From b97fb544d525c18533956ee6e147409d9195fd75 Mon Sep 17 00:00:00 2001
From: Rob Giseburt <giseburt@gmail.com>
Date: Thu, 23 Feb 2017 23:09:14 -0600
Subject: [PATCH] =?UTF-8?q?Fix=20issue=20where=20power=20levels=20are=20ge?=
 =?UTF-8?q?tting=20scaled=20before=20the=20per-driver=20stepper=20object.?=
 =?UTF-8?q?=20They=E2=80=99re=20now=20scaled=20(or=20not)=20inside=20the?=
 =?UTF-8?q?=20stepper=20objects.?=
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---
 g2core/device/step_dir_driver/step_dir_driver.h |  7 ++++++-
 g2core/stepper.cpp                              | 10 +++++-----
 g2core/stepper.h                                |  8 --------
 3 files changed, 11 insertions(+), 14 deletions(-)

diff --git a/g2core/device/step_dir_driver/step_dir_driver.h b/g2core/device/step_dir_driver/step_dir_driver.h
index da3cfc1e..d64ddded 100644
--- a/g2core/device/step_dir_driver/step_dir_driver.h
+++ b/g2core/device/step_dir_driver/step_dir_driver.h
@@ -40,6 +40,11 @@ using Motate::kStartHigh;
 using Motate::kNormal;
 using Motate::Timeout;
 
+// Stepper power management settings
+// These should be more flexible, but for now this will do
+#define Vcc         3.3                 // volts
+#define MaxVref    2.25                 // max vref for driver circuit. Our ckt is 2.25 volts
+#define POWER_LEVEL_SCALE_FACTOR ((MaxVref/Vcc)) // scale power level setting for voltage range
 
 // Motor structures
 template <pin_number step_num,  // Setup a stepper template to hold our pins
@@ -141,7 +146,7 @@ struct StepDirStepper final : Stepper  {
 
     void setPowerLevel(float new_pl) override {
         if (!_vref.isNull()) {
-            _vref = new_pl;
+            _vref = new_pl * POWER_LEVEL_SCALE_FACTOR;
         }
     };
 };
diff --git a/g2core/stepper.cpp b/g2core/stepper.cpp
index b8e17a6f..4772805f 100644
--- a/g2core/stepper.cpp
+++ b/g2core/stepper.cpp
@@ -133,8 +133,8 @@ void stepper_init()
 
     // setup motor power levels and apply power level to stepper drivers
     for (uint8_t motor=0; motor<MOTORS; motor++) {
-        Motors[motor]->setPowerLevel(st_cfg.mot[motor].power_level_scaled);
-        st_run.mot[motor].power_level_dynamic = st_cfg.mot[motor].power_level_scaled;
+        Motors[motor]->setPowerLevel(st_cfg.mot[motor].power_level);
+        st_run.mot[motor].power_level_dynamic = st_cfg.mot[motor].power_level;
     }
     board_stepper_init();
     stepper_reset();                            // reset steppers to known state
@@ -1000,9 +1000,9 @@ stat_t st_set_pl(nvObj_t *nv)    // motor power level
     set_flt(nv);    // set power_setting value in the motor config struct (st)
 
     uint8_t motor = _get_motor(nv->index);
-    st_cfg.mot[motor].power_level_scaled = (nv->value * POWER_LEVEL_SCALE_FACTOR);
-    st_run.mot[motor].power_level_dynamic = (st_cfg.mot[motor].power_level_scaled);
-    Motors[motor]->setPowerLevel(st_cfg.mot[motor].power_level_scaled);
+    st_cfg.mot[motor].power_level = nv->value;
+    st_run.mot[motor].power_level_dynamic = (st_cfg.mot[motor].power_level);
+    Motors[motor]->setPowerLevel(st_cfg.mot[motor].power_level);
 
     return(STAT_OK);
 }
diff --git a/g2core/stepper.h b/g2core/stepper.h
index 709305d4..4b2f7824 100644
--- a/g2core/stepper.h
+++ b/g2core/stepper.h
@@ -282,11 +282,6 @@ typedef enum {
     MOTOR_POWER_MODE_MAX_VALUE          // for input range checking
 } stPowerMode;
 
-// Stepper power management settings
-#define Vcc         3.3                 // volts
-#define MaxVref    2.25                 // max vref for driver circuit. Our ckt is 2.25 volts
-#define POWER_LEVEL_SCALE_FACTOR ((MaxVref/Vcc)) // scale power level setting for voltage range
-
 // Min/Max timeouts allowed for motor disable. Allow for inertial stop; must be non-zero
 #define MOTOR_TIMEOUT_SECONDS_MIN   (float)0.1      // seconds !!! SHOULD NEVER BE ZERO !!!
 #define MOTOR_TIMEOUT_SECONDS_MAX   (float)4294967  // (4294967295/1000) -- for conversion to uint32_t
@@ -359,9 +354,6 @@ typedef struct cfgMotor {                   // per-motor configs
     float travel_rev;                       // mm or deg of travel per motor revolution
     float steps_per_unit;                   // microsteps per mm (or degree) of travel
     float units_per_step;                   // mm or degrees of travel per microstep
-
-    // private
-    float power_level_scaled;               // scaled to internal range - must be between 0 and 1
 } cfgMotor_t;
 
 typedef struct stConfig {                   // stepper configs