Communicate GPMCU with MCMCU to update the motor status bits, which

indicate if a given motor is executing a trapezoidal move.

gpcore/controller_status.c

@@ -3,6 +3,9 @@
 #endif
 
 #include "controller_status.h"
+#include "mctlcom.h"
+
+#include <stdlib.h> // atoi
 
 controller_status_t    controller;
 
@@ -52,8 +55,70 @@ bool_t motor_is_in_trapezoidal_mode(unsigned char motor)
 	return condition;
 }
 
+void update_motor_status(void)
+{
+	const int size = 64;
+	char buf[size];
+	int recvd, status_bit;
+
+	mcuicom_send("XA" CMDEND);
+	recvd = mctlcom_get_response(buf, size);
+	buf[recvd] = '\0';
+	status_bit = atoi(buf);
+	if (status_bit)
+		controller.motor_status |= MOTOR_A;
+	else
+		controller.motor_status &= ~MOTOR_A;
+
+	mcuicom_send("XB" CMDEND);
+	recvd = mctlcom_get_response(buf, size);
+	buf[recvd] = '\0';
+	status_bit = atoi(buf);
+	if (status_bit)
+		controller.motor_status |= MOTOR_B;
+	else
+		controller.motor_status &= ~MOTOR_B;
+
+	mcuicom_send("XC" CMDEND);
+	recvd = mctlcom_get_response(buf, size);
+	buf[recvd] = '\0';
+	status_bit = atoi(buf);
+	if (status_bit)
+		controller.motor_status |= MOTOR_C;
+	else
+		controller.motor_status &= ~MOTOR_C;
+
+	mcuicom_send("XD" CMDEND);
+	recvd = mctlcom_get_response(buf, size);
+	buf[recvd] = '\0';
+	status_bit = atoi(buf);
+	if (status_bit)
+		controller.motor_status |= MOTOR_D;
+	else
+		controller.motor_status &= ~MOTOR_D;
+
+	mcuicom_send("XE" CMDEND);
+	recvd = mctlcom_get_response(buf, size);
+	buf[recvd] = '\0';
+	status_bit = atoi(buf);
+	if (status_bit)
+		controller.motor_status |= MOTOR_E;
+	else
+		controller.motor_status &= ~MOTOR_E;
+
+	mcuicom_send("XF" CMDEND);
+	recvd = mctlcom_get_response(buf, size);
+	buf[recvd] = '\0';
+	status_bit = atoi(buf);
+	if (status_bit)
+		controller.motor_status |= MOTOR_F;
+	else
+		controller.motor_status &= ~MOTOR_F;
+}
+
 bool_t any_motor_executing_trapezoidal_move(unsigned char motor_flags)
 {
+	update_motor_status();
 	return controller.motor_status & motor_flags;
 }
 

gpcore/controller_status.h

@@ -42,7 +42,7 @@ typedef struct {
 	 * Bit 1:    1 = Motor B in Trapezoidal move    0 = Motor B not in Trapezoidal move
 	 * Bit 0:    1 = Motor A in Trapezoidal move    0 = Motor A not in Trapezoidal move
 	 */
-	char motor_status;
+	unsigned char motor_status;
 
 	/**
 	 * System Configuration.

mcuicom.h

@@ -1,6 +1,10 @@
 #ifndef MCUICOM_H
 #define MCUICOM_H
 
+#ifndef CMDEND
+#define CMDEND "\r"
+#endif
+
 /*****************************************************************************************************
  * Serial port timing configuration: 9600 baud                                                       *
  *****************************************************************************************************/

motorctl/gpcorecom.c

@@ -2,7 +2,6 @@
 
 #include "../mcuicom.h"
 #include "motor_status.h"
-#include "../hostcmdset.h"
 #include "pwm.h"
 #include "motorctl.h"
 #include "../delay.h"