From 4dbe7c4833f63c97968823a251929eb9bec0515b Mon Sep 17 00:00:00 2001
From: Simen Svale Skogsrud <simen@bengler.no>
Date: Tue, 25 Jan 2011 22:44:46 +0100
Subject: [PATCH] added high-level api-call for enabling or disabling the
 acceleration manager

---
 motion_control.c | 10 +++++++++-
 motion_control.h |  4 ++++
 stepper_plan.c   |  1 -
 3 files changed, 13 insertions(+), 2 deletions(-)

diff --git a/motion_control.c b/motion_control.c
index 3529c3c..17f2b9f 100644
--- a/motion_control.c
+++ b/motion_control.c
@@ -26,7 +26,7 @@
 #include <stdlib.h>
 #include "nuts_bolts.h"
 #include "stepper.h"
-
+#include "stepper_plan.h"
 #include "wiring_serial.h"
 
 int32_t position[3];    // The current position of the tool in absolute steps
@@ -42,6 +42,14 @@ void mc_dwell(uint32_t milliseconds)
   _delay_ms(milliseconds);
 }
 
+void mc_set_acceleration_manager_enabled(uint8_t enabled) {
+  if (enabled) {
+    plan_enable_acceleration_management();
+  } else {
+    plan_disable_acceleration_management();
+  }
+}
+
 // Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second
 // unless invert_feed_rate is true. Then the feed_rate means that the motion should be completed in
 // 1/feed_rate minutes.
diff --git a/motion_control.h b/motion_control.h
index b9104c5..ae45247 100644
--- a/motion_control.h
+++ b/motion_control.h
@@ -23,9 +23,13 @@
 
 #include <avr/io.h>
 
+
 // Initializes the motion_control subsystem resources
 void mc_init();
 
+// Enables or disables the look ahead acceleration manager. (Default: on)
+void mc_set_acceleration_manager_enabled(uint8_t enabled);
+
 // Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second
 // unless invert_feed_rate is true. Then the feed_rate means that the motion should be completed in
 // (1 minute)/feed_rate time.
diff --git a/stepper_plan.c b/stepper_plan.c
index 3d0f996..2cbec52 100644
--- a/stepper_plan.c
+++ b/stepper_plan.c
@@ -303,7 +303,6 @@ void plan_disable_acceleration_management() {
   }
 }
 
-
 // Add a new linear movement to the buffer. steps_x, _y and _z is the signed, relative motion in 
 // steps. Microseconds specify how many microseconds the move should take to perform. To aid acceleration
 // calculation the caller must also provide the physical length of the line in millimeters.