Silicon Pr0n

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loosely resembles what I actually implemented 

Framing: SLIP with following payload bytes

    * 1 byte: checksum or CRC
    * 1 byte: sequence number
    * 1 byte: opcode/register
      * Want a bit for read/write
      * Use I2C convention? "7-bit address of the slave…followed by a single bit representing whether it wishes to write(0) to or read(1) from the slave"
      * Prefer that its the high bit so register numbers are un-ambiguous
      * A read responds with the register value/response in the same packet format
    * 4 byte: value argument

bit 0 is least significant bit.  All signed integers are 2's compliment

Opcodes:

^Address ^Mnemonic ^Description |
|0x00 |  |Misc block |
|0x00 |MISC_STATUS |  |
|0x01 |MISC_CONTROL |  |
|0x20 |  |X block |
|0x40 |  |Y block |
|0x60 |  |Z block |

MISC_STATUS:

    *

MISC_CONTROL:

    * 0: execute emergency stop

=== Axis blocks ===

All addresses offset by block base address

XYZ indicates X/Y/Z as appropriate

^Address ^Mnemonic ^Description |
|0x00 |  |Z block |
|0x00 |XYZ_STATUS |  |
|0x01 |XYZ_CONTROL |  |
|0x02 |XYZ_STEP_SET |Set the step register to value (2's compliment) |
|0x03 |XYZ_STEP_ADD |Adjust the step register by argument |
|0x04 |XYZ_STEP_ADD |Adjust the step register by argument |
|0x05 |XYZ_VELMIN |Minimum velocity in steps/second |
|0x06 |XYZ_VELMAX |Maximum velocity in steps/second |
|0x07 |XYZ_ACL |Acceleration/decceleration in steps/second<nowiki>*</nowiki><nowiki>*</nowiki>2 |

Step register (i32): the number of steps remaining to step.  Should probably initiate an automatic read when it hits 0

XYZ_STATUS

XYZ_CONTROL

XYZ_STEP_SET: set the step register to value

    * value: i32

XYZ_STEP_ADD: adjust the step register by value

    * value: i32
    * detect overflows?