From 2f223b8c79ffcc983fabc98ad17e9db754cb2590 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Sat, 20 Aug 2016 22:38:32 -0500 Subject: [PATCH] Use ABC and XYZ for "3" --- Marlin/Marlin.h | 24 ++++++++++----------- Marlin/Marlin_main.cpp | 48 +++++++++++++++++++++--------------------- Marlin/planner.cpp | 2 +- Marlin/stepper.cpp | 2 +- Marlin/stepper.h | 2 +- Marlin/temperature.cpp | 2 +- 6 files changed, 40 insertions(+), 40 deletions(-) diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h index 17c4f7f29d..bafa50104b 100644 --- a/Marlin/Marlin.h +++ b/Marlin/Marlin.h @@ -266,13 +266,13 @@ extern bool volumetric_enabled; extern int flow_percentage[EXTRUDERS]; // Extrusion factor for each extruder extern float filament_size[EXTRUDERS]; // cross-sectional area of filament (in millimeters), typically around 1.75 or 2.85, 0 disables the volumetric calculations for the extruder. extern float volumetric_multiplier[EXTRUDERS]; // reciprocal of cross-sectional area of filament (in square millimeters), stored this way to reduce computational burden in planner -extern bool axis_known_position[3]; // axis[n].is_known -extern bool axis_homed[3]; // axis[n].is_homed +extern bool axis_known_position[XYZ]; // axis[n].is_known +extern bool axis_homed[XYZ]; // axis[n].is_homed extern volatile bool wait_for_heatup; extern float current_position[NUM_AXIS]; -extern float position_shift[3]; -extern float home_offset[3]; +extern float position_shift[XYZ]; +extern float home_offset[XYZ]; // Software Endstops void update_software_endstops(AxisEnum axis); @@ -303,25 +303,25 @@ float code_value_temp_abs(); float code_value_temp_diff(); #if ENABLED(DELTA) - extern float delta[3]; - extern float endstop_adj[3]; // axis[n].endstop_adj + extern float delta[ABC]; + extern float endstop_adj[ABC]; // axis[n].endstop_adj extern float delta_radius; extern float delta_diagonal_rod; extern float delta_segments_per_second; extern float delta_diagonal_rod_trim_tower_1; extern float delta_diagonal_rod_trim_tower_2; extern float delta_diagonal_rod_trim_tower_3; - void inverse_kinematics(const float cartesian[3]); + void inverse_kinematics(const float cartesian[XYZ]); void recalc_delta_settings(float radius, float diagonal_rod); #if ENABLED(AUTO_BED_LEVELING_FEATURE) extern int delta_grid_spacing[2]; - void adjust_delta(float cartesian[3]); + void adjust_delta(float cartesian[XYZ]); #endif #elif ENABLED(SCARA) - extern float delta[3]; - extern float axis_scaling[3]; // Build size scaling - void inverse_kinematics(const float cartesian[3]); - void forward_kinematics_SCARA(float f_scara[3]); + extern float delta[ABC]; + extern float axis_scaling[ABC]; // Build size scaling + void inverse_kinematics(const float cartesian[XYZ]); + void forward_kinematics_SCARA(float f_scara[ABC]); #endif #if ENABLED(Z_DUAL_ENDSTOPS) diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 326e07e740..8097606c0f 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -286,8 +286,8 @@ uint8_t marlin_debug_flags = DEBUG_NONE; float current_position[NUM_AXIS] = { 0.0 }; static float destination[NUM_AXIS] = { 0.0 }; -bool axis_known_position[3] = { false }; -bool axis_homed[3] = { false }; +bool axis_known_position[XYZ] = { false }; +bool axis_homed[XYZ] = { false }; static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0; @@ -327,11 +327,11 @@ float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(DEFAULT_NOMINAL_FILAMENT_DI float volumetric_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(1.0); // The distance that XYZ has been offset by G92. Reset by G28. -float position_shift[3] = { 0 }; +float position_shift[XYZ] = { 0 }; // This offset is added to the configured home position. // Set by M206, M428, or menu item. Saved to EEPROM. -float home_offset[3] = { 0 }; +float home_offset[XYZ] = { 0 }; // Software Endstops are based on the configured limits. #if ENABLED(min_software_endstops) || ENABLED(max_software_endstops) @@ -462,11 +462,11 @@ static uint8_t target_extruder; #define TOWER_2 Y_AXIS #define TOWER_3 Z_AXIS - float delta[3]; - float cartesian_position[3] = { 0 }; + float delta[ABC]; + float cartesian_position[XYZ] = { 0 }; #define SIN_60 0.8660254037844386 #define COS_60 0.5 - float endstop_adj[3] = { 0 }; + float endstop_adj[ABC] = { 0 }; // these are the default values, can be overriden with M665 float delta_radius = DELTA_RADIUS; float delta_tower1_x = -SIN_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1); // front left tower @@ -495,8 +495,8 @@ static uint8_t target_extruder; #if ENABLED(SCARA) float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND; - float delta[3]; - float axis_scaling[3] = { 1, 1, 1 }; // Build size scaling, default to 1 + float delta[ABC]; + float axis_scaling[ABC] = { 1, 1, 1 }; // Build size scaling, default to 1 #endif #if ENABLED(FILAMENT_WIDTH_SENSOR) @@ -1415,7 +1415,7 @@ DEFINE_PGM_READ_ANY(float, float); DEFINE_PGM_READ_ANY(signed char, byte); #define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \ - static const PROGMEM type array##_P[3] = \ + static const PROGMEM type array##_P[XYZ] = \ { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \ static inline type array(int axis) \ { return pgm_read_any(&array##_P[axis]); } @@ -1555,7 +1555,7 @@ static void set_axis_is_at_home(AxisEnum axis) { if (axis == X_AXIS || axis == Y_AXIS) { - float homeposition[3]; + float homeposition[XYZ]; LOOP_XYZ(i) homeposition[i] = LOGICAL_POSITION(base_home_pos(i), i); // SERIAL_ECHOPGM("homeposition[x]= "); SERIAL_ECHO(homeposition[0]); @@ -7802,9 +7802,9 @@ void ok_to_send() { delta_diagonal_rod_2_tower_3 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_3); } - void inverse_kinematics(const float in_cartesian[3]) { + void inverse_kinematics(const float in_cartesian[XYZ]) { - const float cartesian[3] = { + const float cartesian[XYZ] = { RAW_X_POSITION(in_cartesian[X_AXIS]), RAW_Y_POSITION(in_cartesian[Y_AXIS]), RAW_Z_POSITION(in_cartesian[Z_AXIS]) @@ -7834,7 +7834,7 @@ void ok_to_send() { } float delta_safe_distance_from_top() { - float cartesian[3] = { + float cartesian[XYZ] = { LOGICAL_X_POSITION(0), LOGICAL_Y_POSITION(0), LOGICAL_Z_POSITION(0) @@ -7915,20 +7915,20 @@ void ok_to_send() { cartesian_position[Z_AXIS] = z1 + ex[2]*Xnew + ey[2]*Ynew - ez[2]*Znew; }; - void forward_kinematics_DELTA(float point[3]) { - forward_kinematics_DELTA(point[X_AXIS], point[Y_AXIS], point[Z_AXIS]); + void forward_kinematics_DELTA(float point[ABC]) { + forward_kinematics_DELTA(point[A_AXIS], point[B_AXIS], point[C_AXIS]); } void set_cartesian_from_steppers() { - forward_kinematics_DELTA(stepper.get_axis_position_mm(X_AXIS), - stepper.get_axis_position_mm(Y_AXIS), - stepper.get_axis_position_mm(Z_AXIS)); + forward_kinematics_DELTA(stepper.get_axis_position_mm(A_AXIS), + stepper.get_axis_position_mm(B_AXIS), + stepper.get_axis_position_mm(C_AXIS)); } #if ENABLED(AUTO_BED_LEVELING_FEATURE) // Adjust print surface height by linear interpolation over the bed_level array. - void adjust_delta(float cartesian[3]) { + void adjust_delta(float cartesian[XYZ]) { if (delta_grid_spacing[X_AXIS] == 0 || delta_grid_spacing[Y_AXIS] == 0) return; // G29 not done! int half = (AUTO_BED_LEVELING_GRID_POINTS - 1) / 2; @@ -8401,8 +8401,8 @@ void prepare_move_to_destination() { #if ENABLED(SCARA) - void forward_kinematics_SCARA(float f_scara[3]) { - // Perform forward kinematics, and place results in delta[3] + void forward_kinematics_SCARA(float f_scara[ABC]) { + // Perform forward kinematics, and place results in delta[] // The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014 float x_sin, x_cos, y_sin, y_cos; @@ -8427,9 +8427,9 @@ void prepare_move_to_destination() { //SERIAL_ECHOPGM(" delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]); } - void inverse_kinematics(const float cartesian[3]) { + void inverse_kinematics(const float cartesian[XYZ]) { // Inverse kinematics. - // Perform SCARA IK and place results in delta[3]. + // Perform SCARA IK and place results in delta[]. // The maths and first version were done by QHARLEY. // Integrated, tweaked by Joachim Cerny in June 2014. diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp index a25715d8e1..ac4947bd06 100644 --- a/Marlin/planner.cpp +++ b/Marlin/planner.cpp @@ -968,7 +968,7 @@ void Planner::check_axes_activity() { float junction_deviation = 0.1; // Compute path unit vector - double unit_vec[3]; + double unit_vec[XYZ]; unit_vec[X_AXIS] = delta_mm[X_AXIS] * inverse_millimeters; unit_vec[Y_AXIS] = delta_mm[Y_AXIS] * inverse_millimeters; diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp index 88e8cd5600..18ebed9ede 100644 --- a/Marlin/stepper.cpp +++ b/Marlin/stepper.cpp @@ -122,7 +122,7 @@ unsigned short Stepper::acc_step_rate; // needed for deceleration start point uint8_t Stepper::step_loops, Stepper::step_loops_nominal; unsigned short Stepper::OCR1A_nominal; -volatile long Stepper::endstops_trigsteps[3]; +volatile long Stepper::endstops_trigsteps[XYZ]; #if ENABLED(X_DUAL_STEPPER_DRIVERS) #define X_APPLY_DIR(v,Q) do{ X_DIR_WRITE(v); X2_DIR_WRITE((v) != INVERT_X2_VS_X_DIR); }while(0) diff --git a/Marlin/stepper.h b/Marlin/stepper.h index 1dd1531e4a..177ccf182e 100644 --- a/Marlin/stepper.h +++ b/Marlin/stepper.h @@ -128,7 +128,7 @@ class Stepper { static uint8_t step_loops, step_loops_nominal; static unsigned short OCR1A_nominal; - static volatile long endstops_trigsteps[3]; + static volatile long endstops_trigsteps[XYZ]; static volatile long endstops_stepsTotal, endstops_stepsDone; #if HAS_MOTOR_CURRENT_PWM diff --git a/Marlin/temperature.cpp b/Marlin/temperature.cpp index 78168c2e96..5a73762cd8 100644 --- a/Marlin/temperature.cpp +++ b/Marlin/temperature.cpp @@ -95,7 +95,7 @@ unsigned char Temperature::soft_pwm_bed; #endif #if ENABLED(BABYSTEPPING) - volatile int Temperature::babystepsTodo[3] = { 0 }; + volatile int Temperature::babystepsTodo[XYZ] = { 0 }; #endif #if ENABLED(THERMAL_PROTECTION_HOTENDS) && WATCH_TEMP_PERIOD > 0