Use array refs where possible

Marlin/Marlin_main.cpp

@@ -733,11 +733,11 @@ void get_cartesian_from_steppers();
 void set_current_from_steppers_for_axis(const AxisEnum axis);
 
 #if ENABLED(ARC_SUPPORT)
-  void plan_arc(float target[XYZE], float* offset, uint8_t clockwise);
+  void plan_arc(const float (&cart)[XYZE], const float (&offset)[2], const bool clockwise);
 #endif
 
 #if ENABLED(BEZIER_CURVE_SUPPORT)
-  void plan_cubic_move(const float offset[4]);
+  void plan_cubic_move(const float (&offset)[4]);
 #endif
 
 void tool_change(const uint8_t tmp_extruder, const float fr_mm_s=0.0, bool no_move=false);
@@ -1808,7 +1808,7 @@ static void clean_up_after_endstop_or_probe_move() {
 
 #elif ENABLED(Z_PROBE_ALLEN_KEY)
 
-  FORCE_INLINE void do_blocking_move_to(const float raw[XYZ], const float &fr_mm_s) {
+  FORCE_INLINE void do_blocking_move_to(const float (&raw)[XYZ], const float &fr_mm_s) {
     do_blocking_move_to(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], fr_mm_s);
   }
 
@@ -8326,7 +8326,7 @@ void report_current_position() {
 
 #ifdef M114_DETAIL
 
-  void report_xyze(const float pos[XYZE], const uint8_t n = 4, const uint8_t precision = 3) {
+  void report_xyze(const float pos[], const uint8_t n = 4, const uint8_t precision = 3) {
     char str[12];
     for (uint8_t i = 0; i < n; i++) {
       SERIAL_CHAR(' ');
@@ -8337,7 +8337,7 @@ void report_current_position() {
     SERIAL_EOL();
   }
 
-  inline void report_xyz(const float pos[XYZ]) { report_xyze(pos, 3); }
+  inline void report_xyz(const float pos[]) { report_xyze(pos, 3); }
 
   void report_current_position_detail() {
 
@@ -12659,7 +12659,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
    * For Unified Bed Leveling (Delta or Segmented Cartesian)
    * the ubl.prepare_segmented_line_to method replaces this.
    */
-  inline bool prepare_kinematic_move_to(float rtarget[XYZE]) {
+  inline bool prepare_kinematic_move_to(const float (&rtarget)[XYZE]) {
 
     // Get the top feedrate of the move in the XY plane
     const float _feedrate_mm_s = MMS_SCALED(feedrate_mm_s);
@@ -12968,9 +12968,9 @@ void prepare_move_to_destination() {
    * options for G2/G3 arc generation. In future these options may be GCode tunable.
    */
   void plan_arc(
-    float raw[XYZE],     // Destination position
-    float *offset,       // Center of rotation relative to current_position
-    uint8_t clockwise    // Clockwise?
+    const float (&cart)[XYZE], // Destination position
+    const float (&offset)[2], // Center of rotation relative to current_position
+    const bool clockwise      // Clockwise?
   ) {
     #if ENABLED(CNC_WORKSPACE_PLANES)
       AxisEnum p_axis, q_axis, l_axis;
@@ -12990,10 +12990,10 @@ void prepare_move_to_destination() {
     const float radius = HYPOT(r_P, r_Q),
                 center_P = current_position[p_axis] - r_P,
                 center_Q = current_position[q_axis] - r_Q,
-                rt_X = raw[p_axis] - center_P,
-                rt_Y = raw[q_axis] - center_Q,
-                linear_travel = raw[l_axis] - current_position[l_axis],
-                extruder_travel = raw[E_AXIS] - current_position[E_AXIS];
+                rt_X = cart[p_axis] - center_P,
+                rt_Y = cart[q_axis] - center_Q,
+                linear_travel = cart[l_axis] - current_position[l_axis],
+                extruder_travel = cart[E_AXIS] - current_position[E_AXIS];
 
     // CCW angle of rotation between position and target from the circle center. Only one atan2() trig computation required.
     float angular_travel = ATAN2(r_P * rt_Y - r_Q * rt_X, r_P * rt_X + r_Q * rt_Y);
@@ -13001,7 +13001,7 @@ void prepare_move_to_destination() {
     if (clockwise) angular_travel -= RADIANS(360);
 
     // Make a circle if the angular rotation is 0 and the target is current position
-    if (angular_travel == 0 && current_position[p_axis] == raw[p_axis] && current_position[q_axis] == raw[q_axis])
+    if (angular_travel == 0 && current_position[p_axis] == cart[p_axis] && current_position[q_axis] == cart[q_axis])
       angular_travel = RADIANS(360);
 
     const float mm_of_travel = HYPOT(angular_travel * radius, FABS(linear_travel));
@@ -13101,7 +13101,7 @@ void prepare_move_to_destination() {
     }
 
     // Ensure last segment arrives at target location.
-    planner.buffer_line_kinematic(raw, fr_mm_s, active_extruder);
+    planner.buffer_line_kinematic(cart, fr_mm_s, active_extruder);
 
     // As far as the parser is concerned, the position is now == target. In reality the
     // motion control system might still be processing the action and the real tool position
@@ -13113,7 +13113,7 @@ void prepare_move_to_destination() {
 
 #if ENABLED(BEZIER_CURVE_SUPPORT)
 
-  void plan_cubic_move(const float offset[4]) {
+  void plan_cubic_move(const float (&offset)[4]) {
     cubic_b_spline(current_position, destination, offset, MMS_SCALED(feedrate_mm_s), active_extruder);
 
     // As far as the parser is concerned, the position is now == destination. In reality the

Marlin/planner.cpp

@@ -1455,18 +1455,18 @@ void Planner::_set_position_mm(const float &a, const float &b, const float &c, c
   ZERO(previous_speed);
 }
 
-void Planner::set_position_mm_kinematic(const float position[NUM_AXIS]) {
+void Planner::set_position_mm_kinematic(const float (&cart)[XYZE]) {
   #if PLANNER_LEVELING
-    float lpos[XYZ] = { position[X_AXIS], position[Y_AXIS], position[Z_AXIS] };
-    apply_leveling(lpos);
+    float raw[XYZ] = { cart[X_AXIS], cart[Y_AXIS], cart[Z_AXIS] };
+    apply_leveling(raw);
   #else
-    const float * const lpos = position;
+    const float (&raw)[XYZE] = cart;
   #endif
   #if IS_KINEMATIC
-    inverse_kinematics(lpos);
-    _set_position_mm(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], position[E_AXIS]);
+    inverse_kinematics(raw);
+    _set_position_mm(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], cart[E_AXIS]);
   #else
-    _set_position_mm(lpos[X_AXIS], lpos[Y_AXIS], lpos[Z_AXIS], position[E_AXIS]);
+    _set_position_mm(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], cart[E_AXIS]);
   #endif
 }
 

Marlin/planner.h

@@ -352,7 +352,7 @@ class Planner {
        * as it will be given to the planner and steppers.
        */
       static void apply_leveling(float &rx, float &ry, float &rz);
-      static void apply_leveling(float raw[XYZ]) { apply_leveling(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS]); }
+      static void apply_leveling(float (&raw)[XYZ]) { apply_leveling(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS]); }
       static void unapply_leveling(float raw[XYZ]);
 
     #else
@@ -417,12 +417,12 @@ class Planner {
      *  fr_mm_s  - (target) speed of the move (mm/s)
      *  extruder - target extruder
      */
-    FORCE_INLINE static void buffer_line_kinematic(const float cart[XYZE], const float &fr_mm_s, const uint8_t extruder) {
+    FORCE_INLINE static void buffer_line_kinematic(const float (&cart)[XYZE], const float &fr_mm_s, const uint8_t extruder) {
       #if PLANNER_LEVELING
         float raw[XYZ] = { cart[X_AXIS], cart[Y_AXIS], cart[Z_AXIS] };
         apply_leveling(raw);
       #else
-        const float * const raw = cart;
+        const float (&raw)[XYZE] = cart;
       #endif
       #if IS_KINEMATIC
         inverse_kinematics(raw);
@@ -447,7 +447,7 @@ class Planner {
       #endif
       _set_position_mm(rx, ry, rz, e);
     }
-    static void set_position_mm_kinematic(const float position[NUM_AXIS]);
+    static void set_position_mm_kinematic(const float (&cart)[XYZE]);
     static void set_position_mm(const AxisEnum axis, const float &v);
     FORCE_INLINE static void set_z_position_mm(const float &z) { set_position_mm(Z_AXIS, z); }
     FORCE_INLINE static void set_e_position_mm(const float &e) { set_position_mm(AxisEnum(E_AXIS), e); }

Marlin/ubl.h

@@ -319,7 +319,7 @@
         return i < GRID_MAX_POINTS_Y ? pgm_read_float(&_mesh_index_to_ypos[i]) : MESH_MIN_Y + i * (MESH_Y_DIST);
       }
 
-      static bool prepare_segmented_line_to(const float rtarget[XYZE], const float &feedrate);
+      static bool prepare_segmented_line_to(const float (&rtarget)[XYZE], const float &feedrate);
       static void line_to_destination_cartesian(const float &fr, uint8_t e);
 
     #define _CMPZ(a,b) (z_values[a][b] == z_values[a][b+1])

Marlin/ubl_motion.cpp

@@ -470,7 +470,7 @@
     // We don't want additional apply_leveling() performed by regular buffer_line or buffer_line_kinematic,
     // so we call buffer_segment directly here.  Per-segmented leveling and kinematics performed first.
 
-    inline void _O2 ubl_buffer_segment_raw(const float raw[XYZE], const float &fr) {
+    inline void _O2 ubl_buffer_segment_raw(const float (&raw)[XYZE], const float &fr) {
 
       #if ENABLED(DELTA)  // apply delta inverse_kinematics
 
@@ -515,7 +515,7 @@
      * Returns true if did NOT move, false if moved (requires current_position update).
      */
 
-    bool _O2 unified_bed_leveling::prepare_segmented_line_to(const float rtarget[XYZE], const float &feedrate) {
+    bool _O2 unified_bed_leveling::prepare_segmented_line_to(const float (&in_target)[XYZE], const float &feedrate) {
 
       if (!position_is_reachable(rtarget[X_AXIS], rtarget[Y_AXIS]))  // fail if moving outside reachable boundary
         return true; // did not move, so current_position still accurate