close to completion on axl rework

axl @ 3d62ffa4

-Subproject commit bda32c5b94c68a6f674d8ccac94a9abf4524e9d5
+Subproject commit 3d62ffa48024d7c43844653dac7199f1bbacc254

firmware/axl-stepper/src/main.cpp

@@ -20,8 +20,8 @@
 //OSAP osap("axl-stepper_y-right");
 //OSAP osap("axl-stepper_x");
 //OSAP osap("axl-stepper_e");
-// OSAP osap("axl-stepper_z");
-OSAP osap("axl-stepper_rl");
+OSAP osap("axl-stepper_z");
+// OSAP osap("axl-stepper_rl");
 // OSAP osap("axl-stepper_rr");
 
 // -------------------------------------------------------- 0: USB Serial 
@@ -136,7 +136,7 @@ Endpoint precalculatedSegmentEP(&osap, "segmentsIn", onSegmentData);
 // -------------------------------------------------------- 5: Halt Input 
 
 EP_ONDATA_RESPONSES onHaltInData(uint8_t* data, uint16_t len){
-  axl_halt(AXL_HALT_REQUEST);
+  axl_halt(data[0]);
   return EP_ONDATA_REJECT;
 }
 
@@ -172,9 +172,41 @@ EP_ONDATA_RESPONSES onMotorSettingsData(uint8_t* data, uint16_t len){
 
 Endpoint motorSettingsEP(&osap, "motorSettings", onMotorSettingsData);
 
-// -------------------------------------------------------- 9: Limit Halt-Output:
+// -------------------------------------------------------- 10: Limit Halt-Output:
 
-// Endpoint limitHaltEP(&osap, "limitOutput");
+Endpoint limitHaltEP(&osap, "limitSwitchState");
+
+#define LIMIT_PIN 23
+#define LIMIT_PORT 0 
+
+void limitSetup(void){
+  PORT->Group[LIMIT_PORT].DIRCLR.reg = (1 << LIMIT_PIN);
+  PORT->Group[LIMIT_PORT].PINCFG[LIMIT_PIN].bit.INEN = 1;
+  // pullup 
+  PORT->Group[LIMIT_PORT].OUTSET.reg = (1 << LIMIT_PIN);
+}
+
+boolean checkLimit(void){
+  return (PORT->Group[LIMIT_PORT].IN.reg & (1 << LIMIT_PIN));
+}
+
+// -------------------------------------------------------- 11: Motion State 
+
+boolean beforeMotionStateQuery(void);
+
+Endpoint motionStateEP(&osap, "motionState", beforeMotionStateQuery);
+
+uint8_t dummyMotionStateData[1];
+
+boolean beforeMotionStateQuery(void){
+  if(axl_isMoving()){
+    dummyMotionStateData[0] = 1;
+  } else {
+    dummyMotionStateData[0] = 0;
+  }
+  motionStateEP.write(dummyMotionStateData, 1);
+  return true;
+}
 
 // -------------------------------------------------------- Arduino Setup 
 
@@ -191,6 +223,8 @@ void setup() {
   stepper_hw->setMicrostep(4);
   // setup controller
   axl_setup();
+  // setup limit swootch
+  limitSetup();
   // ticker begin:
   // d51ClockUtils->start_ticker_a(AXL_TICKER_INTERVAL_US);
 }
@@ -199,9 +233,16 @@ void setup() {
 
 uint32_t lastBlink = 0;
 uint32_t blinkInterval = 50; // ms 
+
 uint8_t axlData[256];
 uint16_t axlDataLen = 0;
 
+uint32_t lastLimitCheck = 0;
+uint32_t limitCheckInterval = 1; // ms, helps to debounce, bummer to be running this often 
+uint8_t limitTrace = 0; // 8-wide 1-bit state trace... for edge-masking, 
+boolean limitState = false;
+uint8_t dummy[2] = { 0, 0 }; // lol, typed endpoints wanted ! 
+
 void loop() {
   osap.loop();
   // check for halt info... 
@@ -227,21 +268,25 @@ void loop() {
     // updateStatesEP();
     //axl_printHomeState();
   }
-  // // this, i.e, could be on the endpoint's loop code, non?
-  // if(lastLimitCheck + limitCheckInterval < millis()){
-  //   lastLimitCheck = millis();
-  //   // shift left one & tack bit on the end, 
-  //   limitStates = limitStates << 1;
-  //   limitStates |= axl_checkLimit() ? 1 : 0;
-  //   // this is the positive-edge mask, 
-  //   if(limitStates == 0b00001111){
-  //     ERRLIGHT_ON;
-  //     errLightOnTime = millis();
-  //     errLightOn = true;
-  //     dummy[0] = 1;
-  //     limitHaltEP.write(dummy, 1);
-  //   }
-  // }
+  // this, i.e, could be on an endpoint's loop code, non?
+  if(lastLimitCheck + limitCheckInterval < millis()){
+    lastLimitCheck = millis();
+    // shift left one & tack bit on the end, 
+    limitTrace = limitTrace << 1;
+    limitTrace |= checkLimit() ? 1 : 0;
+    // swap on positive or -ve edges, 
+    if(limitTrace == 0b11111111 && limitState == false){
+      ERRLIGHT_ON;
+      limitState = true;
+      dummy[0] = 1;
+      limitHaltEP.write(dummy, 1);
+    } else if (limitTrace == 0b00000000 && limitState == true){
+      ERRLIGHT_OFF;
+      limitState = false;
+      dummy[0] = 0;
+      limitHaltEP.write(dummy, 1);
+    }
+  }
   // if(errLightOn && errLightOnTime + 250 < millis()){
   //   ERRLIGHT_OFF;
   //   errLightOn = false;

osape @ e656c969

-Subproject commit 02d0a15f90372e1f15f37ca4e0882b956d2eec70
+Subproject commit e656c969af1ca5785108d0007294441ffafbb732