Upstream Merging

Firmware/Configuration.h

@@ -7,8 +7,8 @@
 #define STR(x) STR_HELPER(x)
 
 // Firmware version
-#define FW_VERSION "5.0.2"
+#define FW_VERSION "3.5.0-RC1"
-#define FW_COMMIT_NR   9999
+#define FW_COMMIT_NR   1688
 // FW_VERSION_UNKNOWN means this is an unofficial build.
 // The firmware should only be checked into github with this symbol.
 #define FW_DEV_VERSION FW_VERSION_UNKNOWN

Firmware/ConfigurationStore.h

@@ -54,20 +54,11 @@ void Config_StoreSettings();
 bool Config_RetrieveSettings();
 #else
 FORCE_INLINE void Config_StoreSettings() {}
-FORCE_INLINE void Config_RetrieveSettings() {
+FORCE_INLINE void Config_RetrieveSettings() { Config_ResetDefault(); Config_PrintSettings(); }
-    Config_ResetDefault();
-    Config_PrintSettings();
-}
 #endif
 
-inline uint8_t calibration_status() {
+inline uint8_t calibration_status() { return eeprom_read_byte((uint8_t*)EEPROM_CALIBRATION_STATUS); }
-    return eeprom_read_byte((uint8_t*)EEPROM_CALIBRATION_STATUS);
+inline void calibration_status_store(uint8_t status) { eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS, status); }
-}
+inline bool calibration_status_pinda() { return eeprom_read_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA); }
-inline void calibration_status_store(uint8_t status) {
-    eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS, status);
-}
-inline bool calibration_status_pinda() {
-    return eeprom_read_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA);
-}
 
 #endif//CONFIG_STORE_H

Firmware/Dcodes.cpp

@@ -81,15 +81,9 @@ void print_mem(uint32_t address, uint16_t count, uint8_t type, uint8_t countperl
 			uint8_t data = 0;
 			switch (type)
 			{
-            case 0:
+			case 0: data = *((uint8_t*)address++); break;
-                data = *((uint8_t*)address++);
+			case 1: data = eeprom_read_byte((uint8_t*)address++); break;
-                break;
+			case 2: data = pgm_read_byte_far((uint8_t*)address++); break;
-            case 1:
-                data = eeprom_read_byte((uint8_t*)address++);
-                break;
-            case 2:
-                data = pgm_read_byte_far((uint8_t*)address++);
-                break;
 			}
 			putchar(' ');
 			print_hex_byte(data);
@@ -418,20 +412,13 @@ const char* dcode_9_ADC_name(uint8_t i)
 {
 	switch (i)
 	{
-    case 0:
+	case 0: return PSTR("TEMP_HEATER0");
-        return PSTR("TEMP_HEATER0");
+	case 1: return PSTR("TEMP_HEATER1");
-    case 1:
+	case 2: return PSTR("TEMP_BED");
-        return PSTR("TEMP_HEATER1");
+	case 3: return PSTR("TEMP_PINDA");
-    case 2:
+	case 4: return PSTR("VOLT_PWR");
-        return PSTR("TEMP_BED");
+	case 5: return PSTR("TEMP_AMBIENT");
-    case 3:
+	case 6: return PSTR("VOLT_BED");
-        return PSTR("TEMP_PINDA");
-    case 4:
-        return PSTR("VOLT_PWR");
-    case 5:
-        return PSTR("TEMP_AMBIENT");
-    case 6:
-        return PSTR("VOLT_BED");
 	}
 	return 0;
 }
@@ -456,25 +443,18 @@ uint16_t dcode_9_ADC_val(uint8_t i)
 {
 	switch (i)
 	{
-    case 0:
+	case 0: return current_temperature_raw[0];
-        return current_temperature_raw[0];
+	case 1: return 0;
-    case 1:
+	case 2: return current_temperature_bed_raw;
-        return 0;
+	case 3: return current_temperature_raw_pinda;
-    case 2:
-        return current_temperature_bed_raw;
-    case 3:
-        return current_temperature_raw_pinda;
 #ifdef VOLT_PWR_PIN
-    case 4:
+	case 4: return current_voltage_raw_pwr;
-        return current_voltage_raw_pwr;
 #endif //VOLT_PWR_PIN
 #ifdef AMBIENT_THERMISTOR
-    case 5:
+	case 5: return current_temperature_raw_ambient;
-        return current_temperature_raw_ambient;
 #endif //AMBIENT_THERMISTOR
 #ifdef VOLT_BED_PIN
-    case 6:
+	case 6: return current_voltage_raw_bed;
-        return current_voltage_raw_bed;
 #endif //VOLT_BED_PIN
 	}
 	return 0;
@@ -560,28 +540,16 @@ void dcode_2130()
 	uint8_t axis = 0xff;
 	switch (strchr_pointer[1+4])
 	{
-    case 'X':
+	case 'X': axis = X_AXIS; break;
-        axis = X_AXIS;
+	case 'Y': axis = Y_AXIS; break;
-        break;
+	case 'Z': axis = Z_AXIS; break;
-    case 'Y':
+	case 'E': axis = E_AXIS; break;
-        axis = Y_AXIS;
-        break;
-    case 'Z':
-        axis = Z_AXIS;
-        break;
-    case 'E':
-        axis = E_AXIS;
-        break;
 	}
 	if (axis != 0xff)
 	{
 		char ch_axis = strchr_pointer[1+4];
-        if (strchr_pointer[1+5] == '0') {
+		if (strchr_pointer[1+5] == '0') { tmc2130_set_pwr(axis, 0); }
-            tmc2130_set_pwr(axis, 0);
+		else if (strchr_pointer[1+5] == '1') { tmc2130_set_pwr(axis, 1); }
-        }
-        else if (strchr_pointer[1+5] == '1') {
-            tmc2130_set_pwr(axis, 1);
-        }
 		else if (strchr_pointer[1+5] == '+')
 		{
 			if (strchr_pointer[1+6] == 0)

Firmware/Marlin.h

@@ -262,9 +262,7 @@ void refresh_cmd_timeout(void);
 extern volatile unsigned long timer0_millis;
 // An unsynchronized equivalent to a standard Arduino millis() function.
 // To be used inside an interrupt routine.
-FORCE_INLINE unsigned long millis_nc() {
+FORCE_INLINE unsigned long millis_nc() { return timer0_millis; }
-    return timer0_millis;
-}
 
 #ifdef FAST_PWM_FAN
 void setPwmFrequency(uint8_t pin, int val);

Firmware/Marlin_main.cpp

@@ -407,26 +407,15 @@ uint16_t gcode_in_progress = 0;
 uint16_t mcode_in_progress = 0;
 
 void serial_echopair_P(const char *s_P, float v)
-{
+    { serialprintPGM(s_P); SERIAL_ECHO(v); }
-    serialprintPGM(s_P);
-    SERIAL_ECHO(v);
-}
 void serial_echopair_P(const char *s_P, double v)
-{
+    { serialprintPGM(s_P); SERIAL_ECHO(v); }
-    serialprintPGM(s_P);
-    SERIAL_ECHO(v);
-}
 void serial_echopair_P(const char *s_P, unsigned long v)
-{
+    { serialprintPGM(s_P); SERIAL_ECHO(v); }
-    serialprintPGM(s_P);
-    SERIAL_ECHO(v);
-}
 
 #ifdef SDSUPPORT
   #include "SdFatUtil.h"
-int freeMemory() {
+  int freeMemory() { return SdFatUtil::FreeRam(); }
-    return SdFatUtil::FreeRam();
-}
 #else
   extern "C" {
     extern unsigned int __bss_end;
@@ -829,18 +818,10 @@ void factory_reset()
 			factory_reset(level);
 
 			switch (level) {
-            case 0:
+			case 0: _delay_ms(0); break;
-                _delay_ms(0);
+			case 1: _delay_ms(0); break;
-                break;
+			case 2: _delay_ms(0); break;
-            case 1:
+			case 3: _delay_ms(0); break;
-                _delay_ms(0);
-                break;
-            case 2:
-                _delay_ms(0);
-                break;
-            case 3:
-                _delay_ms(0);
-                break;
 			}
 
 		}
@@ -851,12 +832,8 @@ void factory_reset()
 void show_fw_version_warnings() {
 	if (FW_DEV_VERSION == FW_VERSION_GOLD || FW_DEV_VERSION == FW_VERSION_RC) return;
 	switch (FW_DEV_VERSION) {
-    case(FW_VERSION_ALPHA):
+	case(FW_VERSION_ALPHA):   lcd_show_fullscreen_message_and_wait_P(_i("You are using firmware alpha version. This is development version. Using this version is not recommended and may cause printer damage."));   break;////MSG_FW_VERSION_ALPHA c=20 r=8
-        lcd_show_fullscreen_message_and_wait_P(_i("You are using firmware alpha version. This is development version. Using this version is not recommended and may cause printer damage."));
+	case(FW_VERSION_BETA):    lcd_show_fullscreen_message_and_wait_P(_i("You are using firmware beta version. This is development version. Using this version is not recommended and may cause printer damage."));    break;////MSG_FW_VERSION_BETA c=20 r=8
-        break;////MSG_FW_VERSION_ALPHA c=20 r=8
-    case(FW_VERSION_BETA):
-        lcd_show_fullscreen_message_and_wait_P(_i("You are using firmware beta version. This is development version. Using this version is not recommended and may cause printer damage."));
-        break;////MSG_FW_VERSION_BETA c=20 r=8
   case(FW_VERSION_DEVEL):
 	case(FW_VERSION_DEBUG):
     lcd_update_enable(false);
@@ -867,8 +844,7 @@ void show_fw_version_warnings() {
     lcd_puts_at_P(0, 0, PSTR("Debbugging build !!!"));
   #endif
     lcd_puts_at_P(0, 1, PSTR("May destroy printer!"));
-        lcd_puts_at_P(0, 2, PSTR("ver "));
+    lcd_puts_at_P(0, 2, PSTR("ver ")); lcd_puts_P(PSTR(FW_VERSION_FULL));
-        lcd_puts_P(PSTR(FW_VERSION_FULL));
     lcd_puts_at_P(0, 3, PSTR(FW_REPOSITORY));
     lcd_wait_for_click();
     break;
@@ -1505,8 +1481,7 @@ void setup()
 		eeprom_write_word((uint16_t*)EEPROM_PRINTER_TYPE, PRINTER_TYPE);
 		eeprom_write_word((uint16_t*)EEPROM_BOARD_TYPE, MOTHERBOARD); 
 		break;
-    default:
+	default: break; //no change, show no message
-        break; //no change, show no message
   }
 
   if (!previous_settings_retrieved) {
@@ -1843,15 +1818,9 @@ void loop()
 //		crashdet_stop_and_save_print();
 		switch (crash)
 		{
-        case 1:
+		case 1: enquecommand_P((PSTR("CRASH_DETECTEDX"))); break;
-            enquecommand_P((PSTR("CRASH_DETECTEDX")));
+		case 2: enquecommand_P((PSTR("CRASH_DETECTEDY"))); break;
-            break;
+		case 3: enquecommand_P((PSTR("CRASH_DETECTEDXY"))); break;
-        case 2:
-            enquecommand_P((PSTR("CRASH_DETECTEDY")));
-            break;
-        case 3:
-            enquecommand_P((PSTR("CRASH_DETECTEDXY")));
-            break;
 		}
 	}
 #endif //TMC2130
@@ -1887,12 +1856,8 @@ static void axis_is_at_home(int axis) {
 }
 
 
-inline void set_current_to_destination() {
+inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); }
-    memcpy(current_position, destination, sizeof(current_position));
+inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); }
-}
-inline void set_destination_to_current() {
-    memcpy(destination, current_position, sizeof(destination));
-}
 
 //! @return original feedmultiply
 static int setup_for_endstop_move(bool enable_endstops_now = true) {
@@ -2078,8 +2043,7 @@ inline void gcode_M900() {
     SERIAL_ECHOLN(extruder_advance_k);
     SERIAL_ECHOPGM(" E/D=");
     const float ratio = advance_ed_ratio;
-    if (ratio) SERIAL_ECHOLN(ratio);
+    if (ratio) SERIAL_ECHOLN(ratio); else SERIAL_ECHOLNPGM("Auto");
-    else SERIAL_ECHOLNPGM("Auto");
     }
 #endif // LIN_ADVANCE
 
@@ -2448,10 +2412,8 @@ void gcode_G28(bool home_x_axis, long home_x_value, bool home_y_axis, long home_
 	st_synchronize();
 
 #if 0
-    SERIAL_ECHOPGM("G28, initial ");
+	SERIAL_ECHOPGM("G28, initial ");  print_world_coordinates();
-    print_world_coordinates();
+	SERIAL_ECHOPGM("G28, initial ");  print_physical_coordinates();
-    SERIAL_ECHOPGM("G28, initial ");
-    print_physical_coordinates();
 #endif
 
 	// Flag for the display update routine and to disable the print cancelation during homing.
@@ -2518,14 +2480,12 @@ void gcode_G28(bool home_x_axis, long home_x_value, bool home_y_axis, long home_
       // In the quick mode, if both x and y are to be homed, a diagonal move will be performed initially.
       if(home_x && home_y)  //first diagonal move
       {
-        current_position[X_AXIS] = 0;
+        current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
-        current_position[Y_AXIS] = 0;
 
         int x_axis_home_dir = home_dir(X_AXIS);
 
         plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-        destination[X_AXIS] = 1.5 * max_length(X_AXIS) * x_axis_home_dir;
+        destination[X_AXIS] = 1.5 * max_length(X_AXIS) * x_axis_home_dir;destination[Y_AXIS] = 1.5 * max_length(Y_AXIS) * home_dir(Y_AXIS);
-        destination[Y_AXIS] = 1.5 * max_length(Y_AXIS) * home_dir(Y_AXIS);
         feedrate = homing_feedrate[X_AXIS];
         if(homing_feedrate[Y_AXIS]<feedrate)
           feedrate = homing_feedrate[Y_AXIS];
@@ -2608,20 +2568,15 @@ void gcode_G28(bool home_x_axis, long home_x_value, bool home_y_axis, long home_
               enable_endstops(false);
 #ifdef DEBUG_BUILD
               SERIAL_ECHOLNPGM("plan_set_position()");
-        MYSERIAL.println(current_position[X_AXIS]);
+              MYSERIAL.println(current_position[X_AXIS]);MYSERIAL.println(current_position[Y_AXIS]);
-        MYSERIAL.println(current_position[Y_AXIS]);
+              MYSERIAL.println(current_position[Z_AXIS]);MYSERIAL.println(current_position[E_AXIS]);
-        MYSERIAL.println(current_position[Z_AXIS]);
-        MYSERIAL.println(current_position[E_AXIS]);
 #endif
               plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
 #ifdef DEBUG_BUILD
               SERIAL_ECHOLNPGM("plan_buffer_line()");
-        MYSERIAL.println(destination[X_AXIS]);
+              MYSERIAL.println(destination[X_AXIS]);MYSERIAL.println(destination[Y_AXIS]);
-        MYSERIAL.println(destination[Y_AXIS]);
+              MYSERIAL.println(destination[Z_AXIS]);MYSERIAL.println(destination[E_AXIS]);
-        MYSERIAL.println(destination[Z_AXIS]);
+              MYSERIAL.println(feedrate);MYSERIAL.println(active_extruder);
-        MYSERIAL.println(destination[E_AXIS]);
-        MYSERIAL.println(feedrate);
-        MYSERIAL.println(active_extruder);
 #endif
               plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
               st_synchronize();
@@ -2728,18 +2683,13 @@ void gcode_G28(bool home_x_axis, long home_x_value, bool home_y_axis, long home_
 	  }
 #endif
 
-    if (farm_mode) {
+	  if (farm_mode) { prusa_statistics(20); };
-        prusa_statistics(20);
-    };
 
 	  homing_flag = false;
 #if 0
-    SERIAL_ECHOPGM("G28, final ");
+      SERIAL_ECHOPGM("G28, final ");  print_world_coordinates();
-    print_world_coordinates();
+      SERIAL_ECHOPGM("G28, final ");  print_physical_coordinates();
-    SERIAL_ECHOPGM("G28, final ");
+      SERIAL_ECHOPGM("G28, final ");  print_mesh_bed_leveling_table();
-    print_physical_coordinates();
-    SERIAL_ECHOPGM("G28, final ");
-    print_mesh_bed_leveling_table();
 #endif
 }
 
@@ -2975,7 +2925,6 @@ static void gcode_M600(bool automatic, float x_position, float y_position, float
 {
     st_synchronize();
     float lastpos[4];
-    mmuFSensorLoading = false;
 
     if (farm_mode)
     {
@@ -4150,8 +4099,7 @@ void process_commands()
 
 			printf_P(_N("\nZERO: %.3f\n"), current_position[Z_AXIS]);
 
-                int i = -1;
+			int i = -1; for (; i < 5; i++)
-                for (; i < 5; i++)
 			{
 				float temp = (40 + i * 5);
 				printf_P(_N("\nStep: %d/6 (skipped)\nPINDA temperature: %d Z shift (mm):0\n"), i + 2, (40 + i*5));
@@ -4323,27 +4271,14 @@ void process_commands()
 
 		if (code_seen('X')) dimension_x = code_value();
 		if (code_seen('Y')) dimension_y = code_value();
-            if (code_seen("XP")) {
+		if (code_seen("XP")) { strchr_pointer+=1; points_x = code_value(); }
-                strchr_pointer+=1;
+		if (code_seen("YP")) { strchr_pointer+=1; points_y = code_value(); }
-                points_x = code_value();
+		if (code_seen("XO")) { strchr_pointer+=1; offset_x = code_value(); }
-            }
+		if (code_seen("YO")) { strchr_pointer+=1; offset_y = code_value(); }
-            if (code_seen("YP")) {
-                strchr_pointer+=1;
-                points_y = code_value();
-            }
-            if (code_seen("XO")) {
-                strchr_pointer+=1;
-                offset_x = code_value();
-            }
-            if (code_seen("YO")) {
-                strchr_pointer+=1;
-                offset_y = code_value();
-            }
 		
 		bed_analysis(dimension_x,dimension_y,points_x,points_y,offset_x,offset_y);
 		
-        }
+	} break;
-        break;
 	
 #endif
 
@@ -4357,8 +4292,7 @@ void process_commands()
 			}
 			printf_P(_N("%d: %d\n"), i, fan_speed[1]);
 		}
-        }
+	}break;
-        break;
 
 	/**
 	* G80: Mesh-based Z probe, probes a grid and produces a
@@ -5025,8 +4959,7 @@ case_G80:
         if(!call_procedure)
           starttime=millis(); //procedure calls count as normal print time.
       }
-            }
+    } break;
-            break;
     case 928: //M928 - Start SD write
       starpos = (strchr(strchr_pointer + 5,'*'));
       if(starpos != NULL){
@@ -5549,8 +5482,7 @@ Sigma_Exit:
             SERIAL_PROTOCOL(cur_extruder);
             SERIAL_PROTOCOLPGM("->");
             SERIAL_PROTOCOL_F(raw, 5);
-                    }
+          }}
-                }
         #endif
 		SERIAL_PROTOCOLLN("");
 		KEEPALIVE_STATE(NOT_BUSY);
@@ -5565,9 +5497,7 @@ Sigma_Exit:
       }
       LCD_MESSAGERPGM(_T(MSG_HEATING));
 	  heating_status = 1;
-                if (farm_mode) {
+	  if (farm_mode) { prusa_statistics(1); };
-                    prusa_statistics(1);
-                };
 
 #ifdef AUTOTEMP
         autotemp_enabled=false;
@@ -5604,9 +5534,7 @@ Sigma_Exit:
         LCD_MESSAGERPGM(_T(MSG_HEATING_COMPLETE));
 		KEEPALIVE_STATE(IN_HANDLER);
 		heating_status = 2;
-                if (farm_mode) {
+		if (farm_mode) { prusa_statistics(2); };
-                    prusa_statistics(2);
-                };
         
         //starttime=millis();
         previous_millis_cmd = millis();
@@ -5616,9 +5544,7 @@ Sigma_Exit:
     #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
         LCD_MESSAGERPGM(_T(MSG_BED_HEATING));
 		heating_status = 3;
-                if (farm_mode) {
+		if (farm_mode) { prusa_statistics(1); };
-                    prusa_statistics(1);
-                };
         if (code_seen('S')) 
 		{
           setTargetBed(code_value());
@@ -6075,8 +6001,7 @@ Sigma_Exit:
       {
         cs.retract_zlift = code_value() ;
       }
-            }
+    }break;
-            break;
     case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
     {
       if(code_seen('S'))
@@ -6087,8 +6012,7 @@ Sigma_Exit:
       {
         cs.retract_recover_feedrate = code_value()/60 ;
       }
-            }
+    }break;
-            break;
     case 209: // 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.
     {
       if(code_seen('S'))
@@ -6106,8 +6030,7 @@ Sigma_Exit:
             #if EXTRUDERS > 2
               retracted[2]=false;
             #endif
-                    }
+          }break;
-                    break;
           case 1: 
           {
             cs.autoretract_enabled=true;
@@ -6118,8 +6041,7 @@ Sigma_Exit:
             #if EXTRUDERS > 2
               retracted[2]=false;
             #endif
-                    }
+          }break;
-                    break;
           default:
             SERIAL_ECHO_START;
             SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
@@ -6128,8 +6050,7 @@ Sigma_Exit:
         }
       }
 
-            }
+    }break;
-            break;
     #endif // FWRETRACT
     #if EXTRUDERS > 1
     case 218: // M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
@@ -6156,8 +6077,7 @@ Sigma_Exit:
          SERIAL_ECHO(extruder_offset[Y_AXIS][extruder]);
       }
       SERIAL_ECHOLN("");
-            }
+    }break;
-            break;
     #endif
     case 220: // M220 S<factor in percent>- set speed factor override percentage
     {
@@ -6994,44 +6914,6 @@ Sigma_Exit:
           {
 #ifdef SNMM
 
-        if ((*(strchr_pointer + index) < '0' || *(strchr_pointer + index) > '4') && *(strchr_pointer + index) != '?') {
-            SERIAL_ECHOLNPGM("Invalid T code.");
-        }
-        else {
-            if (*(strchr_pointer + index) == '?')
-            {
-                if(mmu_enabled)
-                {
-                    tmp_extruder = choose_menu_P(_T(MSG_CHOOSE_FILAMENT), _T(MSG_FILAMENT));
-                } else
-                {
-                    tmp_extruder = choose_menu_P(_T(MSG_CHOOSE_EXTRUDER), _T(MSG_EXTRUDER));
-                }
-            }
-            else {
-                tmp_extruder = code_value();
-            }
-            snmm_filaments_used |= (1 << tmp_extruder); //for stop print
-
-            if (mmu_enabled)
-            {
-                mmu_command(MMU_CMD_T0 + tmp_extruder);
-
-                manage_response(true, true);
-                delay(150);
-                mmu_command(MMU_CMD_C0);
-                mmu_extruder = tmp_extruder; //filament change is finished
-
-                if (*(strchr_pointer + index) == '?')// for single material usage with mmu
-                {
-                    delay(100);
-                    mmu_load_to_nozzle();
-                }
-            }
-            else
-            {
-#ifdef SNMM
-
 #ifdef LIN_ADVANCE
               if (mmu_extruder != tmp_extruder)
                   clear_current_adv_vars(); //Check if the selected extruder is not the active one and reset LIN_ADVANCE variables if so.
@@ -7133,63 +7015,49 @@ Sigma_Exit:
     {
 #ifdef DEBUG_DCODES
 	case -1: //! D-1 - Endless loop
-            dcode__1();
+		dcode__1(); break;
-            break;
 	case 0: //! D0 - Reset
-            dcode_0();
+		dcode_0(); break;
-            break;
 	case 1: //! D1 - Clear EEPROM
-            dcode_1();
+		dcode_1(); break;
-            break;
 	case 2: //! D2 - Read/Write RAM
-            dcode_2();
+		dcode_2(); break;
-            break;
 #endif //DEBUG_DCODES
 #ifdef DEBUG_DCODE3
 	case 3: //! D3 - Read/Write EEPROM
-            dcode_3();
+		dcode_3(); break;
-            break;
 #endif //DEBUG_DCODE3
 #ifdef DEBUG_DCODES
 	case 4: //! D4 - Read/Write PIN
-            dcode_4();
+		dcode_4(); break;
-            break;
 #endif //DEBUG_DCODES
 #ifdef DEBUG_DCODE5
 	case 5: // D5 - Read/Write FLASH
-            dcode_5();
+		dcode_5(); break;
-            break;
 		break;
 #endif //DEBUG_DCODE5
 #ifdef DEBUG_DCODES
 	case 6: // D6 - Read/Write external FLASH
-            dcode_6();
+		dcode_6(); break;
-            break;
 	case 7: //! D7 - Read/Write Bootloader
-            dcode_7();
+		dcode_7(); break;
-            break;
 	case 8: //! D8 - Read/Write PINDA
-            dcode_8();
+		dcode_8(); break;
-            break;
 	case 9: //! D9 - Read/Write ADC
-            dcode_9();
+		dcode_9(); break;
-            break;
 
 	case 10: //! D10 - XYZ calibration = OK
-            dcode_10();
+		dcode_10(); break;
-            break;
     
 
 #ifdef TMC2130
 	case 2130: //! D2130 - TMC2130
-            dcode_2130();
+		dcode_2130(); break;
-            break;
 #endif //TMC2130
 
 #ifdef FILAMENT_SENSOR
 	case 9125: //! D9125 - FILAMENT_SENSOR
-            dcode_9125();
+		dcode_9125(); break;
-            break;
 #endif //FILAMENT_SENSOR
 
 #endif //DEBUG_DCODES
@@ -7601,6 +7469,7 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument s
         disable_e2();
       }
     }
+  }
   
   #ifdef CHDK //Check if pin should be set to LOW after M240 set it to HIGH
     if (chdkActive && (millis() - chdkHigh > CHDK_DELAY))
@@ -7718,9 +7587,7 @@ void Stop()
   }
 }
 
-bool IsStopped() {
+bool IsStopped() { return Stopped; };
-    return Stopped;
-};
 
 #ifdef FAST_PWM_FAN
 void setPwmFrequency(uint8_t pin, int val)
@@ -7928,7 +7795,7 @@ static void wait_for_heater(long codenum, uint8_t extruder) {
 				codenum = millis();
 		}
 			manage_heater();
-        manage_inactivity();
+			manage_inactivity(true); //do not disable steppers
 			lcd_update(0);
 #ifdef TEMP_RESIDENCY_TIME
 			/* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
@@ -8136,37 +8003,9 @@ void bed_analysis(float x_dimension, float y_dimension, int x_points_num, int y_
 		
 		output = atof(mergeOutput);
 
-#ifdef TEMP_RESIDENCY_TIME
+		if (digit[4] == 8) //Handle sign
-				SERIAL_PROTOCOLPGM(" W:");
-				if (residencyStart > -1)
 		{
-					codenum = ((TEMP_RESIDENCY_TIME * 1000UL) - (millis() - residencyStart)) / 1000UL;
+			output *= -1;
-					SERIAL_PROTOCOLLN(codenum);
-				}
-				else
-				{
-					SERIAL_PROTOCOLLN("?");
-				}
-			}
-#else
-				SERIAL_PROTOCOLLN("");
-#endif
-				codenum = millis();
-		}
-			manage_heater();
-			manage_inactivity(true); //do not disable steppers
-			lcd_update(0);
-#ifdef TEMP_RESIDENCY_TIME
-			/* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
-			or when current temp falls outside the hysteresis after target temp was reached */
-			if ((residencyStart == -1 && target_direction && (degHotend(extruder) >= (degTargetHotend(extruder) - TEMP_WINDOW))) ||
-				(residencyStart == -1 && !target_direction && (degHotend(extruder) <= (degTargetHotend(extruder) + TEMP_WINDOW))) ||
-				(residencyStart > -1 && labs(degHotend(extruder) - degTargetHotend(extruder)) > TEMP_HYSTERESIS))
-			{
-				residencyStart = millis();
-			}
-#endif //TEMP_RESIDENCY_TIME
-	}
 		}
 
 		for (int i = digit[11]; i > 0; i--) //Handle floating point
@@ -8727,12 +8566,9 @@ void recover_machine_state_after_power_panic(bool bTiny)
 
   // 6) Power up the motors, mark their positions as known.
   //FIXME Verfiy, whether the X and Y axes should be powered up here, as they will later be re-homed anyway.
-    axis_known_position[X_AXIS] = true;
+  axis_known_position[X_AXIS] = true; enable_x();
-    enable_x();
+  axis_known_position[Y_AXIS] = true; enable_y();
-    axis_known_position[Y_AXIS] = true;
+  axis_known_position[Z_AXIS] = true; enable_z();
-    enable_y();
-    axis_known_position[Z_AXIS] = true;
-    enable_z();
 
   SERIAL_ECHOPGM("recover_machine_state_after_power_panic, initial ");
   print_physical_coordinates();
@@ -8794,15 +8630,12 @@ void restore_print_from_eeprom() {
   // E axis relative mode.
 	enquecommand_P(PSTR("M83"));
   // Move to the XY print position in logical coordinates, where the print has been killed.
-    strcpy_P(cmd, PSTR("G1 X"));
+	strcpy_P(cmd, PSTR("G1 X")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0))));
-    strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 0))));
+	strcat_P(cmd, PSTR(" Y"));   strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4))));
-    strcat_P(cmd, PSTR(" Y"));
-    strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION + 4))));
 	strcat_P(cmd, PSTR(" F2000"));
 	enquecommand(cmd);
   // Move the Z axis down to the print, in logical coordinates.
-    strcpy_P(cmd, PSTR("G1 Z"));
+	strcpy_P(cmd, PSTR("G1 Z")); strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z))));
-    strcat(cmd, ftostr32(eeprom_read_float((float*)(EEPROM_UVLO_CURRENT_POSITION_Z))));
 	enquecommand(cmd);
   // Unretract.
 	enquecommand_P(PSTR("G1 E"  STRINGIFY(2*default_retraction)" F480"));
@@ -8872,18 +8705,12 @@ void stop_and_save_print_to_ram(float z_move, float e_move)
 	}
 
 #if 0
-    SERIAL_ECHOPGM("SDPOS_ATOMIC=");
+  SERIAL_ECHOPGM("SDPOS_ATOMIC="); MYSERIAL.println(sdpos_atomic, DEC);
-    MYSERIAL.println(sdpos_atomic, DEC);
+  SERIAL_ECHOPGM("SDPOS="); MYSERIAL.println(card.get_sdpos(), DEC);
-    SERIAL_ECHOPGM("SDPOS=");
+  SERIAL_ECHOPGM("SDLEN_PLAN="); MYSERIAL.println(sdlen_planner, DEC);
-    MYSERIAL.println(card.get_sdpos(), DEC);
+  SERIAL_ECHOPGM("SDLEN_CMDQ="); MYSERIAL.println(sdlen_cmdqueue, DEC);
-    SERIAL_ECHOPGM("SDLEN_PLAN=");
+  SERIAL_ECHOPGM("PLANNERBLOCKS="); MYSERIAL.println(int(nplanner_blocks), DEC);
-    MYSERIAL.println(sdlen_planner, DEC);
+  SERIAL_ECHOPGM("SDSAVED="); MYSERIAL.println(saved_sdpos, DEC);
-    SERIAL_ECHOPGM("SDLEN_CMDQ=");
-    MYSERIAL.println(sdlen_cmdqueue, DEC);
-    SERIAL_ECHOPGM("PLANNERBLOCKS=");
-    MYSERIAL.println(int(nplanner_blocks), DEC);
-    SERIAL_ECHOPGM("SDSAVED=");
-    MYSERIAL.println(saved_sdpos, DEC);
   //SERIAL_ECHOPGM("SDFILELEN="); MYSERIAL.println(card.fileSize(), DEC);
 
 

Firmware/Sd2Card.h

@@ -170,19 +170,13 @@ public:
    *  Set SD error code.
    *  \param[in] code value for error code.
    */
-    void error(uint8_t code) {
+  void error(uint8_t code) {errorCode_ = code;}
-        errorCode_ = code;
-    }
   /**
    * \return error code for last error. See Sd2Card.h for a list of error codes.
    */
-    int errorCode() const {
+  int errorCode() const {return errorCode_;}
-        return errorCode_;
-    }
   /** \return error data for last error. */
-    int errorData() const {
+  int errorData() const {return status_;}
-        return status_;
-    }
   /**
    * Initialize an SD flash memory card with default clock rate and chip
    * select pin.  See sd2Card::init(uint8_t sckRateID, uint8_t chipSelectPin).
@@ -222,9 +216,7 @@ public:
   /** Return the card type: SD V1, SD V2 or SDHC
    * \return 0 - SD V1, 1 - SD V2, or 3 - SDHC.
    */
-    int type() const {
+  int type() const {return type_;}
-        return type_;
-    }
   bool writeBlock(uint32_t blockNumber, const uint8_t* src);
   bool writeData(const uint8_t* src);
   bool writeStart(uint32_t blockNumber, uint32_t eraseCount);
@@ -233,12 +225,8 @@ public:
   // Toshiba FlashAir support
   uint8_t readExtMemory(uint8_t mio, uint8_t func, uint32_t addr, uint16_t count, uint8_t* dst);
 
-    void setFlashAirCompatible(bool flashAirCompatible) {
+  void setFlashAirCompatible(bool flashAirCompatible) { flash_air_compatible_ = flashAirCompatible; }
-        flash_air_compatible_ = flashAirCompatible;
+  bool getFlashAirCompatible() const { return flash_air_compatible_; }
-    }
-    bool getFlashAirCompatible() const {
-        return flash_air_compatible_;
-    }
 
  private:
   //----------------------------------------------------------------------------
@@ -259,9 +247,7 @@ private:
   bool readRegister(uint8_t cmd, void* buf);
   void chipSelectHigh();
   void chipSelectLow();
-    void type(uint8_t value) {
+  void type(uint8_t value) {type_ = value;}
-        type_ = value;
-    }
   bool waitNotBusy(uint16_t timeoutMillis);
   bool writeData(uint8_t token, const uint8_t* src);
 

Firmware/SdBaseFile.h

@@ -184,9 +184,7 @@ public:
   /** Create an instance. */
   SdBaseFile() : writeError(false), type_(FAT_FILE_TYPE_CLOSED) {}
   SdBaseFile(const char* path, uint8_t oflag);
-    ~SdBaseFile() {
+  ~SdBaseFile() {if(isOpen()) close();}
-        if(isOpen()) close();
-    }
   /**
    * writeError is set to true if an error occurs during a write().
    * Set writeError to false before calling print() and/or write() and check
@@ -209,17 +207,11 @@ public:
   bool createContiguous(SdBaseFile* dirFile,
           const char* path, uint32_t size);
   /** \return The current cluster number for a file or directory. */
-    uint32_t curCluster() const {
+  uint32_t curCluster() const {return curCluster_;}
-        return curCluster_;
-    }
   /** \return The current position for a file or directory. */
-    uint32_t curPosition() const {
+  uint32_t curPosition() const {return curPosition_;}
-        return curPosition_;
-    }
   /** \return Current working directory */
-    static SdBaseFile* cwd() {
+  static SdBaseFile* cwd() {return cwd_;}
-        return cwd_;
-    }
   /** Set the date/time callback function
    *
    * \param[in] dateTime The user's call back function.  The callback
@@ -252,38 +244,24 @@ public:
     dateTime_ = dateTime;
   }
   /**  Cancel the date/time callback function. */
-    static void dateTimeCallbackCancel() {
+  static void dateTimeCallbackCancel() {dateTime_ = 0;}
-        dateTime_ = 0;
-    }
   bool dirEntry(dir_t* dir);
   static void dirName(const dir_t& dir, char* name);
   bool exists(const char* name);
   int16_t fgets(char* str, int16_t num, char* delim = 0);
   /** \return The total number of bytes in a file or directory. */
-    uint32_t fileSize() const {
+  uint32_t fileSize() const {return fileSize_;}
-        return fileSize_;
-    }
   /** \return The first cluster number for a file or directory. */
-    uint32_t firstCluster() const {
+  uint32_t firstCluster() const {return firstCluster_;}
-        return firstCluster_;
-    }
   bool getFilename(char* name);
   /** \return True if this is a directory else false. */
-    bool isDir() const {
+  bool isDir() const {return type_ >= FAT_FILE_TYPE_MIN_DIR;}
-        return type_ >= FAT_FILE_TYPE_MIN_DIR;
-    }
   /** \return True if this is a normal file else false. */
-    bool isFile() const {
+  bool isFile() const {return type_ == FAT_FILE_TYPE_NORMAL;}
-        return type_ == FAT_FILE_TYPE_NORMAL;
-    }
   /** \return True if this is an open file/directory else false. */
-    bool isOpen() const {
+  bool isOpen() const {return type_ != FAT_FILE_TYPE_CLOSED;}
-        return type_ != FAT_FILE_TYPE_CLOSED;
-    }
   /** \return True if this is a subdirectory else false. */
-    bool isSubDir() const {
+  bool isSubDir() const {return type_ == FAT_FILE_TYPE_SUBDIR;}
-        return type_ == FAT_FILE_TYPE_SUBDIR;
-    }
   /** \return True if this is the root directory. */
   bool isRoot() const {
     return type_ == FAT_FILE_TYPE_ROOT_FIXED || type_ == FAT_FILE_TYPE_ROOT32;
@@ -309,15 +287,11 @@ public:
   static bool remove(SdBaseFile* dirFile, const char* path);
   bool remove();
   /** Set the file's current position to zero. */
-    void rewind() {
+  void rewind() {seekSet(0);}
-        seekSet(0);
-    }
   bool rename(SdBaseFile* dirFile, const char* newPath);
   bool rmdir();
   // for backward compatibility
-    bool rmDir() {
+  bool rmDir() {return rmdir();}
-        return rmdir();
-    }
   bool rmRfStar();
   /** Set the files position to current position + \a pos. See seekSet().
    * \param[in] offset The new position in bytes from the current position.
@@ -330,9 +304,7 @@ public:
    * \param[in] offset The new position in bytes from end-of-file.
    * \return true for success or false for failure.
    */
-    bool seekEnd(int32_t offset = 0) {
+  bool seekEnd(int32_t offset = 0) {return seekSet(fileSize_ + offset);}
-        return seekSet(fileSize_ + offset);
-    }
   bool seekSet(uint32_t pos);
   bool sync();
   bool timestamp(SdBaseFile* file);
@@ -343,14 +315,10 @@ public:
    *
    * \return The file or directory type.
    */
-    uint8_t type() const {
+  uint8_t type() const {return type_;}
-        return type_;
-    }
   bool truncate(uint32_t size);
   /** \return SdVolume that contains this file. */
-    SdVolume* volume() const {
+  SdVolume* volume() const {return vol_;}
-        return vol_;
-    }
   int16_t write(const void* buf, uint16_t nbyte);
 //------------------------------------------------------------------------------
  private:
@@ -433,9 +401,7 @@ public:
    * \param[out] dir Location for return of the file's directory entry.
    * \return true for success or false for failure.
    */
-    bool dirEntry(dir_t& dir) {
+  bool dirEntry(dir_t& dir) {return dirEntry(&dir);}  // NOLINT
-        return dirEntry(&dir);   // NOLINT
-    }
   /** \deprecated Use:
    * bool mkdir(SdBaseFile* dir, const char* path);
    * \param[in] dir An open SdFat instance for the directory that will contain
@@ -484,16 +450,12 @@ public:
    * \param[in] vol The FAT volume containing the root directory to be opened.
    * \return true for success or false for failure.
    */
-    bool openRoot(SdVolume& vol) {
+  bool openRoot(SdVolume& vol) {return openRoot(&vol);}  // NOLINT
-        return openRoot(&vol);   // NOLINT
-    }
   /** \deprecated Use: int8_t readDir(dir_t* dir);
    * \param[out] dir The dir_t struct that will receive the data.
    * \return bytes read for success zero for eof or -1 for failure.
    */
-    int8_t readDir(dir_t& dir, char* longFilename) {
+  int8_t readDir(dir_t& dir, char* longFilename) {return readDir(&dir, longFilename);}  // NOLINT
-        return readDir(&dir, longFilename);   // NOLINT
-    }
   /** \deprecated Use:
    * static uint8_t remove(SdBaseFile* dirFile, const char* path);
    * \param[in] dirFile The directory that contains the file.

Firmware/SdFile.h

@@ -33,7 +33,7 @@
  * \class SdFile
  * \brief SdBaseFile with Print.
  */
-class SdFile : public SdBaseFile { /*, public Print*/
+class SdFile : public SdBaseFile/*, public Print*/ {
  public:
   SdFile() {}
   SdFile(const char* name, uint8_t oflag);

Firmware/SdVolume.h

@@ -80,69 +80,43 @@ public:
    * failure include not finding a valid partition, not finding a valid
    * FAT file system or an I/O error.
    */
-    bool init(Sd2Card* dev) {
+  bool init(Sd2Card* dev) { return init(dev, 1) ? true : init(dev, 0);}
-        return init(dev, 1) ? true : init(dev, 0);
-    }
   bool init(Sd2Card* dev, uint8_t part);
 
   // inline functions that return volume info
   /** \return The volume's cluster size in blocks. */
-    uint8_t blocksPerCluster() const {
+  uint8_t blocksPerCluster() const {return blocksPerCluster_;}
-        return blocksPerCluster_;
-    }
   /** \return The number of blocks in one FAT. */
-    uint32_t blocksPerFat()  const {
+  uint32_t blocksPerFat()  const {return blocksPerFat_;}
-        return blocksPerFat_;
-    }
   /** \return The total number of clusters in the volume. */
-    uint32_t clusterCount() const {
+  uint32_t clusterCount() const {return clusterCount_;}
-        return clusterCount_;
-    }
   /** \return The shift count required to multiply by blocksPerCluster. */
-    uint8_t clusterSizeShift() const {
+  uint8_t clusterSizeShift() const {return clusterSizeShift_;}
-        return clusterSizeShift_;
-    }
   /** \return The logical block number for the start of file data. */
-    uint32_t dataStartBlock() const {
+  uint32_t dataStartBlock() const {return dataStartBlock_;}
-        return dataStartBlock_;
-    }
   /** \return The number of FAT structures on the volume. */
-    uint8_t fatCount() const {
+  uint8_t fatCount() const {return fatCount_;}
-        return fatCount_;
-    }
   /** \return The logical block number for the start of the first FAT. */
-    uint32_t fatStartBlock() const {
+  uint32_t fatStartBlock() const {return fatStartBlock_;}
-        return fatStartBlock_;
-    }
   /** \return The FAT type of the volume. Values are 12, 16 or 32. */
-    uint8_t fatType() const {
+  uint8_t fatType() const {return fatType_;}
-        return fatType_;
-    }
   int32_t freeClusterCount();
   /** \return The number of entries in the root directory for FAT16 volumes. */
-    uint32_t rootDirEntryCount() const {
+  uint32_t rootDirEntryCount() const {return rootDirEntryCount_;}
-        return rootDirEntryCount_;
-    }
   /** \return The logical block number for the start of the root directory
        on FAT16 volumes or the first cluster number on FAT32 volumes. */
-    uint32_t rootDirStart() const {
+  uint32_t rootDirStart() const {return rootDirStart_;}
-        return rootDirStart_;
-    }
   /** Sd2Card object for this volume
    * \return pointer to Sd2Card object.
    */
-    Sd2Card* sdCard() {
+  Sd2Card* sdCard() {return sdCard_;}
-        return sdCard_;
-    }
   /** Debug access to FAT table
    *
    * \param[in] n cluster number.
    * \param[out] v value of entry
    * \return true for success or false for failure
    */
-    bool dbgFat(uint32_t n, uint32_t* v) {
+  bool dbgFat(uint32_t n, uint32_t* v) {return fatGet(n, v);}
-        return fatGet(n, v);
-    }
 //------------------------------------------------------------------------------
  private:
   // Allow SdBaseFile access to SdVolume private data.
@@ -180,20 +154,13 @@ private:
   //----------------------------------------------------------------------------
   bool allocContiguous(uint32_t count, uint32_t* curCluster);
   uint8_t blockOfCluster(uint32_t position) const {
-        return (position >> 9) & (blocksPerCluster_ - 1);
+          return (position >> 9) & (blocksPerCluster_ - 1);}
-    }
   uint32_t clusterStartBlock(uint32_t cluster) const {
-        return dataStartBlock_ + ((cluster - 2) << clusterSizeShift_);
+           return dataStartBlock_ + ((cluster - 2) << clusterSizeShift_);}
-    }
   uint32_t blockNumber(uint32_t cluster, uint32_t position) const {
-        return clusterStartBlock(cluster) + blockOfCluster(position);
+           return clusterStartBlock(cluster) + blockOfCluster(position);}
-    }
+  cache_t *cache() {return &cacheBuffer_;}
-    cache_t *cache() {
+  uint32_t cacheBlockNumber() {return cacheBlockNumber_;}
-        return &cacheBuffer_;
-    }
-    uint32_t cacheBlockNumber() {
-        return cacheBlockNumber_;
-    }
 #if USE_MULTIPLE_CARDS
   bool cacheFlush();
   bool cacheRawBlock(uint32_t blockNumber, bool dirty);
@@ -206,9 +173,7 @@ private:
     cacheDirty_ = dirty;
     cacheBlockNumber_  = blockNumber;
   }
-    void cacheSetDirty() {
+  void cacheSetDirty() {cacheDirty_ |= CACHE_FOR_WRITE;}
-        cacheDirty_ |= CACHE_FOR_WRITE;
-    }
   bool chainSize(uint32_t beginCluster, uint32_t* size);
   bool fatGet(uint32_t cluster, uint32_t* value);
   bool fatPut(uint32_t cluster, uint32_t value);
@@ -222,8 +187,7 @@ private:
     return  cluster >= FAT32EOC_MIN;
   }
   bool readBlock(uint32_t block, uint8_t* dst) {
-        return sdCard_->readBlock(block, dst);
+    return sdCard_->readBlock(block, dst);}
-    }
   bool writeBlock(uint32_t block, const uint8_t* dst) {
     return sdCard_->writeBlock(block, dst);
   }
@@ -235,9 +199,7 @@ public:
    * \param[in] dev The SD card where the volume is located.
    * \return true for success or false for failure.
    */
-    bool init(Sd2Card& dev) {
+  bool init(Sd2Card& dev) {return init(&dev);}  // NOLINT
-        return init(&dev);   // NOLINT
-    }
   /** \deprecated Use: bool SdVolume::init(Sd2Card* dev, uint8_t vol);
    * \param[in] dev The SD card where the volume is located.
    * \param[in] part The partition to be used.

Firmware/Servo.cpp

@@ -263,8 +263,7 @@ uint8_t Servo::attach(int pin, int min, int max)
 {
   if(this->servoIndex < MAX_SERVOS ) {
 #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
-        if (pin > 0) this->pin = pin;
+    if (pin > 0) this->pin = pin; else pin = this->pin;
-        else pin = this->pin;
 #endif
     pinMode( pin, OUTPUT) ;                                   // set servo pin to output
     servos[this->servoIndex].Pin.nbr = pin;

Firmware/Timer.h

@@ -19,17 +19,11 @@ class Timer
 public:
     Timer();
     void start();
-    void stop() {
+    void stop(){m_isRunning = false;}
-        m_isRunning = false;
+    bool running(){return m_isRunning;}
-    }
-    bool running() {
-        return m_isRunning;
-    }
     bool expired(T msPeriod);
 protected:
-    T started() {
+    T started(){return m_started;}
-        return m_started;
-    }
 private:
     bool m_isRunning;
     T m_started;

Firmware/adc.c

@@ -38,8 +38,7 @@ void adc_reset(void)
 {
 	adc_state = 0;
 	adc_count = 0;
-    uint8_t i;
+	uint8_t i; for (i = 0; i < ADC_CHAN_CNT; i++)
-    for (i = 0; i < ADC_CHAN_CNT; i++)
 	if ((adc_sim_mask & (1 << i)) == 0)
 		adc_values[i] = 0;
 }

Firmware/cardreader.cpp

@@ -276,17 +276,12 @@ uint16_t CardReader::getWorkDirDepth() {
 void CardReader::getAbsFilename(char *t)
 {
   uint8_t cnt=0;
-    *t='/';
+  *t='/';t++;cnt++;
-    t++;
-    cnt++;
   for(uint8_t i=0;i<workDirDepth;i++)
   {
     workDirParents[i].getFilename(t); //SDBaseFile.getfilename!
     while(*t!=0 && cnt< MAXPATHNAMELENGTH) 
-        {
+    {t++;cnt++;}  //crawl counter forward.
-            t++;    //crawl counter forward.
-            cnt++;
-        }
   }
   if(cnt<MAXPATHNAMELENGTH-13)
     file.getFilename(t);

Firmware/cardreader.h

@@ -52,52 +52,22 @@ public:
 	 #endif //SDSORT_QUICKSORT
      void getfilename_sorted(const uint16_t nr);
      #if SDSORT_GCODE
-    FORCE_INLINE void setSortOn(bool b) {
+	 FORCE_INLINE void setSortOn(bool b) { sort_alpha = b; presort(); }
-        sort_alpha = b;
+     FORCE_INLINE void setSortFolders(int i) { sort_folders = i; presort(); }
-        presort();
-    }
-    FORCE_INLINE void setSortFolders(int i) {
-        sort_folders = i;
-        presort();
-    }
      //FORCE_INLINE void setSortReverse(bool b) { sort_reverse = b; }
 	 #endif
   #endif
 
-    FORCE_INLINE bool isFileOpen() {
+  FORCE_INLINE bool isFileOpen() { return file.isOpen(); }
-        return file.isOpen();
+  FORCE_INLINE bool eof() { return sdpos>=filesize ;};
-    }
+  FORCE_INLINE int16_t get() {  sdpos = file.curPosition();return (int16_t)file.read();};
-    FORCE_INLINE bool eof() {
+  FORCE_INLINE void setIndex(long index) {sdpos = index;file.seekSet(index);};
-        return sdpos>=filesize ;
+  FORCE_INLINE uint8_t percentDone(){if(!isFileOpen()) return 0; if(filesize) return sdpos/((filesize+99)/100); else return 0;};
-    };
+  FORCE_INLINE char* getWorkDirName(){workDir.getFilename(filename);return filename;};
-    FORCE_INLINE int16_t get() {
+  FORCE_INLINE uint32_t get_sdpos() { if (!isFileOpen()) return 0; else return(sdpos); };
-        sdpos = file.curPosition();
-        return (int16_t)file.read();
-    };
-    FORCE_INLINE void setIndex(long index) {
-        sdpos = index;
-        file.seekSet(index);
-    };
-    FORCE_INLINE uint8_t percentDone() {
-        if(!isFileOpen()) return 0;
-        if(filesize) return sdpos/((filesize+99)/100);
-        else return 0;
-    };
-    FORCE_INLINE char* getWorkDirName() {
-        workDir.getFilename(filename);
-        return filename;
-    };
-    FORCE_INLINE uint32_t get_sdpos() {
-        if (!isFileOpen()) return 0;
-        else return(sdpos);
-    };
 
-    bool ToshibaFlashAir_isEnabled() const {
+  bool ToshibaFlashAir_isEnabled() const { return card.getFlashAirCompatible(); }
-        return card.getFlashAirCompatible();
+  void ToshibaFlashAir_enable(bool enable) { card.setFlashAirCompatible(enable); }
-    }
-    void ToshibaFlashAir_enable(bool enable) {
-        card.setFlashAirCompatible(enable);
-    }
   bool ToshibaFlashAir_GetIP(uint8_t *ip);
 
 public:

Firmware/cmdqueue.h

@@ -71,24 +71,12 @@ extern void get_command();
 extern uint16_t cmdqueue_calc_sd_length();
 
 // Return True if a character was found
-static inline bool    code_seen(char code) {
+static inline bool    code_seen(char code) { return (strchr_pointer = strchr(CMDBUFFER_CURRENT_STRING, code)) != NULL; }
-    return (strchr_pointer = strchr(CMDBUFFER_CURRENT_STRING, code)) != NULL;
+static inline bool    code_seen(const char *code) { return (strchr_pointer = strstr(CMDBUFFER_CURRENT_STRING, code)) != NULL; }
-}
+static inline float   code_value()      { return strtod(strchr_pointer+1, NULL);}
-static inline bool    code_seen(const char *code) {
+static inline long    code_value_long()    { return strtol(strchr_pointer+1, NULL, 10); }
-    return (strchr_pointer = strstr(CMDBUFFER_CURRENT_STRING, code)) != NULL;
+static inline int16_t code_value_short()   { return int16_t(strtol(strchr_pointer+1, NULL, 10)); };
-}
+static inline uint8_t code_value_uint8()   { return uint8_t(strtol(strchr_pointer+1, NULL, 10)); };
-static inline float   code_value()      {
-    return strtod(strchr_pointer+1, NULL);
-}
-static inline long    code_value_long()    {
-    return strtol(strchr_pointer+1, NULL, 10);
-}
-static inline int16_t code_value_short()   {
-    return int16_t(strtol(strchr_pointer+1, NULL, 10));
-};
-static inline uint8_t code_value_uint8()   {
-    return uint8_t(strtol(strchr_pointer+1, NULL, 10));
-};
 
 static inline float code_value_float()
 {

Firmware/configuration_prusa.h

@@ -183,7 +183,7 @@
 #define CMD_DIAGNOSTICS //Show cmd queue length on printer display
 #endif /* DEBUG_BUILD */
 
-#define FSENSOR_QUALITY
+//#define FSENSOR_QUALITY
 
 
 #define LINEARITY_CORRECTION
@@ -261,6 +261,8 @@
 
 #define TMC2130_STEALTH_Z
 
+//#define TMC2130_SERVICE_CODES_M910_M918
+
 //#define TMC2130_DEBUG
 //#define TMC2130_DEBUG_WR
 //#define TMC2130_DEBUG_RD
@@ -339,12 +341,13 @@
 #define FILAMENTCHANGE_FIRSTRETRACT -2
 #define FILAMENTCHANGE_FINALRETRACT -80
 
-#define FILAMENTCHANGE_FIRSTFEED 70
+#define FILAMENTCHANGE_FIRSTFEED 70 //E distance in mm for fast filament loading sequence used used in filament change (M600)
-#define FILAMENTCHANGE_FINALFEED 50
+#define FILAMENTCHANGE_FINALFEED 25 //E distance in mm for slow filament loading sequence used used in filament change (M600) and filament load (M701) 
 #define FILAMENTCHANGE_RECFEED 5
 
 #define FILAMENTCHANGE_XYFEED 50
-#define FILAMENTCHANGE_EFEED 20
+#define FILAMENTCHANGE_EFEED_FIRST 20 // feedrate in mm/s for fast filament loading sequence used in filament change (M600)
+#define FILAMENTCHANGE_EFEED_FINAL 3.3f // feedrate in mm/s for slow filament loading sequence used in filament change (M600) and filament load (M701) 
 //#define FILAMENTCHANGE_RFEED 400
 #define FILAMENTCHANGE_RFEED 7000 / 60
 #define FILAMENTCHANGE_EXFEED 2
@@ -374,16 +377,8 @@
  MOTOR CURRENT SETTINGS
  *------------------------------------*/
 
-// Motor Current setting for BIG RAMBo
+// Motor Current settings for Einsy/tmc = 0..63
-#define DIGIPOT_MOTOR_CURRENT {135,135,135,135,135} // Values 0-255 (RAMBO 135 = ~0.75A, 185 = ~1A)
+#define MOTOR_CURRENT_PWM_RANGE 63
-#define DIGIPOT_MOTOR_CURRENT_LOUD {135,135,135,135,135}
-
-// Motor Current settings for RAMBo mini PWM value = MotorCurrentSetting * 255 / range
-#if MOTHERBOARD == BOARD_RAMBO_MINI_1_0 || MOTHERBOARD == BOARD_RAMBO_MINI_1_3
-#define MOTOR_CURRENT_PWM_RANGE 2000
-#define DEFAULT_PWM_MOTOR_CURRENT  {400, 750, 750} // {XY,Z,E}
-#define DEFAULT_PWM_MOTOR_CURRENT_LOUD  {400, 750, 750} // {XY,Z,E}
-#endif
 
 /*------------------------------------
  BED SETTINGS

Firmware/fsensor.cpp

@@ -294,7 +294,6 @@ bool fsensor_check_autoload(void)
 //  if ((fsensor_autoload_c >= 15) && (fsensor_autoload_sum > 30))
     if ((fsensor_autoload_c >= 12) && (fsensor_autoload_sum > 20))
     {
-        //puts_P(_N("fsensor_check_autoload = true !!!\n"));
         if (mmu_enabled) mmu_command(MMU_CMD_FS);
         fsensor_autoload_check_stop();
         fsensor_autoload_enabled = false;

Firmware/fsensor.h

@@ -14,9 +14,6 @@ extern bool fsensor_not_responding;
 //enable/disable quality meassurement
 extern bool fsensor_oq_meassure_enabled;
 
-//extern bool mmuFilamentMK3Moving;
-extern bool mmuFSensorLoading;
-
 
 //! @name save restore printing
 //! @{

Firmware/language.c

@@ -17,22 +17,12 @@ uint8_t lang_selected = 0;
 
 #if (LANG_MODE == 0) //primary language only
 
-uint8_t lang_select(uint8_t lang) {
+uint8_t lang_select(uint8_t lang) { return 0; }
-    return 0;
+uint8_t lang_get_count() { return 1; }
-}
+uint16_t lang_get_code(uint8_t lang) { return LANG_CODE_EN; }
-uint8_t lang_get_count() {
+const char* lang_get_name_by_code(uint16_t code) { return _n("English"); }
-    return 1;
-}
-uint16_t lang_get_code(uint8_t lang) {
-    return LANG_CODE_EN;
-}
-const char* lang_get_name_by_code(uint16_t code) {
-    return _n("English");
-}
 void lang_reset(void) { }
-uint8_t lang_is_selected(void) {
+uint8_t lang_is_selected(void) { return 1; }
-    return 1;
-}
 
 #else //(LANG_MODE == 0) //secondary languages in progmem or xflash
 
@@ -106,8 +96,7 @@ uint8_t lang_check(uint16_t addr)
 	uint16_t sum = 0;
 	uint16_t size = pgm_read_word((uint16_t*)(addr + 4));
 	uint16_t lt_sum = pgm_read_word((uint16_t*)(addr + 8));
-    uint16_t i;
+	uint16_t i; for (i = 0; i < size; i++)
-    for (i = 0; i < size; i++)
 		sum += (uint16_t)pgm_read_byte((uint8_t*)(addr + i)) << ((i & 1)?0:8);
 	sum -= lt_sum; //subtract checksum
 	sum = (sum >> 8) | ((sum & 0xff) << 8); //swap bytes
@@ -214,20 +203,13 @@ const char* lang_get_name_by_code(uint16_t code)
 {
 	switch (code)
 	{
-    case LANG_CODE_EN:
+	case LANG_CODE_EN: return _n("English");
-        return _n("English");
+	case LANG_CODE_CZ: return _n("Cestina");
-    case LANG_CODE_CZ:
+	case LANG_CODE_DE: return _n("Deutsch");
-        return _n("Cestina");
+	case LANG_CODE_ES: return _n("Espanol");
-    case LANG_CODE_DE:
+	case LANG_CODE_FR: return _n("Francais");
-        return _n("Deutsch");
+	case LANG_CODE_IT: return _n("Italiano");
-    case LANG_CODE_ES:
+	case LANG_CODE_PL: return _n("Polski");
-        return _n("Espanol");
-    case LANG_CODE_FR:
-        return _n("Francais");
-    case LANG_CODE_IT:
-        return _n("Italiano");
-    case LANG_CODE_PL:
-        return _n("Polski");
 	}
 	return _n("??");
 }

Firmware/lcd.cpp

@@ -419,10 +419,8 @@ uint8_t lcd_escape_write(uint8_t chr)
 	case 2:
 		switch (chr)
 		{
-        case '2':
+		case '2': return 1; // escape = "\x1b[2"
-            return 1; // escape = "\x1b[2"
+		case '?': return 1; // escape = "\x1b[?"
-        case '?':
-            return 1; // escape = "\x1b[?"
 		default:
 			if (chr_is_num) return 1; // escape = "\x1b[%1d"
 		}
@@ -435,11 +433,7 @@ uint8_t lcd_escape_write(uint8_t chr)
 			break;
 		case '2':
 			if (chr == 'J') // escape = "\x1b[2J"
-            {
+				{ lcd_clear(); lcd_currline = 0; break; } // EraseScreen
-                lcd_clear();    // EraseScreen
-                lcd_currline = 0;
-                break;
-            }
 		default:
 			if (e_2_is_num && // escape = "\x1b[%1d"
 				((chr == ';') || // escape = "\x1b[%1d;"
@@ -867,8 +861,7 @@ const uint8_t lcd_chardata_bedTemp[8] PROGMEM = {
 	B10101,
 	B11111,
 	B00000,
-    B00000
+	B00000}; //thanks Sonny Mounicou
-}; //thanks Sonny Mounicou
 
 const uint8_t lcd_chardata_degree[8] PROGMEM = {
 	B01100,
@@ -878,8 +871,7 @@ const uint8_t lcd_chardata_degree[8] PROGMEM = {
 	B00000,
 	B00000,
 	B00000,
-    B00000
+	B00000};
-};
 
 const uint8_t lcd_chardata_thermometer[8] PROGMEM = {
 	B00100,
@@ -889,8 +881,7 @@ const uint8_t lcd_chardata_thermometer[8] PROGMEM = {
 	B01010,
 	B10001,
 	B10001,
-    B01110
+	B01110};
-};
 
 const uint8_t lcd_chardata_uplevel[8] PROGMEM = {
 	B00100,
@@ -900,8 +891,7 @@ const uint8_t lcd_chardata_uplevel[8] PROGMEM = {
 	B11100,
 	B00000,
 	B00000,
-    B00000
+	B00000}; //thanks joris
-}; //thanks joris
 
 const uint8_t lcd_chardata_refresh[8] PROGMEM = {
 	B00000,
@@ -911,8 +901,7 @@ const uint8_t lcd_chardata_refresh[8] PROGMEM = {
 	B00011,
 	B10011,
 	B01100,
-    B00000
+	B00000}; //thanks joris
-}; //thanks joris
 
 const uint8_t lcd_chardata_folder[8] PROGMEM = {
 	B00000,
@@ -922,8 +911,7 @@ const uint8_t lcd_chardata_folder[8] PROGMEM = {
 	B10001,
 	B11111,
 	B00000,
-    B00000
+	B00000}; //thanks joris
-}; //thanks joris
 
 /*const uint8_t lcd_chardata_feedrate[8] PROGMEM = {
 	B11100,
@@ -963,8 +951,7 @@ const uint8_t lcd_chardata_feedrate[8] PROGMEM = {
 	B10010,
 	B00100,
 	B00000,
-    B00000
+	B00000};
-};
 
 const uint8_t lcd_chardata_clock[8] PROGMEM = {
 	B00000,
@@ -974,8 +961,7 @@ const uint8_t lcd_chardata_clock[8] PROGMEM = {
 	B10001,
 	B01110,
 	B00000,
-    B00000
+	B00000}; //thanks Sonny Mounicou
-}; //thanks Sonny Mounicou
 
 const uint8_t lcd_chardata_arrup[8] PROGMEM = {
 	B00100,
@@ -985,8 +971,7 @@ const uint8_t lcd_chardata_arrup[8] PROGMEM = {
 	B00000,
 	B00000,
 	B00000,
-    B00000
+	B00000};
-};
 
 const uint8_t lcd_chardata_arrdown[8] PROGMEM = {
 	B00000,
@@ -996,8 +981,7 @@ const uint8_t lcd_chardata_arrdown[8] PROGMEM = {
 	B00000,
 	B10001,
 	B01010,
-    B00100
+	B00100};
-};
 
 
 
@@ -1028,8 +1012,7 @@ const uint8_t lcd_chardata_progress[8] PROGMEM = {
 	B11111,
 	B11111,
 	B11111,
-    B11111
+	B11111};
-};
 
 void lcd_set_custom_characters_progress(void)
 {
@@ -1044,8 +1027,7 @@ const uint8_t lcd_chardata_arr2down[8] PROGMEM = {
 	B00100,
 	B10001,
 	B01010,
-    B00100
+	B00100};
-};
 
 const uint8_t lcd_chardata_confirm[8] PROGMEM = {
 	B00000,
@@ -1054,8 +1036,7 @@ const uint8_t lcd_chardata_confirm[8] PROGMEM = {
 	B10110,
 	B11100,
 	B01000,
-    B00000
+	B00000};
-};
 
 void lcd_set_custom_characters_nextpage(void)
 {

Firmware/mesh_bed_calibration.cpp

@@ -129,9 +129,7 @@ const float bed_ref_points[] PROGMEM = {
 
 #endif //not HEATBED_V2
 
-static inline float sqr(float x) {
+static inline float sqr(float x) { return x * x; }
-    return x * x;
-}
 
 #ifdef HEATBED_V2
 static inline bool point_on_1st_row(const uint8_t /*i*/)
@@ -1160,8 +1158,7 @@ inline bool find_bed_induction_sensor_point_xy(int
 					goto endloop;
 				}
 			}
-endloop:
+		endloop:;
-            ;
 		}
 		#ifdef SUPPORT_VERBOSITY
 		if (verbosity_level >= 20) {
@@ -2568,14 +2565,9 @@ BedSkewOffsetDetectionResultType improve_bed_offset_and_skew(int8_t method, int8
                 found = improve_bed_induction_sensor_point3(verbosity_level);
             } else {
                 switch (method) {
-                case 0:
+                    case 0: found = improve_bed_induction_sensor_point(); break;
-                    found = improve_bed_induction_sensor_point();
+                    case 1: found = improve_bed_induction_sensor_point2(mesh_point < 2, verbosity_level); break;
-                    break;
+                    default: break;
-                case 1:
-                    found = improve_bed_induction_sensor_point2(mesh_point < 2, verbosity_level);
-                    break;
-                default:
-                    break;
                 }
             }
             if (found) {

Firmware/mesh_bed_leveling.cpp

@@ -6,9 +6,7 @@
 
 mesh_bed_leveling mbl;
 
-mesh_bed_leveling::mesh_bed_leveling() {
+mesh_bed_leveling::mesh_bed_leveling() { reset(); }
-    reset();
-}
 
 void mesh_bed_leveling::reset() {
     active = 0;

Firmware/mesh_bed_leveling.h

@@ -21,21 +21,15 @@ public:
     void upsample_3x3();
 #endif
     
-    static float get_x(int i) {
+    static float get_x(int i) { return float(MESH_MIN_X) + float(MESH_X_DIST) * float(i); }
-        return float(MESH_MIN_X) + float(MESH_X_DIST) * float(i);
+    static float get_y(int i) { return float(MESH_MIN_Y) + float(MESH_Y_DIST) * float(i); }
-    }
-    static float get_y(int i) {
-        return float(MESH_MIN_Y) + float(MESH_Y_DIST) * float(i);
-    }
     
     // Measurement point for the Z probe.
     // If use_default=true, then the default positions for a correctly built printer are used.
     // Otherwise a correction matrix is pulled from the EEPROM if available.
     static void get_meas_xy(int ix, int iy, float &x, float &y, bool use_default);
     
-    void set_z(int ix, int iy, float z) {
+    void set_z(int ix, int iy, float z) { z_values[iy][ix] = z; }
-        z_values[iy][ix] = z;
-    }
     
     int select_x_index(float x) {
         int i = 1;

Firmware/mmu.cpp

@@ -440,7 +440,7 @@ void mmu_loop(void)
             if (!mmu_finda && CHECK_FINDA && fsensor_enabled) {
               fsensor_stop_and_save_print();
               enquecommand_front_P(PSTR("FSENSOR_RECOVER")); //then recover
-                if (lcd_autoDeplete) enquecommand_front_P(PSTR("M600 AUTO")); //save print and run M600 command
+              if (lcd_autoDepleteEnabled()) enquecommand_front_P(PSTR("M600 AUTO")); //save print and run M600 command
               else enquecommand_front_P(PSTR("M600")); //save print and run M600 command
             }
             mmu_state = 1;

Firmware/motion_control.cpp

@@ -41,12 +41,8 @@ void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8
   
   // CCW angle between position and target from circle center. Only one atan2() trig computation required.
   float angular_travel = atan2(r_axis0*rt_axis1-r_axis1*rt_axis0, r_axis0*rt_axis0+r_axis1*rt_axis1);
-    if (angular_travel < 0) {
+  if (angular_travel < 0) { angular_travel += 2*M_PI; }
-        angular_travel += 2*M_PI;
+  if (isclockwise) { angular_travel -= 2*M_PI; }
-    }
-    if (isclockwise) {
-        angular_travel -= 2*M_PI;
-    }
   
   //20141002:full circle for G03 did not work, e.g. G03 X80 Y80 I20 J0 F2000 is giving an Angle of zero so head is not moving
   //to compensate when start pos = target pos && angle is zero -> angle = 2Pi
@@ -57,9 +53,7 @@ void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8
   //end fix G03
   
   float millimeters_of_travel = hypot(angular_travel*radius, fabs(linear_travel));
-    if (millimeters_of_travel < 0.001) {
+  if (millimeters_of_travel < 0.001) { return; }
-        return;
-    }
   uint16_t segments = floor(millimeters_of_travel/MM_PER_ARC_SEGMENT);
   if(segments == 0) segments = 1;
   

Firmware/optiboot_w25x20cl.cpp

@@ -84,8 +84,7 @@ static void verifySpace() {
 }
 
 static void getNch(uint8_t count) {
-    do getch();
+  do getch(); while (--count);
-    while (--count);
   verifySpace();
 }
 

Firmware/pat9125.c

@@ -26,8 +26,6 @@
 #define PAT9125_BANK_SELECTION	0x7f
 
 
-
-#define PAT9125_NEW_INIT
 #ifdef PAT9125_SWSPI
 #include "swspi.h"
 #endif //PAT9125_SWSPI

Firmware/planner.cpp

@@ -872,34 +872,22 @@ void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate
           enable_e0(); 
           g_uc_extruder_last_move[0] = BLOCK_BUFFER_SIZE*2;
           
-                if(g_uc_extruder_last_move[1] == 0) {
+          if(g_uc_extruder_last_move[1] == 0) {disable_e1();}
-                    disable_e1();
+          if(g_uc_extruder_last_move[2] == 0) {disable_e2();}
-                }
-                if(g_uc_extruder_last_move[2] == 0) {
-                    disable_e2();
-                }
         break;
         case 1:
           enable_e1(); 
           g_uc_extruder_last_move[1] = BLOCK_BUFFER_SIZE*2;
           
-                if(g_uc_extruder_last_move[0] == 0) {
+          if(g_uc_extruder_last_move[0] == 0) {disable_e0();}
-                    disable_e0();
+          if(g_uc_extruder_last_move[2] == 0) {disable_e2();}
-                }
-                if(g_uc_extruder_last_move[2] == 0) {
-                    disable_e2();
-                }
         break;
         case 2:
           enable_e2(); 
           g_uc_extruder_last_move[2] = BLOCK_BUFFER_SIZE*2;
           
-                if(g_uc_extruder_last_move[0] == 0) {
+          if(g_uc_extruder_last_move[0] == 0) {disable_e0();}
-                    disable_e0();
+          if(g_uc_extruder_last_move[1] == 0) {disable_e1();}
-                }
-                if(g_uc_extruder_last_move[1] == 0) {
-                    disable_e1();
-                }
         break;        
       }
     }
@@ -1014,25 +1002,13 @@ void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate
     // Limit acceleration per axis
     //FIXME Vojtech: One shall rather limit a projection of the acceleration vector instead of using the limit.
     if(((float)block->acceleration_st * (float)block->steps_x.wide / (float)block->step_event_count.wide) > axis_steps_per_sqr_second[X_AXIS])
-        {
+	{  block->acceleration_st = axis_steps_per_sqr_second[X_AXIS]; maxlimit_status |= (X_AXIS_MASK << 4); }
-            block->acceleration_st = axis_steps_per_sqr_second[X_AXIS];
-            maxlimit_status |= (X_AXIS_MASK << 4);
-        }
     if(((float)block->acceleration_st * (float)block->steps_y.wide / (float)block->step_event_count.wide) > axis_steps_per_sqr_second[Y_AXIS])
-        {
+	{  block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS]; maxlimit_status |= (Y_AXIS_MASK << 4); }
-            block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS];
-            maxlimit_status |= (Y_AXIS_MASK << 4);
-        }
     if(((float)block->acceleration_st * (float)block->steps_e.wide / (float)block->step_event_count.wide) > axis_steps_per_sqr_second[E_AXIS])
-        {
+	{  block->acceleration_st = axis_steps_per_sqr_second[E_AXIS]; maxlimit_status |= (Z_AXIS_MASK << 4); }
-            block->acceleration_st = axis_steps_per_sqr_second[E_AXIS];
-            maxlimit_status |= (Z_AXIS_MASK << 4);
-        }
     if(((float)block->acceleration_st * (float)block->steps_z.wide / (float)block->step_event_count.wide ) > axis_steps_per_sqr_second[Z_AXIS])
-        {
+	{  block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS]; maxlimit_status |= (E_AXIS_MASK << 4); }
-            block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS];
-            maxlimit_status |= (E_AXIS_MASK << 4);
-        }
   }
   // Acceleration of the segment, in mm/sec^2
   block->acceleration = block->acceleration_st / steps_per_mm;

Firmware/sm4.c

@@ -50,23 +50,15 @@ uint8_t sm4_get_dir(uint8_t axis)
 	switch (axis)
 	{
 #if ((MOTHERBOARD == BOARD_RAMBO_MINI_1_0) || (MOTHERBOARD == BOARD_RAMBO_MINI_1_3))
-    case 0:
+	case 0: return (PORTL & 2)?0:1;
-        return (PORTL & 2)?0:1;
+	case 1: return (PORTL & 1)?0:1;
-    case 1:
+	case 2: return (PORTL & 4)?0:1;
-        return (PORTL & 1)?0:1;
+	case 3: return (PORTL & 64)?1:0;
-    case 2:
-        return (PORTL & 4)?0:1;
-    case 3:
-        return (PORTL & 64)?1:0;
 #elif ((MOTHERBOARD == BOARD_EINSY_1_0a))
-    case 0:
+	case 0: return (PORTL & 1)?1:0;
-        return (PORTL & 1)?1:0;
+	case 1: return (PORTL & 2)?0:1;
-    case 1:
+	case 2: return (PORTL & 4)?1:0;
-        return (PORTL & 2)?0:1;
+	case 3: return (PORTL & 64)?0:1;
-    case 2:
-        return (PORTL & 4)?1:0;
-    case 3:
-        return (PORTL & 64)?0:1;
 #endif
 	}
 	return 0;
@@ -77,39 +69,15 @@ void sm4_set_dir(uint8_t axis, uint8_t dir)
 	switch (axis)
 	{
 #if ((MOTHERBOARD == BOARD_RAMBO_MINI_1_0) || (MOTHERBOARD == BOARD_RAMBO_MINI_1_3))
-    case 0:
+	case 0: if (!dir) PORTL |= 2; else PORTL &= ~2; break;
-        if (!dir) PORTL |= 2;
+	case 1: if (!dir) PORTL |= 1; else PORTL &= ~1; break;
-        else PORTL &= ~2;
+	case 2: if (!dir) PORTL |= 4; else PORTL &= ~4; break;
-        break;
+	case 3: if (dir) PORTL |= 64; else PORTL &= ~64; break;
-    case 1:
-        if (!dir) PORTL |= 1;
-        else PORTL &= ~1;
-        break;
-    case 2:
-        if (!dir) PORTL |= 4;
-        else PORTL &= ~4;
-        break;
-    case 3:
-        if (dir) PORTL |= 64;
-        else PORTL &= ~64;
-        break;
 #elif ((MOTHERBOARD == BOARD_EINSY_1_0a))
-    case 0:
+	case 0: if (dir) PORTL |= 1; else PORTL &= ~1; break;
-        if (dir) PORTL |= 1;
+	case 1: if (!dir) PORTL |= 2; else PORTL &= ~2; break;
-        else PORTL &= ~1;
+	case 2: if (dir) PORTL |= 4; else PORTL &= ~4; break;
-        break;
+	case 3: if (!dir) PORTL |= 64; else PORTL &= ~64; break;
-    case 1:
-        if (!dir) PORTL |= 2;
-        else PORTL &= ~2;
-        break;
-    case 2:
-        if (dir) PORTL |= 4;
-        else PORTL &= ~4;
-        break;
-    case 3:
-        if (!dir) PORTL |= 64;
-        else PORTL &= ~64;
-        break;
 #endif
 	}
 	asm("nop");

Firmware/stepper.cpp

@@ -1525,8 +1525,7 @@ void babystep(const uint8_t axis,const bool direction)
   }
   break;
  
-    default:
+  default:    break;
-        break;
   }
 }
 #endif //BABYSTEPPING
@@ -1624,42 +1623,22 @@ void microstep_ms(uint8_t driver, int8_t ms1, int8_t ms2)
 {
   if(ms1 > -1) switch(driver)
   {
-        case 0:
+    case 0: digitalWrite( X_MS1_PIN,ms1); break;
-            digitalWrite( X_MS1_PIN,ms1);
+    case 1: digitalWrite( Y_MS1_PIN,ms1); break;
-            break;
+    case 2: digitalWrite( Z_MS1_PIN,ms1); break;
-        case 1:
+    case 3: digitalWrite(E0_MS1_PIN,ms1); break;
-            digitalWrite( Y_MS1_PIN,ms1);
-            break;
-        case 2:
-            digitalWrite( Z_MS1_PIN,ms1);
-            break;
-        case 3:
-            digitalWrite(E0_MS1_PIN,ms1);
-            break;
     #if defined(E1_MS1_PIN) && E1_MS1_PIN > -1
-        case 4:
+    case 4: digitalWrite(E1_MS1_PIN,ms1); break;
-            digitalWrite(E1_MS1_PIN,ms1);
-            break;
     #endif
   }
   if(ms2 > -1) switch(driver)
   {
-        case 0:
+    case 0: digitalWrite( X_MS2_PIN,ms2); break;
-            digitalWrite( X_MS2_PIN,ms2);
+    case 1: digitalWrite( Y_MS2_PIN,ms2); break;
-            break;
+    case 2: digitalWrite( Z_MS2_PIN,ms2); break;
-        case 1:
+    case 3: digitalWrite(E0_MS2_PIN,ms2); break;
-            digitalWrite( Y_MS2_PIN,ms2);
-            break;
-        case 2:
-            digitalWrite( Z_MS2_PIN,ms2);
-            break;
-        case 3:
-            digitalWrite(E0_MS2_PIN,ms2);
-            break;
     #if defined(E1_MS2_PIN) && E1_MS2_PIN > -1
-        case 4:
+    case 4: digitalWrite(E1_MS2_PIN,ms2); break;
-            digitalWrite(E1_MS2_PIN,ms2);
-            break;
     #endif
   }
 }
@@ -1668,21 +1647,11 @@ void microstep_mode(uint8_t driver, uint8_t stepping_mode)
 {
   switch(stepping_mode)
   {
-    case 1:
+    case 1: microstep_ms(driver,MICROSTEP1); break;
-        microstep_ms(driver,MICROSTEP1);
+    case 2: microstep_ms(driver,MICROSTEP2); break;
-        break;
+    case 4: microstep_ms(driver,MICROSTEP4); break;
-    case 2:
+    case 8: microstep_ms(driver,MICROSTEP8); break;
-        microstep_ms(driver,MICROSTEP2);
+    case 16: microstep_ms(driver,MICROSTEP16); break;
-        break;
-    case 4:
-        microstep_ms(driver,MICROSTEP4);
-        break;
-    case 8:
-        microstep_ms(driver,MICROSTEP8);
-        break;
-    case 16:
-        microstep_ms(driver,MICROSTEP16);
-        break;
   }
 }
 

Firmware/swi2c.c

@@ -25,8 +25,7 @@ void swi2c_init(void)
 	PIN_OUT(SWI2C_SCL);
 	PIN_SET(SWI2C_SDA);
 	PIN_SET(SWI2C_SCL);
-    uint8_t i;
+	uint8_t i; for (i = 0; i < 100; i++)
-    for (i = 0; i < 100; i++)
 		__delay();
 }
 
@@ -82,8 +81,7 @@ uint8_t swi2c_read(void)
 	__delay();
 	PIN_INP(SWI2C_SDA);
 	uint8_t data = 0;
-    int8_t bit;
+	int8_t bit; for (bit = 7; bit >= 0; bit--)
-    for (bit = 7; bit >= 0; bit--)
 	{
 		PIN_SET(SWI2C_SCL);
 		__delay();
@@ -97,8 +95,7 @@ uint8_t swi2c_read(void)
 
 void swi2c_write(uint8_t data)
 {
-    int8_t bit;
+	int8_t bit; for (bit = 7; bit >= 0; bit--)
-    for (bit = 7; bit >= 0; bit--)
 	{
 		if (data & (1 << bit)) PIN_SET(SWI2C_SDA);
 		else PIN_CLR(SWI2C_SDA);
@@ -114,10 +111,7 @@ uint8_t swi2c_check(uint8_t dev_addr)
 {
 	swi2c_start();
 	swi2c_write((dev_addr & SWI2C_DMSK) << SWI2C_ASHF);
-    if (!swi2c_wait_ack()) {
+	if (!swi2c_wait_ack()) { swi2c_stop(); return 0; }
-        swi2c_stop();
-        return 0;
-    }
 	swi2c_stop();
 	return 1;
 }
@@ -128,10 +122,7 @@ uint8_t swi2c_readByte_A8(uint8_t dev_addr, uint8_t addr, uint8_t* pbyte)
 {
 	swi2c_start();
 	swi2c_write(SWI2C_WMSK | ((dev_addr & SWI2C_DMSK) << SWI2C_ASHF));
-    if (!swi2c_wait_ack()) {
+	if (!swi2c_wait_ack()) { swi2c_stop(); return 0; }
-        swi2c_stop();
-        return 0;
-    }
 	swi2c_write(addr & 0xff);
 	if (!swi2c_wait_ack()) return 0;
 	swi2c_stop();
@@ -148,10 +139,7 @@ uint8_t swi2c_writeByte_A8(uint8_t dev_addr, uint8_t addr, uint8_t* pbyte)
 {
 	swi2c_start();
 	swi2c_write(SWI2C_WMSK | ((dev_addr & SWI2C_DMSK) << SWI2C_ASHF));
-    if (!swi2c_wait_ack()) {
+	if (!swi2c_wait_ack()) { swi2c_stop(); return 0; }
-        swi2c_stop();
-        return 0;
-    }
 	swi2c_write(addr & 0xff);
 	if (!swi2c_wait_ack()) return 0;
 	swi2c_write(*pbyte);
@@ -168,10 +156,7 @@ uint8_t swi2c_readByte_A16(uint8_t dev_addr, unsigned short addr, uint8_t* pbyte
 {
 	swi2c_start();
 	swi2c_write(SWI2C_WMSK | ((dev_addr & SWI2C_DMSK) << SWI2C_ASHF));
-    if (!swi2c_wait_ack()) {
+	if (!swi2c_wait_ack()) { swi2c_stop(); return 0; }
-        swi2c_stop();
-        return 0;
-    }
 	swi2c_write(addr >> 8);
 	if (!swi2c_wait_ack()) return 0;
 	swi2c_write(addr & 0xff);
@@ -190,10 +175,7 @@ uint8_t swi2c_writeByte_A16(uint8_t dev_addr, unsigned short addr, uint8_t* pbyt
 {
 	swi2c_start();
 	swi2c_write(SWI2C_WMSK | ((dev_addr & SWI2C_DMSK) << SWI2C_ASHF));
-    if (!swi2c_wait_ack()) {
+	if (!swi2c_wait_ack()) { swi2c_stop(); return 0; }
-        swi2c_stop();
-        return 0;
-    }
 	swi2c_write(addr >> 8);
 	if (!swi2c_wait_ack()) return 0;
 	swi2c_write(addr & 0xff);

Firmware/swspi.cpp

@@ -42,8 +42,7 @@ void swspi_tx(unsigned char tx)
 {
 	int delay = 1 << (swspi_cfg & SWSPI_DEL));
 	if (swspi_miso == swspi_mosi) GPIO_OUT(swspi_mosi);
-    unsigned char i = 0;
+	unsigned char i = 0; for (; i < 8; i++)
-    for (; i < 8; i++)
 	{
 		if (tx & 0x80) GPIO_SET(swspi_mosi);
 		else GPIO_CLR(swspi_mosi);
@@ -60,8 +59,7 @@ unsigned char swspi_rx()
 	int delay = 1 << (swspi_cfg & SWSPI_DEL));
 	if (swspi_miso == swspi_mosi) GPIO_OUT(swspi_mosi);
 	unsigned char rx = 0;
-    unsigned char i = 0;
+	unsigned char i = 0; for (; i < 8; i++)
-    for (; i < 8; i++)
 	{
 		rx <<= 1;
 	    DELAY(delay);
@@ -77,8 +75,7 @@ unsigned char swspi_txrx(unsigned char tx)
 {
 	int delay = 1 << (swspi_cfg & SWSPI_DEL));
 	unsigned char rx = 0;
-    unsigned char i = 0;
+	unsigned char i = 0; for (; i < 8; i++)
-    for (; i < 8; i++)
 	{
 		rx <<= 1;
 		if (tx & 0x80) GPIO_SET(swspi_mosi);

Firmware/temperature.cpp

@@ -307,31 +307,22 @@ void PID_autotune(float temp, int extruder, int ncycles)
             if(bias > (extruder<0?(MAX_BED_POWER):(PID_MAX))/2) d = (extruder<0?(MAX_BED_POWER):(PID_MAX)) - 1 - bias;
             else d = bias;
 
-                        SERIAL_PROTOCOLPGM(" bias: ");
+            SERIAL_PROTOCOLPGM(" bias: "); SERIAL_PROTOCOL(bias);
-                        SERIAL_PROTOCOL(bias);
+            SERIAL_PROTOCOLPGM(" d: "); SERIAL_PROTOCOL(d);
-                        SERIAL_PROTOCOLPGM(" d: ");
+            SERIAL_PROTOCOLPGM(" min: "); SERIAL_PROTOCOL(min);
-                        SERIAL_PROTOCOL(d);
+            SERIAL_PROTOCOLPGM(" max: "); SERIAL_PROTOCOLLN(max);
-                        SERIAL_PROTOCOLPGM(" min: ");
-                        SERIAL_PROTOCOL(min);
-                        SERIAL_PROTOCOLPGM(" max: ");
-                        SERIAL_PROTOCOLLN(max);
             if(pid_cycle > 2) {
               Ku = (4.0*d)/(3.14159*(max-min)/2.0);
               Tu = ((float)(t_low + t_high)/1000.0);
-                            SERIAL_PROTOCOLPGM(" Ku: ");
+              SERIAL_PROTOCOLPGM(" Ku: "); SERIAL_PROTOCOL(Ku);
-                            SERIAL_PROTOCOL(Ku);
+              SERIAL_PROTOCOLPGM(" Tu: "); SERIAL_PROTOCOLLN(Tu);
-                            SERIAL_PROTOCOLPGM(" Tu: ");
-                            SERIAL_PROTOCOLLN(Tu);
               _Kp = 0.6*Ku;
               _Ki = 2*_Kp/Tu;
               _Kd = _Kp*Tu/8;
               SERIAL_PROTOCOLLNPGM(" Classic PID ");
-                            SERIAL_PROTOCOLPGM(" Kp: ");
+              SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(_Kp);
-                            SERIAL_PROTOCOLLN(_Kp);
+              SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(_Ki);
-                            SERIAL_PROTOCOLPGM(" Ki: ");
+              SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(_Kd);
-                            SERIAL_PROTOCOLLN(_Ki);
-                            SERIAL_PROTOCOLPGM(" Kd: ");
-                            SERIAL_PROTOCOLLN(_Kd);
               /*
               _Kp = 0.33*Ku;
               _Ki = _Kp/Tu;
@@ -1242,13 +1233,9 @@ void temp_runaway_check(int _heater_id, float _target_temperature, float _curren
 
 				if (__preheat_errors[_heater_id] > ((_isbed) ? 2 : 5)) 
 				{
-                    if (farm_mode) {
+					if (farm_mode) { prusa_statistics(0); }
-                        prusa_statistics(0);
-                    }
 					temp_runaway_stop(true, _isbed);
-                    if (farm_mode) {
+					if (farm_mode) { prusa_statistics(91); }
-                        prusa_statistics(91);
-                    }
 				}
 				__preheat_start[_heater_id] = _current_temperature;
 				__preheat_counter[_heater_id] = 0;
@@ -1282,13 +1269,9 @@ void temp_runaway_check(int _heater_id, float _target_temperature, float _curren
 					temp_runaway_error_counter[_heater_id]++;
 					if (temp_runaway_error_counter[_heater_id] * 2 > __timeout)
 					{
-                        if (farm_mode) {
+						if (farm_mode) { prusa_statistics(0); }
-                            prusa_statistics(0);
-                        }
 						temp_runaway_stop(false, _isbed);
-                        if (farm_mode) {
+						if (farm_mode) { prusa_statistics(90); }
-                            prusa_statistics(90);
-                        }
 					}
 				}
 			}
@@ -1407,9 +1390,7 @@ void max_temp_error(uint8_t e) {
     WRITE(BEEPER, 1);
     // fanSpeed will consumed by the check_axes_activity() routine.
     fanSpeed=255;
-    if (farm_mode) {
+	if (farm_mode) { prusa_statistics(93); }
-        prusa_statistics(93);
-    }
 }
 
 void min_temp_error(uint8_t e) {
@@ -1427,9 +1408,7 @@ void min_temp_error(uint8_t e) {
   #ifndef BOGUS_TEMPERATURE_FAILSAFE_OVERRIDE
   Stop();
   #endif
-    if (farm_mode) {
+  if (farm_mode) { prusa_statistics(92); }
-        prusa_statistics(92);
-    }
 
 }
 
@@ -1611,23 +1590,19 @@ ISR(TIMER0_COMPB_vect)
     } else WRITE(HEATER_0_PIN,0);
 #if EXTRUDERS > 1
     soft_pwm_1 = soft_pwm[1];
-        if(soft_pwm_1 > 0) WRITE(HEATER_1_PIN,1);
+    if(soft_pwm_1 > 0) WRITE(HEATER_1_PIN,1); else WRITE(HEATER_1_PIN,0);
-        else WRITE(HEATER_1_PIN,0);
 #endif
 #if EXTRUDERS > 2
     soft_pwm_2 = soft_pwm[2];
-        if(soft_pwm_2 > 0) WRITE(HEATER_2_PIN,1);
+    if(soft_pwm_2 > 0) WRITE(HEATER_2_PIN,1); else WRITE(HEATER_2_PIN,0);
-        else WRITE(HEATER_2_PIN,0);
 #endif
 #if defined(HEATER_BED_PIN) && HEATER_BED_PIN > -1
     soft_pwm_b = soft_pwm_bed;
-        if(soft_pwm_b > 0) WRITE(HEATER_BED_PIN,1);
+    if(soft_pwm_b > 0) WRITE(HEATER_BED_PIN,1); else WRITE(HEATER_BED_PIN,0);
-        else WRITE(HEATER_BED_PIN,0);
 #endif
 #ifdef FAN_SOFT_PWM
     soft_pwm_fan = fanSpeedSoftPwm / 2;
-        if(soft_pwm_fan > 0) WRITE(FAN_PIN,1);
+    if(soft_pwm_fan > 0) WRITE(FAN_PIN,1); else WRITE(FAN_PIN,0);
-        else WRITE(FAN_PIN,0);
 #endif
   }
   if(soft_pwm_0 < pwm_count)
@@ -1837,8 +1812,7 @@ ISR(TIMER0_COMPB_vect)
 #ifdef FAN_SOFT_PWM
   if (pwm_count == 0){
     soft_pwm_fan = fanSpeedSoftPwm / 2;
-        if (soft_pwm_fan > 0) WRITE(FAN_PIN,1);
+    if (soft_pwm_fan > 0) WRITE(FAN_PIN,1); else WRITE(FAN_PIN,0);
-        else WRITE(FAN_PIN,0);
   }
   if (soft_pwm_fan < pwm_count) WRITE(FAN_PIN,0);
 #endif
@@ -1890,7 +1864,8 @@ ISR(TIMER0_COMPB_vect)
       babystepsTodo[axis]--; //less to do next time
 		asm("sei");
     }
-        else if(curTodo<0)
+    else
+    if(curTodo<0)
     {
 		asm("cli");
       babystep(axis,/*fwd*/false);