From 936b3d5892fa53839150f564332bd4b994c4c851 Mon Sep 17 00:00:00 2001
From: Jake <jake.read@cba.mit.edu>
Date: Sun, 18 Sep 2022 17:37:52 -0400
Subject: [PATCH] write / plumb segmentAcks, segmentCompleteMsgs, and run first
full queue
---
firmware/axl-stepper/src/axl | 2 +-
firmware/axl-stepper/src/main.cpp | 18 ++++++++++++------
2 files changed, 13 insertions(+), 7 deletions(-)
diff --git a/firmware/axl-stepper/src/axl b/firmware/axl-stepper/src/axl
index be9a5a9..d1e3aaf 160000
--- a/firmware/axl-stepper/src/axl
+++ b/firmware/axl-stepper/src/axl
@@ -1 +1 @@
-Subproject commit be9a5a919bc9c6324f4ce6dcdfccac6837b659df
+Subproject commit d1e3aafd55d1fa784b6f05fce71ee70e5630b3d7
diff --git a/firmware/axl-stepper/src/main.cpp b/firmware/axl-stepper/src/main.cpp
index 3736b2c..051524a 100644
--- a/firmware/axl-stepper/src/main.cpp
+++ b/firmware/axl-stepper/src/main.cpp
@@ -139,12 +139,13 @@ EP_ONDATA_RESPONSES onHaltInData(uint8_t* data, uint16_t len){
Endpoint haltInEP(&osap, "haltIn", onHaltInData);
-// -------------------------------------------------------- 6, 7: Outputs
+// -------------------------------------------------------- 6, 7, 8: Outputs
-Endpoint queueAckOutEP(&osap, "queueAckOut");
Endpoint haltOutEP(&osap, "haltOut");
+Endpoint segmentAckOutEP(&osap, "segmentAckOut");
+Endpoint segmentCompleteOutEP(&osap, "segmentCompleteOut");
-// -------------------------------------------------------- 8: Motor Settings
+// -------------------------------------------------------- 9: Motor Settings
uint8_t axisPick = 0;
boolean invert = false;
@@ -205,10 +206,15 @@ void loop() {
if(axlDataLen){
haltOutEP.write(axlData, axlDataLen);
}
- // check for on-queue-completion info...
- axlDataLen = axl_getQueueAck(axlData);
+ // check for queueAck info...
+ axlDataLen = axl_getSegmentAckMsg(axlData);
if(axlDataLen){
- queueAckOutEP.write(axlData, axlDataLen);
+ segmentAckOutEP.write(axlData, axlDataLen);
+ }
+ // check for queueMoveComplete
+ axlDataLen = axl_getSegmentCompleteMsg(axlData);
+ if(axlDataLen){
+ segmentCompleteOutEP.write(axlData, axlDataLen);
}
// refresh stepper hw,
stepper_hw->dacRefresh();
--
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