From 4ce2a63db05d791c3d996f8c23c959be873a7321 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Tue, 18 Apr 2017 14:39:45 -0500 Subject: [PATCH] Apply const, spacing to Marlin_main.cpp --- Marlin/Marlin_main.cpp | 113 +++++++++++++++-------------------------- 1 file changed, 42 insertions(+), 71 deletions(-) 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