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Avoid repeated Enable/Disable on an axis if already in desired state

pull/65/head
D.R.racer 2021-07-26 08:56:24 +02:00 committed by DRracer
parent 8a1df52d79
commit 7f39f07679
2 changed files with 10 additions and 7 deletions
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16
src/modules/motion.cpp
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@ -15,14 +15,16 @@ void Motion::InitAxis(Axis axis) {
} }
void Motion::SetEnabled(Axis axis, bool enabled) { void Motion::SetEnabled(Axis axis, bool enabled) {
axisData[axis].drv.SetEnabled(axisParams[axis].params, enabled); if (enabled != axisData[axis].enabled) {
axisData[axis].enabled = enabled; axisData[axis].drv.SetEnabled(axisParams[axis].params, enabled);
axisData[axis].enabled = enabled;
if (!axisData[axis].enabled) { if (!axisData[axis].enabled) {
// axis is powered off, clear internal StallGuard counters // axis is powered off, clear internal StallGuard counters
axisData[axis].stall_trig = false; axisData[axis].stall_trig = false;
axisData[axis].stall_cnt = 0; 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) { void Motion::SetMode(Axis axis, MotorMode mode) {

1
src/modules/motion.h
View File

@ -191,6 +191,7 @@ private:
axisParams[axis].jerk, axisParams[axis].jerk,
axisParams[axis].accel, axisParams[axis].accel,
}, },
.enabled = false
}; };
} }