Hurray!!! It works!  I have a single axis working seamlessly over the spibus with
an external estop.  The driver can now run a single axis and react appropriately
when the estop button is pressed.  I have my new breakout board prototyped up that
pipes the e-stop signal to the reset line so the chip is held in reset as soon
as the estop circuit activates.  The noEstop input pin on the stm.comp component
will drop back to initialize the drive when it sees a 0 indicating the estop circuit
has been tripped.  It will then sit in a loop continuously querying the drive
until it gets sensible status information from the drive.  It then loops checking
all of the configuration parameters to make sure they are correct and then proceeds
to a "ready" state when successful.  I have added a totally bogus charge pump output
on pin 17 to enable my estop box.  

Next Steps:  
1) The charge pump  output needs tied into the estop buttons on Axis.  
2) Tie in some sort of monitoring of the feedback from the motor to make sure
it is valid.  Currently I am integrating the velocity commands and computing
when I should have seen a step change from the controller's internal position
counter.  Under high accelleration, this method isn't perfect.  It isn't set
as any kind of a fault yet.  It should be so we know if the drive is being stupid.
3) Testing with multiple axes.
4) Testing for interference with the big motors and power supply on the mill.
5) Relocating the components to their new home in the control panel on the mill.
6) Integration of mill limit switches 
7) Integration of oiler, coolant, spindle control, jog wheels, maybe encoders, and 
   other goodies.




