From 29abfa48ef1edbcaeecf5d22f899c09f3cde88d2 Mon Sep 17 00:00:00 2001
From: Rob Giseburt <giseburt@gmail.com>
Date: Thu, 15 Mar 2018 14:33:28 -0500
Subject: [PATCH] Minor cleanup with enable and step polarity

---
 .../device/step_dir_driver/step_dir_driver.h  | 39 +++++++++++++------
 g2core/stepper.cpp                            |  6 +--
 g2core/stepper.h                              |  8 ++--
 3 files changed, 34 insertions(+), 19 deletions(-)

diff --git a/g2core/device/step_dir_driver/step_dir_driver.h b/g2core/device/step_dir_driver/step_dir_driver.h
index 0b1cb526..5433a62a 100644
--- a/g2core/device/step_dir_driver/step_dir_driver.h
+++ b/g2core/device/step_dir_driver/step_dir_driver.h
@@ -37,6 +37,7 @@ using Motate::pin_number;
 using Motate::OutputPin;
 using Motate::PWMOutputPin;
 using Motate::kStartHigh;
+using Motate::kStartLow;
 using Motate::kNormal;
 using Motate::Timeout;
 
@@ -61,13 +62,16 @@ struct StepDirStepper final : Stepper  {
     OutputPin<ms2_num>     _ms2;
     PWMOutputPin<vref_num> _vref;
 
-    ioMode _enable_polarity;                 // 0=active HIGH, 1=active LOW
+    ioMode _step_polarity;                   // IO_ACTIVE_LOW or IO_ACTIVE_HIGH
+    ioMode _enable_polarity;                 // IO_ACTIVE_LOW or IO_ACTIVE_HIGH
 
     // sets default pwm freq for all motor vrefs (commented line below also sets HiZ)
-    StepDirStepper(ioMode enable_polarity = IO_ACTIVE_LOW, const uint32_t frequency = 250000) :
-        Stepper{enable_polarity},
+    StepDirStepper(ioMode step_polarity, ioMode enable_polarity, const uint32_t frequency = 250000) :
+        Stepper{},
+        _step{step_polarity==IO_ACTIVE_LOW?kStartHigh:kStartLow},
         _enable{enable_polarity==IO_ACTIVE_LOW?kStartHigh:kStartLow},
         _vref{kNormal, frequency},
+        _step_polarity{step_polarity},
         _enable_polarity{enable_polarity}
     {};
 
@@ -141,17 +145,17 @@ struct StepDirStepper final : Stepper  {
     };
 
     void stepStart() override {
-	if (_invert_step)
-	    _step.clear();
-	else
-	    _step.set();
+    	if (_step_polarity == IO_ACTIVE_LOW)
+    	    _step.clear();
+    	else
+    	    _step.set();
     };
 
     void stepEnd() override {
-	if (_invert_step)
-	    _step.set();
-	else
-	    _step.clear();
+    	if (_step_polarity == IO_ACTIVE_LOW)
+    	    _step.set();
+    	else
+    	    _step.clear();
     };
 
     void setDirection(uint8_t new_direction) override {
@@ -170,7 +174,18 @@ struct StepDirStepper final : Stepper  {
         }
     };
 
-    ioMode getEnablePolarity() override
+    ioMode getStepPolarity() const override
+    {
+    	return _step_polarity;
+    };
+
+    void setStepPolarity(ioMode new_sp) override
+    {
+    	_step_polarity = new_sp;
+    	stepEnd();
+    };
+
+    ioMode getEnablePolarity() const override
     {
         return _enable_polarity;
     };
diff --git a/g2core/stepper.cpp b/g2core/stepper.cpp
index 04fc9ab2..29f2e527 100644
--- a/g2core/stepper.cpp
+++ b/g2core/stepper.cpp
@@ -1050,7 +1050,7 @@ stat_t st_set_sp(nvObj_t *nv)            // set motor step polarity
     uint8_t motor = _get_motor(nv->index);
     if (motor > MOTORS) { return STAT_INPUT_VALUE_RANGE_ERROR; };
 
-    Motors[motor]->setStepPolarity((int)nv->value);
+    Motors[motor]->setStepPolarity((ioMode)nv->value);
     return (STAT_OK);
 }
 
@@ -1148,7 +1148,7 @@ static const char fmt_0mi[] = "[%s%s] m%s microsteps%16d [1,2,4,8,16,32]\n";
 static const char fmt_0su[] = "[%s%s] m%s steps per unit %17.5f steps per%s\n";
 static const char fmt_0po[] = "[%s%s] m%s polarity%18d [0=normal,1=reverse]\n";
 static const char fmt_0ep[] = "[%s%s] m%s enable polarity%11d [0=active HIGH,1=active LOW]\n";
-static const char fmt_0ps[] = "[%s%s] m%s step polarity%13d [0=active HIGH,1=active LOW]\n";
+static const char fmt_0sp[] = "[%s%s] m%s step polarity%13d [0=active HIGH,1=active LOW]\n";
 static const char fmt_0pm[] = "[%s%s] m%s power management%10d [0=disabled,1=always on,2=in cycle,3=when moving]\n";
 static const char fmt_0pl[] = "[%s%s] m%s motor power level%13.3f [0.000=minimum, 1.000=maximum]\n";
 static const char fmt_pwr[] = "[%s%s] Motor %c power level:%12.3f\n";
@@ -1188,7 +1188,7 @@ void st_print_mi(nvObj_t *nv) { _print_motor_int(nv, fmt_0mi);}
 void st_print_su(nvObj_t *nv) { _print_motor_flt_units(nv, fmt_0su, cm_get_units_mode(MODEL));}
 void st_print_po(nvObj_t *nv) { _print_motor_int(nv, fmt_0po);}
 void st_print_ep(nvObj_t *nv) { _print_motor_int(nv, fmt_0ep);}
-void st_print_ps(nvObj_t *nv) { _print_motor_int(nv, fmt_0ps);}
+void st_print_sp(nvObj_t *nv) { _print_motor_int(nv, fmt_0sp);}
 void st_print_pm(nvObj_t *nv) { _print_motor_int(nv, fmt_0pm);}
 void st_print_pl(nvObj_t *nv) { _print_motor_flt(nv, fmt_0pl);}
 void st_print_pwr(nvObj_t *nv){ _print_motor_pwr(nv, fmt_pwr);}
diff --git a/g2core/stepper.h b/g2core/stepper.h
index 857b132b..f899ad60 100644
--- a/g2core/stepper.h
+++ b/g2core/stepper.h
@@ -458,7 +458,7 @@ public:
         }
     };
 
-    virtual ioMode getEnablePolarity()
+    virtual ioMode getEnablePolarity() const
     {
         return IO_ACTIVE_LOW; // we have to say something here
     };
@@ -467,12 +467,12 @@ public:
     {
         // do nothing
     };
-    
-    virtual ioMode getStepPolarity()
+
+    virtual ioMode getStepPolarity() const
     {
         return IO_ACTIVE_LOW; // we have to say something here
     };
-    
+
     virtual void setStepPolarity(ioMode new_mp)
     {
         // do nothing