References are better for array args

.travis.yml

@@ -121,7 +121,7 @@ script:
   - opt_enable ULTIMAKERCONTROLLER SDSUPPORT
   - opt_enable PRINTCOUNTER NOZZLE_PARK_FEATURE NOZZLE_CLEAN_FEATURE PCA9632 USE_XMAX_PLUG
   - opt_enable_adv BEZIER_CURVE_SUPPORT EXPERIMENTAL_I2CBUS
-  - opt_enable_adv ADVANCED_PAUSE_FEATURE PARK_HEAD_ON_PAUSE LCD_INFO_MENU
+  - opt_enable_adv ADVANCED_PAUSE_FEATURE PARK_HEAD_ON_PAUSE LCD_INFO_MENU M114_DETAIL
   - opt_set_adv PWM_MOTOR_CURRENT {1300,1300,1250}
   - opt_set_adv I2C_SLAVE_ADDRESS 63
   - build_marlin_pio ${TRAVIS_BUILD_DIR} ${TEST_PLATFORM}

Marlin/src/feature/bedlevel/ubl/ubl.h

@@ -316,7 +316,7 @@ class unified_bed_leveling {
     }
 
     static bool prepare_segmented_line_to(const float rtarget[XYZE], const float &feedrate);
-    static void line_to_destination_cartesian(const float &fr, uint8_t e);
+    static void line_to_destination_cartesian(const float &fr, const uint8_t e);
 
     #define _CMPZ(a,b) (z_values[a][b] == z_values[a][b+1])
     #define CMPZ(a) (_CMPZ(a, 0) && _CMPZ(a, 1))

Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp

@@ -92,7 +92,7 @@
 
   }
 
-  void unified_bed_leveling::line_to_destination_cartesian(const float &feed_rate, uint8_t extruder) {
+  void unified_bed_leveling::line_to_destination_cartesian(const float &feed_rate, const uint8_t extruder) {
     /**
      * Much of the nozzle movement will be within the same cell. So we will do as little computation
      * as possible to determine if this is the case. If this move is within the same cell, we will
@@ -475,7 +475,7 @@
     // We don't want additional apply_leveling() performed by regular buffer_line or buffer_line_kinematic,
     // so we call _buffer_line directly here.  Per-segmented leveling and kinematics performed first.
 
-    inline void _O2 ubl_buffer_segment_raw(const float raw[XYZE], const float &fr) {
+    inline void _O2 ubl_buffer_segment_raw(const float (&raw)[XYZE], const float &fr) {
 
       #if ENABLED(DELTA)  // apply delta inverse_kinematics
 

Marlin/src/gcode/bedlevel/G26.cpp

@@ -261,16 +261,16 @@ void move_to(const float &rx, const float &ry, const float &z, const float &e_de
   set_destination_from_current();
 }
 
-FORCE_INLINE void move_to(const float where[XYZE], const float &de) { move_to(where[X_AXIS], where[Y_AXIS], where[Z_AXIS], de); }
+FORCE_INLINE void move_to(const float (&where)[XYZE], const float &de) { move_to(where[X_AXIS], where[Y_AXIS], where[Z_AXIS], de); }
 
-void retract_filament(const float where[XYZE]) {
+void retract_filament(const float (&where)[XYZE]) {
   if (!g26_retracted) { // Only retract if we are not already retracted!
     g26_retracted = true;
     move_to(where, -1.0 * g26_retraction_multiplier);
   }
 }
 
-void recover_filament(const float where[XYZE]) {
+void recover_filament(const float (&where)[XYZE]) {
   if (g26_retracted) { // Only un-retract if we are retracted.
     move_to(where, 1.2 * g26_retraction_multiplier);
     g26_retracted = false;

Marlin/src/gcode/host/M114.cpp

@@ -28,7 +28,7 @@
 
 #if ENABLED(M114_DETAIL)
 
-  void report_xyze(const float pos[XYZE], const uint8_t n = 4, const uint8_t precision = 3) {
+  void report_xyze(const float pos[], const uint8_t n = 4, const uint8_t precision = 3) {
     char str[12];
     for (uint8_t i = 0; i < n; i++) {
       SERIAL_CHAR(' ');
@@ -39,7 +39,7 @@
     SERIAL_EOL();
   }
 
-  inline void report_xyz(const float pos[XYZ]) { report_xyze(pos, 3); }
+  inline void report_xyz(const float pos[]) { report_xyze(pos, 3); }
 
   void report_current_position_detail() {
 

Marlin/src/gcode/motion/G2_G3.cpp

@@ -44,9 +44,9 @@
  * options for G2/G3 arc generation. In future these options may be GCode tunable.
  */
 void plan_arc(
-  float rtarget[XYZE], // Destination position
+  const float (&cart)[XYZE],  // Destination position
-  float *offset,       // Center of rotation relative to current_position
+  const float (&offset)[2],   // Center of rotation relative to current_position
-  uint8_t clockwise    // Clockwise?
+  const uint8_t clockwise     // Clockwise?
 ) {
   #if ENABLED(CNC_WORKSPACE_PLANES)
     AxisEnum p_axis, q_axis, l_axis;
@@ -66,10 +66,10 @@ void plan_arc(
   const float radius = HYPOT(r_P, r_Q),
               center_P = current_position[p_axis] - r_P,
               center_Q = current_position[q_axis] - r_Q,
-              rt_X = rtarget[p_axis] - center_P,
+              rt_X = cart[p_axis] - center_P,
-              rt_Y = rtarget[q_axis] - center_Q,
+              rt_Y = cart[q_axis] - center_Q,
-              linear_travel = rtarget[l_axis] - current_position[l_axis],
+              linear_travel = cart[l_axis] - current_position[l_axis],
-              extruder_travel = rtarget[E_AXIS] - current_position[E_AXIS];
+              extruder_travel = cart[E_AXIS] - current_position[E_AXIS];
 
   // CCW angle of rotation between position and target from the circle center. Only one atan2() trig computation required.
   float angular_travel = ATAN2(r_P * rt_Y - r_Q * rt_X, r_P * rt_X + r_Q * rt_Y);
@@ -77,7 +77,7 @@ void plan_arc(
   if (clockwise) angular_travel -= RADIANS(360);
 
   // Make a circle if the angular rotation is 0 and the target is current position
-  if (angular_travel == 0 && current_position[p_axis] == rtarget[p_axis] && current_position[q_axis] == rtarget[q_axis])
+  if (angular_travel == 0 && current_position[p_axis] == cart[p_axis] && current_position[q_axis] == cart[q_axis])
     angular_travel = RADIANS(360);
 
   const float mm_of_travel = HYPOT(angular_travel * radius, FABS(linear_travel));
@@ -177,7 +177,7 @@ void plan_arc(
   }
 
   // Ensure last segment arrives at target location.
-  planner.buffer_line_kinematic(rtarget, fr_mm_s, active_extruder);
+  planner.buffer_line_kinematic(cart, fr_mm_s, active_extruder);
 
   // As far as the parser is concerned, the position is now == target. In reality the
   // motion control system might still be processing the action and the real tool position

Marlin/src/gcode/motion/G5.cpp

@@ -27,7 +27,7 @@
 #include "../../module/motion.h"
 #include "../../module/planner_bezier.h"
 
-void plan_cubic_move(const float offset[4]) {
+void plan_cubic_move(const float (&offset)[4]) {
   cubic_b_spline(current_position, destination, offset, MMS_SCALED(feedrate_mm_s), active_extruder);
 
   // As far as the parser is concerned, the position is now == destination. In reality the
@@ -62,7 +62,7 @@ void GcodeSuite::G5() {
 
     get_destination_from_command();
 
-    const float offset[] = {
+    const float offset[4] = {
       parser.linearval('I'),
       parser.linearval('J'),
       parser.linearval('P'),

Marlin/src/module/motion.cpp

@@ -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);

Marlin/src/module/planner.cpp

@@ -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] };
+    float raw[XYZ] = { cart[X_AXIS], cart[Y_AXIS], cart[Z_AXIS] };
-    apply_leveling(lpos);
+    apply_leveling(raw);
   #else
-    const float * const lpos = position;
+    const float (&raw)[XYZE] = cart;
   #endif
   #if IS_KINEMATIC
-    inverse_kinematics(lpos);
+    inverse_kinematics(raw);
-    _set_position_mm(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], position[E_AXIS]);
+    _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
 }
 

Marlin/src/module/planner.h

@@ -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); }

Marlin/src/module/probe.cpp

@@ -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);
   }
 

Marlin/src/module/stepper.cpp

@@ -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
 

Marlin/src/module/stepper.h

@@ -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];
     }