Move M360-M364 to cpp

Marlin/src/Marlin.cpp

@@ -352,10 +352,6 @@ bool pin_is_protected(const int8_t pin) {
   return false;
 }
 
-#if ENABLED(MORGAN_SCARA)
-  #include "gcode/scara/M360-M364.h"
-#endif
-
 #if ENABLED(EXT_SOLENOID)
   #include "gcode/control/M380_M381.h"
 #endif

Marlin/src/gcode/gcode.cpp

@@ -122,11 +122,6 @@ extern void gcode_M165();
 extern void gcode_M350();
 extern void gcode_M351();
 extern void gcode_M355();
-extern bool gcode_M360();
-extern bool gcode_M361();
-extern bool gcode_M362();
-extern bool gcode_M363();
-extern bool gcode_M364();
 extern void gcode_M380();
 extern void gcode_M381();
 extern void gcode_M400();
@@ -594,22 +589,12 @@ void GcodeSuite::process_next_command() {
         break;
 
       #if ENABLED(MORGAN_SCARA)
-        case 360:  // M360: SCARA Theta pos1
+        case 360: if (M360()) return; break;  // M360: SCARA Theta pos1
-          if (gcode_M360()) return;
+        case 361: if (M361()) return; break;  // M361: SCARA Theta pos2
-          break;
+        case 362: if (M362()) return; break;  // M362: SCARA Psi pos1
-        case 361:  // M361: SCARA Theta pos2
+        case 363: if (M363()) return; break;  // M363: SCARA Psi pos2
-          if (gcode_M361()) return;
+        case 364: if (M364()) return; break;  // M364: SCARA Psi pos3 (90 deg to Theta)
-          break;
+      #endif
-        case 362:  // M362: SCARA Psi pos1
-          if (gcode_M362()) return;
-          break;
-        case 363:  // M363: SCARA Psi pos2
-          if (gcode_M363()) return;
-          break;
-        case 364:  // M364: SCARA Psi pos3 (90 deg to Theta)
-          if (gcode_M364()) return;
-          break;
-      #endif // SCARA
 
       #if ENABLED(EXT_SOLENOID)
         case 380: // M380: Activate solenoid on active extruder

Marlin/src/gcode/scara/M360-M364.cpp

@@ -20,7 +20,16 @@
  *
  */
 
-bool SCARA_move_to_cal(uint8_t delta_a, uint8_t delta_b) {
+#include "../../inc/MarlinConfig.h"
+
+#if ENABLED(MORGAN_SCARA)
+
+#include "../gcode.h"
+#include "../../module/scara.h"
+#include "../../module/motion.h"
+#include "../../Marlin.h" // for IsRunning()
+
+inline bool SCARA_move_to_cal(const uint8_t delta_a, const uint8_t delta_b) {
   if (IsRunning()) {
     forward_kinematics_SCARA(delta_a, delta_b);
     destination[X_AXIS] = LOGICAL_X_POSITION(cartes[X_AXIS]);
@@ -35,7 +44,7 @@ bool SCARA_move_to_cal(uint8_t delta_a, uint8_t delta_b) {
 /**
  * M360: SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
  */
-bool gcode_M360() {
+bool GcodeSuite::M360() {
   SERIAL_ECHOLNPGM(" Cal: Theta 0");
   return SCARA_move_to_cal(0, 120);
 }
@@ -43,7 +52,7 @@ bool gcode_M360() {
 /**
  * M361: SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
  */
-bool gcode_M361() {
+bool GcodeSuite::M361() {
   SERIAL_ECHOLNPGM(" Cal: Theta 90");
   return SCARA_move_to_cal(90, 130);
 }
@@ -51,7 +60,7 @@ bool gcode_M361() {
 /**
  * M362: SCARA calibration: Move to cal-position PsiA (0 deg calibration)
  */
-bool gcode_M362() {
+bool GcodeSuite::M362() {
   SERIAL_ECHOLNPGM(" Cal: Psi 0");
   return SCARA_move_to_cal(60, 180);
 }
@@ -59,7 +68,7 @@ bool gcode_M362() {
 /**
  * M363: SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
  */
-bool gcode_M363() {
+bool GcodeSuite::M363() {
   SERIAL_ECHOLNPGM(" Cal: Psi 90");
   return SCARA_move_to_cal(50, 90);
 }
@@ -67,7 +76,9 @@ bool gcode_M363() {
 /**
  * M364: SCARA calibration: Move to cal-position PsiC (90 deg to Theta calibration position)
  */
-bool gcode_M364() {
+bool GcodeSuite::M364() {
   SERIAL_ECHOLNPGM(" Cal: Theta-Psi 90");
   return SCARA_move_to_cal(45, 135);
 }
+
+#endif // MORGAN_SCARA