From 0cfb936dd124d22a6079a5e85802ddc14f0b4328 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <github@thinkyhead.com>
Date: Wed, 8 Nov 2017 22:13:33 -0600
Subject: [PATCH] Clarify some motion code
---
Marlin/src/feature/bedlevel/abl/abl.cpp | 4 ++--
.../src/feature/bedlevel/mbl/mesh_bed_leveling.cpp | 4 ++--
Marlin/src/feature/pause.cpp | 2 +-
Marlin/src/gcode/bedlevel/mbl/G29.cpp | 2 +-
Marlin/src/inc/SanityCheck.h | 2 +-
Marlin/src/module/motion.cpp | 12 ++++++------
Marlin/src/module/motion.h | 4 +---
Marlin/src/module/planner.h | 14 +++++++-------
8 files changed, 21 insertions(+), 23 deletions(-)
diff --git a/Marlin/src/feature/bedlevel/abl/abl.cpp b/Marlin/src/feature/bedlevel/abl/abl.cpp
index 08bc9d15e8..aa4082a8ae 100644
--- a/Marlin/src/feature/bedlevel/abl/abl.cpp
+++ b/Marlin/src/feature/bedlevel/abl/abl.cpp
@@ -377,7 +377,7 @@ float bilinear_z_offset(const float raw[XYZ]) {
if (cx1 == cx2 && cy1 == cy2) {
// Start and end on same mesh square
- line_to_destination(fr_mm_s);
+ buffer_line_to_destination(fr_mm_s);
set_current_from_destination();
return;
}
@@ -404,7 +404,7 @@ float bilinear_z_offset(const float raw[XYZ]) {
}
else {
// Already split on a border
- line_to_destination(fr_mm_s);
+ buffer_line_to_destination(fr_mm_s);
set_current_from_destination();
return;
}
diff --git a/Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.cpp b/Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.cpp
index 7dcdd56ca4..51b22ea202 100644
--- a/Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.cpp
+++ b/Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.cpp
@@ -68,7 +68,7 @@
if (cx1 == cx2 && cy1 == cy2) {
// Start and end on same mesh square
- line_to_destination(fr_mm_s);
+ buffer_line_to_destination(fr_mm_s);
set_current_from_destination();
return;
}
@@ -95,7 +95,7 @@
}
else {
// Already split on a border
- line_to_destination(fr_mm_s);
+ buffer_line_to_destination(fr_mm_s);
set_current_from_destination();
return;
}
diff --git a/Marlin/src/feature/pause.cpp b/Marlin/src/feature/pause.cpp
index 54ac5488b3..ede4248df9 100644
--- a/Marlin/src/feature/pause.cpp
+++ b/Marlin/src/feature/pause.cpp
@@ -99,7 +99,7 @@ void do_pause_e_move(const float &length, const float fr) {
#if IS_KINEMATIC
planner.buffer_line_kinematic(destination, fr, active_extruder);
#else
- line_to_destination(fr);
+ buffer_line_to_destination(fr);
#endif
stepper.synchronize();
}
diff --git a/Marlin/src/gcode/bedlevel/mbl/G29.cpp b/Marlin/src/gcode/bedlevel/mbl/G29.cpp
index 45eb621519..134e7f7417 100644
--- a/Marlin/src/gcode/bedlevel/mbl/G29.cpp
+++ b/Marlin/src/gcode/bedlevel/mbl/G29.cpp
@@ -48,7 +48,7 @@ void mesh_probing_done() {
#if ENABLED(MESH_G28_REST_ORIGIN)
current_position[Z_AXIS] = Z_MIN_POS;
set_destination_from_current();
- line_to_destination(homing_feedrate(Z_AXIS));
+ buffer_line_to_destination(homing_feedrate(Z_AXIS));
stepper.synchronize();
#endif
}
diff --git a/Marlin/src/inc/SanityCheck.h b/Marlin/src/inc/SanityCheck.h
index 3f78f5c603..e29990cdfd 100644
--- a/Marlin/src/inc/SanityCheck.h
+++ b/Marlin/src/inc/SanityCheck.h
@@ -819,7 +819,7 @@ static_assert(1 >= 0
*/
#if ENABLED(DELTA)
- #error "MESH_BED_LEVELING does not yet support DELTA printers."
+ #error "MESH_BED_LEVELING is not compatible with DELTA printers."
#elif GRID_MAX_POINTS_X > 9 || GRID_MAX_POINTS_Y > 9
#error "GRID_MAX_POINTS_X and GRID_MAX_POINTS_Y must be less than 10 for MBL."
#endif
diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
index 35401f2f63..eca9ca19ed 100644
--- a/Marlin/src/module/motion.cpp
+++ b/Marlin/src/module/motion.cpp
@@ -70,16 +70,16 @@ bool relative_mode = false;
/**
* Cartesian Current Position
* Used to track the native machine position as moves are queued.
- * Used by 'line_to_current_position' to do a move after changing it.
+ * Used by 'buffer_line_to_current_position' to do a move after changing it.
* Used by 'SYNC_PLAN_POSITION_KINEMATIC' to update 'planner.position'.
*/
float current_position[XYZE] = { 0.0 };
/**
* Cartesian Destination
- * A temporary position, usually applied to 'current_position'.
- * Set with 'get_destination_from_command' or 'set_destination_from_current'.
- * 'line_to_destination' sets 'current_position' to 'destination'.
+ * The destination for a move, filled in by G-code movement commands,
+ * and expected by functions like 'prepare_move_to_destination'.
+ * Set with 'gcode_get_destination' or 'set_destination_from_current'.
*/
float destination[XYZE] = { 0.0 };
@@ -235,7 +235,7 @@ void line_to_current_position() {
* Move the planner to the position stored in the destination array, which is
* used by G0/G1/G2/G3/G5 and many other functions to set a destination.
*/
-void line_to_destination(const float fr_mm_s) {
+void buffer_line_to_destination(const float fr_mm_s) {
planner.buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], fr_mm_s, active_extruder);
}
@@ -667,7 +667,7 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
}
#endif // HAS_MESH
- line_to_destination(MMS_SCALED(feedrate_mm_s));
+ buffer_line_to_destination(MMS_SCALED(feedrate_mm_s));
return false;
}
diff --git a/Marlin/src/module/motion.h b/Marlin/src/module/motion.h
index d01a3f5eeb..852633482e 100644
--- a/Marlin/src/module/motion.h
+++ b/Marlin/src/module/motion.h
@@ -138,9 +138,7 @@ void line_to_current_position();
* Move the planner to the position stored in the destination array, which is
* used by G0/G1/G2/G3/G5 and many other functions to set a destination.
*/
-void line_to_destination(const float fr_mm_s);
-
-inline void line_to_destination() { line_to_destination(feedrate_mm_s); }
+void buffer_line_to_destination(const float fr_mm_s);
#if IS_KINEMATIC
void prepare_uninterpolated_move_to_destination(const float fr_mm_s=0.0);
diff --git a/Marlin/src/module/planner.h b/Marlin/src/module/planner.h
index ff123bdd4d..99abdc4f6c 100644
--- a/Marlin/src/module/planner.h
+++ b/Marlin/src/module/planner.h
@@ -376,18 +376,18 @@ class Planner {
* fr_mm_s - (target) speed of the move (mm/s)
* extruder - target extruder
*/
- static FORCE_INLINE void buffer_line_kinematic(const float rtarget[XYZE], const float &fr_mm_s, const uint8_t extruder) {
+ static FORCE_INLINE void buffer_line_kinematic(const float cart[XYZE], const float &fr_mm_s, const uint8_t extruder) {
#if PLANNER_LEVELING
- float lpos[XYZ] = { rtarget[X_AXIS], rtarget[Y_AXIS], rtarget[Z_AXIS] };
- apply_leveling(lpos);
+ float raw[XYZ] = { cart[X_AXIS], cart[Y_AXIS], cart[Z_AXIS] };
+ apply_leveling(raw);
#else
- const float * const lpos = rtarget;
+ const float * const raw = cart;
#endif
#if IS_KINEMATIC
- inverse_kinematics(lpos);
- _buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], rtarget[E_AXIS], fr_mm_s, extruder);
+ inverse_kinematics(raw);
+ _buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], cart[E_AXIS], fr_mm_s, extruder);
#else
- _buffer_line(lpos[X_AXIS], lpos[Y_AXIS], lpos[Z_AXIS], rtarget[E_AXIS], fr_mm_s, extruder);
+ _buffer_line(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], cart[E_AXIS], fr_mm_s, extruder);
#endif
}