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References are better for array args

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This commit is contained in:
Scott Lahteine
2017-12-09 02:10:54 -06:00
parent 125c572d97
commit 73e32925e4
13 changed files with 48 additions and 42 deletions
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8
Marlin/src/module/motion.cpp
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@@ -517,13 +517,19 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
/**
* Prepare a linear move in a DELTA or SCARA setup.
*
* Called from prepare_move_to_destination as the
* default Delta/SCARA segmenter.
*
* This calls planner.buffer_line several times, adding
* small incremental moves for DELTA or SCARA.
*
* For Unified Bed Leveling (Delta or Segmented Cartesian)
* the ubl.prepare_segmented_line_to method replaces this.
*
* For Auto Bed Leveling (Bilinear) with SEGMENT_LEVELED_MOVES
* this is replaced by segmented_line_to_destination below.
*/
inline bool prepare_kinematic_move_to(float rtarget[XYZE]) {
inline bool prepare_kinematic_move_to(const float (&rtarget)[XYZE]) {
// Get the top feedrate of the move in the XY plane
const float _feedrate_mm_s = MMS_SCALED(feedrate_mm_s);

14
Marlin/src/module/planner.cpp
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@@ -1466,18 +1466,18 @@ void Planner::_set_position_mm(const float &a, const float &b, const float &c, c
ZERO(previous_speed);
}
void Planner::set_position_mm_kinematic(const float position[NUM_AXIS]) {
void Planner::set_position_mm_kinematic(const float (&cart)[XYZE]) {
#if PLANNER_LEVELING
float lpos[XYZ] = { position[X_AXIS], position[Y_AXIS], position[Z_AXIS] };
apply_leveling(lpos);
float raw[XYZ] = { cart[X_AXIS], cart[Y_AXIS], cart[Z_AXIS] };
apply_leveling(raw);
#else
const float * const lpos = position;
const float (&raw)[XYZE] = cart;
#endif
#if IS_KINEMATIC
inverse_kinematics(lpos);
_set_position_mm(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], position[E_AXIS]);
inverse_kinematics(raw);
_set_position_mm(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], cart[E_AXIS]);
#else
_set_position_mm(lpos[X_AXIS], lpos[Y_AXIS], lpos[Z_AXIS], position[E_AXIS]);
_set_position_mm(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], cart[E_AXIS]);
#endif
}

8
Marlin/src/module/planner.h
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@@ -356,7 +356,7 @@ class Planner {
* as it will be given to the planner and steppers.
*/
static void apply_leveling(float &rx, float &ry, float &rz);
static void apply_leveling(float raw[XYZ]) { apply_leveling(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS]); }
static void apply_leveling(float (&raw)[XYZ]) { apply_leveling(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS]); }
static void unapply_leveling(float raw[XYZ]);
#else
@@ -421,12 +421,12 @@ class Planner {
* fr_mm_s - (target) speed of the move (mm/s)
* extruder - target extruder
*/
FORCE_INLINE static void buffer_line_kinematic(const float cart[XYZE], const float &fr_mm_s, const uint8_t extruder) {
FORCE_INLINE static void buffer_line_kinematic(const float (&cart)[XYZE], const float &fr_mm_s, const uint8_t extruder) {
#if PLANNER_LEVELING
float raw[XYZ] = { cart[X_AXIS], cart[Y_AXIS], cart[Z_AXIS] };
apply_leveling(raw);
#else
const float * const raw = cart;
const float (&raw)[XYZE] = cart;
#endif
#if IS_KINEMATIC
inverse_kinematics(raw);
@@ -451,7 +451,7 @@ class Planner {
#endif
_set_position_mm(rx, ry, rz, e);
}
static void set_position_mm_kinematic(const float position[NUM_AXIS]);
static void set_position_mm_kinematic(const float (&cart)[XYZE]);
static void set_position_mm(const AxisEnum axis, const float &v);
FORCE_INLINE static void set_z_position_mm(const float &z) { set_position_mm(Z_AXIS, z); }
FORCE_INLINE static void set_e_position_mm(const float &e) { set_position_mm(AxisEnum(E_AXIS), e); }

2
Marlin/src/module/probe.cpp
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@@ -107,7 +107,7 @@ inline void do_probe_raise(const float z_raise) {
#elif ENABLED(Z_PROBE_ALLEN_KEY)
FORCE_INLINE void do_blocking_move_to(const float raw[XYZ], const float &fr_mm_s) {
FORCE_INLINE void do_blocking_move_to(const float (&raw)[XYZ], const float &fr_mm_s) {
do_blocking_move_to(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], fr_mm_s);
}

6
Marlin/src/module/stepper.cpp
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@@ -1193,7 +1193,7 @@ void Stepper::set_e_position(const long &e) {
/**
* Get a stepper's position in steps.
*/
long Stepper::position(AxisEnum axis) {
long Stepper::position(const AxisEnum axis) {
CRITICAL_SECTION_START;
const long count_pos = count_position[axis];
CRITICAL_SECTION_END;
@@ -1204,7 +1204,7 @@ long Stepper::position(AxisEnum axis) {
* Get an axis position according to stepper position(s)
* For CORE machines apply translation from ABC to XYZ.
*/
float Stepper::get_axis_position_mm(AxisEnum axis) {
float Stepper::get_axis_position_mm(const AxisEnum axis) {
float axis_steps;
#if IS_CORE
// Requesting one of the "core" axes?
@@ -1242,7 +1242,7 @@ void Stepper::quick_stop() {
#endif
}
void Stepper::endstop_triggered(AxisEnum axis) {
void Stepper::endstop_triggered(const AxisEnum axis) {
#if IS_CORE

12
Marlin/src/module/stepper.h
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@@ -183,7 +183,7 @@ class Stepper {
//
// Get the position of a stepper, in steps
//
static long position(AxisEnum axis);
static long position(const AxisEnum axis);
//
// Report the positions of the steppers, in steps
@@ -193,13 +193,13 @@ class Stepper {
//
// Get the position (mm) of an axis based on stepper position(s)
//
static float get_axis_position_mm(AxisEnum axis);
static float get_axis_position_mm(const AxisEnum axis);
//
// SCARA AB axes are in degrees, not mm
//
#if IS_SCARA
FORCE_INLINE static float get_axis_position_degrees(AxisEnum axis) { return get_axis_position_mm(axis); }
FORCE_INLINE static float get_axis_position_degrees(const AxisEnum axis) { return get_axis_position_mm(axis); }
#endif
//
@@ -221,7 +221,7 @@ class Stepper {
//
// The direction of a single motor
//
FORCE_INLINE static bool motor_direction(AxisEnum axis) { return TEST(last_direction_bits, axis); }
FORCE_INLINE static bool motor_direction(const AxisEnum axis) { return TEST(last_direction_bits, axis); }
#if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM
static void digitalPotWrite(const int16_t address, const int16_t value);
@@ -263,12 +263,12 @@ class Stepper {
//
// Handle a triggered endstop
//
static void endstop_triggered(AxisEnum axis);
static void endstop_triggered(const AxisEnum axis);
//
// Triggered position of an axis in mm (not core-savvy)
//
FORCE_INLINE static float triggered_position_mm(AxisEnum axis) {
FORCE_INLINE static float triggered_position_mm(const AxisEnum axis) {
return endstops_trigsteps[axis] * planner.steps_to_mm[axis];
}