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@ -458,7 +458,7 @@ volatile bool wait_for_heatup = true;
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volatile bool wait_for_user = false;
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#endif
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const char axis_codes[XYZE] = {'X', 'Y', 'Z', 'E'};
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const char axis_codes[XYZE] = { 'X', 'Y', 'Z', 'E' };
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// Number of characters read in the current line of serial input
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static int serial_count = 0;
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@ -1394,7 +1394,7 @@ bool get_target_extruder_from_command(int code) {
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*
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* Callers must sync the planner position after calling this!
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*/
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static void set_axis_is_at_home(AxisEnum axis) {
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static void set_axis_is_at_home(const AxisEnum axis) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOPAIR(">>> set_axis_is_at_home(", axis_codes[axis]);
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@ -1496,7 +1496,7 @@ static void set_axis_is_at_home(AxisEnum axis) {
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/**
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* Some planner shorthand inline functions
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*/
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inline float get_homing_bump_feedrate(AxisEnum axis) {
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inline float get_homing_bump_feedrate(const AxisEnum axis) {
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int constexpr homing_bump_divisor[] = HOMING_BUMP_DIVISOR;
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int hbd = homing_bump_divisor[axis];
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if (hbd < 1) {
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@ -1507,20 +1507,19 @@ inline float get_homing_bump_feedrate(AxisEnum axis) {
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return homing_feedrate_mm_s[axis] / hbd;
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}
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//
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// line_to_current_position
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// Move the planner to the current position from wherever it last moved
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// (or from wherever it has been told it is located).
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//
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/**
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* Move the planner to the current position from wherever it last moved
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* (or from wherever it has been told it is located).
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*/
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inline void line_to_current_position() {
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planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate_mm_s, active_extruder);
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}
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//
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// line_to_destination
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// Move the planner, not necessarily synced with current_position
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//
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inline void line_to_destination(float fr_mm_s) {
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/**
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* Move the planner to the position stored in the destination array, which is
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* used by G0/G1/G2/G3/G5 and many other functions to set a destination.
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*/
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inline void line_to_destination(const float fr_mm_s) {
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planner.buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], fr_mm_s, active_extruder);
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}
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inline void line_to_destination() { line_to_destination(feedrate_mm_s); }
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@ -2751,7 +2750,7 @@ static void clean_up_after_endstop_or_probe_move() {
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/**
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* Home an individual linear axis
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*/
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static void do_homing_move(const AxisEnum axis, float distance, float fr_mm_s=0.0) {
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static void do_homing_move(const AxisEnum axis, const float distance, const float fr_mm_s=0.0) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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@ -4907,7 +4906,7 @@ void home_all_axes() { gcode_G28(true); }
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if ( NEAR(current_position[X_AXIS], xProbe - (X_PROBE_OFFSET_FROM_EXTRUDER))
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&& NEAR(current_position[Y_AXIS], yProbe - (Y_PROBE_OFFSET_FROM_EXTRUDER))
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) {
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float simple_z = current_position[Z_AXIS] - measured_z;
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const float simple_z = current_position[Z_AXIS] - measured_z;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOPAIR("Z from Probe:", simple_z);
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@ -7667,45 +7666,32 @@ void report_current_position() {
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#ifdef M114_DETAIL
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static const char axis_char[XYZE] = {'X','Y','Z','E'};
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void report_xyze(const float pos[XYZE], uint8_t n = 4, uint8_t precision = 3) {
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void report_xyze(const float pos[XYZE], const uint8_t n = 4, const uint8_t precision = 3) {
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char str[12];
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for(uint8_t i=0; i<n; i++) {
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for (uint8_t i = 0; i < n; i++) {
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SERIAL_CHAR(' ');
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SERIAL_CHAR(axis_char[i]);
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SERIAL_CHAR(axis_codes[i]);
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SERIAL_CHAR(':');
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SERIAL_PROTOCOL(dtostrf(pos[i],8,precision,str));
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SERIAL_PROTOCOL(dtostrf(pos[i], 8, precision, str));
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}
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SERIAL_EOL;
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}
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inline void report_xyz(const float pos[XYZ]) {
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report_xyze(pos,3);
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}
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inline void report_xyz(const float pos[XYZ]) { report_xyze(pos, 3); }
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void report_current_position_detail() {
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stepper.synchronize();
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SERIAL_EOL;
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SERIAL_PROTOCOLPGM("Logical:");
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SERIAL_PROTOCOLPGM("\nLogical:");
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report_xyze(current_position);
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SERIAL_PROTOCOLPGM("Raw: ");
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const float raw[XYZ] = {
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RAW_X_POSITION(current_position[X_AXIS]),
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RAW_Y_POSITION(current_position[Y_AXIS]),
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RAW_Z_POSITION(current_position[Z_AXIS])
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};
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const float raw[XYZ] = { RAW_X_POSITION(current_position[X_AXIS]), RAW_Y_POSITION(current_position[Y_AXIS]), RAW_Z_POSITION(current_position[Z_AXIS]) };
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report_xyz(raw);
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SERIAL_PROTOCOLPGM("Leveled:");
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float leveled[XYZ] = {
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current_position[X_AXIS],
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current_position[Y_AXIS],
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current_position[Z_AXIS]
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};
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float leveled[XYZ] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] };
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planner.apply_leveling(leveled);
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report_xyz(leveled);
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@ -7725,13 +7711,8 @@ void report_current_position() {
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#endif
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SERIAL_PROTOCOLPGM("Stepper:");
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const float step_count[XYZE] = {
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(float)stepper.position(X_AXIS),
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(float)stepper.position(Y_AXIS),
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(float)stepper.position(Z_AXIS),
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(float)stepper.position(E_AXIS)
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};
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report_xyze(step_count,4,0);
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const float step_count[XYZE] = { stepper.position(X_AXIS), stepper.position(Y_AXIS), stepper.position(Z_AXIS), stepper.position(E_AXIS) };
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report_xyze(step_count, 4, 0);
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#if IS_SCARA
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const float deg[XYZ] = {
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@ -7739,17 +7720,12 @@ void report_current_position() {
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stepper.get_axis_position_degrees(B_AXIS)
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};
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SERIAL_PROTOCOLPGM("Degrees:");
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report_xyze(deg,2);
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report_xyze(deg, 2);
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#endif
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SERIAL_PROTOCOLPGM("FromStp:");
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get_cartesian_from_steppers(); // writes cartes[XYZ] (with forward kinematics)
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const float from_steppers[XYZE] = {
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cartes[X_AXIS],
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cartes[Y_AXIS],
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cartes[Z_AXIS],
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stepper.get_axis_position_mm(E_AXIS)
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};
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const float from_steppers[XYZE] = { cartes[X_AXIS], cartes[Y_AXIS], cartes[Z_AXIS], stepper.get_axis_position_mm(E_AXIS) };
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report_xyze(from_steppers);
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const float diff[XYZE] = {
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@ -7764,12 +7740,12 @@ void report_current_position() {
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#endif // M114_DETAIL
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/**
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* M114: Output current position to serial port
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* M114: Report current position to host
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*/
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inline void gcode_M114() {
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#ifdef M114_DETAIL
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if ( parser.seen('D') ) {
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if (parser.seen('D')) {
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report_current_position_detail();
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return;
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}
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@ -7777,7 +7753,7 @@ inline void gcode_M114() {
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stepper.synchronize();
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report_current_position();
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}
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}
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/**
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* M115: Capabilities string
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@ -7859,9 +7835,7 @@ inline void gcode_M115() {
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/**
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* M117: Set LCD Status Message
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*/
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inline void gcode_M117() {
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lcd_setstatus(parser.string_arg);
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}
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inline void gcode_M117() { lcd_setstatus(parser.string_arg); }
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/**
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* M119: Output endstop states to serial output
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@ -12749,7 +12723,7 @@ void setup() {
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#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
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setup_endstop_interrupts();
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#endif
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#if ENABLED(SWITCHING_EXTRUDER)
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move_extruder_servo(0); // Initialize extruder servo
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#endif
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Scott Lahteine
8 years ago