From 435ecb6b67e285becad4e6ca8375ffc8b5cb6025 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Sun, 20 May 2018 22:20:11 -0500 Subject: [PATCH] Followup to stepper/planner refactor --- Marlin/src/module/planner.cpp | 6 +++--- Marlin/src/module/planner.h | 2 +- Marlin/src/module/stepper.cpp | 22 +++++++++++----------- Marlin/src/module/stepper.h | 10 +++++----- 4 files changed, 20 insertions(+), 20 deletions(-) diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp index 8644a69f0..f56c581c9 100644 --- a/Marlin/src/module/planner.cpp +++ b/Marlin/src/module/planner.cpp @@ -962,7 +962,7 @@ void Planner::reverse_pass() { } // The kernel called by recalculate() when scanning the plan from first to last entry. -void Planner::forward_pass_kernel(const block_t * const previous, block_t* const current, uint8_t block_index) { +void Planner::forward_pass_kernel(const block_t* const previous, block_t* const current, const uint8_t block_index) { if (previous) { // If the previous block is an acceleration block, too short to complete the full speed // change, adjust the entry speed accordingly. Entry speeds have already been reset, @@ -1586,7 +1586,7 @@ bool Planner::_buffer_steps(const int32_t (&target)[XYZE] * Returns true is movement is acceptable, false otherwise */ bool Planner::_populate_block(block_t * const block, bool split_move, - const int32_t (&target)[XYZE] + const int32_t (&target)[XYZE] #if HAS_POSITION_FLOAT , const float (&target_float)[XYZE] #endif @@ -2234,7 +2234,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move, if (block->millimeters < 1.0) { // Fast acos approximation, minus the error bar to be safe - float junction_theta = (RADIANS(-40) * sq(junction_cos_theta) - RADIANS(50)) * junction_cos_theta + RADIANS(90) - 0.18; + const float junction_theta = (RADIANS(-40) * sq(junction_cos_theta) - RADIANS(50)) * junction_cos_theta + RADIANS(90) - 0.18; // If angle is greater than 135 degrees (octagon), find speed for approximate arc if (junction_theta > RADIANS(135)) { diff --git a/Marlin/src/module/planner.h b/Marlin/src/module/planner.h index 86707610b..878675d4d 100644 --- a/Marlin/src/module/planner.h +++ b/Marlin/src/module/planner.h @@ -452,7 +452,7 @@ class Planner { * - Wait for the number of spaces to open up in the planner * - Return the first head block */ - FORCE_INLINE static block_t* get_next_free_block(uint8_t &next_buffer_head, uint8_t count = 1) { + FORCE_INLINE static block_t* get_next_free_block(uint8_t &next_buffer_head, const uint8_t count=1) { // Wait until there are enough slots free while (moves_free() < count) { idle(); } diff --git a/Marlin/src/module/stepper.cpp b/Marlin/src/module/stepper.cpp index 23a4acd3d..56a4b0d6d 100644 --- a/Marlin/src/module/stepper.cpp +++ b/Marlin/src/module/stepper.cpp @@ -181,20 +181,20 @@ volatile int32_t Stepper::endstops_trigsteps[XYZ]; #define LOCKED_X2_MOTOR locked_x2_motor #define LOCKED_Y2_MOTOR locked_y2_motor #define LOCKED_Z2_MOTOR locked_z2_motor - #define DUAL_ENDSTOP_APPLY_STEP(A,V) \ - if (performing_homing) { \ - if (A##_HOME_DIR < 0) { \ + #define DUAL_ENDSTOP_APPLY_STEP(A,V) \ + if (performing_homing) { \ + if (A##_HOME_DIR < 0) { \ if (!(TEST(endstops.current_endstop_bits, A##_MIN) && count_direction[_AXIS(A)] < 0) && !LOCKED_##A##_MOTOR) A##_STEP_WRITE(V); \ if (!(TEST(endstops.current_endstop_bits, A##2_MIN) && count_direction[_AXIS(A)] < 0) && !LOCKED_##A##2_MOTOR) A##2_STEP_WRITE(V); \ - } \ - else { \ + } \ + else { \ if (!(TEST(endstops.current_endstop_bits, A##_MAX) && count_direction[_AXIS(A)] > 0) && !LOCKED_##A##_MOTOR) A##_STEP_WRITE(V); \ if (!(TEST(endstops.current_endstop_bits, A##2_MAX) && count_direction[_AXIS(A)] > 0) && !LOCKED_##A##2_MOTOR) A##2_STEP_WRITE(V); \ - } \ - } \ - else { \ - A##_STEP_WRITE(V); \ - A##2_STEP_WRITE(V); \ + } \ + } \ + else { \ + A##_STEP_WRITE(V); \ + A##2_STEP_WRITE(V); \ } #endif @@ -2035,7 +2035,7 @@ int32_t Stepper::position(const AxisEnum axis) { if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT(); #endif - int32_t v = count_position[axis]; + const int32_t v = count_position[axis]; #ifdef __AVR__ // Reenable Stepper ISR diff --git a/Marlin/src/module/stepper.h b/Marlin/src/module/stepper.h index bda1bd5b0..a251d070b 100644 --- a/Marlin/src/module/stepper.h +++ b/Marlin/src/module/stepper.h @@ -98,8 +98,8 @@ class Stepper { static int32_t bezier_A, // A coefficient in Bézier speed curve bezier_B, // B coefficient in Bézier speed curve bezier_C; // C coefficient in Bézier speed curve - static uint32_t bezier_F; // F coefficient in Bézier speed curve - static uint32_t bezier_AV; // AV coefficient in Bézier speed curve + static uint32_t bezier_F, // F coefficient in Bézier speed curve + bezier_AV; // AV coefficient in Bézier speed curve #ifdef __AVR__ static bool A_negative; // If A coefficient was negative #endif @@ -297,9 +297,9 @@ class Stepper { NOLESS(step_rate, uint32_t(F_CPU / 500000U)); step_rate -= F_CPU / 500000; // Correct for minimal speed if (step_rate >= (8 * 256)) { // higher step rate - uint8_t tmp_step_rate = (step_rate & 0x00FF); - uint16_t table_address = (uint16_t)&speed_lookuptable_fast[(uint8_t)(step_rate >> 8)][0], - gain = (uint16_t)pgm_read_word_near(table_address + 2); + const uint8_t tmp_step_rate = (step_rate & 0x00FF); + const uint16_t table_address = (uint16_t)&speed_lookuptable_fast[(uint8_t)(step_rate >> 8)][0], + gain = (uint16_t)pgm_read_word_near(table_address + 2); timer = MultiU16X8toH16(tmp_step_rate, gain); timer = (uint16_t)pgm_read_word_near(table_address) - timer; }