Suppress some compiler warnings
This commit is contained in:
Richard Wackerbarth
parent
23d742bf06
commit
29b456ae07
6 changed files with 65 additions and 54 deletions
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@ -5,6 +5,10 @@
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#define MARLIN_H
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#define FORCE_INLINE __attribute__((always_inline)) inline
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/**
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* Compiler warning on unused varable.
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*/
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#define UNUSED(x) (void) (x)
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#include <math.h>
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#include <stdio.h>
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@ -1,8 +1,8 @@
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#include "Marlin.h"
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#include "buzzer.h"
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#include "ultralcd.h"
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#if HAS_BUZZER
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#include "buzzer.h"
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#include "ultralcd.h"
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void buzz(long duration, uint16_t freq) {
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if (freq > 0) {
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#if ENABLED(LCD_USE_I2C_BUZZER)
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@ -168,7 +168,7 @@ void Config_StoreSettings() {
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EEPROM_WRITE_VAR(i, mesh_num_x);
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EEPROM_WRITE_VAR(i, mesh_num_y);
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dummy = 0.0f;
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for (int q=0; q<mesh_num_x*mesh_num_y; q++) EEPROM_WRITE_VAR(i, dummy);
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for (uint q=0; q<mesh_num_x*mesh_num_y; q++) EEPROM_WRITE_VAR(i, dummy);
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#endif // MESH_BED_LEVELING
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#if DISABLED(ENABLE_AUTO_BED_LEVELING)
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@ -470,7 +470,7 @@ void Config_ResetDefault() {
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float tmp1[] = DEFAULT_AXIS_STEPS_PER_UNIT;
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float tmp2[] = DEFAULT_MAX_FEEDRATE;
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long tmp3[] = DEFAULT_MAX_ACCELERATION;
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for (uint16_t i = 0; i < NUM_AXIS; i++) {
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for (uint8_t i = 0; i < NUM_AXIS; i++) {
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axis_steps_per_unit[i] = tmp1[i];
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max_feedrate[i] = tmp2[i];
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max_acceleration_units_per_sq_second[i] = tmp3[i];
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@ -565,7 +565,7 @@ void Config_ResetDefault() {
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#endif
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volumetric_enabled = false;
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for (int q=0; q<COUNT(filament_size); q++)
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for (uint8_t q=0; q<COUNT(filament_size); q++)
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filament_size[q] = DEFAULT_NOMINAL_FILAMENT_DIA;
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calculate_volumetric_multipliers();
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@ -1,7 +1,7 @@
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/**
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* planner.cpp - Buffer movement commands and manage the acceleration profile plan
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* Part of Grbl
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*
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*
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* Copyright (c) 2009-2011 Simen Svale Skogsrud
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*
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* Grbl is free software: you can redistribute it and/or modify
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@ -134,14 +134,14 @@ unsigned char g_uc_extruder_last_move[4] = {0,0,0,0};
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FORCE_INLINE int8_t next_block_index(int8_t block_index) { return BLOCK_MOD(block_index + 1); }
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FORCE_INLINE int8_t prev_block_index(int8_t block_index) { return BLOCK_MOD(block_index - 1); }
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// Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the
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// Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the
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// given acceleration:
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FORCE_INLINE float estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration) {
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if (acceleration == 0) return 0; // acceleration was 0, set acceleration distance to 0
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return (target_rate * target_rate - initial_rate * initial_rate) / (acceleration * 2);
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}
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// This function gives you the point at which you must start braking (at the rate of -acceleration) if
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// This function gives you the point at which you must start braking (at the rate of -acceleration) if
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// you started at speed initial_rate and accelerated until this point and want to end at the final_rate after
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// a total travel of distance. This can be used to compute the intersection point between acceleration and
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// deceleration in the cases where the trapezoid has no plateau (i.e. never reaches maximum speed)
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@ -179,7 +179,7 @@ void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exi
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}
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#if ENABLED(ADVANCE)
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volatile long initial_advance = block->advance * entry_factor * entry_factor;
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volatile long initial_advance = block->advance * entry_factor * entry_factor;
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volatile long final_advance = block->advance * exit_factor * exit_factor;
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#endif // ADVANCE
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@ -197,16 +197,16 @@ void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exi
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#endif
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}
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CRITICAL_SECTION_END;
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}
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}
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// Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the
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// Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the
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// acceleration within the allotted distance.
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FORCE_INLINE float max_allowable_speed(float acceleration, float target_velocity, float distance) {
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return sqrt(target_velocity * target_velocity - 2 * acceleration * distance);
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}
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// "Junction jerk" in this context is the immediate change in speed at the junction of two blocks.
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// This method will calculate the junction jerk as the euclidean distance between the nominal
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// This method will calculate the junction jerk as the euclidean distance between the nominal
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// velocities of the respective blocks.
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//inline float junction_jerk(block_t *before, block_t *after) {
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// return sqrt(
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@ -217,6 +217,7 @@ FORCE_INLINE float max_allowable_speed(float acceleration, float target_velocity
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// The kernel called by planner_recalculate() when scanning the plan from last to first entry.
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void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *next) {
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if (!current) return;
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UNUSED(previous);
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if (next) {
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// If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising.
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@ -229,7 +230,7 @@ void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *n
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if (!current->nominal_length_flag && current->max_entry_speed > next->entry_speed) {
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current->entry_speed = min(current->max_entry_speed,
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max_allowable_speed(-current->acceleration, next->entry_speed, current->millimeters));
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}
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}
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else {
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current->entry_speed = current->max_entry_speed;
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}
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@ -239,16 +240,16 @@ void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *n
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} // Skip last block. Already initialized and set for recalculation.
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}
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// planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
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// planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
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// implements the reverse pass.
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void planner_reverse_pass() {
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uint8_t block_index = block_buffer_head;
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//Make a local copy of block_buffer_tail, because the interrupt can alter it
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CRITICAL_SECTION_START;
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unsigned char tail = block_buffer_tail;
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CRITICAL_SECTION_END
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if (BLOCK_MOD(block_buffer_head - tail + BLOCK_BUFFER_SIZE) > 3) { // moves queued
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block_index = BLOCK_MOD(block_buffer_head - 3);
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block_t *block[3] = { NULL, NULL, NULL };
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@ -265,6 +266,7 @@ void planner_reverse_pass() {
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// The kernel called by planner_recalculate() when scanning the plan from first to last entry.
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void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *next) {
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if (!previous) return;
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UNUSED(next);
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// If the previous block is an acceleration block, but it is not long enough to complete the
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// full speed change within the block, we need to adjust the entry speed accordingly. Entry
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@ -300,8 +302,8 @@ void planner_forward_pass() {
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planner_forward_pass_kernel(block[1], block[2], NULL);
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}
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// Recalculates the trapezoid speed profiles for all blocks in the plan according to the
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// entry_factor for each junction. Must be called by planner_recalculate() after
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// Recalculates the trapezoid speed profiles for all blocks in the plan according to the
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// entry_factor for each junction. Must be called by planner_recalculate() after
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// updating the blocks.
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void planner_recalculate_trapezoids() {
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int8_t block_index = block_buffer_tail;
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@ -332,22 +334,22 @@ void planner_recalculate_trapezoids() {
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// Recalculates the motion plan according to the following algorithm:
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//
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// 1. Go over every block in reverse order and calculate a junction speed reduction (i.e. block_t.entry_factor)
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// 1. Go over every block in reverse order and calculate a junction speed reduction (i.e. block_t.entry_factor)
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// so that:
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// a. The junction jerk is within the set limit
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// b. No speed reduction within one block requires faster deceleration than the one, true constant
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// b. No speed reduction within one block requires faster deceleration than the one, true constant
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// acceleration.
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// 2. Go over every block in chronological order and dial down junction speed reduction values if
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// a. The speed increase within one block would require faster acceleration than the one, true
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// 2. Go over every block in chronological order and dial down junction speed reduction values if
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// a. The speed increase within one block would require faster acceleration than the one, true
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// constant acceleration.
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//
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// When these stages are complete all blocks have an entry_factor that will allow all speed changes to
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// be performed using only the one, true constant acceleration, and where no junction jerk is jerkier than
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// When these stages are complete all blocks have an entry_factor that will allow all speed changes to
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// be performed using only the one, true constant acceleration, and where no junction jerk is jerkier than
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// the set limit. Finally it will:
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//
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// 3. Recalculate trapezoids for all blocks.
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void planner_recalculate() {
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void planner_recalculate() {
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planner_reverse_pass();
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planner_forward_pass();
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planner_recalculate_trapezoids();
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@ -356,7 +358,7 @@ void planner_recalculate() {
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void plan_init() {
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block_buffer_head = block_buffer_tail = 0;
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memset(position, 0, sizeof(position)); // clear position
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for (int i=0; i<NUM_AXIS; i++) previous_speed[i] = 0.0;
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for (int i=0; i<NUM_AXIS; i++) previous_speed[i] = 0.0;
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previous_nominal_speed = 0.0;
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}
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@ -469,7 +471,7 @@ void check_axes_activity() {
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float junction_deviation = 0.1;
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// Add a new linear movement to the buffer. steps[X_AXIS], _y and _z is the absolute position in
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// Add a new linear movement to the buffer. steps[X_AXIS], _y and _z is the absolute position in
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// mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration
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// calculation the caller must also provide the physical length of the line in millimeters.
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#if ENABLED(ENABLE_AUTO_BED_LEVELING) || ENABLED(MESH_BED_LEVELING)
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@ -481,7 +483,7 @@ float junction_deviation = 0.1;
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// Calculate the buffer head after we push this byte
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int next_buffer_head = next_block_index(block_buffer_head);
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// If the buffer is full: good! That means we are well ahead of the robot.
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// If the buffer is full: good! That means we are well ahead of the robot.
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// Rest here until there is room in the buffer.
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while (block_buffer_tail == next_buffer_head) idle();
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@ -497,7 +499,7 @@ float junction_deviation = 0.1;
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long target[NUM_AXIS];
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target[X_AXIS] = lround(x * axis_steps_per_unit[X_AXIS]);
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target[Y_AXIS] = lround(y * axis_steps_per_unit[Y_AXIS]);
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target[Z_AXIS] = lround(z * axis_steps_per_unit[Z_AXIS]);
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target[Z_AXIS] = lround(z * axis_steps_per_unit[Z_AXIS]);
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target[E_AXIS] = lround(e * axis_steps_per_unit[E_AXIS]);
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float dx = target[X_AXIS] - position[X_AXIS],
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@ -569,7 +571,7 @@ float junction_deviation = 0.1;
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block->e_to_p_pressure = EtoPPressure;
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#endif
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// Compute direction bits for this block
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// Compute direction bits for this block
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uint8_t db = 0;
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#if ENABLED(COREXY)
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if (dx < 0) db |= BIT(X_HEAD); // Save the real Extruder (head) direction in X Axis
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@ -585,10 +587,10 @@ float junction_deviation = 0.1;
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if (dx - dz < 0) db |= BIT(C_AXIS); // Motor B direction
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#else
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if (dx < 0) db |= BIT(X_AXIS);
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if (dy < 0) db |= BIT(Y_AXIS);
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if (dy < 0) db |= BIT(Y_AXIS);
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if (dz < 0) db |= BIT(Z_AXIS);
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#endif
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if (de < 0) db |= BIT(E_AXIS);
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if (de < 0) db |= BIT(E_AXIS);
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block->direction_bits = db;
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block->active_extruder = extruder;
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@ -622,7 +624,7 @@ float junction_deviation = 0.1;
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for (int i=0; i<EXTRUDERS; i++)
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if (g_uc_extruder_last_move[i] > 0) g_uc_extruder_last_move[i]--;
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switch(extruder) {
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case 0:
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enable_e0();
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@ -686,13 +688,13 @@ float junction_deviation = 0.1;
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NOLESS(feed_rate, mintravelfeedrate);
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/**
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* This part of the code calculates the total length of the movement.
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* This part of the code calculates the total length of the movement.
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* For cartesian bots, the X_AXIS is the real X movement and same for Y_AXIS.
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* But for corexy bots, that is not true. The "X_AXIS" and "Y_AXIS" motors (that should be named to A_AXIS
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* and B_AXIS) cannot be used for X and Y length, because A=X+Y and B=X-Y.
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* So we need to create other 2 "AXIS", named X_HEAD and Y_HEAD, meaning the real displacement of the Head.
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* So we need to create other 2 "AXIS", named X_HEAD and Y_HEAD, meaning the real displacement of the Head.
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* Having the real displacement of the head, we can calculate the total movement length and apply the desired speed.
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*/
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*/
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#if ENABLED(COREXY)
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float delta_mm[6];
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delta_mm[X_HEAD] = dx / axis_steps_per_unit[A_AXIS];
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@ -717,7 +719,7 @@ float junction_deviation = 0.1;
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if (block->steps[X_AXIS] <= dropsegments && block->steps[Y_AXIS] <= dropsegments && block->steps[Z_AXIS] <= dropsegments) {
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block->millimeters = fabs(delta_mm[E_AXIS]);
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}
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}
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else {
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block->millimeters = sqrt(
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#if ENABLED(COREXY)
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@ -729,7 +731,7 @@ float junction_deviation = 0.1;
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#endif
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);
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}
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float inverse_millimeters = 1.0 / block->millimeters; // Inverse millimeters to remove multiple divides
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float inverse_millimeters = 1.0 / block->millimeters; // Inverse millimeters to remove multiple divides
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// Calculate speed in mm/second for each axis. No divide by zero due to previous checks.
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float inverse_second = feed_rate * inverse_millimeters;
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@ -762,7 +764,7 @@ float junction_deviation = 0.1;
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#if ENABLED(FILAMENT_SENSOR)
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//FMM update ring buffer used for delay with filament measurements
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if (extruder == FILAMENT_SENSOR_EXTRUDER_NUM && delay_index2 > -1) { //only for extruder with filament sensor and if ring buffer is initialized
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const int MMD = MAX_MEASUREMENT_DELAY + 1, MMD10 = MMD * 10;
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@ -803,7 +805,7 @@ float junction_deviation = 0.1;
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unsigned char direction_change = block->direction_bits ^ old_direction_bits;
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old_direction_bits = block->direction_bits;
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segment_time = lround((float)segment_time / speed_factor);
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long xs0 = axis_segment_time[X_AXIS][0],
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xs1 = axis_segment_time[X_AXIS][1],
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xs2 = axis_segment_time[X_AXIS][2],
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@ -834,14 +836,14 @@ float junction_deviation = 0.1;
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}
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#endif // XY_FREQUENCY_LIMIT
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// Correct the speed
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// Correct the speed
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if (speed_factor < 1.0) {
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for (unsigned char i = 0; i < NUM_AXIS; i++) current_speed[i] *= speed_factor;
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block->nominal_speed *= speed_factor;
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block->nominal_rate *= speed_factor;
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}
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// Compute and limit the acceleration rate for the trapezoid generator.
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// Compute and limit the acceleration rate for the trapezoid generator.
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float steps_per_mm = block->step_event_count / block->millimeters;
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long bsx = block->steps[X_AXIS], bsy = block->steps[Y_AXIS], bsz = block->steps[Z_AXIS], bse = block->steps[E_AXIS];
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if (bsx == 0 && bsy == 0 && bsz == 0) {
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@ -863,7 +865,7 @@ float junction_deviation = 0.1;
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if ((float)acc_st * bsy / block->step_event_count > ysteps) acc_st = ysteps;
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if ((float)acc_st * bsz / block->step_event_count > zsteps) acc_st = zsteps;
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if ((float)acc_st * bse / block->step_event_count > esteps) acc_st = esteps;
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block->acceleration_st = acc_st;
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block->acceleration = acc_st / steps_per_mm;
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block->acceleration_rate = (long)(acc_st * 16777216.0 / (F_CPU / 8.0));
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@ -911,7 +913,7 @@ float junction_deviation = 0.1;
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// Start with a safe speed
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float vmax_junction = max_xy_jerk / 2;
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float vmax_junction_factor = 1.0;
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float vmax_junction_factor = 1.0;
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float mz2 = max_z_jerk / 2, me2 = max_e_jerk / 2;
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float csz = current_speed[Z_AXIS], cse = current_speed[E_AXIS];
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if (fabs(csz) > mz2) vmax_junction = min(vmax_junction, mz2);
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@ -949,7 +951,7 @@ float junction_deviation = 0.1;
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// block nominal speed limits both the current and next maximum junction speeds. Hence, in both
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// the reverse and forward planners, the corresponding block junction speed will always be at the
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// the maximum junction speed and may always be ignored for any speed reduction checks.
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block->nominal_length_flag = (block->nominal_speed <= v_allowable);
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block->nominal_length_flag = (block->nominal_speed <= v_allowable);
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block->recalculate_flag = true; // Always calculate trapezoid for new block
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// Update previous path unit_vector and nominal speed
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@ -1029,7 +1031,7 @@ float junction_deviation = 0.1;
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}
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void plan_set_e_position(const float &e) {
|
||||
position[E_AXIS] = lround(e * axis_steps_per_unit[E_AXIS]);
|
||||
position[E_AXIS] = lround(e * axis_steps_per_unit[E_AXIS]);
|
||||
st_set_e_position(position[E_AXIS]);
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -1185,6 +1185,9 @@ void digitalPotWrite(int address, int value) {
|
|||
SPI.transfer(value);
|
||||
digitalWrite(DIGIPOTSS_PIN,HIGH); // take the SS pin high to de-select the chip:
|
||||
//delay(10);
|
||||
#else
|
||||
UNUSED(address);
|
||||
UNUSED(value);
|
||||
#endif
|
||||
}
|
||||
|
||||
|
|
@ -1216,14 +1219,16 @@ void digipot_current(uint8_t driver, int current) {
|
|||
#if HAS_DIGIPOTSS
|
||||
const uint8_t digipot_ch[] = DIGIPOT_CHANNELS;
|
||||
digitalPotWrite(digipot_ch[driver], current);
|
||||
#endif
|
||||
#ifdef MOTOR_CURRENT_PWM_XY_PIN
|
||||
#elif defined(MOTOR_CURRENT_PWM_XY_PIN)
|
||||
switch(driver) {
|
||||
case 0: analogWrite(MOTOR_CURRENT_PWM_XY_PIN, 255L * current / MOTOR_CURRENT_PWM_RANGE); break;
|
||||
case 1: analogWrite(MOTOR_CURRENT_PWM_Z_PIN, 255L * current / MOTOR_CURRENT_PWM_RANGE); break;
|
||||
case 2: analogWrite(MOTOR_CURRENT_PWM_E_PIN, 255L * current / MOTOR_CURRENT_PWM_RANGE); break;
|
||||
}
|
||||
#endif
|
||||
#else
|
||||
UNUSED(driver);
|
||||
UNUSED(current);
|
||||
#endif
|
||||
}
|
||||
|
||||
void microstep_init() {
|
||||
|
|
|
|||
|
|
@ -2,9 +2,9 @@
|
|||
#define ULTRALCD_H
|
||||
|
||||
#include "Marlin.h"
|
||||
#include "buzzer.h"
|
||||
|
||||
#if ENABLED(ULTRA_LCD)
|
||||
#include "buzzer.h"
|
||||
|
||||
int lcd_strlen(char *s);
|
||||
int lcd_strlen_P(const char *s);
|
||||
void lcd_update();
|
||||
|
|
@ -105,8 +105,8 @@
|
|||
FORCE_INLINE void lcd_update() {}
|
||||
FORCE_INLINE void lcd_init() {}
|
||||
FORCE_INLINE bool lcd_hasstatus() { return false; }
|
||||
FORCE_INLINE void lcd_setstatus(const char* message, const bool persist=false) {}
|
||||
FORCE_INLINE void lcd_setstatuspgm(const char* message, const uint8_t level=0) {}
|
||||
FORCE_INLINE void lcd_setstatus(const char* message, const bool persist=false) {UNUSED(message); UNUSED(persist);}
|
||||
FORCE_INLINE void lcd_setstatuspgm(const char* message, const uint8_t level=0) {UNUSED(message); UNUSED(level);}
|
||||
FORCE_INLINE void lcd_buttons_update() {}
|
||||
FORCE_INLINE void lcd_reset_alert_level() {}
|
||||
FORCE_INLINE bool lcd_detected(void) { return true; }
|
||||
|
|
|
|||
Loading…
Reference in a new issue