Simpler Allen Key config. Fixes, cleanups from refactor (#15256)

Marlin/src/libs/L6470/L6470_Marlin.cpp

@@ -384,8 +384,8 @@ bool L6470_Marlin::get_user_input(uint8_t &driver_count, uint8_t axis_index[3],
     } break;
 
     case 'Z': {
-      position_min = center[E_AXIS] - displacement;
-      position_max = center[E_AXIS] + displacement;
+      position_min = center[Z_AXIS] - displacement;
+      position_max = center[Z_AXIS] + displacement;
       echo_min_max('Z', position_min, position_max);
       if (false
         #ifdef Z_MIN_POS

Marlin/src/libs/least_squares_fit.h

@@ -51,18 +51,19 @@ void inline incremental_LSF_reset(struct linear_fit_data *lsf) {
 void inline incremental_WLSF(struct linear_fit_data *lsf, const float &x, const float &y, const float &z, const float &w) {
   // weight each accumulator by factor w, including the "number" of samples
   // (analogous to calling inc_LSF twice with same values to weight it by 2X)
-  lsf->xbar  += w * x;
-  lsf->ybar  += w * y;
-  lsf->zbar  += w * z;
-  lsf->x2bar += w * x * x;  // don't use sq(x) -- let compiler re-use w*x four times
-  lsf->y2bar += w * y * y;
-  lsf->z2bar += w * z * z;
-  lsf->xybar += w * x * y;
-  lsf->xzbar += w * x * z;
-  lsf->yzbar += w * y * z;
+  const float wx = w * x, wy = w * y, wz = w * z;
+  lsf->xbar  += wx;
+  lsf->ybar  += wy;
+  lsf->zbar  += wz;
+  lsf->x2bar += wx * x;
+  lsf->y2bar += wy * y;
+  lsf->z2bar += wz * z;
+  lsf->xybar += wx * y;
+  lsf->xzbar += wx * z;
+  lsf->yzbar += wy * z;
   lsf->N     += w;
-  lsf->max_absx = _MAX(ABS(w * x), lsf->max_absx);
-  lsf->max_absy = _MAX(ABS(w * y), lsf->max_absy);
+  lsf->max_absx = _MAX(ABS(wx), lsf->max_absx);
+  lsf->max_absy = _MAX(ABS(wy), lsf->max_absy);
 }
 
 void inline incremental_LSF(struct linear_fit_data *lsf, const float &x, const float &y, const float &z) {

Marlin/src/libs/nozzle.cpp

@@ -175,16 +175,9 @@ Nozzle nozzle;
     if (!TEST(cleans, Z_AXIS)) start.z = end.z = current_position[Z_AXIS];
 
     switch (pattern) {
-      case 1:
-        zigzag(start, end, strokes, objects);
-        break;
-
-      case 2:
-        circle(start, end, strokes, radius);
-        break;
-
-      default:
-        stroke(start, end, strokes);
+       case 1: zigzag(start, end, strokes, objects); break;
+       case 2: circle(start, end, strokes, radius);  break;
+      default: stroke(start, end, strokes);
     }
   }
 
@@ -193,8 +186,7 @@ Nozzle nozzle;
 #if ENABLED(NOZZLE_PARK_FEATURE)
 
   void Nozzle::park(const uint8_t z_action, const point_t &park/*=NOZZLE_PARK_POINT*/) {
-    const float fr_xy = NOZZLE_PARK_XY_FEEDRATE,
-                fr_z = NOZZLE_PARK_Z_FEEDRATE;
+    constexpr float fr_xy = NOZZLE_PARK_XY_FEEDRATE, fr_z = NOZZLE_PARK_Z_FEEDRATE;
 
     switch (z_action) {
       case 1: // Go to Z-park height

Marlin/src/libs/numtostr.cpp

@@ -21,6 +21,8 @@
  */
 
 #include "numtostr.h"
+
+#include "../inc/MarlinConfigPre.h"
 #include "../core/utility.h"
 
 char conv[8] = { 0 };
@@ -183,7 +185,7 @@ char* ftostr52(const float &f) {
     return &conv[3];
   }
 
-#endif // LCD_DECIMAL_SMALL_XY
+#endif
 
 // Convert float to fixed-length string with +123.4 / -123.4 format
 char* ftostr41sign(const float &f) {

Marlin/src/libs/numtostr.h

@@ -21,7 +21,7 @@
  */
 #pragma once
 
-#include "../inc/MarlinConfigPre.h"
+#include <stdint.h>
 
 // Convert a full-range unsigned 8bit int to a percentage
 char* ui8tostr4pct(const uint8_t i);
@@ -83,9 +83,13 @@ char* ftostr52sign(const float &x);
 // Convert unsigned float to string with 1234.5 format omitting trailing zeros
 char* ftostr51rj(const float &x);
 
+#include "../core/macros.h"
+
 // Convert float to rj string with 123 or -12 format
 FORCE_INLINE char* ftostr3(const float &x) { return i16tostr3(int16_t(x + (x < 0 ? -0.5f : 0.5f))); }
 
+#include "../inc/MarlinConfigPre.h"
+
 #if ENABLED(LCD_DECIMAL_SMALL_XY)
   // Convert float to rj string with 1234, _123, 12.3, _1.2, -123, _-12, or -1.2 format
   char* ftostr4sign(const float &fx);

Marlin/src/libs/stopwatch.h

@@ -25,7 +25,9 @@
 //#define DEBUG_STOPWATCH
 
 #include "../core/macros.h" // for FORCE_INLINE
-#include "../core/millis_t.h"
+
+#include <stdint.h>
+typedef uint32_t millis_t;
 
 /**
  * @brief Stopwatch class

Marlin/src/libs/vector_3.cpp

@@ -57,8 +57,11 @@ vector_3 vector_3::cross(const vector_3 &left, const vector_3 &right) {
                   left.x * right.y - left.y * right.x);
 }
 
-vector_3 vector_3::operator+(const vector_3 &v) { return vector_3((x + v.x), (y + v.y), (z + v.z)); }
-vector_3 vector_3::operator-(const vector_3 &v) { return vector_3((x - v.x), (y - v.y), (z - v.z)); }
+vector_3 vector_3::operator+(const vector_3 &v) { return vector_3(x + v.x, y + v.y, z + v.z); }
+vector_3 vector_3::operator-(const vector_3 &v) { return vector_3(x - v.x, y - v.y, z - v.z); }
+
+vector_3  vector_3::operator* (const float &v) { return vector_3(x * v, y * v, z * v); }
+vector_3& vector_3::operator*=(const float &v) { x *= v; y *= v; z *= v; return *this; }
 
 vector_3 vector_3::get_normal() const {
   vector_3 normalized = vector_3(x, y, z);

Marlin/src/libs/vector_3.h

@@ -52,6 +52,10 @@ struct vector_3 {
 
   vector_3 operator+(const vector_3 &v);
   vector_3 operator-(const vector_3 &v);
+
+  vector_3  operator* (const float &v);
+  vector_3& operator*=(const float &v);
+
   void normalize();
   float get_length() const;
   vector_3 get_normal() const;