Removed S-curve code and build configuration

Author: dc42

.cproject

@@ -138,22 +138,8 @@ CanMessageBuffer *_ecv_null CanMotion::GetBuffer(const PrepParams& params, Drive
 			move->decelClocks = buf->next->msg.moveLinearShaped.decelClocks;
 		}
 
-#if SUPPORT_S_CURVE
-		if (params.jerk != 0.0)
-		{
-			// We don't support S-curve acceleration on expansion boards, so the best we can do is compute an average acceleration and scale it to unit distance
-			move->acceleration = (params.peakAcceleration * params.TotalAccelClocks() - 0.5 * params.jerk * (fsquare(params.accelStartClocks) + fsquare(params.accelEndClocks)))/(params.TotalAccelClocks() * params.totalDistance);
-			move->deceleration = (-params.peakDeceleration * params.TotalDecelClocks() - 0.5 * params.jerk * (fsquare(params.decelStartClocks) + fsquare(params.decelEndClocks)))/(params.TotalDecelClocks() * params.totalDistance);
-		}
-		else
-		{
-			move->acceleration = params.peakAcceleration/params.totalDistance;			// scale the acceleration to correspond to unit distance
-			move->deceleration = -params.peakDeceleration/params.totalDistance;			// scale the deceleration to correspond to unit distance
-		}
-#else
 		move->acceleration = params.acceleration/params.totalDistance;					// scale the acceleration to correspond to unit distance
 		move->deceleration = -params.deceleration/params.totalDistance;					// scale the deceleration to correspond to unit distance
-#endif
 		move->extruderDrives = 0;
 		move->numDrivers = canDriver.localDriver + 1;
 		move->zero1 = move->zero2 = 0;

src/CAN/CanMotion.cpp

@@ -259,14 +259,6 @@
 #define SUPPORT_PHASE_STEPPING	0
 #endif
 
-#ifdef SUPPORT_S_CURVE
-# if SUPPORT_S_CURVE && !SUPPORT_PHASE_STEPPING
-#  error Cannot support S Curve acceleration without phase stepping
-# endif
-#else
-# define SUPPORT_S_CURVE		0
-#endif
-
 #ifndef SUPPORT_PROBE_POINTS_FILE
 # define SUPPORT_PROBE_POINTS_FILE	0
 #endif
@@ -315,7 +307,7 @@
 
 // Define SUPPORT_REMOTE_COMMANDS according to whether this hardware accepts commands over CAN
 #ifndef SUPPORT_REMOTE_COMMANDS
-# define SUPPORT_REMOTE_COMMANDS		(SUPPORT_CAN_EXPANSION && !defined(DUET3_ATE) && !SUPPORT_S_CURVE)
+# define SUPPORT_REMOTE_COMMANDS		(SUPPORT_CAN_EXPANSION && !defined(DUET3_ATE))
 #endif
 
 #ifndef SUPPORT_SCANNING_PROBES

src/Config/Pins.h

@@ -2448,25 +2448,8 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeEx
 						}
 					}
 
-#if SUPPORT_S_CURVE
-					if (frac < 1 && gb.Seen('T'))
-					{
-						if (!LockAllMovementSystemsAndWaitForStandstill(gb))
-						{
-							return false;
-						}
-						move.SetAccelerationTime(gb.GetNonNegativeFValue());
-						seen = true;
-					}
-#endif
 					if (seen)
 					{
-#if SUPPORT_S_CURVE
-						if (frac < 1)
-						{
-							move.UpdateSCurveFlagAndJerk();
-						}
-#endif
 						reprap.MoveUpdated();
 					}
 					else
@@ -2483,21 +2466,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeEx
 							reply.catf("%c%.1f", sep, (double)InverseConvertAcceleration(move.Acceleration(ExtruderToLogicalDrive(extruder), frac == 1)));
 							sep = ':';
 						}
-#if SUPPORT_S_CURVE
-						if (frac < 1)
-						{
-							reply.catf(", acceleration time %.2f sec", (double)(move.AccelerationTime() * (1.0/StepClockRate)));
-						}
-#endif
 					}
-
-#if SUPPORT_S_CURVE
-					if (frac < 1 && move.AccelerationTime() != 0.0 && !move.IsUsingSCurve())
-					{
-						reply.lcat("Acceleration time (S-curve acceleration) is disabled because phase stepping is not enabled");
-						result = GCodeResult::warning;
-					}
-#endif
 				}
 				break;
 

src/GCodes/GCodes2.cpp

@@ -569,9 +569,6 @@ GCodeResult GCodes::DoDriveMapping(GCodeBuffer& gb, const StringRef& reply) THRO
 
 	if (seen || seenExtrude)
 	{
-#if SUPPORT_S_CURVE
-		move.UpdateSCurveFlagAndJerk();
-#endif
 		reprap.MoveUpdated();
 #if SUPPORT_CAN_EXPANSION
 		rslt = max(rslt, move.UpdateRemoteStepsPerMmAndMicrostepping(axesToUpdate, reply));
@@ -909,9 +906,6 @@ GCodeResult GCodes::ConfigureStepMode(GCodeBuffer& gb, const StringRef& reply) T
 
 	if (seen)
 	{
-#if SUPPORT_S_CURVE
-		move.UpdateSCurveFlagAndJerk();
-#endif
 		reprap.MoveUpdated();
 	}
 	else