE) == TIM_OCMode_Inactive) ||     \
-                          ((MODE) == TIM_OCMode_Toggle) ||       \
-                          ((MODE) == TIM_OCMode_PWM1) ||         \
-                          ((MODE) == TIM_OCMode_PWM2) ||         \
-                          ((MODE) == TIM_ForcedAction_Active) || \
-                          ((MODE) == TIM_ForcedAction_InActive))
-
-#define TIM_OPMode_Single ((uint16_t)0x0008)
-#define TIM_OPMode_Repetitive ((uint16_t)0x0000)
-//#define IS_TIM_OPM_MODE(MODE) (((MODE) == TIM_OPMode_Single) || \
-//                               ((MODE) == TIM_OPMode_Repetitive))
-
-#define TIM_Channel_1 ((uint16_t)0x0000)
-#define TIM_Channel_2 ((uint16_t)0x0004)
-#define TIM_Channel_3 ((uint16_t)0x0008)
-#define TIM_Channel_4 ((uint16_t)0x000C)
-
-#define IS_TIM_CHANNEL(CHANNEL) (((CHANNEL) == TIM_Channel_1) || \
-                                 ((CHANNEL) == TIM_Channel_2) || \
-                                 ((CHANNEL) == TIM_Channel_3) || \
-                                 ((CHANNEL) == TIM_Channel_4))
-
-#define IS_TIM_PWMI_CHANNEL(CHANNEL) (((CHANNEL) == TIM_Channel_1) || \
-                                      ((CHANNEL) == TIM_Channel_2))
-#define IS_TIM_COMPLEMENTARY_CHANNEL(CHANNEL) (((CHANNEL) == TIM_Channel_1) || \
-                                               ((CHANNEL) == TIM_Channel_2) || \
-                                               ((CHANNEL) == TIM_Channel_3))
-
-#define TIM_CKD_DIV1 ((uint16_t)0x0000)
-#define TIM_CKD_DIV2 ((uint16_t)0x0100)
-#define TIM_CKD_DIV4 ((uint16_t)0x0200)
-#define IS_TIM_CKD_DIV(DIV) (((DIV) == TIM_CKD_DIV1) || \
-                             ((DIV) == TIM_CKD_DIV2) || \
-                             ((DIV) == TIM_CKD_DIV4))
-
-#define TIM_CounterMode_Up ((uint16_t)0x0000)
-#define TIM_CounterMode_Down ((uint16_t)0x0010)
-#define TIM_CounterMode_CenterAligned1 ((uint16_t)0x0020)
-#define TIM_CounterMode_CenterAligned2 ((uint16_t)0x0040)
-#define TIM_CounterMode_CenterAligned3 ((uint16_t)0x0060)
-//#define IS_TIM_COUNTER_MODE(MODE) (((MODE) == TIM_CounterMode_Up) ||  \
-//                                   ((MODE) == TIM_CounterMode_Down) || \
-//                                   ((MODE) == TIM_CounterMode_CenterAligned1) || \
-//                                   ((MODE) == TIM_CounterMode_CenterAligned2) || \
-//                                   ((MODE) == TIM_CounterMode_CenterAligned3))
-
-#define TIM_OCPolarity_High ((uint16_t)0x0000)
-#define TIM_OCPolarity_Low ((uint16_t)0x0002)
-//#define IS_TIM_OC_POLARITY(POLARITY) (((POLARITY) == TIM_OCPolarity_High) || \
-//                                      ((POLARITY) == TIM_OCPolarity_Low))
-
-#define TIM_OCNPolarity_High ((uint16_t)0x0000)
-#define TIM_OCNPolarity_Low ((uint16_t)0x0008)
-//#define IS_TIM_OCN_POLARITY(POLARITY) (((POLARITY) == TIM_OCNPolarity_High) || \
-//                                       ((POLARITY) == TIM_OCNPolarity_Low))
-
-#define TIM_OutputState_Disable ((uint16_t)0x0000)
-#define TIM_OutputState_Enable ((uint16_t)0x0001)
-#define IS_TIM_OUTPUT_STATE(STATE) (((STATE) == TIM_OutputState_Disable) || \
-                                    ((STATE) == TIM_OutputState_Enable))
-
-#define TIM_OutputNState_Disable ((uint16_t)0x0000)
-#define TIM_OutputNState_Enable ((uint16_t)0x0004)
-#define IS_TIM_OUTPUTN_STATE(STATE) (((STATE) == TIM_OutputNState_Disable) || \
-                                     ((STATE) == TIM_OutputNState_Enable))
-
-#define TIM_CCx_Enable ((uint16_t)0x0001)
-#define TIM_CCx_Disable ((uint16_t)0x0000)
-#define IS_TIM_CCX(CCX) (((CCX) == TIM_CCx_Enable) || \
-                         ((CCX) == TIM_CCx_Disable))
-
-#define TIM_CCxN_Enable ((uint16_t)0x0004)
-#define TIM_CCxN_Disable ((uint16_t)0x0000)
-#define IS_TIM_CCXN(CCXN) (((CCXN) == TIM_CCxN_Enable) || \
-                           ((CCXN) == TIM_CCxN_Disable))
-
-#define TIM_Break_Enable ((uint16_t)0x1000)
-#define TIM_Break_Disable ((uint16_t)0x0000)
-//#define IS_TIM_BREAK_STATE(STATE) (((STATE) == TIM_Break_Enable) || \
-//                                   ((STATE) == TIM_Break_Disable))
-
-#define TIM_BreakPolarity_Low ((uint16_t)0x0000)
-#define TIM_BreakPolarity_High ((uint16_t)0x2000)
-//#define IS_TIM_BREAK_POLARITY(POLARITY) (((POLARITY) == TIM_BreakPolarity_Low) || \
-//    ((POLARITY) == TIM_BreakPolarity_High))
-
-#define TIM_AutomaticOutput_Enable ((uint16_t)0x4000)
-#define TIM_AutomaticOutput_Disable ((uint16_t)0x0000)
-//#define IS_TIM_AUTOMATIC_OUTPUT_STATE(STATE) (((STATE) == TIM_AutomaticOutput_Enable) || \
-//    ((STATE) == TIM_AutomaticOutput_Disable))
-
-#define TIM_LOCKLevel_OFF ((uint16_t)0x0000)
-#define TIM_LOCKLevel_1 ((uint16_t)0x0100)
-#define TIM_LOCKLevel_2 ((uint16_t)0x0200)
-#define TIM_LOCKLevel_3 ((uint16_t)0x0300)
-//#define IS_TIM_LOCK_LEVEL(LEVEL) (((LEVEL) == TIM_LOCKLevel_OFF) || \
-//                                  ((LEVEL) == TIM_LOCKLevel_1) || \
-//                                  ((LEVEL) == TIM_LOCKLevel_2) || \
-//                                  ((LEVEL) == TIM_LOCKLevel_3))
-
-#define TIM_OSSIState_Enable ((uint16_t)0x0400)
-#define TIM_OSSIState_Disable ((uint16_t)0x0000)
-//#define IS_TIM_OSSI_STATE(STATE) (((STATE) == TIM_OSSIState_Enable) || \
-//                                  ((STATE) == TIM_OSSIState_Disable))
-
-#define TIM_OSSRState_Enable ((uint16_t)0x0800)
-#define TIM_OSSRState_Disable ((uint16_t)0x0000)
-//#define IS_TIM_OSSR_STATE(STATE) (((STATE) == TIM_OSSRState_Enable) || \
-//                                  ((STATE) == TIM_OSSRState_Disable))
-
-#define TIM_OCIdleState_Set ((uint16_t)0x0100)
-#define TIM_OCIdleState_Reset ((uint16_t)0x0000)
-//#define IS_TIM_OCIDLE_STATE(STATE) (((STATE) == TIM_OCIdleState_Set) || \
-//                                    ((STATE) == TIM_OCIdleState_Reset))
-//
-
-#define TIM_OCNIdleState_Set ((uint16_t)0x0200)
-#define TIM_OCNIdleState_Reset ((uint16_t)0x0000)
-//#define IS_TIM_OCNIDLE_STATE(STATE) (((STATE) == TIM_OCNIdleState_Set) || \
-//                                     ((STATE) == TIM_OCNIdleState_Reset))
-
-#define TIM_ICPolarity_Rising ((uint16_t)0x0000)
-#define TIM_ICPolarity_Falling ((uint16_t)0x0002)
-#define TIM_ICPolarity_BothEdge ((uint16_t)0x000A)
-//#define IS_TIM_IC_POLARITY(POLARITY) (((POLARITY) == TIM_ICPolarity_Rising) || \
-//                                      ((POLARITY) == TIM_ICPolarity_Falling)|| \
-//                                      ((POLARITY) == TIM_ICPolarity_BothEdge))
-
-#define TIM_ICSelection_DirectTI ((uint16_t)0x0001)   /*!< TIM Input 1, 2, 3 or 4 is selected to be \
-                                                           connected to IC1, IC2, IC3 or IC4, respectively */
-#define TIM_ICSelection_IndirectTI ((uint16_t)0x0002) /*!< TIM Input 1, 2, 3 or 4 is selected to be \
-                                                           connected to IC2, IC1, IC4 or IC3, respectively. */
-#define TIM_ICSelection_TRC ((uint16_t)0x0003)        /*!< TIM Input 1, 2, 3 or 4 is selected to be connected to TRC. */
-//#define IS_TIM_IC_SELECTION(SELECTION) (((SELECTION) == TIM_ICSelection_DirectTI) || \
-//                                        ((SELECTION) == TIM_ICSelection_IndirectTI) || \
-//                                        ((SELECTION) == TIM_ICSelection_TRC))
-
-// #define TIM_ICPSC_DIV1                     ((uint16_t)0x0000) /*!< Capture performed each time an edge is detected on the capture input. */
-// #define TIM_ICPSC_DIV2                     ((uint16_t)0x0004) /*!< Capture performed once every 2 events. */
-// #define TIM_ICPSC_DIV4                     ((uint16_t)0x0008) /*!< Capture performed once every 4 events. */
-// #define TIM_ICPSC_DIV8                     ((uint16_t)0x000C) /*!< Capture performed once every 8 events. */
-// #define IS_TIM_IC_PRESCALER(PRESCALER) ( ((PRESCALER) == TIM_ICPSC_DIV1) || \
-//                                        ((PRESCALER) == TIM_ICPSC_DIV2) || \
-//                                        ((PRESCALER) == TIM_ICPSC_DIV4) || \
-//                                        ((PRESCALER) == TIM_ICPSC_DIV8))
-
-#define TIM_IT_Update ((uint16_t)0x0001)
-// #define TIM_IT_CC1                         ((uint16_t)0x0002)
-// #define TIM_IT_CC2                         ((uint16_t)0x0004)
-// #define TIM_IT_CC3                         ((uint16_t)0x0008)
-// #define TIM_IT_CC4                         ((uint16_t)0x0010)
-// #define TIM_IT_COM                         ((uint16_t)0x0020)
-#define TIM_IT_Trigger ((uint16_t)0x0040)
-#define TIM_IT_Break ((uint16_t)0x0080)
-#define IS_TIM_IT(IT) ((((IT) & (uint16_t)0xFF00) == 0x0000) && ((IT) != 0x0000))
-
-#define IS_TIM_GET_IT(IT) (((IT) == TIM_IT_Update) ||  \
-                           ((IT) == TIM_IT_CC1) ||     \
-                           ((IT) == TIM_IT_CC2) ||     \
-                           ((IT) == TIM_IT_CC3) ||     \
-                           ((IT) == TIM_IT_CC4) ||     \
-                           ((IT) == TIM_IT_COM) ||     \
-                           ((IT) == TIM_IT_Trigger) || \
-                           ((IT) == TIM_IT_Break))
-
-// #define TIM_DMABase_CR1                    ((uint16_t)0x0000)
-// #define TIM_DMABase_CR2                    ((uint16_t)0x0001)
-// #define TIM_DMABase_SMCR                   ((uint16_t)0x0002)
-// #define TIM_DMABase_DIER                   ((uint16_t)0x0003)
-// #define TIM_DMABase_SR                     ((uint16_t)0x0004)
-// #define TIM_DMABase_EGR                    ((uint16_t)0x0005)
-// #define TIM_DMABase_CCMR1                  ((uint16_t)0x0006)
-// #define TIM_DMABase_CCMR2                  ((uint16_t)0x0007)
-// #define TIM_DMABase_CCER                   ((uint16_t)0x0008)
-// #define TIM_DMABase_CNT                    ((uint16_t)0x0009)
-// #define TIM_DMABase_PSC                    ((uint16_t)0x000A)
-// #define TIM_DMABase_ARR                    ((uint16_t)0x000B)
-// #define TIM_DMABase_RCR                    ((uint16_t)0x000C)
-// #define TIM_DMABase_CCR1                   ((uint16_t)0x000D)
-// #define TIM_DMABase_CCR2                   ((uint16_t)0x000E)
-// #define TIM_DMABase_CCR3                   ((uint16_t)0x000F)
-// #define TIM_DMABase_CCR4                   ((uint16_t)0x0010)
-// #define TIM_DMABase_BDTR                   ((uint16_t)0x0011)
-// #define TIM_DMABase_DCR                    ((uint16_t)0x0012)
-// #define TIM_DMABase_OR                     ((uint16_t)0x0013)
-// #define IS_TIM_DMA_BASE(BASE) ( ((BASE) == TIM_DMABase_CR1) || \
-//                               ((BASE) == TIM_DMABase_CR2) || \
-//                               ((BASE) == TIM_DMABase_SMCR) || \
-//                               ((BASE) == TIM_DMABase_DIER) || \
-//                               ((BASE) == TIM_DMABase_SR) || \
-//                               ((BASE) == TIM_DMABase_EGR) || \
-//                               ((BASE) == TIM_DMABase_CCMR1) || \
-//                               ((BASE) == TIM_DMABase_CCMR2) || \
-//                               ((BASE) == TIM_DMABase_CCER) || \
-//                               ((BASE) == TIM_DMABase_CNT) || \
-//                               ((BASE) == TIM_DMABase_PSC) || \
-//                               ((BASE) == TIM_DMABase_ARR) || \
-//                               ((BASE) == TIM_DMABase_RCR) || \
-//                               ((BASE) == TIM_DMABase_CCR1) || \
-//                               ((BASE) == TIM_DMABase_CCR2) || \
-//                               ((BASE) == TIM_DMABase_CCR3) || \
-//                               ((BASE) == TIM_DMABase_CCR4) || \
-//                               ((BASE) == TIM_DMABase_BDTR) || \
-//                               ((BASE) == TIM_DMABase_DCR) || \
-//                               ((BASE) == TIM_DMABase_OR))
-
-// #define TIM_DMABurstLength_1Transfer           ((uint16_t)0x0000)
-// #define TIM_DMABurstLength_2Transfers          ((uint16_t)0x0100)
-// #define TIM_DMABurstLength_3Transfers          ((uint16_t)0x0200)
-// #define TIM_DMABurstLength_4Transfers          ((uint16_t)0x0300)
-// #define TIM_DMABurstLength_5Transfers          ((uint16_t)0x0400)
-// #define TIM_DMABurstLength_6Transfers          ((uint16_t)0x0500)
-// #define TIM_DMABurstLength_7Transfers          ((uint16_t)0x0600)
-// #define TIM_DMABurstLength_8Transfers          ((uint16_t)0x0700)
-// #define TIM_DMABurstLength_9Transfers          ((uint16_t)0x0800)
-// #define TIM_DMABurstLength_10Transfers         ((uint16_t)0x0900)
-// #define TIM_DMABurstLength_11Transfers         ((uint16_t)0x0A00)
-// #define TIM_DMABurstLength_12Transfers         ((uint16_t)0x0B00)
-// #define TIM_DMABurstLength_13Transfers         ((uint16_t)0x0C00)
-// #define TIM_DMABurstLength_14Transfers         ((uint16_t)0x0D00)
-// #define TIM_DMABurstLength_15Transfers         ((uint16_t)0x0E00)
-// #define TIM_DMABurstLength_16Transfers         ((uint16_t)0x0F00)
-// #define TIM_DMABurstLength_17Transfers         ((uint16_t)0x1000)
-// #define TIM_DMABurstLength_18Transfers         ((uint16_t)0x1100)
-// #define IS_TIM_DMA_LENGTH(LENGTH) ( ((LENGTH) == TIM_DMABurstLength_1Transfer) || \
-//                                   ((LENGTH) == TIM_DMABurstLength_2Transfers) || \
-//                                   ((LENGTH) == TIM_DMABurstLength_3Transfers) || \
-//                                   ((LENGTH) == TIM_DMABurstLength_4Transfers) || \
-//                                   ((LENGTH) == TIM_DMABurstLength_5Transfers) || \
-//                                   ((LENGTH) == TIM_DMABurstLength_6Transfers) || \
-//                                   ((LENGTH) == TIM_DMABurstLength_7Transfers) || \
-//                                   ((LENGTH) == TIM_DMABurstLength_8Transfers) || \
-//                                   ((LENGTH) == TIM_DMABurstLength_9Transfers) || \
-//                                   ((LENGTH) == TIM_DMABurstLength_10Transfers) || \
-//                                   ((LENGTH) == TIM_DMABurstLength_11Transfers) || \
-//                                   ((LENGTH) == TIM_DMABurstLength_12Transfers) || \
-//                                   ((LENGTH) == TIM_DMABurstLength_13Transfers) || \
-//                                   ((LENGTH) == TIM_DMABurstLength_14Transfers) || \
-//                                   ((LENGTH) == TIM_DMABurstLength_15Transfers) || \
-//                                   ((LENGTH) == TIM_DMABurstLength_16Transfers) || \
-//                                   ((LENGTH) == TIM_DMABurstLength_17Transfers) || \
-//                                   ((LENGTH) == TIM_DMABurstLength_18Transfers))
-
-// #define TIM_DMA_Update                     ((uint16_t)0x0100)
-// #define TIM_DMA_CC1                        ((uint16_t)0x0200)
-// #define TIM_DMA_CC2                        ((uint16_t)0x0400)
-// #define TIM_DMA_CC3                        ((uint16_t)0x0800)
-// #define TIM_DMA_CC4                        ((uint16_t)0x1000)
-// #define TIM_DMA_COM                        ((uint16_t)0x2000)
-// #define TIM_DMA_Trigger                    ((uint16_t)0x4000)
-// #define IS_TIM_DMA_SOURCE(SOURCE) ((((SOURCE) & (uint16_t)0x80FF) == 0x0000) && ((SOURCE) != 0x0000))
-
-#define TIM_ExtTRGPSC_OFF ((uint16_t)0x0000)
-#define TIM_ExtTRGPSC_DIV2 ((uint16_t)0x1000)
-#define TIM_ExtTRGPSC_DIV4 ((uint16_t)0x2000)
-#define TIM_ExtTRGPSC_DIV8 ((uint16_t)0x3000)
-#define IS_TIM_EXT_PRESCALER(PRESCALER) (((PRESCALER) == TIM_ExtTRGPSC_OFF) ||  \
-                                         ((PRESCALER) == TIM_ExtTRGPSC_DIV2) || \
-                                         ((PRESCALER) == TIM_ExtTRGPSC_DIV4) || \
-                                         ((PRESCALER) == TIM_ExtTRGPSC_DIV8))
-
-// #define TIM_TS_ITR0                        ((uint16_t)0x0000)
-// #define TIM_TS_ITR1                        ((uint16_t)0x0010)
-// #define TIM_TS_ITR2                        ((uint16_t)0x0020)
-// #define TIM_TS_ITR3                        ((uint16_t)0x0030)
-// #define TIM_TS_TI1F_ED                     ((uint16_t)0x0040)
-// #define TIM_TS_TI1FP1                      ((uint16_t)0x0050)
-// #define TIM_TS_TI2FP2                      ((uint16_t)0x0060)
-// #define TIM_TS_ETRF                        ((uint16_t)0x0070)
-// #def ine IS_TIM_TRIGGER_SELECTION(SELECTION) (((SELECTION) == TIM_TS_ITR0) || \
-//    ((SELECTION) == TIM_TS_ITR1) || \
-//    ((SELECTION) == TIM_TS_ITR2) || \
-//    ((SELECTION) == TIM_TS_ITR3) || \
-//    ((SELECTION) == TIM_TS_TI1F_ED) || \
-//    ((SELECTION) == TIM_TS_TI1FP1) || \
-//    ((SELECTION) == TIM_TS_TI2FP2) || \
-//    ((SELECTION) == TIM_TS_ETRF))
-#define IS_TIM_INTERNAL_TRIGGER_SELECTION(SELECTION) (((SELECTION) == TIM_TS_ITR0) || \
-                                                      ((SELECTION) == TIM_TS_ITR1) || \
-                                                      ((SELECTION) == TIM_TS_ITR2) || \
-                                                      ((SELECTION) == TIM_TS_ITR3))
-
-#define TIM_TIxExternalCLK1Source_TI1 ((uint16_t)0x0050)
-#define TIM_TIxExternalCLK1Source_TI2 ((uint16_t)0x0060)
-#define TIM_TIxExternalCLK1Source_TI1ED ((uint16_t)0x0040)
-
-#define TIM_ExtTRGPolarity_Inverted ((uint16_t)0x8000)
-#define TIM_ExtTRGPolarity_NonInverted ((uint16_t)0x0000)
-#define IS_TIM_EXT_POLARITY(POLARITY) (((POLARITY) == TIM_ExtTRGPolarity_Inverted) || \
-                                       ((POLARITY) == TIM_ExtTRGPolarity_NonInverted))
-
-#define TIM_PSCReloadMode_Update ((uint16_t)0x0000)
-#define TIM_PSCReloadMode_Immediate ((uint16_t)0x0001)
-#define IS_TIM_PRESCALER_RELOAD(RELOAD) (((RELOAD) == TIM_PSCReloadMode_Update) || \
-                                         ((RELOAD) == TIM_PSCReloadMode_Immediate))
-
-#define TIM_ForcedAction_Active ((uint16_t)0x0050)
-#define TIM_ForcedAction_InActive ((uint16_t)0x0040)
-#define IS_TIM_FORCED_ACTION(ACTION) (((ACTION) == TIM_ForcedAction_Active) || \
-                                      ((ACTION) == TIM_ForcedAction_InActive))
-
-#define TIM_EncoderMode_TI1 ((uint16_t)0x0001)
-#define TIM_EncoderMode_TI2 ((uint16_t)0x0002)
-#define TIM_EncoderMode_TI12 ((uint16_t)0x0003)
-//#define IS_TIM_ENCODER_MODE(MODE) (((MODE) == TIM_EncoderMode_TI1) || \
-//                                   ((MODE) == TIM_EncoderMode_TI2) || \
-//                                   ((MODE) == TIM_EncoderMode_TI12))
-
-// #define TIM_EventSource_Update             ((uint16_t)0x0001)
-// #define TIM_EventSource_CC1                ((uint16_t)0x0002)
-// #define TIM_EventSource_CC2                ((uint16_t)0x0004)
-// #define TIM_EventSource_CC3                ((uint16_t)0x0008)
-// #define TIM_EventSource_CC4                ((uint16_t)0x0010)
-// #define TIM_EventSource_COM                ((uint16_t)0x0020)
-// #define TIM_EventSource_Trigger            ((uint16_t)0x0040)
-// #define TIM_EventSource_Break              ((uint16_t)0x0080)
-// #define IS_TIM_EVENT_SOURCE(SOURCE) ((((SOURCE) & (uint16_t)0xFF00) == 0x0000) && ((SOURCE) != 0x0000))
-
-#define TIM_UpdateSource_Global ((uint16_t)0x0000)  /*!< Source of update is the counter overflow/underflow \
-                                                         or the setting of UG bit, or an update generation  \
-                                                         through the slave mode controller. */
-#define TIM_UpdateSource_Regular ((uint16_t)0x0001) /*!< Source of update is counter overflow/underflow. */
-#define IS_TIM_UPDATE_SOURCE(SOURCE) (((SOURCE) == TIM_UpdateSource_Global) || \
-                                      ((SOURCE) == TIM_UpdateSource_Regular))
-
-#define TIM_OCPreload_Enable ((uint16_t)0x0008)
-#define TIM_OCPreload_Disable ((uint16_t)0x0000)
-#define IS_TIM_OCPRELOAD_STATE(STATE) (((STATE) == TIM_OCPreload_Enable) || \
-                                       ((STATE) == TIM_OCPreload_Disable))
-
-#define TIM_OCFast_Enable ((uint16_t)0x0004)
-#define TIM_OCFast_Disable ((uint16_t)0x0000)
-#define IS_TIM_OCFAST_STATE(STATE) (((STATE) == TIM_OCFast_Enable) || \
-                                    ((STATE) == TIM_OCFast_Disable))
-
-#define TIM_OCClear_Enable ((uint16_t)0x0080)
-#define TIM_OCClear_Disable ((uint16_t)0x0000)
-#define IS_TIM_OCCLEAR_STATE(STATE) (((STATE) == TIM_OCClear_Enable) || \
-                                     ((STATE) == TIM_OCClear_Disable))
-
-#define TIM_TRGOSource_Reset ((uint16_t)0x0000)
-#define TIM_TRGOSource_Enable ((uint16_t)0x0010)
-#define TIM_TRGOSource_Update ((uint16_t)0x0020)
-#define TIM_TRGOSource_OC1 ((uint16_t)0x0030)
-#define TIM_TRGOSource_OC1Ref ((uint16_t)0x0040)
-#define TIM_TRGOSource_OC2Ref ((uint16_t)0x0050)
-#define TIM_TRGOSource_OC3Ref ((uint16_t)0x0060)
-#define TIM_TRGOSource_OC4Ref ((uint16_t)0x0070)
-//#define IS_TIM_TRGO_SOURCE(SOURCE) (((SOURCE) == TIM_TRGOSource_Reset) || \
-//                                    ((SOURCE) == TIM_TRGOSource_Enable) || \
-//                                    ((SOURCE) == TIM_TRGOSource_Update) || \
-//                                    ((SOURCE) == TIM_TRGOSource_OC1) || \
-//                                    ((SOURCE) == TIM_TRGOSource_OC1Ref) || \
-//                                    ((SOURCE) == TIM_TRGOSource_OC2Ref) || \
-//                                    ((SOURCE) == TIM_TRGOSource_OC3Ref) || \
-//                                    ((SOURCE) == TIM_TRGOSource_OC4Ref))
-
-#define TIM_SlaveMode_Reset ((uint16_t)0x0004)
-#define TIM_SlaveMode_Gated ((uint16_t)0x0005)
-#define TIM_SlaveMode_Trigger ((uint16_t)0x0006)
-#define TIM_SlaveMode_External1 ((uint16_t)0x0007)
-//#define IS_TIM_SLAVE_MODE(MODE) (((MODE) == TIM_SlaveMode_Reset) || \
-//                                 ((MODE) == TIM_SlaveMode_Gated) || \
-//                                 ((MODE) == TIM_SlaveMode_Trigger) || \
-//                                 ((MODE) == TIM_SlaveMode_External1))
-
-#define TIM_MasterSlaveMode_Enable ((uint16_t)0x0080)
-#define TIM_MasterSlaveMode_Disable ((uint16_t)0x0000)
-//#define IS_TIM_MSM_STATE(STATE) (((STATE) == TIM_MasterSlaveMode_Enable) || \
-//                                 ((STATE) == TIM_MasterSlaveMode_Disable))
-
-#define TIM2_TIM8_TRGO ((uint16_t)0x0000)
-#define TIM2_ETH_PTP ((uint16_t)0x0400)
-#define TIM2_USBFS_SOF ((uint16_t)0x0800)
-#define TIM2_USBHS_SOF ((uint16_t)0x0C00)
-
-#define TIM5_GPIO ((uint16_t)0x0000)
-#define TIM5_LSI ((uint16_t)0x0040)
-#define TIM5_LSE ((uint16_t)0x0080)
-#define TIM5_RTC ((uint16_t)0x00C0)
-
-#define TIM11_GPIO ((uint16_t)0x0000)
-#define TIM11_HSE ((uint16_t)0x0002)
-
-class Encoder
-{
-private:
-  int _pin;
-
-public:
-  TIM_TypeDef *tim_base;
-  Encoder();
-  void SetCount(int64_t Counter);
-  uint16_t GetCount();
-};
-
-void rcc_config();
-void GpioConfigPortA(GPIO_TypeDef *GPIOx);
-void GpioConfigPortC(GPIO_TypeDef *GPIOx);
-void GpioConfigPortD(GPIO_TypeDef *GPIOx);
-void TIM_EncoderInterConfig(TIM_TypeDef *TIMx, uint16_t TIM_EncoderMode, uint16_t TIM_IC1Polarity, uint16_t TIM_IC2Polarity);
-void TIM_TimeBaseStructInit(TIM_TimeBaseInitTypeDef *TIM_TimeBaseInitStruct);
-void TIM_TimeBaseInit(TIM_TypeDef *TIMx, TIM_TimeBaseInitTypeDef *TIM_TimeBaseInitStruct);
-#endif

Firmware/src/MyEncoder.cpp

@@ -1,94 +0,0 @@
-#include "MyENcoder.h"
-
-MyEncoder::MyEncoder(TIM_TypeDef *_tim_base, uint8_t _indexPin, void irq(void))
-{
-    tim_base = _tim_base;
-    indexPin = _indexPin;
-    attachInterrupt(digitalPinToInterrupt(indexPin), irq, RISING); // When Index triggered
-    EncoderInit.SetCount(0);
-}
-
-#define ONE_PERIOD 65536
-#define HALF_PERIOD 32768
-
-int64_t MyEncoder::unwrapEncoder(uint16_t in)
-{
-    int32_t c32 = (int32_t)in - HALF_PERIOD;           // remove half period to determine (+/-) sign of the wrap
-    int32_t dif = (c32 - previousEncoderCounterValue); // core concept: prev + (current - prev) = current
-
-    // wrap difference from -HALF_PERIOD to HALF_PERIOD. modulo prevents differences after the wrap from having an incorrect result
-    int32_t mod_dif = ((dif + HALF_PERIOD) % ONE_PERIOD) - HALF_PERIOD;
-    if (dif < -HALF_PERIOD)
-        mod_dif += ONE_PERIOD; // account for mod of negative number behavior in C
-
-    int64_t unwrapped = previousEncoderCounterValue + mod_dif;
-    previousEncoderCounterValue = unwrapped; // load previous value
-
-    return unwrapped + HALF_PERIOD; // remove the shift we applied at the beginning, and return
-}
-
-void MyEncoder::indexPulse(void)
-{
-    if (pleaseZeroTheCounter)
-    {
-        tim_base->CNT = 0;
-        indexPulseFired = 1;
-        Pos.clear();
-        TDelta.clear();
-        pleaseZeroTheCounter = 0;
-    }
-}
-
-uint8_t MyEncoder::indexHappened()
-{
-    if (indexPulseFired)
-    {
-        indexPulseFired = 0;
-        previousEncoderCounterValue = 0;
-        return 1;
-    }
-    return 0;
-}
-
-double MyEncoder::currentPos()
-{
-    curPos = unwrapEncoder(tim_base->CNT) * PosScaleRes;
-    return curPos;
-}
-
-double MyEncoder::frequency(uint64_t time)
-{
-
-    double diffT = 0;
-    double diffPos = 0;
-    TDelta.push(time); // Running average over the length of the circular buffer
-    Pos.push(curPos);
-    if (Pos.size() >= 2)
-    {
-        diffT = 1.0e-9 * (TDelta.last() - TDelta.first()); // Time is in nanoseconds
-        diffPos = fabs(Pos.last() - Pos.first());
-    }
-    return diffT != 0 ? diffPos / diffT : 0.0; // Revolutions per second
-}
-uint8_t MyEncoder::getIndexState()
-{
-    return digitalRead(indexPin);
-}
-
-void MyEncoder::setScale(double scale)
-{
-    if (CurPosScale != scale && scale != 0)
-    {
-        CurPosScale = scale;
-        PosScaleRes = 1.0 / double(scale);
-    }
-}
-
-void MyEncoder::setLatch(uint8_t latchEnable)
-{
-    if (latchEnable && !oldLatchCEnable) // Should only happen first time IndexCEnable is set
-    {
-        pleaseZeroTheCounter = 1;
-    }
-    oldLatchCEnable = latchEnable;
-}

Firmware/src/StepGen.cpp

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

Firmware/src/main.cpp

@@ -1,184 +0,0 @@
-#include <Arduino.h>
-#include <stdio.h>
-extern "C"
-{
-#include "ecat_slv.h"
-#include "utypes.h"
-};
-_Objects Obj;
-
-HardwareSerial Serial1(PA10, PA9);
-
-#define DEBUG_TIM8 1
-#include "MyEncoder.h"
-void indexPulseEncoderCB1(void);
-MyEncoder Encoder1(TIM2, PA2, indexPulseEncoderCB1);
-void indexPulseEncoderCB1(void)
-{
-   Encoder1.indexPulse();
-}
-
-#include "StepGen.h"
-
-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
-{
-   Encoder1.setLatch(Obj.IndexLatchEnable);
-   Encoder1.setScale(Obj.EncPosScale);
-
-   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 = 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++)
-   {
-      uint32_t aTim = Tim[i];
-      if (aTim > max_Tim)
-         max_Tim = aTim;
-      if (aTim < min_Tim)
-         min_Tim = aTim;
-   }
-   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 =
-    {
-        .user_arg = NULL,
-        .use_interrupt = 1,
-        .watchdog_cnt = 150,
-        .set_defaults_hook = NULL,
-        .pre_state_change_hook = NULL,
-        .post_state_change_hook = NULL,
-        .application_hook = handleStepper,
-        .safeoutput_override = NULL,
-        .pre_object_download_hook = NULL,
-        .post_object_download_hook = NULL,
-        .rxpdo_override = NULL,
-        .txpdo_override = NULL,
-        .esc_hw_interrupt_enable = ESC_interrupt_enable,
-        .esc_hw_interrupt_disable = ESC_interrupt_disable,
-        .esc_hw_eep_handler = NULL,
-        .esc_check_dc_handler = dc_checker,
-};
-
-volatile byte serveIRQ = 0;
-
-void setup(void)
-{
-   Serial1.begin(115200);
-   rcc_config(); // probably breaks some timers.
-   ecat_slv_init(&config);
-}
-
-void loop(void)
-{
-   if (serveIRQ)
-   {
-      nowTime = micros();
-      DIG_process(DIG_PROCESS_WD_FLAG | DIG_PROCESS_OUTPUTS_FLAG |
-                  DIG_PROCESS_APP_HOOK_FLAG | DIG_PROCESS_INPUTS_FLAG);
-      serveIRQ = 0;
-      ESCvar.PrevTime = ESCvar.Time;
-   }
-   uint32_t dTime = micros() - nowTime;
-   if ((dTime > 200 && dTime < 500) || dTime > 1500) // Don't run ecat_slv_poll when expecting to serve interrupt
-      ecat_slv_poll();
-}
-
-void sync0Handler(void)
-{
-   serveIRQ = 1;
-}
-
-void ESC_interrupt_enable(uint32_t mask)
-{
-   // Enable interrupt for SYNC0 or SM2 or SM3
-   // uint32_t user_int_mask = ESCREG_ALEVENT_DC_SYNC0 | ESCREG_ALEVENT_SM2 | ESCREG_ALEVENT_SM3;
-   uint32_t user_int_mask = ESCREG_ALEVENT_SM2; // Only SM2
-   if (mask & user_int_mask)
-   {
-      ESC_ALeventmaskwrite(ESC_ALeventmaskread() | (mask & user_int_mask));
-      attachInterrupt(digitalPinToInterrupt(PC3), sync0Handler, RISING);
-
-      // Set LAN9252 interrupt pin driver as push-pull active high
-      uint32_t bits = 0x00000111;
-      ESC_write(0x54, &bits, 4);
-
-      // Enable LAN9252 interrupt
-      bits = 0x00000001;
-      ESC_write(0x5c, &bits, 4);
-   }
-}
-
-void ESC_interrupt_disable(uint32_t mask)
-{
-   // Enable interrupt for SYNC0 or SM2 or SM3
-   // uint32_t user_int_mask = ESCREG_ALEVENT_DC_SYNC0 | ESCREG_ALEVENT_SM2 | ESCREG_ALEVENT_SM3;
-   uint32_t user_int_mask = ESCREG_ALEVENT_SM2;
-
-   if (mask & user_int_mask)
-   {
-      // Disable interrupt from SYNC0
-      ESC_ALeventmaskwrite(ESC_ALeventmaskread() & ~(mask & user_int_mask));
-      detachInterrupt(digitalPinToInterrupt(PC3));
-      // Disable LAN9252 interrupt
-      uint32_t bits = 0x00000000;
-      ESC_write(0x5c, &bits, 4);
-   }
-}
-
-extern "C" uint32_t ESC_SYNC0cycletime(void);
-
-// Setup of DC
-uint16_t dc_checker(void)
-{
-   // Indicate we run DC
-   ESCvar.dcsync = 1;
-   StepGen::sync0CycleTime = ESC_SYNC0cycletime() / 1000; // usecs
-   return 0;
-}

Kicad/Ax58100-stm32-ethercat/.gitignore

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

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

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

Pcb-1-lan9252/CubeMX-files/EtherCAT-PCB-v1.ioc

@@ -9,9 +9,8 @@ Mcu.CPN=STM32F407VGT6
 Mcu.Family=STM32F4
 Mcu.IP0=DAC
 Mcu.IP1=I2C2
-Mcu.IP10=TIM5
-Mcu.IP11=TIM9
-Mcu.IP12=USART1
+Mcu.IP10=TIM8
+Mcu.IP11=USART1
 Mcu.IP2=NVIC
 Mcu.IP3=RCC
 Mcu.IP4=SPI1
@@ -20,44 +19,48 @@ Mcu.IP6=TIM1
 Mcu.IP7=TIM2
 Mcu.IP8=TIM3
 Mcu.IP9=TIM4
-Mcu.IPNb=13
+Mcu.IPNb=12
 Mcu.Name=STM32F407V(E-G)Tx
 Mcu.Package=LQFP100
-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.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.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F407VGTx
@@ -81,7 +84,8 @@ PA10.Signal=USART1_RX
 PA11.Signal=S_TIM1_CH4
 PA12.Locked=true
 PA12.Signal=GPIO_Output
-PA2.Signal=S_TIM5_CH3
+PA2.Locked=true
+PA2.Signal=GPIO_Input
 PA4.Signal=COMP_DAC1_group
 PA5.Mode=Full_Duplex_Master
 PA5.Signal=SPI1_SCK
@@ -101,6 +105,8 @@ 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
@@ -109,10 +115,13 @@ PC4.Locked=true
 PC4.Signal=GPIO_Output
 PC5.Locked=true
 PC5.Signal=GPIO_Input
-PC9.Signal=S_TIM3_CH4
+PC6.Signal=S_TIM8_CH1
+PC7.Signal=S_TIM8_CH2
+PC9.Signal=S_TIM8_CH4
 PD11.Locked=true
 PD11.Signal=GPIO_Input
 PD12.Signal=S_TIM4_CH1
+PD13.Signal=S_TIM4_CH2
 PE10.Locked=true
 PE10.Signal=GPIO_Output
 PE11.Locked=true
@@ -125,7 +134,6 @@ 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
@@ -192,14 +200,20 @@ 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_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_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_TIM4_CH1.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
+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
 SPI1.CalculateBaudRate=8.0 MBits/s
 SPI1.Direction=SPI_DIRECTION_2LINES
 SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate
@@ -207,14 +221,8 @@ SPI1.Mode=SPI_MODE_MASTER
 SPI1.VirtualType=VM_MASTER
 TIM1.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
 TIM1.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
+TIM8.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
+TIM8.IPParameters=Channel-PWM Generation4 CH4
 USART1.IPParameters=VirtualMode
 USART1.VirtualMode=VM_ASYNC
 VP_SYS_VS_Systick.Mode=SysTick

Pcb-1-lan9252/EEPROM_generator/index.html

@@ -1,6 +1,6 @@
 <head>
    <meta charset="UTF-8">
-   <title>🔁 EEPROM Generator | ESI, EEPROM, SOES C code configuration tool</title>
+   <title>🔁 EEPROM Generator | ESI, EEPORM, SOES C code configuration tool</title>
 <!--
  * SOES EEPROM generator
  * This tool serves as:
@@ -52,12 +52,10 @@
                      <option value="INTEGER8">INTEGER8</option>
                      <option value="INTEGER16">INTEGER16</option>
                      <option value="INTEGER32">INTEGER32</option>
-                     <option value="INTEGER64">INTEGER64</option>
                      <option value="UNSIGNED8">UNSIGNED8</option>
                      <option value="UNSIGNED16">UNSIGNED16</option>
-                     <option value="UNSIGNED32">UNSIGNED64</option>
+                     <option value="UNSIGNED32">UNSIGNED32</option>
                      <option value="REAL32">REAL32</option>
-                     <option value="REAL64">REAL64</option>
                      <option value="VISIBLE_STRING">VISIBLE STRING</option>
                   </select></td>
                </tr>

Pcb-1-lan9252/EEPROM_generator/src/constants.js

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

Pcb-1-lan9252/Firmware/.vscode/settings.json

@@ -8,10 +8,6 @@
         "string": "cpp",
         "unordered_map": "cpp",
         "vector": "cpp",
-        "system_error": "cpp",
-        "numeric": "cpp",
-        "ostream": "cpp"
-    },
-    "C_Cpp.errorSquiggles": "disabled",
-    "cmake.configureOnOpen": false
+        "system_error": "cpp"
+    }
 }

Pcb-1-lan9252/Firmware/include/Stepper.h

@@ -0,0 +1,38 @@
+/* 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 */

Pcb-1-lan9252/Firmware/include/Stm32F4_Encoder.h

@@ -0,0 +1,717 @@
+
+#ifndef __Stm32F4_Encoder_H__
+#define __Stm32F4_Encoder_H__
+#include <Arduino.h>
+
+
+#define GPIO_Speed_50MHz    0x02  /*!< Fast speed */
+
+//#define GPIO_MODER_MODER0                    ((uint32_t)0x00000003)
+#define GPIO_Mode_OUT   0x01
+//#define GPIO_OSPEEDER_OSPEEDR0               ((uint32_t)0x00000003)
+//#define GPIO_OTYPER_OT_0                     ((uint32_t)0x00000001)
+//#define GPIO_PUPDR_PUPDR0                    ((uint32_t)0x00000003)
+
+#define GPIO_PuPd_NOPULL   0x00
+#define GPIO_Mode_AF       0x02
+#define GPIO_OType_PP      0x00
+#define GPIO_PuPd_NOPULL   0x00
+#define GPIO_Pin_0                 ((uint16_t)0x0001)  /* Pin 0 selected */
+#define GPIO_Pin_1                 ((uint16_t)0x0002)  /* Pin 1 selected */
+#define GPIO_Pin_2                 ((uint16_t)0x0004)  /* Pin 2 selected */
+#define GPIO_Pin_3                 ((uint16_t)0x0008)  /* Pin 3 selected */
+#define GPIO_Pin_4                 ((uint16_t)0x0010)  /* Pin 4 selected */
+#define GPIO_Pin_5                 ((uint16_t)0x0020)  /* Pin 5 selected */
+#define GPIO_Pin_6                 ((uint16_t)0x0040)  /* Pin 6 selected */
+#define GPIO_Pin_7                 ((uint16_t)0x0080)  /* Pin 7 selected */
+#define GPIO_Pin_8                 ((uint16_t)0x0100)  /* Pin 8 selected */
+#define GPIO_Pin_9                 ((uint16_t)0x0200)  /* Pin 9 selected */
+#define GPIO_Pin_10                ((uint16_t)0x0400)  /* Pin 10 selected */
+#define GPIO_Pin_11                ((uint16_t)0x0800)  /* Pin 11 selected */
+#define GPIO_Pin_12                ((uint16_t)0x1000)  /* Pin 12 selected */
+#define GPIO_Pin_13                ((uint16_t)0x2000)  /* Pin 13 selected */
+#define GPIO_Pin_14                ((uint16_t)0x4000)  /* Pin 14 selected */
+#define GPIO_Pin_15                ((uint16_t)0x8000)  /* Pin 15 selected */
+#define GPIO_Pin_All               ((uint16_t)0xFFFF)  /* All pins selected */
+
+
+
+
+typedef struct TIM_TimeBaseInitTypeDef
+{
+  uint16_t TIM_Prescaler;         /*!< Specifies the prescaler value used to divide the TIM clock.
+                                       This parameter can be a number between 0x0000 and 0xFFFF */
+
+  uint16_t TIM_CounterMode;       /*!< Specifies the counter mode.
+                                       This parameter can be a value of @ref TIM_Counter_Mode */
+
+  uint32_t TIM_Period;            /*!< Specifies the period value to be loaded into the active
+                                       Auto-Reload Register at the next update event.
+                                       This parameter must be a number between 0x0000 and 0xFFFF.  */
+
+  uint16_t TIM_ClockDivision;     /*!< Specifies the clock division.
+                                      This parameter can be a value of @ref TIM_Clock_Division_CKD */
+
+  uint8_t TIM_RepetitionCounter;  /*!< Specifies the repetition counter value. Each time the RCR downcounter
+                                       reaches zero, an update event is generated and counting restarts
+                                       from the RCR value (N).
+                                       This means in PWM mode that (N+1) corresponds to:
+                                          - the number of PWM periods in edge-aligned mode
+                                          - the number of half PWM period in center-aligned mode
+                                       This parameter must be a number between 0x00 and 0xFF.
+                                       @note This parameter is valid only for TIM1 and TIM8. */
+} TIM_TimeBaseInitTypeDef;
+
+
+typedef struct
+{
+  uint16_t setcount;
+
+} encoder;
+
+
+
+
+
+typedef struct
+{
+  uint16_t TIM_OCMode;        /*!< Specifies the TIM mode.
+                                   This parameter can be a value of @ref TIM_Output_Compare_and_PWM_modes */
+
+  uint16_t TIM_OutputState;   /*!< Specifies the TIM Output Compare state.
+                                   This parameter can be a value of @ref TIM_Output_Compare_State */
+
+  uint16_t TIM_OutputNState;  /*!< Specifies the TIM complementary Output Compare state.
+                                   This parameter can be a value of @ref TIM_Output_Compare_N_State
+                                   @note This parameter is valid only for TIM1 and TIM8. */
+
+  uint32_t TIM_Pulse;         /*!< Specifies the pulse value to be loaded into the Capture Compare Register.
+                                   This parameter can be a number between 0x0000 and 0xFFFF */
+
+  uint16_t TIM_OCPolarity;    /*!< Specifies the output polarity.
+                                   This parameter can be a value of @ref TIM_Output_Compare_Polarity */
+
+  uint16_t TIM_OCNPolarity;   /*!< Specifies the complementary output polarity.
+                                   This parameter can be a value of @ref TIM_Output_Compare_N_Polarity
+                                   @note This parameter is valid only for TIM1 and TIM8. */
+
+  uint16_t TIM_OCIdleState;   /*!< Specifies the TIM Output Compare pin state during Idle state.
+                                   This parameter can be a value of @ref TIM_Output_Compare_Idle_State
+                                   @note This parameter is valid only for TIM1 and TIM8. */
+
+  uint16_t TIM_OCNIdleState;  /*!< Specifies the TIM Output Compare pin state during Idle state.
+                                   This parameter can be a value of @ref TIM_Output_Compare_N_Idle_State
+                                   @note This parameter is valid only for TIM1 and TIM8. */
+} TIM_OCInitTypeDef;
+
+
+
+typedef struct
+{
+
+  uint16_t TIM_Channel;      /*!< Specifies the TIM channel.
+                                  This parameter can be a value of @ref TIM_Channel */
+
+  uint16_t TIM_ICPolarity;   /*!< Specifies the active edge of the input signal.
+                                  This parameter can be a value of @ref TIM_Input_Capture_Polarity */
+
+  uint16_t TIM_ICSelection;  /*!< Specifies the input.
+                                  This parameter can be a value of @ref TIM_Input_Capture_Selection */
+
+  uint16_t TIM_ICPrescaler;  /*!< Specifies the Input Capture Prescaler.
+                                  This parameter can be a value of @ref TIM_Input_Capture_Prescaler */
+
+  uint16_t TIM_ICFilter;     /*!< Specifies the input capture filter.
+                                  This parameter can be a number between 0x0 and 0xF */
+} TIM_ICInitTypeDef;
+
+
+
+typedef struct
+{
+
+  uint16_t TIM_OSSRState;        /*!< Specifies the Off-State selection used in Run mode.
+                                      This parameter can be a value of @ref TIM_OSSR_Off_State_Selection_for_Run_mode_state */
+
+  uint16_t TIM_OSSIState;        /*!< Specifies the Off-State used in Idle state.
+                                      This parameter can be a value of @ref TIM_OSSI_Off_State_Selection_for_Idle_mode_state */
+
+  uint16_t TIM_LOCKLevel;        /*!< Specifies the LOCK level parameters.
+                                      This parameter can be a value of @ref TIM_Lock_level */
+
+  uint16_t TIM_DeadTime;         /*!< Specifies the delay time between the switching-off and the
+                                      switching-on of the outputs.
+                                      This parameter can be a number between 0x00 and 0xFF  */
+
+  uint16_t TIM_Break;            /*!< Specifies whether the TIM Break input is enabled or not.
+                                      This parameter can be a value of @ref TIM_Break_Input_enable_disable */
+
+  uint16_t TIM_BreakPolarity;    /*!< Specifies the TIM Break Input pin polarity.
+                                      This parameter can be a value of @ref TIM_Break_Polarity */
+
+  uint16_t TIM_AutomaticOutput;  /*!< Specifies whether the TIM Automatic Output feature is enabled or not.
+                                      This parameter can be a value of @ref TIM_AOE_Bit_Set_Reset */
+} TIM_BDTRInitTypeDef;
+
+
+#define GPIO_PinSource0            ((uint8_t)0x00)
+#define GPIO_PinSource1            ((uint8_t)0x01)
+#define GPIO_PinSource2            ((uint8_t)0x02)
+#define GPIO_PinSource3            ((uint8_t)0x03)
+#define GPIO_PinSource4            ((uint8_t)0x04)
+#define GPIO_PinSource5            ((uint8_t)0x05)
+#define GPIO_PinSource6            ((uint8_t)0x06)
+#define GPIO_PinSource7            ((uint8_t)0x07)
+#define GPIO_PinSource8            ((uint8_t)0x08)
+#define GPIO_PinSource9            ((uint8_t)0x09)
+#define GPIO_PinSource10           ((uint8_t)0x0A)
+#define GPIO_PinSource11           ((uint8_t)0x0B)
+#define GPIO_PinSource12           ((uint8_t)0x0C)
+#define GPIO_PinSource13           ((uint8_t)0x0D)
+#define GPIO_PinSource14           ((uint8_t)0x0E)
+#define GPIO_PinSource15           ((uint8_t)0x0F)
+#define GPIO_AF_TIM8          ((uint8_t)0x03)  /* TIM8 Alternate Function mapping */
+#define GPIO_AF_TIM3          ((uint8_t)0x02)  /* TIM3 Alternate Function mapping */
+#define GPIO_AF_TIM4          ((uint8_t)0x02)  /* TIM4 Alternate Function mapping */
+#define GPIO_AF_TIM5          ((uint8_t)0x02)  /* TIM5 Alternate Function mapping */
+#define GPIO_AF_TIM1          ((uint8_t)0x01)  /* TIM1 Alternate Function mapping */
+#define GPIO_AF_TIM2          ((uint8_t)0x01)  /* TIM2 Alternate Function mapping */
+
+#define TIM4                ((TIM_TypeDef *) TIM4_BASE)
+#define TIM8                ((TIM_TypeDef *) TIM8_BASE)
+#define TIM_EncoderMode_TI12               ((uint16_t)0x0003)
+#define  TIM_ICPolarity_Rising             ((uint16_t)0x0000)
+#define  TIM_ICPolarity_Falling            ((uint16_t)0x0002)
+//#define  TIM_CR1_CEN                         ((uint16_t)0x0001)            /*!<Counter enable */
+//#define  TIM_CR1_CEN                         ((uint16_t)0x0001)            /*!<Counter enable */
+
+#define IS_TIM_ALL_PERIPH(PERIPH) (((PERIPH) == TIM1) || \
+                                   ((PERIPH) == TIM2) || \
+                                   ((PERIPH) == TIM3) || \
+                                   ((PERIPH) == TIM4) || \
+                                   ((PERIPH) == TIM5) || \
+                                   ((PERIPH) == TIM6) || \
+                                   ((PERIPH) == TIM7) || \
+                                   ((PERIPH) == TIM8) || \
+                                   ((PERIPH) == TIM9) || \
+                                   ((PERIPH) == TIM10) || \
+                                   ((PERIPH) == TIM11) || \
+                                   ((PERIPH) == TIM12) || \
+                                   (((PERIPH) == TIM13) || \
+                                    ((PERIPH) == TIM14)))
+
+#define IS_TIM_LIST1_PERIPH(PERIPH) (((PERIPH) == TIM1) || \
+                                     ((PERIPH) == TIM2) || \
+                                     ((PERIPH) == TIM3) || \
+                                     ((PERIPH) == TIM4) || \
+                                     ((PERIPH) == TIM5) || \
+                                     ((PERIPH) == TIM8) || \
+                                     ((PERIPH) == TIM9) || \
+                                     ((PERIPH) == TIM10) || \
+                                     ((PERIPH) == TIM11) || \
+                                     ((PERIPH) == TIM12) || \
+                                     ((PERIPH) == TIM13) || \
+                                     ((PERIPH) == TIM14))
+
+
+#define IS_TIM_LIST2_PERIPH(PERIPH) (((PERIPH) == TIM1) || \
+                                     ((PERIPH) == TIM2) || \
+                                     ((PERIPH) == TIM3) || \
+                                     ((PERIPH) == TIM4) || \
+                                     ((PERIPH) == TIM5) || \
+                                     ((PERIPH) == TIM8) || \
+                                     ((PERIPH) == TIM9) || \
+                                     ((PERIPH) == TIM12))
+
+#define IS_TIM_LIST3_PERIPH(PERIPH) (((PERIPH) == TIM1) || \
+                                     ((PERIPH) == TIM2) || \
+                                     ((PERIPH) == TIM3) || \
+                                     ((PERIPH) == TIM4) || \
+                                     ((PERIPH) == TIM5) || \
+                                     ((PERIPH) == TIM8))
+
+#define IS_TIM_LIST4_PERIPH(PERIPH) (((PERIPH) == TIM1) || \
+                                     ((PERIPH) == TIM8))
+
+#define IS_TIM_LIST5_PERIPH(PERIPH) (((PERIPH) == TIM1) || \
+                                     ((PERIPH) == TIM2) || \
+                                     ((PERIPH) == TIM3) || \
+                                     ((PERIPH) == TIM4) || \
+                                     ((PERIPH) == TIM5) || \
+                                     ((PERIPH) == TIM6) || \
+                                     ((PERIPH) == TIM7) || \
+                                     ((PERIPH) == TIM8))
+
+#define IS_TIM_LIST6_PERIPH(TIMx)(((TIMx) == TIM2) || \
+                                  ((TIMx) == TIM5) || \
+                                  ((TIMx) == TIM11))
+
+
+
+#define TIM_OCMode_Timing                  ((uint16_t)0x0000)
+#define TIM_OCMode_Active                  ((uint16_t)0x0010)
+#define TIM_OCMode_Inactive                ((uint16_t)0x0020)
+#define TIM_OCMode_Toggle                  ((uint16_t)0x0030)
+#define TIM_OCMode_PWM1                    ((uint16_t)0x0060)
+#define TIM_OCMode_PWM2                    ((uint16_t)0x0070)
+//#define IS_TIM_OC_MODE(MODE) (((MODE) == TIM_OCMode_Timing) || \
+//                              ((MODE) == TIM_OCMode_Active) || \
+//                              ((MODE) == TIM_OCMode_Inactive) || \
+//                              ((MODE) == TIM_OCMode_Toggle)|| \
+//                              ((MODE) == TIM_OCMode_PWM1) || \
+//                              ((MODE) == TIM_OCMode_PWM2))
+#define IS_TIM_OCM(MODE) (((MODE) == TIM_OCMode_Timing) || \
+                          ((MODE) == TIM_OCMode_Active) || \
+                          ((MODE) == TIM_OCMode_Inactive) || \
+                          ((MODE) == TIM_OCMode_Toggle)|| \
+                          ((MODE) == TIM_OCMode_PWM1) || \
+                          ((MODE) == TIM_OCMode_PWM2) ||  \
+                          ((MODE) == TIM_ForcedAction_Active) || \
+                          ((MODE) == TIM_ForcedAction_InActive))
+
+
+#define TIM_OPMode_Single                  ((uint16_t)0x0008)
+#define TIM_OPMode_Repetitive              ((uint16_t)0x0000)
+//#define IS_TIM_OPM_MODE(MODE) (((MODE) == TIM_OPMode_Single) || \
+//                               ((MODE) == TIM_OPMode_Repetitive))
+
+
+#define TIM_Channel_1                      ((uint16_t)0x0000)
+#define TIM_Channel_2                      ((uint16_t)0x0004)
+#define TIM_Channel_3                      ((uint16_t)0x0008)
+#define TIM_Channel_4                      ((uint16_t)0x000C)
+
+#define IS_TIM_CHANNEL(CHANNEL) (((CHANNEL) == TIM_Channel_1) || \
+                                 ((CHANNEL) == TIM_Channel_2) || \
+                                 ((CHANNEL) == TIM_Channel_3) || \
+                                 ((CHANNEL) == TIM_Channel_4))
+
+#define IS_TIM_PWMI_CHANNEL(CHANNEL) (((CHANNEL) == TIM_Channel_1) || \
+                                      ((CHANNEL) == TIM_Channel_2))
+#define IS_TIM_COMPLEMENTARY_CHANNEL(CHANNEL) (((CHANNEL) == TIM_Channel_1) || \
+    ((CHANNEL) == TIM_Channel_2) || \
+    ((CHANNEL) == TIM_Channel_3))
+
+
+#define TIM_CKD_DIV1                       ((uint16_t)0x0000)
+#define TIM_CKD_DIV2                       ((uint16_t)0x0100)
+#define TIM_CKD_DIV4                       ((uint16_t)0x0200)
+#define IS_TIM_CKD_DIV(DIV) (((DIV) == TIM_CKD_DIV1) || \
+                             ((DIV) == TIM_CKD_DIV2) || \
+                             ((DIV) == TIM_CKD_DIV4))
+
+
+#define TIM_CounterMode_Up                 ((uint16_t)0x0000)
+#define TIM_CounterMode_Down               ((uint16_t)0x0010)
+#define TIM_CounterMode_CenterAligned1     ((uint16_t)0x0020)
+#define TIM_CounterMode_CenterAligned2     ((uint16_t)0x0040)
+#define TIM_CounterMode_CenterAligned3     ((uint16_t)0x0060)
+//#define IS_TIM_COUNTER_MODE(MODE) (((MODE) == TIM_CounterMode_Up) ||  \
+//                                   ((MODE) == TIM_CounterMode_Down) || \
+//                                   ((MODE) == TIM_CounterMode_CenterAligned1) || \
+//                                   ((MODE) == TIM_CounterMode_CenterAligned2) || \
+//                                   ((MODE) == TIM_CounterMode_CenterAligned3))
+
+
+#define TIM_OCPolarity_High                ((uint16_t)0x0000)
+#define TIM_OCPolarity_Low                 ((uint16_t)0x0002)
+//#define IS_TIM_OC_POLARITY(POLARITY) (((POLARITY) == TIM_OCPolarity_High) || \
+//                                      ((POLARITY) == TIM_OCPolarity_Low))
+
+
+#define TIM_OCNPolarity_High               ((uint16_t)0x0000)
+#define TIM_OCNPolarity_Low                ((uint16_t)0x0008)
+//#define IS_TIM_OCN_POLARITY(POLARITY) (((POLARITY) == TIM_OCNPolarity_High) || \
+//                                       ((POLARITY) == TIM_OCNPolarity_Low))
+
+#define TIM_OutputState_Disable            ((uint16_t)0x0000)
+#define TIM_OutputState_Enable             ((uint16_t)0x0001)
+#define IS_TIM_OUTPUT_STATE(STATE) (((STATE) == TIM_OutputState_Disable) || \
+                                    ((STATE) == TIM_OutputState_Enable))
+
+
+#define TIM_OutputNState_Disable           ((uint16_t)0x0000)
+#define TIM_OutputNState_Enable            ((uint16_t)0x0004)
+#define IS_TIM_OUTPUTN_STATE(STATE) (((STATE) == TIM_OutputNState_Disable) || \
+                                     ((STATE) == TIM_OutputNState_Enable))
+
+
+#define TIM_CCx_Enable                      ((uint16_t)0x0001)
+#define TIM_CCx_Disable                     ((uint16_t)0x0000)
+#define IS_TIM_CCX(CCX) (((CCX) == TIM_CCx_Enable) || \
+                         ((CCX) == TIM_CCx_Disable))
+
+
+#define TIM_CCxN_Enable                     ((uint16_t)0x0004)
+#define TIM_CCxN_Disable                    ((uint16_t)0x0000)
+#define IS_TIM_CCXN(CCXN) (((CCXN) == TIM_CCxN_Enable) || \
+                           ((CCXN) == TIM_CCxN_Disable))
+
+
+#define TIM_Break_Enable                   ((uint16_t)0x1000)
+#define TIM_Break_Disable                  ((uint16_t)0x0000)
+//#define IS_TIM_BREAK_STATE(STATE) (((STATE) == TIM_Break_Enable) || \
+//                                   ((STATE) == TIM_Break_Disable))
+
+
+#define TIM_BreakPolarity_Low              ((uint16_t)0x0000)
+#define TIM_BreakPolarity_High             ((uint16_t)0x2000)
+//#define IS_TIM_BREAK_POLARITY(POLARITY) (((POLARITY) == TIM_BreakPolarity_Low) || \
+//    ((POLARITY) == TIM_BreakPolarity_High))
+
+
+#define TIM_AutomaticOutput_Enable         ((uint16_t)0x4000)
+#define TIM_AutomaticOutput_Disable        ((uint16_t)0x0000)
+//#define IS_TIM_AUTOMATIC_OUTPUT_STATE(STATE) (((STATE) == TIM_AutomaticOutput_Enable) || \
+//    ((STATE) == TIM_AutomaticOutput_Disable))
+
+
+#define TIM_LOCKLevel_OFF                  ((uint16_t)0x0000)
+#define TIM_LOCKLevel_1                    ((uint16_t)0x0100)
+#define TIM_LOCKLevel_2                    ((uint16_t)0x0200)
+#define TIM_LOCKLevel_3                    ((uint16_t)0x0300)
+//#define IS_TIM_LOCK_LEVEL(LEVEL) (((LEVEL) == TIM_LOCKLevel_OFF) || \
+//                                  ((LEVEL) == TIM_LOCKLevel_1) || \
+//                                  ((LEVEL) == TIM_LOCKLevel_2) || \
+//                                  ((LEVEL) == TIM_LOCKLevel_3))
+
+
+#define TIM_OSSIState_Enable               ((uint16_t)0x0400)
+#define TIM_OSSIState_Disable              ((uint16_t)0x0000)
+//#define IS_TIM_OSSI_STATE(STATE) (((STATE) == TIM_OSSIState_Enable) || \
+//                                  ((STATE) == TIM_OSSIState_Disable))
+
+
+#define TIM_OSSRState_Enable               ((uint16_t)0x0800)
+#define TIM_OSSRState_Disable              ((uint16_t)0x0000)
+//#define IS_TIM_OSSR_STATE(STATE) (((STATE) == TIM_OSSRState_Enable) || \
+//                                  ((STATE) == TIM_OSSRState_Disable))
+
+
+#define TIM_OCIdleState_Set                ((uint16_t)0x0100)
+#define TIM_OCIdleState_Reset              ((uint16_t)0x0000)
+//#define IS_TIM_OCIDLE_STATE(STATE) (((STATE) == TIM_OCIdleState_Set) || \
+//                                    ((STATE) == TIM_OCIdleState_Reset))
+//
+
+#define TIM_OCNIdleState_Set               ((uint16_t)0x0200)
+#define TIM_OCNIdleState_Reset             ((uint16_t)0x0000)
+//#define IS_TIM_OCNIDLE_STATE(STATE) (((STATE) == TIM_OCNIdleState_Set) || \
+//                                     ((STATE) == TIM_OCNIdleState_Reset))
+
+
+#define  TIM_ICPolarity_Rising             ((uint16_t)0x0000)
+#define  TIM_ICPolarity_Falling            ((uint16_t)0x0002)
+#define  TIM_ICPolarity_BothEdge           ((uint16_t)0x000A)
+//#define IS_TIM_IC_POLARITY(POLARITY) (((POLARITY) == TIM_ICPolarity_Rising) || \
+//                                      ((POLARITY) == TIM_ICPolarity_Falling)|| \
+//                                      ((POLARITY) == TIM_ICPolarity_BothEdge))
+
+
+#define TIM_ICSelection_DirectTI           ((uint16_t)0x0001) /*!< TIM Input 1, 2, 3 or 4 is selected to be 
+                                                                   connected to IC1, IC2, IC3 or IC4, respectively */
+#define TIM_ICSelection_IndirectTI         ((uint16_t)0x0002) /*!< TIM Input 1, 2, 3 or 4 is selected to be
+                                                                   connected to IC2, IC1, IC4 or IC3, respectively. */
+#define TIM_ICSelection_TRC                ((uint16_t)0x0003) /*!< TIM Input 1, 2, 3 or 4 is selected to be connected to TRC. */
+//#define IS_TIM_IC_SELECTION(SELECTION) (((SELECTION) == TIM_ICSelection_DirectTI) || \
+//                                        ((SELECTION) == TIM_ICSelection_IndirectTI) || \
+//                                        ((SELECTION) == TIM_ICSelection_TRC))
+
+
+//#define TIM_ICPSC_DIV1                     ((uint16_t)0x0000) /*!< Capture performed each time an edge is detected on the capture input. */
+//#define TIM_ICPSC_DIV2                     ((uint16_t)0x0004) /*!< Capture performed once every 2 events. */
+//#define TIM_ICPSC_DIV4                     ((uint16_t)0x0008) /*!< Capture performed once every 4 events. */
+//#define TIM_ICPSC_DIV8                     ((uint16_t)0x000C) /*!< Capture performed once every 8 events. */
+//#define IS_TIM_IC_PRESCALER(PRESCALER) (((PRESCALER) == TIM_ICPSC_DIV1) || \
+//                                        ((PRESCALER) == TIM_ICPSC_DIV2) || \
+//                                        ((PRESCALER) == TIM_ICPSC_DIV4) || \
+//                                        ((PRESCALER) == TIM_ICPSC_DIV8))
+
+
+#define TIM_IT_Update                      ((uint16_t)0x0001)
+//#define TIM_IT_CC1                         ((uint16_t)0x0002)
+//#define TIM_IT_CC2                         ((uint16_t)0x0004)
+//#define TIM_IT_CC3                         ((uint16_t)0x0008)
+//#define TIM_IT_CC4                         ((uint16_t)0x0010)
+//#define TIM_IT_COM                         ((uint16_t)0x0020)
+#define TIM_IT_Trigger                     ((uint16_t)0x0040)
+#define TIM_IT_Break                       ((uint16_t)0x0080)
+#define IS_TIM_IT(IT) ((((IT) & (uint16_t)0xFF00) == 0x0000) && ((IT) != 0x0000))
+
+#define IS_TIM_GET_IT(IT) (((IT) == TIM_IT_Update) || \
+                           ((IT) == TIM_IT_CC1) || \
+                           ((IT) == TIM_IT_CC2) || \
+                           ((IT) == TIM_IT_CC3) || \
+                           ((IT) == TIM_IT_CC4) || \
+                           ((IT) == TIM_IT_COM) || \
+                           ((IT) == TIM_IT_Trigger) || \
+                           ((IT) == TIM_IT_Break))
+
+
+//#define TIM_DMABase_CR1                    ((uint16_t)0x0000)
+//#define TIM_DMABase_CR2                    ((uint16_t)0x0001)
+//#define TIM_DMABase_SMCR                   ((uint16_t)0x0002)
+//#define TIM_DMABase_DIER                   ((uint16_t)0x0003)
+//#define TIM_DMABase_SR                     ((uint16_t)0x0004)
+//#define TIM_DMABase_EGR                    ((uint16_t)0x0005)
+//#define TIM_DMABase_CCMR1                  ((uint16_t)0x0006)
+//#define TIM_DMABase_CCMR2                  ((uint16_t)0x0007)
+//#define TIM_DMABase_CCER                   ((uint16_t)0x0008)
+//#define TIM_DMABase_CNT                    ((uint16_t)0x0009)
+//#define TIM_DMABase_PSC                    ((uint16_t)0x000A)
+//#define TIM_DMABase_ARR                    ((uint16_t)0x000B)
+//#define TIM_DMABase_RCR                    ((uint16_t)0x000C)
+//#define TIM_DMABase_CCR1                   ((uint16_t)0x000D)
+//#define TIM_DMABase_CCR2                   ((uint16_t)0x000E)
+//#define TIM_DMABase_CCR3                   ((uint16_t)0x000F)
+//#define TIM_DMABase_CCR4                   ((uint16_t)0x0010)
+//#define TIM_DMABase_BDTR                   ((uint16_t)0x0011)
+//#define TIM_DMABase_DCR                    ((uint16_t)0x0012)
+//#define TIM_DMABase_OR                     ((uint16_t)0x0013)
+//#define IS_TIM_DMA_BASE(BASE) (((BASE) == TIM_DMABase_CR1) || \
+//                               ((BASE) == TIM_DMABase_CR2) || \
+//                               ((BASE) == TIM_DMABase_SMCR) || \
+//                               ((BASE) == TIM_DMABase_DIER) || \
+//                               ((BASE) == TIM_DMABase_SR) || \
+//                               ((BASE) == TIM_DMABase_EGR) || \
+//                               ((BASE) == TIM_DMABase_CCMR1) || \
+//                               ((BASE) == TIM_DMABase_CCMR2) || \
+//                               ((BASE) == TIM_DMABase_CCER) || \
+//                               ((BASE) == TIM_DMABase_CNT) || \
+//                               ((BASE) == TIM_DMABase_PSC) || \
+//                               ((BASE) == TIM_DMABase_ARR) || \
+//                               ((BASE) == TIM_DMABase_RCR) || \
+//                               ((BASE) == TIM_DMABase_CCR1) || \
+//                               ((BASE) == TIM_DMABase_CCR2) || \
+//                               ((BASE) == TIM_DMABase_CCR3) || \
+//                               ((BASE) == TIM_DMABase_CCR4) || \
+//                               ((BASE) == TIM_DMABase_BDTR) || \
+//                               ((BASE) == TIM_DMABase_DCR) || \
+//                               ((BASE) == TIM_DMABase_OR))
+
+
+//#define TIM_DMABurstLength_1Transfer           ((uint16_t)0x0000)
+//#define TIM_DMABurstLength_2Transfers          ((uint16_t)0x0100)
+//#define TIM_DMABurstLength_3Transfers          ((uint16_t)0x0200)
+//#define TIM_DMABurstLength_4Transfers          ((uint16_t)0x0300)
+//#define TIM_DMABurstLength_5Transfers          ((uint16_t)0x0400)
+//#define TIM_DMABurstLength_6Transfers          ((uint16_t)0x0500)
+//#define TIM_DMABurstLength_7Transfers          ((uint16_t)0x0600)
+//#define TIM_DMABurstLength_8Transfers          ((uint16_t)0x0700)
+//#define TIM_DMABurstLength_9Transfers          ((uint16_t)0x0800)
+//#define TIM_DMABurstLength_10Transfers         ((uint16_t)0x0900)
+//#define TIM_DMABurstLength_11Transfers         ((uint16_t)0x0A00)
+//#define TIM_DMABurstLength_12Transfers         ((uint16_t)0x0B00)
+//#define TIM_DMABurstLength_13Transfers         ((uint16_t)0x0C00)
+//#define TIM_DMABurstLength_14Transfers         ((uint16_t)0x0D00)
+//#define TIM_DMABurstLength_15Transfers         ((uint16_t)0x0E00)
+//#define TIM_DMABurstLength_16Transfers         ((uint16_t)0x0F00)
+//#define TIM_DMABurstLength_17Transfers         ((uint16_t)0x1000)
+//#define TIM_DMABurstLength_18Transfers         ((uint16_t)0x1100)
+//#define IS_TIM_DMA_LENGTH(LENGTH) (((LENGTH) == TIM_DMABurstLength_1Transfer) || \
+//                                   ((LENGTH) == TIM_DMABurstLength_2Transfers) || \
+//                                   ((LENGTH) == TIM_DMABurstLength_3Transfers) || \
+//                                   ((LENGTH) == TIM_DMABurstLength_4Transfers) || \
+//                                   ((LENGTH) == TIM_DMABurstLength_5Transfers) || \
+//                                   ((LENGTH) == TIM_DMABurstLength_6Transfers) || \
+//                                   ((LENGTH) == TIM_DMABurstLength_7Transfers) || \
+//                                   ((LENGTH) == TIM_DMABurstLength_8Transfers) || \
+//                                   ((LENGTH) == TIM_DMABurstLength_9Transfers) || \
+//                                   ((LENGTH) == TIM_DMABurstLength_10Transfers) || \
+//                                   ((LENGTH) == TIM_DMABurstLength_11Transfers) || \
+//                                   ((LENGTH) == TIM_DMABurstLength_12Transfers) || \
+//                                   ((LENGTH) == TIM_DMABurstLength_13Transfers) || \
+//                                   ((LENGTH) == TIM_DMABurstLength_14Transfers) || \
+//                                   ((LENGTH) == TIM_DMABurstLength_15Transfers) || \
+//                                   ((LENGTH) == TIM_DMABurstLength_16Transfers) || \
+//                                   ((LENGTH) == TIM_DMABurstLength_17Transfers) || \
+//                                   ((LENGTH) == TIM_DMABurstLength_18Transfers))
+
+
+//#define TIM_DMA_Update                     ((uint16_t)0x0100)
+//#define TIM_DMA_CC1                        ((uint16_t)0x0200)
+//#define TIM_DMA_CC2                        ((uint16_t)0x0400)
+//#define TIM_DMA_CC3                        ((uint16_t)0x0800)
+//#define TIM_DMA_CC4                        ((uint16_t)0x1000)
+//#define TIM_DMA_COM                        ((uint16_t)0x2000)
+//#define TIM_DMA_Trigger                    ((uint16_t)0x4000)
+//#define IS_TIM_DMA_SOURCE(SOURCE) ((((SOURCE) & (uint16_t)0x80FF) == 0x0000) && ((SOURCE) != 0x0000))
+
+
+
+#define TIM_ExtTRGPSC_OFF                  ((uint16_t)0x0000)
+#define TIM_ExtTRGPSC_DIV2                 ((uint16_t)0x1000)
+#define TIM_ExtTRGPSC_DIV4                 ((uint16_t)0x2000)
+#define TIM_ExtTRGPSC_DIV8                 ((uint16_t)0x3000)
+#define IS_TIM_EXT_PRESCALER(PRESCALER) (((PRESCALER) == TIM_ExtTRGPSC_OFF) || \
+    ((PRESCALER) == TIM_ExtTRGPSC_DIV2) || \
+    ((PRESCALER) == TIM_ExtTRGPSC_DIV4) || \
+    ((PRESCALER) == TIM_ExtTRGPSC_DIV8))
+
+
+//#define TIM_TS_ITR0                        ((uint16_t)0x0000)
+//#define TIM_TS_ITR1                        ((uint16_t)0x0010)
+//#define TIM_TS_ITR2                        ((uint16_t)0x0020)
+//#define TIM_TS_ITR3                        ((uint16_t)0x0030)
+//#define TIM_TS_TI1F_ED                     ((uint16_t)0x0040)
+//#define TIM_TS_TI1FP1                      ((uint16_t)0x0050)
+//#define TIM_TS_TI2FP2                      ((uint16_t)0x0060)
+//#define TIM_TS_ETRF                        ((uint16_t)0x0070)
+//#define IS_TIM_TRIGGER_SELECTION(SELECTION) (((SELECTION) == TIM_TS_ITR0) || \
+//    ((SELECTION) == TIM_TS_ITR1) || \
+//    ((SELECTION) == TIM_TS_ITR2) || \
+//    ((SELECTION) == TIM_TS_ITR3) || \
+//    ((SELECTION) == TIM_TS_TI1F_ED) || \
+//    ((SELECTION) == TIM_TS_TI1FP1) || \
+//    ((SELECTION) == TIM_TS_TI2FP2) || \
+//    ((SELECTION) == TIM_TS_ETRF))
+#define IS_TIM_INTERNAL_TRIGGER_SELECTION(SELECTION) (((SELECTION) == TIM_TS_ITR0) || \
+    ((SELECTION) == TIM_TS_ITR1) || \
+    ((SELECTION) == TIM_TS_ITR2) || \
+    ((SELECTION) == TIM_TS_ITR3))
+
+
+#define TIM_TIxExternalCLK1Source_TI1      ((uint16_t)0x0050)
+#define TIM_TIxExternalCLK1Source_TI2      ((uint16_t)0x0060)
+#define TIM_TIxExternalCLK1Source_TI1ED    ((uint16_t)0x0040)
+
+
+#define TIM_ExtTRGPolarity_Inverted        ((uint16_t)0x8000)
+#define TIM_ExtTRGPolarity_NonInverted     ((uint16_t)0x0000)
+#define IS_TIM_EXT_POLARITY(POLARITY) (((POLARITY) == TIM_ExtTRGPolarity_Inverted) || \
+                                       ((POLARITY) == TIM_ExtTRGPolarity_NonInverted))
+
+
+#define TIM_PSCReloadMode_Update           ((uint16_t)0x0000)
+#define TIM_PSCReloadMode_Immediate        ((uint16_t)0x0001)
+#define IS_TIM_PRESCALER_RELOAD(RELOAD) (((RELOAD) == TIM_PSCReloadMode_Update) || \
+    ((RELOAD) == TIM_PSCReloadMode_Immediate))
+
+#define TIM_ForcedAction_Active            ((uint16_t)0x0050)
+#define TIM_ForcedAction_InActive          ((uint16_t)0x0040)
+#define IS_TIM_FORCED_ACTION(ACTION) (((ACTION) == TIM_ForcedAction_Active) || \
+                                      ((ACTION) == TIM_ForcedAction_InActive))
+
+
+#define TIM_EncoderMode_TI1                ((uint16_t)0x0001)
+#define TIM_EncoderMode_TI2                ((uint16_t)0x0002)
+#define TIM_EncoderMode_TI12               ((uint16_t)0x0003)
+//#define IS_TIM_ENCODER_MODE(MODE) (((MODE) == TIM_EncoderMode_TI1) || \
+//                                   ((MODE) == TIM_EncoderMode_TI2) || \
+//                                   ((MODE) == TIM_EncoderMode_TI12))
+
+
+//#define TIM_EventSource_Update             ((uint16_t)0x0001)
+//#define TIM_EventSource_CC1                ((uint16_t)0x0002)
+//#define TIM_EventSource_CC2                ((uint16_t)0x0004)
+//#define TIM_EventSource_CC3                ((uint16_t)0x0008)
+//#define TIM_EventSource_CC4                ((uint16_t)0x0010)
+//#define TIM_EventSource_COM                ((uint16_t)0x0020)
+//#define TIM_EventSource_Trigger            ((uint16_t)0x0040)
+//#define TIM_EventSource_Break              ((uint16_t)0x0080)
+//#define IS_TIM_EVENT_SOURCE(SOURCE) ((((SOURCE) & (uint16_t)0xFF00) == 0x0000) && ((SOURCE) != 0x0000))
+
+
+
+#define TIM_UpdateSource_Global            ((uint16_t)0x0000) /*!< Source of update is the counter overflow/underflow
+                                                                   or the setting of UG bit, or an update generation
+                                                                   through the slave mode controller. */
+#define TIM_UpdateSource_Regular           ((uint16_t)0x0001) /*!< Source of update is counter overflow/underflow. */
+#define IS_TIM_UPDATE_SOURCE(SOURCE) (((SOURCE) == TIM_UpdateSource_Global) || \
+                                      ((SOURCE) == TIM_UpdateSource_Regular))
+
+
+#define TIM_OCPreload_Enable               ((uint16_t)0x0008)
+#define TIM_OCPreload_Disable              ((uint16_t)0x0000)
+#define IS_TIM_OCPRELOAD_STATE(STATE) (((STATE) == TIM_OCPreload_Enable) || \
+                                       ((STATE) == TIM_OCPreload_Disable))
+
+
+#define TIM_OCFast_Enable                  ((uint16_t)0x0004)
+#define TIM_OCFast_Disable                 ((uint16_t)0x0000)
+#define IS_TIM_OCFAST_STATE(STATE) (((STATE) == TIM_OCFast_Enable) || \
+                                    ((STATE) == TIM_OCFast_Disable))
+
+
+#define TIM_OCClear_Enable                 ((uint16_t)0x0080)
+#define TIM_OCClear_Disable                ((uint16_t)0x0000)
+#define IS_TIM_OCCLEAR_STATE(STATE) (((STATE) == TIM_OCClear_Enable) || \
+                                     ((STATE) == TIM_OCClear_Disable))
+
+#define TIM_TRGOSource_Reset               ((uint16_t)0x0000)
+#define TIM_TRGOSource_Enable              ((uint16_t)0x0010)
+#define TIM_TRGOSource_Update              ((uint16_t)0x0020)
+#define TIM_TRGOSource_OC1                 ((uint16_t)0x0030)
+#define TIM_TRGOSource_OC1Ref              ((uint16_t)0x0040)
+#define TIM_TRGOSource_OC2Ref              ((uint16_t)0x0050)
+#define TIM_TRGOSource_OC3Ref              ((uint16_t)0x0060)
+#define TIM_TRGOSource_OC4Ref              ((uint16_t)0x0070)
+//#define IS_TIM_TRGO_SOURCE(SOURCE) (((SOURCE) == TIM_TRGOSource_Reset) || \
+//                                    ((SOURCE) == TIM_TRGOSource_Enable) || \
+//                                    ((SOURCE) == TIM_TRGOSource_Update) || \
+//                                    ((SOURCE) == TIM_TRGOSource_OC1) || \
+//                                    ((SOURCE) == TIM_TRGOSource_OC1Ref) || \
+//                                    ((SOURCE) == TIM_TRGOSource_OC2Ref) || \
+//                                    ((SOURCE) == TIM_TRGOSource_OC3Ref) || \
+//                                    ((SOURCE) == TIM_TRGOSource_OC4Ref))
+
+
+
+
+#define TIM_SlaveMode_Reset                ((uint16_t)0x0004)
+#define TIM_SlaveMode_Gated                ((uint16_t)0x0005)
+#define TIM_SlaveMode_Trigger              ((uint16_t)0x0006)
+#define TIM_SlaveMode_External1            ((uint16_t)0x0007)
+//#define IS_TIM_SLAVE_MODE(MODE) (((MODE) == TIM_SlaveMode_Reset) || \
+//                                 ((MODE) == TIM_SlaveMode_Gated) || \
+//                                 ((MODE) == TIM_SlaveMode_Trigger) || \
+//                                 ((MODE) == TIM_SlaveMode_External1))
+
+#define TIM_MasterSlaveMode_Enable         ((uint16_t)0x0080)
+#define TIM_MasterSlaveMode_Disable        ((uint16_t)0x0000)
+//#define IS_TIM_MSM_STATE(STATE) (((STATE) == TIM_MasterSlaveMode_Enable) || \
+//                                 ((STATE) == TIM_MasterSlaveMode_Disable))
+
+#define TIM2_TIM8_TRGO                     ((uint16_t)0x0000)
+#define TIM2_ETH_PTP                       ((uint16_t)0x0400)
+#define TIM2_USBFS_SOF                     ((uint16_t)0x0800)
+#define TIM2_USBHS_SOF                     ((uint16_t)0x0C00)
+
+#define TIM5_GPIO                          ((uint16_t)0x0000)
+#define TIM5_LSI                           ((uint16_t)0x0040)
+#define TIM5_LSE                           ((uint16_t)0x0080)
+#define TIM5_RTC                           ((uint16_t)0x00C0)
+
+#define TIM11_GPIO                         ((uint16_t)0x0000)
+#define TIM11_HSE                          ((uint16_t)0x0002)
+
+
+enum EncTimer {
+  Tim2,
+  Tim3,
+  Tim4,
+  Tim8
+};
+
+class Encoder
+{
+  private:
+    int _pin;
+
+  public:
+    void  eattach(int enco);
+    Encoder();
+    void SetCount( enum EncTimer enc, int64_t Counter);
+    uint16_t  GetCount( enum EncTimer enc);
+    void attachh(int encoNumber);
+    uint16_t c;
+};
+
+void rcc_config();
+void GpioConfigPortA(GPIO_TypeDef * GPIOx) ;
+void GpioConfigPortC(GPIO_TypeDef * GPIOx) ;
+void GpioConfigPortD(GPIO_TypeDef * GPIOx) ;
+void TIM_EncoderInterConfig(TIM_TypeDef* TIMx, uint16_t TIM_EncoderMode, uint16_t TIM_IC1Polarity, uint16_t TIM_IC2Polarity);
+void TIM_TimeBaseStructInit(TIM_TimeBaseInitTypeDef* TIM_TimeBaseInitStruct);
+void TIM_TimeBaseInit(TIM_TypeDef* TIMx, TIM_TimeBaseInitTypeDef* TIM_TimeBaseInitStruct);
+#endif

Pcb-1-lan9252/Firmware/lib/soes/ecat_options.h

@@ -33,8 +33,8 @@
 #define SM3_smc          0x20
 #define SM3_act          1
 
-#define MAX_MAPPINGS_SM2 8
-#define MAX_MAPPINGS_SM3 7
+#define MAX_MAPPINGS_SM2 2
+#define MAX_MAPPINGS_SM3 5
 
 #define MAX_RXPDO_SIZE   512
 #define MAX_TXPDO_SIZE   512

Pcb-1-lan9252/Firmware/lib/soes/esi.json

@@ -57,7 +57,7 @@
         "pdo_mappings": [
           "txpdo"
         ],
-        "dtype": "REAL64",
+        "dtype": "REAL32",
         "value": "0",
         "data": "&Obj.EncPos"
       },
@@ -68,7 +68,7 @@
         "pdo_mappings": [
           "txpdo"
         ],
-        "dtype": "REAL64",
+        "dtype": "REAL32",
         "value": "0",
         "data": "&Obj.EncFrequency"
       },
@@ -104,46 +104,6 @@
         "dtype": "UNSIGNED32",
         "value": "0",
         "data": "&Obj.IndexStatus"
-      },
-      "6005": {
-        "otype": "RECORD",
-        "name": "StepGenOut1",
-        "access": "RO",
-        "items": [
-          {
-            "name": "Max SubIndex"
-          },
-          {
-            "name": "ActualPosition",
-            "dtype": "REAL64",
-            "data": "&Obj.StepGenOut1.ActualPosition",
-            "value": "0",
-            "access": "RO"
-          }
-        ],
-        "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": {
@@ -169,71 +129,6 @@
         "value": "0",
         "data": "&Obj.IndexLatchEnable"
       },
-      "7002": {
-        "otype": "RECORD",
-        "name": "StepGenIn1",
-        "access": "RO",
-        "items": [
-          {
-            "name": "Max SubIndex"
-          },
-          {
-            "name": "CommandedPosition",
-            "dtype": "REAL64",
-            "data": "&Obj.StepGenIn1.CommandedPosition",
-            "value": "0",
-            "access": "RO"
-          },
-          {
-            "name": "StepsPerMM",
-            "dtype": "INTEGER16",
-            "value": "0",
-            "access": "RO",
-            "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",

Pcb-1-lan9252/Firmware/lib/soes/objectlist.c

@@ -19,18 +19,6 @@ static const char acName1600_01[] = "EncPosScale";
 static const char acName1601[] = "IndexLatchEnable";
 static const char acName1601_00[] = "Max SubIndex";
 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[] = "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";
@@ -46,12 +34,6 @@ static const char acName1A03_01[] = "IndexByte";
 static const char acName1A04[] = "IndexStatus";
 static const char acName1A04_00[] = "Max SubIndex";
 static const char acName1A04_01[] = "IndexStatus";
-static const char acName1A05[] = "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";
@@ -62,9 +44,6 @@ static const char acName1C12[] = "Sync Manager 2 PDO Assignment";
 static const char acName1C12_00[] = "Max SubIndex";
 static const char acName1C12_01[] = "PDO Mapping";
 static const char acName1C12_02[] = "PDO Mapping";
-static const char acName1C12_03[] = "PDO Mapping";
-static const char acName1C12_04[] = "PDO Mapping";
-static const char acName1C12_05[] = "PDO Mapping";
 static const char acName1C13[] = "Sync Manager 3 PDO Assignment";
 static const char acName1C13_00[] = "Max SubIndex";
 static const char acName1C13_01[] = "PDO Mapping";
@@ -72,34 +51,17 @@ static const char acName1C13_02[] = "PDO Mapping";
 static const char acName1C13_03[] = "PDO Mapping";
 static const char acName1C13_04[] = "PDO Mapping";
 static const char acName1C13_05[] = "PDO Mapping";
-static const char acName1C13_06[] = "PDO Mapping";
-static const char acName1C13_07[] = "PDO Mapping";
 static const char acName6000[] = "EncPos";
 static const char acName6001[] = "EncFrequency";
 static const char acName6002[] = "DiffT";
 static const char acName6003[] = "IndexByte";
 static const char acName6004[] = "IndexStatus";
-static const char 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[] = "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[] =
 {
-  {0x0, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1000, 5001, NULL},
+  {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1000, 5001, NULL},
 };
 const _objd SDO1008[] =
 {
@@ -116,73 +78,45 @@ const _objd SDO100A[] =
 const _objd SDO1018[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1018_00, 4, NULL},
-  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1018_01, 2730, NULL},
-  {0x02, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1018_02, 12303564, NULL},
-  {0x03, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1018_03, 2, NULL},
-  {0x04, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1018_04, 1, &Obj.serial},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_01, 2730, NULL},
+  {0x02, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_02, 12303564, NULL},
+  {0x03, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_03, 2, NULL},
+  {0x04, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1018_04, 1, &Obj.serial},
 };
 const _objd SDO1600[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1600_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1600_01, 0x70000020, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_01, 0x70000020, NULL},
 };
 const _objd SDO1601[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1601_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1601_01, 0x70010020, NULL},
-};
-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, 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},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1601_01, 0x70010020, NULL},
 };
 const _objd SDO1A00[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A00_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A00_01, 0x60000040, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_01, 0x60000020, NULL},
 };
 const _objd SDO1A01[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A01_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A01_01, 0x60010040, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A01_01, 0x60010020, NULL},
 };
 const _objd SDO1A02[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A02_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A02_01, 0x60020020, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A02_01, 0x60020020, NULL},
 };
 const _objd SDO1A03[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A03_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A03_01, 0x60030020, NULL},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A03_01, 0x60030020, NULL},
 };
 const _objd SDO1A04[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A04_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A04_01, 0x60040020, NULL},
-};
-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},
+  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A04_01, 0x60040020, NULL},
 };
 const _objd SDO1C00[] =
 {
@@ -194,31 +128,26 @@ const _objd SDO1C00[] =
 };
 const _objd SDO1C12[] =
 {
-  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C12_00, 5, NULL},
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C12_00, 2, 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, 7, NULL},
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C13_00, 5, 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[] =
 {
-  {0x0, DTYPE_REAL64, 64, ATYPE_RO | ATYPE_TXPDO, acName6000, 0, &Obj.EncPos},
+  {0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6000, 0x00000000, &Obj.EncPos},
 };
 const _objd SDO6001[] =
 {
-  {0x0, DTYPE_REAL64, 64, ATYPE_RO | ATYPE_TXPDO, acName6001, 0, &Obj.EncFrequency},
+  {0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6001, 0x00000000, &Obj.EncFrequency},
 };
 const _objd SDO6002[] =
 {
@@ -232,16 +161,6 @@ const _objd SDO6004[] =
 {
   {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_TXPDO, acName6004, 0, &Obj.IndexStatus},
 };
-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},
@@ -250,22 +169,6 @@ const _objd SDO7001[] =
 {
   {0x0, DTYPE_UNSIGNED32, 32, ATYPE_RO | ATYPE_RXPDO, acName7001, 0, &Obj.IndexLatchEnable},
 };
-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_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[] =
 {
@@ -276,30 +179,20 @@ const _objectlist SDOobjects[] =
   {0x1018, OTYPE_RECORD, 4, 0, acName1018, SDO1018},
   {0x1600, OTYPE_RECORD, 1, 0, acName1600, SDO1600},
   {0x1601, OTYPE_RECORD, 1, 0, acName1601, SDO1601},
-  {0x1602, OTYPE_RECORD, 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, 5, 0, acName1C12, SDO1C12},
-  {0x1C13, OTYPE_ARRAY, 7, 0, acName1C13, SDO1C13},
+  {0x1C12, OTYPE_ARRAY, 2, 0, acName1C12, SDO1C12},
+  {0x1C13, OTYPE_ARRAY, 5, 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}
 };

Pcb-1-lan9252/Firmware/lib/soes/utypes.h

@@ -13,35 +13,16 @@ typedef struct
 
    /* Inputs */
 
-   double EncPos;
-   double EncFrequency;
+   float EncPos;
+   float EncFrequency;
    uint32_t DiffT;
    uint32_t IndexByte;
    uint32_t IndexStatus;
-   struct
-   {
-      double ActualPosition;
-   } StepGenOut1;
-   struct
-   {
-      double ActualPosition;
-   } StepGenOut2;
 
    /* Outputs */
 
    int32_t EncPosScale;
    uint32_t IndexLatchEnable;
-   struct
-   {
-      double CommandedPosition;
-      int16_t StepsPerMM;
-   } StepGenIn1;
-   struct
-   {
-      double CommandedPosition;
-      int16_t StepsPerMM;
-   } StepGenIn2;
-   uint8_t Enable1;
 
 } _Objects;
 

Pcb-1-lan9252/Firmware/src/Stepper.cpp

@@ -0,0 +1,270 @@
+#include <Arduino.h>
+
+/* USER CODE BEGIN Header */
+/**
+ ******************************************************************************
+ * @file           : main.c
+ * @brief          : Main program body
+ ******************************************************************************
+ * @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 */
+/* Includes ------------------------------------------------------------------*/
+#include "Stepper.h"
+
+/* Private includes ----------------------------------------------------------*/
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+/* Private typedef -----------------------------------------------------------*/
+/* USER CODE BEGIN PTD */
+
+/* USER CODE END PTD */
+
+/* Private define ------------------------------------------------------------*/
+/* USER CODE BEGIN PD */
+
+/* USER CODE END PD */
+
+/* Private macro -------------------------------------------------------------*/
+/* USER CODE BEGIN PM */
+
+/* USER CODE END PM */
+
+/* Private variables ---------------------------------------------------------*/
+TIM_HandleTypeDef htim1;
+
+/* USER CODE BEGIN PV */
+
+/* USER CODE END PV */
+
+/* Private function prototypes -----------------------------------------------*/
+void SystemClock_Config(void);
+static void MX_GPIO_Init(void);
+static void MX_TIM1_Init(void);
+/* USER CODE BEGIN PFP */
+
+/* USER CODE END PFP */
+
+/* Private user code ---------------------------------------------------------*/
+/* USER CODE BEGIN 0 */
+
+/* USER CODE END 0 */
+
+void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim)
+{
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  if (htim->Instance == TIM1)
+  {
+    //__HAL_RCC_GPIOE_CLK_ENABLE();
+    /**TIM1 GPIO Configuration
+    PE9     ------> TIM1_CH1
+    PA8     ------< TIM1_CH1
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_8; // 9;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
+    // HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+  }
+}
+
+/**
+ * @brief  The application entry point.
+ * @retval int
+ */
+void StepperSetup(void)
+{
+  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
+  // HAL_Init();
+  // SystemClock_Config();
+
+  /* Initialize all configured peripherals */
+  // MX_GPIO_Init();
+  MX_TIM1_Init();
+
+  // htim1.Instance->ARR = 1;
+  // htim1.Instance->CCR1 = 1;
+  HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
+  TIM_TypeDef *TIMM = TIM1;
+
+#define CLOCK_FREQ (168000000-2000000)
+  // Best range on timer  clock frequency/pulse length/65355 +1  => best resolution in the pulse range
+  TIM1->PSC = CLOCK_FREQ / 1000 / (1 << 16);
+
+  /* Infinite loop */
+#if 0
+  while (1)
+  {
+    makePulses(1200, 15);
+    HAL_Delay(1000);
+  }
+#endif
+}
+
+void makePulses(uint32_t totalLength /* µsec */, uint32_t nPulses)
+{
+  uint64_t TickFreq = CLOCK_FREQ / (TIM1->PSC+1);             // 56 MHz at PSC=2
+  uint64_t TicksTotal = TickFreq * totalLength / 1000000; // Total number of ticks during this time, ca 56000
+  uint32_t TicksPerPulse = TicksTotal / nPulses;
+
+  TIM1->ARR = TicksPerPulse - 1;
+  TIM1->CCR1 = TicksPerPulse / 2;
+  TIM1->RCR = nPulses - 1;
+  TIM1->EGR = TIM_EGR_UG;
+  TIM1->CR1 |= TIM_CR1_OPM;
+  TIM1->CR1 |= TIM_CR1_CEN;
+}
+
+/**
+ * @brief System Clock Configuration
+ * @retval None
+ */
+void SystemClock_Config(void)
+{
+  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
+  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
+
+  /** Configure the main internal regulator output voltage
+   */
+  __HAL_RCC_PWR_CLK_ENABLE();
+  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
+
+  /** Initializes the RCC Oscillators according to the specified parameters
+   * in the RCC_OscInitTypeDef structure.
+   */
+  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
+  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
+  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
+  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
+  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
+  RCC_OscInitStruct.PLL.PLLM = 8;
+  RCC_OscInitStruct.PLL.PLLN = 168;
+  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
+  RCC_OscInitStruct.PLL.PLLQ = 4;
+  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Initializes the CPU, AHB and APB buses clocks
+   */
+  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
+  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
+  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
+  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
+  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
+
+  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
+  {
+    Error_Handler();
+  }
+}
+
+/**
+ * @brief TIM1 Initialization Function
+ * @param None
+ * @retval None
+ */
+static void MX_TIM1_Init(void)
+{
+
+  /* USER CODE BEGIN TIM1_Init 0 */
+
+  /* USER CODE END TIM1_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
+
+  /* USER CODE BEGIN TIM1_Init 1 */
+
+  /* USER CODE END TIM1_Init 1 */
+  htim1.Instance = TIM1;
+  htim1.Init.Prescaler = 70;
+  htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim1.Init.Period = 65535;
+  htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim1.Init.RepetitionCounter = 10;
+  htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
+  if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM2;
+  sConfigOC.Pulse = 0;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
+  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
+  if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
+  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
+  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
+  sBreakDeadTimeConfig.DeadTime = 0;
+  sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
+  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
+  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
+  if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM1_Init 2 */
+
+  /* USER CODE END TIM1_Init 2 */
+  HAL_TIM_MspPostInit(&htim1);
+}
+
+/**
+ * @brief GPIO Initialization Function
+ * @param None
+ * @retval None
+ */
+static void MX_GPIO_Init(void)
+{
+  /* USER CODE BEGIN MX_GPIO_Init_1 */
+  /* USER CODE END MX_GPIO_Init_1 */
+
+  /* GPIO Ports Clock Enable */
+  __HAL_RCC_GPIOH_CLK_ENABLE();
+  __HAL_RCC_GPIOE_CLK_ENABLE();
+
+  /* USER CODE BEGIN MX_GPIO_Init_2 */
+  /* USER CODE END MX_GPIO_Init_2 */
+}
+
+/* USER CODE BEGIN 4 */
+
+/* USER CODE END 4 */

Pcb-1-lan9252/Firmware/src/Stm32F4_Encoder.cpp

@@ -5,21 +5,45 @@
     Created on: Nov 20, 2020
         Author: GoktugH.
 */
-// TIM2, TIM3, TIM4, TIM8
+
 Encoder::Encoder()
 {
     int unit;
 }
 
-// void Encoder::SetCount(enum EncTimer enc, int64_t Counter)
-void Encoder::SetCount(int64_t Counter)
+void Encoder::eattach(int enco)
 {
-    tim_base->CNT = Counter;
 }
-// uint16_t Encoder::GetCount(enum EncTimer enc)
-uint16_t Encoder::GetCount()
+
+void Encoder::attachh(int encoNumber)
 {
-    return tim_base->CNT;
+    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;
 }
 
 void GpioConfigPortA(GPIO_TypeDef *GPIOx)
@@ -271,27 +295,27 @@ 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;
@@ -299,7 +323,7 @@ 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;
@@ -316,7 +340,7 @@ 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;
@@ -325,5 +349,4 @@ void rcc_config()
     TIM_Cmd(TIM3, ENABLE);
 
     TIM3->CNT = 0;
-#endif
 }

Pcb-1-lan9252/Firmware/src/main.cpp

@@ -0,0 +1,154 @@
+#include <Arduino.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;
+
+int64_t PreviousEncoderCounterValue = 0;
+int64_t unwrap_encoder(uint16_t in, int64_t *prev);
+#include <Stm32F4_Encoder.h>
+Encoder EncoderInit;
+Encoder *encP = &EncoderInit;
+
+// #include "Stepper.h"
+#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;
+uint32_t PrevTime = 0, Prev2Time = 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;
+
+   if (CurPosScale != Obj.EncPosScale && Obj.EncPosScale != 0)
+   {
+      CurPosScale = Obj.EncPosScale;
+      PosScaleRes = 1.0 / double(CurPosScale);
+   }
+}
+
+void cb_get_inputs(void) // Set Master inputs, slave outputs, last operation
+{
+   Obj.IndexStatus = 0;
+   if (indexPulseFired)
+   {
+      Obj.IndexStatus = 1;
+      indexPulseFired = 0;
+      nFires++;
+      PreviousEncoderCounterValue = 0;
+   }
+   uint64_t now = micros(); // Exploring the cycle times
+   Obj.DiffT = now - Prev2Time;
+   Prev2Time = PrevTime;
+   PrevTime = now;
+
+   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");
+}
+
+static esc_cfg_t config =
+    {
+        .user_arg = NULL,
+        .use_interrupt = 0,
+        .watchdog_cnt = 150,
+        .set_defaults_hook = NULL,
+        .pre_state_change_hook = NULL,
+        .post_state_change_hook = NULL,
+        .application_hook = NULL, // StepGen,
+        .safeoutput_override = NULL,
+        .pre_object_download_hook = NULL,
+        .post_object_download_hook = NULL,
+        .rxpdo_override = NULL,
+        .txpdo_override = NULL,
+        .esc_hw_interrupt_enable = NULL,
+        .esc_hw_interrupt_disable = NULL,
+        .esc_hw_eep_handler = NULL,
+        .esc_check_dc_handler = NULL,
+};
+
+void setup(void)
+{
+   Serial1.begin(115200);
+   rcc_config();
+
+   // Set starting count value
+   EncoderInit.SetCount(Tim2, 0);
+   // EncoderInit.SetCount(Tim3, 0);
+   // EncoderInit.SetCount(Tim4, 0);
+   // EncoderInit.SetCount(Tim8, 0);
+
+   ecat_slv_init(&config);
+   attachInterrupt(digitalPinToInterrupt(INDEX_PIN), indexPulse, RISING); // Always when Index triggered
+}
+
+void loop(void)
+{
+   ESCvar.PrevTime = ESCvar.Time;
+   ecat_slv();
+}
+
+#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;
+   }
+}

Pcb-1-lan9252/Kicad/Ethercat-stm32/Ethercat-stm32.kicad_prl

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