diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index daf845286b..c57c2e296f 100755 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -572,10 +572,6 @@ static uint8_t target_extruder; float delta_safe_distance_from_top(); -#else - - static bool home_all_axis = true; - #endif #if ENABLED(AUTO_BED_LEVELING_BILINEAR) @@ -1582,7 +1578,7 @@ inline void set_destination_to_current() { memcpy(destination, current_position, * The final current_position may not be the one that was requested */ void do_blocking_move_to(const float &x, const float &y, const float &z, const float &fr_mm_s /*=0.0*/) { - float old_feedrate_mm_s = feedrate_mm_s; + const float old_feedrate_mm_s = feedrate_mm_s; #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) print_xyz(PSTR(">>> do_blocking_move_to"), NULL, x, y, z); @@ -2034,8 +2030,8 @@ static void clean_up_after_endstop_or_probe_move() { if (axis_unhomed_error(true, true, true )) { stop(); return true; } #endif - float oldXpos = current_position[X_AXIS], - oldYpos = current_position[Y_AXIS]; + const float oldXpos = current_position[X_AXIS], + oldYpos = current_position[Y_AXIS]; #ifdef _TRIGGERED_WHEN_STOWED_TEST @@ -2178,7 +2174,7 @@ static void clean_up_after_endstop_or_probe_move() { // - Raise to the BETWEEN height // - Return the probed Z position // - static float probe_pt(const float &x, const float &y, bool stow = true, int verbose_level = 1) { + static float probe_pt(const float &x, const float &y, const bool stow = true, const int verbose_level = 1) { #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) { SERIAL_ECHOPAIR(">>> probe_pt(", x); @@ -2189,7 +2185,7 @@ static void clean_up_after_endstop_or_probe_move() { } #endif - float old_feedrate_mm_s = feedrate_mm_s; + const float old_feedrate_mm_s = feedrate_mm_s; #if ENABLED(DELTA) if (current_position[Z_AXIS] > delta_clip_start_height) @@ -2206,7 +2202,7 @@ static void clean_up_after_endstop_or_probe_move() { if (DEPLOY_PROBE()) return NAN; - float measured_z = run_z_probe(); + const float measured_z = run_z_probe(); if (!stow) do_probe_raise(Z_CLEARANCE_BETWEEN_PROBES); @@ -2370,7 +2366,7 @@ static void clean_up_after_endstop_or_probe_move() { if (b2 == UNPROBED) b2 = 0.0; if (b1 == UNPROBED) b1 = b2; if (c2 == UNPROBED) c2 = 0.0; if (c1 == UNPROBED) c1 = c2; - float a = 2 * a1 - a2, b = 2 * b1 - b2, c = 2 * c1 - c2; + const float a = 2 * a1 - a2, b = 2 * b1 - b2, c = 2 * c1 - c2; // Take the average instead of the median bed_level_grid[x][y] = (a + b + c) / 3.0; @@ -2416,10 +2412,10 @@ static void clean_up_after_endstop_or_probe_move() { for (uint8_t yo = 0; yo <= ylen; yo++) { uint8_t x2 = ctrx2 + xo, y2 = ctry2 + yo; #ifndef HALF_IN_X - uint8_t x1 = ctrx1 - xo; + const uint8_t x1 = ctrx1 - xo; #endif #ifndef HALF_IN_Y - uint8_t y1 = ctry1 - yo; + const uint8_t y1 = ctry1 - yo; #ifndef HALF_IN_X extrapolate_one_point(x1, y1, +1, +1); // left-below + + #endif @@ -2586,7 +2582,7 @@ static void do_homing_move(const AxisEnum axis, float distance, float fr_mm_s=0. #endif #if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH) - bool deploy_bltouch = (axis == Z_AXIS && distance < 0); + const bool deploy_bltouch = (axis == Z_AXIS && distance < 0); if (deploy_bltouch) set_bltouch_deployed(true); #endif @@ -2634,7 +2630,7 @@ static void do_homing_move(const AxisEnum axis, float distance, float fr_mm_s=0. #define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS) -static void homeaxis(AxisEnum axis) { +static void homeaxis(const AxisEnum axis) { #if IS_SCARA // Only Z homing (with probe) is permitted @@ -2653,7 +2649,7 @@ static void homeaxis(AxisEnum axis) { } #endif - int axis_home_dir = + const int axis_home_dir = #if ENABLED(DUAL_X_CARRIAGE) (axis == X_AXIS) ? x_home_dir(active_extruder) : #endif @@ -2769,13 +2765,13 @@ static void homeaxis(AxisEnum axis) { #if ENABLED(FWRETRACT) - void retract(bool retracting, bool swapping = false) { + void retract(const bool retracting, const bool swapping = false) { static float hop_height; if (retracting == retracted[active_extruder]) return; - float old_feedrate_mm_s = feedrate_mm_s; + const float old_feedrate_mm_s = feedrate_mm_s; set_destination_to_current(); @@ -2805,7 +2801,7 @@ static void homeaxis(AxisEnum axis) { } feedrate_mm_s = retract_recover_feedrate_mm_s; - float move_e = swapping ? retract_length_swap + retract_recover_length_swap : retract_length + retract_recover_length; + const float move_e = swapping ? retract_length_swap + retract_recover_length_swap : retract_length + retract_recover_length; current_position[E_AXIS] -= move_e / volumetric_multiplier[active_extruder]; sync_plan_position_e(); @@ -2824,11 +2820,11 @@ static void homeaxis(AxisEnum axis) { void normalize_mix() { float mix_total = 0.0; - for (int i = 0; i < MIXING_STEPPERS; i++) mix_total += RECIPROCAL(mixing_factor[i]); + for (uint8_t i = 0; i < MIXING_STEPPERS; i++) mix_total += RECIPROCAL(mixing_factor[i]); // Scale all values if they don't add up to ~1.0 if (!NEAR(mix_total, 1.0)) { SERIAL_PROTOCOLLNPGM("Warning: Mix factors must add up to 1.0. Scaling."); - for (int i = 0; i < MIXING_STEPPERS; i++) mixing_factor[i] *= mix_total; + for (uint8_t i = 0; i < MIXING_STEPPERS; i++) mixing_factor[i] *= mix_total; } } @@ -2908,7 +2904,7 @@ void unknown_command_error() { * while the machine is not accepting commands. */ void host_keepalive() { - millis_t ms = millis(); + const millis_t ms = millis(); if (host_keepalive_interval && busy_state != NOT_BUSY) { if (PENDING(ms, next_busy_signal_ms)) return; switch (busy_state) { @@ -2984,7 +2980,7 @@ inline void gcode_G0_G1( #if ENABLED(FWRETRACT) if (autoretract_enabled && !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) { - float echange = destination[E_AXIS] - current_position[E_AXIS]; + const float echange = destination[E_AXIS] - current_position[E_AXIS]; // Is this move an attempt to retract or recover? if ((echange < -MIN_RETRACT && !retracted[active_extruder]) || (echange > MIN_RETRACT && retracted[active_extruder])) { current_position[E_AXIS] = destination[E_AXIS]; // hide the slicer-generated retract/recover from calculations @@ -3032,7 +3028,7 @@ inline void gcode_G0_G1( if (IsRunning()) { #if ENABLED(SF_ARC_FIX) - bool relative_mode_backup = relative_mode; + const bool relative_mode_backup = relative_mode; relative_mode = true; #endif @@ -3113,7 +3109,7 @@ inline void gcode_G4() { gcode_get_destination(); - float offset[] = { + const float offset[] = { code_seen('I') ? code_value_axis_units(X_AXIS) : 0.0, code_seen('J') ? code_value_axis_units(Y_AXIS) : 0.0, code_seen('P') ? code_value_axis_units(X_AXIS) : 0.0, @@ -3155,9 +3151,9 @@ inline void gcode_G4() { // Don't allow nozzle cleaning without homing first if (axis_unhomed_error(true, true, true)) { return; } - uint8_t const pattern = code_seen('P') ? code_value_ushort() : 0; - uint8_t const strokes = code_seen('S') ? code_value_ushort() : NOZZLE_CLEAN_STROKES; - uint8_t const objects = code_seen('T') ? code_value_ushort() : NOZZLE_CLEAN_TRIANGLES; + const uint8_t pattern = code_seen('P') ? code_value_ushort() : 0, + strokes = code_seen('S') ? code_value_ushort() : NOZZLE_CLEAN_STROKES, + objects = code_seen('T') ? code_value_ushort() : NOZZLE_CLEAN_TRIANGLES; Nozzle::clean(pattern, strokes, objects); } @@ -3181,9 +3177,8 @@ inline void gcode_G4() { */ inline void gcode_G27() { // Don't allow nozzle parking without homing first - if (axis_unhomed_error(true, true, true)) { return; } - uint8_t const z_action = code_seen('P') ? code_value_ushort() : 0; - Nozzle::park(z_action); + if (axis_unhomed_error(true, true, true)) return; + Nozzle::park(code_seen('P') ? code_value_ushort() : 0); } #endif // NOZZLE_PARK_FEATURE @@ -3195,7 +3190,7 @@ inline void gcode_G4() { current_position[X_AXIS] = current_position[Y_AXIS] = 0.0; sync_plan_position(); - int x_axis_home_dir = + const int x_axis_home_dir = #if ENABLED(DUAL_X_CARRIAGE) x_home_dir(active_extruder) #else @@ -3203,15 +3198,14 @@ inline void gcode_G4() { #endif ; - float mlx = max_length(X_AXIS), - mly = max_length(Y_AXIS), - mlratio = mlx > mly ? mly / mlx : mlx / mly, - fr_mm_s = min(homing_feedrate_mm_s[X_AXIS], homing_feedrate_mm_s[Y_AXIS]) * sqrt(sq(mlratio) + 1.0); + const float mlx = max_length(X_AXIS), + mly = max_length(Y_AXIS), + mlratio = mlx > mly ? mly / mlx : mlx / mly, + fr_mm_s = min(homing_feedrate_mm_s[X_AXIS], homing_feedrate_mm_s[Y_AXIS]) * sqrt(sq(mlratio) + 1.0); do_blocking_move_to_xy(1.5 * mlx * x_axis_home_dir, 1.5 * mly * home_dir(Y_AXIS), fr_mm_s); endstops.hit_on_purpose(); // clear endstop hit flags current_position[X_AXIS] = current_position[Y_AXIS] = 0.0; - } #endif // QUICK_HOME @@ -3459,7 +3453,7 @@ inline void gcode_G28() { // Always home with tool 0 active #if HOTENDS > 1 - uint8_t old_tool_index = active_extruder; + const uint8_t old_tool_index = active_extruder; tool_change(0, 0, true); #endif @@ -3504,9 +3498,8 @@ inline void gcode_G28() { #else // NOT DELTA - bool homeX = code_seen('X'), homeY = code_seen('Y'), homeZ = code_seen('Z'); - - home_all_axis = (!homeX && !homeY && !homeZ) || (homeX && homeY && homeZ); + const bool homeX = code_seen('X'), homeY = code_seen('Y'), homeZ = code_seen('Z'), + home_all_axis = (!homeX && !homeY && !homeZ) || (homeX && homeY && homeZ); set_destination_to_current(); @@ -3692,8 +3685,8 @@ inline void gcode_G28() { #if ENABLED(MESH_BED_LEVELING) - inline void _mbl_goto_xy(float x, float y) { - float old_feedrate_mm_s = feedrate_mm_s; + inline void _mbl_goto_xy(const float &x, const float &y) { + const float old_feedrate_mm_s = feedrate_mm_s; feedrate_mm_s = homing_feedrate_mm_s[Z_AXIS]; current_position[Z_AXIS] = MESH_HOME_SEARCH_Z @@ -3760,8 +3753,8 @@ inline void gcode_G28() { */ inline void gcode_G29() { - static int probe_point = -1; - MeshLevelingState state = code_seen('S') ? (MeshLevelingState)code_value_byte() : MeshReport; + static int probe_index = -1; + const MeshLevelingState state = code_seen('S') ? (MeshLevelingState)code_value_byte() : MeshReport; if (state < 0 || state > 5) { SERIAL_PROTOCOLLNPGM("S out of range (0-5)."); return; @@ -3781,17 +3774,17 @@ inline void gcode_G28() { case MeshStart: mbl.reset(); - probe_point = 0; + probe_index = 0; enqueue_and_echo_commands_P(PSTR("G28\nG29 S2")); break; case MeshNext: - if (probe_point < 0) { + if (probe_index < 0) { SERIAL_PROTOCOLLNPGM("Start mesh probing with \"G29 S1\" first."); return; } // For each G29 S2... - if (probe_point == 0) { + if (probe_index == 0) { // For the initial G29 S2 make Z a positive value (e.g., 4.0) current_position[Z_AXIS] = MESH_HOME_SEARCH_Z #if Z_HOME_DIR > 0 @@ -3802,13 +3795,13 @@ inline void gcode_G28() { } else { // For G29 S2 after adjusting Z. - mbl.set_zigzag_z(probe_point - 1, current_position[Z_AXIS]); + mbl.set_zigzag_z(probe_index - 1, current_position[Z_AXIS]); } // If there's another point to sample, move there with optional lift. - if (probe_point < (MESH_NUM_X_POINTS) * (MESH_NUM_Y_POINTS)) { - mbl.zigzag(probe_point, px, py); + if (probe_index < (MESH_NUM_X_POINTS) * (MESH_NUM_Y_POINTS)) { + mbl.zigzag(probe_index, px, py); _mbl_goto_xy(mbl.get_probe_x(px), mbl.get_probe_y(py)); - probe_point++; + probe_index++; } else { // One last "return to the bed" (as originally coded) at completion @@ -3824,7 +3817,7 @@ inline void gcode_G28() { // After recording the last point, activate the mbl and home SERIAL_PROTOCOLLNPGM("Mesh probing done."); - probe_point = -1; + probe_index = -1; mbl.set_has_mesh(true); enqueue_and_echo_commands_P(PSTR("G28")); } @@ -3936,8 +3929,8 @@ inline void gcode_G28() { inline void gcode_G29() { #if ENABLED(DEBUG_LEVELING_FEATURE) - bool query = code_seen('Q'); - uint8_t old_debug_flags = marlin_debug_flags; + const bool query = code_seen('Q'); + const uint8_t old_debug_flags = marlin_debug_flags; if (query) marlin_debug_flags |= DEBUG_LEVELING; if (DEBUGGING(LEVELING)) { DEBUG_POS(">>> gcode_G29", current_position); @@ -3950,7 +3943,7 @@ inline void gcode_G28() { // Don't allow auto-leveling without homing first if (axis_unhomed_error(true, true, true)) return; - int verbose_level = code_seen('V') ? code_value_int() : 1; + const int verbose_level = code_seen('V') ? code_value_int() : 1; if (verbose_level < 0 || verbose_level > 4) { SERIAL_PROTOCOLLNPGM("?(V)erbose Level is implausible (0-4)."); return; @@ -3995,14 +3988,14 @@ inline void gcode_G28() { front_probe_bed_position = code_seen('F') ? (int)code_value_axis_units(Y_AXIS) : LOGICAL_Y_POSITION(FRONT_PROBE_BED_POSITION), back_probe_bed_position = code_seen('B') ? (int)code_value_axis_units(Y_AXIS) : LOGICAL_Y_POSITION(BACK_PROBE_BED_POSITION); - bool left_out_l = left_probe_bed_position < LOGICAL_X_POSITION(MIN_PROBE_X), - left_out = left_out_l || left_probe_bed_position > right_probe_bed_position - (MIN_PROBE_EDGE), - right_out_r = right_probe_bed_position > LOGICAL_X_POSITION(MAX_PROBE_X), - right_out = right_out_r || right_probe_bed_position < left_probe_bed_position + MIN_PROBE_EDGE, - front_out_f = front_probe_bed_position < LOGICAL_Y_POSITION(MIN_PROBE_Y), - front_out = front_out_f || front_probe_bed_position > back_probe_bed_position - (MIN_PROBE_EDGE), - back_out_b = back_probe_bed_position > LOGICAL_Y_POSITION(MAX_PROBE_Y), - back_out = back_out_b || back_probe_bed_position < front_probe_bed_position + MIN_PROBE_EDGE; + const bool left_out_l = left_probe_bed_position < LOGICAL_X_POSITION(MIN_PROBE_X), + left_out = left_out_l || left_probe_bed_position > right_probe_bed_position - (MIN_PROBE_EDGE), + right_out_r = right_probe_bed_position > LOGICAL_X_POSITION(MAX_PROBE_X), + right_out = right_out_r || right_probe_bed_position < left_probe_bed_position + MIN_PROBE_EDGE, + front_out_f = front_probe_bed_position < LOGICAL_Y_POSITION(MIN_PROBE_Y), + front_out = front_out_f || front_probe_bed_position > back_probe_bed_position - (MIN_PROBE_EDGE), + back_out_b = back_probe_bed_position > LOGICAL_Y_POSITION(MAX_PROBE_Y), + back_out = back_out_b || back_probe_bed_position < front_probe_bed_position + MIN_PROBE_EDGE; if (left_out || right_out || front_out || back_out) { if (left_out) { @@ -4068,8 +4061,10 @@ inline void gcode_G28() { || left_probe_bed_position != bilinear_start[X_AXIS] || front_probe_bed_position != bilinear_start[Y_AXIS] ) { - // Before reset bed level, re-enable to correct the position - planner.abl_enabled = abl_should_enable; + if (dryrun) { + // Before reset bed level, re-enable to correct the position + planner.abl_enabled = abl_should_enable; + } // Reset grid to 0.0 or "not probed". (Also disables ABL) reset_bed_level(); @@ -4097,9 +4092,10 @@ inline void gcode_G28() { * so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z */ - int abl2 = abl_grid_points_x * abl_grid_points_y, - indexIntoAB[abl_grid_points_x][abl_grid_points_y], - probePointCounter = -1; + const int abl2 = abl_grid_points_x * abl_grid_points_y; + + int indexIntoAB[abl_grid_points_x][abl_grid_points_y], + probe_index = -1; float eqnAMatrix[abl2 * 3], // "A" matrix of the linear system of equations eqnBVector[abl2], // "B" vector of Z points @@ -4109,30 +4105,30 @@ inline void gcode_G28() { #if ENABLED(PROBE_Y_FIRST) #define PR_OUTER_VAR xCount - #define PR_OUTER_END abl_grid_points_x + #define PR_OUTER_NUM abl_grid_points_x #define PR_INNER_VAR yCount - #define PR_INNER_END abl_grid_points_y + #define PR_INNER_NUM abl_grid_points_y #else #define PR_OUTER_VAR yCount - #define PR_OUTER_END abl_grid_points_y + #define PR_OUTER_NUM abl_grid_points_y #define PR_INNER_VAR xCount - #define PR_INNER_END abl_grid_points_x + #define PR_INNER_NUM abl_grid_points_x #endif - bool zig = PR_OUTER_END & 1; // Always end at RIGHT and BACK_PROBE_BED_POSITION + bool zig = PR_OUTER_NUM & 1; // Always end at RIGHT and BACK_PROBE_BED_POSITION // Outer loop is Y with PROBE_Y_FIRST disabled - for (uint8_t PR_OUTER_VAR = 0; PR_OUTER_VAR < PR_OUTER_END; PR_OUTER_VAR++) { + for (uint8_t PR_OUTER_VAR = 0; PR_OUTER_VAR < PR_OUTER_NUM; PR_OUTER_VAR++) { int8_t inStart, inStop, inInc; if (zig) { // away from origin inStart = 0; - inStop = PR_INNER_END; + inStop = PR_INNER_NUM; inInc = 1; } else { // towards origin - inStart = PR_INNER_END - 1; + inStart = PR_INNER_NUM - 1; inStop = -1; inInc = -1; } @@ -4149,7 +4145,7 @@ inline void gcode_G28() { yProbe = floor(yBase + (yBase < 0 ? 0 : 0.5)); #if ENABLED(AUTO_BED_LEVELING_LINEAR) - indexIntoAB[xCount][yCount] = ++probePointCounter; + indexIntoAB[xCount][yCount] = ++probe_index; #endif #if IS_KINEMATIC @@ -4168,10 +4164,10 @@ inline void gcode_G28() { #if ENABLED(AUTO_BED_LEVELING_LINEAR) mean += measured_z; - eqnBVector[probePointCounter] = measured_z; - eqnAMatrix[probePointCounter + 0 * abl2] = xProbe; - eqnAMatrix[probePointCounter + 1 * abl2] = yProbe; - eqnAMatrix[probePointCounter + 2 * abl2] = 1; + eqnBVector[probe_index] = measured_z; + eqnAMatrix[probe_index + 0 * abl2] = xProbe; + eqnAMatrix[probe_index + 1 * abl2] = yProbe; + eqnAMatrix[probe_index + 2 * abl2] = 1; #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) @@ -4181,8 +4177,8 @@ inline void gcode_G28() { idle(); - } //xProbe - } //yProbe + } // inner + } // outer #elif ENABLED(AUTO_BED_LEVELING_3POINT) @@ -7860,9 +7856,9 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n if (tmp_extruder >= EXTRUDERS) return invalid_extruder_error(tmp_extruder); - float old_feedrate_mm_s = feedrate_mm_s; + const float old_feedrate_mm_s = fr_mm_s > 0.0 ? fr_mm_s : feedrate_mm_s; - feedrate_mm_s = fr_mm_s > 0.0 ? (old_feedrate_mm_s = fr_mm_s) : XY_PROBE_FEEDRATE_MM_S; + feedrate_mm_s = fr_mm_s > 0.0 ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S; if (tmp_extruder != active_extruder) { if (!no_move && axis_unhomed_error(true, true, true)) {