From ef954aa84d1bd8b85b41480e763a28493c68aed9 Mon Sep 17 00:00:00 2001
From: Unknown <pfguenette@gmail.com>
Date: Sun, 19 Aug 2018 22:40:17 -0400
Subject: [PATCH] Add endstop pressed errors in closed_loop_control mode

---
 Firmware/MotorControl/axis.cpp | 8 ++++++++
 Firmware/MotorControl/axis.hpp | 4 +++-
 2 files changed, 11 insertions(+), 1 deletion(-)

diff --git a/Firmware/MotorControl/axis.cpp b/Firmware/MotorControl/axis.cpp
index dc57bdc4..dae77bd4 100644
--- a/Firmware/MotorControl/axis.cpp
+++ b/Firmware/MotorControl/axis.cpp
@@ -272,6 +272,14 @@ bool Axis::run_closed_loop_control_loop() {
             return error_ |= ERROR_CONTROLLER_FAILED, false; //TODO: Make controller.set_error
         if (!motor_.update(current_setpoint, encoder_.phase_))
             return false; // set_error should update axis.error_
+        
+
+        // Check for endstop presses
+        if(config_.min_endstop.enabled && min_endstop_state_) {
+            return error_ |= ERROR_MIN_ENDSTOP_PRESSED, false;
+        } else if(config_.max_endstop.enabled && max_endstop_state_) {
+            return error_ |= ERROR_MAX_ENDSTOP_PRESSED, false;
+        }
         return true;
     });
     set_step_dir_enabled(false);
diff --git a/Firmware/MotorControl/axis.hpp b/Firmware/MotorControl/axis.hpp
index 220a2874..e78413e9 100644
--- a/Firmware/MotorControl/axis.hpp
+++ b/Firmware/MotorControl/axis.hpp
@@ -20,7 +20,7 @@ enum AxisState_t {
     AXIS_STATE_HOMING = 9   //<! run axis homing function
 };
 
-struct Endstop_t{
+struct Endstop_t {
     uint16_t gpio_num;
     bool enabled;
     int32_t offset = 0;
@@ -63,6 +63,8 @@ public:
         ERROR_ENCODER_FAILED = 0x100,
         ERROR_CONTROLLER_FAILED = 0x200,
         ERROR_POS_CTRL_DURING_SENSORLESS = 0x400,
+        ERROR_MIN_ENDSTOP_PRESSED = 0x800,
+        ERROR_MAX_ENDSTOP_PRESSED = 0x1000
     };
 
     enum thread_signals {