From 852ca37e8fa41ef9aa5a042fd2df6150e53ad0bf Mon Sep 17 00:00:00 2001
From: "D.R.racer" <drracer@drracer.eu>
Date: Thu, 2 Sep 2021 08:50:25 +0200
Subject: [PATCH] Add stealtMode flag into the global storage hive

May be used elsewhere to return to the desired motors' mode e.g. after homing
(which requires switching to normal mode)
---
 src/main.cpp            |  3 +++
 src/modules/globals.cpp |  5 +++++
 src/modules/globals.h   | 10 ++++++++++
 3 files changed, 18 insertions(+)

diff --git a/src/main.cpp b/src/main.cpp
index b39469a..9429e5d 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -272,6 +272,9 @@ void PlanCommand(const mp::RequestMsg &rq) {
 }
 
 void SetMode(uint8_t m) {
+    mg::globals.SetMotorsMode(m != 0); // remember the last mode set
+
+    // distribute the mode to all motors immediately
     mm::MotorMode mode = (m == 0) ? mm::Normal : mm::Stealth;
     mm::motion.SetMode(mm::Pulley, mode);
     mm::motion.SetMode(mm::Selector, mode);
diff --git a/src/modules/globals.cpp b/src/modules/globals.cpp
index 1314742..8ccef09 100644
--- a/src/modules/globals.cpp
+++ b/src/modules/globals.cpp
@@ -36,5 +36,10 @@ void Globals::IncDriveErrors() {
     mps::DriveError::increment();
 }
 
+void Globals::SetMotorsMode(bool stealth) {
+    stealthMode = stealth;
+    // @@TODO store into EEPROM
+}
+
 } // namespace globals
 } // namespace modules
diff --git a/src/modules/globals.h b/src/modules/globals.h
index 0f0f8db..f45db13 100644
--- a/src/modules/globals.h
+++ b/src/modules/globals.h
@@ -40,9 +40,19 @@ public:
     /// Increment MMU errors by 1
     void IncDriveErrors();
 
+    /// Set normal or stealth mode for all of the motors
+    /// Used to keep track of the last set mode to be able to return to it properly
+    /// after homing sequences and/or after restarting the MMU
+    /// @param stealth true means use stealth mode, false means use normal mode
+    void SetMotorsMode(bool stealth);
+
+    /// @returns true if the motors are to be operated in stealth mode
+    bool MotorsStealth() const { return stealthMode; }
+
 private:
     uint8_t activeSlot;
     bool filamentLoaded;
+    bool stealthMode;
 };
 
 /// The one and only instance of global state variables