diff --git a/Marlin/src/MarlinCore.cpp b/Marlin/src/MarlinCore.cpp
index 6d78190218b..141494f20c8 100644
--- a/Marlin/src/MarlinCore.cpp
+++ b/Marlin/src/MarlinCore.cpp
@@ -977,7 +977,7 @@ void setup() {
#endif
#if HAS_Z_SERVO_PROBE
- servo_probe_init();
+ probe.servo_probe_init();
#endif
#if HAS_PHOTOGRAPH
diff --git a/Marlin/src/core/utility.cpp b/Marlin/src/core/utility.cpp
index 16d0ea17c14..14f7aa70832 100644
--- a/Marlin/src/core/utility.cpp
+++ b/Marlin/src/core/utility.cpp
@@ -83,42 +83,42 @@ void safe_delay(millis_t ms) {
#if HAS_BED_PROBE
#if !HAS_PROBE_XY_OFFSET
- SERIAL_ECHOPAIR("Probe Offset X0 Y0 Z", probe_offset.z, " (");
+ SERIAL_ECHOPAIR("Probe Offset X0 Y0 Z", probe.offset.z, " (");
#else
- SERIAL_ECHOPAIR_P(PSTR("Probe Offset X"), probe_offset.x, SP_Y_STR, probe_offset.y, SP_Z_STR, probe_offset.z);
- if (probe_offset.x > 0)
+ SERIAL_ECHOPAIR_P(PSTR("Probe Offset X"), probe.offset_xy.x, SP_Y_STR, probe.offset_xy.y, SP_Z_STR, probe.offset.z);
+ if (probe.offset_xy.x > 0)
SERIAL_ECHOPGM(" (Right");
- else if (probe_offset.x < 0)
+ else if (probe.offset_xy.x < 0)
SERIAL_ECHOPGM(" (Left");
- else if (probe_offset.y != 0)
+ else if (probe.offset_xy.y != 0)
SERIAL_ECHOPGM(" (Middle");
else
SERIAL_ECHOPGM(" (Aligned With");
- if (probe_offset.y > 0) {
+ if (probe.offset_xy.y > 0) {
#if IS_SCARA
SERIAL_ECHOPGM("-Distal");
#else
SERIAL_ECHOPGM("-Back");
#endif
}
- else if (probe_offset.y < 0) {
+ else if (probe.offset_xy.y < 0) {
#if IS_SCARA
SERIAL_ECHOPGM("-Proximal");
#else
SERIAL_ECHOPGM("-Front");
#endif
}
- else if (probe_offset.x != 0)
+ else if (probe.offset_xy.x != 0)
SERIAL_ECHOPGM("-Center");
SERIAL_ECHOPGM(" & ");
#endif
- if (probe_offset.z < 0)
+ if (probe.offset.z < 0)
SERIAL_ECHOPGM("Below");
- else if (probe_offset.z > 0)
+ else if (probe.offset.z > 0)
SERIAL_ECHOPGM("Above");
else
SERIAL_ECHOPGM("Same Z as");
diff --git a/Marlin/src/feature/bedlevel/ubl/ubl.cpp b/Marlin/src/feature/bedlevel/ubl/ubl.cpp
index adafc6a1946..8327b468a7e 100644
--- a/Marlin/src/feature/bedlevel/ubl/ubl.cpp
+++ b/Marlin/src/feature/bedlevel/ubl/ubl.cpp
@@ -173,10 +173,10 @@
serialprintPGM(csv ? PSTR("CSV:\n") : PSTR("LCD:\n"));
}
- // Add XY probe offset from extruder because probe_at_point() subtracts them when
+ // Add XY probe offset from extruder because probe.probe_at_point() subtracts them when
// moving to the XY position to be measured. This ensures better agreement between
// the current Z position after G28 and the mesh values.
- const xy_int8_t curr = closest_indexes(xy_pos_t(current_position) + probe_offset_xy);
+ const xy_int8_t curr = closest_indexes(xy_pos_t(current_position) + probe.offset_xy);
if (!lcd) SERIAL_EOL();
for (int8_t j = GRID_MAX_POINTS_Y - 1; j >= 0; j--) {
diff --git a/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp b/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp
index c8f3b45b0d9..693a4b9b238 100644
--- a/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp
+++ b/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp
@@ -450,7 +450,7 @@
SERIAL_ECHO(g29_pos.y);
SERIAL_ECHOLNPGM(").\n");
}
- const xy_pos_t near = g29_pos + probe_offset_xy;
+ const xy_pos_t near = g29_pos + probe.offset_xy;
probe_entire_mesh(near, parser.seen('T'), parser.seen('E'), parser.seen('U'));
report_current_position();
@@ -480,8 +480,8 @@
#if IS_KINEMATIC
X_HOME_POS, Y_HOME_POS
#else
- probe_offset_xy.x > 0 ? X_BED_SIZE : 0,
- probe_offset_xy.y < 0 ? Y_BED_SIZE : 0
+ probe.offset_xy.x > 0 ? X_BED_SIZE : 0,
+ probe.offset_xy.y < 0 ? Y_BED_SIZE : 0
#endif
);
}
@@ -742,7 +742,7 @@
* This attempts to fill in locations closest to the nozzle's start location first.
*/
void unified_bed_leveling::probe_entire_mesh(const xy_pos_t &near, const bool do_ubl_mesh_map, const bool stow_probe, const bool do_furthest) {
- DEPLOY_PROBE(); // Deploy before ui.capture() to allow for PAUSE_BEFORE_DEPLOY_STOW
+ probe.deploy(); // Deploy before ui.capture() to allow for PAUSE_BEFORE_DEPLOY_STOW
#if HAS_LCD_MENU
ui.capture();
@@ -768,7 +768,7 @@
ui.wait_for_release();
ui.quick_feedback();
ui.release();
- STOW_PROBE(); // Release UI before stow to allow for PAUSE_BEFORE_DEPLOY_STOW
+ probe.stow(); // Release UI before stow to allow for PAUSE_BEFORE_DEPLOY_STOW
return restore_ubl_active_state_and_leave();
}
#endif
@@ -778,7 +778,7 @@
: find_closest_mesh_point_of_type(INVALID, near, true);
if (best.pos.x >= 0) { // mesh point found and is reachable by probe
- const float measured_z = probe_at_point(
+ const float measured_z = probe.probe_at_point(
best.meshpos(),
stow_probe ? PROBE_PT_STOW : PROBE_PT_RAISE, g29_verbose_level
);
@@ -794,20 +794,20 @@
#if HAS_LCD_MENU
ui.release();
#endif
- STOW_PROBE(); // Release UI during stow to allow for PAUSE_BEFORE_DEPLOY_STOW
+ probe.stow(); // Release UI during stow to allow for PAUSE_BEFORE_DEPLOY_STOW
#if HAS_LCD_MENU
ui.capture();
#endif
#ifdef Z_AFTER_PROBING
- move_z_after_probing();
+ probe.move_z_after_probing();
#endif
restore_ubl_active_state_and_leave();
do_blocking_move_to_xy(
- constrain(near.x - probe_offset_xy.x, MESH_MIN_X, MESH_MAX_X),
- constrain(near.y - probe_offset_xy.y, MESH_MIN_Y, MESH_MAX_Y)
+ constrain(near.x - probe.offset_xy.x, MESH_MIN_X, MESH_MAX_X),
+ constrain(near.y - probe.offset_xy.y, MESH_MIN_Y, MESH_MAX_Y)
);
}
@@ -907,7 +907,7 @@
ui.return_to_status();
mesh_index_pair location;
- xy_int8_t &lpos = location.pos;
+ const xy_int8_t &lpos = location.pos;
do {
location = find_closest_mesh_point_of_type(INVALID, pos);
// It doesn't matter if the probe can't reach the NAN location. This is a manual probe.
@@ -1006,7 +1006,7 @@
#endif
MeshFlags done_flags{0};
- xy_int8_t &lpos = location.pos;
+ const xy_int8_t &lpos = location.pos;
do {
location = find_closest_mesh_point_of_type(SET_IN_BITMAP, pos, false, &done_flags);
@@ -1294,7 +1294,7 @@
closest.distance = -99999.9f;
// Get the reference position, either nozzle or probe
- const xy_pos_t ref = probe_relative ? pos + probe_offset_xy : pos;
+ const xy_pos_t ref = probe_relative ? pos + probe.offset_xy : pos;
float best_so_far = 99999.99f;
@@ -1393,13 +1393,13 @@
#include "../../../libs/vector_3.h"
void unified_bed_leveling::tilt_mesh_based_on_probed_grid(const bool do_3_pt_leveling) {
- const float x_min = probe_min_x(), x_max = probe_max_x(),
- y_min = probe_min_y(), y_max = probe_max_y(),
+ const float x_min = probe.min_x(), x_max = probe.max_x(),
+ y_min = probe.min_y(), y_max = probe.max_y(),
dx = (x_max - x_min) / (g29_grid_size - 1),
dy = (y_max - y_min) / (g29_grid_size - 1);
xy_float_t points[3];
- get_three_probe_points(points);
+ probe.get_three_points(points);
float measured_z;
bool abort_flag = false;
@@ -1417,7 +1417,7 @@
ui.status_printf_P(0, PSTR(S_FMT " 1/3"), GET_TEXT(MSG_LCD_TILTING_MESH));
#endif
- measured_z = probe_at_point(points[0], PROBE_PT_RAISE, g29_verbose_level);
+ measured_z = probe.probe_at_point(points[0], PROBE_PT_RAISE, g29_verbose_level);
if (isnan(measured_z))
abort_flag = true;
else {
@@ -1438,7 +1438,7 @@
ui.status_printf_P(0, PSTR(S_FMT " 2/3"), GET_TEXT(MSG_LCD_TILTING_MESH));
#endif
- measured_z = probe_at_point(points[1], PROBE_PT_RAISE, g29_verbose_level);
+ measured_z = probe.probe_at_point(points[1], PROBE_PT_RAISE, g29_verbose_level);
#ifdef VALIDATE_MESH_TILT
z2 = measured_z;
#endif
@@ -1460,7 +1460,7 @@
ui.status_printf_P(0, PSTR(S_FMT " 3/3"), GET_TEXT(MSG_LCD_TILTING_MESH));
#endif
- measured_z = probe_at_point(points[2], PROBE_PT_STOW, g29_verbose_level);
+ measured_z = probe.probe_at_point(points[2], PROBE_PT_STOW, g29_verbose_level);
#ifdef VALIDATE_MESH_TILT
z3 = measured_z;
#endif
@@ -1476,9 +1476,9 @@
}
}
- STOW_PROBE();
+ probe.stow();
#ifdef Z_AFTER_PROBING
- move_z_after_probing();
+ probe.move_z_after_probing();
#endif
if (abort_flag) {
@@ -1504,7 +1504,7 @@
ui.status_printf_P(0, PSTR(S_FMT " %i/%i"), GET_TEXT(MSG_LCD_TILTING_MESH), point_num, total_points);
#endif
- measured_z = probe_at_point(rpos, parser.seen('E') ? PROBE_PT_STOW : PROBE_PT_RAISE, g29_verbose_level); // TODO: Needs error handling
+ measured_z = probe.probe_at_point(rpos, parser.seen('E') ? PROBE_PT_STOW : PROBE_PT_RAISE, g29_verbose_level); // TODO: Needs error handling
abort_flag = isnan(measured_z);
@@ -1523,7 +1523,7 @@
}
#endif
- measured_z -= get_z_correction(rpos) /* + probe_offset.z */ ;
+ measured_z -= get_z_correction(rpos) /* + probe.offset.z */ ;
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR_F(" final >>>---> ", measured_z, 7);
@@ -1540,9 +1540,9 @@
zig_zag ^= true;
}
}
- STOW_PROBE();
+ probe.stow();
#ifdef Z_AFTER_PROBING
- move_z_after_probing();
+ probe.move_z_after_probing();
#endif
if (abort_flag || finish_incremental_LSF(&lsf_results)) {
@@ -1728,7 +1728,7 @@
adjust_mesh_to_mean(g29_c_flag, g29_constant);
#if HAS_BED_PROBE
- SERIAL_ECHOLNPAIR_F("Probe Offset M851 Z", probe_offset.z, 7);
+ SERIAL_ECHOLNPAIR_F("Probe Offset M851 Z", probe.offset.z, 7);
#endif
SERIAL_ECHOLNPAIR("MESH_MIN_X " STRINGIFY(MESH_MIN_X) "=", MESH_MIN_X); serial_delay(50);
diff --git a/Marlin/src/gcode/bedlevel/G42.cpp b/Marlin/src/gcode/bedlevel/G42.cpp
index 28752cab8d5..bd6715e29d9 100644
--- a/Marlin/src/gcode/bedlevel/G42.cpp
+++ b/Marlin/src/gcode/bedlevel/G42.cpp
@@ -27,7 +27,7 @@
#include "../gcode.h"
#include "../../MarlinCore.h" // for IsRunning()
#include "../../module/motion.h"
-#include "../../module/probe.h" // for probe_offset
+#include "../../module/probe.h" // for probe.offset
#include "../../feature/bedlevel/bedlevel.h"
/**
@@ -53,8 +53,8 @@ void GcodeSuite::G42() {
#if HAS_PROBE_XY_OFFSET
if (parser.boolval('P')) {
- if (hasI) destination.x -= probe_offset_xy.x;
- if (hasJ) destination.y -= probe_offset_xy.y;
+ if (hasI) destination.x -= probe.offset_xy.x;
+ if (hasJ) destination.y -= probe.offset_xy.y;
}
#endif
diff --git a/Marlin/src/gcode/bedlevel/M420.cpp b/Marlin/src/gcode/bedlevel/M420.cpp
index 9e96b456e35..70f80465e3f 100644
--- a/Marlin/src/gcode/bedlevel/M420.cpp
+++ b/Marlin/src/gcode/bedlevel/M420.cpp
@@ -64,8 +64,8 @@ void GcodeSuite::M420() {
#if ENABLED(MARLIN_DEV_MODE)
if (parser.intval('S') == 2) {
- const float x_min = probe_min_x(), x_max = probe_max_x(),
- y_min = probe_min_y(), y_max = probe_max_y();
+ const float x_min = probe.min_x(), x_max = probe.max_x(),
+ y_min = probe.min_y(), y_max = probe.max_y();
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
bilinear_start.set(x_min, y_min);
bilinear_grid_spacing.set((x_max - x_min) / (GRID_MAX_POINTS_X - 1),
diff --git a/Marlin/src/gcode/bedlevel/abl/G29.cpp b/Marlin/src/gcode/bedlevel/abl/G29.cpp
index 7cbaefbf23e..ff0581886a7 100644
--- a/Marlin/src/gcode/bedlevel/abl/G29.cpp
+++ b/Marlin/src/gcode/bedlevel/abl/G29.cpp
@@ -269,7 +269,7 @@ G29_TYPE GcodeSuite::G29() {
#endif
vector_3 points[3];
- get_three_probe_points(points);
+ probe.get_three_points(points);
#endif // AUTO_BED_LEVELING_3POINT
@@ -392,8 +392,8 @@ G29_TYPE GcodeSuite::G29() {
xy_probe_feedrate_mm_s = MMM_TO_MMS(parser.linearval('S', XY_PROBE_SPEED));
- const float x_min = probe_min_x(), x_max = probe_max_x(),
- y_min = probe_min_y(), y_max = probe_max_y();
+ const float x_min = probe.min_x(), x_max = probe.max_x(),
+ y_min = probe.min_y(), y_max = probe.max_y();
if (parser.seen('H')) {
const int16_t size = (int16_t)parser.value_linear_units();
@@ -452,7 +452,7 @@ G29_TYPE GcodeSuite::G29() {
#if HAS_BED_PROBE
// Deploy the probe. Probe will raise if needed.
- if (DEPLOY_PROBE()) {
+ if (probe.deploy()) {
set_bed_leveling_enabled(abl_should_enable);
G29_RETURN(false);
}
@@ -712,7 +712,7 @@ G29_TYPE GcodeSuite::G29() {
ui.status_printf_P(0, PSTR(S_FMT " %i/%i"), GET_TEXT(MSG_PROBING_MESH), int(pt_index), int(GRID_MAX_POINTS));
#endif
- measured_z = faux ? 0.001f * random(-100, 101) : probe_at_point(probePos, raise_after, verbose_level);
+ measured_z = faux ? 0.001f * random(-100, 101) : probe.probe_at_point(probePos, raise_after, verbose_level);
if (isnan(measured_z)) {
set_bed_leveling_enabled(abl_should_enable);
@@ -764,7 +764,7 @@ G29_TYPE GcodeSuite::G29() {
// Retain the last probe position
probePos = points[i];
- measured_z = faux ? 0.001 * random(-100, 101) : probe_at_point(probePos, raise_after, verbose_level);
+ measured_z = faux ? 0.001 * random(-100, 101) : probe.probe_at_point(probePos, raise_after, verbose_level);
if (isnan(measured_z)) {
set_bed_leveling_enabled(abl_should_enable);
break;
@@ -788,7 +788,7 @@ G29_TYPE GcodeSuite::G29() {
#endif
// Stow the probe. No raise for FIX_MOUNTED_PROBE.
- if (STOW_PROBE()) {
+ if (probe.stow()) {
set_bed_leveling_enabled(abl_should_enable);
measured_z = NAN;
}
@@ -923,8 +923,8 @@ G29_TYPE GcodeSuite::G29() {
planner.force_unapply_leveling(converted); // use conversion machinery
// Use the last measured distance to the bed, if possible
- if ( NEAR(current_position.x, probePos.x - probe_offset_xy.x)
- && NEAR(current_position.y, probePos.y - probe_offset_xy.y)
+ if ( NEAR(current_position.x, probePos.x - probe.offset_xy.x)
+ && NEAR(current_position.y, probePos.y - probe.offset_xy.y)
) {
const float simple_z = current_position.z - measured_z;
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Probed Z", simple_z, " Matrix Z", converted.z, " Discrepancy ", simple_z - converted.z);
@@ -964,7 +964,7 @@ G29_TYPE GcodeSuite::G29() {
sync_plan_position();
#if HAS_BED_PROBE && defined(Z_AFTER_PROBING)
- move_z_after_probing();
+ probe.move_z_after_probing();
#endif
#ifdef Z_PROBE_END_SCRIPT
diff --git a/Marlin/src/gcode/calibrate/G28.cpp b/Marlin/src/gcode/calibrate/G28.cpp
index 6d87e6f9326..0b29fbc4d6b 100644
--- a/Marlin/src/gcode/calibrate/G28.cpp
+++ b/Marlin/src/gcode/calibrate/G28.cpp
@@ -133,7 +133,7 @@
destination.set(safe_homing_xy, current_position.z);
#if HOMING_Z_WITH_PROBE
- destination -= probe_offset_xy;
+ destination -= probe.offset_xy;
#endif
if (position_is_reachable(destination)) {
@@ -416,7 +416,7 @@ void GcodeSuite::G28(const bool always_home_all) {
#endif
#if HOMING_Z_WITH_PROBE && defined(Z_AFTER_PROBING)
- move_z_after_probing();
+ probe.move_z_after_probing();
#endif
} // doZ
diff --git a/Marlin/src/gcode/calibrate/G33.cpp b/Marlin/src/gcode/calibrate/G33.cpp
index 2ce45359d36..bfcf9153ea1 100644
--- a/Marlin/src/gcode/calibrate/G33.cpp
+++ b/Marlin/src/gcode/calibrate/G33.cpp
@@ -100,7 +100,7 @@ void ac_cleanup(
do_blocking_move_to_z(delta_clip_start_height);
#endif
#if HAS_BED_PROBE
- STOW_PROBE();
+ probe.stow();
#endif
restore_feedrate_and_scaling();
#if HOTENDS > 1
@@ -190,7 +190,7 @@ static float std_dev_points(float z_pt[NPP + 1], const bool _0p_cal, const bool
*/
static float calibration_probe(const xy_pos_t &xy, const bool stow) {
#if HAS_BED_PROBE
- return probe_at_point(xy, stow ? PROBE_PT_STOW : PROBE_PT_RAISE, 0, true);
+ return probe.probe_at_point(xy, stow ? PROBE_PT_STOW : PROBE_PT_RAISE, 0, true);
#else
UNUSED(stow);
return lcd_probe_pt(xy);
diff --git a/Marlin/src/gcode/calibrate/G34_M422.cpp b/Marlin/src/gcode/calibrate/G34_M422.cpp
index 2c284de6810..a35b3faef74 100644
--- a/Marlin/src/gcode/calibrate/G34_M422.cpp
+++ b/Marlin/src/gcode/calibrate/G34_M422.cpp
@@ -133,8 +133,8 @@ void GcodeSuite::G34() {
do { // break out on error
- #if NUM_Z_STEPPER_DRIVERS == 4
- SERIAL_ECHOLNPGM("Quad Z Stepper Leveling not Yet Supported");
+ #if NUM_Z_STEPPER_DRIVERS >= 4
+ SERIAL_ECHOLNPGM("Alignment not supported for over 3 steppers");
break;
#endif
@@ -240,7 +240,7 @@ void GcodeSuite::G34() {
if (iteration == 0 || i > 0) do_blocking_move_to_z(z_probe);
// Probe a Z height for each stepper.
- const float z_probed_height = probe_at_point(z_stepper_align_pos[iprobe], raise_after, 0, true);
+ const float z_probed_height = probe.probe_at_point(z_stepper_align_pos[iprobe], raise_after, 0, true);
if (isnan(z_probed_height)) {
SERIAL_ECHOLNPGM("Probing failed.");
err_break = true;
@@ -314,7 +314,7 @@ void GcodeSuite::G34() {
#if DISABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
// Optimize one iteration's correction based on the first measurements
- if (z_align_abs > 0.0f) amplification = iteration == 1 ? _MIN(last_z_align_move[zstepper] / z_align_abs, 2.0f) : z_auto_align_amplification;
+ if (z_align_abs) amplification = (iteration == 1) ? _MIN(last_z_align_move[zstepper] / z_align_abs, 2.0f) : z_auto_align_amplification;
#endif
// Check for less accuracy compared to last move
@@ -379,9 +379,9 @@ void GcodeSuite::G34() {
// After this operation the z position needs correction
set_axis_is_not_at_home(Z_AXIS);
- // Stow the probe, as the last call to probe_at_point(...) left
+ // Stow the probe, as the last call to probe.probe_at_point(...) left
// the probe deployed if it was successful.
- STOW_PROBE();
+ probe.stow();
// Home Z after the alignment procedure
process_subcommands_now_P(PSTR("G28 Z"));
diff --git a/Marlin/src/gcode/calibrate/G76_M871.cpp b/Marlin/src/gcode/calibrate/G76_M871.cpp
index 479f13d50c6..b94b56fd93f 100644
--- a/Marlin/src/gcode/calibrate/G76_M871.cpp
+++ b/Marlin/src/gcode/calibrate/G76_M871.cpp
@@ -113,8 +113,8 @@ void GcodeSuite::G76() {
}
// Ensure probe position is reachable
destination.set(
- temp_comp.measure_point_x - probe_offset.x,
- temp_comp.measure_point_y - probe_offset.y
+ temp_comp.measure_point_x - probe.offset_xy.x,
+ temp_comp.measure_point_y - probe.offset_xy.y
);
if (!position_is_reachable_by_probe(destination)) {
SERIAL_ECHOLNPGM("!Probe position unreachable - aborting.");
@@ -209,9 +209,9 @@ void GcodeSuite::G76() {
// Do a single probe
remember_feedrate_scaling_off();
- const float measured_z = probe_at_point(
- destination.x + probe_offset.x,
- destination.y + probe_offset.y,
+ const float measured_z = probe.probe_at_point(
+ destination.x + probe.offset_xy.x,
+ destination.y + probe.offset_xy.y,
PROBE_PT_NONE
);
restore_feedrate_and_scaling();
@@ -318,9 +318,9 @@ void GcodeSuite::G76() {
// Do a single probe
remember_feedrate_scaling_off();
- const float measured_z = probe_at_point(
- destination.x + probe_offset.x,
- destination.y + probe_offset.y,
+ const float measured_z = probe.probe_at_point(
+ destination.x + probe.offset_xy.x,
+ destination.y + probe.offset_xy.y,
PROBE_PT_NONE
);
restore_feedrate_and_scaling();
diff --git a/Marlin/src/gcode/calibrate/M48.cpp b/Marlin/src/gcode/calibrate/M48.cpp
index 75c5ed9a818..707a37fc235 100644
--- a/Marlin/src/gcode/calibrate/M48.cpp
+++ b/Marlin/src/gcode/calibrate/M48.cpp
@@ -80,8 +80,8 @@ void GcodeSuite::M48() {
xy_float_t next_pos = current_position;
const xy_pos_t probe_pos = {
- parser.linearval('X', next_pos.x + probe_offset_xy.x),
- parser.linearval('Y', next_pos.y + probe_offset_xy.y)
+ parser.linearval('X', next_pos.x + probe.offset_xy.x),
+ parser.linearval('Y', next_pos.y + probe.offset_xy.y)
};
if (!position_is_reachable_by_probe(probe_pos)) {
@@ -120,7 +120,7 @@ void GcodeSuite::M48() {
float mean = 0.0, sigma = 0.0, min = 99999.9, max = -99999.9, sample_set[n_samples];
// Move to the first point, deploy, and probe
- const float t = probe_at_point(probe_pos, raise_after, verbose_level);
+ const float t = probe.probe_at_point(probe_pos, raise_after, verbose_level);
bool probing_good = !isnan(t);
if (probing_good) {
@@ -169,7 +169,7 @@ void GcodeSuite::M48() {
while (angle < 0.0) angle += 360.0; // outside of this range. It looks like they behave correctly with
// numbers outside of the range, but just to be safe we clamp them.
- const xy_pos_t noz_pos = probe_pos - probe_offset_xy;
+ const xy_pos_t noz_pos = probe_pos - probe.offset_xy;
next_pos.set(noz_pos.x + cos(RADIANS(angle)) * radius,
noz_pos.y + sin(RADIANS(angle)) * radius);
@@ -194,7 +194,7 @@ void GcodeSuite::M48() {
} // n_legs
// Probe a single point
- sample_set[n] = probe_at_point(probe_pos, raise_after, 0);
+ sample_set[n] = probe.probe_at_point(probe_pos, raise_after, 0);
// Break the loop if the probe fails
probing_good = !isnan(sample_set[n]);
@@ -238,7 +238,7 @@ void GcodeSuite::M48() {
} // n_samples loop
}
- STOW_PROBE();
+ probe.stow();
if (probing_good) {
SERIAL_ECHOLNPGM("Finished!");
diff --git a/Marlin/src/gcode/config/M304.cpp b/Marlin/src/gcode/config/M304.cpp
index 3048c228d5e..6510bc03f6e 100644
--- a/Marlin/src/gcode/config/M304.cpp
+++ b/Marlin/src/gcode/config/M304.cpp
@@ -27,6 +27,13 @@
#include "../gcode.h"
#include "../../module/temperature.h"
+/**
+ * M304 - Set and/or Report the current Bed PID values
+ *
+ * P<pval> - Set the P value
+ * I<ival> - Set the I value
+ * D<dval> - Set the D value
+ */
void GcodeSuite::M304() {
if (parser.seen('P')) thermalManager.temp_bed.pid.Kp = parser.value_float();
if (parser.seen('I')) thermalManager.temp_bed.pid.Ki = scalePID_i(parser.value_float());
diff --git a/Marlin/src/gcode/motion/M290.cpp b/Marlin/src/gcode/motion/M290.cpp
index e5b5b7e76d7..7d66ae65553 100644
--- a/Marlin/src/gcode/motion/M290.cpp
+++ b/Marlin/src/gcode/motion/M290.cpp
@@ -46,9 +46,9 @@
&& active_extruder == 0
#endif
) {
- probe_offset.z += offs;
+ probe.offset.z += offs;
SERIAL_ECHO_START();
- SERIAL_ECHOLNPAIR(MSG_PROBE_OFFSET MSG_Z ": ", probe_offset.z);
+ SERIAL_ECHOLNPAIR(MSG_PROBE_OFFSET MSG_Z ": ", probe.offset.z);
}
else {
#if ENABLED(BABYSTEP_HOTEND_Z_OFFSET)
@@ -98,7 +98,7 @@ void GcodeSuite::M290() {
SERIAL_ECHO_START();
#if ENABLED(BABYSTEP_ZPROBE_OFFSET)
- SERIAL_ECHOLNPAIR(MSG_PROBE_OFFSET " " MSG_Z, probe_offset.z);
+ SERIAL_ECHOLNPAIR(MSG_PROBE_OFFSET " " MSG_Z, probe.offset.z);
#endif
#if ENABLED(BABYSTEP_HOTEND_Z_OFFSET)
diff --git a/Marlin/src/gcode/probe/G30.cpp b/Marlin/src/gcode/probe/G30.cpp
index a236ce3edf8..e31f1fb272b 100644
--- a/Marlin/src/gcode/probe/G30.cpp
+++ b/Marlin/src/gcode/probe/G30.cpp
@@ -40,8 +40,8 @@
*/
void GcodeSuite::G30() {
- const xy_pos_t pos = { parser.linearval('X', current_position.x + probe_offset_xy.x),
- parser.linearval('Y', current_position.y + probe_offset_xy.y) };
+ const xy_pos_t pos = { parser.linearval('X', current_position.x + probe.offset_xy.x),
+ parser.linearval('Y', current_position.y + probe.offset_xy.y) };
if (!position_is_reachable_by_probe(pos)) return;
@@ -53,14 +53,14 @@ void GcodeSuite::G30() {
remember_feedrate_scaling_off();
const ProbePtRaise raise_after = parser.boolval('E', true) ? PROBE_PT_STOW : PROBE_PT_NONE;
- const float measured_z = probe_at_point(pos, raise_after, 1);
+ const float measured_z = probe.probe_at_point(pos, raise_after, 1);
if (!isnan(measured_z))
SERIAL_ECHOLNPAIR("Bed X: ", FIXFLOAT(pos.x), " Y: ", FIXFLOAT(pos.y), " Z: ", FIXFLOAT(measured_z));
restore_feedrate_and_scaling();
#ifdef Z_AFTER_PROBING
- if (raise_after == PROBE_PT_STOW) move_z_after_probing();
+ if (raise_after == PROBE_PT_STOW) probe.move_z_after_probing();
#endif
report_current_position();
diff --git a/Marlin/src/gcode/probe/G31_G32.cpp b/Marlin/src/gcode/probe/G31_G32.cpp
index 06c3c3adf1a..cd71f28d732 100644
--- a/Marlin/src/gcode/probe/G31_G32.cpp
+++ b/Marlin/src/gcode/probe/G31_G32.cpp
@@ -30,11 +30,11 @@
/**
* G31: Deploy the Z probe
*/
-void GcodeSuite::G31() { DEPLOY_PROBE(); }
+void GcodeSuite::G31() { probe.deploy(); }
/**
* G32: Stow the Z probe
*/
-void GcodeSuite::G32() { STOW_PROBE(); }
+void GcodeSuite::G32() { probe.stow(); }
#endif // Z_PROBE_SLED
diff --git a/Marlin/src/gcode/probe/M401_M402.cpp b/Marlin/src/gcode/probe/M401_M402.cpp
index aa63a7ea713..55851f3046b 100644
--- a/Marlin/src/gcode/probe/M401_M402.cpp
+++ b/Marlin/src/gcode/probe/M401_M402.cpp
@@ -32,7 +32,7 @@
* M401: Deploy and activate the Z probe
*/
void GcodeSuite::M401() {
- DEPLOY_PROBE();
+ probe.deploy();
report_current_position();
}
@@ -40,9 +40,9 @@ void GcodeSuite::M401() {
* M402: Deactivate and stow the Z probe
*/
void GcodeSuite::M402() {
- STOW_PROBE();
+ probe.stow();
#ifdef Z_AFTER_PROBING
- move_z_after_probing();
+ probe.move_z_after_probing();
#endif
report_current_position();
}
diff --git a/Marlin/src/gcode/probe/M851.cpp b/Marlin/src/gcode/probe/M851.cpp
index b0a63041fed..2c26ebd2a62 100644
--- a/Marlin/src/gcode/probe/M851.cpp
+++ b/Marlin/src/gcode/probe/M851.cpp
@@ -39,17 +39,17 @@ void GcodeSuite::M851() {
if (!parser.seen("XYZ")) {
SERIAL_ECHOLNPAIR_P(
#if HAS_PROBE_XY_OFFSET
- PSTR(MSG_PROBE_OFFSET " X"), probe_offset.x, SP_Y_STR, probe_offset.y, SP_Z_STR
+ PSTR(MSG_PROBE_OFFSET " X"), probe.offset_xy.x, SP_Y_STR, probe.offset_xy.y, SP_Z_STR
#else
PSTR(MSG_PROBE_OFFSET " X0 Y0 Z")
#endif
- , probe_offset.z
+ , probe.offset.z
);
return;
}
// Start with current offsets and modify
- xyz_pos_t offs = probe_offset;
+ xyz_pos_t offs = probe.offset;
// Assume no errors
bool ok = true;
@@ -93,7 +93,7 @@ void GcodeSuite::M851() {
}
// Save the new offsets
- if (ok) probe_offset = offs;
+ if (ok) probe.offset = offs;
}
#endif // HAS_BED_PROBE
diff --git a/Marlin/src/lcd/extensible_ui/lib/dgus/DGUSDisplayDefinitionFYSETC.cpp b/Marlin/src/lcd/extensible_ui/lib/dgus/DGUSDisplayDefinitionFYSETC.cpp
index 4d953b88c89..4522617d801 100644
--- a/Marlin/src/lcd/extensible_ui/lib/dgus/DGUSDisplayDefinitionFYSETC.cpp
+++ b/Marlin/src/lcd/extensible_ui/lib/dgus/DGUSDisplayDefinitionFYSETC.cpp
@@ -453,7 +453,7 @@ const struct DGUS_VP_Variable ListOfVP[] PROGMEM = {
VPHELPER(VP_SD_AbortPrintConfirmed, nullptr, DGUSScreenVariableHandler::DGUSLCD_SD_ReallyAbort, nullptr),
VPHELPER(VP_SD_Print_Setting, nullptr, DGUSScreenVariableHandler::DGUSLCD_SD_PrintTune, nullptr),
#if HAS_BED_PROBE
- VPHELPER(VP_SD_Print_ProbeOffsetZ, &probe_offset.z, DGUSScreenVariableHandler::HandleProbeOffsetZChanged, &DGUSScreenVariableHandler::DGUSLCD_SendFloatAsIntValueToDisplay<2>),
+ VPHELPER(VP_SD_Print_ProbeOffsetZ, &probe.offset.z, DGUSScreenVariableHandler::HandleProbeOffsetZChanged, &DGUSScreenVariableHandler::DGUSLCD_SendFloatAsIntValueToDisplay<2>),
#if ENABLED(BABYSTEPPING)
VPHELPER(VP_SD_Print_LiveAdjustZ, nullptr, DGUSScreenVariableHandler::HandleLiveAdjustZ, nullptr),
#endif
diff --git a/Marlin/src/lcd/extensible_ui/lib/dgus/DGUSDisplayDefinitionHIPRECY.cpp b/Marlin/src/lcd/extensible_ui/lib/dgus/DGUSDisplayDefinitionHIPRECY.cpp
index 0c25f64b6a7..0a6d9933c60 100644
--- a/Marlin/src/lcd/extensible_ui/lib/dgus/DGUSDisplayDefinitionHIPRECY.cpp
+++ b/Marlin/src/lcd/extensible_ui/lib/dgus/DGUSDisplayDefinitionHIPRECY.cpp
@@ -453,7 +453,7 @@ const struct DGUS_VP_Variable ListOfVP[] PROGMEM = {
VPHELPER(VP_SD_AbortPrintConfirmed, nullptr, DGUSScreenVariableHandler::DGUSLCD_SD_ReallyAbort, nullptr),
VPHELPER(VP_SD_Print_Setting, nullptr, DGUSScreenVariableHandler::DGUSLCD_SD_PrintTune, nullptr),
#if HAS_BED_PROBE
- VPHELPER(VP_SD_Print_ProbeOffsetZ, &probe_offset.z, DGUSScreenVariableHandler::HandleProbeOffsetZChanged, &DGUSScreenVariableHandler::DGUSLCD_SendFloatAsIntValueToDisplay<2>),
+ VPHELPER(VP_SD_Print_ProbeOffsetZ, &probe.offset.z, DGUSScreenVariableHandler::HandleProbeOffsetZChanged, &DGUSScreenVariableHandler::DGUSLCD_SendFloatAsIntValueToDisplay<2>),
#if ENABLED(BABYSTEPPING)
VPHELPER(VP_SD_Print_LiveAdjustZ, nullptr, DGUSScreenVariableHandler::HandleLiveAdjustZ, nullptr),
#endif
diff --git a/Marlin/src/lcd/extensible_ui/lib/dgus/DGUSDisplayDefinitionOrigin.cpp b/Marlin/src/lcd/extensible_ui/lib/dgus/DGUSDisplayDefinitionOrigin.cpp
index ca56052829a..4d877b6b724 100644
--- a/Marlin/src/lcd/extensible_ui/lib/dgus/DGUSDisplayDefinitionOrigin.cpp
+++ b/Marlin/src/lcd/extensible_ui/lib/dgus/DGUSDisplayDefinitionOrigin.cpp
@@ -285,7 +285,7 @@ const struct DGUS_VP_Variable ListOfVP[] PROGMEM = {
VPHELPER(VP_SD_AbortPrintConfirmed, nullptr, DGUSScreenVariableHandler::DGUSLCD_SD_ReallyAbort, nullptr),
VPHELPER(VP_SD_Print_Setting, nullptr, DGUSScreenVariableHandler::DGUSLCD_SD_PrintTune, nullptr),
#if HAS_BED_PROBE
- VPHELPER(VP_SD_Print_ProbeOffsetZ, &probe_offset.z, DGUSScreenVariableHandler::HandleProbeOffsetZChanged, &DGUSScreenVariableHandler::DGUSLCD_SendFloatAsIntValueToDisplay<2>),
+ VPHELPER(VP_SD_Print_ProbeOffsetZ, &probe.offset.z, DGUSScreenVariableHandler::HandleProbeOffsetZChanged, &DGUSScreenVariableHandler::DGUSLCD_SendFloatAsIntValueToDisplay<2>),
#if ENABLED(BABYSTEPPING)
VPHELPER(VP_SD_Print_LiveAdjustZ, nullptr, DGUSScreenVariableHandler::HandleLiveAdjustZ, nullptr),
#endif
diff --git a/Marlin/src/lcd/extensible_ui/ui_api.cpp b/Marlin/src/lcd/extensible_ui/ui_api.cpp
index 5e053b670a7..0e0a1171ab9 100644
--- a/Marlin/src/lcd/extensible_ui/ui_api.cpp
+++ b/Marlin/src/lcd/extensible_ui/ui_api.cpp
@@ -733,7 +733,7 @@ namespace ExtUI {
#if EXTRUDERS > 1
&& (linked_nozzles || active_extruder == 0)
#endif
- ) probe_offset.z += mm;
+ ) probe.offset.z += mm;
#else
UNUSED(mm);
#endif
@@ -771,7 +771,7 @@ namespace ExtUI {
float getZOffset_mm() {
#if HAS_BED_PROBE
- return probe_offset.z;
+ return probe.offset.z;
#elif ENABLED(BABYSTEP_DISPLAY_TOTAL)
return (planner.steps_to_mm[Z_AXIS] * babystep.axis_total[BS_TODO_AXIS(Z_AXIS)]);
#else
@@ -782,7 +782,7 @@ namespace ExtUI {
void setZOffset_mm(const float value) {
#if HAS_BED_PROBE
if (WITHIN(value, Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX))
- probe_offset.z = value;
+ probe.offset.z = value;
#elif ENABLED(BABYSTEP_DISPLAY_TOTAL)
babystep.add_mm(Z_AXIS, (value - getZOffset_mm()));
#else
diff --git a/Marlin/src/lcd/menu/menu.cpp b/Marlin/src/lcd/menu/menu.cpp
index 2bae1258e94..9c3cf057d6b 100644
--- a/Marlin/src/lcd/menu/menu.cpp
+++ b/Marlin/src/lcd/menu/menu.cpp
@@ -406,7 +406,7 @@ void scroll_screen(const uint8_t limit, const bool is_menu) {
ui.encoderPosition = 0;
const float diff = planner.steps_to_mm[Z_AXIS] * babystep_increment,
- new_probe_offset = probe_offset.z + diff,
+ new_probe_offset = probe.offset.z + diff,
new_offs =
#if ENABLED(BABYSTEP_HOTEND_Z_OFFSET)
do_probe ? new_probe_offset : hotend_offset[active_extruder].z - diff
@@ -418,7 +418,7 @@ void scroll_screen(const uint8_t limit, const bool is_menu) {
babystep.add_steps(Z_AXIS, babystep_increment);
- if (do_probe) probe_offset.z = new_offs;
+ if (do_probe) probe.offset.z = new_offs;
#if ENABLED(BABYSTEP_HOTEND_Z_OFFSET)
else hotend_offset[active_extruder].z = new_offs;
#endif
@@ -432,10 +432,10 @@ void scroll_screen(const uint8_t limit, const bool is_menu) {
MenuEditItemBase::draw_edit_screen(GET_TEXT(MSG_HOTEND_OFFSET_Z), LCD_Z_OFFSET_FUNC(hotend_offset[active_extruder].z));
else
#endif
- MenuEditItemBase::draw_edit_screen(GET_TEXT(MSG_ZPROBE_ZOFFSET), LCD_Z_OFFSET_FUNC(probe_offset.z));
+ MenuEditItemBase::draw_edit_screen(GET_TEXT(MSG_ZPROBE_ZOFFSET), LCD_Z_OFFSET_FUNC(probe.offset.z));
#if ENABLED(BABYSTEP_ZPROBE_GFX_OVERLAY)
- if (do_probe) _lcd_zoffset_overlay_gfx(probe_offset.z);
+ if (do_probe) _lcd_zoffset_overlay_gfx(probe.offset.z);
#endif
}
}
diff --git a/Marlin/src/lcd/menu/menu_advanced.cpp b/Marlin/src/lcd/menu/menu_advanced.cpp
index ec03a0066cb..471d1eeb9ce 100644
--- a/Marlin/src/lcd/menu/menu_advanced.cpp
+++ b/Marlin/src/lcd/menu/menu_advanced.cpp
@@ -497,9 +497,11 @@ void menu_cancelobject();
void menu_probe_offsets() {
START_MENU();
BACK_ITEM(MSG_ADVANCED_SETTINGS);
- EDIT_ITEM(float51sign, MSG_ZPROBE_XOFFSET, &probe_offset.x, -(X_BED_SIZE), X_BED_SIZE);
- EDIT_ITEM(float51sign, MSG_ZPROBE_YOFFSET, &probe_offset.y, -(Y_BED_SIZE), Y_BED_SIZE);
- EDIT_ITEM(LCD_Z_OFFSET_TYPE, MSG_ZPROBE_ZOFFSET, &probe_offset.z, Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX);
+ #if HAS_PROBE_XY_OFFSET
+ EDIT_ITEM(float51sign, MSG_ZPROBE_XOFFSET, &probe.offset.x, -(X_BED_SIZE), X_BED_SIZE);
+ EDIT_ITEM(float51sign, MSG_ZPROBE_YOFFSET, &probe.offset.y, -(Y_BED_SIZE), Y_BED_SIZE);
+ #endif
+ EDIT_ITEM(LCD_Z_OFFSET_TYPE, MSG_ZPROBE_ZOFFSET, &probe.offset.z, Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX);
END_MENU();
}
#endif
diff --git a/Marlin/src/lcd/menu/menu_bed_leveling.cpp b/Marlin/src/lcd/menu/menu_bed_leveling.cpp
index 6cc40cab6ca..d16d4670a80 100644
--- a/Marlin/src/lcd/menu/menu_bed_leveling.cpp
+++ b/Marlin/src/lcd/menu/menu_bed_leveling.cpp
@@ -279,7 +279,7 @@ void menu_bed_leveling() {
#if ENABLED(BABYSTEP_ZPROBE_OFFSET)
SUBMENU(MSG_ZPROBE_ZOFFSET, lcd_babystep_zoffset);
#elif HAS_BED_PROBE
- EDIT_ITEM(LCD_Z_OFFSET_TYPE, MSG_ZPROBE_ZOFFSET, &probe_offset.z, Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX);
+ EDIT_ITEM(LCD_Z_OFFSET_TYPE, MSG_ZPROBE_ZOFFSET, &probe.offset.z, Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX);
#endif
#if ENABLED(LEVEL_BED_CORNERS)
diff --git a/Marlin/src/lcd/menu/menu_configuration.cpp b/Marlin/src/lcd/menu/menu_configuration.cpp
index c23017c3e91..31d46816e9b 100644
--- a/Marlin/src/lcd/menu/menu_configuration.cpp
+++ b/Marlin/src/lcd/menu/menu_configuration.cpp
@@ -317,14 +317,11 @@ void menu_configuration() {
#if ENABLED(BABYSTEP_ZPROBE_OFFSET)
SUBMENU(MSG_ZPROBE_ZOFFSET, lcd_babystep_zoffset);
#elif HAS_BED_PROBE
- EDIT_ITEM(LCD_Z_OFFSET_TYPE, MSG_ZPROBE_ZOFFSET, &probe_offset.z, Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX);
+ EDIT_ITEM(LCD_Z_OFFSET_TYPE, MSG_ZPROBE_ZOFFSET, &probe.offset.z, Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX);
#endif
const bool busy = printer_busy();
if (!busy) {
- //
- // Delta Calibration
- //
#if EITHER(DELTA_CALIBRATION_MENU, DELTA_AUTO_CALIBRATION)
SUBMENU(MSG_DELTA_CALIBRATE, menu_delta_calibrate);
#endif
diff --git a/Marlin/src/module/configuration_store.cpp b/Marlin/src/module/configuration_store.cpp
index 85b0b850b0f..05b67c984ca 100644
--- a/Marlin/src/module/configuration_store.cpp
+++ b/Marlin/src/module/configuration_store.cpp
@@ -587,12 +587,12 @@ void MarlinSettings::postprocess() {
#if HAS_FILAMENT_SENSOR
const bool &runout_sensor_enabled = runout.enabled;
#else
- const bool runout_sensor_enabled = true;
+ constexpr bool runout_sensor_enabled = true;
#endif
#if HAS_FILAMENT_SENSOR && defined(FILAMENT_RUNOUT_DISTANCE_MM)
const float &runout_distance_mm = runout.runout_distance();
#else
- const float runout_distance_mm = 0;
+ constexpr float runout_distance_mm = 0;
#endif
_FIELD_TEST(runout_sensor_enabled);
EEPROM_WRITE(runout_sensor_enabled);
@@ -643,7 +643,12 @@ void MarlinSettings::postprocess() {
//
{
_FIELD_TEST(probe_offset);
- EEPROM_WRITE(probe_offset);
+ #if HAS_BED_PROBE
+ const xyz_pos_t &zpo = probe.offset;
+ #else
+ constexpr xyz_pos_t zpo{0};
+ #endif
+ EEPROM_WRITE(zpo);
}
//
@@ -1458,7 +1463,7 @@ void MarlinSettings::postprocess() {
//
{
#if HAS_FILAMENT_SENSOR
- bool &runout_sensor_enabled = runout.enabled;
+ const bool &runout_sensor_enabled = runout.enabled;
#else
bool runout_sensor_enabled;
#endif
@@ -1515,7 +1520,7 @@ void MarlinSettings::postprocess() {
{
_FIELD_TEST(probe_offset);
#if HAS_BED_PROBE
- xyz_pos_t &zpo = probe_offset;
+ const xyz_pos_t &zpo = probe.offset;
#else
xyz_pos_t zpo;
#endif
@@ -1609,7 +1614,7 @@ void MarlinSettings::postprocess() {
{
_FIELD_TEST(bltouch_last_written_mode);
#if ENABLED(BLTOUCH)
- bool &bltouch_last_written_mode = bltouch.last_written_mode;
+ const bool &bltouch_last_written_mode = bltouch.last_written_mode;
#else
bool bltouch_last_written_mode;
#endif
@@ -2120,14 +2125,14 @@ void MarlinSettings::postprocess() {
//
{
#if ENABLED(BACKLASH_GCODE)
- xyz_float_t &backlash_distance_mm = backlash.distance_mm;
- uint8_t &backlash_correction = backlash.correction;
+ const xyz_float_t &backlash_distance_mm = backlash.distance_mm;
+ const uint8_t &backlash_correction = backlash.correction;
#else
float backlash_distance_mm[XYZ];
uint8_t backlash_correction;
#endif
#if ENABLED(BACKLASH_GCODE) && defined(BACKLASH_SMOOTHING_MM)
- float &backlash_smoothing_mm = backlash.smoothing_mm;
+ const float &backlash_smoothing_mm = backlash.smoothing_mm;
#else
float backlash_smoothing_mm;
#endif
@@ -2461,10 +2466,10 @@ void MarlinSettings::reset() {
constexpr float dpo[] = NOZZLE_TO_PROBE_OFFSET;
static_assert(COUNT(dpo) == 3, "NOZZLE_TO_PROBE_OFFSET must contain offsets for X, Y, and Z.");
#if HAS_PROBE_XY_OFFSET
- LOOP_XYZ(a) probe_offset[a] = dpo[a];
+ LOOP_XYZ(a) probe.offset[a] = dpo[a];
#else
- probe_offset.x = probe_offset.y = 0;
- probe_offset.z = dpo[Z_AXIS];
+ probe.offset.x = probe.offset.y = 0;
+ probe.offset.z = dpo[Z_AXIS];
#endif
#endif
@@ -3216,13 +3221,13 @@ void MarlinSettings::reset() {
CONFIG_ECHO_START();
SERIAL_ECHOLNPAIR_P(
#if HAS_PROBE_XY_OFFSET
- PSTR(" M851 X"), LINEAR_UNIT(probe_offset_xy.x),
- SP_Y_STR, LINEAR_UNIT(probe_offset_xy.y),
+ PSTR(" M851 X"), LINEAR_UNIT(probe.offset_xy.x),
+ SP_Y_STR, LINEAR_UNIT(probe.offset_xy.y),
SP_Z_STR
#else
PSTR(" M851 X0 Y0 Z")
#endif
- , LINEAR_UNIT(probe_offset.z)
+ , LINEAR_UNIT(probe.offset.z)
);
#endif
diff --git a/Marlin/src/module/delta.cpp b/Marlin/src/module/delta.cpp
index bed5cd24cf4..cb2d432e30b 100644
--- a/Marlin/src/module/delta.cpp
+++ b/Marlin/src/module/delta.cpp
@@ -95,7 +95,7 @@ void recalc_delta_settings() {
float delta_calibration_radius() {
return calibration_radius_factor * (
#if HAS_BED_PROBE
- FLOOR((DELTA_PRINTABLE_RADIUS) - _MAX(HYPOT(probe_offset_xy.x, probe_offset_xy.y), MIN_PROBE_EDGE))
+ FLOOR((DELTA_PRINTABLE_RADIUS) - _MAX(HYPOT(probe.offset_xy.x, probe.offset_xy.y), MIN_PROBE_EDGE))
#else
DELTA_PRINTABLE_RADIUS
#endif
@@ -251,7 +251,7 @@ void home_delta() {
// Move all carriages together linearly until an endstop is hit.
current_position.z = (delta_height + 10
#if HAS_BED_PROBE
- - probe_offset.z
+ - probe.offset.z
#endif
);
line_to_current_position(homing_feedrate(Z_AXIS));
diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
index 50092406c5e..f63555d28c4 100644
--- a/Marlin/src/module/motion.cpp
+++ b/Marlin/src/module/motion.cpp
@@ -280,7 +280,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
, true
#endif
);
- xyze_pos_t &cartes = pos;
+ const xyze_pos_t &cartes = pos;
#endif
if (axis == ALL_AXES)
current_position = cartes;
@@ -547,7 +547,7 @@ void restore_feedrate_and_scaling() {
soft_endstop.min[axis] = base_min_pos(axis);
soft_endstop.max[axis] = (axis == Z_AXIS ? delta_height
#if HAS_BED_PROBE
- - probe_offset.z
+ - probe.offset.z
#endif
: base_max_pos(axis));
@@ -1281,7 +1281,7 @@ void do_homing_move(const AxisEnum axis, const float distance, const feedRate_t
#if HOMING_Z_WITH_PROBE && HAS_HEATED_BED && ENABLED(WAIT_FOR_BED_HEATER)
// Wait for bed to heat back up between probing points
if (axis == Z_AXIS && distance < 0 && thermalManager.isHeatingBed()) {
- serialprintPGM(msg_wait_for_bed_heating);
+ serialprintPGM(probe.msg_wait_for_bed_heating);
#if HAS_DISPLAY
LCD_MESSAGEPGM(MSG_BED_HEATING);
#endif
@@ -1307,7 +1307,7 @@ void do_homing_move(const AxisEnum axis, const float distance, const feedRate_t
if (is_home_dir) {
#if HOMING_Z_WITH_PROBE && QUIET_PROBING
- if (axis == Z_AXIS) probing_pause(true);
+ if (axis == Z_AXIS) probe.set_probing_paused(true);
#endif
// Disable stealthChop if used. Enable diag1 pin on driver.
@@ -1347,7 +1347,7 @@ void do_homing_move(const AxisEnum axis, const float distance, const feedRate_t
if (is_home_dir) {
#if HOMING_Z_WITH_PROBE && QUIET_PROBING
- if (axis == Z_AXIS) probing_pause(false);
+ if (axis == Z_AXIS) probe.set_probing_paused(false);
#endif
endstops.validate_homing_move();
@@ -1397,7 +1397,7 @@ void set_axis_is_at_home(const AxisEnum axis) {
#elif ENABLED(DELTA)
current_position[axis] = (axis == Z_AXIS ? delta_height
#if HAS_BED_PROBE
- - probe_offset.z
+ - probe.offset.z
#endif
: base_home_pos(axis));
#else
@@ -1411,9 +1411,9 @@ void set_axis_is_at_home(const AxisEnum axis) {
if (axis == Z_AXIS) {
#if HOMING_Z_WITH_PROBE
- current_position.z -= probe_offset.z;
+ current_position.z -= probe.offset.z;
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("*** Z HOMED WITH PROBE (Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) ***\n> probe_offset.z = ", probe_offset.z);
+ if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("*** Z HOMED WITH PROBE (Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) ***\n> probe.offset.z = ", probe.offset.z);
#else
@@ -1509,7 +1509,7 @@ void homeaxis(const AxisEnum axis) {
// Homing Z towards the bed? Deploy the Z probe or endstop.
#if HOMING_Z_WITH_PROBE
- if (axis == Z_AXIS && DEPLOY_PROBE()) return;
+ if (axis == Z_AXIS && probe.deploy()) return;
#endif
// Set flags for X, Y, Z motor locking
@@ -1751,7 +1751,7 @@ void homeaxis(const AxisEnum axis) {
// Put away the Z probe
#if HOMING_Z_WITH_PROBE
- if (axis == Z_AXIS && STOW_PROBE()) return;
+ if (axis == Z_AXIS && probe.stow()) return;
#endif
#if DISABLED(DELTA) && defined(HOMING_BACKOFF_MM)
diff --git a/Marlin/src/module/motion.h b/Marlin/src/module/motion.h
index eafa5ca8492..a159bdd4bfa 100644
--- a/Marlin/src/module/motion.h
+++ b/Marlin/src/module/motion.h
@@ -329,7 +329,7 @@ void homeaxis(const AxisEnum axis);
// Return true if the both nozzle and the probe can reach the given point.
// Note: This won't work on SCARA since the probe offset rotates with the arm.
inline bool position_is_reachable_by_probe(const float &rx, const float &ry) {
- return position_is_reachable(rx - probe_offset.x, ry - probe_offset.y)
+ return position_is_reachable(rx - probe.offset_xy.x, ry - probe.offset_xy.y)
&& position_is_reachable(rx, ry, ABS(MIN_PROBE_EDGE));
}
@@ -369,9 +369,9 @@ void homeaxis(const AxisEnum axis);
* nozzle must be be able to reach +10,-10.
*/
inline bool position_is_reachable_by_probe(const float &rx, const float &ry) {
- return position_is_reachable(rx - probe_offset_xy.x, ry - probe_offset_xy.y)
- && WITHIN(rx, probe_min_x() - slop, probe_max_x() + slop)
- && WITHIN(ry, probe_min_y() - slop, probe_max_y() + slop);
+ return position_is_reachable(rx - probe.offset_xy.x, ry - probe.offset_xy.y)
+ && WITHIN(rx, probe.min_x() - slop, probe.max_x() + slop)
+ && WITHIN(ry, probe.min_y() - slop, probe.max_y() + slop);
}
#endif // HAS_BED_PROBE
diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp
index 351b089895e..9f5a5c5c5e0 100644
--- a/Marlin/src/module/planner.cpp
+++ b/Marlin/src/module/planner.cpp
@@ -2779,7 +2779,7 @@ void Planner::set_max_acceleration(const uint8_t axis, float targetValue) {
const xyze_float_t &max_acc_edit_scaled = max_accel_edit;
#else
constexpr xyze_float_t max_accel_edit = DEFAULT_MAX_ACCELERATION;
- const xyze_float_t max_acc_edit_scaled = max_accel_edit * 2;
+ constexpr xyze_float_t max_acc_edit_scaled = max_accel_edit * 2;
#endif
limit_and_warn(targetValue, axis, PSTR("Acceleration"), max_acc_edit_scaled);
#endif
@@ -2796,7 +2796,7 @@ void Planner::set_max_feedrate(const uint8_t axis, float targetValue) {
const xyze_float_t &max_fr_edit_scaled = max_fr_edit;
#else
constexpr xyze_float_t max_fr_edit = DEFAULT_MAX_FEEDRATE;
- const xyze_float_t max_fr_edit_scaled = max_fr_edit * 2;
+ constexpr xyze_float_t max_fr_edit_scaled = max_fr_edit * 2;
#endif
limit_and_warn(targetValue, axis, PSTR("Feedrate"), max_fr_edit_scaled);
#endif
diff --git a/Marlin/src/module/probe.cpp b/Marlin/src/module/probe.cpp
index 5710614e007..ef11a52122b 100644
--- a/Marlin/src/module/probe.cpp
+++ b/Marlin/src/module/probe.cpp
@@ -21,7 +21,7 @@
*/
/**
- * probe.cpp
+ * module/probe.cpp
*/
#include "../inc/MarlinConfig.h"
@@ -84,14 +84,14 @@
#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
#include "../core/debug_out.h"
+Probe probe;
-xyz_pos_t probe_offset; // Initialized by settings.load()
+xyz_pos_t Probe::offset; // Initialized by settings.load()
#if HAS_PROBE_XY_OFFSET
- xyz_pos_t &probe_offset_xy = probe_offset;
+ const xyz_pos_t &Probe::offset_xy = probe.offset;
#endif
-
#if ENABLED(Z_PROBE_SLED)
#ifndef SLED_DOCKING_OFFSET
@@ -104,7 +104,7 @@ xyz_pos_t probe_offset; // Initialized by settings.load()
* stow[in] If false, move to MAX_X and engage the solenoid
* If true, move to MAX_X and release the solenoid
*/
- static void dock_sled(bool stow) {
+ static void dock_sled(const bool stow) {
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("dock_sled(", stow, ")");
// Dock sled a bit closer to ensure proper capturing
@@ -118,7 +118,7 @@ xyz_pos_t probe_offset; // Initialized by settings.load()
#elif ENABLED(TOUCH_MI_PROBE)
// Move to the magnet to unlock the probe
- void run_deploy_moves_script() {
+ inline void run_deploy_moves_script() {
#ifndef TOUCH_MI_DEPLOY_XPOS
#define TOUCH_MI_DEPLOY_XPOS X_MIN_POS
#elif TOUCH_MI_DEPLOY_XPOS > X_MAX_BED
@@ -153,7 +153,7 @@ xyz_pos_t probe_offset; // Initialized by settings.load()
}
// Move down to the bed to stow the probe
- void run_stow_moves_script() {
+ inline void run_stow_moves_script() {
const xyz_pos_t oldpos = current_position;
endstops.enable_z_probe(false);
do_blocking_move_to_z(TOUCH_MI_RETRACT_Z, MMM_TO_MMS(HOMING_FEEDRATE_Z));
@@ -162,7 +162,7 @@ xyz_pos_t probe_offset; // Initialized by settings.load()
#elif ENABLED(Z_PROBE_ALLEN_KEY)
- void run_deploy_moves_script() {
+ inline void run_deploy_moves_script() {
#ifdef Z_PROBE_ALLEN_KEY_DEPLOY_1
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE
#define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE 0.0
@@ -200,7 +200,7 @@ xyz_pos_t probe_offset; // Initialized by settings.load()
#endif
}
- void run_stow_moves_script() {
+ inline void run_stow_moves_script() {
#ifdef Z_PROBE_ALLEN_KEY_STOW_1
#ifndef Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE
#define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE 0.0
@@ -241,7 +241,8 @@ xyz_pos_t probe_offset; // Initialized by settings.load()
#endif // Z_PROBE_ALLEN_KEY
#if QUIET_PROBING
- void probing_pause(const bool p) {
+
+ void Probe::set_probing_paused(const bool p) {
#if ENABLED(PROBING_HEATERS_OFF)
thermalManager.pause(p);
#endif
@@ -262,16 +263,17 @@ xyz_pos_t probe_offset; // Initialized by settings.load()
#endif
);
}
+
#endif // QUIET_PROBING
/**
* Raise Z to a minimum height to make room for a probe to move
*/
-inline void do_probe_raise(const float z_raise) {
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("do_probe_raise(", z_raise, ")");
+void Probe::do_z_raise(const float z_raise) {
+ if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Probe::move_z(", z_raise, ")");
float z_dest = z_raise;
- if (probe_offset.z < 0) z_dest -= probe_offset.z;
+ if (offset.z < 0) z_dest -= offset.z;
NOMORE(z_dest, Z_MAX_POS);
@@ -351,11 +353,15 @@ FORCE_INLINE void probe_specific_action(const bool deploy) {
#endif
}
-// returns false for ok and true for failure
-bool set_probe_deployed(const bool deploy) {
+/**
+ * Attempt to deploy or stow the probe
+ *
+ * Return TRUE if the probe could not be deployed/stowed
+ */
+bool Probe::set_deployed(const bool deploy) {
if (DEBUGGING(LEVELING)) {
- DEBUG_POS("set_probe_deployed", current_position);
+ DEBUG_POS("Probe::set_deployed", current_position);
DEBUG_ECHOLNPAIR("deploy: ", deploy);
}
@@ -378,7 +384,7 @@ bool set_probe_deployed(const bool deploy) {
#endif
if (deploy_stow_condition && unknown_condition)
- do_probe_raise(_MAX(Z_CLEARANCE_BETWEEN_PROBES, Z_CLEARANCE_DEPLOY_PROBE));
+ do_z_raise(_MAX(Z_CLEARANCE_BETWEEN_PROBES, Z_CLEARANCE_DEPLOY_PROBE));
#if EITHER(Z_PROBE_SLED, Z_PROBE_ALLEN_KEY)
if (axis_unhomed_error(
@@ -433,7 +439,7 @@ bool set_probe_deployed(const bool deploy) {
#ifdef Z_AFTER_PROBING
// After probing move to a preferred Z position
- void move_z_after_probing() {
+ void Probe::move_z_after_probing() {
if (current_position.z != Z_AFTER_PROBING) {
do_blocking_move_to_z(Z_AFTER_PROBING);
current_position.z = Z_AFTER_PROBING;
@@ -450,11 +456,11 @@ bool set_probe_deployed(const bool deploy) {
*/
#if HAS_HEATED_BED && ENABLED(WAIT_FOR_BED_HEATER)
- const char msg_wait_for_bed_heating[25] PROGMEM = "Wait for bed heating...\n";
+ PGM_P Probe::msg_wait_for_bed_heating[25] PROGMEM = "Wait for bed heating...\n";
#endif
-static bool do_probe_move(const float z, const feedRate_t fr_mm_s) {
- if (DEBUGGING(LEVELING)) DEBUG_POS(">>> do_probe_move", current_position);
+bool Probe::move_to_z(const float z, const feedRate_t fr_mm_s) {
+ if (DEBUGGING(LEVELING)) DEBUG_POS(">>> Probe::move_to_z", current_position);
#if HAS_HEATED_BED && ENABLED(WAIT_FOR_BED_HEATER)
// Wait for bed to heat back up between probing points
@@ -482,7 +488,7 @@ static bool do_probe_move(const float z, const feedRate_t fr_mm_s) {
#endif
#if QUIET_PROBING
- probing_pause(true);
+ set_probing_paused(true);
#endif
// Move down until the probe is triggered
@@ -504,7 +510,7 @@ static bool do_probe_move(const float z, const feedRate_t fr_mm_s) {
;
#if QUIET_PROBING
- probing_pause(false);
+ set_probing_paused(false);
#endif
// Re-enable stealthChop if used. Disable diag1 pin on driver.
@@ -530,7 +536,7 @@ static bool do_probe_move(const float z, const feedRate_t fr_mm_s) {
// Tell the planner where we actually are
sync_plan_position();
- if (DEBUGGING(LEVELING)) DEBUG_POS("<<< do_probe_move", current_position);
+ if (DEBUGGING(LEVELING)) DEBUG_POS("<<< Probe::move_to_z", current_position);
return !probe_triggered;
}
@@ -543,19 +549,19 @@ static bool do_probe_move(const float z, const feedRate_t fr_mm_s) {
*
* @return The Z position of the bed at the current XY or NAN on error.
*/
-static float run_z_probe() {
+float Probe::run_z_probe() {
- if (DEBUGGING(LEVELING)) DEBUG_POS(">>> run_z_probe", current_position);
+ if (DEBUGGING(LEVELING)) DEBUG_POS(">>> Probe::run_z_probe", current_position);
// Stop the probe before it goes too low to prevent damage.
// If Z isn't known then probe to -10mm.
- const float z_probe_low_point = TEST(axis_known_position, Z_AXIS) ? -probe_offset.z + Z_PROBE_LOW_POINT : -10.0;
+ const float z_probe_low_point = TEST(axis_known_position, Z_AXIS) ? -offset.z + Z_PROBE_LOW_POINT : -10.0;
// Double-probing does a fast probe followed by a slow probe
#if TOTAL_PROBING == 2
// Do a first probe at the fast speed
- if (do_probe_move(z_probe_low_point, MMM_TO_MMS(Z_PROBE_SPEED_FAST))) {
+ if (move_to_z(z_probe_low_point, MMM_TO_MMS(Z_PROBE_SPEED_FAST))) {
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOLNPGM("FAST Probe fail!");
DEBUG_POS("<<< run_z_probe", current_position);
@@ -574,10 +580,10 @@ static float run_z_probe() {
// If the nozzle is well over the travel height then
// move down quickly before doing the slow probe
- const float z = Z_CLEARANCE_DEPLOY_PROBE + 5.0 + (probe_offset.z < 0 ? -probe_offset.z : 0);
+ const float z = Z_CLEARANCE_DEPLOY_PROBE + 5.0 + (offset.z < 0 ? -offset.z : 0);
if (current_position.z > z) {
// Probe down fast. If the probe never triggered, raise for probe clearance
- if (!do_probe_move(z, MMM_TO_MMS(Z_PROBE_SPEED_FAST)))
+ if (!move_to_z(z, MMM_TO_MMS(Z_PROBE_SPEED_FAST)))
do_blocking_move_to_z(current_position.z + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
}
#endif
@@ -587,7 +593,7 @@ static float run_z_probe() {
#endif
#if TOTAL_PROBING > 2
- float probes_total = 0;
+ float probes_z_sum = 0;
for (
#if EXTRA_PROBING
uint8_t p = 0; p < TOTAL_PROBING; p++
@@ -598,7 +604,7 @@ static float run_z_probe() {
#endif
{
// Probe downward slowly to find the bed
- if (do_probe_move(z_probe_low_point, MMM_TO_MMS(Z_PROBE_SPEED_SLOW))) {
+ if (move_to_z(z_probe_low_point, MMM_TO_MMS(Z_PROBE_SPEED_SLOW))) {
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOLNPGM("SLOW Probe fail!");
DEBUG_POS("<<< run_z_probe", current_position);
@@ -622,7 +628,7 @@ static float run_z_probe() {
}
}
#elif TOTAL_PROBING > 2
- probes_total += z;
+ probes_z_sum += z;
#else
UNUSED(z);
#endif
@@ -653,11 +659,11 @@ static float run_z_probe() {
// Return the average value of all remaining probes.
for (uint8_t i = min_avg_idx; i <= max_avg_idx; i++)
- probes_total += probes[i];
+ probes_z_sum += probes[i];
#endif
- const float measured_z = probes_total * RECIPROCAL(MULTIPLE_PROBING);
+ const float measured_z = probes_z_sum * RECIPROCAL(MULTIPLE_PROBING);
#elif TOTAL_PROBING == 2
@@ -689,10 +695,10 @@ static float run_z_probe() {
* - Raise to the BETWEEN height
* - Return the probed Z position
*/
-float probe_at_point(const float &rx, const float &ry, const ProbePtRaise raise_after/*=PROBE_PT_NONE*/, const uint8_t verbose_level/*=0*/, const bool probe_relative/*=true*/) {
+float Probe::probe_at_point(const float &rx, const float &ry, const ProbePtRaise raise_after/*=PROBE_PT_NONE*/, const uint8_t verbose_level/*=0*/, const bool probe_relative/*=true*/) {
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOLNPAIR(
- ">>> probe_at_point(", LOGICAL_X_POSITION(rx), ", ", LOGICAL_Y_POSITION(ry),
+ ">>> Probe::probe_at_point(", LOGICAL_X_POSITION(rx), ", ", LOGICAL_Y_POSITION(ry),
", ", raise_after == PROBE_PT_RAISE ? "raise" : raise_after == PROBE_PT_STOW ? "stow" : "none",
", ", int(verbose_level),
", ", probe_relative ? "probe" : "nozzle", "_relative)"
@@ -702,9 +708,12 @@ float probe_at_point(const float &rx, const float &ry, const ProbePtRaise raise_
// TODO: Adapt for SCARA, where the offset rotates
xyz_pos_t npos = { rx, ry };
- if (probe_relative) {
- if (!position_is_reachable_by_probe(npos)) return NAN; // The given position is in terms of the probe
- npos -= probe_offset_xy; // Get the nozzle position
+ if (probe_relative) { // The given position is in terms of the probe
+ if (!position_is_reachable_by_probe(npos)) {
+ if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Position Not Reachable");
+ return NAN;
+ }
+ npos -= offset_xy; // Get the nozzle position
}
else if (!position_is_reachable(npos)) return NAN; // The given position is in terms of the nozzle
@@ -724,38 +733,38 @@ float probe_at_point(const float &rx, const float &ry, const ProbePtRaise raise_
do_blocking_move_to(npos);
float measured_z = NAN;
- if (!DEPLOY_PROBE()) {
- measured_z = run_z_probe() + probe_offset.z;
+ if (!deploy()) {
+ measured_z = run_z_probe() + offset.z;
const bool big_raise = raise_after == PROBE_PT_BIG_RAISE;
if (big_raise || raise_after == PROBE_PT_RAISE)
do_blocking_move_to_z(current_position.z + (big_raise ? 25 : Z_CLEARANCE_BETWEEN_PROBES), MMM_TO_MMS(Z_PROBE_SPEED_FAST));
else if (raise_after == PROBE_PT_STOW)
- if (STOW_PROBE()) measured_z = NAN;
+ if (stow()) measured_z = NAN;
}
if (verbose_level > 2) {
SERIAL_ECHOPAIR_F("Bed X: ", LOGICAL_X_POSITION(rx), 3);
- SERIAL_ECHOPAIR_F(" Y: ", LOGICAL_Y_POSITION(ry), 3);
- SERIAL_ECHOLNPAIR_F(" Z: ", measured_z, 3);
+ SERIAL_ECHOPAIR_F( " Y: ", LOGICAL_Y_POSITION(ry), 3);
+ SERIAL_ECHOLNPAIR_F( " Z: ", measured_z, 3);
}
feedrate_mm_s = old_feedrate_mm_s;
if (isnan(measured_z)) {
- STOW_PROBE();
+ stow();
LCD_MESSAGEPGM(MSG_LCD_PROBING_FAILED);
SERIAL_ERROR_MSG(MSG_ERR_PROBING_FAILED);
}
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("<<< probe_at_point");
+ if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("<<< Probe::probe_at_point");
return measured_z;
}
#if HAS_Z_SERVO_PROBE
- void servo_probe_init() {
+ void Probe::servo_probe_init() {
/**
* Set position of Z Servo Endstop
*
diff --git a/Marlin/src/module/probe.h b/Marlin/src/module/probe.h
index a6e8bf4eab2..5cf0ecc2546 100644
--- a/Marlin/src/module/probe.h
+++ b/Marlin/src/module/probe.h
@@ -22,132 +22,150 @@
#pragma once
/**
- * probe.h - Move, deploy, enable, etc.
+ * module/probe.h - Move, deploy, enable, etc.
*/
#include "../inc/MarlinConfig.h"
#if HAS_BED_PROBE
-
- extern xyz_pos_t probe_offset;
-
- #if HAS_PROBE_XY_OFFSET
- extern xyz_pos_t &probe_offset_xy;
- #else
- constexpr xy_pos_t probe_offset_xy{0};
- #endif
-
- bool set_probe_deployed(const bool deploy);
- #ifdef Z_AFTER_PROBING
- void move_z_after_probing();
- #endif
- enum ProbePtRaise : unsigned char {
- PROBE_PT_NONE, // No raise or stow after run_z_probe
- PROBE_PT_STOW, // Do a complete stow after run_z_probe
- PROBE_PT_RAISE, // Raise to "between" clearance after run_z_probe
+ enum ProbePtRaise : uint8_t {
+ PROBE_PT_NONE, // No raise or stow after run_z_probe
+ PROBE_PT_STOW, // Do a complete stow after run_z_probe
+ PROBE_PT_RAISE, // Raise to "between" clearance after run_z_probe
PROBE_PT_BIG_RAISE // Raise to big clearance after run_z_probe
};
- float probe_at_point(const float &rx, const float &ry, const ProbePtRaise raise_after=PROBE_PT_NONE, const uint8_t verbose_level=0, const bool probe_relative=true);
- inline float probe_at_point(const xy_pos_t &pos, const ProbePtRaise raise_after=PROBE_PT_NONE, const uint8_t verbose_level=0, const bool probe_relative=true) {
- return probe_at_point(pos.x, pos.y, raise_after, verbose_level, probe_relative);
- }
- #define DEPLOY_PROBE() set_probe_deployed(true)
- #define STOW_PROBE() set_probe_deployed(false)
- #if HAS_HEATED_BED && ENABLED(WAIT_FOR_BED_HEATER)
- extern const char msg_wait_for_bed_heating[25];
- #endif
-
-#else
-
- constexpr xyz_pos_t probe_offset{0};
- constexpr xy_pos_t probe_offset_xy{0};
-
- #define DEPLOY_PROBE()
- #define STOW_PROBE()
-
#endif
-#if HAS_BED_PROBE || HAS_LEVELING
- #if IS_KINEMATIC
- constexpr float printable_radius = (
- #if ENABLED(DELTA)
- DELTA_PRINTABLE_RADIUS
- #elif IS_SCARA
- SCARA_PRINTABLE_RADIUS
- #endif
- );
+class Probe {
+public:
- inline float probe_radius() {
- return printable_radius - _MAX(MIN_PROBE_EDGE, HYPOT(probe_offset_xy.x, probe_offset_xy.y));
+ #if HAS_BED_PROBE
+
+ static xyz_pos_t offset;
+
+ // Use offset_xy for read only access
+ // More optimal the XY offset is known to always be zero.
+ #if HAS_PROBE_XY_OFFSET
+ static const xyz_pos_t &offset_xy;
+ #else
+ static constexpr xy_pos_t offset_xy{0};
+ #endif
+
+ static bool set_deployed(const bool deploy);
+
+ #ifdef Z_AFTER_PROBING
+ static void move_z_after_probing();
+ #endif
+ static float probe_at_point(const float &rx, const float &ry, const ProbePtRaise raise_after=PROBE_PT_NONE, const uint8_t verbose_level=0, const bool probe_relative=true);
+ static inline float probe_at_point(const xy_pos_t &pos, const ProbePtRaise raise_after=PROBE_PT_NONE, const uint8_t verbose_level=0, const bool probe_relative=true) {
+ return probe_at_point(pos.x, pos.y, raise_after, verbose_level, probe_relative);
}
+ #if HAS_HEATED_BED && ENABLED(WAIT_FOR_BED_HEATER)
+ static PGM_P msg_wait_for_bed_heating[25];
+ #endif
+
+ #else
+
+ static constexpr xyz_pos_t offset{0};
+ static constexpr xy_pos_t offset_xy{0};
+
+ static bool set_deployed(const bool) { return false; }
+
#endif
- inline float probe_min_x() {
- return (
- #if IS_KINEMATIC
- (X_CENTER) - probe_radius()
- #else
- _MAX((X_MIN_BED) + (MIN_PROBE_EDGE_LEFT), (X_MIN_POS) + probe_offset_xy.x)
- #endif
- );
- }
- inline float probe_max_x() {
- return (
- #if IS_KINEMATIC
- (X_CENTER) + probe_radius()
- #else
- _MIN((X_MAX_BED) - (MIN_PROBE_EDGE_RIGHT), (X_MAX_POS) + probe_offset_xy.x)
- #endif
- );
- }
- inline float probe_min_y() {
- return (
- #if IS_KINEMATIC
- (Y_CENTER) - probe_radius()
- #else
- _MAX((Y_MIN_BED) + (MIN_PROBE_EDGE_FRONT), (Y_MIN_POS) + probe_offset_xy.y)
- #endif
- );
- }
- inline float probe_max_y() {
- return (
- #if IS_KINEMATIC
- (Y_CENTER) + probe_radius()
- #else
- _MIN((Y_MAX_BED) - (MIN_PROBE_EDGE_BACK), (Y_MAX_POS) + probe_offset_xy.y)
- #endif
- );
- }
+ static inline bool deploy() { return set_deployed(true); }
+ static inline bool stow() { return set_deployed(false); }
- #if NEEDS_THREE_PROBE_POINTS
- // Retrieve three points to probe the bed. Any type exposing set(X,Y) may be used.
- template <typename T>
- inline void get_three_probe_points(T points[3]) {
- #if ENABLED(HAS_FIXED_3POINT)
- points[0].set(PROBE_PT_1_X, PROBE_PT_1_Y);
- points[1].set(PROBE_PT_2_X, PROBE_PT_2_Y);
- points[2].set(PROBE_PT_3_X, PROBE_PT_3_Y);
- #else
- #if IS_KINEMATIC
- constexpr float SIN0 = 0.0, SIN120 = 0.866025, SIN240 = -0.866025,
- COS0 = 1.0, COS120 = -0.5 , COS240 = -0.5;
- points[0].set((X_CENTER) + probe_radius() * COS0, (Y_CENTER) + probe_radius() * SIN0);
- points[1].set((X_CENTER) + probe_radius() * COS120, (Y_CENTER) + probe_radius() * SIN120);
- points[2].set((X_CENTER) + probe_radius() * COS240, (Y_CENTER) + probe_radius() * SIN240);
- #else
- points[0].set(probe_min_x(), probe_min_y());
- points[1].set(probe_max_x(), probe_min_y());
- points[2].set((probe_max_x() - probe_min_x()) / 2, probe_max_y());
+ #if HAS_BED_PROBE || HAS_LEVELING
+ #if IS_KINEMATIC
+ static constexpr float printable_radius = (
+ #if ENABLED(DELTA)
+ DELTA_PRINTABLE_RADIUS
+ #elif IS_SCARA
+ SCARA_PRINTABLE_RADIUS
#endif
- #endif
+ );
+
+ static inline float probe_radius() {
+ return printable_radius - _MAX(MIN_PROBE_EDGE, HYPOT(offset_xy.x, offset_xy.y));
+ }
+ #endif
+
+ static inline float min_x() {
+ return (
+ #if IS_KINEMATIC
+ (X_CENTER) - probe_radius()
+ #else
+ _MAX((X_MIN_BED) + (MIN_PROBE_EDGE_LEFT), (X_MIN_POS) + offset_xy.x)
+ #endif
+ );
}
+ static inline float max_x() {
+ return (
+ #if IS_KINEMATIC
+ (X_CENTER) + probe_radius()
+ #else
+ _MIN((X_MAX_BED) - (MIN_PROBE_EDGE_RIGHT), (X_MAX_POS) + offset_xy.x)
+ #endif
+ );
+ }
+ static inline float min_y() {
+ return (
+ #if IS_KINEMATIC
+ (Y_CENTER) - probe_radius()
+ #else
+ _MAX((Y_MIN_BED) + (MIN_PROBE_EDGE_FRONT), (Y_MIN_POS) + offset_xy.y)
+ #endif
+ );
+ }
+ static inline float max_y() {
+ return (
+ #if IS_KINEMATIC
+ (Y_CENTER) + probe_radius()
+ #else
+ _MIN((Y_MAX_BED) - (MIN_PROBE_EDGE_BACK), (Y_MAX_POS) + offset_xy.y)
+ #endif
+ );
+ }
+
+ #if NEEDS_THREE_PROBE_POINTS
+ // Retrieve three points to probe the bed. Any type exposing set(X,Y) may be used.
+ template <typename T>
+ static inline void get_three_points(T points[3]) {
+ #if ENABLED(HAS_FIXED_3POINT)
+ points[0].set(PROBE_PT_1_X, PROBE_PT_1_Y);
+ points[1].set(PROBE_PT_2_X, PROBE_PT_2_Y);
+ points[2].set(PROBE_PT_3_X, PROBE_PT_3_Y);
+ #else
+ #if IS_KINEMATIC
+ constexpr float SIN0 = 0.0, SIN120 = 0.866025, SIN240 = -0.866025,
+ COS0 = 1.0, COS120 = -0.5 , COS240 = -0.5;
+ points[0].set((X_CENTER) + probe_radius() * COS0, (Y_CENTER) + probe_radius() * SIN0);
+ points[1].set((X_CENTER) + probe_radius() * COS120, (Y_CENTER) + probe_radius() * SIN120);
+ points[2].set((X_CENTER) + probe_radius() * COS240, (Y_CENTER) + probe_radius() * SIN240);
+ #else
+ points[0].set(min_x(), min_y());
+ points[1].set(max_x(), min_y());
+ points[2].set((max_x() - min_x()) / 2, max_y());
+ #endif
+ #endif
+ }
+ #endif
+
+ #endif // HAS_BED_PROBE
+
+ #if HAS_Z_SERVO_PROBE
+ static void servo_probe_init();
#endif
-#endif
-#if HAS_Z_SERVO_PROBE
- void servo_probe_init();
-#endif
+ #if QUIET_PROBING
+ static void set_probing_paused(const bool p);
+ #endif
-#if QUIET_PROBING
- void probing_pause(const bool p);
-#endif
+private:
+ static bool move_to_z(const float z, const feedRate_t fr_mm_s);
+ static void do_z_raise(const float z_raise);
+ static float run_z_probe();
+};
+
+extern Probe probe;