Merge pull request #2101 from thinkyhead/code_style

Code style and a dangling "else"
10 years ago · 6c27eaf864
3 changed files with 248 additions and 243 deletions
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@ -1,30 +1,30 @@
-/* -*- c++ -*- */
-
-/*
-    Reprap firmware based on Sprinter and grbl.
- Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
-
- This program is free software: you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation, either version 3 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-/*
- This firmware is a mashup between Sprinter and grbl.
-  (https://github.com/kliment/Sprinter)
-  (https://github.com/simen/grbl/tree)
-
- It has preliminary support for Matthew Roberts advance algorithm
-    http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
+/**
+ * Marlin Firmware
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * About Marlin
+ *
+ * This firmware is a mashup between Sprinter and grbl.
+ *  - https://github.com/kliment/Sprinter
+ *  - https://github.com/simen/grbl/tree
+ *
+ * It has preliminary support for Matthew Roberts advance algorithm
+ *  - http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
 */

 #include "Marlin.h"
@ -73,13 +73,12 @@
 *  - http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
 *
 * Help us document these G-codes online:
+ *  - http://www.marlinfirmware.org/index.php/G-Code
 *  - http://reprap.org/wiki/G-code
- *  - https://github.com/MarlinFirmware/Marlin/wiki/Marlin-G-Code
- */
-
-/**
+ *
+ * -----------------
 * Implemented Codes
- * -------------------
+ * -----------------
 *
 * "G" Codes
 *
@ -163,7 +162,7 @@
 * M205 -  advanced settings:  minimum travel speed S=while printing T=travel only,  B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk, E=maximum E jerk
 * M206 - Set additional homing offset
 * M207 - Set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting
- * M208 - Set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
+ * M208 - Set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
 * M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
 * M218 - Set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
 * M220 - Set speed factor override percentage: S<factor in percent>
@ -215,6 +214,11 @@
 *
 * M928 - Start SD logging (M928 filename.g) - ended by M29
 * M999 - Restart after being stopped by error
+ *
+ * "T" Codes
+ *
+ * T0-T3 - Select a tool by index (usually an extruder) [ F<mm/min> ]
+ *
 */

 #ifdef SDSUPPORT
@ -993,7 +997,7 @@ XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);

 #endif //DUAL_X_CARRIAGE

-static void axis_is_at_home(int axis) {
+static void axis_is_at_home(AxisEnum axis) {

  #ifdef DUAL_X_CARRIAGE
    if (axis == X_AXIS) {
@ -1198,12 +1202,12 @@ static void setup_for_endstop_move() {
      plan_bed_level_matrix.set_to_identity();
      feedrate = homing_feedrate[Z_AXIS];

-      // move down until you find the bed
+      // Move down until the probe (or endstop?) is triggered
      float zPosition = -10;
      line_to_z(zPosition);
      st_synchronize();

-      // we have to let the planner know where we are right now as it is not where we said to go.
+      // Tell the planner where we ended up - Get this from the stepper handler
      zPosition = st_get_position_mm(Z_AXIS);
      plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS]);

@ -1406,7 +1410,7 @@ static void setup_for_endstop_move() {
          Stop();
        }

-    #endif
+    #endif // Z_PROBE_ALLEN_KEY

  }

@ -1418,32 +1422,31 @@ static void setup_for_endstop_move() {
  };

  // Probe bed height at position (x,y), returns the measured z value
-  static float probe_pt(float x, float y, float z_before, ProbeAction retract_action=ProbeDeployAndStow, int verbose_level=1) {
+  static float probe_pt(float x, float y, float z_before, ProbeAction probe_action=ProbeDeployAndStow, int verbose_level=1) {
    // move to right place
    do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before); // this also updates current_position
    do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]); // this also updates current_position

    #if !defined(Z_PROBE_SLED) && !defined(Z_PROBE_ALLEN_KEY)
-      if (retract_action & ProbeDeploy) deploy_z_probe();
+      if (probe_action & ProbeDeploy) deploy_z_probe();
    #endif

    run_z_probe();
    float measured_z = current_position[Z_AXIS];

    #if Z_RAISE_BETWEEN_PROBINGS > 0
-      if (retract_action == ProbeStay) {
+      if (probe_action == ProbeStay) {
        do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS); // this also updates current_position
        st_synchronize();
      }
    #endif

    #if !defined(Z_PROBE_SLED) && !defined(Z_PROBE_ALLEN_KEY)
-      if (retract_action & ProbeStow) stow_z_probe();
+      if (probe_action & ProbeStow) stow_z_probe();
    #endif

    if (verbose_level > 2) {
-      SERIAL_PROTOCOLPGM("Bed");
-      SERIAL_PROTOCOLPGM(" X: ");
+      SERIAL_PROTOCOLPGM("Bed X: ");
      SERIAL_PROTOCOL_F(x, 3);
      SERIAL_PROTOCOLPGM(" Y: ");
      SERIAL_PROTOCOL_F(y, 3);
@ -1593,12 +1596,11 @@ static void homeaxis(AxisEnum axis) {
      if (axis == Z_AXIS) {
        if (axis_home_dir < 0) deploy_z_probe();
      }
-      else

    #endif

    #ifdef SERVO_ENDSTOPS
-      {
+      if (axis != Z_AXIS) {
        // Engage Servo endstop if enabled
        if (servo_endstops[axis] > -1)
          servo[servo_endstops[axis]].write(servo_endstop_angles[axis * 2]);
@ -2764,7 +2766,7 @@ inline void gcode_G28() {
              real_z = (float)st_get_position(Z_AXIS) / axis_steps_per_unit[Z_AXIS];  //get the real Z (since the auto bed leveling is already correcting the plane)

        apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); // Apply the correction sending the probe offset
-        current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS];   //The difference is added to current position and sent to planner.
+        current_position[Z_AXIS] += z_tmp - real_z;                     // The difference is added to current position and sent to planner.
        sync_plan_position();
      }
    #endif // !DELTA
@ -2792,8 +2794,7 @@ inline void gcode_G28() {
      feedrate = homing_feedrate[Z_AXIS];

      run_z_probe();
-      SERIAL_PROTOCOLPGM("Bed");
-      SERIAL_PROTOCOLPGM(" X: ");
+      SERIAL_PROTOCOLPGM("Bed X: ");
      SERIAL_PROTOCOL(current_position[X_AXIS] + 0.0001);
      SERIAL_PROTOCOLPGM(" Y: ");
      SERIAL_PROTOCOL(current_position[Y_AXIS] + 0.0001);
@ -4624,7 +4625,7 @@ inline void gcode_M400() { st_synchronize(); }
    stow_z_probe(false);
  }

-#endif
+#endif // ENABLE_AUTO_BED_LEVELING && (SERVO_ENDSTOPS || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED

 #ifdef FILAMENT_SENSOR

@ -4819,7 +4820,7 @@ inline void gcode_M503() {
    if (code_seen('Z')) {
      value = code_value();
      if (Z_PROBE_OFFSET_RANGE_MIN <= value && value <= Z_PROBE_OFFSET_RANGE_MAX) {
-        zprobe_zoffset = -value; // compare w/ line 278 of configuration_store.cpp
+        zprobe_zoffset = -value;
        SERIAL_ECHO_START;
        SERIAL_ECHOLNPGM(MSG_ZPROBE_ZOFFSET " " MSG_OK);
        SERIAL_EOL;
@ -5074,9 +5075,11 @@ inline void gcode_M999() {

 /**
 * T0-T3: Switch tool, usually switching extruders
+ *
+ *   F[mm/min] Set the movement feedrate
 */
 inline void gcode_T() {
-  int tmp_extruder = code_value();
+  uint16_t tmp_extruder = code_value_short();
  if (tmp_extruder >= EXTRUDERS) {
    SERIAL_ECHO_START;
    SERIAL_CHAR('T');
@ -5589,14 +5592,14 @@ void process_next_command() {
        gcode_M400();
        break;

-      #if defined(ENABLE_AUTO_BED_LEVELING) && (defined(SERVO_ENDSTOPS) || defined(Z_PROBE_ALLEN_KEY)) && not defined(Z_PROBE_SLED)
+      #if defined(ENABLE_AUTO_BED_LEVELING) && (defined(SERVO_ENDSTOPS) || defined(Z_PROBE_ALLEN_KEY)) && !defined(Z_PROBE_SLED)
        case 401:
          gcode_M401();
          break;
        case 402:
          gcode_M402();
          break;
-      #endif
+      #endif // ENABLE_AUTO_BED_LEVELING && (SERVO_ENDSTOPS || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED

      #ifdef FILAMENT_SENSOR
        case 404:  //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
@ -6089,8 +6092,8 @@ void prepare_move() {
 #endif // HAS_CONTROLLERFAN

 #ifdef SCARA
-void calculate_SCARA_forward_Transform(float f_scara[3])
-{
+
+  void calculate_SCARA_forward_Transform(float f_scara[3]) {
    // Perform forward kinematics, and place results in delta[3]
    // The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014

@ -6161,10 +6164,11 @@ void calculate_delta(float cartesian[3]){
    SERIAL_ECHOPGM(" S2="); SERIAL_ECHO(SCARA_S2);
    SERIAL_ECHOPGM(" Theta="); SERIAL_ECHO(SCARA_theta);
    SERIAL_ECHOPGM(" Psi="); SERIAL_ECHOLN(SCARA_psi);
-  SERIAL_ECHOLN(" ");*/
+    SERIAL_EOL;
+    */
  }

-#endif
+#endif // SCARA

 #ifdef TEMP_STAT_LEDS

@ -6395,25 +6399,14 @@ void kill()
      st_synchronize();
    }
  }
-#endif

-void Stop() {
-  disable_all_heaters();
-  if (IsRunning()) {
-    Running = false;
-    Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
-    SERIAL_ERROR_START;
-    SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
-    LCD_MESSAGEPGM(MSG_STOPPED);
-  }
-}
+#endif // FILAMENT_RUNOUT_SENSOR

 #ifdef FAST_PWM_FAN
-void setPwmFrequency(uint8_t pin, int val)
-{
+
+  void setPwmFrequency(uint8_t pin, int val) {
    val &= 0x07;
-  switch(digitalPinToTimer(pin))
-  {
+    switch (digitalPinToTimer(pin)) {

      #if defined(TCCR0A)
        case TIMER0A:
@ -6476,8 +6469,20 @@ void setPwmFrequency(uint8_t pin, int val)

    }
  }
+
 #endif // FAST_PWM_FAN

+void Stop() {
+  disable_all_heaters();
+  if (IsRunning()) {
+    Running = false;
+    Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
+    SERIAL_ERROR_START;
+    SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
+    LCD_MESSAGEPGM(MSG_STOPPED);
+  }
+}
+
 bool setTargetedHotend(int code){
  target_extruder = active_extruder;
  if (code_seen('T')) {
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@ -1,21 +1,22 @@
-/*
-  stepper.c - stepper motor driver: executes motion plans using stepper motors
-  Part of Grbl
-
-  Copyright (c) 2009-2011 Simen Svale Skogsrud
-
-  Grbl is free software: you can redistribute it and/or modify
-  it under the terms of the GNU General Public License as published by
-  the Free Software Foundation, either version 3 of the License, or
-  (at your option) any later version.
-
-  Grbl is distributed in the hope that it will be useful,
-  but WITHOUT ANY WARRANTY; without even the implied warranty of
-  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-  GNU General Public License for more details.
-
-  You should have received a copy of the GNU General Public License
-  along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
+/**
+ * stepper.cpp - stepper motor driver: executes motion plans using stepper motors
+ * Marlin Firmware
+ *
+ * Derived from Grbl
+ * Copyright (c) 2009-2011 Simen Svale Skogsrud
+ *
+ * Grbl is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Grbl is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
 */

 /* The timer calculations of this module informed by the 'RepRap cartesian firmware' by Zack Smith
@ -1109,9 +1110,8 @@ long st_get_position(uint8_t axis) {

 #ifdef ENABLE_AUTO_BED_LEVELING

-  float st_get_position_mm(uint8_t axis) {
-    float steper_position_in_steps = st_get_position(axis);
-    return steper_position_in_steps / axis_steps_per_unit[axis];
+  float st_get_position_mm(AxisEnum axis) {
+    return st_get_position(axis) / axis_steps_per_unit[axis];
  }

 #endif  // ENABLE_AUTO_BED_LEVELING
--- a/Marlin/stepper.h
+++ b/Marlin/stepper.h
@ -68,8 +68,8 @@ long st_get_position(uint8_t axis);

 #ifdef ENABLE_AUTO_BED_LEVELING
  // Get current position in mm
-float st_get_position_mm(uint8_t axis);
-#endif  //ENABLE_AUTO_BED_LEVELING
+  float st_get_position_mm(AxisEnum axis);
+#endif

 // The stepper subsystem goes to sleep when it runs out of things to execute. Call this
 // to notify the subsystem that it is time to go to work.