MMU2 cleanup

MarlinFirmware · May 27, 2022 · 579e93d · 579e93d
1 parent 1f322b5
commit 579e93d
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Showing 2 changed files with 14 additions and 18 deletions.
diff --git a/Marlin/src/feature/mmu/mmu2.cpp b/Marlin/src/feature/mmu/mmu2.cpp
@@ -92,15 +92,6 @@ struct E_Step {
   feedRate_t feedRate;  //!< feed rate in mm/s
 };
 
-static constexpr E_Step
-    ramming_sequence[] PROGMEM = { MMU2_RAMMING_SEQUENCE }
-  , load_to_nozzle_sequence[] PROGMEM = { MMU2_LOAD_TO_NOZZLE_SEQUENCE }
-  #if HAS_PRUSA_MMU2S
-    , can_load_sequence[] PROGMEM = { MMU2_CAN_LOAD_SEQUENCE }
-    , can_load_increment_sequence[] PROGMEM = { MMU2_CAN_LOAD_INCREMENT_SEQUENCE }
-  #endif
-;
-
 MMU2::MMU2() {
   rx_buffer[0] = '\0';
 }
@@ -645,7 +636,7 @@ static void mmu2_not_responding() {
       case 'c': {
         DEBUG_ECHOLNPGM("case c\n");
         while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(100);
-        execute_extruder_sequence((const E_Step *)load_to_nozzle_sequence, COUNT(load_to_nozzle_sequence));
+        load_to_nozzle();
       } break;
     }
 
@@ -738,7 +729,7 @@ static void mmu2_not_responding() {
       case 'c': {
         DEBUG_ECHOLNPGM("case c\n");
         while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(100);
-        execute_extruder_sequence((const E_Step *)load_to_nozzle_sequence, COUNT(load_to_nozzle_sequence));
+        load_to_nozzle();
       } break;
     }
 
@@ -875,13 +866,16 @@ void MMU2::filament_runout() {
   }
 
   bool MMU2::can_load() {
-    execute_extruder_sequence((const E_Step *)can_load_sequence, COUNT(can_load_sequence));
+    static constexpr E_Step can_load_sequence[] PROGMEM = { MMU2_CAN_LOAD_SEQUENCE },
+                  can_load_increment_sequence[] PROGMEM = { MMU2_CAN_LOAD_INCREMENT_SEQUENCE };
+
+    execute_extruder_sequence(can_load_sequence, COUNT(can_load_sequence));
 
     int filament_detected_count = 0;
     const int steps = (MMU2_CAN_LOAD_RETRACT) / (MMU2_CAN_LOAD_INCREMENT);
     DEBUG_ECHOLNPGM("MMU can_load:");
     LOOP_L_N(i, steps) {
-      execute_extruder_sequence((const E_Step *)can_load_increment_sequence, COUNT(can_load_increment_sequence));
+      execute_extruder_sequence(can_load_increment_sequence, COUNT(can_load_increment_sequence));
       check_filament(); // Don't trust the idle function
       DEBUG_CHAR(mmu2s_triggered ? 'O' : 'o');
       if (mmu2s_triggered) ++filament_detected_count;
@@ -943,7 +937,8 @@ bool MMU2::load_filament_to_nozzle(const uint8_t index) {
  * filament to nozzle.
  */
 void MMU2::load_to_nozzle() {
-  execute_extruder_sequence((const E_Step *)load_to_nozzle_sequence, COUNT(load_to_nozzle_sequence));
+  static constexpr E_Step load_to_nozzle_sequence[] PROGMEM = { MMU2_LOAD_TO_NOZZLE_SEQUENCE };
+  execute_extruder_sequence(load_to_nozzle_sequence, COUNT(load_to_nozzle_sequence));
 }
 
 bool MMU2::eject_filament(const uint8_t index, const bool recover) {
@@ -1005,7 +1000,8 @@ bool MMU2::unload() {
   }
 
   // Unload sequence to optimize shape of the tip of the unloaded filament
-  execute_extruder_sequence((const E_Step *)ramming_sequence, sizeof(ramming_sequence) / sizeof(E_Step));
+  static constexpr E_Step ramming_sequence[] PROGMEM = { MMU2_RAMMING_SEQUENCE };
+  execute_extruder_sequence(ramming_sequence, COUNT(ramming_sequence));
 
   command(MMU_CMD_U0);
   manage_response(false, true);
@@ -1020,12 +1016,12 @@ bool MMU2::unload() {
   return true;
 }
 
-void MMU2::execute_extruder_sequence(const E_Step * sequence, int steps) {
+void MMU2::execute_extruder_sequence(const E_Step * const sequence, const uint8_t steps) {
 
   planner.synchronize();
   stepper.enable_extruder();
 
-  const E_Step* step = sequence;
+  const E_Step *step = sequence;
 
   LOOP_L_N(i, steps) {
     const float es = pgm_read_float(&(step->extrude));

diff --git a/Marlin/src/feature/mmu/mmu2.h b/Marlin/src/feature/mmu/mmu2.h
@@ -72,7 +72,7 @@ class MMU2 {
   static void manage_response(const bool move_axes, const bool turn_off_nozzle);
 
   static void load_to_nozzle();
-  static void execute_extruder_sequence(const E_Step * sequence, int steps);
+  static void execute_extruder_sequence(const E_Step * const sequence, const uint8_t steps);
 
   static void filament_runout();