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cleaned up methods for enabling/disabling acceleration manger

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This commit is contained in:
Simen Svale Skogsrud
2011-02-06 22:25:01 +01:00
parent 7092b0e1fe
commit cdcc7bf86e
4 changed files with 16 additions and 32 deletions
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21
stepper_plan.c
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@@ -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() {
if (!acceleration_management) {
void plan_set_acceleration_manager_enabled(int enabled) {
if ((!!acceleration_manager_enabled) != (!!enabled)) {
st_synchronize();
acceleration_management = TRUE;
acceleration_manager_enabled = !!enabled;
}
}
void plan_disable_acceleration_management() {
if(acceleration_management) {
st_synchronize();
acceleration_management = FALSE;
}
int plan_is_acceleration_manager_enabled() {
return(acceleration_manager_enabled);
}
// 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);