From bd01ee779b04e4202eb229e051389ec09e0fc6ff Mon Sep 17 00:00:00 2001
From: Alden Hart <alden08@harts.org>
Date: Sun, 18 Sep 2016 12:15:13 -0400
Subject: [PATCH] Consolidated some power management functions; fixed a bug in
 status reports where SR_VERBOSE mode created filtered reports

---
 g2core/report.cpp  |  3 ++-
 g2core/stepper.cpp | 41 ++++++++++++-----------------------------
 g2core/stepper.h   |  8 +++++---
 3 files changed, 19 insertions(+), 33 deletions(-)
 mode change 100755 => 100644 g2core/report.cpp

diff --git a/g2core/report.cpp b/g2core/report.cpp
old mode 100755
new mode 100644
index 0058a5a5..e7fca4eb
--- a/g2core/report.cpp
+++ b/g2core/report.cpp
@@ -296,7 +296,8 @@ stat_t sr_status_report_callback()         // called by controller dispatcher
     }
 
     sr.status_report_request = SR_OFF;
-    if (sr.status_report_request == SR_VERBOSE) {
+    if ((sr.status_report_request == SR_VERBOSE) ||
+        (sr.status_report_verbosity == SR_VERBOSE)) {
         _populate_unfiltered_status_report();
     } else {
         if (_populate_filtered_status_report() == false) {  // no new data
diff --git a/g2core/stepper.cpp b/g2core/stepper.cpp
index d60b5a0d..e3017a6c 100644
--- a/g2core/stepper.cpp
+++ b/g2core/stepper.cpp
@@ -192,28 +192,6 @@ stat_t st_clc(nvObj_t *nv)    // clear diagnostic counters, reset stepper prep
     return(STAT_OK);
 }
 
-/*
- * Motor power management functions
- *
- * st_energize_motors()      - apply power to all motors
- * st_deenergize_motors()    - remove power from all motors
- * st_motor_power_callback() - callback to manage motor power sequencing
- */
-
-void st_energize_motors(float timeout_seconds)
-{
-    for (uint8_t motor = MOTOR_1; motor < MOTORS; motor++) {
-        Motors[motor]->enable(timeout_seconds);
-    }
-}
-
-void st_deenergize_motors()
-{
-    for (uint8_t motor = MOTOR_1; motor < MOTORS; motor++) {
-        Motors[motor]->disable();
-    }
-}
-
 /*
  * st_motor_power_callback() - callback to manage motor power sequencing
  *
@@ -977,18 +955,23 @@ stat_t st_set_mt(nvObj_t *nv)
     return (STAT_OK);
 }
 
-stat_t st_set_md(nvObj_t *nv)    // Make sure this function is not part of initialization --> f00
+stat_t st_set_me(nvObj_t *nv)    // Make sure this function is not part of initialization --> f00
 {
-    st_deenergize_motors();
+    for (uint8_t motor = MOTOR_1; motor < MOTORS; motor++) {
+        Motors[motor]->enable(nv->value);   // nv->value is the timeout or 0 for default
+    }
     return (STAT_OK);
 }
 
-stat_t st_set_me(nvObj_t *nv)    // Make sure this function is not part of initialization --> f00
+stat_t st_set_md(nvObj_t *nv)    // Make sure this function is not part of initialization --> f00
 {
-    if (((uint8_t)nv->value == 0) || (nv->valuetype == TYPE_NULL)) {
-        st_energize_motors(st_cfg.motor_power_timeout);
-    } else {
-        st_energize_motors(nv->value);
+    // de-energize all motors
+    if ((uint8_t)nv->value == 0) {      // 0 means all motors
+        for (uint8_t motor = MOTOR_1; motor < MOTORS; motor++) {
+            Motors[motor]->disable();
+        }
+    } else {                            // otherwise it's just one motor
+         Motors[(uint8_t)nv->value -1]->disable();
     }
     return (STAT_OK);
 }
diff --git a/g2core/stepper.h b/g2core/stepper.h
index 2bb1d36f..f0bea198 100644
--- a/g2core/stepper.h
+++ b/g2core/stepper.h
@@ -478,6 +478,7 @@ struct Stepper {
 //    };
     
     // turn on motor in all cases unless it's disabled
+    // NOTE: in the future the default assigned timeout will be the motor's default value
     void enable(float timeout = st_cfg.motor_power_timeout)
     {
         if (_power_mode == MOTOR_DISABLED) {
@@ -485,6 +486,10 @@ struct Stepper {
         }
         this->_enableImpl();
         _power_state = MOTOR_RUNNING;
+
+        if ((uint8_t)timeout == 0) {
+            timeout = st_cfg.motor_power_timeout;
+        }
         _motor_disable_timeout_ms = timeout * 1000.0;
     };
 
@@ -554,9 +559,6 @@ stat_t stepper_test_assertions(void);
 
 bool st_runtime_isbusy(void);
 stat_t st_clc(nvObj_t *nv);
-
-void st_energize_motors(float timeout_seconds);
-void st_deenergize_motors(void);
 void st_set_motor_power(const uint8_t motor);
 stat_t st_motor_power_callback(void);