Merge pull request #2101 from thinkyhead/code_style
Code style and a dangling "else"
This commit is contained in:
Scott Lahteine
commit
6c27eaf864
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@ -1,30 +1,30 @@
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/* -*- c++ -*- */
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/*
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Reprap firmware based on Sprinter and grbl.
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Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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This firmware is a mashup between Sprinter and grbl.
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(https://github.com/kliment/Sprinter)
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(https://github.com/simen/grbl/tree)
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It has preliminary support for Matthew Roberts advance algorithm
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http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
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/**
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* Marlin Firmware
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* About Marlin
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*
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* This firmware is a mashup between Sprinter and grbl.
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* - https://github.com/kliment/Sprinter
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* - https://github.com/simen/grbl/tree
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*
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* It has preliminary support for Matthew Roberts advance algorithm
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* - http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
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*/
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#include "Marlin.h"
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@ -73,13 +73,12 @@
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* - http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
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*
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* Help us document these G-codes online:
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* - http://www.marlinfirmware.org/index.php/G-Code
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* - http://reprap.org/wiki/G-code
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* - https://github.com/MarlinFirmware/Marlin/wiki/Marlin-G-Code
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*/
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/**
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*
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* -----------------
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* Implemented Codes
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* -------------------
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* -----------------
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*
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* "G" Codes
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*
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@ -163,7 +162,7 @@
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* 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
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* M206 - Set additional homing offset
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* M207 - Set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting
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* M208 - Set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
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* M208 - Set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
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* 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.
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* M218 - Set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
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* M220 - Set speed factor override percentage: S<factor in percent>
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@ -215,6 +214,11 @@
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*
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* M928 - Start SD logging (M928 filename.g) - ended by M29
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* M999 - Restart after being stopped by error
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*
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* "T" Codes
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*
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* T0-T3 - Select a tool by index (usually an extruder) [ F<mm/min> ]
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*
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*/
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#ifdef SDSUPPORT
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@ -993,7 +997,7 @@ XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
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#endif //DUAL_X_CARRIAGE
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static void axis_is_at_home(int axis) {
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static void axis_is_at_home(AxisEnum axis) {
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#ifdef DUAL_X_CARRIAGE
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if (axis == X_AXIS) {
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@ -1198,12 +1202,12 @@ static void setup_for_endstop_move() {
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plan_bed_level_matrix.set_to_identity();
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feedrate = homing_feedrate[Z_AXIS];
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// move down until you find the bed
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// Move down until the probe (or endstop?) is triggered
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float zPosition = -10;
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line_to_z(zPosition);
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st_synchronize();
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// we have to let the planner know where we are right now as it is not where we said to go.
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// Tell the planner where we ended up - Get this from the stepper handler
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zPosition = st_get_position_mm(Z_AXIS);
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS]);
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@ -1406,7 +1410,7 @@ static void setup_for_endstop_move() {
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Stop();
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}
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#endif
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#endif // Z_PROBE_ALLEN_KEY
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}
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@ -1418,32 +1422,31 @@ static void setup_for_endstop_move() {
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};
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// Probe bed height at position (x,y), returns the measured z value
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static float probe_pt(float x, float y, float z_before, ProbeAction retract_action=ProbeDeployAndStow, int verbose_level=1) {
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static float probe_pt(float x, float y, float z_before, ProbeAction probe_action=ProbeDeployAndStow, int verbose_level=1) {
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// move to right place
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do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before); // this also updates current_position
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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
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#if !defined(Z_PROBE_SLED) && !defined(Z_PROBE_ALLEN_KEY)
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if (retract_action & ProbeDeploy) deploy_z_probe();
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if (probe_action & ProbeDeploy) deploy_z_probe();
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#endif
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run_z_probe();
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float measured_z = current_position[Z_AXIS];
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#if Z_RAISE_BETWEEN_PROBINGS > 0
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if (retract_action == ProbeStay) {
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if (probe_action == ProbeStay) {
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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
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st_synchronize();
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}
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#endif
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#if !defined(Z_PROBE_SLED) && !defined(Z_PROBE_ALLEN_KEY)
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if (retract_action & ProbeStow) stow_z_probe();
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if (probe_action & ProbeStow) stow_z_probe();
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#endif
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if (verbose_level > 2) {
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SERIAL_PROTOCOLPGM("Bed");
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SERIAL_PROTOCOLPGM(" X: ");
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SERIAL_PROTOCOLPGM("Bed X: ");
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SERIAL_PROTOCOL_F(x, 3);
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SERIAL_PROTOCOLPGM(" Y: ");
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SERIAL_PROTOCOL_F(y, 3);
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@ -1593,12 +1596,11 @@ static void homeaxis(AxisEnum axis) {
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if (axis == Z_AXIS) {
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if (axis_home_dir < 0) deploy_z_probe();
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}
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else
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#endif
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#ifdef SERVO_ENDSTOPS
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{
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if (axis != Z_AXIS) {
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// Engage Servo endstop if enabled
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if (servo_endstops[axis] > -1)
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servo[servo_endstops[axis]].write(servo_endstop_angles[axis * 2]);
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@ -2764,7 +2766,7 @@ inline void gcode_G28() {
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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)
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apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); // Apply the correction sending the probe offset
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current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner.
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current_position[Z_AXIS] += z_tmp - real_z; // The difference is added to current position and sent to planner.
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sync_plan_position();
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}
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#endif // !DELTA
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@ -2792,8 +2794,7 @@ inline void gcode_G28() {
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feedrate = homing_feedrate[Z_AXIS];
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run_z_probe();
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SERIAL_PROTOCOLPGM("Bed");
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SERIAL_PROTOCOLPGM(" X: ");
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SERIAL_PROTOCOLPGM("Bed X: ");
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SERIAL_PROTOCOL(current_position[X_AXIS] + 0.0001);
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SERIAL_PROTOCOLPGM(" Y: ");
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SERIAL_PROTOCOL(current_position[Y_AXIS] + 0.0001);
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@ -4624,7 +4625,7 @@ inline void gcode_M400() { st_synchronize(); }
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stow_z_probe(false);
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}
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#endif
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#endif // ENABLE_AUTO_BED_LEVELING && (SERVO_ENDSTOPS || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED
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#ifdef FILAMENT_SENSOR
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@ -4819,7 +4820,7 @@ inline void gcode_M503() {
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if (code_seen('Z')) {
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value = code_value();
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if (Z_PROBE_OFFSET_RANGE_MIN <= value && value <= Z_PROBE_OFFSET_RANGE_MAX) {
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zprobe_zoffset = -value; // compare w/ line 278 of configuration_store.cpp
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zprobe_zoffset = -value;
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SERIAL_ECHO_START;
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SERIAL_ECHOLNPGM(MSG_ZPROBE_ZOFFSET " " MSG_OK);
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SERIAL_EOL;
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@ -5074,9 +5075,11 @@ inline void gcode_M999() {
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/**
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* T0-T3: Switch tool, usually switching extruders
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*
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* F[mm/min] Set the movement feedrate
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*/
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inline void gcode_T() {
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int tmp_extruder = code_value();
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uint16_t tmp_extruder = code_value_short();
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if (tmp_extruder >= EXTRUDERS) {
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SERIAL_ECHO_START;
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SERIAL_CHAR('T');
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@ -5589,14 +5592,14 @@ void process_next_command() {
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gcode_M400();
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break;
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#if defined(ENABLE_AUTO_BED_LEVELING) && (defined(SERVO_ENDSTOPS) || defined(Z_PROBE_ALLEN_KEY)) && not defined(Z_PROBE_SLED)
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#if defined(ENABLE_AUTO_BED_LEVELING) && (defined(SERVO_ENDSTOPS) || defined(Z_PROBE_ALLEN_KEY)) && !defined(Z_PROBE_SLED)
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case 401:
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gcode_M401();
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break;
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case 402:
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gcode_M402();
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break;
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#endif
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#endif // ENABLE_AUTO_BED_LEVELING && (SERVO_ENDSTOPS || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED
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#ifdef FILAMENT_SENSOR
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case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
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@ -6089,8 +6092,8 @@ void prepare_move() {
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#endif // HAS_CONTROLLERFAN
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#ifdef SCARA
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void calculate_SCARA_forward_Transform(float f_scara[3])
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{
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void calculate_SCARA_forward_Transform(float f_scara[3]) {
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// Perform forward kinematics, and place results in delta[3]
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// The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014
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@ -6161,10 +6164,11 @@ void calculate_delta(float cartesian[3]){
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SERIAL_ECHOPGM(" S2="); SERIAL_ECHO(SCARA_S2);
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SERIAL_ECHOPGM(" Theta="); SERIAL_ECHO(SCARA_theta);
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SERIAL_ECHOPGM(" Psi="); SERIAL_ECHOLN(SCARA_psi);
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SERIAL_ECHOLN(" ");*/
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SERIAL_EOL;
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*/
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}
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#endif
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#endif // SCARA
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#ifdef TEMP_STAT_LEDS
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@ -6395,25 +6399,14 @@ void kill()
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st_synchronize();
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}
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}
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#endif
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void Stop() {
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disable_all_heaters();
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if (IsRunning()) {
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Running = false;
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Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
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SERIAL_ERROR_START;
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SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
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LCD_MESSAGEPGM(MSG_STOPPED);
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}
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}
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#endif // FILAMENT_RUNOUT_SENSOR
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#ifdef FAST_PWM_FAN
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void setPwmFrequency(uint8_t pin, int val)
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{
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void setPwmFrequency(uint8_t pin, int val) {
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val &= 0x07;
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switch(digitalPinToTimer(pin))
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{
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switch (digitalPinToTimer(pin)) {
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#if defined(TCCR0A)
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case TIMER0A:
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@ -6476,8 +6469,20 @@ void setPwmFrequency(uint8_t pin, int val)
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}
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}
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#endif // FAST_PWM_FAN
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void Stop() {
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disable_all_heaters();
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if (IsRunning()) {
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Running = false;
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Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
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SERIAL_ERROR_START;
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SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
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LCD_MESSAGEPGM(MSG_STOPPED);
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}
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}
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bool setTargetedHotend(int code){
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target_extruder = active_extruder;
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if (code_seen('T')) {
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@ -1,21 +1,22 @@
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/*
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stepper.c - stepper motor driver: executes motion plans using stepper motors
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Part of Grbl
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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||||
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/>.
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/**
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* stepper.cpp - stepper motor driver: executes motion plans using stepper motors
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* Marlin Firmware
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*
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* Derived from Grbl
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* Copyright (c) 2009-2011 Simen Svale Skogsrud
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*
|
||||
* 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/>.
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||||
*/
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||||
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||||
/* The timer calculations of this module informed by the 'RepRap cartesian firmware' by Zack Smith
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@ -1109,9 +1110,8 @@ long st_get_position(uint8_t axis) {
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#ifdef ENABLE_AUTO_BED_LEVELING
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float st_get_position_mm(uint8_t axis) {
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float steper_position_in_steps = st_get_position(axis);
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return steper_position_in_steps / axis_steps_per_unit[axis];
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float st_get_position_mm(AxisEnum axis) {
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return st_get_position(axis) / axis_steps_per_unit[axis];
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}
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#endif // ENABLE_AUTO_BED_LEVELING
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@ -68,8 +68,8 @@ long st_get_position(uint8_t axis);
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#ifdef ENABLE_AUTO_BED_LEVELING
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// Get current position in mm
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float st_get_position_mm(uint8_t axis);
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#endif //ENABLE_AUTO_BED_LEVELING
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float st_get_position_mm(AxisEnum axis);
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#endif
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// The stepper subsystem goes to sleep when it runs out of things to execute. Call this
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// to notify the subsystem that it is time to go to work.
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