From 7f39f076797e4d2f13aa13f0b74fd994ae65ecfc Mon Sep 17 00:00:00 2001
From: "D.R.racer" <drracer@drracer.eu>
Date: Mon, 26 Jul 2021 08:56:24 +0200
Subject: [PATCH] Avoid repeated Enable/Disable on an axis if already in
 desired state

---
 src/modules/motion.cpp | 16 +++++++++-------
 src/modules/motion.h   |  1 +
 2 files changed, 10 insertions(+), 7 deletions(-)

diff --git a/src/modules/motion.cpp b/src/modules/motion.cpp
index 8500b06..50c5a4e 100644
--- a/src/modules/motion.cpp
+++ b/src/modules/motion.cpp
@@ -15,14 +15,16 @@ void Motion::InitAxis(Axis axis) {
 }
 
 void Motion::SetEnabled(Axis axis, bool enabled) {
-    axisData[axis].drv.SetEnabled(axisParams[axis].params, enabled);
-    axisData[axis].enabled = enabled;
+    if (enabled != axisData[axis].enabled) {
+        axisData[axis].drv.SetEnabled(axisParams[axis].params, enabled);
+        axisData[axis].enabled = enabled;
 
-    if (!axisData[axis].enabled) {
-        // axis is powered off, clear internal StallGuard counters
-        axisData[axis].stall_trig = false;
-        axisData[axis].stall_cnt = 0;
-    }
+        if (!axisData[axis].enabled) {
+            // axis is powered off, clear internal StallGuard counters
+            axisData[axis].stall_trig = false;
+            axisData[axis].stall_cnt = 0;
+        }
+    } // else skip unnecessary Enable/Disable operations on an axis if already in the desired state
 }
 
 void Motion::SetMode(Axis axis, MotorMode mode) {
diff --git a/src/modules/motion.h b/src/modules/motion.h
index a577dc6..1122f8e 100644
--- a/src/modules/motion.h
+++ b/src/modules/motion.h
@@ -191,6 +191,7 @@ private:
                 axisParams[axis].jerk,
                 axisParams[axis].accel,
             },
+            .enabled = false
         };
     }