Merge pull request #5 from MetalMusings/Video8

Video8

.gitignore

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

CubeMX-files/EtherCAT-PCB-v1.ioc

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

EEPROM_generator/index.html

@@ -1,6 +1,6 @@
 <head>
    <meta charset="UTF-8">
-   <title>🔁 EEPROM Generator | ESI, EEPORM, SOES C code configuration tool</title>
+   <title>🔁 EEPROM Generator | ESI, EEPROM, SOES C code configuration tool</title>
 <!--
  * SOES EEPROM generator
  * This tool serves as:
@@ -52,10 +52,12 @@
                      <option value="INTEGER8">INTEGER8</option>
                      <option value="INTEGER16">INTEGER16</option>
                      <option value="INTEGER32">INTEGER32</option>
+                     <option value="INTEGER64">INTEGER64</option>
                      <option value="UNSIGNED8">UNSIGNED8</option>
                      <option value="UNSIGNED16">UNSIGNED16</option>
-                     <option value="UNSIGNED32">UNSIGNED32</option>
+                     <option value="UNSIGNED32">UNSIGNED64</option>
                      <option value="REAL32">REAL32</option>
+                     <option value="REAL64">REAL64</option>
                      <option value="VISIBLE_STRING">VISIBLE STRING</option>
                   </select></td>
                </tr>
@@ -412,4 +414,4 @@
          <input id="restoreFileInput" type='file' accept=".json" style="visibility:hidden;" onchange="readFile(event)" />
       </form>
    </div>
-</body>
+</body>

EEPROM_generator/src/constants.js

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

Firmware/.vscode/settings.json

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

Firmware/include/MyEncoder.h

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

Firmware/include/StepGen.h

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

Firmware/include/Stm32F4_Encoder.h

@@ -0,0 +1,651 @@
+
+#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/lib/soes/ecat_options.h

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

Firmware/lib/soes/esi.json

@@ -57,7 +57,7 @@
         "pdo_mappings": [
           "txpdo"
         ],
-        "dtype": "REAL32",
+        "dtype": "REAL64",
         "value": "0",
         "data": "&Obj.EncPos"
       },
@@ -68,7 +68,7 @@
         "pdo_mappings": [
           "txpdo"
         ],
-        "dtype": "REAL32",
+        "dtype": "REAL64",
         "value": "0",
         "data": "&Obj.EncFrequency"
       },
@@ -104,6 +104,46 @@
         "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": {
@@ -129,6 +169,71 @@
         "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",

Firmware/lib/soes/objectlist.c

@@ -19,6 +19,18 @@ 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";
@@ -34,6 +46,12 @@ 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";
@@ -44,6 +62,9 @@ static const char acName1C12[] = "Sync Manager 2 PDO Assignment";
 static const char acName1C12_00[] = "Max SubIndex";
 static const char acName1C12_01[] = "PDO Mapping";
 static const char acName1C12_02[] = "PDO Mapping";
+static const char acName1C12_03[] = "PDO Mapping";
+static const char acName1C12_04[] = "PDO Mapping";
+static const char acName1C12_05[] = "PDO Mapping";
 static const char acName1C13[] = "Sync Manager 3 PDO Assignment";
 static const char acName1C13_00[] = "Max SubIndex";
 static const char acName1C13_01[] = "PDO Mapping";
@@ -51,17 +72,34 @@ 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_UNSIGNED32, 32, ATYPE_RO, acName1000, 5001, NULL},
+  {0x0, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1000, 5001, NULL},
 };
 const _objd SDO1008[] =
 {
@@ -78,45 +116,73 @@ const _objd SDO100A[] =
 const _objd SDO1018[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1018_00, 4, NULL},
-  {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},
+  {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},
 };
 const _objd SDO1600[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1600_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1600_01, 0x70000020, NULL},
+  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1600_01, 0x70000020, NULL},
 };
 const _objd SDO1601[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1601_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1601_01, 0x70010020, 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},
 };
 const _objd SDO1A00[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A00_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A00_01, 0x60000020, NULL},
+  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A00_01, 0x60000040, NULL},
 };
 const _objd SDO1A01[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A01_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A01_01, 0x60010020, NULL},
+  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A01_01, 0x60010040, NULL},
 };
 const _objd SDO1A02[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A02_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A02_01, 0x60020020, NULL},
+  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A02_01, 0x60020020, NULL},
 };
 const _objd SDO1A03[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A03_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A03_01, 0x60030020, NULL},
+  {0x01, DTYPE_UNSIGNED64, 64, ATYPE_RO, acName1A03_01, 0x60030020, NULL},
 };
 const _objd SDO1A04[] =
 {
   {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1A04_00, 1, NULL},
-  {0x01, DTYPE_UNSIGNED32, 32, ATYPE_RO, acName1A04_01, 0x60040020, 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},
 };
 const _objd SDO1C00[] =
 {
@@ -128,26 +194,31 @@ const _objd SDO1C00[] =
 };
 const _objd SDO1C12[] =
 {
-  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C12_00, 2, NULL},
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C12_00, 5, NULL},
   {0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_01, 0x1600, NULL},
   {0x02, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_02, 0x1601, NULL},
+  {0x03, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_03, 0x1602, NULL},
+  {0x04, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_04, 0x1603, NULL},
+  {0x05, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C12_05, 0x1604, NULL},
 };
 const _objd SDO1C13[] =
 {
-  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C13_00, 5, NULL},
+  {0x00, DTYPE_UNSIGNED8, 8, ATYPE_RO, acName1C13_00, 7, NULL},
   {0x01, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_01, 0x1A00, NULL},
   {0x02, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_02, 0x1A01, NULL},
   {0x03, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_03, 0x1A02, NULL},
   {0x04, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_04, 0x1A03, NULL},
   {0x05, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_05, 0x1A04, NULL},
+  {0x06, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_06, 0x1A05, NULL},
+  {0x07, DTYPE_UNSIGNED16, 16, ATYPE_RO, acName1C13_07, 0x1A06, NULL},
 };
 const _objd SDO6000[] =
 {
-  {0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6000, 0x00000000, &Obj.EncPos},
+  {0x0, DTYPE_REAL64, 64, ATYPE_RO | ATYPE_TXPDO, acName6000, 0, &Obj.EncPos},
 };
 const _objd SDO6001[] =
 {
-  {0x0, DTYPE_REAL32, 32, ATYPE_RO | ATYPE_TXPDO, acName6001, 0x00000000, &Obj.EncFrequency},
+  {0x0, DTYPE_REAL64, 64, ATYPE_RO | ATYPE_TXPDO, acName6001, 0, &Obj.EncFrequency},
 };
 const _objd SDO6002[] =
 {
@@ -161,6 +232,16 @@ 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},
@@ -169,6 +250,22 @@ 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[] =
 {
@@ -179,20 +276,30 @@ 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, 2, 0, acName1C12, SDO1C12},
-  {0x1C13, OTYPE_ARRAY, 5, 0, acName1C13, SDO1C13},
+  {0x1C12, OTYPE_ARRAY, 5, 0, acName1C12, SDO1C12},
+  {0x1C13, OTYPE_ARRAY, 7, 0, acName1C13, SDO1C13},
   {0x6000, OTYPE_VAR, 0, 0, acName6000, SDO6000},
   {0x6001, OTYPE_VAR, 0, 0, acName6001, SDO6001},
   {0x6002, OTYPE_VAR, 0, 0, acName6002, SDO6002},
   {0x6003, OTYPE_VAR, 0, 0, acName6003, SDO6003},
   {0x6004, OTYPE_VAR, 0, 0, acName6004, SDO6004},
+  {0x6005, OTYPE_RECORD, 1, 0, acName6005, SDO6005},
+  {0x6006, OTYPE_RECORD, 1, 0, acName6006, SDO6006},
   {0x7000, OTYPE_VAR, 0, 0, acName7000, SDO7000},
   {0x7001, OTYPE_VAR, 0, 0, acName7001, SDO7001},
+  {0x7002, OTYPE_RECORD, 2, 0, acName7002, SDO7002},
+  {0x7003, OTYPE_RECORD, 2, 0, acName7003, SDO7003},
+  {0x7004, OTYPE_VAR, 0, 0, acName7004, SDO7004},
   {0xffff, 0xff, 0xff, 0xff, NULL, NULL}
 };

Firmware/lib/soes/utypes.h

@@ -13,16 +13,35 @@ typedef struct
 
    /* Inputs */
 
-   float EncPos;
-   float EncFrequency;
+   double EncPos;
+   double 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;
 

Firmware/src/MyEncoder.cpp

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

Firmware/src/StepGen.cpp

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

Firmware/src/Stm32F4_Encoder.cpp

@@ -5,45 +5,21 @@
     Created on: Nov 20, 2020
         Author: GoktugH.
 */
-
+// TIM2, TIM3, TIM4, TIM8
 Encoder::Encoder()
 {
     int unit;
 }
 
-void Encoder::eattach(int enco)
+// void Encoder::SetCount(enum EncTimer enc, int64_t Counter)
+void Encoder::SetCount(int64_t Counter)
 {
+    tim_base->CNT = Counter;
 }
-
-void Encoder::attachh(int encoNumber)
+// uint16_t Encoder::GetCount(enum EncTimer enc)
+uint16_t Encoder::GetCount()
 {
-    eattach(encoNumber);
-}
-
-void Encoder::SetCount(enum EncTimer enc, int64_t Counter)
-{
-
-    if (enc == Tim2)
-        TIM2->CNT = Counter;
-    else if (enc == Tim3)
-        TIM3->CNT = Counter;
-    else if (enc == Tim4)
-        TIM4->CNT = Counter;
-    else if (enc == Tim8)
-        TIM8->CNT = Counter;
-}
-uint16_t Encoder::GetCount(enum EncTimer enc)
-{
-
-    if (enc == Tim2)
-        c = (TIM2->CNT);
-    else if (enc == Tim3)
-        c = (TIM3->CNT);
-    else if (enc == Tim4)
-        c = (TIM4->CNT);
-    else if (enc == Tim8)
-        c = (TIM8->CNT);
-    return c;
+    return tim_base->CNT;
 }
 
 void GpioConfigPortA(GPIO_TypeDef *GPIOx)
@@ -295,27 +271,27 @@ void rcc_config()
     RCC->AHB1ENR |= 0x10; // GPIOE
 
     RCC->APB1ENR |= 0x20000000; // ENABLE DAC
-    RCC->APB2ENR |= 0x00000002; // APB2 TIM8
+  //  RCC->APB2ENR |= 0x00000002; // APB2 TIM8
     RCC->APB1ENR |= 0x00000004; // APB1 TIM4
     RCC->APB1ENR |= 0x00000001; // APB1 TIM2
-    RCC->APB1ENR |= 0x00000002; // APB1 TIM3
+ //   RCC->APB1ENR |= 0x00000002; // APB1 TIM3
 
     GpioConfigPortA(GPIOA);
-    GpioConfigPortC(GPIOC);
+ //   GpioConfigPortC(GPIOC);
     GpioConfigPortD(GPIOD);
-
+#if 0 // Skipping since TIM8 is step generator and TIM3, chan4 is smae as TIM8, chan4
     GPIO_PinAF(GPIOA, GPIO_PinSource6, GPIO_AF_TIM3);
     GPIO_PinAF(GPIOA, GPIO_PinSource7, GPIO_AF_TIM3);
-
+ 
     GPIO_PinAF(GPIOC, GPIO_PinSource6, GPIO_AF_TIM8);
     GPIO_PinAF(GPIOC, GPIO_PinSource7, GPIO_AF_TIM8);
-
+#endif
     GPIO_PinAF(GPIOD, GPIO_PinSource12, GPIO_AF_TIM4);
     GPIO_PinAF(GPIOD, GPIO_PinSource13, GPIO_AF_TIM4);
 
     GPIO_PinAF(GPIOA, GPIO_PinSource0, GPIO_AF_TIM2);
     GPIO_PinAF(GPIOA, GPIO_PinSource1, GPIO_AF_TIM2);
-
+#if 0 // Skipping since I use TIM8 as stepper generator
     TIM_EncoderInterConfig(TIM8, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Falling);
     TIMER_InitStructure.TIM_Period = 65535;
     TIMER_InitStructure.TIM_CounterMode = TIM_CounterMode_Up | TIM_CounterMode_Down;
@@ -323,7 +299,7 @@ void rcc_config()
     TIM_TimeBaseStructInit(&TIMER_InitStructure);
     TIM_Cmd(TIM8, ENABLE);
     TIM8->CNT = 0;
-
+#endif
     TIM_EncoderInterConfig(TIM4, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Falling);
     TIMER_InitStructureE.TIM_Period = 65535;
     TIMER_InitStructureE.TIM_CounterMode = TIM_CounterMode_Up | TIM_CounterMode_Down;
@@ -340,7 +316,7 @@ void rcc_config()
     TIM_Cmd(TIM2, ENABLE);
 
     TIM2->CNT = 0;
-
+#if 0
     TIM_EncoderInterConfig(TIM3, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Falling);
     TIMER_InitStructureEEG.TIM_Period = 65535;
     TIMER_InitStructureEEG.TIM_CounterMode = TIM_CounterMode_Up | TIM_CounterMode_Down;
@@ -349,4 +325,5 @@ void rcc_config()
     TIM_Cmd(TIM3, ENABLE);
 
     TIM3->CNT = 0;
+#endif
 }

Firmware/src/main.cpp

@@ -0,0 +1,184 @@
+#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

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

Kicad/Ax58100-stm32-ethercat/AX58100_phy_etc.kicad_sch

@@ -4,6 +4,10 @@
 
   (paper "A4")
 
+  (title_block
+    (title "MetalMusings EaserCAT 3000")
+  )
+
   (lib_symbols
     (symbol "Device:C" (pin_numbers hide) (pin_names (offset 0.254)) (in_bom yes) (on_board yes)
       (property "Reference" "C" (at 0.635 2.54 0)
@@ -2937,7 +2941,7 @@
   (symbol (lib_id "Device:R") (at 245.11 88.9 270) (unit 1)
     (in_bom yes) (on_board yes) (dnp no)
     (uuid 0156fcd2-2fd8-4277-bfea-a43d1b5d2609)
-    (property "Reference" "R44" (at 245.11 88.9 90)
+    (property "Reference" "R63" (at 245.11 88.9 90)
       (effects (font (size 1.27 1.27)))
     )
     (property "Value" "510" (at 250.19 87.63 90)
@@ -2952,9 +2956,9 @@
     (pin "1" (uuid 3752539c-2c69-46a2-a3d9-8913b7ee49c7))
     (pin "2" (uuid 8f74b202-e220-4289-9977-65720527d874))
     (instances
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     (pin "2" (uuid cc7cbf0c-b069-49a4-b4bd-29bedb17cbb9))
     (instances
-      (project "AX58100-stm32-ethercat"
+      (project "Ax58100-stm32-ethercat"
         (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/5bf93325-f5d9-4344-9bf3-f5fc91bc1622"
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@@ -4411,7 +4415,7 @@
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     (uuid d97aea31-efd3-4805-a26e-93bfe540f39c)
-    (property "Reference" "C23" (at 53.34 72.39 90)
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     (property "Value" "10pF" (at 53.34 64.77 90)
@@ -4426,9 +4430,9 @@
     (pin "1" (uuid a79adf07-4279-47bc-bc99-62376a50cad1))
     (pin "2" (uuid 21ae26ea-5e5a-4709-aba6-8ecd8033be5f))
     (instances
-      (project "AX58100-stm32-ethercat"
+      (project "Ax58100-stm32-ethercat"
         (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/5bf93325-f5d9-4344-9bf3-f5fc91bc1622"
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@@ -4437,7 +4441,7 @@
   (symbol (lib_id "Device:R") (at 58.42 96.52 180) (unit 1)
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     (uuid dcb1369b-bcf1-4c3e-bd29-50410ac94349)
-    (property "Reference" "R24" (at 58.42 96.52 90)
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     (property "Value" "49.9" (at 57.15 91.44 90)
@@ -4452,9 +4456,9 @@
     (pin "1" (uuid af23c4b1-0fe3-4b66-81a4-3e314e24626c))
     (pin "2" (uuid a99fcc80-5ada-41b3-acd9-0cc40ce350b9))
     (instances
-      (project "AX58100-stm32-ethercat"
+      (project "Ax58100-stm32-ethercat"
         (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/5bf93325-f5d9-4344-9bf3-f5fc91bc1622"
-          (reference "R24") (unit 1)
+          (reference "R49") (unit 1)
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@@ -4463,7 +4467,7 @@
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     (in_bom yes) (on_board yes) (dnp no)
     (uuid e0f26f8b-8985-49e6-8c97-f11bdae1e3a3)
-    (property "Reference" "C25" (at 58.42 72.39 90)
+    (property "Reference" "C34" (at 58.42 72.39 90)
       (effects (font (size 1.27 1.27)))
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     (property "Value" "10pF" (at 58.42 64.77 90)
@@ -4478,9 +4482,9 @@
     (pin "1" (uuid e15952f4-c3e9-4dfd-925c-3bee598dab86))
     (pin "2" (uuid 6e42821d-dcb5-4750-8ba7-3aaa59c0ca77))
     (instances
-      (project "AX58100-stm32-ethercat"
+      (project "Ax58100-stm32-ethercat"
         (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/5bf93325-f5d9-4344-9bf3-f5fc91bc1622"
-          (reference "C25") (unit 1)
+          (reference "C34") (unit 1)
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@@ -4503,7 +4507,7 @@
     )
     (pin "1" (uuid 81caf3f2-0098-48eb-a202-af0f48031eea))
     (instances
-      (project "AX58100-stm32-ethercat"
+      (project "Ax58100-stm32-ethercat"
         (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/d564400f-40ba-4aca-9c2a-14ec52a8353b"
           (reference "#PWR076") (unit 1)
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@@ -4517,7 +4521,7 @@
   (symbol (lib_id "Device:C") (at 62.23 68.58 180) (unit 1)
     (in_bom yes) (on_board yes) (dnp no)
     (uuid e534b46c-80d1-4c34-8578-50b240333e0c)
-    (property "Reference" "C27" (at 63.5 72.39 90)
+    (property "Reference" "C33" (at 63.5 72.39 90)
       (effects (font (size 1.27 1.27)))
     )
     (property "Value" "0.1uF" (at 63.5 64.77 90)
@@ -4532,9 +4536,9 @@
     (pin "1" (uuid a494194d-e3e9-4e84-8f25-57021a681151))
     (pin "2" (uuid fda7cb74-15e1-4095-86ad-f40f74f32994))
     (instances
-      (project "AX58100-stm32-ethercat"
+      (project "Ax58100-stm32-ethercat"
         (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/5bf93325-f5d9-4344-9bf3-f5fc91bc1622"
-          (reference "C27") (unit 1)
+          (reference "C33") (unit 1)
         )
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@@ -4543,7 +4547,7 @@
   (symbol (lib_id "Device:R") (at 133.35 107.95 270) (unit 1)
     (in_bom yes) (on_board yes) (dnp no)
     (uuid e59e1dd2-d274-40ca-a8b1-cb4b3dd2162e)
-    (property "Reference" "R26" (at 133.35 107.95 90)
+    (property "Reference" "R59" (at 133.35 107.95 90)
       (effects (font (size 1.27 1.27)))
     )
     (property "Value" "510" (at 138.43 106.68 90)
@@ -4558,9 +4562,9 @@
     (pin "1" (uuid e69298fd-5d70-4531-8e3f-b8874f7ca308))
     (pin "2" (uuid 84f1b763-3dd2-4f94-a728-23eb2c7796a1))
     (instances
-      (project "AX58100-stm32-ethercat"
+      (project "Ax58100-stm32-ethercat"
         (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/5bf93325-f5d9-4344-9bf3-f5fc91bc1622"
-          (reference "R26") (unit 1)
+          (reference "R59") (unit 1)
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@@ -4583,7 +4587,7 @@
     )
     (pin "1" (uuid 74c16fc2-2f7f-4219-a10d-cf4d95b7a13d))
     (instances
-      (project "AX58100-stm32-ethercat"
+      (project "Ax58100-stm32-ethercat"
         (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/d564400f-40ba-4aca-9c2a-14ec52a8353b"
           (reference "#PWR?") (unit 1)
         )
@@ -4612,12 +4616,12 @@
     (pin "1" (uuid 29258ff3-4fe0-4432-b3ff-89955c464507))
     (pin "2" (uuid fec31ab5-a849-42cc-a850-7ddcfa2a77ff))
     (instances
-      (project "AX58100-stm32-ethercat"
+      (project "Ax58100-stm32-ethercat"
         (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/d564400f-40ba-4aca-9c2a-14ec52a8353b"
           (reference "C33") (unit 1)
         )
         (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/5bf93325-f5d9-4344-9bf3-f5fc91bc1622"
-          (reference "C30") (unit 1)
+          (reference "C41") (unit 1)
         )
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@@ -4640,7 +4644,7 @@
     )
     (pin "1" (uuid b2972075-1562-47db-afb1-79554c578966))
     (instances
-      (project "AX58100-stm32-ethercat"
+      (project "Ax58100-stm32-ethercat"
         (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/d564400f-40ba-4aca-9c2a-14ec52a8353b"
           (reference "#PWR?") (unit 1)
         )
@@ -4668,7 +4672,7 @@
     )
     (pin "1" (uuid fcfa09ab-80ac-4dc6-ba9c-88dd0a5125d5))
     (instances
-      (project "AX58100-stm32-ethercat"
+      (project "Ax58100-stm32-ethercat"
         (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/d564400f-40ba-4aca-9c2a-14ec52a8353b"
           (reference "#PWR?") (unit 1)
         )
@@ -4682,7 +4686,7 @@
   (symbol (lib_id "Device:C") (at 41.91 68.58 180) (unit 1)
     (in_bom yes) (on_board yes) (dnp no)
     (uuid f493fbdd-16cf-47a4-8571-5bdeffa77b8e)
-    (property "Reference" "C19" (at 43.18 72.39 90)
+    (property "Reference" "C37" (at 43.18 72.39 90)
       (effects (font (size 1.27 1.27)))
     )
     (property "Value" "10pF" (at 43.18 64.77 90)
@@ -4697,9 +4701,9 @@
     (pin "1" (uuid e54f216a-ea35-40fd-aa1a-c01d8d1f7d8f))
     (pin "2" (uuid c6622106-637b-49de-9814-56476189b207))
     (instances
-      (project "AX58100-stm32-ethercat"
+      (project "Ax58100-stm32-ethercat"
         (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/5bf93325-f5d9-4344-9bf3-f5fc91bc1622"
-          (reference "C19") (unit 1)
+          (reference "C37") (unit 1)
         )
       )
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@@ -4723,12 +4727,12 @@
     (pin "1" (uuid 090848c6-f3e5-45eb-98fb-58e65424c4c1))
     (pin "2" (uuid 29c609db-ee06-4a19-a4ca-ca0bef5009fe))
     (instances
-      (project "AX58100-stm32-ethercat"
+      (project "Ax58100-stm32-ethercat"
         (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/d564400f-40ba-4aca-9c2a-14ec52a8353b"
           (reference "C41") (unit 1)
         )
         (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/5bf93325-f5d9-4344-9bf3-f5fc91bc1622"
-          (reference "C32") (unit 1)
+          (reference "C42") (unit 1)
         )
       )
     )
@@ -4737,7 +4741,7 @@
   (symbol (lib_id "Device:FerriteBead_Small") (at 137.16 154.94 90) (unit 1)
     (in_bom yes) (on_board yes) (dnp no)
     (uuid f76a00b9-0511-4931-90f1-d259b14389f9)
-    (property "Reference" "B6" (at 137.16 152.4 90)
+    (property "Reference" "B7" (at 137.16 152.4 90)
       (effects (font (size 1.27 1.27)))
     )
     (property "Value" "BLM18EG221SN1D" (at 137.16 157.48 90)
@@ -4752,9 +4756,9 @@
     (pin "1" (uuid 8f7870e9-0ecb-4199-98c4-4167acd78afa))
     (pin "2" (uuid 40420d30-3763-4098-9a65-10e3fbe31313))
     (instances
-      (project "AX58100-stm32-ethercat"
+      (project "Ax58100-stm32-ethercat"
         (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/5bf93325-f5d9-4344-9bf3-f5fc91bc1622"
-          (reference "B6") (unit 1)
+          (reference "B7") (unit 1)
         )
       )
     )
@@ -4763,7 +4767,7 @@
   (symbol (lib_id "Device:R") (at 138.43 119.38 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no)
     (uuid f8848c60-f91f-414b-a5b0-c8e97aca000a)
-    (property "Reference" "R28" (at 138.43 119.38 90)
+    (property "Reference" "R60" (at 138.43 119.38 90)
       (effects (font (size 1.27 1.27)))
     )
     (property "Value" "510" (at 137.16 114.3 90)
@@ -4778,9 +4782,9 @@
     (pin "1" (uuid a6c9a9ea-cdb1-4a0c-aa67-80e3e5544517))
     (pin "2" (uuid 313cc12d-9b4d-405e-ba92-c1e1b836e59b))
     (instances
-      (project "AX58100-stm32-ethercat"
+      (project "Ax58100-stm32-ethercat"
         (path "/5597aedc-b607-407f-bbfd-31b3b298ecb1/5bf93325-f5d9-4344-9bf3-f5fc91bc1622"
-          (reference "R28") (unit 1)
+          (reference "R60") (unit 1)
         )
       )
     )

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

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

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

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

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

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

Kicad/Ethercat-stm32/Ethercat-stm32.kicad_prl

@@ -64,7 +64,7 @@
       39,
       40
     ],
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