Well, I had it right here on the table.
Add encoder_config() to setup() like this
Code:
// Compute this scale factor only once
input_freq = FrequencyTimer->getTimerClkFreq() / FrequencyTimer->getPrescaleFactor();
encoder_config(); // Needed by encoder, possibly breaks some timers.
ecat_slv_init(&config);
attachInterrupt(digitalPinToInterrupt(PC0), globalInt, RISING); // For testing, should go into Enable_interrupt later on
}
Also, in the call to the constructor, change the Index_Z pin to PA3 according to the schematics. I didn't check that, leave it to you to check that the callback is triggered when the encoder passes the index slot
Code:
MyEncoder Encoder1(TIM2, PA3, indexPulseEncoderCB1);
