formatting + moved current position getter to planner

motion_control.c

@@ -55,7 +55,7 @@ void mc_arc(double theta, double angular_travel, double radius, double linear_tr
   int axis_linear, double feed_rate, int invert_feed_rate)
 {      
   int32_t position[3];
-  st_get_position_steps(&position);
+  plan_get_position_steps(&position);
   int acceleration_manager_was_enabled = plan_is_acceleration_manager_enabled();
   plan_set_acceleration_manager_enabled(FALSE); // disable acceleration management for the duration of the arc
   double millimeters_of_travel = hypot(angular_travel*radius, labs(linear_travel));

planner.c

@@ -61,6 +61,9 @@
 #include "config.h"
 #include "wiring_serial.h"
 
+// The number of linear motions that can be in the plan at any give time
+#define BLOCK_BUFFER_SIZE 20  
+
 block_t block_buffer[BLOCK_BUFFER_SIZE];  // A ring buffer for motion instructions
 volatile int block_buffer_head;           // Index of the next block to be pushed
 volatile int block_buffer_tail;           // Index of the block to process now
@@ -407,3 +410,7 @@ void plan_buffer_line(double x, double y, double z, double feed_rate, int invert
   st_wake_up();
 }
 
+void plan_get_position_steps(int32_t (*vector)[3]) {
+  memcpy(vector, position, sizeof(position)); // vector[] = position[]
+}
+

planner.h

@@ -26,9 +26,6 @@
                  
 #include <inttypes.h>
 
-// Pick a suitable block-buffer size
-#define BLOCK_BUFFER_SIZE 20   // Atmega 328 has one full kilobyte of extra RAM!
-
 // This struct is used when buffering the setup for each linear movement "nominal" values are as specified in 
 // the source g-code and may never actually be reached if acceleration management is active.
 typedef struct {
@@ -64,16 +61,20 @@ void plan_init();
 // rate is taken to mean "frequency" and would complete the operation in 1/feed_rate minutes.
 void plan_buffer_line(double x, double y, double z, double feed_rate, int invert_feed_rate);
 
-// Call when the current block is no longer needed. Discards the block and makes the memory
+// Called when the current block is no longer needed. Discards the block and makes the memory
 // availible for new blocks.
 inline void plan_discard_current_block();
 
 // Gets the current block. Returns NULL if buffer empty
 inline block_t *plan_get_current_block();
 
-// Enables acceleration-management for upcoming blocks
+// Enables or disables acceleration-management for upcoming blocks
 void plan_set_acceleration_manager_enabled(int enabled);
+
 // Is acceleration-management currently enabled?
 int plan_is_acceleration_manager_enabled();
       
+// Copy the current absolute position in steps into the provided vector
+void plan_get_position_steps(int32_t (*vector)[3]);
+
 #endif

stepper.c

@@ -112,10 +112,6 @@ inline void trapezoid_generator_tick() {
   }
 }
 
-void st_get_position_steps(int32_t (*vector)[3]) {
-  memcpy(vector, position, sizeof(position)); // vector[] = position[]
-}
-
 // "The Stepper Driver Interrupt" - This timer interrupt is the workhorse of Grbl. It is  executed at the rate set with
 // config_step_timer. It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately. 
 // It is supported by The Stepper Port Reset Interrupt which it uses to reset the stepper port after each pulse.

stepper.h

@@ -27,9 +27,6 @@
 // Initialize and start the stepper motor subsystem
 void st_init();
 
-// Copy the current absolute position in steps into the provided vector
-void st_get_position_steps(int32_t (*vector)[3]);
-
 // Block until all buffered steps are executed
 void st_synchronize();