Code size reduced by almost 5KB

Firmware/Marlin_main.cpp

@@ -2025,14 +2025,14 @@ static void do_blocking_move_to(float x, float y, float z) {
     feedrate = homing_feedrate[Z_AXIS];
 
     current_position[Z_AXIS] = z;
-    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
+    plan_buffer_line_curposXYZE(feedrate/60, active_extruder);
     st_synchronize();
 
     feedrate = XY_TRAVEL_SPEED;
 
     current_position[X_AXIS] = x;
     current_position[Y_AXIS] = y;
-    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
+    plan_buffer_line_curposXYZE(feedrate/60, active_extruder);
     st_synchronize();
 
     feedrate = oldFeedRate;
@@ -2362,77 +2362,77 @@ void ramming() {
 
 		max_feedrate[E_AXIS] = 50;
 		//current_position[E_AXIS] -= 8;
-		//plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
+		//plan_buffer_line_curposXYZE(2100 / 60, active_extruder);
 		//current_position[E_AXIS] += 8;
-		//plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
+		//plan_buffer_line_curposXYZE(2100 / 60, active_extruder);
 		current_position[E_AXIS] += 5.4;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2800 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(2800 / 60, active_extruder);
 		current_position[E_AXIS] += 3.2;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
 		current_position[E_AXIS] += 3;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3400 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(3400 / 60, active_extruder);
 		st_synchronize();
 		max_feedrate[E_AXIS] = 80;
 		current_position[E_AXIS] -= 82;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 9500 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(9500 / 60, active_extruder);
 		max_feedrate[E_AXIS] = 50;//tmp[E_AXIS];
 		current_position[E_AXIS] -= 20;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1200 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(1200 / 60, active_extruder);
 		current_position[E_AXIS] += 5;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(400 / 60, active_extruder);
 		current_position[E_AXIS] += 5;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(600 / 60, active_extruder);
 		current_position[E_AXIS] -= 10;
 		st_synchronize();
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(600 / 60, active_extruder);
 		current_position[E_AXIS] += 10;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(600 / 60, active_extruder);
 		current_position[E_AXIS] -= 10;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(800 / 60, active_extruder);
 		current_position[E_AXIS] += 10;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(800 / 60, active_extruder);
 		current_position[E_AXIS] -= 10;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(800 / 60, active_extruder);
 		st_synchronize();
 	}
 	else {
 		//ABS
 		max_feedrate[E_AXIS] = 50;
 		//current_position[E_AXIS] -= 8;
-		//plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
+		//plan_buffer_line_curposXYZE(2100 / 60, active_extruder);
 		//current_position[E_AXIS] += 8;
-		//plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2100 / 60, active_extruder);
+		//plan_buffer_line_curposXYZE(2100 / 60, active_extruder);
 		current_position[E_AXIS] += 3.1;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2000 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(2000 / 60, active_extruder);
 		current_position[E_AXIS] += 3.1;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2500 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(2500 / 60, active_extruder);
 		current_position[E_AXIS] += 4;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
 		st_synchronize();
 		//current_position[X_AXIS] += 23; //delay
-		//plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600/60, active_extruder); //delay
+		//plan_buffer_line_curposXYZE(600/60, active_extruder); //delay
 		//current_position[X_AXIS] -= 23; //delay
-		//plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600/60, active_extruder); //delay
+		//plan_buffer_line_curposXYZE(600/60, active_extruder); //delay
 		_delay(4700);
 		max_feedrate[E_AXIS] = 80;
 		current_position[E_AXIS] -= 92;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 9900 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(9900 / 60, active_extruder);
 		max_feedrate[E_AXIS] = 50;//tmp[E_AXIS];
 		current_position[E_AXIS] -= 5;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 800 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(800 / 60, active_extruder);
 		current_position[E_AXIS] += 5;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(400 / 60, active_extruder);
 		current_position[E_AXIS] -= 5;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(600 / 60, active_extruder);
 		st_synchronize();
 		current_position[E_AXIS] += 5;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(600 / 60, active_extruder);
 		current_position[E_AXIS] -= 5;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(600 / 60, active_extruder);
 		current_position[E_AXIS] += 5;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(600 / 60, active_extruder);
 		current_position[E_AXIS] -= 5;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(600 / 60, active_extruder);
 		st_synchronize();
 
 	}
@@ -2491,7 +2491,7 @@ static void gcode_G28(bool home_x_axis, long home_x_value, bool home_y_axis, lon
 	if (home_all_axes) {
 		current_position[Z_AXIS] += MESH_HOME_Z_SEARCH;
 		feedrate = homing_feedrate[Z_AXIS];
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate / 60, active_extruder);
+		plan_buffer_line_curposXYZE(feedrate / 60, active_extruder);
 		st_synchronize();
 	}
 #ifdef ENABLE_AUTO_BED_LEVELING
@@ -2809,7 +2809,7 @@ bool gcode_M45(bool onlyZ, int8_t verbosity_level)
 	enable_endstops(false);
 	current_position[X_AXIS] += 5;
 	current_position[Y_AXIS] += 5;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS] / 40, active_extruder);
+	plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40, active_extruder);
 	st_synchronize();
 
 	// Let the user move the Z axes up to the end stoppers.
@@ -2859,7 +2859,7 @@ bool gcode_M45(bool onlyZ, int8_t verbosity_level)
 			
 		bool endstops_enabled  = enable_endstops(false);
         current_position[Z_AXIS] -= 1; //move 1mm down with disabled endstop
-        plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS] / 40, active_extruder);
+        plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40, active_extruder);
         st_synchronize();
 
 		// Move the print head close to the bed.
@@ -2870,7 +2870,7 @@ bool gcode_M45(bool onlyZ, int8_t verbosity_level)
 		tmc2130_home_enter(Z_AXIS_MASK);
 #endif //TMC2130
 
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS] / 40, active_extruder);
+		plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40, active_extruder);
 
 		st_synchronize();
 #ifdef TMC2130
@@ -2910,7 +2910,7 @@ bool gcode_M45(bool onlyZ, int8_t verbosity_level)
 				clean_up_after_endstop_move(l_feedmultiply);
 				// Print head up.
 				current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
-				plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS] / 40, active_extruder);
+				plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40, active_extruder);
 				st_synchronize();
 //#ifndef NEW_XYZCAL
 				if (result >= 0)
@@ -2930,7 +2930,7 @@ bool gcode_M45(bool onlyZ, int8_t verbosity_level)
 					clean_up_after_endstop_move(l_feedmultiply);
 					// Print head up.
 					current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
-					plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS] / 40, active_extruder);
+					plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40, active_extruder);
 					st_synchronize();
 					// if (result >= 0) babystep_apply();					
 					#endif //HEATBED_V2
@@ -3040,21 +3040,18 @@ static void gcode_M600(bool automatic, float x_position, float y_position, float
 
     //Retract E
     current_position[E_AXIS] += e_shift;
-    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
-            current_position[E_AXIS], FILAMENTCHANGE_RFEED, active_extruder);
+    plan_buffer_line_curposXYZE(FILAMENTCHANGE_RFEED, active_extruder);
     st_synchronize();
 
     //Lift Z
     current_position[Z_AXIS] += z_shift;
-    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
-            current_position[E_AXIS], FILAMENTCHANGE_ZFEED, active_extruder);
+    plan_buffer_line_curposXYZE(FILAMENTCHANGE_ZFEED, active_extruder);
     st_synchronize();
 
     //Move XY to side
     current_position[X_AXIS] = x_position;
     current_position[Y_AXIS] = y_position;
-    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
-            current_position[E_AXIS], FILAMENTCHANGE_XYFEED, active_extruder);
+    plan_buffer_line_curposXYZE(FILAMENTCHANGE_XYFEED, active_extruder);
     st_synchronize();
 
     //Beep, manage nozzle heater and wait for user to start unload filament
@@ -3079,8 +3076,7 @@ static void gcode_M600(bool automatic, float x_position, float y_position, float
 			lcd_set_cursor(0, 2);
 			lcd_puts_P(_T(MSG_PLEASE_WAIT));
 			current_position[X_AXIS] -= 100;
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
-				current_position[E_AXIS], FILAMENTCHANGE_XYFEED, active_extruder);
+			plan_buffer_line_curposXYZE(FILAMENTCHANGE_XYFEED, active_extruder);
 			st_synchronize();
 			lcd_show_fullscreen_message_and_wait_P(_i("Please open idler and remove filament manually."));////MSG_CHECK_IDLER c=20 r=4
         }
@@ -3117,8 +3113,7 @@ static void gcode_M600(bool automatic, float x_position, float y_position, float
     if (!automatic)
     {
         current_position[E_AXIS] += FILAMENTCHANGE_RECFEED;
-        plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
-                current_position[E_AXIS], FILAMENTCHANGE_EXFEED, active_extruder);
+        plan_buffer_line_curposXYZE(FILAMENTCHANGE_EXFEED, active_extruder);
     }
 
     //Move XY back
@@ -3185,12 +3180,12 @@ void gcode_M701()
 
 		lcd_setstatuspgm(_T(MSG_LOADING_FILAMENT));
 		current_position[E_AXIS] += 40;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400 / 60, active_extruder); //fast sequence
+		plan_buffer_line_curposXYZE(400 / 60, active_extruder); //fast sequence
 		st_synchronize();
 
 		marlin_rise_z();
 		current_position[E_AXIS] += 30;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400 / 60, active_extruder); //fast sequence
+		plan_buffer_line_curposXYZE(400 / 60, active_extruder); //fast sequence
 		
 		load_filament_final_feed(); //slow sequence
 		st_synchronize();
@@ -4389,15 +4384,15 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
 			if (result)
 			{
 				current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
-				plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
+				plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
 				current_position[Z_AXIS] = 50;
 				current_position[Y_AXIS] = 180;
-				plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
+				plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
 				st_synchronize();
 				lcd_show_fullscreen_message_and_wait_P(_T(MSG_REMOVE_STEEL_SHEET));
 				current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
 				current_position[X_AXIS] = pgm_read_float(bed_ref_points_4);
-				plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
+				plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
 				st_synchronize();
 				gcode_G28(false, false, true);
 
@@ -4405,7 +4400,7 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
 			if ((current_temperature_pinda > 35) && (farm_mode == false)) {
 				//waiting for PIDNA probe to cool down in case that we are not in farm mode
 				current_position[Z_AXIS] = 100;
-				plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
+				plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
 				if (lcd_wait_for_pinda(35) == false) { //waiting for PINDA probe to cool, if this takes more then time expected, temp. cal. fails
 					lcd_temp_cal_show_result(false);
 					break;
@@ -4429,12 +4424,12 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
 			custom_message_state = 1;
 			lcd_setstatuspgm(_T(MSG_TEMP_CALIBRATION));
 			current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
+			plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
 			current_position[X_AXIS] = PINDA_PREHEAT_X;
 			current_position[Y_AXIS] = PINDA_PREHEAT_Y;
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
+			plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
 			current_position[Z_AXIS] = PINDA_PREHEAT_Z;
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
+			plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
 			st_synchronize();
 
 			while (current_temperature_pinda < start_temp)
@@ -4446,10 +4441,10 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
 			eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0); //invalidate temp. calibration in case that in will be aborted during the calibration process 
 
 			current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
+			plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
 			current_position[X_AXIS] = pgm_read_float(bed_ref_points_4);
 			current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
+			plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
 			st_synchronize();
 
 			bool find_z_result = find_bed_induction_sensor_point_z(-1.f);
@@ -4477,12 +4472,12 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
 				setTargetBed(50 + 10 * (temp - 30) / 5);
 //				setTargetHotend(255, 0);
 				current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
-				plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
+				plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
 				current_position[X_AXIS] = PINDA_PREHEAT_X;
 				current_position[Y_AXIS] = PINDA_PREHEAT_Y;
-				plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
+				plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
 				current_position[Z_AXIS] = PINDA_PREHEAT_Z;
-				plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
+				plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
 				st_synchronize();
 				while (current_temperature_pinda < temp)
 				{
@@ -4490,10 +4485,10 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
 					serialecho_temperatures();
 				}
 				current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
-				plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
+				plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
 				current_position[X_AXIS] = pgm_read_float(bed_ref_points_4);
 				current_position[Y_AXIS] = pgm_read_float(bed_ref_points_4 + 1);
-				plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
+				plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
 				st_synchronize();
 				find_z_result = find_bed_induction_sensor_point_z(-1.f);
 				if (find_z_result == false) {
@@ -4533,7 +4528,7 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
 		current_position[X_AXIS] = PINDA_PREHEAT_X;
 		current_position[Y_AXIS] = PINDA_PREHEAT_Y;
 		current_position[Z_AXIS] = PINDA_PREHEAT_Z;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
 		st_synchronize();
 		
 		while (abs(degBed() - PINDA_MIN_T) > 1) {
@@ -4549,11 +4544,11 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
 		eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, 0); //invalidate temp. calibration in case that in will be aborted during the calibration process 
 
 		current_position[Z_AXIS] = 5;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
 
 		current_position[X_AXIS] = BED_X0;
 		current_position[Y_AXIS] = BED_Y0;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
+		plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
 		st_synchronize();
 		
 		find_bed_induction_sensor_point_z(-1.f);
@@ -4570,7 +4565,7 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
 			current_position[X_AXIS] = PINDA_PREHEAT_X;
 			current_position[Y_AXIS] = PINDA_PREHEAT_Y;
 			current_position[Z_AXIS] = PINDA_PREHEAT_Z;
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
+			plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
 			st_synchronize();
 			while (degBed() < t_c) {
 				delay_keep_alive(1000);
@@ -4581,10 +4576,10 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
 				serialecho_temperatures();
 			}
 			current_position[Z_AXIS] = 5;
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
+			plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
 			current_position[X_AXIS] = BED_X0;
 			current_position[Y_AXIS] = BED_Y0;
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
+			plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
 			st_synchronize();
 			find_bed_induction_sensor_point_z(-1.f);
 			z_shift = (int)((current_position[Z_AXIS] - zero_z)*cs.axis_steps_per_unit[Z_AXIS]);
@@ -4725,7 +4720,7 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
 		// Cycle through all points and probe them
 		// First move up. During this first movement, the babystepping will be reverted.
 		current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS] / 60, active_extruder);
+		plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 60, active_extruder);
 		// The move to the first calibration point.
 		current_position[X_AXIS] = BED_X0;
 		current_position[Y_AXIS] = BED_Y0;
@@ -4740,7 +4735,7 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
 			world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
 		#endif //SUPPORT_VERBOSITY
 
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[X_AXIS] / 30, active_extruder);
+		plan_buffer_line_curposXYZE(homing_feedrate[X_AXIS] / 30, active_extruder);
 		// Wait until the move is finished.
 		st_synchronize();
 
@@ -4792,7 +4787,7 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
 			if((ix == 0) && (iy == 0)) current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
 			else current_position[Z_AXIS] += 2.f / nMeasPoints; //use relative movement from Z coordinate where PINDa triggered on previous point. This makes calibration faster.
 			float init_z_bckp = current_position[Z_AXIS];
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
+			plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE, active_extruder);
 			st_synchronize();
 
 			// Move to XY position of the sensor point.
@@ -4813,7 +4808,7 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
 			#endif // SUPPORT_VERBOSITY
 
 			//printf_P(PSTR("after clamping: [%f;%f]\n"), current_position[X_AXIS], current_position[Y_AXIS]);
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], XY_AXIS_FEEDRATE, active_extruder);
+			plan_buffer_line_curposXYZE(XY_AXIS_FEEDRATE, active_extruder);
 			st_synchronize();
 
 			// Go down until endstop is hit
@@ -4825,7 +4820,7 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
 			if (init_z_bckp - current_position[Z_AXIS] < 0.1f) { //broken cable or initial Z coordinate too low. Go to MESH_HOME_Z_SEARCH and repeat last step (z-probe) again to distinguish between these two cases.
 				//printf_P(PSTR("Another attempt! Current Z position: %f\n"), current_position[Z_AXIS]);
 				current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
-				plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
+				plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE, active_extruder);
 				st_synchronize();
 
 				if (!find_bed_induction_sensor_point_z((has_z && mesh_point > 0) ? z0 - Z_CALIBRATION_THRESHOLD : -10.f, nProbeRetry)) { //if we have data from z calibration max allowed difference is 1mm for each point, if we dont have data max difference is 10mm from initial point  
@@ -4880,7 +4875,7 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
 			MYSERIAL.print(current_position[Z_AXIS], 5);
 		}
 		#endif // SUPPORT_VERBOSITY
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
+		plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE, active_extruder);
 		st_synchronize();
 		if (mesh_point != nMeasPoints * nMeasPoints) {
                Sound_MakeSound(e_SOUND_TYPE_StandardAlert);
@@ -4897,14 +4892,14 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
                     // ~ Z-homing (can not be used "G28", because X & Y-homing would have been done before (Z-homing))
                     bState=enable_z_endstop(false);
                     current_position[Z_AXIS] -= 1;
-                    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS] / 40, active_extruder);
+                    plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40, active_extruder);
                     st_synchronize();
                     enable_z_endstop(true);
 #ifdef TMC2130
                     tmc2130_home_enter(Z_AXIS_MASK);
 #endif // TMC2130
                     current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
-                    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS] / 40, active_extruder);
+                    plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 40, active_extruder);
                     st_synchronize();
 #ifdef TMC2130
                     tmc2130_home_exit();
@@ -5037,7 +5032,7 @@ if(eSoundMode!=e_SOUND_MODE_SILENT)
 		//unretract (after PINDA preheat retraction)
 		if (degHotend(active_extruder) > EXTRUDE_MINTEMP && temp_cal_active == true && calibration_status_pinda() == true && target_temperature_bed >= 50) {
 			current_position[E_AXIS] += default_retraction;
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
+			plan_buffer_line_curposXYZE(400, active_extruder);
 		}
 		KEEPALIVE_STATE(NOT_BUSY);
 		// Restore custom message state
@@ -9022,7 +9017,7 @@ void bed_check(float x_dimension, float y_dimension, int x_points_num, int y_poi
 	card.openFile(filename_wldsd, false);
 
 	/*destination[Z_AXIS] = mesh_home_z_search;
-	//plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
+	//plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE, active_extruder);
 
 	plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
 	for(int8_t i=0; i < NUM_AXIS; i++) {
@@ -9056,7 +9051,7 @@ void bed_check(float x_dimension, float y_dimension, int x_points_num, int y_poi
 		if (iy & 1) ix = (x_points_num - 1) - ix; // Zig zag
 		float z0 = 0.f;
 		/*destination[Z_AXIS] = mesh_home_z_search;
-		//plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
+		//plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE, active_extruder);
 
 		plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
 		for(int8_t i=0; i < NUM_AXIS; i++) {
@@ -9220,7 +9215,7 @@ void bed_analysis(float x_dimension, float y_dimension, int x_points_num, int y_
 	card.openFile(filename_wldsd, false);
 
 	current_position[Z_AXIS] = mesh_home_z_search;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS] / 60, active_extruder);
+	plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 60, active_extruder);
 
 	int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
 	int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
@@ -9245,14 +9240,14 @@ void bed_analysis(float x_dimension, float y_dimension, int x_points_num, int y_
 		if (iy & 1) ix = (x_points_num - 1) - ix; // Zig zag
 		float z0 = 0.f;
 		current_position[Z_AXIS] = mesh_home_z_search;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
+		plan_buffer_line_curposXYZE(Z_LIFT_FEEDRATE, active_extruder);
 		st_synchronize();
 
 
 		current_position[X_AXIS] = 13.f + ix * (x_dimension / (x_points_num - 1)) - bed_zero_ref_x + shift_x;
 		current_position[Y_AXIS] = 6.4f + iy * (y_dimension / (y_points_num - 1)) - bed_zero_ref_y + shift_y;
 
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], XY_AXIS_FEEDRATE, active_extruder);
+		plan_buffer_line_curposXYZE(XY_AXIS_FEEDRATE, active_extruder);
 		st_synchronize();
 
 		if (!find_bed_induction_sensor_point_z(-10.f)) { //if we have data from z calibration max allowed difference is 1mm for each point, if we dont have data max difference is 10mm from initial point  
@@ -9366,12 +9361,12 @@ void temp_compensation_start() {
 	if (degHotend(active_extruder) > EXTRUDE_MINTEMP) {
 		current_position[E_AXIS] -= default_retraction;
 	}
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
+	plan_buffer_line_curposXYZE(400, active_extruder);
 	
 	current_position[X_AXIS] = PINDA_PREHEAT_X;
 	current_position[Y_AXIS] = PINDA_PREHEAT_Y;
 	current_position[Z_AXIS] = PINDA_PREHEAT_Z;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
+	plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
 	st_synchronize();
 	while (fabs(degBed() - target_temperature_bed) > 1) delay_keep_alive(1000);
 
@@ -9492,17 +9487,17 @@ void long_pause() //long pause print
 
 	//retract
 	current_position[E_AXIS] -= default_retraction;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
+	plan_buffer_line_curposXYZE(400, active_extruder);
 
 	//lift z
 	current_position[Z_AXIS] += Z_PAUSE_LIFT;
 	if (current_position[Z_AXIS] > Z_MAX_POS) current_position[Z_AXIS] = Z_MAX_POS;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 15, active_extruder);
+	plan_buffer_line_curposXYZE(15, active_extruder);
 
 	//Move XY to side
 	current_position[X_AXIS] = X_PAUSE_POS;
 	current_position[Y_AXIS] = Y_PAUSE_POS;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 50, active_extruder);
+	plan_buffer_line_curposXYZE(50, active_extruder);
 
 	// Turn off the print fan
 	fanSpeed = 0;
@@ -9654,7 +9649,7 @@ void uvlo_()
 #if 0
     // Move the print head to the side of the print until all the power stored in the power supply capacitors is depleted.
     current_position[X_AXIS] = (current_position[X_AXIS] < 0.5f * (X_MIN_POS + X_MAX_POS)) ? X_MIN_POS : X_MAX_POS;
-    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 500, active_extruder);
+    plan_buffer_line_curposXYZE(500, active_extruder);
     st_synchronize();
 #endif
 wdt_enable(WDTO_500MS);
@@ -10290,7 +10285,7 @@ static void print_time_remaining_init()
 void load_filament_final_feed()
 {
 	current_position[E_AXIS]+= FILAMENTCHANGE_FINALFEED;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_EFEED_FINAL, active_extruder);
+	plan_buffer_line_curposXYZE(FILAMENTCHANGE_EFEED_FINAL, active_extruder);
 }
 
 //! @brief Wait for user to check the state
@@ -10420,22 +10415,22 @@ void M600_load_filament_movements()
 	do
 	{
 		current_position[E_AXIS] += 0.002;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 500, active_extruder);
+		plan_buffer_line_curposXYZE(500, active_extruder);
 		delay_keep_alive(2);
 	}
 	while (!lcd_clicked());
 	st_synchronize();
 	current_position[E_AXIS] += bowden_length[mmu_extruder];
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000, active_extruder);
+	plan_buffer_line_curposXYZE(3000, active_extruder);
 	current_position[E_AXIS] += FIL_LOAD_LENGTH - 60;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1400, active_extruder);
+	plan_buffer_line_curposXYZE(1400, active_extruder);
 	current_position[E_AXIS] += 40;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 400, active_extruder);
+	plan_buffer_line_curposXYZE(400, active_extruder);
 	current_position[E_AXIS] += 10;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 50, active_extruder);
+	plan_buffer_line_curposXYZE(50, active_extruder);
 #else
 	current_position[E_AXIS]+= FILAMENTCHANGE_FIRSTFEED ;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], FILAMENTCHANGE_EFEED_FIRST, active_extruder); 
+	plan_buffer_line_curposXYZE(FILAMENTCHANGE_EFEED_FIRST, active_extruder); 
 #endif                
 	load_filament_final_feed();
 	lcd_loading_filament();

Firmware/mesh_bed_calibration.cpp

@@ -919,7 +919,7 @@ static inline void go_xy(float x, float y, float fr)
 
 static inline void go_to_current(float fr)
 {
-    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], fr, active_extruder);
+    plan_buffer_line_curposXYZE(fr, active_extruder);
     st_synchronize();
 }
 
@@ -2769,7 +2769,7 @@ bool sample_z() {
 	//make space
 	current_position[Z_AXIS] += 150;
 	go_to_current(homing_feedrate[Z_AXIS] / 60);
-	//plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate, active_extruder););
+	//plan_buffer_line_curposXYZE(feedrate, active_extruder););
 
 	lcd_show_fullscreen_message_and_wait_P(_T(MSG_PLACE_STEEL_SHEET));
 

Firmware/mmu.cpp

@@ -537,7 +537,7 @@ void mmu_command(MmuCmd cmd)
 void mmu_load_step(bool synchronize)
 {
 		current_position[E_AXIS] = current_position[E_AXIS] + MMU_LOAD_FEEDRATE * 0.1;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], MMU_LOAD_FEEDRATE, active_extruder);
+		plan_buffer_line_curposXYZE(MMU_LOAD_FEEDRATE, active_extruder);
 		if (synchronize) st_synchronize();
 }
 
@@ -602,7 +602,7 @@ bool mmu_get_response(uint8_t move)
 				    {
                         printf_P(PSTR("Unload 1\n"));
                         current_position[E_AXIS] = current_position[E_AXIS] - MMU_LOAD_FEEDRATE * MMU_LOAD_TIME_MS*0.001;
-                        plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], MMU_LOAD_FEEDRATE, active_extruder);
+                        plan_buffer_line_curposXYZE(MMU_LOAD_FEEDRATE, active_extruder);
                         st_synchronize();
 				    }
 				}
@@ -620,7 +620,7 @@ bool mmu_get_response(uint8_t move)
                     {
                         printf_P(PSTR("Unload 2\n"));
                         current_position[E_AXIS] = current_position[E_AXIS] - MMU_LOAD_FEEDRATE * MMU_LOAD_TIME_MS*0.001;
-                        plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], MMU_LOAD_FEEDRATE, active_extruder);
+                        plan_buffer_line_curposXYZE(MMU_LOAD_FEEDRATE, active_extruder);
                         st_synchronize();
                     }
 				}
@@ -698,13 +698,13 @@ void manage_response(bool move_axes, bool turn_off_nozzle, uint8_t move)
 					  //lift z
 					  current_position[Z_AXIS] += Z_PAUSE_LIFT;
 					  if (current_position[Z_AXIS] > Z_MAX_POS) current_position[Z_AXIS] = Z_MAX_POS;
-					  plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 15, active_extruder);
+					  plan_buffer_line_curposXYZE(15, active_extruder);
 					  st_synchronize();
 					  					  
 					  //Move XY to side
 					  current_position[X_AXIS] = X_PAUSE_POS;
 					  current_position[Y_AXIS] = Y_PAUSE_POS;
-					  plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 50, active_extruder);
+					  plan_buffer_line_curposXYZE(50, active_extruder);
 					  st_synchronize();
 				  }
 				  if (turn_off_nozzle) {
@@ -762,10 +762,10 @@ void manage_response(bool move_axes, bool turn_off_nozzle, uint8_t move)
 				  lcd_display_message_fullscreen_P(_i("MMU OK. Resuming position..."));
 				  current_position[X_AXIS] = x_position_bckp;
 				  current_position[Y_AXIS] = y_position_bckp;
-				  plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 50, active_extruder);
+				  plan_buffer_line_curposXYZE(50, active_extruder);
 				  st_synchronize();
 				  current_position[Z_AXIS] = z_position_bckp;
-				  plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 15, active_extruder);
+				  plan_buffer_line_curposXYZE(15, active_extruder);
 				  st_synchronize();
 			  }
 			  else {
@@ -804,19 +804,19 @@ void mmu_load_to_nozzle()
 		current_position[E_AXIS] += 7.2f;
 	}
     float feedrate = 562;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate / 60, active_extruder);
+	plan_buffer_line_curposXYZE(feedrate / 60, active_extruder);
     st_synchronize();
 	current_position[E_AXIS] += 14.4f;
 	feedrate = 871;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate / 60, active_extruder);
+	plan_buffer_line_curposXYZE(feedrate / 60, active_extruder);
     st_synchronize();
 	current_position[E_AXIS] += 36.0f;
 	feedrate = 1393;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate / 60, active_extruder);
+	plan_buffer_line_curposXYZE(feedrate / 60, active_extruder);
     st_synchronize();
 	current_position[E_AXIS] += 14.4f;
 	feedrate = 871;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate / 60, active_extruder);
+	plan_buffer_line_curposXYZE(feedrate / 60, active_extruder);
     st_synchronize();
 	if (!saved_e_relative_mode) axis_relative_modes[E_AXIS] = false;
 }
@@ -903,7 +903,7 @@ void extr_mov(float shift, float feed_rate)
 { //move extruder no matter what the current heater temperature is
 	set_extrude_min_temp(.0);
 	current_position[E_AXIS] += shift;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feed_rate, active_extruder);
+	plan_buffer_line_curposXYZE(feed_rate, active_extruder);
 	set_extrude_min_temp(EXTRUDE_MINTEMP);
 }
 #endif //SNMM
@@ -1069,8 +1069,7 @@ void mmu_filament_ramming()
     for(uint8_t i = 0; i < (sizeof(ramming_sequence)/sizeof(E_step));++i)
     {
         current_position[E_AXIS] += pgm_read_float(&(ramming_sequence[i].extrude));
-        plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
-                current_position[E_AXIS], pgm_read_float(&(ramming_sequence[i].feed_rate)), active_extruder);
+        plan_buffer_line_curposXYZE(pgm_read_float(&(ramming_sequence[i].feed_rate)), active_extruder);
         st_synchronize();
     }
 }
@@ -1140,39 +1139,39 @@ void extr_unload()
 		lcd_set_cursor(0, 2); lcd_puts_P(_T(MSG_PLEASE_WAIT));
 		if (current_position[Z_AXIS] < 15) {
 			current_position[Z_AXIS] += 15; //lifting in Z direction to make space for extrusion
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 25, active_extruder);
+			plan_buffer_line_curposXYZE(25, active_extruder);
 		}
 		
 		current_position[E_AXIS] += 10; //extrusion
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 10, active_extruder);
+		plan_buffer_line_curposXYZE(10, active_extruder);
 		st_current_set(2, E_MOTOR_HIGH_CURRENT);
 		if (current_temperature[0] < 230) { //PLA & all other filaments
 			current_position[E_AXIS] += 5.4;
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2800 / 60, active_extruder);
+			plan_buffer_line_curposXYZE(2800 / 60, active_extruder);
 			current_position[E_AXIS] += 3.2;
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
+			plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
 			current_position[E_AXIS] += 3;
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3400 / 60, active_extruder);
+			plan_buffer_line_curposXYZE(3400 / 60, active_extruder);
 		}
 		else { //ABS
 			current_position[E_AXIS] += 3.1;
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2000 / 60, active_extruder);
+			plan_buffer_line_curposXYZE(2000 / 60, active_extruder);
 			current_position[E_AXIS] += 3.1;
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2500 / 60, active_extruder);
+			plan_buffer_line_curposXYZE(2500 / 60, active_extruder);
 			current_position[E_AXIS] += 4;
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 3000 / 60, active_extruder);
+			plan_buffer_line_curposXYZE(3000 / 60, active_extruder);
 			/*current_position[X_AXIS] += 23; //delay
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder); //delay
+			plan_buffer_line_curposXYZE(600 / 60, active_extruder); //delay
 			current_position[X_AXIS] -= 23; //delay
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 600 / 60, active_extruder); //delay*/
+			plan_buffer_line_curposXYZE(600 / 60, active_extruder); //delay*/
 			delay_keep_alive(4700);
 		}
 	
 		max_feedrate[E_AXIS] = 80;
 		current_position[E_AXIS] -= (bowden_length[mmu_extruder] + 60 + FIL_LOAD_LENGTH) / 2;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 500, active_extruder);
+		plan_buffer_line_curposXYZE(500, active_extruder);
 		current_position[E_AXIS] -= (bowden_length[mmu_extruder] + 60 + FIL_LOAD_LENGTH) / 2;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 500, active_extruder);
+		plan_buffer_line_curposXYZE(500, active_extruder);
 		st_synchronize();
 		//st_current_init();
 		if (SilentMode != SILENT_MODE_OFF) st_current_set(2, tmp_motor[2]); //set back to normal operation currents
@@ -1465,11 +1464,9 @@ bFilamentAction=false;                            // NOT in "mmu_fil_eject_menu(
 static bool can_load()
 {
     current_position[E_AXIS] += 60;
-    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
-            current_position[E_AXIS], MMU_LOAD_FEEDRATE, active_extruder);
+    plan_buffer_line_curposXYZE(MMU_LOAD_FEEDRATE, active_extruder);
     current_position[E_AXIS] -= 52;
-    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
-            current_position[E_AXIS], MMU_LOAD_FEEDRATE, active_extruder);
+    plan_buffer_line_curposXYZE(MMU_LOAD_FEEDRATE, active_extruder);
     st_synchronize();
 
     uint_least8_t filament_detected_count = 0;
@@ -1479,8 +1476,7 @@ static bool can_load()
     for(uint_least8_t i = 0; i < steps; ++i)
     {
         current_position[E_AXIS] -= e_increment;
-        plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
-                current_position[E_AXIS], MMU_LOAD_FEEDRATE, active_extruder);
+        plan_buffer_line_curposXYZE(MMU_LOAD_FEEDRATE, active_extruder);
         st_synchronize();
         if(0 == PIN_GET(IR_SENSOR_PIN))
         {
@@ -1601,13 +1597,13 @@ void mmu_continue_loading(bool blocking)
             //lift z
             current_position[Z_AXIS] += Z_PAUSE_LIFT;
             if (current_position[Z_AXIS] > Z_MAX_POS) current_position[Z_AXIS] = Z_MAX_POS;
-            plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 15, active_extruder);
+            plan_buffer_line_curposXYZE(15, active_extruder);
             st_synchronize();
 
             //Move XY to side
             current_position[X_AXIS] = X_PAUSE_POS;
             current_position[Y_AXIS] = Y_PAUSE_POS;
-            plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 50, active_extruder);
+            plan_buffer_line_curposXYZE(50, active_extruder);
             st_synchronize();
 
             mmu_command(MmuCmd::U0);

Firmware/planner.cpp

@@ -651,11 +651,15 @@ void planner_abort_hard()
     waiting_inside_plan_buffer_line_print_aborted = true;
 }
 
+void plan_buffer_line_curposXYZE(float feed_rate, uint8_t extruder) { 
+	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feed_rate, extruder );
+}
+
 float junction_deviation = 0.1;
 // Add a new linear movement to the buffer. steps_x, _y and _z is the absolute position in 
 // mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration
 // calculation the caller must also provide the physical length of the line in millimeters.
-void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const uint8_t &extruder)
+void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, uint8_t extruder)
 {
     // Calculate the buffer head after we push this byte
   int next_buffer_head = next_block_index(block_buffer_head);

Firmware/planner.h

@@ -140,7 +140,14 @@ void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate
 // Get the position applying the bed level matrix if enabled
 vector_3 plan_get_position();
 #else
-void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const uint8_t &extruder);
+
+/// Extracting common call of 
+/// plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], ...
+/// saves almost 5KB.
+/// The performance penalty is negligible, since these planned lines are usually maintenance moves with the extruder.
+void plan_buffer_line_curposXYZE(float feed_rate, uint8_t extruder);
+
+void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, uint8_t extruder);
 //void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder);
 #endif // ENABLE_AUTO_BED_LEVELING
 

Firmware/ultralcd.cpp

@@ -2904,7 +2904,7 @@ static void _lcd_move(const char *name, int axis, int min, int max)
 			if (max_software_endstops && current_position[axis] > max) current_position[axis] = max;
 			lcd_encoder = 0;
 			world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], manual_feedrate[axis] / 60, active_extruder);
+			plan_buffer_line_curposXYZE(manual_feedrate[axis] / 60, active_extruder);
 			lcd_draw_update = 1;
 		}
 	}
@@ -2929,7 +2929,7 @@ static void lcd_move_e()
 			{
 				current_position[E_AXIS] += float((int)lcd_encoder) * move_menu_scale;
 				lcd_encoder = 0;
-				plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], manual_feedrate[E_AXIS] / 60, active_extruder);
+				plan_buffer_line_curposXYZE(manual_feedrate[E_AXIS] / 60, active_extruder);
 				lcd_draw_update = 1;
 			}
 		}
@@ -3428,7 +3428,7 @@ bool lcd_calibrate_z_end_stop_manual(bool only_z)
                     // Only move up, whatever direction the user rotates the encoder.
                     current_position[Z_AXIS] += fabs(lcd_encoder);
                     lcd_encoder = 0;
-                    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], manual_feedrate[Z_AXIS] / 60, active_extruder);
+                    plan_buffer_line_curposXYZE(manual_feedrate[Z_AXIS] / 60, active_extruder);
                 }
             }
             if (lcd_clicked()) {
@@ -4621,7 +4621,7 @@ void lcd_calibrate_pinda() {
 		
 		lcd_set_cursor(0, 1); lcd_puts_P(_T(MSG_PLEASE_WAIT));
 		current_position[E_AXIS] += e_shift_calibration;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate, active_extruder);
+		plan_buffer_line_curposXYZE(feedrate, active_extruder);
 		st_synchronize();
 
 		lcd_display_message_fullscreen_P(msg_e_cal_knob);
@@ -4644,7 +4644,7 @@ void lcd_calibrate_pinda() {
 				if (!planner_queue_full()) {
 					current_position[E_AXIS] += float(abs((int)lcd_encoder)) * 0.01; //0.05
 					lcd_encoder = 0;
-					plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate, active_extruder);
+					plan_buffer_line_curposXYZE(feedrate, active_extruder);
 					
 				}
 			}	
@@ -4764,7 +4764,7 @@ void lcd_language()
 static void wait_preheat()
 {
     current_position[Z_AXIS] = 100; //move in z axis to make space for loading filament
-    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS] / 60, active_extruder);
+    plan_buffer_line_curposXYZE(homing_feedrate[Z_AXIS] / 60, active_extruder);
     delay_keep_alive(2000);
     lcd_display_message_fullscreen_P(_T(MSG_WIZARD_HEATING));
 	lcd_set_custom_characters();
@@ -6218,13 +6218,13 @@ void unload_filament()
 	//		extr_unload2();
 
 	current_position[E_AXIS] -= 45;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 5200 / 60, active_extruder);
+	plan_buffer_line_curposXYZE(5200 / 60, active_extruder);
 	st_synchronize();
 	current_position[E_AXIS] -= 15;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1000 / 60, active_extruder);
+	plan_buffer_line_curposXYZE(1000 / 60, active_extruder);
 	st_synchronize();
 	current_position[E_AXIS] -= 20;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 1000 / 60, active_extruder);
+	plan_buffer_line_curposXYZE(1000 / 60, active_extruder);
 	st_synchronize();
 
 	lcd_display_message_fullscreen_P(_T(MSG_PULL_OUT_FILAMENT));
@@ -7308,7 +7308,7 @@ bool lcd_selftest()
 		//homeaxis(X_AXIS);
 		//homeaxis(Y_AXIS);
 		current_position[Z_AXIS] = current_position[Z_AXIS] + 10;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
+		plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder);
 		st_synchronize();
 		_progress = lcd_selftest_screen(TestScreen::AxisZ, _progress, 3, true, 1500);
 		_result = lcd_selfcheck_axis(2, Z_MAX_POS);
@@ -7322,7 +7322,7 @@ bool lcd_selftest()
 	if (_result)
 	{
 		current_position[Z_AXIS] = current_position[Z_AXIS] + 10;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
+		plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder);
 		st_synchronize();
 		_progress = lcd_selftest_screen(TestScreen::Home, 0, 2, true, 0);
 		bool bres = tmc2130_home_calibrate(X_AXIS);
@@ -7406,7 +7406,7 @@ bool lcd_selftest()
 
 static void reset_crash_det(unsigned char axis) {
 	current_position[axis] += 10;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
+	plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder);
 	st_synchronize();
 	if (eeprom_read_byte((uint8_t*)EEPROM_CRASH_DET)) tmc2130_sg_stop_on_crash = true;
 }
@@ -7430,7 +7430,7 @@ static bool lcd_selfcheck_axis_sg(unsigned char axis) {
 	if (axis == X_AXIS) { //there is collision between cables and PSU cover in X axis if Z coordinate is too low
 		
 		current_position[Z_AXIS] += 17;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
+		plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder);
 		tmc2130_home_enter(Z_AXIS_MASK);
 		st_synchronize();
 		tmc2130_home_exit();
@@ -7439,7 +7439,7 @@ static bool lcd_selfcheck_axis_sg(unsigned char axis) {
 // first axis length measurement begin	
 	
 	current_position[axis] -= (axis_length + margin);
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
+	plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder);
 
 	
 	st_synchronize();
@@ -7449,11 +7449,11 @@ static bool lcd_selfcheck_axis_sg(unsigned char axis) {
 	current_position_init = st_get_position_mm(axis);
 
 	current_position[axis] += 2 * margin;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
+	plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder);
 	st_synchronize();
 
 	current_position[axis] += axis_length;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
+	plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder);
 
 	st_synchronize();
 
@@ -7469,11 +7469,11 @@ static bool lcd_selfcheck_axis_sg(unsigned char axis) {
 
 
 	current_position[axis] -= margin;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
+	plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder);
 	st_synchronize();	
 
 	current_position[axis] -= (axis_length + margin);
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
+	plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder);
 		
 	st_synchronize();
 
@@ -7542,13 +7542,13 @@ static bool lcd_selfcheck_axis(int _axis, int _travel)
 
 	if (_axis == X_AXIS) {
 		current_position[Z_AXIS] += 17;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
+		plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder);
 	}
 
 	do {
 		current_position[_axis] = current_position[_axis] - 1;
 
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
+		plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder);
 		st_synchronize();
 #ifdef TMC2130
 		if ((READ(Z_MIN_PIN) ^ (bool)Z_MIN_ENDSTOP_INVERTING))
@@ -7602,7 +7602,7 @@ static bool lcd_selfcheck_axis(int _axis, int _travel)
 
 
 	//current_position[_axis] = current_position[_axis] + 15;
-	//plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
+	//plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder);
 
 	if (!_stepresult)
 	{
@@ -7650,17 +7650,17 @@ static bool lcd_selfcheck_pulleys(int axis)
 	current_position_init = current_position[axis];
 
 	current_position[axis] += 2;
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
+	plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder);
 	for (i = 0; i < 5; i++) {
 		refresh_cmd_timeout();
 		current_position[axis] = current_position[axis] + move;
 		st_current_set(0, 850); //set motor current higher
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], 200, active_extruder);
+		plan_buffer_line_curposXYZE(200, active_extruder);
 		st_synchronize();
           if (SilentModeMenu != SILENT_MODE_OFF) st_current_set(0, tmp_motor[0]); //set back to normal operation currents
 		else st_current_set(0, tmp_motor_loud[0]); //set motor current back			
 		current_position[axis] = current_position[axis] - move;
-		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], 50, active_extruder);
+		plan_buffer_line_curposXYZE(50, active_extruder);
 		st_synchronize();
 		if (((READ(X_MIN_PIN) ^ X_MIN_ENDSTOP_INVERTING) == 1) ||
 			((READ(Y_MIN_PIN) ^ Y_MIN_ENDSTOP_INVERTING) == 1)) {
@@ -7677,7 +7677,7 @@ static bool lcd_selfcheck_pulleys(int axis)
 			endstop_triggered = true;
 			if (current_position_init - 1 <= current_position[axis] && current_position_init + 1 >= current_position[axis]) {
 				current_position[axis] += (axis == X_AXIS) ? 13 : 9;
-				plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
+				plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder);
 				st_synchronize();
 				return(true);
 			}
@@ -7688,7 +7688,7 @@ static bool lcd_selfcheck_pulleys(int axis)
 		}
 		else {
 			current_position[axis] -= 1;
-			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
+			plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder);
 			st_synchronize();
 			if (_millis() > timeout_counter) {
 				lcd_selftest_error(TestError::Pulley, (axis == 0) ? "X" : "Y", "");
@@ -7712,7 +7712,7 @@ static bool lcd_selfcheck_endstops()
 		if ((READ(Y_MIN_PIN) ^ Y_MIN_ENDSTOP_INVERTING) == 1) current_position[1] += 10;
 		if ((READ(Z_MIN_PIN) ^ Z_MIN_ENDSTOP_INVERTING) == 1) current_position[2] += 10;
 	}
-	plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], manual_feedrate[0] / 60, active_extruder);
+	plan_buffer_line_curposXYZE(manual_feedrate[0] / 60, active_extruder);
 	_delay(500);
 
 	if (((READ(X_MIN_PIN) ^ X_MIN_ENDSTOP_INVERTING) == 1) ||