diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 322d61af81..499304702f 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -1091,7 +1091,7 @@ inline void get_serial_commands() {
if (IsStopped()) {
char* gpos = strchr(command, 'G');
if (gpos) {
- int codenum = strtol(gpos + 1, NULL, 10);
+ const int codenum = strtol(gpos + 1, NULL, 10);
switch (codenum) {
case 0:
case 1:
@@ -4927,14 +4927,12 @@ inline void gcode_G28() {
* S = Stows the probe if 1 (default=1)
*/
inline void gcode_G30() {
- float X_probe_location = code_seen('X') ? code_value_linear_units() : current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER,
- Y_probe_location = code_seen('Y') ? code_value_linear_units() : current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
+ const float xpos = code_seen('X') ? code_value_linear_units() : current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER,
+ ypos = code_seen('Y') ? code_value_linear_units() : current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER,
+ pos[XYZ] = { xpos, ypos, LOGICAL_Z_POSITION(0) };
- float pos[XYZ] = { X_probe_location, Y_probe_location, LOGICAL_Z_POSITION(0) };
if (!position_is_reachable(pos, true)) return;
- bool stow = code_seen('S') ? code_value_bool() : true;
-
// Disable leveling so the planner won't mess with us
#if PLANNER_LEVELING
set_bed_leveling_enabled(false);
@@ -4942,14 +4940,11 @@ inline void gcode_G28() {
setup_for_endstop_or_probe_move();
- float measured_z = probe_pt(X_probe_location, Y_probe_location, stow, 1);
+ const float measured_z = probe_pt(xpos, ypos, !code_seen('S') || code_value_bool(), 1);
- SERIAL_PROTOCOLPGM("Bed X: ");
- SERIAL_PROTOCOL(FIXFLOAT(X_probe_location));
- SERIAL_PROTOCOLPGM(" Y: ");
- SERIAL_PROTOCOL(FIXFLOAT(Y_probe_location));
- SERIAL_PROTOCOLPGM(" Z: ");
- SERIAL_PROTOCOLLN(FIXFLOAT(measured_z));
+ SERIAL_PROTOCOLPAIR("Bed X: ", FIXFLOAT(xpos));
+ SERIAL_PROTOCOLPAIR(" Y: ", FIXFLOAT(ypos));
+ SERIAL_PROTOCOLLNPAIR(" Z: ", FIXFLOAT(measured_z));
clean_up_after_endstop_or_probe_move();
@@ -5466,7 +5461,7 @@ inline void gcode_G92() {
* M1: Conditional stop - Wait for user button press on LCD
*/
inline void gcode_M0_M1() {
- char* args = current_command_args;
+ const char * const args = current_command_args;
millis_t codenum = 0;
bool hasP = false, hasS = false;
@@ -5524,7 +5519,7 @@ inline void gcode_G92() {
KEEPALIVE_STATE(IN_HANDLER);
}
-#endif // EMERGENCY_PARSER || ULTIPANEL
+#endif // HAS_RESUME_CONTINUE
/**
* M17: Enable power on all stepper motors
@@ -11210,19 +11205,20 @@ void prepare_move_to_destination() {
*/
void plan_arc(
float logical[XYZE], // Destination position
- float* offset, // Center of rotation relative to current_position
- uint8_t clockwise // Clockwise?
+ float *offset, // Center of rotation relative to current_position
+ uint8_t clockwise // Clockwise?
) {
- float radius = HYPOT(offset[X_AXIS], offset[Y_AXIS]),
- center_X = current_position[X_AXIS] + offset[X_AXIS],
- center_Y = current_position[Y_AXIS] + offset[Y_AXIS],
- linear_travel = logical[Z_AXIS] - current_position[Z_AXIS],
- extruder_travel = logical[E_AXIS] - current_position[E_AXIS],
- r_X = -offset[X_AXIS], // Radius vector from center to current location
- r_Y = -offset[Y_AXIS],
- rt_X = logical[X_AXIS] - center_X,
- rt_Y = logical[Y_AXIS] - center_Y;
+ float r_X = -offset[X_AXIS], // Radius vector from center to current location
+ r_Y = -offset[Y_AXIS];
+
+ const float radius = HYPOT(r_X, r_Y),
+ center_X = current_position[X_AXIS] - r_X,
+ center_Y = current_position[Y_AXIS] - r_Y,
+ rt_X = logical[X_AXIS] - center_X,
+ rt_Y = logical[Y_AXIS] - center_Y,
+ linear_travel = logical[Z_AXIS] - current_position[Z_AXIS],
+ extruder_travel = logical[E_AXIS] - current_position[E_AXIS];
// CCW angle of rotation between position and target from the circle center. Only one atan2() trig computation required.
float angular_travel = atan2(r_X * rt_Y - r_Y * rt_X, r_X * rt_X + r_Y * rt_Y);
@@ -11266,12 +11262,12 @@ void prepare_move_to_destination() {
* This is important when there are successive arc motions.
*/
// Vector rotation matrix values
- float arc_target[XYZE],
- theta_per_segment = angular_travel / segments,
- linear_per_segment = linear_travel / segments,
- extruder_per_segment = extruder_travel / segments,
- sin_T = theta_per_segment,
- cos_T = 1 - 0.5 * sq(theta_per_segment); // Small angle approximation
+ float arc_target[XYZE];
+ const float theta_per_segment = angular_travel / segments,
+ linear_per_segment = linear_travel / segments,
+ extruder_per_segment = extruder_travel / segments,
+ sin_T = theta_per_segment,
+ cos_T = 1 - 0.5 * sq(theta_per_segment); // Small angle approximation
// Initialize the linear axis
arc_target[Z_AXIS] = current_position[Z_AXIS];
@@ -11279,7 +11275,7 @@ void prepare_move_to_destination() {
// Initialize the extruder axis
arc_target[E_AXIS] = current_position[E_AXIS];
- float fr_mm_s = MMS_SCALED(feedrate_mm_s);
+ const float fr_mm_s = MMS_SCALED(feedrate_mm_s);
millis_t next_idle_ms = millis() + 200UL;
@@ -11294,7 +11290,7 @@ void prepare_move_to_destination() {
if (++count < N_ARC_CORRECTION) {
// Apply vector rotation matrix to previous r_X / 1
- float r_new_Y = r_X * sin_T + r_Y * cos_T;
+ const float r_new_Y = r_X * sin_T + r_Y * cos_T;
r_X = r_X * cos_T - r_Y * sin_T;
r_Y = r_new_Y;
}
@@ -11303,8 +11299,8 @@ void prepare_move_to_destination() {
// Compute exact location by applying transformation matrix from initial radius vector(=-offset).
// To reduce stuttering, the sin and cos could be computed at different times.
// For now, compute both at the same time.
- float cos_Ti = cos(i * theta_per_segment),
- sin_Ti = sin(i * theta_per_segment);
+ const float cos_Ti = cos(i * theta_per_segment),
+ sin_Ti = sin(i * theta_per_segment);
r_X = -offset[X_AXIS] * cos_Ti + offset[Y_AXIS] * sin_Ti;
r_Y = -offset[X_AXIS] * sin_Ti - offset[Y_AXIS] * cos_Ti;
count = 0;
@@ -11818,30 +11814,15 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
enable_E0();
#else // !SWITCHING_EXTRUDER
switch (active_extruder) {
- case 0:
- oldstatus = E0_ENABLE_READ;
- enable_E0();
- break;
+ case 0: oldstatus = E0_ENABLE_READ; enable_E0(); break;
#if E_STEPPERS > 1
- case 1:
- oldstatus = E1_ENABLE_READ;
- enable_E1();
- break;
+ case 1: oldstatus = E1_ENABLE_READ; enable_E1(); break;
#if E_STEPPERS > 2
- case 2:
- oldstatus = E2_ENABLE_READ;
- enable_E2();
- break;
+ case 2: oldstatus = E2_ENABLE_READ; enable_E2(); break;
#if E_STEPPERS > 3
- case 3:
- oldstatus = E3_ENABLE_READ;
- enable_E3();
- break;
+ case 3: oldstatus = E3_ENABLE_READ; enable_E3(); break;
#if E_STEPPERS > 4
- case 4:
- oldstatus = E4_ENABLE_READ;
- enable_E4();
- break;
+ case 4: oldstatus = E4_ENABLE_READ; enable_E4(); break;
#endif // E_STEPPERS > 4
#endif // E_STEPPERS > 3
#endif // E_STEPPERS > 2
@@ -11861,25 +11842,15 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
E0_ENABLE_WRITE(oldstatus);
#else
switch (active_extruder) {
- case 0:
- E0_ENABLE_WRITE(oldstatus);
- break;
+ case 0: E0_ENABLE_WRITE(oldstatus); break;
#if E_STEPPERS > 1
- case 1:
- E1_ENABLE_WRITE(oldstatus);
- break;
+ case 1: E1_ENABLE_WRITE(oldstatus); break;
#if E_STEPPERS > 2
- case 2:
- E2_ENABLE_WRITE(oldstatus);
- break;
+ case 2: E2_ENABLE_WRITE(oldstatus); break;
#if E_STEPPERS > 3
- case 3:
- E3_ENABLE_WRITE(oldstatus);
- break;
+ case 3: E3_ENABLE_WRITE(oldstatus); break;
#if E_STEPPERS > 4
- case 4:
- E4_ENABLE_WRITE(oldstatus);
- break;
+ case 4: E4_ENABLE_WRITE(oldstatus); break;
#endif // E_STEPPERS > 4
#endif // E_STEPPERS > 3
#endif // E_STEPPERS > 2