motor does axl homing

axl @ 71bf9021

-Subproject commit 09e3e90667034d09f34bbe4041b3f395461fad8a
+Subproject commit 71bf90214692c6a2fb82d121708b91692648376a

firmware/axl-stepper/src/main.cpp

@@ -155,6 +155,38 @@ EP_ONDATA_RESPONSES onMotorSettingsData(uint8_t* data, uint16_t len){
 
 Endpoint motorSettingsEP(&osap, "motorSettings", onMotorSettingsData);
 
+// -------------------------------------------------------- 7: Home Routine 
+
+EP_ONDATA_RESPONSES onHomeData(uint8_t* data, uint16_t len){
+  uint16_t rptr = 0;
+  uint8_t axis = data[rptr ++];
+  float rate = ts_readFloat32(data, &rptr);
+  float offset = ts_readFloat32(data, &rptr);
+  // alright alright, this would be sliq if we had a little async-cpp api, alas, 
+  if(axl_isMoving()){
+    return EP_ONDATA_REJECT;
+  } else {
+    axl_home(axis, rate, offset);
+    return EP_ONDATA_REJECT;
+  }
+}
+
+#define LIMIT_PIN 23
+#define LIMIT_PORT 0 
+
+void axl_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 axl_checkLimit(void){
+  return (PORT->Group[LIMIT_PORT].IN.reg & (1 << LIMIT_PIN));
+}
+
+Endpoint homeEP(&osap, "home", onHomeData);
+
 // -------------------------------------------------------- Arduino Setup 
 
 void setup() {
@@ -164,6 +196,7 @@ void setup() {
   DEBUG2PIN_SETUP;
   // port begin 
   vpUSBSerial.begin();
+  vbUCBusDrop.begin(4);
   // setup stepper machine 
   stepper_hw->init(false, 0.0F);
   stepper_hw->setMicrostep(4);
@@ -186,6 +219,7 @@ void loop() {
     lastBlink = millis();
     CLKLIGHT_TOGGLE;
     updateStatesEP();
+    axl_printHomeState();
   }
 }
 

osape @ 97e593d5

-Subproject commit bc18a89d155622fd8ab959773c0eb967cedd9383
+Subproject commit 97e593d51e42f77c12b9ed2ae561adc5136ae9cc