cleaned up methods for enabling/disabling acceleration manger

motion_control.c

@@ -31,12 +31,10 @@
 
 // The current position of the tool in absolute steps
 int32_t position[3];   
-int8_t acceleration_management_enabled;
 
 void mc_init()
 {
   clear_vector(position);
-  acceleration_management_enabled = TRUE;
 }
 
 void mc_dwell(uint32_t milliseconds) 
@@ -45,15 +43,6 @@ 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();
-  }
-  acceleration_management_enabled = 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/feed_rate minutes.
@@ -96,7 +85,8 @@ void mc_line(double x, double y, double z, double feed_rate, int invert_feed_rat
 void mc_arc(double theta, double angular_travel, double radius, double linear_travel, int axis_1, int axis_2, 
   int axis_linear, double feed_rate, int invert_feed_rate)
 {      
-  plan_disable_acceleration_management(); // disable acceleration management for the duration of the arc
+  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));
   if (millimeters_of_travel == 0.0) { return; }
   uint16_t segments = ceil(millimeters_of_travel/settings.mm_per_arc_segment);
@@ -123,7 +113,7 @@ void mc_arc(double theta, double angular_travel, double radius, double linear_tr
     target[axis_2] = center_y+cos(theta)*radius;
     mc_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], feed_rate, invert_feed_rate);
   }
-  mc_set_acceleration_manager_enabled(acceleration_management_enabled); // restore acceleration management setting
+  plan_set_acceleration_manager_enabled(acceleration_manager_was_enabled);
 }
 
 void mc_go_home()

motion_control.h

@@ -27,9 +27,6 @@
 // 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.

stepper_plan.c

@@ -65,7 +65,7 @@ block_t block_buffer[BLOCK_BUFFER_SIZE];  // A ring buffer for motion instructio
 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
 
-static uint8_t acceleration_management;   // Acceleration management active?
+static uint8_t acceleration_manager_enabled;   // Acceleration management active?
 
 // Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the 
 // given acceleration:
@@ -333,21 +333,18 @@ void planner_recalculate() {
 void plan_init() {
   block_buffer_head = 0;
   block_buffer_tail = 0;
-  plan_enable_acceleration_management();
+  plan_set_acceleration_manager_enabled(TRUE);
 }
 
-void plan_enable_acceleration_management() {
+void plan_set_acceleration_manager_enabled(int enabled) {
-  if (!acceleration_management) {
+  if ((!!acceleration_manager_enabled) != (!!enabled)) {
     st_synchronize();
-    acceleration_management = TRUE;
+    acceleration_manager_enabled = !!enabled;
   }
 }
 
-void plan_disable_acceleration_management() {
+int plan_is_acceleration_manager_enabled() {
-  if(acceleration_management) {
+  return(acceleration_manager_enabled);
-    st_synchronize();
-    acceleration_management = FALSE;
-  }
 }
 
 // Add a new linear movement to the buffer. steps_x, _y and _z is the signed, relative motion in 
@@ -393,7 +390,7 @@ void plan_buffer_line(int32_t steps_x, int32_t steps_y, int32_t steps_z, uint32_
   block->rate_delta = ceil(
     ((settings.acceleration*60.0)/(ACCELERATION_TICKS_PER_SECOND))/ // acceleration mm/sec/sec per acceleration_tick
     travel_per_step);                                               // convert to: acceleration steps/min/acceleration_tick    
-  if (acceleration_management) {
+  if (acceleration_manager_enabled) {
     double safe_speed_factor = factor_for_safe_speed(block);
     calculate_trapezoid_for_block(block, safe_speed_factor, safe_speed_factor);                       // compute a conservative acceleration trapezoid for now
   } else {
@@ -411,7 +408,7 @@ void plan_buffer_line(int32_t steps_x, int32_t steps_y, int32_t steps_z, uint32_
   // Move buffer head
   block_buffer_head = next_buffer_head;
   
-  if (acceleration_management) {
+  if (acceleration_manager_enabled) {
     planner_recalculate();  
   } else {    
     calculate_trapezoid_for_block(block, 1.0, 1.0);

stepper_plan.h

@@ -68,8 +68,8 @@ void plan_init();
 void plan_buffer_line(int32_t steps_x, int32_t steps_y, int32_t steps_z, uint32_t microseconds, double millimeters);
 
 // Enables acceleration-management for upcoming blocks
-void plan_enable_acceleration_management();
+void plan_set_acceleration_manager_enabled(int enabled);
-// Disables acceleration-management for upcoming blocks
+// Is acceleration-management currently enabled?
-void plan_disable_acceleration_management();
+int plan_is_acceleration_manager_enabled();
 
 #endif