Consolidate "bedlevel" code

Marlin/src/Marlin.h

@@ -48,10 +48,6 @@ void idle(
 
 void manage_inactivity(bool ignore_stepper_queue = false);
 
-#if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
-  extern bool extruder_duplication_enabled;
-#endif
-
 #if HAS_X2_ENABLE
   #define  enable_X() do{ X_ENABLE_WRITE( X_ENABLE_ON); X2_ENABLE_WRITE( X_ENABLE_ON); }while(0)
   #define disable_X() do{ X_ENABLE_WRITE(!X_ENABLE_ON); X2_ENABLE_WRITE(!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }while(0)
@@ -179,13 +175,6 @@ extern bool Running;
 inline bool IsRunning() { return  Running; }
 inline bool IsStopped() { return !Running; }
 
-/**
- * Feedrate scaling and conversion
- */
-extern int16_t feedrate_percentage;
-
-#define MMS_SCALED(MM_S) ((MM_S)*feedrate_percentage*0.01)
-
 extern float filament_size[EXTRUDERS]; // cross-sectional area of filament (in millimeters), typically around 1.75 or 2.85, 0 disables the volumetric calculations for the extruder.
 extern float volumetric_multiplier[EXTRUDERS]; // reciprocal of cross-sectional area of filament (in square millimeters), stored this way to reduce computational burden in planner
 
@@ -197,71 +186,23 @@ extern volatile bool wait_for_heatup;
   extern volatile bool wait_for_user;
 #endif
 
-// Hotend Offsets
-#if HOTENDS > 1
-  extern float hotend_offset[XYZ][HOTENDS];
-#endif
-
-// Software Endstops
-extern float soft_endstop_min[XYZ], soft_endstop_max[XYZ];
-
-#if HAS_WORKSPACE_OFFSET || ENABLED(DUAL_X_CARRIAGE)
-  void update_software_endstops(const AxisEnum axis);
-#endif
-
-#if IS_KINEMATIC
-  extern float delta[ABC];
-  void inverse_kinematics(const float logical[XYZ]);
-#endif
-
-#if ENABLED(DELTA)
-  extern float endstop_adj[ABC],
-               delta_radius,
-               delta_diagonal_rod,
-               delta_calibration_radius,
-               delta_segments_per_second,
-               delta_tower_angle_trim[2],
-               delta_clip_start_height;
-  void recalc_delta_settings(float radius, float diagonal_rod);
-#elif IS_SCARA
-  void forward_kinematics_SCARA(const float &a, const float &b);
-#endif
-
-#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
-  extern int bilinear_grid_spacing[2], bilinear_start[2];
-  extern float bilinear_grid_factor[2],
-               z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
-  float bilinear_z_offset(const float logical[XYZ]);
-#endif
-
 #if ENABLED(AUTO_BED_LEVELING_UBL)
   typedef struct { double A, B, D; } linear_fit;
   linear_fit* lsf_linear_fit(double x[], double y[], double z[], const int);
 #endif
 
-#if HAS_LEVELING
-  bool leveling_is_valid();
-  bool leveling_is_active();
-  void set_bed_leveling_enabled(const bool enable=true);
-  void reset_bed_level();
-#endif
-
-#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
-  void set_z_fade_height(const float zfh);
-#endif
-
 #if ENABLED(Z_DUAL_ENDSTOPS)
   extern float z_endstop_adj;
 #endif
 
-#if HAS_BED_PROBE
+#if HAS_SERVOS
-  extern float zprobe_zoffset;
+  #include "HAL/servo.h"
-  void refresh_zprobe_zoffset(const bool no_babystep=false);
+  extern HAL_SERVO_LIB servo[NUM_SERVOS];
-  #define DEPLOY_PROBE() set_probe_deployed(true)
+  #define MOVE_SERVO(I, P) servo[I].move(P)
-  #define STOW_PROBE() set_probe_deployed(false)
+  #if HAS_Z_SERVO_ENDSTOP
-#else
+    #define DEPLOY_Z_SERVO() MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[0])
-  #define DEPLOY_PROBE()
+    #define STOW_Z_SERVO() MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[1])
-  #define STOW_PROBE()
+  #endif
 #endif
 
 #if FAN_COUNT > 0
@@ -309,16 +250,4 @@ extern float soft_endstop_min[XYZ], soft_endstop_max[XYZ];
 
 void calculate_volumetric_multipliers();
 
-/**
- * Blocking movement and shorthand functions
- */
-void do_blocking_move_to(const float &x, const float &y, const float &z, const float &fr_mm_s=0.0);
-void do_blocking_move_to_x(const float &x, const float &fr_mm_s=0.0);
-void do_blocking_move_to_z(const float &z, const float &fr_mm_s=0.0);
-void do_blocking_move_to_xy(const float &x, const float &y, const float &fr_mm_s=0.0);
-
-#if ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED) || HAS_PROBING_PROCEDURE || HOTENDS > 1 || ENABLED(NOZZLE_CLEAN_FEATURE) || ENABLED(NOZZLE_PARK_FEATURE)
-  bool axis_unhomed_error(const bool x=true, const bool y=true, const bool z=true);
-#endif
-
 #endif // __MARLIN_H__

Marlin/src/feature/bedlevel/abl/abl.cpp

@@ -0,0 +1,425 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../../../inc/MarlinConfig.h"
+
+#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
+
+#include "abl.h"
+
+#include "../../../module/motion.h"
+
+int bilinear_grid_spacing[2], bilinear_start[2];
+float bilinear_grid_factor[2],
+      z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
+
+/**
+ * Extrapolate a single point from its neighbors
+ */
+static void extrapolate_one_point(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir) {
+  #if ENABLED(DEBUG_LEVELING_FEATURE)
+    if (DEBUGGING(LEVELING)) {
+      SERIAL_ECHOPGM("Extrapolate [");
+      if (x < 10) SERIAL_CHAR(' ');
+      SERIAL_ECHO((int)x);
+      SERIAL_CHAR(xdir ? (xdir > 0 ? '+' : '-') : ' ');
+      SERIAL_CHAR(' ');
+      if (y < 10) SERIAL_CHAR(' ');
+      SERIAL_ECHO((int)y);
+      SERIAL_CHAR(ydir ? (ydir > 0 ? '+' : '-') : ' ');
+      SERIAL_CHAR(']');
+    }
+  #endif
+  if (!isnan(z_values[x][y])) {
+    #if ENABLED(DEBUG_LEVELING_FEATURE)
+      if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM(" (done)");
+    #endif
+    return;  // Don't overwrite good values.
+  }
+  SERIAL_EOL();
+
+  // Get X neighbors, Y neighbors, and XY neighbors
+  const uint8_t x1 = x + xdir, y1 = y + ydir, x2 = x1 + xdir, y2 = y1 + ydir;
+  float a1 = z_values[x1][y ], a2 = z_values[x2][y ],
+        b1 = z_values[x ][y1], b2 = z_values[x ][y2],
+        c1 = z_values[x1][y1], c2 = z_values[x2][y2];
+
+  // Treat far unprobed points as zero, near as equal to far
+  if (isnan(a2)) a2 = 0.0; if (isnan(a1)) a1 = a2;
+  if (isnan(b2)) b2 = 0.0; if (isnan(b1)) b1 = b2;
+  if (isnan(c2)) c2 = 0.0; if (isnan(c1)) c1 = c2;
+
+  const float a = 2 * a1 - a2, b = 2 * b1 - b2, c = 2 * c1 - c2;
+
+  // Take the average instead of the median
+  z_values[x][y] = (a + b + c) / 3.0;
+
+  // Median is robust (ignores outliers).
+  // z_values[x][y] = (a < b) ? ((b < c) ? b : (c < a) ? a : c)
+  //                                : ((c < b) ? b : (a < c) ? a : c);
+}
+
+//Enable this if your SCARA uses 180° of total area
+//#define EXTRAPOLATE_FROM_EDGE
+
+#if ENABLED(EXTRAPOLATE_FROM_EDGE)
+  #if GRID_MAX_POINTS_X < GRID_MAX_POINTS_Y
+    #define HALF_IN_X
+  #elif GRID_MAX_POINTS_Y < GRID_MAX_POINTS_X
+    #define HALF_IN_Y
+  #endif
+#endif
+
+/**
+ * Fill in the unprobed points (corners of circular print surface)
+ * using linear extrapolation, away from the center.
+ */
+void extrapolate_unprobed_bed_level() {
+  #ifdef HALF_IN_X
+    constexpr uint8_t ctrx2 = 0, xlen = GRID_MAX_POINTS_X - 1;
+  #else
+    constexpr uint8_t ctrx1 = (GRID_MAX_POINTS_X - 1) / 2, // left-of-center
+                      ctrx2 = (GRID_MAX_POINTS_X) / 2,     // right-of-center
+                      xlen = ctrx1;
+  #endif
+
+  #ifdef HALF_IN_Y
+    constexpr uint8_t ctry2 = 0, ylen = GRID_MAX_POINTS_Y - 1;
+  #else
+    constexpr uint8_t ctry1 = (GRID_MAX_POINTS_Y - 1) / 2, // top-of-center
+                      ctry2 = (GRID_MAX_POINTS_Y) / 2,     // bottom-of-center
+                      ylen = ctry1;
+  #endif
+
+  for (uint8_t xo = 0; xo <= xlen; xo++)
+    for (uint8_t yo = 0; yo <= ylen; yo++) {
+      uint8_t x2 = ctrx2 + xo, y2 = ctry2 + yo;
+      #ifndef HALF_IN_X
+        const uint8_t x1 = ctrx1 - xo;
+      #endif
+      #ifndef HALF_IN_Y
+        const uint8_t y1 = ctry1 - yo;
+        #ifndef HALF_IN_X
+          extrapolate_one_point(x1, y1, +1, +1);   //  left-below + +
+        #endif
+        extrapolate_one_point(x2, y1, -1, +1);     // right-below - +
+      #endif
+      #ifndef HALF_IN_X
+        extrapolate_one_point(x1, y2, +1, -1);     //  left-above + -
+      #endif
+      extrapolate_one_point(x2, y2, -1, -1);       // right-above - -
+    }
+
+}
+
+void print_bilinear_leveling_grid() {
+  SERIAL_ECHOLNPGM("Bilinear Leveling Grid:");
+  print_2d_array(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y, 3,
+    [](const uint8_t ix, const uint8_t iy) { return z_values[ix][iy]; }
+  );
+}
+
+#if ENABLED(ABL_BILINEAR_SUBDIVISION)
+
+  #define ABL_GRID_POINTS_VIRT_X (GRID_MAX_POINTS_X - 1) * (BILINEAR_SUBDIVISIONS) + 1
+  #define ABL_GRID_POINTS_VIRT_Y (GRID_MAX_POINTS_Y - 1) * (BILINEAR_SUBDIVISIONS) + 1
+  #define ABL_TEMP_POINTS_X (GRID_MAX_POINTS_X + 2)
+  #define ABL_TEMP_POINTS_Y (GRID_MAX_POINTS_Y + 2)
+  float z_values_virt[ABL_GRID_POINTS_VIRT_X][ABL_GRID_POINTS_VIRT_Y];
+  int bilinear_grid_spacing_virt[2] = { 0 };
+  float bilinear_grid_factor_virt[2] = { 0 };
+
+  void print_bilinear_leveling_grid_virt() {
+    SERIAL_ECHOLNPGM("Subdivided with CATMULL ROM Leveling Grid:");
+    print_2d_array(ABL_GRID_POINTS_VIRT_X, ABL_GRID_POINTS_VIRT_Y, 5,
+      [](const uint8_t ix, const uint8_t iy) { return z_values_virt[ix][iy]; }
+    );
+  }
+
+  #define LINEAR_EXTRAPOLATION(E, I) ((E) * 2 - (I))
+  float bed_level_virt_coord(const uint8_t x, const uint8_t y) {
+    uint8_t ep = 0, ip = 1;
+    if (!x || x == ABL_TEMP_POINTS_X - 1) {
+      if (x) {
+        ep = GRID_MAX_POINTS_X - 1;
+        ip = GRID_MAX_POINTS_X - 2;
+      }
+      if (WITHIN(y, 1, ABL_TEMP_POINTS_Y - 2))
+        return LINEAR_EXTRAPOLATION(
+          z_values[ep][y - 1],
+          z_values[ip][y - 1]
+        );
+      else
+        return LINEAR_EXTRAPOLATION(
+          bed_level_virt_coord(ep + 1, y),
+          bed_level_virt_coord(ip + 1, y)
+        );
+    }
+    if (!y || y == ABL_TEMP_POINTS_Y - 1) {
+      if (y) {
+        ep = GRID_MAX_POINTS_Y - 1;
+        ip = GRID_MAX_POINTS_Y - 2;
+      }
+      if (WITHIN(x, 1, ABL_TEMP_POINTS_X - 2))
+        return LINEAR_EXTRAPOLATION(
+          z_values[x - 1][ep],
+          z_values[x - 1][ip]
+        );
+      else
+        return LINEAR_EXTRAPOLATION(
+          bed_level_virt_coord(x, ep + 1),
+          bed_level_virt_coord(x, ip + 1)
+        );
+    }
+    return z_values[x - 1][y - 1];
+  }
+
+  static float bed_level_virt_cmr(const float p[4], const uint8_t i, const float t) {
+    return (
+        p[i-1] * -t * sq(1 - t)
+      + p[i]   * (2 - 5 * sq(t) + 3 * t * sq(t))
+      + p[i+1] * t * (1 + 4 * t - 3 * sq(t))
+      - p[i+2] * sq(t) * (1 - t)
+    ) * 0.5;
+  }
+
+  static float bed_level_virt_2cmr(const uint8_t x, const uint8_t y, const float &tx, const float &ty) {
+    float row[4], column[4];
+    for (uint8_t i = 0; i < 4; i++) {
+      for (uint8_t j = 0; j < 4; j++) {
+        column[j] = bed_level_virt_coord(i + x - 1, j + y - 1);
+      }
+      row[i] = bed_level_virt_cmr(column, 1, ty);
+    }
+    return bed_level_virt_cmr(row, 1, tx);
+  }
+
+  void bed_level_virt_interpolate() {
+    bilinear_grid_spacing_virt[X_AXIS] = bilinear_grid_spacing[X_AXIS] / (BILINEAR_SUBDIVISIONS);
+    bilinear_grid_spacing_virt[Y_AXIS] = bilinear_grid_spacing[Y_AXIS] / (BILINEAR_SUBDIVISIONS);
+    bilinear_grid_factor_virt[X_AXIS] = RECIPROCAL(bilinear_grid_spacing_virt[X_AXIS]);
+    bilinear_grid_factor_virt[Y_AXIS] = RECIPROCAL(bilinear_grid_spacing_virt[Y_AXIS]);
+    for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
+      for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
+        for (uint8_t ty = 0; ty < BILINEAR_SUBDIVISIONS; ty++)
+          for (uint8_t tx = 0; tx < BILINEAR_SUBDIVISIONS; tx++) {
+            if ((ty && y == GRID_MAX_POINTS_Y - 1) || (tx && x == GRID_MAX_POINTS_X - 1))
+              continue;
+            z_values_virt[x * (BILINEAR_SUBDIVISIONS) + tx][y * (BILINEAR_SUBDIVISIONS) + ty] =
+              bed_level_virt_2cmr(
+                x + 1,
+                y + 1,
+                (float)tx / (BILINEAR_SUBDIVISIONS),
+                (float)ty / (BILINEAR_SUBDIVISIONS)
+              );
+          }
+  }
+#endif // ABL_BILINEAR_SUBDIVISION
+
+// Refresh after other values have been updated
+void refresh_bed_level() {
+  bilinear_grid_factor[X_AXIS] = RECIPROCAL(bilinear_grid_spacing[X_AXIS]);
+  bilinear_grid_factor[Y_AXIS] = RECIPROCAL(bilinear_grid_spacing[Y_AXIS]);
+  #if ENABLED(ABL_BILINEAR_SUBDIVISION)
+    bed_level_virt_interpolate();
+  #endif
+}
+
+#if ENABLED(ABL_BILINEAR_SUBDIVISION)
+  #define ABL_BG_SPACING(A) bilinear_grid_spacing_virt[A]
+  #define ABL_BG_FACTOR(A)  bilinear_grid_factor_virt[A]
+  #define ABL_BG_POINTS_X   ABL_GRID_POINTS_VIRT_X
+  #define ABL_BG_POINTS_Y   ABL_GRID_POINTS_VIRT_Y
+  #define ABL_BG_GRID(X,Y)  z_values_virt[X][Y]
+#else
+  #define ABL_BG_SPACING(A) bilinear_grid_spacing[A]
+  #define ABL_BG_FACTOR(A)  bilinear_grid_factor[A]
+  #define ABL_BG_POINTS_X   GRID_MAX_POINTS_X
+  #define ABL_BG_POINTS_Y   GRID_MAX_POINTS_Y
+  #define ABL_BG_GRID(X,Y)  z_values[X][Y]
+#endif
+
+// Get the Z adjustment for non-linear bed leveling
+float bilinear_z_offset(const float logical[XYZ]) {
+
+  static float z1, d2, z3, d4, L, D, ratio_x, ratio_y,
+               last_x = -999.999, last_y = -999.999;
+
+  // Whole units for the grid line indices. Constrained within bounds.
+  static int8_t gridx, gridy, nextx, nexty,
+                last_gridx = -99, last_gridy = -99;
+
+  // XY relative to the probed area
+  const float x = RAW_X_POSITION(logical[X_AXIS]) - bilinear_start[X_AXIS],
+              y = RAW_Y_POSITION(logical[Y_AXIS]) - bilinear_start[Y_AXIS];
+
+  #if ENABLED(EXTRAPOLATE_BEYOND_GRID)
+    // Keep using the last grid box
+    #define FAR_EDGE_OR_BOX 2
+  #else
+    // Just use the grid far edge
+    #define FAR_EDGE_OR_BOX 1
+  #endif
+
+  if (last_x != x) {
+    last_x = x;
+    ratio_x = x * ABL_BG_FACTOR(X_AXIS);
+    const float gx = constrain(FLOOR(ratio_x), 0, ABL_BG_POINTS_X - FAR_EDGE_OR_BOX);
+    ratio_x -= gx;      // Subtract whole to get the ratio within the grid box
+
+    #if DISABLED(EXTRAPOLATE_BEYOND_GRID)
+      // Beyond the grid maintain height at grid edges
+      NOLESS(ratio_x, 0); // Never < 0.0. (> 1.0 is ok when nextx==gridx.)
+    #endif
+
+    gridx = gx;
+    nextx = min(gridx + 1, ABL_BG_POINTS_X - 1);
+  }
+
+  if (last_y != y || last_gridx != gridx) {
+
+    if (last_y != y) {
+      last_y = y;
+      ratio_y = y * ABL_BG_FACTOR(Y_AXIS);
+      const float gy = constrain(FLOOR(ratio_y), 0, ABL_BG_POINTS_Y - FAR_EDGE_OR_BOX);
+      ratio_y -= gy;
+
+      #if DISABLED(EXTRAPOLATE_BEYOND_GRID)
+        // Beyond the grid maintain height at grid edges
+        NOLESS(ratio_y, 0); // Never < 0.0. (> 1.0 is ok when nexty==gridy.)
+      #endif
+
+      gridy = gy;
+      nexty = min(gridy + 1, ABL_BG_POINTS_Y - 1);
+    }
+
+    if (last_gridx != gridx || last_gridy != gridy) {
+      last_gridx = gridx;
+      last_gridy = gridy;
+      // Z at the box corners
+      z1 = ABL_BG_GRID(gridx, gridy);       // left-front
+      d2 = ABL_BG_GRID(gridx, nexty) - z1;  // left-back (delta)
+      z3 = ABL_BG_GRID(nextx, gridy);       // right-front
+      d4 = ABL_BG_GRID(nextx, nexty) - z3;  // right-back (delta)
+    }
+
+    // Bilinear interpolate. Needed since y or gridx has changed.
+                L = z1 + d2 * ratio_y;   // Linear interp. LF -> LB
+    const float R = z3 + d4 * ratio_y;   // Linear interp. RF -> RB
+
+    D = R - L;
+  }
+
+  const float offset = L + ratio_x * D;   // the offset almost always changes
+
+  /*
+  static float last_offset = 0;
+  if (FABS(last_offset - offset) > 0.2) {
+    SERIAL_ECHOPGM("Sudden Shift at ");
+    SERIAL_ECHOPAIR("x=", x);
+    SERIAL_ECHOPAIR(" / ", bilinear_grid_spacing[X_AXIS]);
+    SERIAL_ECHOLNPAIR(" -> gridx=", gridx);
+    SERIAL_ECHOPAIR(" y=", y);
+    SERIAL_ECHOPAIR(" / ", bilinear_grid_spacing[Y_AXIS]);
+    SERIAL_ECHOLNPAIR(" -> gridy=", gridy);
+    SERIAL_ECHOPAIR(" ratio_x=", ratio_x);
+    SERIAL_ECHOLNPAIR(" ratio_y=", ratio_y);
+    SERIAL_ECHOPAIR(" z1=", z1);
+    SERIAL_ECHOPAIR(" z2=", z2);
+    SERIAL_ECHOPAIR(" z3=", z3);
+    SERIAL_ECHOLNPAIR(" z4=", z4);
+    SERIAL_ECHOPAIR(" L=", L);
+    SERIAL_ECHOPAIR(" R=", R);
+    SERIAL_ECHOLNPAIR(" offset=", offset);
+  }
+  last_offset = offset;
+  //*/
+
+  return offset;
+}
+
+#if !IS_KINEMATIC
+
+  #define CELL_INDEX(A,V) ((RAW_##A##_POSITION(V) - bilinear_start[A##_AXIS]) * ABL_BG_FACTOR(A##_AXIS))
+
+  /**
+   * Prepare a bilinear-leveled linear move on Cartesian,
+   * splitting the move where it crosses grid borders.
+   */
+  void bilinear_line_to_destination(const float fr_mm_s, uint16_t x_splits, uint16_t y_splits) {
+    int cx1 = CELL_INDEX(X, current_position[X_AXIS]),
+        cy1 = CELL_INDEX(Y, current_position[Y_AXIS]),
+        cx2 = CELL_INDEX(X, destination[X_AXIS]),
+        cy2 = CELL_INDEX(Y, destination[Y_AXIS]);
+    cx1 = constrain(cx1, 0, ABL_BG_POINTS_X - 2);
+    cy1 = constrain(cy1, 0, ABL_BG_POINTS_Y - 2);
+    cx2 = constrain(cx2, 0, ABL_BG_POINTS_X - 2);
+    cy2 = constrain(cy2, 0, ABL_BG_POINTS_Y - 2);
+
+    if (cx1 == cx2 && cy1 == cy2) {
+      // Start and end on same mesh square
+      line_to_destination(fr_mm_s);
+      set_current_to_destination();
+      return;
+    }
+
+    #define LINE_SEGMENT_END(A) (current_position[A ##_AXIS] + (destination[A ##_AXIS] - current_position[A ##_AXIS]) * normalized_dist)
+
+    float normalized_dist, end[XYZE];
+
+    // Split at the left/front border of the right/top square
+    const int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2);
+    if (cx2 != cx1 && TEST(x_splits, gcx)) {
+      COPY(end, destination);
+      destination[X_AXIS] = LOGICAL_X_POSITION(bilinear_start[X_AXIS] + ABL_BG_SPACING(X_AXIS) * gcx);
+      normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
+      destination[Y_AXIS] = LINE_SEGMENT_END(Y);
+      CBI(x_splits, gcx);
+    }
+    else if (cy2 != cy1 && TEST(y_splits, gcy)) {
+      COPY(end, destination);
+      destination[Y_AXIS] = LOGICAL_Y_POSITION(bilinear_start[Y_AXIS] + ABL_BG_SPACING(Y_AXIS) * gcy);
+      normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
+      destination[X_AXIS] = LINE_SEGMENT_END(X);
+      CBI(y_splits, gcy);
+    }
+    else {
+      // Already split on a border
+      line_to_destination(fr_mm_s);
+      set_current_to_destination();
+      return;
+    }
+
+    destination[Z_AXIS] = LINE_SEGMENT_END(Z);
+    destination[E_AXIS] = LINE_SEGMENT_END(E);
+
+    // Do the split and look for more borders
+    bilinear_line_to_destination(fr_mm_s, x_splits, y_splits);
+
+    // Restore destination from stack
+    COPY(destination, end);
+    bilinear_line_to_destination(fr_mm_s, x_splits, y_splits);
+  }
+
+#endif // !IS_KINEMATIC
+
+#endif // AUTO_BED_LEVELING_BILINEAR

Marlin/src/feature/bedlevel/abl/abl.h

@@ -0,0 +1,51 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016, 2017 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#ifndef __ABL_H__
+#define __ABL_H__
+
+#include "../../../inc/MarlinConfig.h"
+
+#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
+
+  #include "../bedlevel.h"
+
+  extern int bilinear_grid_spacing[2], bilinear_start[2];
+  extern float bilinear_grid_factor[2],
+               z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
+  float bilinear_z_offset(const float logical[XYZ]);
+
+  void extrapolate_unprobed_bed_level();
+  void print_bilinear_leveling_grid();
+  void refresh_bed_level();
+  #if ENABLED(ABL_BILINEAR_SUBDIVISION)
+    void print_bilinear_leveling_grid_virt();
+    void bed_level_virt_interpolate();
+  #endif
+
+  #if !IS_KINEMATIC
+    void bilinear_line_to_destination(const float fr_mm_s, uint16_t x_splits=0xFFFF, uint16_t y_splits=0xFFFF);
+  #endif
+
+#endif // AUTO_BED_LEVELING_BILINEAR
+
+#endif // __ABL_H__

Marlin/src/feature/bedlevel/bedlevel.cpp

@@ -0,0 +1,314 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../../inc/MarlinConfig.h"
+
+#if HAS_LEVELING
+
+#include "bedlevel.h"
+
+#if ENABLED(MESH_BED_LEVELING) || ENABLED(PROBE_MANUALLY)
+  #include "../../module/stepper.h"
+#endif
+
+#if PLANNER_LEVELING
+  #include "../../module/planner.h"
+#endif
+
+#if ENABLED(PROBE_MANUALLY)
+  bool g29_in_progress = false;
+  #if ENABLED(LCD_BED_LEVELING)
+    #include "../../lcd/ultralcd.h"
+  #endif
+#endif
+
+bool leveling_is_valid() {
+  return
+    #if ENABLED(MESH_BED_LEVELING)
+      mbl.has_mesh()
+    #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
+      !!bilinear_grid_spacing[X_AXIS]
+    #elif ENABLED(AUTO_BED_LEVELING_UBL)
+      true
+    #else // 3POINT, LINEAR
+      true
+    #endif
+  ;
+}
+
+bool leveling_is_active() {
+  return
+    #if ENABLED(MESH_BED_LEVELING)
+      mbl.active()
+    #elif ENABLED(AUTO_BED_LEVELING_UBL)
+      ubl.state.active
+    #else // OLDSCHOOL_ABL
+      planner.abl_enabled
+    #endif
+  ;
+}
+
+/**
+ * Turn bed leveling on or off, fixing the current
+ * position as-needed.
+ *
+ * Disable: Current position = physical position
+ *  Enable: Current position = "unleveled" physical position
+ */
+void set_bed_leveling_enabled(const bool enable/*=true*/) {
+
+  #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
+    const bool can_change = (!enable || leveling_is_valid());
+  #else
+    constexpr bool can_change = true;
+  #endif
+
+  if (can_change && enable != leveling_is_active()) {
+
+    #if ENABLED(MESH_BED_LEVELING)
+
+      if (!enable)
+        planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
+
+      const bool enabling = enable && leveling_is_valid();
+      mbl.set_active(enabling);
+      if (enabling) planner.unapply_leveling(current_position);
+
+    #elif ENABLED(AUTO_BED_LEVELING_UBL)
+      #if PLANNER_LEVELING
+        if (ubl.state.active) {                       // leveling from on to off
+          // change unleveled current_position to physical current_position without moving steppers.
+          planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
+          ubl.state.active = false;                   // disable only AFTER calling apply_leveling
+        }
+        else {                                        // leveling from off to on
+          ubl.state.active = true;                    // enable BEFORE calling unapply_leveling, otherwise ignored
+          // change physical current_position to unleveled current_position without moving steppers.
+          planner.unapply_leveling(current_position);
+        }
+      #else
+        ubl.state.active = enable;                    // just flip the bit, current_position will be wrong until next move.
+      #endif
+
+    #else // OLDSCHOOL_ABL
+
+      #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
+        // Force bilinear_z_offset to re-calculate next time
+        const float reset[XYZ] = { -9999.999, -9999.999, 0 };
+        (void)bilinear_z_offset(reset);
+      #endif
+
+      // Enable or disable leveling compensation in the planner
+      planner.abl_enabled = enable;
+
+      if (!enable)
+        // When disabling just get the current position from the steppers.
+        // This will yield the smallest error when first converted back to steps.
+        set_current_from_steppers_for_axis(
+          #if ABL_PLANAR
+            ALL_AXES
+          #else
+            Z_AXIS
+          #endif
+        );
+      else
+        // When enabling, remove compensation from the current position,
+        // so compensation will give the right stepper counts.
+        planner.unapply_leveling(current_position);
+
+    #endif // OLDSCHOOL_ABL
+  }
+}
+
+#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
+
+  void set_z_fade_height(const float zfh) {
+
+    const bool level_active = leveling_is_active();
+
+    #if ENABLED(AUTO_BED_LEVELING_UBL)
+
+      if (level_active)
+        set_bed_leveling_enabled(false);  // turn off before changing fade height for proper apply/unapply leveling to maintain current_position
+      planner.z_fade_height = zfh;
+      planner.inverse_z_fade_height = RECIPROCAL(zfh);
+      if (level_active)
+        set_bed_leveling_enabled(true);  // turn back on after changing fade height
+
+    #else
+
+      planner.z_fade_height = zfh;
+      planner.inverse_z_fade_height = RECIPROCAL(zfh);
+
+      if (level_active) {
+        set_current_from_steppers_for_axis(
+          #if ABL_PLANAR
+            ALL_AXES
+          #else
+            Z_AXIS
+          #endif
+        );
+      }
+    #endif
+  }
+
+#endif // ENABLE_LEVELING_FADE_HEIGHT
+
+/**
+ * Reset calibration results to zero.
+ */
+void reset_bed_level() {
+  set_bed_leveling_enabled(false);
+  #if ENABLED(MESH_BED_LEVELING)
+    if (leveling_is_valid()) {
+      mbl.reset();
+      mbl.set_has_mesh(false);
+    }
+  #else
+    #if ENABLED(DEBUG_LEVELING_FEATURE)
+      if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("reset_bed_level");
+    #endif
+    #if ABL_PLANAR
+      planner.bed_level_matrix.set_to_identity();
+    #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
+      bilinear_start[X_AXIS] = bilinear_start[Y_AXIS] =
+      bilinear_grid_spacing[X_AXIS] = bilinear_grid_spacing[Y_AXIS] = 0;
+      for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
+        for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
+          z_values[x][y] = NAN;
+    #elif ENABLED(AUTO_BED_LEVELING_UBL)
+      ubl.reset();
+    #endif
+  #endif
+}
+
+#if ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(MESH_BED_LEVELING)
+
+  /**
+   * Enable to produce output in JSON format suitable
+   * for SCAD or JavaScript mesh visualizers.
+   *
+   * Visualize meshes in OpenSCAD using the included script.
+   *
+   *   buildroot/shared/scripts/MarlinMesh.scad
+   */
+  //#define SCAD_MESH_OUTPUT
+
+  /**
+   * Print calibration results for plotting or manual frame adjustment.
+   */
+  void print_2d_array(const uint8_t sx, const uint8_t sy, const uint8_t precision, element_2d_fn fn) {
+    #ifndef SCAD_MESH_OUTPUT
+      for (uint8_t x = 0; x < sx; x++) {
+        for (uint8_t i = 0; i < precision + 2 + (x < 10 ? 1 : 0); i++)
+          SERIAL_PROTOCOLCHAR(' ');
+        SERIAL_PROTOCOL((int)x);
+      }
+      SERIAL_EOL();
+    #endif
+    #ifdef SCAD_MESH_OUTPUT
+      SERIAL_PROTOCOLLNPGM("measured_z = ["); // open 2D array
+    #endif
+    for (uint8_t y = 0; y < sy; y++) {
+      #ifdef SCAD_MESH_OUTPUT
+        SERIAL_PROTOCOLPGM(" [");           // open sub-array
+      #else
+        if (y < 10) SERIAL_PROTOCOLCHAR(' ');
+        SERIAL_PROTOCOL((int)y);
+      #endif
+      for (uint8_t x = 0; x < sx; x++) {
+        SERIAL_PROTOCOLCHAR(' ');
+        const float offset = fn(x, y);
+        if (!isnan(offset)) {
+          if (offset >= 0) SERIAL_PROTOCOLCHAR('+');
+          SERIAL_PROTOCOL_F(offset, precision);
+        }
+        else {
+          #ifdef SCAD_MESH_OUTPUT
+            for (uint8_t i = 3; i < precision + 3; i++)
+              SERIAL_PROTOCOLCHAR(' ');
+            SERIAL_PROTOCOLPGM("NAN");
+          #else
+            for (uint8_t i = 0; i < precision + 3; i++)
+              SERIAL_PROTOCOLCHAR(i ? '=' : ' ');
+          #endif
+        }
+        #ifdef SCAD_MESH_OUTPUT
+          if (x < sx - 1) SERIAL_PROTOCOLCHAR(',');
+        #endif
+      }
+      #ifdef SCAD_MESH_OUTPUT
+        SERIAL_PROTOCOLCHAR(' ');
+        SERIAL_PROTOCOLCHAR(']');                     // close sub-array
+        if (y < sy - 1) SERIAL_PROTOCOLCHAR(',');
+      #endif
+      SERIAL_EOL();
+    }
+    #ifdef SCAD_MESH_OUTPUT
+      SERIAL_PROTOCOLPGM("];");                       // close 2D array
+    #endif
+    SERIAL_EOL();
+  }
+
+#endif // AUTO_BED_LEVELING_BILINEAR || MESH_BED_LEVELING
+
+#if ENABLED(MESH_BED_LEVELING) || ENABLED(PROBE_MANUALLY)
+
+  void _manual_goto_xy(const float &x, const float &y) {
+    const float old_feedrate_mm_s = feedrate_mm_s;
+    #if MANUAL_PROBE_HEIGHT > 0
+      const float prev_z = current_position[Z_AXIS];
+      feedrate_mm_s = homing_feedrate(Z_AXIS);
+      current_position[Z_AXIS] = LOGICAL_Z_POSITION(MANUAL_PROBE_HEIGHT);
+      line_to_current_position();
+    #endif
+
+    feedrate_mm_s = MMM_TO_MMS(XY_PROBE_SPEED);
+    current_position[X_AXIS] = LOGICAL_X_POSITION(x);
+    current_position[Y_AXIS] = LOGICAL_Y_POSITION(y);
+    line_to_current_position();
+
+    #if MANUAL_PROBE_HEIGHT > 0
+      feedrate_mm_s = homing_feedrate(Z_AXIS);
+      current_position[Z_AXIS] = prev_z; // move back to the previous Z.
+      line_to_current_position();
+    #endif
+
+    feedrate_mm_s = old_feedrate_mm_s;
+    stepper.synchronize();
+
+    #if ENABLED(PROBE_MANUALLY) && ENABLED(LCD_BED_LEVELING)
+      lcd_wait_for_move = false;
+    #endif
+  }
+
+#endif
+
+#if HAS_PROBING_PROCEDURE
+  void out_of_range_error(const char* p_edge) {
+    SERIAL_PROTOCOLPGM("?Probe ");
+    serialprintPGM(p_edge);
+    SERIAL_PROTOCOLLNPGM(" position out of range.");
+  }
+#endif
+
+#endif // HAS_LEVELING

Marlin/src/feature/bedlevel/bedlevel.h

@@ -0,0 +1,72 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#ifndef __BEDLEVEL_H__
+#define __BEDLEVEL_H__
+
+#include "../../inc/MarlinConfig.h"
+
+#if ENABLED(MESH_BED_LEVELING)
+  #include "mbl/mesh_bed_leveling.h"
+#elif ENABLED(AUTO_BED_LEVELING_UBL)
+  #include "ubl/ubl.h"
+#elif HAS_ABL
+  #include "abl/abl.h"
+#endif
+
+#if ENABLED(PROBE_MANUALLY)
+  extern bool g29_in_progress;
+#else
+  constexpr bool g29_in_progress = false;
+#endif
+
+bool leveling_is_valid();
+bool leveling_is_active();
+void set_bed_leveling_enabled(const bool enable=true);
+void reset_bed_level();
+
+#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
+  void set_z_fade_height(const float zfh);
+#endif
+
+#if ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(MESH_BED_LEVELING)
+
+  #include <stdint.h>
+
+  typedef float (*element_2d_fn)(const uint8_t, const uint8_t);
+
+  /**
+   * Print calibration results for plotting or manual frame adjustment.
+   */
+  void print_2d_array(const uint8_t sx, const uint8_t sy, const uint8_t precision, element_2d_fn fn);
+
+#endif
+
+#if ENABLED(MESH_BED_LEVELING) || ENABLED(PROBE_MANUALLY)
+  void _manual_goto_xy(const float &x, const float &y);
+#endif
+
+#if HAS_PROBING_PROCEDURE
+  void out_of_range_error(const char* p_edge);
+#endif
+
+#endif // __BEDLEVEL_H__

Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.cpp

@@ -20,13 +20,14 @@
  *
  */
 
-#include "../../inc/MarlinConfig.h"
+#include "../../../inc/MarlinConfig.h"
 
 #if ENABLED(MESH_BED_LEVELING)
 
   #include "mesh_bed_leveling.h"
 
-  #include "../../module/motion.h"
+  #include "../../../module/motion.h"
+  #include "../../../feature/bedlevel/bedlevel.h"
 
   mesh_bed_leveling mbl;
 
@@ -110,4 +111,13 @@
     mesh_line_to_destination(fr_mm_s, x_splits, y_splits);
   }
 
+  void mbl_mesh_report() {
+    SERIAL_PROTOCOLLNPGM("Num X,Y: " STRINGIFY(GRID_MAX_POINTS_X) "," STRINGIFY(GRID_MAX_POINTS_Y));
+    SERIAL_PROTOCOLPGM("Z offset: "); SERIAL_PROTOCOL_F(mbl.z_offset, 5);
+    SERIAL_PROTOCOLLNPGM("\nMeasured points:");
+    print_2d_array(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y, 5,
+      [](const uint8_t ix, const uint8_t iy) { return mbl.z_values[ix][iy]; }
+    );
+  }
+
 #endif // MESH_BED_LEVELING

Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.h

@@ -23,7 +23,7 @@
 #ifndef _MESH_BED_LEVELING_H_
 #define _MESH_BED_LEVELING_H_
 
-#include "../../Marlin.h"
+#include "../../../inc/MarlinConfig.h"
 
 enum MeshLevelingState {
   MeshReport,
@@ -120,6 +120,10 @@ public:
 
 extern mesh_bed_leveling mbl;
 
+// Support functions, which may be embedded in the class later
+
 void mesh_line_to_destination(const float fr_mm_s, uint8_t x_splits=0xFF, uint8_t y_splits=0xFF);
 
+void mbl_mesh_report();
+
 #endif // _MESH_BED_LEVELING_H_

Marlin/src/feature/bedlevel/ubl/ubl.cpp

@@ -20,17 +20,17 @@
  *
  */
 
-#include "../../inc/MarlinConfig.h"
+#include "../../../inc/MarlinConfig.h"
 
 #if ENABLED(AUTO_BED_LEVELING_UBL)
 
   #include "ubl.h"
   unified_bed_leveling ubl;
 
-  #include "../../module/configuration_store.h"
+  #include "../../../module/configuration_store.h"
-  #include "../../core/serial.h"
+  #include "../../../module/planner.h"
-  #include "../../module/planner.h"
+  #include "../../../module/motion.h"
-  #include "../../module/motion.h"
+  #include "../../bedlevel/bedlevel.h"
 
   #include "math.h"
 
@@ -78,6 +78,10 @@
   bool unified_bed_leveling::g26_debug_flag = false,
        unified_bed_leveling::has_control_of_lcd_panel = false;
 
+  #if ENABLED(ULTRA_LCD)
+    bool unified_bed_leveling::lcd_map_control = false;
+  #endif
+
   volatile int unified_bed_leveling::encoder_diff;
 
   unified_bed_leveling::unified_bed_leveling() {

Marlin/src/feature/bedlevel/ubl/ubl.h

@@ -23,9 +23,9 @@
 #ifndef UNIFIED_BED_LEVELING_H
 #define UNIFIED_BED_LEVELING_H
 
-#include "../../Marlin.h"
+#include "../../../Marlin.h"
-#include "../../core/serial.h"
+#include "../../../module/planner.h"
-#include "../../module/planner.h"
+#include "../../../module/motion.h"
 
 #define UBL_VERSION "1.01"
 #define UBL_OK false
@@ -57,7 +57,6 @@ enum MeshPointType { INVALID, REAL, SET_IN_BITMAP };
 
 char *ftostr43sign(const float&, char);
 bool ubl_lcd_clicked();
-void home_all_axes();
 
 extern uint8_t ubl_cnt;
 
@@ -190,6 +189,10 @@ class unified_bed_leveling {
 
     static bool g26_debug_flag, has_control_of_lcd_panel;
 
+    #if ENABLED(ULTRA_LCD)
+      static bool lcd_map_control;
+    #endif
+
     static volatile int encoder_diff; // Volatile because it's changed at interrupt time.
 
     unified_bed_leveling();
@@ -246,12 +249,16 @@ class unified_bed_leveling {
      */
     inline static float z_correction_for_x_on_horizontal_mesh_line(const float &lx0, const int x1_i, const int yi) {
       if (!WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 2) || !WITHIN(yi, 0, GRID_MAX_POINTS_Y - 1)) {
-        serialprintPGM( !WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1) ? PSTR("x1l_i") : PSTR("yi") );
+        #if ENABLED(DEBUG_LEVELING_FEATURE)
-        SERIAL_ECHOPAIR(" out of bounds in z_correction_for_x_on_horizontal_mesh_line(lx0=", lx0);
+          if (DEBUGGING(LEVELING)) {
-        SERIAL_ECHOPAIR(",x1_i=", x1_i);
+            serialprintPGM( !WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1) ? PSTR("x1l_i") : PSTR("yi") );
-        SERIAL_ECHOPAIR(",yi=", yi);
+            SERIAL_ECHOPAIR(" out of bounds in z_correction_for_x_on_horizontal_mesh_line(lx0=", lx0);
-        SERIAL_CHAR(')');
+            SERIAL_ECHOPAIR(",x1_i=", x1_i);
-        SERIAL_EOL();
+            SERIAL_ECHOPAIR(",yi=", yi);
+            SERIAL_CHAR(')');
+            SERIAL_EOL();
+          }
+        #endif
         return NAN;
       }
 
@@ -266,12 +273,16 @@ class unified_bed_leveling {
     //
     inline static float z_correction_for_y_on_vertical_mesh_line(const float &ly0, const int xi, const int y1_i) {
       if (!WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(y1_i, 0, GRID_MAX_POINTS_Y - 2)) {
-        serialprintPGM( !WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) ? PSTR("xi") : PSTR("yl_i") );
+        #if ENABLED(DEBUG_LEVELING_FEATURE)
-        SERIAL_ECHOPAIR(" out of bounds in z_correction_for_y_on_vertical_mesh_line(ly0=", ly0);
+          if (DEBUGGING(LEVELING)) {
-        SERIAL_ECHOPAIR(", xi=", xi);
+            serialprintPGM( !WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) ? PSTR("xi") : PSTR("yl_i") );
-        SERIAL_ECHOPAIR(", y1_i=", y1_i);
+            SERIAL_ECHOPAIR(" out of bounds in z_correction_for_y_on_vertical_mesh_line(ly0=", ly0);
-        SERIAL_CHAR(')');
+            SERIAL_ECHOPAIR(", xi=", xi);
-        SERIAL_EOL();
+            SERIAL_ECHOPAIR(", y1_i=", y1_i);
+            SERIAL_CHAR(')');
+            SERIAL_EOL();
+          }
+        #endif
         return NAN;
       }
 
@@ -390,6 +401,19 @@ class unified_bed_leveling {
     static bool prepare_segmented_line_to(const float ltarget[XYZE], const float &feedrate);
     static void line_to_destination_cartesian(const float &fr, uint8_t e);
 
+    #define _CMPZ(a,b) (z_values[a][b] == z_values[a][b+1])
+    #define CMPZ(a) (_CMPZ(a, 0) && _CMPZ(a, 1))
+    #define ZZER(a) (z_values[a][0] == 0)
+
+    FORCE_INLINE bool mesh_is_valid() {
+      return !(
+        (    CMPZ(0) && CMPZ(1) && CMPZ(2) // adjacent z values all equal?
+          && ZZER(0) && ZZER(1) && ZZER(2) // all zero at the edge?
+        )
+        || isnan(z_values[0][0])
+      );
+    }
+
 }; // class unified_bed_leveling
 
 extern unified_bed_leveling ubl;

Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp

@@ -20,20 +20,23 @@
  *
  */
 
-#include "../../inc/MarlinConfig.h"
+#include "../../../inc/MarlinConfig.h"
 
 #if ENABLED(AUTO_BED_LEVELING_UBL)
 
   #include "ubl.h"
 
-  #include "../../Marlin.h"
+  #include "../../../Marlin.h"
-  #include "../../libs/hex_print_routines.h"
+  #include "../../../libs/hex_print_routines.h"
-  #include "../../module/configuration_store.h"
+  #include "../../../module/configuration_store.h"
-  #include "../../lcd/ultralcd.h"
+  #include "../../../lcd/ultralcd.h"
-  #include "../../module/stepper.h"
+  #include "../../../module/stepper.h"
-  #include "../../module/planner.h"
+  #include "../../../module/planner.h"
-  #include "../../gcode/parser.h"
+  #include "../../../module/probe.h"
-  #include "../../libs/least_squares_fit.h"
+  #include "../../../gcode/gcode.h"
+  #include "../../../gcode/parser.h"
+  #include "../../../feature/bedlevel/bedlevel.h"
+  #include "../../../libs/least_squares_fit.h"
 
   #include <math.h>
 
@@ -52,11 +55,8 @@
 
   extern float meshedit_done;
   extern long babysteps_done;
-  extern float probe_pt(const float &lx, const float &ly, const bool, const uint8_t, const bool=true);
+  //extern bool set_probe_deployed(bool);
-  extern bool set_probe_deployed(bool);
+  //extern void set_bed_leveling_enabled(bool);
-  extern void set_bed_leveling_enabled(bool);
-  typedef void (*screenFunc_t)();
-  extern void lcd_goto_screen(screenFunc_t screen, const uint32_t encoder = 0);
 
   #define SIZE_OF_LITTLE_RAISE 1
   #define BIG_RAISE_NOT_NEEDED 0
@@ -314,7 +314,7 @@
     if (axis_unhomed_error()) {
       const int8_t p_val = parser.intval('P', -1);
       if (p_val == 1 || p_val == 2 || p_val == 4 || parser.seen('J'))
-        home_all_axes();
+        gcode.home_all_axes();
     }
 
     if (g29_parameter_parsing()) return; // abort if parsing the simple parameters causes a problem,
@@ -1515,7 +1515,7 @@
           idle();
         } while (!ubl_lcd_clicked());
 
-        if (!ubl_lcd_map_control) lcd_return_to_status();
+        if (!lcd_map_control) lcd_return_to_status();
 
         // The technique used here generates a race condition for the encoder click.
         // It could get detected in lcd_mesh_edit (actually _lcd_mesh_fine_tune) or here.
@@ -1561,7 +1561,7 @@
       LCD_MESSAGEPGM(MSG_UBL_DONE_EDITING_MESH);
       SERIAL_ECHOLNPGM("Done Editing Mesh");
 
-      if (ubl_lcd_map_control)
+      if (lcd_map_control)
         lcd_goto_screen(_lcd_ubl_output_map_lcd);
       else
         lcd_return_to_status();
@@ -1606,7 +1606,7 @@
     //   { GRID_MAX_POINTS_X - 1, 0,  0, GRID_MAX_POINTS_Y,      true  } PROGMEM   // Right side of the mesh looking left
     // };
     for (uint8_t i = 0; i < COUNT(info); ++i) {
-      const smart_fill_info *f = (smart_fill_info*)pgm_read_word(&info[i]);
+      const smart_fill_info *f = (smart_fill_info*)pgm_read_ptr(&info[i]);
       const int8_t sx = pgm_read_word(&f->sx), sy = pgm_read_word(&f->sy),
                    ex = pgm_read_word(&f->ex), ey = pgm_read_word(&f->ey);
       if (pgm_read_byte(&f->yfirst)) {

Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp

@@ -19,16 +19,20 @@
  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
  *
  */
-#include "../../inc/MarlinConfig.h"
+#include "../../../inc/MarlinConfig.h"
 
 #if ENABLED(AUTO_BED_LEVELING_UBL)
 
   #include "ubl.h"
 
-  #include "../../Marlin.h"
+  #include "../../../Marlin.h"
-  #include "../../module/planner.h"
+  #include "../../../module/planner.h"
-  #include "../../module/stepper.h"
+  #include "../../../module/stepper.h"
-  #include "../../module/motion.h"
+  #include "../../../module/motion.h"
+
+  #if ENABLED(DELTA)
+    #include "../../../module/delta.h"
+  #endif
 
   #include <math.h>
 
@@ -40,25 +44,6 @@
     extern void set_current_to_destination();
   #endif
 
-#if ENABLED(DELTA)
-
-  extern float delta[ABC],
-               endstop_adj[ABC];
-
-  extern float delta_radius,
-               delta_tower_angle_trim[2],
-               delta_tower[ABC][2],
-               delta_diagonal_rod,
-               delta_calibration_radius,
-               delta_diagonal_rod_2_tower[ABC],
-               delta_segments_per_second,
-               delta_clip_start_height;
-
-  extern float delta_safe_distance_from_top();
-
-#endif
-
-
   static void debug_echo_axis(const AxisEnum axis) {
     if (current_position[axis] == destination[axis])
       SERIAL_ECHOPGM("-------------");

Marlin/src/feature/ubl/G26_Mesh_Validation_Tool.cpp

@@ -1,893 +0,0 @@
-/**
- * Marlin 3D Printer Firmware
- * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <http://www.gnu.org/licenses/>.
- *
- */
-
-/**
- * Marlin Firmware -- G26 - Mesh Validation Tool
- */
-
-#include "../../inc/MarlinConfig.h"
-
-#if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(UBL_G26_MESH_VALIDATION)
-
-  #include "ubl.h"
-
-  #include "../../Marlin.h"
-  #include "../../module/planner.h"
-  #include "../../module/stepper.h"
-  #include "../../module/motion.h"
-  #include "../../module/temperature.h"
-  #include "../../lcd/ultralcd.h"
-  #include "../../gcode/parser.h"
-
-  #define EXTRUSION_MULTIPLIER 1.0
-  #define RETRACTION_MULTIPLIER 1.0
-  #define NOZZLE 0.4
-  #define FILAMENT 1.75
-  #define LAYER_HEIGHT 0.2
-  #define PRIME_LENGTH 10.0
-  #define BED_TEMP 60.0
-  #define HOTEND_TEMP 205.0
-  #define OOZE_AMOUNT 0.3
-
-  #define SIZE_OF_INTERSECTION_CIRCLES 5
-  #define SIZE_OF_CROSSHAIRS 3
-
-  #if SIZE_OF_CROSSHAIRS >= SIZE_OF_INTERSECTION_CIRCLES
-    #error "SIZE_OF_CROSSHAIRS must be less than SIZE_OF_INTERSECTION_CIRCLES."
-  #endif
-
-  /**
-   *   G26 Mesh Validation Tool
-   *
-   *   G26 is a Mesh Validation Tool intended to provide support for the Marlin Unified Bed Leveling System.
-   *   In order to fully utilize and benefit from the Marlin Unified Bed Leveling System an accurate Mesh must
-   *   be defined. G29 is designed to allow the user to quickly validate the correctness of her Mesh. It will
-   *   first heat the bed and nozzle. It will then print lines and circles along the Mesh Cell boundaries and
-   *   the intersections of those lines (respectively).
-   *
-   *   This action allows the user to immediately see where the Mesh is properly defined and where it needs to
-   *   be edited. The command will generate the Mesh lines closest to the nozzle's starting position. Alternatively
-   *   the user can specify the X and Y position of interest with command parameters. This allows the user to
-   *   focus on a particular area of the Mesh where attention is needed.
-   *
-   *   B #  Bed         Set the Bed Temperature. If not specified, a default of 60 C. will be assumed.
-   *
-   *   C    Current     When searching for Mesh Intersection points to draw, use the current nozzle location
-   *                    as the base for any distance comparison.
-   *
-   *   D    Disable     Disable the Unified Bed Leveling System. In the normal case the user is invoking this
-   *                    command to see how well a Mesh as been adjusted to match a print surface. In order to do
-   *                    this the Unified Bed Leveling System is turned on by the G26 command. The D parameter
-   *                    alters the command's normal behaviour and disables the Unified Bed Leveling System even if
-   *                    it is on.
-   *
-   *   H #  Hotend      Set the Nozzle Temperature. If not specified, a default of 205 C. will be assumed.
-   *
-   *   F #  Filament    Used to specify the diameter of the filament being used. If not specified
-   *                    1.75mm filament is assumed. If you are not getting acceptable results by using the
-   *                    'correct' numbers, you can scale this number up or down a little bit to change the amount
-   *                    of filament that is being extruded during the printing of the various lines on the bed.
-   *
-   *   K    Keep-On     Keep the heaters turned on at the end of the command.
-   *
-   *   L #  Layer       Layer height. (Height of nozzle above bed)  If not specified .20mm will be used.
-   *
-   *   O #  Ooooze      How much your nozzle will Ooooze filament while getting in position to print. This
-   *                    is over kill, but using this parameter will let you get the very first 'circle' perfect
-   *                    so you have a trophy to peel off of the bed and hang up to show how perfectly you have your
-   *                    Mesh calibrated. If not specified, a filament length of .3mm is assumed.
-   *
-   *   P #  Prime       Prime the nozzle with specified length of filament. If this parameter is not
-   *                    given, no prime action will take place. If the parameter specifies an amount, that much
-   *                    will be purged before continuing. If no amount is specified the command will start
-   *                    purging filament until the user provides an LCD Click and then it will continue with
-   *                    printing the Mesh. You can carefully remove the spent filament with a needle nose
-   *                    pliers while holding the LCD Click wheel in a depressed state. If you do not have
-   *                    an LCD, you must specify a value if you use P.
-   *
-   *   Q #  Multiplier  Retraction Multiplier. Normally not needed. Retraction defaults to 1.0mm and
-   *                    un-retraction is at 1.2mm   These numbers will be scaled by the specified amount
-   *
-   *   R #  Repeat      Prints the number of patterns given as a parameter, starting at the current location.
-   *                    If a parameter isn't given, every point will be printed unless G26 is interrupted.
-   *                    This works the same way that the UBL G29 P4 R parameter works.
-   *
-   *                    NOTE:  If you do not have an LCD, you -must- specify R. This is to ensure that you are
-   *                    aware that there's some risk associated with printing without the ability to abort in
-   *                    cases where mesh point Z value may be inaccurate. As above, if you do not include a
-   *                    parameter, every point will be printed.
-   *
-   *   S #  Nozzle      Used to control the size of nozzle diameter. If not specified, a .4mm nozzle is assumed.
-   *
-   *   U #  Random      Randomize the order that the circles are drawn on the bed. The search for the closest
-   *                    undrawn cicle is still done. But the distance to the location for each circle has a
-   *                    random number of the size specified added to it. Specifying S50 will give an interesting
-   *                    deviation from the normal behaviour on a 10 x 10 Mesh.
-   *
-   *   X #  X Coord.    Specify the starting location of the drawing activity.
-   *
-   *   Y #  Y Coord.    Specify the starting location of the drawing activity.
-   */
-
-  // External references
-
-  extern Planner planner;
-  #if ENABLED(ULTRA_LCD)
-    extern char lcd_status_message[];
-  #endif
-  extern float destination[XYZE];
-  extern void set_destination_to_current() { COPY(destination, current_position); }
-  void prepare_move_to_destination();
-  #if AVR_AT90USB1286_FAMILY  // Teensyduino & Printrboard IDE extensions have compile errors without this
-    inline void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_AXIS]); }
-    inline void set_current_to_destination() { COPY(current_position, destination); }
-  #else
-    extern void sync_plan_position_e();
-    extern void set_current_to_destination();
-  #endif
-  #if ENABLED(NEWPANEL)
-    void lcd_setstatusPGM(const char* const message, const int8_t level);
-    void chirp_at_user();
-  #endif
-
-  // Private functions
-
-  static uint16_t circle_flags[16], horizontal_mesh_line_flags[16], vertical_mesh_line_flags[16];
-  float g26_e_axis_feedrate = 0.020,
-        random_deviation = 0.0;
-
-  static bool g26_retracted = false; // Track the retracted state of the nozzle so mismatched
-                                     // retracts/recovers won't result in a bad state.
-
-  float valid_trig_angle(float);
-
-  float unified_bed_leveling::g26_extrusion_multiplier,
-        unified_bed_leveling::g26_retraction_multiplier,
-        unified_bed_leveling::g26_nozzle,
-        unified_bed_leveling::g26_filament_diameter,
-        unified_bed_leveling::g26_layer_height,
-        unified_bed_leveling::g26_prime_length,
-        unified_bed_leveling::g26_x_pos,
-        unified_bed_leveling::g26_y_pos,
-        unified_bed_leveling::g26_ooze_amount;
-
-  int16_t unified_bed_leveling::g26_bed_temp,
-          unified_bed_leveling::g26_hotend_temp;
-
-  int8_t unified_bed_leveling::g26_prime_flag;
-
-  bool unified_bed_leveling::g26_continue_with_closest,
-       unified_bed_leveling::g26_keep_heaters_on;
-
-  int16_t unified_bed_leveling::g26_repeats;
-
-  void unified_bed_leveling::G26_line_to_destination(const float &feed_rate) {
-    const float save_feedrate = feedrate_mm_s;
-    feedrate_mm_s = feed_rate;      // use specified feed rate
-    prepare_move_to_destination();  // will ultimately call ubl.line_to_destination_cartesian or ubl.prepare_linear_move_to for UBL_DELTA
-    feedrate_mm_s = save_feedrate;  // restore global feed rate
-  }
-
-  #if ENABLED(NEWPANEL)
-    /**
-     * Detect ubl_lcd_clicked, debounce it, and return true for cancel
-     */
-    bool user_canceled() {
-      if (!ubl_lcd_clicked()) return false;
-      safe_delay(10);                       // Wait for click to settle
-
-      #if ENABLED(ULTRA_LCD)
-        lcd_setstatusPGM(PSTR("Mesh Validation Stopped."), 99);
-        lcd_quick_feedback();
-      #endif
-
-      while (!ubl_lcd_clicked()) idle();    // Wait for button release
-
-      // If the button is suddenly pressed again,
-      // ask the user to resolve the issue
-      lcd_setstatusPGM(PSTR("Release button"), 99); // will never appear...
-      while (ubl_lcd_clicked()) idle();             // unless this loop happens
-      lcd_reset_status();
-
-      return true;
-    }
-  #endif
-
-  /**
-   * G26: Mesh Validation Pattern generation.
-   *
-   * Used to interactively edit UBL's Mesh by placing the
-   * nozzle in a problem area and doing a G29 P4 R command.
-   */
-  void unified_bed_leveling::G26() {
-    SERIAL_ECHOLNPGM("G26 command started. Waiting for heater(s).");
-    float tmp, start_angle, end_angle;
-    int   i, xi, yi;
-    mesh_index_pair location;
-
-    // Don't allow Mesh Validation without homing first,
-    // or if the parameter parsing did not go OK, abort
-    if (axis_unhomed_error() || parse_G26_parameters()) return;
-
-    if (current_position[Z_AXIS] < Z_CLEARANCE_BETWEEN_PROBES) {
-      do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
-      stepper.synchronize();
-      set_current_to_destination();
-    }
-
-    if (turn_on_heaters()) goto LEAVE;
-
-    current_position[E_AXIS] = 0.0;
-    sync_plan_position_e();
-
-    if (g26_prime_flag && prime_nozzle()) goto LEAVE;
-
-    /**
-     *  Bed is preheated
-     *
-     *  Nozzle is at temperature
-     *
-     *  Filament is primed!
-     *
-     *  It's  "Show Time" !!!
-     */
-
-    ZERO(circle_flags);
-    ZERO(horizontal_mesh_line_flags);
-    ZERO(vertical_mesh_line_flags);
-
-    // Move nozzle to the specified height for the first layer
-    set_destination_to_current();
-    destination[Z_AXIS] = g26_layer_height;
-    move_to(destination, 0.0);
-    move_to(destination, g26_ooze_amount);
-
-    has_control_of_lcd_panel = true;
-    //debug_current_and_destination(PSTR("Starting G26 Mesh Validation Pattern."));
-
-    /**
-     * Declare and generate a sin() & cos() table to be used during the circle drawing. This will lighten
-     * the CPU load and make the arc drawing faster and more smooth
-     */
-    float sin_table[360 / 30 + 1], cos_table[360 / 30 + 1];
-    for (i = 0; i <= 360 / 30; i++) {
-      cos_table[i] = SIZE_OF_INTERSECTION_CIRCLES * cos(RADIANS(valid_trig_angle(i * 30.0)));
-      sin_table[i] = SIZE_OF_INTERSECTION_CIRCLES * sin(RADIANS(valid_trig_angle(i * 30.0)));
-    }
-
-    do {
-      location = g26_continue_with_closest
-        ? find_closest_circle_to_print(current_position[X_AXIS], current_position[Y_AXIS])
-        : find_closest_circle_to_print(g26_x_pos, g26_y_pos); // Find the closest Mesh Intersection to where we are now.
-
-      if (location.x_index >= 0 && location.y_index >= 0) {
-        const float circle_x = mesh_index_to_xpos(location.x_index),
-                    circle_y = mesh_index_to_ypos(location.y_index);
-
-        // If this mesh location is outside the printable_radius, skip it.
-
-        if (!position_is_reachable_raw_xy(circle_x, circle_y)) continue;
-
-        xi = location.x_index;  // Just to shrink the next few lines and make them easier to understand
-        yi = location.y_index;
-
-        if (g26_debug_flag) {
-          SERIAL_ECHOPAIR("   Doing circle at: (xi=", xi);
-          SERIAL_ECHOPAIR(", yi=", yi);
-          SERIAL_CHAR(')');
-          SERIAL_EOL();
-        }
-
-        start_angle = 0.0;    // assume it is going to be a full circle
-        end_angle   = 360.0;
-        if (xi == 0) {       // Check for bottom edge
-          start_angle = -90.0;
-          end_angle   =  90.0;
-          if (yi == 0)        // it is an edge, check for the two left corners
-            start_angle = 0.0;
-          else if (yi == GRID_MAX_POINTS_Y - 1)
-            end_angle = 0.0;
-        }
-        else if (xi == GRID_MAX_POINTS_X - 1) { // Check for top edge
-          start_angle =  90.0;
-          end_angle   = 270.0;
-          if (yi == 0)                  // it is an edge, check for the two right corners
-            end_angle = 180.0;
-          else if (yi == GRID_MAX_POINTS_Y - 1)
-            start_angle = 180.0;
-        }
-        else if (yi == 0) {
-          start_angle =   0.0;         // only do the top   side of the cirlce
-          end_angle   = 180.0;
-        }
-        else if (yi == GRID_MAX_POINTS_Y - 1) {
-          start_angle = 180.0;         // only do the bottom side of the cirlce
-          end_angle   = 360.0;
-        }
-
-        for (tmp = start_angle; tmp < end_angle - 0.1; tmp += 30.0) {
-
-          #if ENABLED(NEWPANEL)
-            if (user_canceled()) goto LEAVE;              // Check if the user wants to stop the Mesh Validation
-          #endif
-
-          int tmp_div_30 = tmp / 30.0;
-          if (tmp_div_30 < 0) tmp_div_30 += 360 / 30;
-          if (tmp_div_30 > 11) tmp_div_30 -= 360 / 30;
-
-          float x = circle_x + cos_table[tmp_div_30],    // for speed, these are now a lookup table entry
-                y = circle_y + sin_table[tmp_div_30],
-                xe = circle_x + cos_table[tmp_div_30 + 1],
-                ye = circle_y + sin_table[tmp_div_30 + 1];
-          #if IS_KINEMATIC
-            // Check to make sure this segment is entirely on the bed, skip if not.
-            if (!position_is_reachable_raw_xy(x, y) || !position_is_reachable_raw_xy(xe, ye)) continue;
-          #else                                              // not, we need to skip
-            x  = constrain(x, X_MIN_POS + 1, X_MAX_POS - 1); // This keeps us from bumping the endstops
-            y  = constrain(y, Y_MIN_POS + 1, Y_MAX_POS - 1);
-            xe = constrain(xe, X_MIN_POS + 1, X_MAX_POS - 1);
-            ye = constrain(ye, Y_MIN_POS + 1, Y_MAX_POS - 1);
-          #endif
-
-          //if (g26_debug_flag) {
-          //  char ccc, *cptr, seg_msg[50], seg_num[10];
-          //  strcpy(seg_msg, "   segment: ");
-          //  strcpy(seg_num, "    \n");
-          //  cptr = (char*) "01234567890ABCDEF????????";
-          //  ccc = cptr[tmp_div_30];
-          //  seg_num[1] = ccc;
-          //  strcat(seg_msg, seg_num);
-          //  debug_current_and_destination(seg_msg);
-          //}
-
-          print_line_from_here_to_there(LOGICAL_X_POSITION(x), LOGICAL_Y_POSITION(y), g26_layer_height, LOGICAL_X_POSITION(xe), LOGICAL_Y_POSITION(ye), g26_layer_height);
-
-        }
-        if (look_for_lines_to_connect())
-          goto LEAVE;
-      }
-    } while (--g26_repeats && location.x_index >= 0 && location.y_index >= 0);
-
-    LEAVE:
-    lcd_setstatusPGM(PSTR("Leaving G26"), -1);
-
-    retract_filament(destination);
-    destination[Z_AXIS] = Z_CLEARANCE_BETWEEN_PROBES;
-
-    //debug_current_and_destination(PSTR("ready to do Z-Raise."));
-    move_to(destination, 0); // Raise the nozzle
-    //debug_current_and_destination(PSTR("done doing Z-Raise."));
-
-    destination[X_AXIS] = g26_x_pos;                                               // Move back to the starting position
-    destination[Y_AXIS] = g26_y_pos;
-    //destination[Z_AXIS] = Z_CLEARANCE_BETWEEN_PROBES;                        // Keep the nozzle where it is
-
-    move_to(destination, 0); // Move back to the starting position
-    //debug_current_and_destination(PSTR("done doing X/Y move."));
-
-    has_control_of_lcd_panel = false;     // Give back control of the LCD Panel!
-
-    if (!g26_keep_heaters_on) {
-      #if HAS_TEMP_BED
-        thermalManager.setTargetBed(0);
-      #endif
-      thermalManager.setTargetHotend(0, 0);
-    }
-  }
-
-  float valid_trig_angle(float d) {
-    while (d > 360.0) d -= 360.0;
-    while (d < 0.0) d += 360.0;
-    return d;
-  }
-
-  mesh_index_pair unified_bed_leveling::find_closest_circle_to_print(const float &X, const float &Y) {
-    float closest = 99999.99;
-    mesh_index_pair return_val;
-
-    return_val.x_index = return_val.y_index = -1;
-
-    for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
-      for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
-        if (!is_bit_set(circle_flags, i, j)) {
-          const float mx = mesh_index_to_xpos(i),  // We found a circle that needs to be printed
-                      my = mesh_index_to_ypos(j);
-
-          // Get the distance to this intersection
-          float f = HYPOT(X - mx, Y - my);
-
-          // It is possible that we are being called with the values
-          // to let us find the closest circle to the start position.
-          // But if this is not the case, add a small weighting to the
-          // distance calculation to help it choose a better place to continue.
-          f += HYPOT(g26_x_pos - mx, g26_y_pos - my) / 15.0;
-
-          // Add in the specified amount of Random Noise to our search
-          if (random_deviation > 1.0)
-            f += random(0.0, random_deviation);
-
-          if (f < closest) {
-            closest = f;              // We found a closer location that is still
-            return_val.x_index = i;   // un-printed  --- save the data for it
-            return_val.y_index = j;
-            return_val.distance = closest;
-          }
-        }
-      }
-    }
-    bit_set(circle_flags, return_val.x_index, return_val.y_index);   // Mark this location as done.
-    return return_val;
-  }
-
-  bool unified_bed_leveling::look_for_lines_to_connect() {
-    float sx, sy, ex, ey;
-
-    for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
-      for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
-
-        #if ENABLED(NEWPANEL)
-          if (user_canceled()) return true;     // Check if the user wants to stop the Mesh Validation
-        #endif
-
-        if (i < GRID_MAX_POINTS_X) { // We can't connect to anything to the right than GRID_MAX_POINTS_X.
-                                     // This is already a half circle because we are at the edge of the bed.
-
-          if (is_bit_set(circle_flags, i, j) && is_bit_set(circle_flags, i + 1, j)) { // check if we can do a line to the left
-            if (!is_bit_set(horizontal_mesh_line_flags, i, j)) {
-
-              //
-              // We found two circles that need a horizontal line to connect them
-              // Print it!
-              //
-              sx = mesh_index_to_xpos(  i  ) + (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // right edge
-              ex = mesh_index_to_xpos(i + 1) - (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // left edge
-
-              sx = constrain(sx, X_MIN_POS + 1, X_MAX_POS - 1);
-              sy = ey = constrain(mesh_index_to_ypos(j), Y_MIN_POS + 1, Y_MAX_POS - 1);
-              ex = constrain(ex, X_MIN_POS + 1, X_MAX_POS - 1);
-
-              if (position_is_reachable_raw_xy(sx, sy) && position_is_reachable_raw_xy(ex, ey)) {
-
-                if (g26_debug_flag) {
-                  SERIAL_ECHOPAIR(" Connecting with horizontal line (sx=", sx);
-                  SERIAL_ECHOPAIR(", sy=", sy);
-                  SERIAL_ECHOPAIR(") -> (ex=", ex);
-                  SERIAL_ECHOPAIR(", ey=", ey);
-                  SERIAL_CHAR(')');
-                  SERIAL_EOL();
-                  //debug_current_and_destination(PSTR("Connecting horizontal line."));
-                }
-
-                print_line_from_here_to_there(LOGICAL_X_POSITION(sx), LOGICAL_Y_POSITION(sy), g26_layer_height, LOGICAL_X_POSITION(ex), LOGICAL_Y_POSITION(ey), g26_layer_height);
-              }
-              bit_set(horizontal_mesh_line_flags, i, j);   // Mark it as done so we don't do it again, even if we skipped it
-            }
-          }
-
-          if (j < GRID_MAX_POINTS_Y) { // We can't connect to anything further back than GRID_MAX_POINTS_Y.
-                                           // This is already a half circle because we are at the edge  of the bed.
-
-            if (is_bit_set(circle_flags, i, j) && is_bit_set(circle_flags, i, j + 1)) { // check if we can do a line straight down
-              if (!is_bit_set( vertical_mesh_line_flags, i, j)) {
-                //
-                // We found two circles that need a vertical line to connect them
-                // Print it!
-                //
-                sy = mesh_index_to_ypos(  j  ) + (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // top edge
-                ey = mesh_index_to_ypos(j + 1) - (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // bottom edge
-
-                sx = ex = constrain(mesh_index_to_xpos(i), X_MIN_POS + 1, X_MAX_POS - 1);
-                sy = constrain(sy, Y_MIN_POS + 1, Y_MAX_POS - 1);
-                ey = constrain(ey, Y_MIN_POS + 1, Y_MAX_POS - 1);
-
-                if (position_is_reachable_raw_xy(sx, sy) && position_is_reachable_raw_xy(ex, ey)) {
-
-                  if (g26_debug_flag) {
-                    SERIAL_ECHOPAIR(" Connecting with vertical line (sx=", sx);
-                    SERIAL_ECHOPAIR(", sy=", sy);
-                    SERIAL_ECHOPAIR(") -> (ex=", ex);
-                    SERIAL_ECHOPAIR(", ey=", ey);
-                    SERIAL_CHAR(')');
-                    SERIAL_EOL();
-                    debug_current_and_destination(PSTR("Connecting vertical line."));
-                  }
-                  print_line_from_here_to_there(LOGICAL_X_POSITION(sx), LOGICAL_Y_POSITION(sy), g26_layer_height, LOGICAL_X_POSITION(ex), LOGICAL_Y_POSITION(ey), g26_layer_height);
-                }
-                bit_set(vertical_mesh_line_flags, i, j);   // Mark it as done so we don't do it again, even if skipped
-              }
-            }
-          }
-        }
-      }
-    }
-    return false;
-  }
-
-  void unified_bed_leveling::move_to(const float &x, const float &y, const float &z, const float &e_delta) {
-    float feed_value;
-    static float last_z = -999.99;
-
-    bool has_xy_component = (x != current_position[X_AXIS] || y != current_position[Y_AXIS]); // Check if X or Y is involved in the movement.
-
-    if (z != last_z) {
-      last_z = z;
-      feed_value = planner.max_feedrate_mm_s[Z_AXIS]/(3.0);  // Base the feed rate off of the configured Z_AXIS feed rate
-
-      destination[X_AXIS] = current_position[X_AXIS];
-      destination[Y_AXIS] = current_position[Y_AXIS];
-      destination[Z_AXIS] = z;                          // We know the last_z==z or we wouldn't be in this block of code.
-      destination[E_AXIS] = current_position[E_AXIS];
-
-      G26_line_to_destination(feed_value);
-
-      stepper.synchronize();
-      set_destination_to_current();
-    }
-
-    // Check if X or Y is involved in the movement.
-    // Yes: a 'normal' movement. No: a retract() or recover()
-    feed_value = has_xy_component ? PLANNER_XY_FEEDRATE() / 10.0 : planner.max_feedrate_mm_s[E_AXIS] / 1.5;
-
-    if (g26_debug_flag) SERIAL_ECHOLNPAIR("in move_to() feed_value for XY:", feed_value);
-
-    destination[X_AXIS] = x;
-    destination[Y_AXIS] = y;
-    destination[E_AXIS] += e_delta;
-
-    G26_line_to_destination(feed_value);
-
-    stepper.synchronize();
-    set_destination_to_current();
-
-  }
-
-  void unified_bed_leveling::retract_filament(const float where[XYZE]) {
-    if (!g26_retracted) { // Only retract if we are not already retracted!
-      g26_retracted = true;
-      move_to(where, -1.0 * g26_retraction_multiplier);
-    }
-  }
-
-  void unified_bed_leveling::recover_filament(const float where[XYZE]) {
-    if (g26_retracted) { // Only un-retract if we are retracted.
-      move_to(where, 1.2 * g26_retraction_multiplier);
-      g26_retracted = false;
-    }
-  }
-
-  /**
-   * print_line_from_here_to_there() takes two cartesian coordinates and draws a line from one
-   * to the other. But there are really three sets of coordinates involved. The first coordinate
-   * is the present location of the nozzle. We don't necessarily want to print from this location.
-   * We first need to move the nozzle to the start of line segment where we want to print. Once
-   * there, we can use the two coordinates supplied to draw the line.
-   *
-   * Note:  Although we assume the first set of coordinates is the start of the line and the second
-   * set of coordinates is the end of the line, it does not always work out that way. This function
-   * optimizes the movement to minimize the travel distance before it can start printing. This saves
-   * a lot of time and eliminates a lot of nonsensical movement of the nozzle. However, it does
-   * cause a lot of very little short retracement of th nozzle when it draws the very first line
-   * segment of a 'circle'. The time this requires is very short and is easily saved by the other
-   * cases where the optimization comes into play.
-   */
-  void unified_bed_leveling::print_line_from_here_to_there(const float &sx, const float &sy, const float &sz, const float &ex, const float &ey, const float &ez) {
-    const float dx_s = current_position[X_AXIS] - sx,   // find our distance from the start of the actual line segment
-                dy_s = current_position[Y_AXIS] - sy,
-                dist_start = HYPOT2(dx_s, dy_s),        // We don't need to do a sqrt(), we can compare the distance^2
-                                                        // to save computation time
-                dx_e = current_position[X_AXIS] - ex,   // find our distance from the end of the actual line segment
-                dy_e = current_position[Y_AXIS] - ey,
-                dist_end = HYPOT2(dx_e, dy_e),
-
-                line_length = HYPOT(ex - sx, ey - sy);
-
-    // If the end point of the line is closer to the nozzle, flip the direction,
-    // moving from the end to the start. On very small lines the optimization isn't worth it.
-    if (dist_end < dist_start && (SIZE_OF_INTERSECTION_CIRCLES) < FABS(line_length)) {
-      return print_line_from_here_to_there(ex, ey, ez, sx, sy, sz);
-    }
-
-    // Decide whether to retract & bump
-
-    if (dist_start > 2.0) {
-      retract_filament(destination);
-      //todo:  parameterize the bump height with a define
-      move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + 0.500, 0.0);  // Z bump to minimize scraping
-      move_to(sx, sy, sz + 0.500, 0.0); // Get to the starting point with no extrusion while bumped
-    }
-
-    move_to(sx, sy, sz, 0.0); // Get to the starting point with no extrusion / un-Z bump
-
-    const float e_pos_delta = line_length * g26_e_axis_feedrate * g26_extrusion_multiplier;
-
-    recover_filament(destination);
-    move_to(ex, ey, ez, e_pos_delta);  // Get to the ending point with an appropriate amount of extrusion
-  }
-
-  /**
-   * This function used to be inline code in G26. But there are so many
-   * parameters it made sense to turn them into static globals and get
-   * this code out of sight of the main routine.
-   */
-  bool unified_bed_leveling::parse_G26_parameters() {
-
-    g26_extrusion_multiplier  = EXTRUSION_MULTIPLIER;
-    g26_retraction_multiplier = RETRACTION_MULTIPLIER;
-    g26_nozzle                = NOZZLE;
-    g26_filament_diameter     = FILAMENT;
-    g26_layer_height          = LAYER_HEIGHT;
-    g26_prime_length          = PRIME_LENGTH;
-    g26_bed_temp              = BED_TEMP;
-    g26_hotend_temp           = HOTEND_TEMP;
-    g26_prime_flag            = 0;
-
-    g26_ooze_amount           = parser.linearval('O', OOZE_AMOUNT);
-    g26_keep_heaters_on       = parser.boolval('K');
-    g26_continue_with_closest = parser.boolval('C');
-
-    if (parser.seenval('B')) {
-      g26_bed_temp = parser.value_celsius();
-      if (!WITHIN(g26_bed_temp, 15, 140)) {
-        SERIAL_PROTOCOLLNPGM("?Specified bed temperature not plausible.");
-        return UBL_ERR;
-      }
-    }
-
-    if (parser.seenval('L')) {
-      g26_layer_height = parser.value_linear_units();
-      if (!WITHIN(g26_layer_height, 0.0, 2.0)) {
-        SERIAL_PROTOCOLLNPGM("?Specified layer height not plausible.");
-        return UBL_ERR;
-      }
-    }
-
-    if (parser.seen('Q')) {
-      if (parser.has_value()) {
-        g26_retraction_multiplier = parser.value_float();
-        if (!WITHIN(g26_retraction_multiplier, 0.05, 15.0)) {
-          SERIAL_PROTOCOLLNPGM("?Specified Retraction Multiplier not plausible.");
-          return UBL_ERR;
-        }
-      }
-      else {
-        SERIAL_PROTOCOLLNPGM("?Retraction Multiplier must be specified.");
-        return UBL_ERR;
-      }
-    }
-
-    if (parser.seenval('S')) {
-      g26_nozzle = parser.value_float();
-      if (!WITHIN(g26_nozzle, 0.1, 1.0)) {
-        SERIAL_PROTOCOLLNPGM("?Specified nozzle size not plausible.");
-        return UBL_ERR;
-      }
-    }
-
-    if (parser.seen('P')) {
-      if (!parser.has_value()) {
-        #if ENABLED(NEWPANEL)
-          g26_prime_flag = -1;
-        #else
-          SERIAL_PROTOCOLLNPGM("?Prime length must be specified when not using an LCD.");
-          return UBL_ERR;
-        #endif
-      }
-      else {
-        g26_prime_flag++;
-        g26_prime_length = parser.value_linear_units();
-        if (!WITHIN(g26_prime_length, 0.0, 25.0)) {
-          SERIAL_PROTOCOLLNPGM("?Specified prime length not plausible.");
-          return UBL_ERR;
-        }
-      }
-    }
-
-    if (parser.seenval('F')) {
-      g26_filament_diameter = parser.value_linear_units();
-      if (!WITHIN(g26_filament_diameter, 1.0, 4.0)) {
-        SERIAL_PROTOCOLLNPGM("?Specified filament size not plausible.");
-        return UBL_ERR;
-      }
-    }
-    g26_extrusion_multiplier *= sq(1.75) / sq(g26_filament_diameter); // If we aren't using 1.75mm filament, we need to
-                                                                      // scale up or down the length needed to get the
-                                                                      // same volume of filament
-
-    g26_extrusion_multiplier *= g26_filament_diameter * sq(g26_nozzle) / sq(0.3); // Scale up by nozzle size
-
-    if (parser.seenval('H')) {
-      g26_hotend_temp = parser.value_celsius();
-      if (!WITHIN(g26_hotend_temp, 165, 280)) {
-        SERIAL_PROTOCOLLNPGM("?Specified nozzle temperature not plausible.");
-        return UBL_ERR;
-      }
-    }
-
-    if (parser.seen('U')) {
-      randomSeed(millis());
-      // This setting will persist for the next G26
-      random_deviation = parser.has_value() ? parser.value_float() : 50.0;
-    }
-
-    #if ENABLED(NEWPANEL)
-      g26_repeats = parser.intval('R', GRID_MAX_POINTS + 1);
-    #else
-      if (!parser.seen('R')) {
-        SERIAL_PROTOCOLLNPGM("?(R)epeat must be specified when not using an LCD.");
-        return UBL_ERR;
-      }
-      else
-        g26_repeats = parser.has_value() ? parser.value_int() : GRID_MAX_POINTS + 1;
-    #endif
-    if (g26_repeats < 1) {
-      SERIAL_PROTOCOLLNPGM("?(R)epeat value not plausible; must be at least 1.");
-      return UBL_ERR;
-    }
-
-    g26_x_pos = parser.linearval('X', current_position[X_AXIS]);
-    g26_y_pos = parser.linearval('Y', current_position[Y_AXIS]);
-    if (!position_is_reachable_xy(g26_x_pos, g26_y_pos)) {
-      SERIAL_PROTOCOLLNPGM("?Specified X,Y coordinate out of bounds.");
-      return UBL_ERR;
-    }
-
-    /**
-     * Wait until all parameters are verified before altering the state!
-     */
-    set_bed_leveling_enabled(!parser.seen('D'));
-
-    return UBL_OK;
-  }
-
-  #if ENABLED(NEWPANEL)
-    bool unified_bed_leveling::exit_from_g26() {
-      lcd_setstatusPGM(PSTR("Leaving G26"), -1);
-      while (ubl_lcd_clicked()) idle();
-      return UBL_ERR;
-    }
-  #endif
-
-  /**
-   * Turn on the bed and nozzle heat and
-   * wait for them to get up to temperature.
-   */
-  bool unified_bed_leveling::turn_on_heaters() {
-    millis_t next = millis() + 5000UL;
-    #if HAS_TEMP_BED
-      #if ENABLED(ULTRA_LCD)
-        if (g26_bed_temp > 25) {
-          lcd_setstatusPGM(PSTR("G26 Heating Bed."), 99);
-          lcd_quick_feedback();
-      #endif
-          has_control_of_lcd_panel = true;
-          thermalManager.setTargetBed(g26_bed_temp);
-          while (abs(thermalManager.degBed() - g26_bed_temp) > 3) {
-
-            #if ENABLED(NEWPANEL)
-              if (ubl_lcd_clicked()) return exit_from_g26();
-            #endif
-
-            if (ELAPSED(millis(), next)) {
-              next = millis() + 5000UL;
-              print_heaterstates();
-              SERIAL_EOL();
-            }
-            idle();
-          }
-      #if ENABLED(ULTRA_LCD)
-        }
-        lcd_setstatusPGM(PSTR("G26 Heating Nozzle."), 99);
-        lcd_quick_feedback();
-      #endif
-    #endif
-
-    // Start heating the nozzle and wait for it to reach temperature.
-    thermalManager.setTargetHotend(g26_hotend_temp, 0);
-    while (abs(thermalManager.degHotend(0) - g26_hotend_temp) > 3) {
-
-      #if ENABLED(NEWPANEL)
-        if (ubl_lcd_clicked()) return exit_from_g26();
-      #endif
-
-      if (ELAPSED(millis(), next)) {
-        next = millis() + 5000UL;
-        print_heaterstates();
-        SERIAL_EOL();
-      }
-      idle();
-    }
-
-    #if ENABLED(ULTRA_LCD)
-      lcd_reset_status();
-      lcd_quick_feedback();
-    #endif
-
-    return UBL_OK;
-  }
-
-  /**
-   * Prime the nozzle if needed. Return true on error.
-   */
-  bool unified_bed_leveling::prime_nozzle() {
-
-    #if ENABLED(NEWPANEL)
-      float Total_Prime = 0.0;
-
-      if (g26_prime_flag == -1) {  // The user wants to control how much filament gets purged
-
-        has_control_of_lcd_panel = true;
-        lcd_setstatusPGM(PSTR("User-Controlled Prime"), 99);
-        chirp_at_user();
-
-        set_destination_to_current();
-
-        recover_filament(destination); // Make sure G26 doesn't think the filament is retracted().
-
-        while (!ubl_lcd_clicked()) {
-          chirp_at_user();
-          destination[E_AXIS] += 0.25;
-          #ifdef PREVENT_LENGTHY_EXTRUDE
-            Total_Prime += 0.25;
-            if (Total_Prime >= EXTRUDE_MAXLENGTH) return UBL_ERR;
-          #endif
-          G26_line_to_destination(planner.max_feedrate_mm_s[E_AXIS] / 15.0);
-
-          stepper.synchronize();    // Without this synchronize, the purge is more consistent,
-                                    // but because the planner has a buffer, we won't be able
-                                    // to stop as quickly. So we put up with the less smooth
-                                    // action to give the user a more responsive 'Stop'.
-          set_destination_to_current();
-          idle();
-        }
-
-        while (ubl_lcd_clicked()) idle();           // Debounce Encoder Wheel
-
-        #if ENABLED(ULTRA_LCD)
-          strcpy_P(lcd_status_message, PSTR("Done Priming")); // We can't do lcd_setstatusPGM() without having it continue;
-                                                              // So... We cheat to get a message up.
-          lcd_setstatusPGM(PSTR("Done Priming"), 99);
-          lcd_quick_feedback();
-        #endif
-
-        has_control_of_lcd_panel = false;
-
-      }
-      else {
-    #else
-    {
-    #endif
-      #if ENABLED(ULTRA_LCD)
-        lcd_setstatusPGM(PSTR("Fixed Length Prime."), 99);
-        lcd_quick_feedback();
-      #endif
-      set_destination_to_current();
-      destination[E_AXIS] += g26_prime_length;
-      G26_line_to_destination(planner.max_feedrate_mm_s[E_AXIS] / 15.0);
-      stepper.synchronize();
-      set_destination_to_current();
-      retract_filament(destination);
-    }
-
-    return UBL_OK;
-  }
-
-#endif // AUTO_BED_LEVELING_UBL && UBL_G26_MESH_VALIDATION

Marlin/src/gcode/bedlevel/M420.cpp

@@ -20,6 +20,18 @@
  *
  */
 
+#include "../../inc/MarlinConfig.h"
+
+#if HAS_LEVELING
+
+#include "../gcode.h"
+#include "../../feature/bedlevel/bedlevel.h"
+#include "../../module/planner.h"
+
+#if ENABLED(EEPROM_SETTINGS)
+  #include "../../module/configuration_store.h"
+#endif
+
 /**
  * M420: Enable/Disable Bed Leveling and/or set the Z fade height.
  *
@@ -31,7 +43,7 @@
  *
  *   L[index]  Load UBL mesh from index (0 is default)
  */
-void gcode_M420() {
+void GcodeSuite::M420() {
 
   #if ENABLED(AUTO_BED_LEVELING_UBL)
 
@@ -64,10 +76,10 @@ void gcode_M420() {
       #endif
     }
 
-    // L to load a mesh from the EEPROM
+    // L or V display the map info
     if (parser.seen('L') || parser.seen('V')) {
       ubl.display_map(0);  // Currently only supports one map type
-      SERIAL_ECHOLNPAIR("UBL_MESH_VALID = ", UBL_MESH_VALID);
+      SERIAL_ECHOLNPAIR("ubl.mesh_is_valid = ", ubl.mesh_is_valid());
       SERIAL_ECHOLNPAIR("ubl.state.storage_slot = ", ubl.state.storage_slot);
     }
 
@@ -119,3 +131,5 @@ void gcode_M420() {
       SERIAL_ECHOLNPGM(MSG_OFF);
   #endif
 }
+
+#endif // HAS_LEVELING

Marlin/src/gcode/bedlevel/abl/G29.cpp

@@ -20,6 +20,29 @@
  *
  */
 
+/**
+ * G29.cpp - Auto Bed Leveling
+ */
+
+#include "../../../inc/MarlinConfig.h"
+
+#if OLDSCHOOL_ABL
+
+#include "../../gcode.h"
+#include "../../../feature/bedlevel/bedlevel.h"
+#include "../../../module/motion.h"
+#include "../../../module/planner.h"
+#include "../../../module/stepper.h"
+#include "../../../module/probe.h"
+
+#if ENABLED(LCD_BED_LEVELING) && ENABLED(PROBE_MANUALLY)
+  #include "../../../lcd/ultralcd.h"
+#endif
+
+#if ENABLED(AUTO_BED_LEVELING_LINEAR)
+  #include "../../../libs/least_squares_fit.h"
+#endif
+
 #if ABL_GRID
   #if ENABLED(PROBE_Y_FIRST)
     #define PR_OUTER_VAR xCount
@@ -106,7 +129,7 @@
  *     There's no extra effect if you have a fixed Z probe.
  *
  */
-void gcode_G29() {
+void GcodeSuite::G29() {
 
   // G29 Q is also available if debugging
   #if ENABLED(DEBUG_LEVELING_FEATURE)
@@ -176,12 +199,10 @@ void gcode_G29() {
                         abl_grid_points_y = GRID_MAX_POINTS_Y;
     #endif
 
-    #if ENABLED(AUTO_BED_LEVELING_LINEAR) || ENABLED(PROBE_MANUALLY)
+    #if ENABLED(AUTO_BED_LEVELING_LINEAR)
-      #if ENABLED(AUTO_BED_LEVELING_LINEAR)
+      ABL_VAR int abl2;
-        ABL_VAR int abl2;
+    #elif ENABLED(PROBE_MANUALLY) // Bilinear
-      #else // Bilinear
+      int constexpr abl2 = GRID_MAX_POINTS;
-        int constexpr abl2 = GRID_MAX_POINTS;
-      #endif
     #endif
 
     #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
@@ -199,7 +220,9 @@ void gcode_G29() {
 
   #elif ENABLED(AUTO_BED_LEVELING_3POINT)
 
-    int constexpr abl2 = 3;
+    #if ENABLED(PROBE_MANUALLY)
+      int constexpr abl2 = 3; // used to show total points
+    #endif
 
     // Probe at 3 arbitrary points
     ABL_VAR vector_3 points[3] = {
@@ -944,3 +967,5 @@ void gcode_G29() {
   if (planner.abl_enabled)
     SYNC_PLAN_POSITION_KINEMATIC();
 }
+
+#endif // OLDSCHOOL_ABL

Marlin/src/gcode/bedlevel/abl/M421.cpp

@@ -20,6 +20,17 @@
  *
  */
 
+/**
+ * M421.cpp - Auto Bed Leveling
+ */
+
+#include "../../../inc/MarlinConfig.h"
+
+#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
+
+#include "../../gcode.h"
+#include "../../../feature/bedlevel/abl/abl.h"
+
 /**
  * M421: Set a single Mesh Bed Leveling Z coordinate
  *
@@ -27,7 +38,7 @@
  *   M421 I<xindex> J<yindex> Z<linear>
  *   M421 I<xindex> J<yindex> Q<offset>
  */
-void gcode_M421() {
+void GcodeSuite::M421() {
   int8_t ix = parser.intval('I', -1), iy = parser.intval('J', -1);
   const bool hasI = ix >= 0,
              hasJ = iy >= 0,
@@ -49,3 +60,5 @@ void gcode_M421() {
     #endif
   }
 }
+
+#endif // AUTO_BED_LEVELING_BILINEAR

Marlin/src/gcode/bedlevel/mbl/G29.cpp

@@ -20,26 +20,30 @@
  *
  */
 
-#include "../queue.h"
+/**
+ * G29.cpp - Mesh Bed Leveling
+ */
 
-#include "../../libs/buzzer.h"
+#include "../../../inc/MarlinConfig.h"
-#include "../../lcd/ultralcd.h"
+
+#if ENABLED(MESH_BED_LEVELING)
+
+#include "../../../feature/bedlevel/bedlevel.h"
+
+#include "../../gcode.h"
+#include "../../queue.h"
+
+#include "../../../libs/buzzer.h"
+#include "../../../lcd/ultralcd.h"
+#include "../../../module/motion.h"
+#include "../../../module/stepper.h"
 
 // Save 130 bytes with non-duplication of PSTR
 void echo_not_entered() { SERIAL_PROTOCOLLNPGM(" not entered."); }
 
-void mbl_mesh_report() {
-  SERIAL_PROTOCOLLNPGM("Num X,Y: " STRINGIFY(GRID_MAX_POINTS_X) "," STRINGIFY(GRID_MAX_POINTS_Y));
-  SERIAL_PROTOCOLPGM("Z offset: "); SERIAL_PROTOCOL_F(mbl.z_offset, 5);
-  SERIAL_PROTOCOLLNPGM("\nMeasured points:");
-  print_2d_array(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y, 5,
-    [](const uint8_t ix, const uint8_t iy) { return mbl.z_values[ix][iy]; }
-  );
-}
-
 void mesh_probing_done() {
   mbl.set_has_mesh(true);
-  home_all_axes();
+  gcode.home_all_axes();
   set_bed_leveling_enabled(true);
   #if ENABLED(MESH_G28_REST_ORIGIN)
     current_position[Z_AXIS] = LOGICAL_Z_POSITION(Z_MIN_POS);
@@ -70,7 +74,7 @@ void mesh_probing_done() {
  *  v Y-axis  1-n
  *
  */
-void gcode_G29() {
+void GcodeSuite::G29() {
 
   static int mbl_probe_index = -1;
   #if HAS_SOFTWARE_ENDSTOPS
@@ -200,3 +204,5 @@ void gcode_G29() {
 
   report_current_position();
 }
+
+#endif // MESH_BED_LEVELING

Marlin/src/gcode/bedlevel/mbl/M421.cpp

@@ -20,6 +20,18 @@
  *
  */
 
+/**
+ * M421.cpp - Mesh Bed Leveling
+ */
+
+#include "../../../inc/MarlinConfig.h"
+
+#if ENABLED(MESH_BED_LEVELING)
+
+#include "../../gcode.h"
+#include "../../../module/motion.h"
+#include "../../../feature/bedlevel/mbl/mesh_bed_leveling.h"
+
 /**
  * M421: Set a single Mesh Bed Leveling Z coordinate
  *
@@ -29,7 +41,7 @@
  *   M421 I<xindex> J<yindex> Z<linear>
  *   M421 I<xindex> J<yindex> Q<offset>
  */
-void gcode_M421() {
+void GcodeSuite::M421() {
   const bool hasX = parser.seen('X'), hasI = parser.seen('I');
   const int8_t ix = hasI ? parser.value_int() : hasX ? mbl.probe_index_x(RAW_X_POSITION(parser.value_linear_units())) : -1;
   const bool hasY = parser.seen('Y'), hasJ = parser.seen('J');
@@ -47,3 +59,5 @@ void gcode_M421() {
   else
     mbl.set_z(ix, iy, parser.value_linear_units() + (hasQ ? mbl.z_values[ix][iy] : 0));
 }
+
+#endif // MESH_BED_LEVELING

Marlin/src/gcode/bedlevel/ubl/G26.cpp

@@ -20,8 +20,17 @@
  *
  */
 
-void gcode_G26() {
+/**
+ * G26.cpp - Unified Bed Leveling
+ */
 
-  ubl.G26();
+#include "../../../inc/MarlinConfig.h"
 
-}
+#if ENABLED(UBL_G26_MESH_VALIDATION)
+
+#include "../../gcode.h"
+#include "../../../feature/bedlevel/ubl/ubl.h"
+
+void GcodeSuite::G26() { ubl.G26(); }
+
+#endif // UBL_G26_MESH_VALIDATION

Marlin/src/gcode/bedlevel/ubl/G29.cpp

@@ -20,8 +20,17 @@
  *
  */
 
-void gcode_G29() {
+/**
+ * G29.cpp - Unified Bed Leveling
+ */
 
-  ubl.G29();
+#include "../../../inc/MarlinConfig.h"
 
-}
+#if ENABLED(AUTO_BED_LEVELING_UBL)
+
+#include "../../gcode.h"
+#include "../../../feature/bedlevel/ubl/ubl.h"
+
+void GcodeSuite::G29() { ubl.G29(); }
+
+#endif // AUTO_BED_LEVELING_UBL

Marlin/src/gcode/bedlevel/ubl/M421.cpp

@@ -20,6 +20,17 @@
  *
  */
 
+/**
+ * unified.cpp - Unified Bed Leveling
+ */
+
+#include "../../../inc/MarlinConfig.h"
+
+#if ENABLED(AUTO_BED_LEVELING_UBL)
+
+#include "../../gcode.h"
+#include "../../../feature/bedlevel/ubl/ubl.h"
+
 /**
  * M421: Set a single Mesh Bed Leveling Z coordinate
  *
@@ -29,7 +40,7 @@
  *   M421 C Z<linear>
  *   M421 C Q<offset>
  */
-void gcode_M421() {
+void GcodeSuite::M421() {
   int8_t ix = parser.intval('I', -1), iy = parser.intval('J', -1);
   const bool hasI = ix >= 0,
              hasJ = iy >= 0,
@@ -54,3 +65,5 @@ void gcode_M421() {
   else
     ubl.z_values[ix][iy] = parser.value_linear_units() + (hasQ ? ubl.z_values[ix][iy] : 0);
 }
+
+#endif // AUTO_BED_LEVELING_UBL

Marlin/src/gcode/bedlevel/ubl/M49.cpp

@@ -20,8 +20,21 @@
  *
  */
 
-void gcode_M49() {
+/**
+ * M49.cpp - Unified Bed Leveling
+ */
+
+#include "../../../inc/MarlinConfig.h"
+
+#if ENABLED(UBL_G26_MESH_VALIDATION)
+
+#include "../../gcode.h"
+#include "../../../feature/bedlevel/bedlevel.h"
+
+void GcodeSuite::M49() {
   ubl.g26_debug_flag ^= true;
   SERIAL_PROTOCOLPGM("UBL Debug Flag turned ");
   serialprintPGM(ubl.g26_debug_flag ? PSTR("on.") : PSTR("off."));
 }
+
+#endif // UBL_G26_MESH_VALIDATION

Marlin/src/gcode/calibrate/G28.cpp

@@ -20,12 +20,23 @@
  *
  */
 
-#include "common.h"
+#include "../../inc/MarlinConfig.h"
+
+#include "../gcode.h"
+
+#include "../../module/stepper.h"
+#include "../../module/endstops.h"
 
 #if HOTENDS > 1
-  #include "../control/tool_change.h"
+  #include "../../module/tool_change.h"
 #endif
 
+#if HAS_LEVELING
+  #include "../../feature/bedlevel/bedlevel.h"
+#endif
+
+#include "../../lcd/ultralcd.h"
+
 #if ENABLED(QUICK_HOME)
 
   static void quick_home_xy() {
@@ -126,11 +137,11 @@
  *  Z   Home to the Z endstop
  *
  */
-void gcode_G28(const bool always_home_all) {
+void GcodeSuite::G28(const bool always_home_all) {
 
   #if ENABLED(DEBUG_LEVELING_FEATURE)
     if (DEBUGGING(LEVELING)) {
-      SERIAL_ECHOLNPGM(">>> gcode_G28");
+      SERIAL_ECHOLNPGM(">>> G28");
       log_machine_info();
     }
   #endif
@@ -288,7 +299,7 @@ void gcode_G28(const bool always_home_all) {
 
     SYNC_PLAN_POSITION_KINEMATIC();
 
-  #endif // !DELTA (gcode_G28)
+  #endif // !DELTA (G28)
 
   endstops.not_homing();
 
@@ -319,6 +330,6 @@ void gcode_G28(const bool always_home_all) {
   report_current_position();
 
   #if ENABLED(DEBUG_LEVELING_FEATURE)
-    if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< gcode_G28");
+    if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< G28");
   #endif
 }

Marlin/src/gcode/calibrate/G29.h

@@ -1,65 +0,0 @@
-/**
- * Marlin 3D Printer Firmware
- * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <http://www.gnu.org/licenses/>.
- *
- */
-
-#if ENABLED(MESH_BED_LEVELING) || ENABLED(PROBE_MANUALLY)
-
-  #if ENABLED(PROBE_MANUALLY) && ENABLED(LCD_BED_LEVELING)
-    extern bool lcd_wait_for_move;
-  #endif
-
-  inline void _manual_goto_xy(const float &x, const float &y) {
-    const float old_feedrate_mm_s = feedrate_mm_s;
-    #if MANUAL_PROBE_HEIGHT > 0
-      const float prev_z = current_position[Z_AXIS];
-      feedrate_mm_s = homing_feedrate(Z_AXIS);
-      current_position[Z_AXIS] = LOGICAL_Z_POSITION(MANUAL_PROBE_HEIGHT);
-      line_to_current_position();
-    #endif
-
-    feedrate_mm_s = MMM_TO_MMS(XY_PROBE_SPEED);
-    current_position[X_AXIS] = LOGICAL_X_POSITION(x);
-    current_position[Y_AXIS] = LOGICAL_Y_POSITION(y);
-    line_to_current_position();
-
-    #if MANUAL_PROBE_HEIGHT > 0
-      feedrate_mm_s = homing_feedrate(Z_AXIS);
-      current_position[Z_AXIS] = prev_z; // move back to the previous Z.
-      line_to_current_position();
-    #endif
-
-    feedrate_mm_s = old_feedrate_mm_s;
-    stepper.synchronize();
-
-    #if ENABLED(PROBE_MANUALLY) && ENABLED(LCD_BED_LEVELING)
-      lcd_wait_for_move = false;
-    #endif
-  }
-
-#endif
-
-#if ENABLED(MESH_BED_LEVELING)
-  #include "G29-mbl.h"
-#elif ENABLED(AUTO_BED_LEVELING_UBL)
-  #include "G29-ubl.h"
-#elif HAS_ABL
-  #include "G29-abl.h"
-#endif

Marlin/src/gcode/calibrate/G33.cpp

@@ -20,10 +20,21 @@
  *
  */
 
-#include "common.h"
+#include "../../inc/MarlinConfig.h"
 
-#if HOTENDS > 1
+#if ENABLED(DELTA_AUTO_CALIBRATION)
-  #include "../control/tool_change.h"
+
+#include "../gcode.h"
+#include "../../module/delta.h"
+#include "../../module/probe.h"
+#include "../../module/motion.h"
+#include "../../module/stepper.h"
+#include "../../module/endstops.h"
+#include "../../module/tool_change.h"
+#include "../../lcd/ultralcd.h"
+
+#if HAS_LEVELING
+  #include "../../feature/bedlevel/bedlevel.h"
 #endif
 
 /**
@@ -54,7 +65,7 @@
  *   E   Engage the probe for each point
  */
 
-void print_signed_float(const char * const prefix, const float &f) {
+static void print_signed_float(const char * const prefix, const float &f) {
   SERIAL_PROTOCOLPGM("  ");
   serialprintPGM(prefix);
   SERIAL_PROTOCOLCHAR(':');
@@ -62,12 +73,12 @@ void print_signed_float(const char * const prefix, const float &f) {
   SERIAL_PROTOCOL_F(f, 2);
 }
 
-inline void print_G33_settings(const bool end_stops, const bool tower_angles){ // TODO echo these to LCD ???
+static void print_G33_settings(const bool end_stops, const bool tower_angles){ // TODO echo these to LCD ???
   SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
   if (end_stops) {
-    print_signed_float(PSTR("  Ex"), endstop_adj[A_AXIS]);
+    print_signed_float(PSTR("  Ex"), delta_endstop_adj[A_AXIS]);
-    print_signed_float(PSTR("Ey"), endstop_adj[B_AXIS]);
+    print_signed_float(PSTR("Ey"), delta_endstop_adj[B_AXIS]);
-    print_signed_float(PSTR("Ez"), endstop_adj[C_AXIS]);
+    print_signed_float(PSTR("Ez"), delta_endstop_adj[C_AXIS]);
     SERIAL_PROTOCOLPAIR("    Radius:", delta_radius);
   }
   SERIAL_EOL();
@@ -79,7 +90,7 @@ inline void print_G33_settings(const bool end_stops, const bool tower_angles){ /
   }
 }
 
-void G33_cleanup(
+static void G33_cleanup(
   #if HOTENDS > 1
     const uint8_t old_tool_index
   #endif
@@ -94,7 +105,7 @@ void G33_cleanup(
   #endif
 }
 
-void gcode_G33() {
+void GcodeSuite::G33() {
 
   const int8_t probe_points = parser.intval('P', DELTA_CALIBRATION_DEFAULT_POINTS);
   if (!WITHIN(probe_points, 1, 7)) {
@@ -110,7 +121,7 @@ void gcode_G33() {
 
   const float calibration_precision = parser.floatval('C');
   if (calibration_precision < 0) {
-    SERIAL_PROTOCOLLNPGM("?(C)alibration precision is implausible (>0).");
+    SERIAL_PROTOCOLLNPGM("?(C)alibration precision is implausible (>=0).");
     return;
   }
 
@@ -121,7 +132,6 @@ void gcode_G33() {
   }
 
   const bool towers_set           = parser.boolval('T', true),
-             stow_after_each      = parser.boolval('E'),
              _1p_calibration      = probe_points == 1,
              _4p_calibration      = probe_points == 2,
              _4p_towers_points    = _4p_calibration && towers_set,
@@ -133,18 +143,24 @@ void gcode_G33() {
              _7p_quadruple_circle = probe_points == 7,
              _7p_multi_circle     = _7p_double_circle || _7p_triple_circle || _7p_quadruple_circle,
              _7p_intermed_points  = _7p_calibration && !_7p_half_circle;
+
+  #if DISABLED(PROBE_MANUALLY)
+    const bool stow_after_each    = parser.boolval('E');
+    const float dx = (X_PROBE_OFFSET_FROM_EXTRUDER),
+                dy = (Y_PROBE_OFFSET_FROM_EXTRUDER);
+  #endif
+
   const static char save_message[] PROGMEM = "Save with M500 and/or copy to Configuration.h";
-  const float dx = (X_PROBE_OFFSET_FROM_EXTRUDER),
+
-              dy = (Y_PROBE_OFFSET_FROM_EXTRUDER);
   int8_t iterations = 0;
   float test_precision,
         zero_std_dev = (verbose_level ? 999.0 : 0.0), // 0.0 in dry-run mode : forced end
         zero_std_dev_old = zero_std_dev,
         zero_std_dev_min = zero_std_dev,
         e_old[XYZ] = {
-          endstop_adj[A_AXIS],
+          delta_endstop_adj[A_AXIS],
-          endstop_adj[B_AXIS],
+          delta_endstop_adj[B_AXIS],
-          endstop_adj[C_AXIS]
+          delta_endstop_adj[C_AXIS]
         },
         dr_old = delta_radius,
         zh_old = home_offset[Z_AXIS],
@@ -167,6 +183,7 @@ void gcode_G33() {
   SERIAL_PROTOCOLLNPGM("G33 Auto Calibrate");
 
   stepper.synchronize();
+
   #if HAS_LEVELING
     reset_bed_level(); // After calibration bed-level data is no longer valid
   #endif
@@ -274,7 +291,7 @@ void gcode_G33() {
 
     if ((zero_std_dev < test_precision && zero_std_dev > calibration_precision) || iterations <= force_iterations) {
       if (zero_std_dev < zero_std_dev_min) {
-        COPY(e_old, endstop_adj);
+        COPY(e_old, delta_endstop_adj);
         dr_old = delta_radius;
         zh_old = home_offset[Z_AXIS];
         alpha_old = delta_tower_angle_trim[A_AXIS];
@@ -337,20 +354,20 @@ void gcode_G33() {
           break;
       }
 
-      LOOP_XYZ(axis) endstop_adj[axis] += e_delta[axis];
+      LOOP_XYZ(axis) delta_endstop_adj[axis] += e_delta[axis];
       delta_radius += r_delta;
       delta_tower_angle_trim[A_AXIS] += t_alpha;
       delta_tower_angle_trim[B_AXIS] += t_beta;
 
       // adjust delta_height and endstops by the max amount
-      const float z_temp = MAX3(endstop_adj[A_AXIS], endstop_adj[B_AXIS], endstop_adj[C_AXIS]);
+      const float z_temp = MAX3(delta_endstop_adj[A_AXIS], delta_endstop_adj[B_AXIS], delta_endstop_adj[C_AXIS]);
       home_offset[Z_AXIS] -= z_temp;
-      LOOP_XYZ(i) endstop_adj[i] -= z_temp;
+      LOOP_XYZ(i) delta_endstop_adj[i] -= z_temp;
 
       recalc_delta_settings(delta_radius, delta_diagonal_rod);
     }
     else if (zero_std_dev >= test_precision) {   // step one back
-      COPY(endstop_adj, e_old);
+      COPY(delta_endstop_adj, e_old);
       delta_radius = dr_old;
       home_offset[Z_AXIS] = zh_old;
       delta_tower_angle_trim[A_AXIS] = alpha_old;
@@ -449,3 +466,5 @@ void gcode_G33() {
 
   G33_CLEANUP();
 }
+
+#endif // DELTA_AUTO_CALIBRATION

Marlin/src/gcode/calibrate/M666.h

@@ -33,11 +33,11 @@
     #endif
     LOOP_XYZ(i) {
       if (parser.seen(axis_codes[i])) {
-        endstop_adj[i] = parser.value_linear_units();
+        delta_endstop_adj[i] = parser.value_linear_units();
         #if ENABLED(DEBUG_LEVELING_FEATURE)
           if (DEBUGGING(LEVELING)) {
-            SERIAL_ECHOPAIR("endstop_adj[", axis_codes[i]);
+            SERIAL_ECHOPAIR("delta_endstop_adj[", axis_codes[i]);
-            SERIAL_ECHOLNPAIR("] = ", endstop_adj[i]);
+            SERIAL_ECHOLNPAIR("] = ", delta_endstop_adj[i]);
           }
         #endif
       }
@@ -48,9 +48,9 @@
       }
     #endif
     // normalize endstops so all are <=0; set the residue to delta height
-    const float z_temp = MAX3(endstop_adj[A_AXIS], endstop_adj[B_AXIS], endstop_adj[C_AXIS]);
+    const float z_temp = MAX3(delta_endstop_adj[A_AXIS], delta_endstop_adj[B_AXIS], delta_endstop_adj[C_AXIS]);
     home_offset[Z_AXIS] -= z_temp;
-    LOOP_XYZ(i) endstop_adj[i] -= z_temp;
+    LOOP_XYZ(i) delta_endstop_adj[i] -= z_temp;
   }
 
 #elif ENABLED(Z_DUAL_ENDSTOPS) // !DELTA && ENABLED(Z_DUAL_ENDSTOPS)

Marlin/src/gcode/calibrate/common.h

@@ -1,81 +0,0 @@
-/**
- * Marlin 3D Printer Firmware
- * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <http://www.gnu.org/licenses/>.
- *
- */
-
-#ifndef CALIBRATE_COMMON_H
-#define CALIBRATE_COMMON_H
-
-#if ENABLED(DELTA)
-
-  /**
-   * A delta can only safely home all axes at the same time
-   * This is like quick_home_xy() but for 3 towers.
-   */
-  inline bool home_delta() {
-    #if ENABLED(DEBUG_LEVELING_FEATURE)
-      if (DEBUGGING(LEVELING)) DEBUG_POS(">>> home_delta", current_position);
-    #endif
-    // Init the current position of all carriages to 0,0,0
-    ZERO(current_position);
-    sync_plan_position();
-
-    // Move all carriages together linearly until an endstop is hit.
-    current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (DELTA_HEIGHT + home_offset[Z_AXIS] + 10);
-    feedrate_mm_s = homing_feedrate(X_AXIS);
-    line_to_current_position();
-    stepper.synchronize();
-
-    // If an endstop was not hit, then damage can occur if homing is continued.
-    // This can occur if the delta height (DELTA_HEIGHT + home_offset[Z_AXIS]) is
-    // not set correctly.
-    if (!(Endstops::endstop_hit_bits & (_BV(X_MAX) | _BV(Y_MAX) | _BV(Z_MAX)))) {
-      LCD_MESSAGEPGM(MSG_ERR_HOMING_FAILED);
-      SERIAL_ERROR_START();
-      SERIAL_ERRORLNPGM(MSG_ERR_HOMING_FAILED);
-      return false;
-    }
-
-    endstops.hit_on_purpose(); // clear endstop hit flags
-
-    // At least one carriage has reached the top.
-    // Now re-home each carriage separately.
-    HOMEAXIS(A);
-    HOMEAXIS(B);
-    HOMEAXIS(C);
-
-    // Set all carriages to their home positions
-    // Do this here all at once for Delta, because
-    // XYZ isn't ABC. Applying this per-tower would
-    // give the impression that they are the same.
-    LOOP_XYZ(i) set_axis_is_at_home((AxisEnum)i);
-
-    SYNC_PLAN_POSITION_KINEMATIC();
-
-    #if ENABLED(DEBUG_LEVELING_FEATURE)
-      if (DEBUGGING(LEVELING)) DEBUG_POS("<<< home_delta", current_position);
-    #endif
-
-    return true;
-  }
-
-#endif // DELTA
-
-#endif // CALIBRATE_COMMON_H

Marlin/src/gcode/control/M18_M84.h

@@ -47,7 +47,7 @@ void gcode_M18_M84() {
     }
 
     #if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(ULTRA_LCD)  // Only needed with an LCD
-      ubl_lcd_map_control = defer_return_to_status = false;
+      ubl.lcd_map_control = defer_return_to_status = false;
     #endif
   }
 }

Marlin/src/gcode/gcode.cpp

@@ -115,14 +115,10 @@ extern void gcode_G18();
 extern void gcode_G19();
 extern void gcode_G20();
 extern void gcode_G21();
-extern void gcode_G26();
 extern void gcode_G27();
-extern void gcode_G28(const bool always_home_all);
-extern void gcode_G29();
 extern void gcode_G30();
 extern void gcode_G31();
 extern void gcode_G32();
-extern void gcode_G33();
 extern void gcode_G38(bool is_38_2);
 extern void gcode_G42();
 extern void gcode_G92();
@@ -149,7 +145,6 @@ extern void gcode_M34();
 extern void gcode_M42();
 extern void gcode_M43();
 extern void gcode_M48();
-extern void gcode_M49();
 extern void gcode_M75();
 extern void gcode_M76();
 extern void gcode_M77();
@@ -225,8 +220,6 @@ extern void gcode_M405();
 extern void gcode_M406();
 extern void gcode_M407();
 extern void gcode_M410();
-extern void gcode_M420();
-extern void gcode_M421();
 extern void gcode_M428();
 extern void gcode_M500();
 extern void gcode_M501();
@@ -238,7 +231,6 @@ extern void gcode_M605();
 extern void gcode_M665();
 extern void gcode_M666();
 extern void gcode_M702();
-extern void gcode_M851();
 extern void gcode_M900();
 extern void gcode_M906();
 extern void gcode_M911();
@@ -348,9 +340,9 @@ void GcodeSuite::process_next_command() {
           break;
       #endif // INCH_MODE_SUPPORT
 
-      #if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(UBL_G26_MESH_VALIDATION)
+      #if ENABLED(UBL_G26_MESH_VALIDATION)
         case 26: // G26: Mesh Validation Pattern generation
-          gcode_G26();
+          G26();
           break;
       #endif // AUTO_BED_LEVELING_UBL
 
@@ -361,13 +353,13 @@ void GcodeSuite::process_next_command() {
       #endif // NOZZLE_PARK_FEATURE
 
       case 28: // G28: Home all axes, one at a time
-        gcode_G28(false);
+        G28(false);
         break;
 
       #if HAS_LEVELING
         case 29: // G29 Detailed Z probe, probes the bed at 3 or more points,
                  // or provides access to the UBL System if enabled.
-          gcode_G29();
+          G29();
           break;
       #endif // HAS_LEVELING
 
@@ -391,17 +383,11 @@ void GcodeSuite::process_next_command() {
 
       #endif // HAS_BED_PROBE
 
-      #if PROBE_SELECTED
+      #if ENABLED(DELTA_AUTO_CALIBRATION)
-
+        case 33: // G33: Delta Auto-Calibration
-        #if ENABLED(DELTA_AUTO_CALIBRATION)
+          G33();
-
+          break;
-          case 33: // G33: Delta Auto-Calibration
+      #endif // DELTA_AUTO_CALIBRATION
-            gcode_G33();
-            break;
-
-        #endif // DELTA_AUTO_CALIBRATION
-
-      #endif // PROBE_SELECTED
 
       #if ENABLED(G38_PROBE_TARGET)
         case 38: // G38.2 & G38.3
@@ -516,11 +502,9 @@ void GcodeSuite::process_next_command() {
           break;
       #endif // Z_MIN_PROBE_REPEATABILITY_TEST
 
-      #if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(UBL_G26_MESH_VALIDATION)
+      #if ENABLED(UBL_G26_MESH_VALIDATION)
-        case 49: // M49: Turn on or off G26 debug flag for verbose output
+        case 49: M49(); break;    // M49: Turn on or off G26 debug flag for verbose output
-          gcode_M49();
+      #endif
-          break;
-      #endif // AUTO_BED_LEVELING_UBL && UBL_G26_MESH_VALIDATION
 
       case 75: // M75: Start print timer
         gcode_M75(); break;
@@ -901,13 +885,13 @@ void GcodeSuite::process_next_command() {
 
       #if HAS_LEVELING
         case 420: // M420: Enable/Disable Bed Leveling
-          gcode_M420();
+          M420();
           break;
       #endif
 
-      #if ENABLED(MESH_BED_LEVELING) || ENABLED(AUTO_BED_LEVELING_UBL) || ENABLED(AUTO_BED_LEVELING_BILINEAR)
+      #if HAS_MESH
         case 421: // M421: Set a Mesh Bed Leveling Z coordinate
-          gcode_M421();
+          M421();
           break;
       #endif
 
@@ -941,7 +925,7 @@ void GcodeSuite::process_next_command() {
 
       #if HAS_BED_PROBE
         case 851: // M851: Set Z Probe Z Offset
-          gcode_M851();
+          M851();
           break;
       #endif // HAS_BED_PROBE
 

Marlin/src/gcode/probe/M851.cpp

@@ -20,43 +20,15 @@
  *
  */
 
-void refresh_zprobe_zoffset(const bool no_babystep/*=false*/) {
+#include "../../inc/MarlinConfig.h"
-  static float last_zoffset = NAN;
 
-  if (!isnan(last_zoffset)) {
+#if HAS_BED_PROBE
 
-    #if ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(BABYSTEP_ZPROBE_OFFSET) || ENABLED(DELTA)
+#include "../gcode.h"
-      const float diff = zprobe_zoffset - last_zoffset;
+#include "../../feature/bedlevel/bedlevel.h"
-    #endif
+#include "../../module/probe.h"
 
-    #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
+void GcodeSuite::M851() {
-      // Correct bilinear grid for new probe offset
-      if (diff) {
-        for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
-          for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
-            z_values[x][y] -= diff;
-      }
-      #if ENABLED(ABL_BILINEAR_SUBDIVISION)
-        bed_level_virt_interpolate();
-      #endif
-    #endif
-
-    #if ENABLED(BABYSTEP_ZPROBE_OFFSET)
-      if (!no_babystep && leveling_is_active())
-        thermalManager.babystep_axis(Z_AXIS, -LROUND(diff * planner.axis_steps_per_mm[Z_AXIS]));
-    #else
-      UNUSED(no_babystep);
-    #endif
-
-    #if ENABLED(DELTA) // correct the delta_height
-      home_offset[Z_AXIS] -= diff;
-    #endif
-  }
-
-  last_zoffset = zprobe_zoffset;
-}
-
-void gcode_M851() {
   SERIAL_ECHO_START();
   SERIAL_ECHOPGM(MSG_ZPROBE_ZOFFSET " ");
   if (parser.seen('Z')) {
@@ -74,3 +46,5 @@ void gcode_M851() {
 
   SERIAL_EOL();
 }
+
+#endif // HAS_BED_PROBE

Marlin/src/lcd/ultralcd.cpp

@@ -31,6 +31,7 @@
 #include "../module/planner.h"
 #include "../module/stepper.h"
 #include "../module/motion.h"
+#include "../module/probe.h"
 #include "../gcode/gcode.h"
 #include "../gcode/queue.h"
 #include "../module/configuration_store.h"
@@ -173,7 +174,7 @@ uint16_t max_display_update_time = 0;
   #endif
 
   #if ENABLED(MESH_BED_LEVELING) && ENABLED(LCD_BED_LEVELING)
-    #include "../feature/mbl/mesh_bed_leveling.h"
+    #include "../feature/bedlevel/mbl/mesh_bed_leveling.h"
     extern void mesh_probing_done();
   #endif
 
@@ -1021,7 +1022,7 @@ void kill_screen(const char* lcd_msg) {
           const float new_zoffset = zprobe_zoffset + planner.steps_to_mm[Z_AXIS] * babystep_increment;
           if (WITHIN(new_zoffset, Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX)) {
 
-            if (planner.abl_enabled)
+            if (leveling_is_active())
               thermalManager.babystep_axis(Z_AXIS, babystep_increment);
 
             zprobe_zoffset = new_zoffset;
@@ -2635,9 +2636,9 @@ void kill_screen(const char* lcd_msg) {
       MENU_ITEM_EDIT(float52, MSG_DELTA_DIAG_ROG, &delta_diagonal_rod, DELTA_DIAGONAL_ROD - 5.0, DELTA_DIAGONAL_ROD + 5.0);
       _delta_height = DELTA_HEIGHT + home_offset[Z_AXIS];
       MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float52, MSG_DELTA_HEIGHT, &_delta_height, _delta_height - 10.0, _delta_height + 10.0, _lcd_set_delta_height);
-      MENU_ITEM_EDIT(float43, "Ex", &endstop_adj[A_AXIS], -5.0, 5.0);
+      MENU_ITEM_EDIT(float43, "Ex", &delta_endstop_adj[A_AXIS], -5.0, 5.0);
-      MENU_ITEM_EDIT(float43, "Ey", &endstop_adj[B_AXIS], -5.0, 5.0);
+      MENU_ITEM_EDIT(float43, "Ey", &delta_endstop_adj[B_AXIS], -5.0, 5.0);
-      MENU_ITEM_EDIT(float43, "Ez", &endstop_adj[C_AXIS], -5.0, 5.0);
+      MENU_ITEM_EDIT(float43, "Ez", &delta_endstop_adj[C_AXIS], -5.0, 5.0);
       MENU_ITEM_EDIT(float52, MSG_DELTA_RADIUS, &delta_radius, DELTA_RADIUS - 5.0, DELTA_RADIUS + 5.0);
       MENU_ITEM_EDIT(float43, "Tx", &delta_tower_angle_trim[A_AXIS], -5.0, 5.0);
       MENU_ITEM_EDIT(float43, "Ty", &delta_tower_angle_trim[B_AXIS], -5.0, 5.0);

Marlin/src/lcd/ultralcd_impl_DOGM.h

@@ -52,7 +52,7 @@
 #include <U8glib.h>
 
 #if ENABLED(AUTO_BED_LEVELING_UBL)
-  #include "../feature/ubl/ubl.h"
+  #include "../feature/bedlevel/ubl/ubl.h"
 #endif
 
 #if ENABLED(SHOW_BOOTSCREEN) && ENABLED(SHOW_CUSTOM_BOOTSCREEN)

Marlin/src/lcd/ultralcd_impl_HD44780.h

@@ -35,7 +35,7 @@
 #endif
 
 #if ENABLED(AUTO_BED_LEVELING_UBL)
-  #include "../feature/ubl/ubl.h"
+  #include "../feature/bedlevel/ubl/ubl.h"
 
   #if ENABLED(ULTIPANEL)
     #define ULTRA_X_PIXELS_PER_CHAR    5

Marlin/src/module/configuration_store.cpp

@@ -93,7 +93,7 @@
  *  329  G29 S     ubl.state.storage_slot           (int8_t)
  *
  * DELTA:                                           48 bytes
- *  348  M666 XYZ  endstop_adj                      (float x3)
+ *  348  M666 XYZ  delta_endstop_adj                      (float x3)
  *  360  M665 R    delta_radius                     (float)
  *  364  M665 L    delta_diagonal_rod               (float)
  *  368  M665 S    delta_segments_per_second        (float)
@@ -187,6 +187,10 @@ MarlinSettings settings;
 
 #include "../gcode/parser.h"
 
+#if HAS_LEVELING
+  #include "../feature/bedlevel/bedlevel.h"
+#endif
+
 #if HAS_BED_PROBE
   #include "../module/probe.h"
 #endif
@@ -199,14 +203,6 @@ MarlinSettings settings;
   #include "../feature/fwretract.h"
 #endif
 
-#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
-  extern void refresh_bed_level();
-#endif
-
-#if ENABLED(FWRETRACT)
-  #include "../gcode/feature/fwretract/fwretract.h"
-#endif
-
 /**
  * Post-process after Retrieve or Reset
  */
@@ -421,7 +417,7 @@ void MarlinSettings::postprocess() {
 
     // 9 floats for DELTA / Z_DUAL_ENDSTOPS
     #if ENABLED(DELTA)
-      EEPROM_WRITE(endstop_adj);               // 3 floats
+      EEPROM_WRITE(delta_endstop_adj);               // 3 floats
       EEPROM_WRITE(delta_radius);              // 1 float
       EEPROM_WRITE(delta_diagonal_rod);        // 1 float
       EEPROM_WRITE(delta_segments_per_second); // 1 float
@@ -806,7 +802,7 @@ void MarlinSettings::postprocess() {
       #endif // AUTO_BED_LEVELING_UBL
 
       #if ENABLED(DELTA)
-        EEPROM_READ(endstop_adj);               // 3 floats
+        EEPROM_READ(delta_endstop_adj);               // 3 floats
         EEPROM_READ(delta_radius);              // 1 float
         EEPROM_READ(delta_diagonal_rod);        // 1 float
         EEPROM_READ(delta_segments_per_second); // 1 float
@@ -1196,7 +1192,7 @@ void MarlinSettings::reset() {
   #if ENABLED(DELTA)
     const float adj[ABC] = DELTA_ENDSTOP_ADJ,
                 dta[ABC] = DELTA_TOWER_ANGLE_TRIM;
-    COPY(endstop_adj, adj);
+    COPY(delta_endstop_adj, adj);
     delta_radius = DELTA_RADIUS;
     delta_diagonal_rod = DELTA_DIAGONAL_ROD;
     delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND;
@@ -1602,9 +1598,9 @@ void MarlinSettings::reset() {
         SERIAL_ECHOLNPGM("Endstop adjustment:");
       }
       CONFIG_ECHO_START;
-      SERIAL_ECHOPAIR("  M666 X", LINEAR_UNIT(endstop_adj[X_AXIS]));
+      SERIAL_ECHOPAIR("  M666 X", LINEAR_UNIT(delta_endstop_adj[X_AXIS]));
-      SERIAL_ECHOPAIR(" Y", LINEAR_UNIT(endstop_adj[Y_AXIS]));
+      SERIAL_ECHOPAIR(" Y", LINEAR_UNIT(delta_endstop_adj[Y_AXIS]));
-      SERIAL_ECHOLNPAIR(" Z", LINEAR_UNIT(endstop_adj[Z_AXIS]));
+      SERIAL_ECHOLNPAIR(" Z", LINEAR_UNIT(delta_endstop_adj[Z_AXIS]));
       if (!forReplay) {
         CONFIG_ECHO_START;
         SERIAL_ECHOLNPGM("Delta settings: L<diagonal_rod> R<radius> H<height> S<segments_per_s> B<calibration radius> XYZ<tower angle corrections>");

Marlin/src/module/delta.cpp

@@ -0,0 +1,269 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * delta.cpp
+ */
+
+#include "../inc/MarlinConfig.h"
+
+#if ENABLED(DELTA)
+
+#include "delta.h"
+#include "motion.h"
+
+// For homing:
+#include "stepper.h"
+#include "endstops.h"
+#include "../lcd/ultralcd.h"
+#include "../Marlin.h"
+
+// Initialized by settings.load()
+float delta_endstop_adj[ABC] = { 0 },
+      delta_radius,
+      delta_diagonal_rod,
+      delta_segments_per_second,
+      delta_calibration_radius,
+      delta_tower_angle_trim[2];
+
+float delta_tower[ABC][2],
+      delta_diagonal_rod_2_tower[ABC],
+      delta_clip_start_height = Z_MAX_POS;
+
+float delta_safe_distance_from_top();
+
+/**
+ * Recalculate factors used for delta kinematics whenever
+ * settings have been changed (e.g., by M665).
+ */
+void recalc_delta_settings(float radius, float diagonal_rod) {
+  const float trt[ABC] = DELTA_RADIUS_TRIM_TOWER,
+              drt[ABC] = DELTA_DIAGONAL_ROD_TRIM_TOWER;
+  delta_tower[A_AXIS][X_AXIS] = cos(RADIANS(210 + delta_tower_angle_trim[A_AXIS])) * (radius + trt[A_AXIS]); // front left tower
+  delta_tower[A_AXIS][Y_AXIS] = sin(RADIANS(210 + delta_tower_angle_trim[A_AXIS])) * (radius + trt[A_AXIS]);
+  delta_tower[B_AXIS][X_AXIS] = cos(RADIANS(330 + delta_tower_angle_trim[B_AXIS])) * (radius + trt[B_AXIS]); // front right tower
+  delta_tower[B_AXIS][Y_AXIS] = sin(RADIANS(330 + delta_tower_angle_trim[B_AXIS])) * (radius + trt[B_AXIS]);
+  delta_tower[C_AXIS][X_AXIS] = 0.0; // back middle tower
+  delta_tower[C_AXIS][Y_AXIS] = (radius + trt[C_AXIS]);
+  delta_diagonal_rod_2_tower[A_AXIS] = sq(diagonal_rod + drt[A_AXIS]);
+  delta_diagonal_rod_2_tower[B_AXIS] = sq(diagonal_rod + drt[B_AXIS]);
+  delta_diagonal_rod_2_tower[C_AXIS] = sq(diagonal_rod + drt[C_AXIS]);
+}
+
+/**
+ * Delta Inverse Kinematics
+ *
+ * Calculate the tower positions for a given logical
+ * position, storing the result in the delta[] array.
+ *
+ * This is an expensive calculation, requiring 3 square
+ * roots per segmented linear move, and strains the limits
+ * of a Mega2560 with a Graphical Display.
+ *
+ * Suggested optimizations include:
+ *
+ * - Disable the home_offset (M206) and/or position_shift (G92)
+ *   features to remove up to 12 float additions.
+ *
+ * - Use a fast-inverse-sqrt function and add the reciprocal.
+ *   (see above)
+ */
+
+#if ENABLED(DELTA_FAST_SQRT) && defined(ARDUINO_ARCH_AVR)
+  /**
+   * Fast inverse sqrt from Quake III Arena
+   * See: https://en.wikipedia.org/wiki/Fast_inverse_square_root
+   */
+  float Q_rsqrt(float number) {
+    long i;
+    float x2, y;
+    const float threehalfs = 1.5f;
+    x2 = number * 0.5f;
+    y  = number;
+    i  = * ( long * ) &y;                       // evil floating point bit level hacking
+    i  = 0x5F3759DF - ( i >> 1 );               // what the f***?
+    y  = * ( float * ) &i;
+    y  = y * ( threehalfs - ( x2 * y * y ) );   // 1st iteration
+    // y  = y * ( threehalfs - ( x2 * y * y ) );   // 2nd iteration, this can be removed
+    return y;
+  }
+#endif
+
+#define DELTA_DEBUG() do { \
+    SERIAL_ECHOPAIR("cartesian X:", raw[X_AXIS]); \
+    SERIAL_ECHOPAIR(" Y:", raw[Y_AXIS]);          \
+    SERIAL_ECHOLNPAIR(" Z:", raw[Z_AXIS]);        \
+    SERIAL_ECHOPAIR("delta A:", delta[A_AXIS]);   \
+    SERIAL_ECHOPAIR(" B:", delta[B_AXIS]);        \
+    SERIAL_ECHOLNPAIR(" C:", delta[C_AXIS]);      \
+  }while(0)
+
+void inverse_kinematics(const float logical[XYZ]) {
+  DELTA_LOGICAL_IK();
+  // DELTA_DEBUG();
+}
+
+/**
+ * Calculate the highest Z position where the
+ * effector has the full range of XY motion.
+ */
+float delta_safe_distance_from_top() {
+  float cartesian[XYZ] = {
+    LOGICAL_X_POSITION(0),
+    LOGICAL_Y_POSITION(0),
+    LOGICAL_Z_POSITION(0)
+  };
+  inverse_kinematics(cartesian);
+  float distance = delta[A_AXIS];
+  cartesian[Y_AXIS] = LOGICAL_Y_POSITION(DELTA_PRINTABLE_RADIUS);
+  inverse_kinematics(cartesian);
+  return FABS(distance - delta[A_AXIS]);
+}
+
+/**
+ * Delta Forward Kinematics
+ *
+ * See the Wikipedia article "Trilateration"
+ * https://en.wikipedia.org/wiki/Trilateration
+ *
+ * Establish a new coordinate system in the plane of the
+ * three carriage points. This system has its origin at
+ * tower1, with tower2 on the X axis. Tower3 is in the X-Y
+ * plane with a Z component of zero.
+ * We will define unit vectors in this coordinate system
+ * in our original coordinate system. Then when we calculate
+ * the Xnew, Ynew and Znew values, we can translate back into
+ * the original system by moving along those unit vectors
+ * by the corresponding values.
+ *
+ * Variable names matched to Marlin, c-version, and avoid the
+ * use of any vector library.
+ *
+ * by Andreas Hardtung 2016-06-07
+ * based on a Java function from "Delta Robot Kinematics V3"
+ * by Steve Graves
+ *
+ * The result is stored in the cartes[] array.
+ */
+void forward_kinematics_DELTA(float z1, float z2, float z3) {
+  // Create a vector in old coordinates along x axis of new coordinate
+  float p12[3] = { delta_tower[B_AXIS][X_AXIS] - delta_tower[A_AXIS][X_AXIS], delta_tower[B_AXIS][Y_AXIS] - delta_tower[A_AXIS][Y_AXIS], z2 - z1 };
+
+  // Get the Magnitude of vector.
+  float d = SQRT( sq(p12[0]) + sq(p12[1]) + sq(p12[2]) );
+
+  // Create unit vector by dividing by magnitude.
+  float ex[3] = { p12[0] / d, p12[1] / d, p12[2] / d };
+
+  // Get the vector from the origin of the new system to the third point.
+  float p13[3] = { delta_tower[C_AXIS][X_AXIS] - delta_tower[A_AXIS][X_AXIS], delta_tower[C_AXIS][Y_AXIS] - delta_tower[A_AXIS][Y_AXIS], z3 - z1 };
+
+  // Use the dot product to find the component of this vector on the X axis.
+  float i = ex[0] * p13[0] + ex[1] * p13[1] + ex[2] * p13[2];
+
+  // Create a vector along the x axis that represents the x component of p13.
+  float iex[3] = { ex[0] * i, ex[1] * i, ex[2] * i };
+
+  // Subtract the X component from the original vector leaving only Y. We use the
+  // variable that will be the unit vector after we scale it.
+  float ey[3] = { p13[0] - iex[0], p13[1] - iex[1], p13[2] - iex[2] };
+
+  // The magnitude of Y component
+  float j = SQRT( sq(ey[0]) + sq(ey[1]) + sq(ey[2]) );
+
+  // Convert to a unit vector
+  ey[0] /= j; ey[1] /= j;  ey[2] /= j;
+
+  // The cross product of the unit x and y is the unit z
+  // float[] ez = vectorCrossProd(ex, ey);
+  float ez[3] = {
+    ex[1] * ey[2] - ex[2] * ey[1],
+    ex[2] * ey[0] - ex[0] * ey[2],
+    ex[0] * ey[1] - ex[1] * ey[0]
+  };
+
+  // We now have the d, i and j values defined in Wikipedia.
+  // Plug them into the equations defined in Wikipedia for Xnew, Ynew and Znew
+  float Xnew = (delta_diagonal_rod_2_tower[A_AXIS] - delta_diagonal_rod_2_tower[B_AXIS] + sq(d)) / (d * 2),
+        Ynew = ((delta_diagonal_rod_2_tower[A_AXIS] - delta_diagonal_rod_2_tower[C_AXIS] + HYPOT2(i, j)) / 2 - i * Xnew) / j,
+        Znew = SQRT(delta_diagonal_rod_2_tower[A_AXIS] - HYPOT2(Xnew, Ynew));
+
+  // Start from the origin of the old coordinates and add vectors in the
+  // old coords that represent the Xnew, Ynew and Znew to find the point
+  // in the old system.
+  cartes[X_AXIS] = delta_tower[A_AXIS][X_AXIS] + ex[0] * Xnew + ey[0] * Ynew - ez[0] * Znew;
+  cartes[Y_AXIS] = delta_tower[A_AXIS][Y_AXIS] + ex[1] * Xnew + ey[1] * Ynew - ez[1] * Znew;
+  cartes[Z_AXIS] =             z1 + ex[2] * Xnew + ey[2] * Ynew - ez[2] * Znew;
+}
+
+/**
+ * A delta can only safely home all axes at the same time
+ * This is like quick_home_xy() but for 3 towers.
+ */
+bool home_delta() {
+  #if ENABLED(DEBUG_LEVELING_FEATURE)
+    if (DEBUGGING(LEVELING)) DEBUG_POS(">>> home_delta", current_position);
+  #endif
+  // Init the current position of all carriages to 0,0,0
+  ZERO(current_position);
+  sync_plan_position();
+
+  // Move all carriages together linearly until an endstop is hit.
+  current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (DELTA_HEIGHT + home_offset[Z_AXIS] + 10);
+  feedrate_mm_s = homing_feedrate(X_AXIS);
+  line_to_current_position();
+  stepper.synchronize();
+
+  // If an endstop was not hit, then damage can occur if homing is continued.
+  // This can occur if the delta height (DELTA_HEIGHT + home_offset[Z_AXIS]) is
+  // not set correctly.
+  if (!(Endstops::endstop_hit_bits & (_BV(X_MAX) | _BV(Y_MAX) | _BV(Z_MAX)))) {
+    LCD_MESSAGEPGM(MSG_ERR_HOMING_FAILED);
+    SERIAL_ERROR_START();
+    SERIAL_ERRORLNPGM(MSG_ERR_HOMING_FAILED);
+    return false;
+  }
+
+  endstops.hit_on_purpose(); // clear endstop hit flags
+
+  // At least one carriage has reached the top.
+  // Now re-home each carriage separately.
+  HOMEAXIS(A);
+  HOMEAXIS(B);
+  HOMEAXIS(C);
+
+  // Set all carriages to their home positions
+  // Do this here all at once for Delta, because
+  // XYZ isn't ABC. Applying this per-tower would
+  // give the impression that they are the same.
+  LOOP_XYZ(i) set_axis_is_at_home((AxisEnum)i);
+
+  SYNC_PLAN_POSITION_KINEMATIC();
+
+  #if ENABLED(DEBUG_LEVELING_FEATURE)
+    if (DEBUGGING(LEVELING)) DEBUG_POS("<<< home_delta", current_position);
+  #endif
+
+  return true;
+}
+
+#endif // DELTA

Marlin/src/module/delta.h

@@ -0,0 +1,141 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * delta.h - Delta-specific functions
+ */
+
+#ifndef __DELTA_H__
+#define __DELTA_H__
+
+extern float delta_endstop_adj[ABC],
+             delta_radius,
+             delta_diagonal_rod,
+             delta_segments_per_second,
+             delta_calibration_radius,
+             delta_tower_angle_trim[2];
+
+extern float delta_tower[ABC][2],
+             delta_diagonal_rod_2_tower[ABC],
+             delta_clip_start_height;
+
+/**
+ * Recalculate factors used for delta kinematics whenever
+ * settings have been changed (e.g., by M665).
+ */
+void recalc_delta_settings(float radius, float diagonal_rod);
+
+/**
+ * Delta Inverse Kinematics
+ *
+ * Calculate the tower positions for a given logical
+ * position, storing the result in the delta[] array.
+ *
+ * This is an expensive calculation, requiring 3 square
+ * roots per segmented linear move, and strains the limits
+ * of a Mega2560 with a Graphical Display.
+ *
+ * Suggested optimizations include:
+ *
+ * - Disable the home_offset (M206) and/or position_shift (G92)
+ *   features to remove up to 12 float additions.
+ *
+ * - Use a fast-inverse-sqrt function and add the reciprocal.
+ *   (see above)
+ */
+
+#if ENABLED(DELTA_FAST_SQRT) && defined(ARDUINO_ARCH_AVR)
+  /**
+   * Fast inverse sqrt from Quake III Arena
+   * See: https://en.wikipedia.org/wiki/Fast_inverse_square_root
+   */
+  float Q_rsqrt(float number);
+  #define _SQRT(n) (1.0f / Q_rsqrt(n))
+#else
+  #define _SQRT(n) SQRT(n)
+#endif
+
+// Macro to obtain the Z position of an individual tower
+#define DELTA_Z(T) raw[Z_AXIS] + _SQRT(     \
+  delta_diagonal_rod_2_tower[T] - HYPOT2(   \
+      delta_tower[T][X_AXIS] - raw[X_AXIS], \
+      delta_tower[T][Y_AXIS] - raw[Y_AXIS]  \
+    )                                       \
+  )
+
+#define DELTA_RAW_IK() do {        \
+  delta[A_AXIS] = DELTA_Z(A_AXIS); \
+  delta[B_AXIS] = DELTA_Z(B_AXIS); \
+  delta[C_AXIS] = DELTA_Z(C_AXIS); \
+}while(0)
+
+#define DELTA_LOGICAL_IK() do {      \
+  const float raw[XYZ] = {           \
+    RAW_X_POSITION(logical[X_AXIS]), \
+    RAW_Y_POSITION(logical[Y_AXIS]), \
+    RAW_Z_POSITION(logical[Z_AXIS])  \
+  };                                 \
+  DELTA_RAW_IK();                    \
+}while(0)
+
+void inverse_kinematics(const float logical[XYZ]);
+
+/**
+ * Calculate the highest Z position where the
+ * effector has the full range of XY motion.
+ */
+float delta_safe_distance_from_top();
+
+/**
+ * Delta Forward Kinematics
+ *
+ * See the Wikipedia article "Trilateration"
+ * https://en.wikipedia.org/wiki/Trilateration
+ *
+ * Establish a new coordinate system in the plane of the
+ * three carriage points. This system has its origin at
+ * tower1, with tower2 on the X axis. Tower3 is in the X-Y
+ * plane with a Z component of zero.
+ * We will define unit vectors in this coordinate system
+ * in our original coordinate system. Then when we calculate
+ * the Xnew, Ynew and Znew values, we can translate back into
+ * the original system by moving along those unit vectors
+ * by the corresponding values.
+ *
+ * Variable names matched to Marlin, c-version, and avoid the
+ * use of any vector library.
+ *
+ * by Andreas Hardtung 2016-06-07
+ * based on a Java function from "Delta Robot Kinematics V3"
+ * by Steve Graves
+ *
+ * The result is stored in the cartes[] array.
+ */
+void forward_kinematics_DELTA(float z1, float z2, float z3);
+
+FORCE_INLINE void forward_kinematics_DELTA(float point[ABC]) {
+  forward_kinematics_DELTA(point[A_AXIS], point[B_AXIS], point[C_AXIS]);
+}
+
+bool home_delta();
+
+#endif // __DELTA_H__

Marlin/src/module/motion.cpp

@@ -25,23 +25,38 @@
  */
 
 #include "motion.h"
+#include "endstops.h"
+#include "stepper.h"
+#include "planner.h"
+#include "temperature.h"
 
 #include "../gcode/gcode.h"
-// #include "../module/planner.h"
-// #include "../Marlin.h"
-// #include "../inc/MarlinConfig.h"
 
-#include "../core/serial.h"
+#include "../inc/MarlinConfig.h"
-#include "../module/stepper.h"
-#include "../module/temperature.h"
 
 #if IS_SCARA
   #include "../libs/buzzer.h"
   #include "../lcd/ultralcd.h"
 #endif
 
-#if ENABLED(AUTO_BED_LEVELING_UBL)
+// #if ENABLED(DUAL_X_CARRIAGE)
-  #include "../feature/ubl/ubl.h"
+//   #include "tool_change.h"
+// #endif
+
+#if HAS_BED_PROBE
+  #include "probe.h"
+#endif
+
+#if HAS_LEVELING
+  #include "../feature/bedlevel/bedlevel.h"
+#endif
+
+#if NEED_UNHOMED_ERR && ENABLED(ULTRA_LCD)
+  #include "../lcd/ultralcd.h"
+#endif
+
+#if ENABLED(SENSORLESS_HOMING)
+  #include "../feature/tmc2130.h"
 #endif
 
 #define XYZ_CONSTS(type, array, CONFIG) const PROGMEM type array##_P[XYZ] = { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }
@@ -72,15 +87,85 @@ float current_position[XYZE] = { 0.0 };
  */
 float destination[XYZE] = { 0.0 };
 
+
 // The active extruder (tool). Set with T<extruder> command.
 uint8_t active_extruder = 0;
 
+// Extruder offsets
+#if HOTENDS > 1
+  float hotend_offset[XYZ][HOTENDS]; // Initialized by settings.load()
+#endif
+
 // The feedrate for the current move, often used as the default if
 // no other feedrate is specified. Overridden for special moves.
 // Set by the last G0 through G5 command's "F" parameter.
 // Functions that override this for custom moves *must always* restore it!
 float feedrate_mm_s = MMM_TO_MMS(1500.0);
 
+int16_t feedrate_percentage = 100;
+
+// Homing feedrate is const progmem - compare to constexpr in the header
+const float homing_feedrate_mm_s[4] PROGMEM = {
+  #if ENABLED(DELTA)
+    MMM_TO_MMS(HOMING_FEEDRATE_Z), MMM_TO_MMS(HOMING_FEEDRATE_Z),
+  #else
+    MMM_TO_MMS(HOMING_FEEDRATE_XY), MMM_TO_MMS(HOMING_FEEDRATE_XY),
+  #endif
+  MMM_TO_MMS(HOMING_FEEDRATE_Z), 0
+};
+
+// Cartesian conversion result goes here:
+float cartes[XYZ];
+
+// Until kinematics.cpp is created, create this here
+#if IS_KINEMATIC
+  float delta[ABC];
+#endif
+
+/**
+ * The workspace can be offset by some commands, or
+ * these offsets may be omitted to save on computation.
+ */
+#if HAS_WORKSPACE_OFFSET
+  #if HAS_POSITION_SHIFT
+    // The distance that XYZ has been offset by G92. Reset by G28.
+    float position_shift[XYZ] = { 0 };
+  #endif
+  #if HAS_HOME_OFFSET
+    // This offset is added to the configured home position.
+    // Set by M206, M428, or menu item. Saved to EEPROM.
+    float home_offset[XYZ] = { 0 };
+  #endif
+  #if HAS_HOME_OFFSET && HAS_POSITION_SHIFT
+    // The above two are combined to save on computes
+    float workspace_offset[XYZ] = { 0 };
+  #endif
+#endif
+
+#if OLDSCHOOL_ABL
+  float xy_probe_feedrate_mm_s = MMM_TO_MMS(XY_PROBE_SPEED);
+#endif
+
+/**
+ * Output the current position to serial
+ */
+void report_current_position() {
+  SERIAL_PROTOCOLPGM("X:");
+  SERIAL_PROTOCOL(current_position[X_AXIS]);
+  SERIAL_PROTOCOLPGM(" Y:");
+  SERIAL_PROTOCOL(current_position[Y_AXIS]);
+  SERIAL_PROTOCOLPGM(" Z:");
+  SERIAL_PROTOCOL(current_position[Z_AXIS]);
+  SERIAL_PROTOCOLPGM(" E:");
+  SERIAL_PROTOCOL(current_position[E_AXIS]);
+
+  stepper.report_positions();
+
+  #if IS_SCARA
+    scara_report_positions();
+  #endif
+}
+
 /**
  * sync_plan_position
  *
@@ -96,6 +181,56 @@ void sync_plan_position() {
 
 void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_AXIS]); }
 
+/**
+ * Get the stepper positions in the cartes[] array.
+ * Forward kinematics are applied for DELTA and SCARA.
+ *
+ * The result is in the current coordinate space with
+ * leveling applied. The coordinates need to be run through
+ * unapply_leveling to obtain the "ideal" coordinates
+ * suitable for current_position, etc.
+ */
+void get_cartesian_from_steppers() {
+  #if ENABLED(DELTA)
+    forward_kinematics_DELTA(
+      stepper.get_axis_position_mm(A_AXIS),
+      stepper.get_axis_position_mm(B_AXIS),
+      stepper.get_axis_position_mm(C_AXIS)
+    );
+    cartes[X_AXIS] += LOGICAL_X_POSITION(0);
+    cartes[Y_AXIS] += LOGICAL_Y_POSITION(0);
+    cartes[Z_AXIS] += LOGICAL_Z_POSITION(0);
+  #elif IS_SCARA
+    forward_kinematics_SCARA(
+      stepper.get_axis_position_degrees(A_AXIS),
+      stepper.get_axis_position_degrees(B_AXIS)
+    );
+    cartes[X_AXIS] += LOGICAL_X_POSITION(0);
+    cartes[Y_AXIS] += LOGICAL_Y_POSITION(0);
+    cartes[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
+  #else
+    cartes[X_AXIS] = stepper.get_axis_position_mm(X_AXIS);
+    cartes[Y_AXIS] = stepper.get_axis_position_mm(Y_AXIS);
+    cartes[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
+  #endif
+}
+
+/**
+ * Set the current_position for an axis based on
+ * the stepper positions, removing any leveling that
+ * may have been applied.
+ */
+void set_current_from_steppers_for_axis(const AxisEnum axis) {
+  get_cartesian_from_steppers();
+  #if PLANNER_LEVELING
+    planner.unapply_leveling(cartes);
+  #endif
+  if (axis == ALL_AXES)
+    COPY(current_position, cartes);
+  else
+    current_position[axis] = cartes[axis];
+}
+
 /**
  * Move the planner to the current position from wherever it last moved
  * (or from wherever it has been told it is located).
@@ -149,6 +284,167 @@ void line_to_destination(const float fr_mm_s) {
 
 #endif // IS_KINEMATIC
 
+/**
+ *  Plan a move to (X, Y, Z) and set the current_position
+ *  The final current_position may not be the one that was requested
+ */
+void do_blocking_move_to(const float &lx, const float &ly, const float &lz, const float &fr_mm_s/*=0.0*/) {
+  const float old_feedrate_mm_s = feedrate_mm_s;
+
+  #if ENABLED(DEBUG_LEVELING_FEATURE)
+    if (DEBUGGING(LEVELING)) print_xyz(PSTR(">>> do_blocking_move_to"), NULL, lx, ly, lz);
+  #endif
+
+  #if ENABLED(DELTA)
+
+    if (!position_is_reachable_xy(lx, ly)) return;
+
+    feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
+
+    set_destination_to_current();          // sync destination at the start
+
+    #if ENABLED(DEBUG_LEVELING_FEATURE)
+      if (DEBUGGING(LEVELING)) DEBUG_POS("set_destination_to_current", destination);
+    #endif
+
+    // when in the danger zone
+    if (current_position[Z_AXIS] > delta_clip_start_height) {
+      if (lz > delta_clip_start_height) {   // staying in the danger zone
+        destination[X_AXIS] = lx;           // move directly (uninterpolated)
+        destination[Y_AXIS] = ly;
+        destination[Z_AXIS] = lz;
+        prepare_uninterpolated_move_to_destination(); // set_current_to_destination
+        #if ENABLED(DEBUG_LEVELING_FEATURE)
+          if (DEBUGGING(LEVELING)) DEBUG_POS("danger zone move", current_position);
+        #endif
+        return;
+      }
+      else {
+        destination[Z_AXIS] = delta_clip_start_height;
+        prepare_uninterpolated_move_to_destination(); // set_current_to_destination
+        #if ENABLED(DEBUG_LEVELING_FEATURE)
+          if (DEBUGGING(LEVELING)) DEBUG_POS("zone border move", current_position);
+        #endif
+      }
+    }
+
+    if (lz > current_position[Z_AXIS]) {    // raising?
+      destination[Z_AXIS] = lz;
+      prepare_uninterpolated_move_to_destination();   // set_current_to_destination
+      #if ENABLED(DEBUG_LEVELING_FEATURE)
+        if (DEBUGGING(LEVELING)) DEBUG_POS("z raise move", current_position);
+      #endif
+    }
+
+    destination[X_AXIS] = lx;
+    destination[Y_AXIS] = ly;
+    prepare_move_to_destination();         // set_current_to_destination
+    #if ENABLED(DEBUG_LEVELING_FEATURE)
+      if (DEBUGGING(LEVELING)) DEBUG_POS("xy move", current_position);
+    #endif
+
+    if (lz < current_position[Z_AXIS]) {    // lowering?
+      destination[Z_AXIS] = lz;
+      prepare_uninterpolated_move_to_destination();   // set_current_to_destination
+      #if ENABLED(DEBUG_LEVELING_FEATURE)
+        if (DEBUGGING(LEVELING)) DEBUG_POS("z lower move", current_position);
+      #endif
+    }
+
+  #elif IS_SCARA
+
+    if (!position_is_reachable_xy(lx, ly)) return;
+
+    set_destination_to_current();
+
+    // If Z needs to raise, do it before moving XY
+    if (destination[Z_AXIS] < lz) {
+      destination[Z_AXIS] = lz;
+      prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS));
+    }
+
+    destination[X_AXIS] = lx;
+    destination[Y_AXIS] = ly;
+    prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S);
+
+    // If Z needs to lower, do it after moving XY
+    if (destination[Z_AXIS] > lz) {
+      destination[Z_AXIS] = lz;
+      prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS));
+    }
+
+  #else
+
+    // If Z needs to raise, do it before moving XY
+    if (current_position[Z_AXIS] < lz) {
+      feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS);
+      current_position[Z_AXIS] = lz;
+      line_to_current_position();
+    }
+
+    feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
+    current_position[X_AXIS] = lx;
+    current_position[Y_AXIS] = ly;
+    line_to_current_position();
+
+    // If Z needs to lower, do it after moving XY
+    if (current_position[Z_AXIS] > lz) {
+      feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS);
+      current_position[Z_AXIS] = lz;
+      line_to_current_position();
+    }
+
+  #endif
+
+  stepper.synchronize();
+
+  feedrate_mm_s = old_feedrate_mm_s;
+
+  #if ENABLED(DEBUG_LEVELING_FEATURE)
+    if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< do_blocking_move_to");
+  #endif
+}
+void do_blocking_move_to_x(const float &lx, const float &fr_mm_s/*=0.0*/) {
+  do_blocking_move_to(lx, current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_s);
+}
+void do_blocking_move_to_z(const float &lz, const float &fr_mm_s/*=0.0*/) {
+  do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], lz, fr_mm_s);
+}
+void do_blocking_move_to_xy(const float &lx, const float &ly, const float &fr_mm_s/*=0.0*/) {
+  do_blocking_move_to(lx, ly, current_position[Z_AXIS], fr_mm_s);
+}
+
+//
+// Prepare to do endstop or probe moves
+// with custom feedrates.
+//
+//  - Save current feedrates
+//  - Reset the rate multiplier
+//  - Reset the command timeout
+//  - Enable the endstops (for endstop moves)
+//
+void bracket_probe_move(const bool before) {
+  static float saved_feedrate_mm_s;
+  static int16_t saved_feedrate_percentage;
+  #if ENABLED(DEBUG_LEVELING_FEATURE)
+    if (DEBUGGING(LEVELING)) DEBUG_POS("bracket_probe_move", current_position);
+  #endif
+  if (before) {
+    saved_feedrate_mm_s = feedrate_mm_s;
+    saved_feedrate_percentage = feedrate_percentage;
+    feedrate_percentage = 100;
+    gcode.refresh_cmd_timeout();
+  }
+  else {
+    feedrate_mm_s = saved_feedrate_mm_s;
+    feedrate_percentage = saved_feedrate_percentage;
+    gcode.refresh_cmd_timeout();
+  }
+}
+
+void setup_for_endstop_or_probe_move() { bracket_probe_move(true); }
+void clean_up_after_endstop_or_probe_move() { bracket_probe_move(false); }
+
 // Software Endstops are based on the configured limits.
 float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
       soft_endstop_max[XYZ] = { X_MAX_BED, Y_MAX_BED, Z_MAX_POS };
@@ -189,73 +485,24 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
 
 #endif
 
-#if ENABLED(AUTO_BED_LEVELING_BILINEAR) && !IS_KINEMATIC
-
-  #define CELL_INDEX(A,V) ((RAW_##A##_POSITION(V) - bilinear_start[A##_AXIS]) * ABL_BG_FACTOR(A##_AXIS))
-
-  /**
-   * Prepare a bilinear-leveled linear move on Cartesian,
-   * splitting the move where it crosses grid borders.
-   */
-  void bilinear_line_to_destination(const float fr_mm_s, uint16_t x_splits=0xFFFF, uint16_t y_splits=0xFFFF);
-    int cx1 = CELL_INDEX(X, current_position[X_AXIS]),
-        cy1 = CELL_INDEX(Y, current_position[Y_AXIS]),
-        cx2 = CELL_INDEX(X, destination[X_AXIS]),
-        cy2 = CELL_INDEX(Y, destination[Y_AXIS]);
-    cx1 = constrain(cx1, 0, ABL_BG_POINTS_X - 2);
-    cy1 = constrain(cy1, 0, ABL_BG_POINTS_Y - 2);
-    cx2 = constrain(cx2, 0, ABL_BG_POINTS_X - 2);
-    cy2 = constrain(cy2, 0, ABL_BG_POINTS_Y - 2);
-
-    if (cx1 == cx2 && cy1 == cy2) {
-      // Start and end on same mesh square
-      line_to_destination(fr_mm_s);
-      set_current_to_destination();
-      return;
-    }
-
-    #define LINE_SEGMENT_END(A) (current_position[A ##_AXIS] + (destination[A ##_AXIS] - current_position[A ##_AXIS]) * normalized_dist)
-
-    float normalized_dist, end[XYZE];
-
-    // Split at the left/front border of the right/top square
-    const int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2);
-    if (cx2 != cx1 && TEST(x_splits, gcx)) {
-      COPY(end, destination);
-      destination[X_AXIS] = LOGICAL_X_POSITION(bilinear_start[X_AXIS] + ABL_BG_SPACING(X_AXIS) * gcx);
-      normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
-      destination[Y_AXIS] = LINE_SEGMENT_END(Y);
-      CBI(x_splits, gcx);
-    }
-    else if (cy2 != cy1 && TEST(y_splits, gcy)) {
-      COPY(end, destination);
-      destination[Y_AXIS] = LOGICAL_Y_POSITION(bilinear_start[Y_AXIS] + ABL_BG_SPACING(Y_AXIS) * gcy);
-      normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
-      destination[X_AXIS] = LINE_SEGMENT_END(X);
-      CBI(y_splits, gcy);
-    }
-    else {
-      // Already split on a border
-      line_to_destination(fr_mm_s);
-      set_current_to_destination();
-      return;
-    }
-
-    destination[Z_AXIS] = LINE_SEGMENT_END(Z);
-    destination[E_AXIS] = LINE_SEGMENT_END(E);
-
-    // Do the split and look for more borders
-    bilinear_line_to_destination(fr_mm_s, x_splits, y_splits);
-
-    // Restore destination from stack
-    COPY(destination, end);
-    bilinear_line_to_destination(fr_mm_s, x_splits, y_splits);
-  }
-
-#endif // AUTO_BED_LEVELING_BILINEAR
-
 #if IS_KINEMATIC && !UBL_DELTA
 
+  #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
+    #if ENABLED(DELTA)
+      #define ADJUST_DELTA(V) \
+        if (planner.abl_enabled) { \
+          const float zadj = bilinear_z_offset(V); \
+          delta[A_AXIS] += zadj; \
+          delta[B_AXIS] += zadj; \
+          delta[C_AXIS] += zadj; \
+        }
+    #else
+      #define ADJUST_DELTA(V) if (planner.abl_enabled) { delta[Z_AXIS] += bilinear_z_offset(V); }
+    #endif
+  #else
+    #define ADJUST_DELTA(V) NOOP
+  #endif
+
   /**
    * Prepare a linear move in a DELTA or SCARA setup.
    *
@@ -572,3 +819,453 @@ void prepare_move_to_destination() {
 
   set_current_to_destination();
 }
+
+#if NEED_UNHOMED_ERR
+
+  bool axis_unhomed_error(const bool x/*=true*/, const bool y/*=true*/, const bool z/*=true*/) {
+    #if ENABLED(HOME_AFTER_DEACTIVATE)
+      const bool xx = x && !axis_known_position[X_AXIS],
+                 yy = y && !axis_known_position[Y_AXIS],
+                 zz = z && !axis_known_position[Z_AXIS];
+    #else
+      const bool xx = x && !axis_homed[X_AXIS],
+                 yy = y && !axis_homed[Y_AXIS],
+                 zz = z && !axis_homed[Z_AXIS];
+    #endif
+    if (xx || yy || zz) {
+      SERIAL_ECHO_START();
+      SERIAL_ECHOPGM(MSG_HOME " ");
+      if (xx) SERIAL_ECHOPGM(MSG_X);
+      if (yy) SERIAL_ECHOPGM(MSG_Y);
+      if (zz) SERIAL_ECHOPGM(MSG_Z);
+      SERIAL_ECHOLNPGM(" " MSG_FIRST);
+
+      #if ENABLED(ULTRA_LCD)
+        lcd_status_printf_P(0, PSTR(MSG_HOME " %s%s%s " MSG_FIRST), xx ? MSG_X : "", yy ? MSG_Y : "", zz ? MSG_Z : "");
+      #endif
+      return true;
+    }
+    return false;
+  }
+
+#endif
+
+/**
+ * The homing feedrate may vary
+ */
+inline float get_homing_bump_feedrate(const AxisEnum axis) {
+  static const uint8_t homing_bump_divisor[] PROGMEM = HOMING_BUMP_DIVISOR;
+  uint8_t hbd = pgm_read_byte(&homing_bump_divisor[axis]);
+  if (hbd < 1) {
+    hbd = 10;
+    SERIAL_ECHO_START();
+    SERIAL_ECHOLNPGM("Warning: Homing Bump Divisor < 1");
+  }
+  return homing_feedrate(axis) / hbd;
+}
+
+/**
+ * Home an individual linear axis
+ */
+static void do_homing_move(const AxisEnum axis, const float distance, const float fr_mm_s=0.0) {
+
+  #if ENABLED(DEBUG_LEVELING_FEATURE)
+    if (DEBUGGING(LEVELING)) {
+      SERIAL_ECHOPAIR(">>> do_homing_move(", axis_codes[axis]);
+      SERIAL_ECHOPAIR(", ", distance);
+      SERIAL_ECHOPAIR(", ", fr_mm_s);
+      SERIAL_CHAR(')');
+      SERIAL_EOL();
+    }
+  #endif
+
+  #if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH)
+    const bool deploy_bltouch = (axis == Z_AXIS && distance < 0);
+    if (deploy_bltouch) set_bltouch_deployed(true);
+  #endif
+
+  #if QUIET_PROBING
+    if (axis == Z_AXIS) probing_pause(true);
+  #endif
+
+  // Tell the planner we're at Z=0
+  current_position[axis] = 0;
+
+  #if IS_SCARA
+    SYNC_PLAN_POSITION_KINEMATIC();
+    current_position[axis] = distance;
+    inverse_kinematics(current_position);
+    planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate(axis), active_extruder);
+  #else
+    sync_plan_position();
+    current_position[axis] = distance;
+    planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate(axis), active_extruder);
+  #endif
+
+  stepper.synchronize();
+
+  #if QUIET_PROBING
+    if (axis == Z_AXIS) probing_pause(false);
+  #endif
+
+  #if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH)
+    if (deploy_bltouch) set_bltouch_deployed(false);
+  #endif
+
+  endstops.hit_on_purpose();
+
+  #if ENABLED(DEBUG_LEVELING_FEATURE)
+    if (DEBUGGING(LEVELING)) {
+      SERIAL_ECHOPAIR("<<< do_homing_move(", axis_codes[axis]);
+      SERIAL_CHAR(')');
+      SERIAL_EOL();
+    }
+  #endif
+}
+
+/**
+ * Set an axis' current position to its home position (after homing).
+ *
+ * For Core and Cartesian robots this applies one-to-one when an
+ * individual axis has been homed.
+ *
+ * DELTA should wait until all homing is done before setting the XYZ
+ * current_position to home, because homing is a single operation.
+ * In the case where the axis positions are already known and previously
+ * homed, DELTA could home to X or Y individually by moving either one
+ * to the center. However, homing Z always homes XY and Z.
+ *
+ * SCARA should wait until all XY homing is done before setting the XY
+ * current_position to home, because neither X nor Y is at home until
+ * both are at home. Z can however be homed individually.
+ *
+ * Callers must sync the planner position after calling this!
+ */
+void set_axis_is_at_home(const AxisEnum axis) {
+  #if ENABLED(DEBUG_LEVELING_FEATURE)
+    if (DEBUGGING(LEVELING)) {
+      SERIAL_ECHOPAIR(">>> set_axis_is_at_home(", axis_codes[axis]);
+      SERIAL_CHAR(')');
+      SERIAL_EOL();
+    }
+  #endif
+
+  axis_known_position[axis] = axis_homed[axis] = true;
+
+  #if HAS_POSITION_SHIFT
+    position_shift[axis] = 0;
+    update_software_endstops(axis);
+  #endif
+
+  #if ENABLED(DUAL_X_CARRIAGE)
+    if (axis == X_AXIS && (active_extruder == 1 || dual_x_carriage_mode == DXC_DUPLICATION_MODE)) {
+      current_position[X_AXIS] = x_home_pos(active_extruder);
+      return;
+    }
+  #endif
+
+  #if ENABLED(MORGAN_SCARA)
+    scara_set_axis_is_at_home(axis);
+  #else
+    current_position[axis] = LOGICAL_POSITION(base_home_pos(axis), axis);
+  #endif
+
+  /**
+   * Z Probe Z Homing? Account for the probe's Z offset.
+   */
+  #if HAS_BED_PROBE && Z_HOME_DIR < 0
+    if (axis == Z_AXIS) {
+      #if HOMING_Z_WITH_PROBE
+
+        current_position[Z_AXIS] -= zprobe_zoffset;
+
+        #if ENABLED(DEBUG_LEVELING_FEATURE)
+          if (DEBUGGING(LEVELING)) {
+            SERIAL_ECHOLNPGM("*** Z HOMED WITH PROBE (Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) ***");
+            SERIAL_ECHOLNPAIR("> zprobe_zoffset = ", zprobe_zoffset);
+          }
+        #endif
+
+      #elif ENABLED(DEBUG_LEVELING_FEATURE)
+
+        if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("*** Z HOMED TO ENDSTOP (Z_MIN_PROBE_ENDSTOP) ***");
+
+      #endif
+    }
+  #endif
+
+  #if ENABLED(DEBUG_LEVELING_FEATURE)
+    if (DEBUGGING(LEVELING)) {
+      #if HAS_HOME_OFFSET
+        SERIAL_ECHOPAIR("> home_offset[", axis_codes[axis]);
+        SERIAL_ECHOLNPAIR("] = ", home_offset[axis]);
+      #endif
+      DEBUG_POS("", current_position);
+      SERIAL_ECHOPAIR("<<< set_axis_is_at_home(", axis_codes[axis]);
+      SERIAL_CHAR(')');
+      SERIAL_EOL();
+    }
+  #endif
+
+  #if ENABLED(I2C_POSITION_ENCODERS)
+    I2CPEM.homed(axis);
+  #endif
+}
+
+/**
+ * Home an individual "raw axis" to its endstop.
+ * This applies to XYZ on Cartesian and Core robots, and
+ * to the individual ABC steppers on DELTA and SCARA.
+ *
+ * At the end of the procedure the axis is marked as
+ * homed and the current position of that axis is updated.
+ * Kinematic robots should wait till all axes are homed
+ * before updating the current position.
+ */
+
+void homeaxis(const AxisEnum axis) {
+
+  #if IS_SCARA
+    // Only Z homing (with probe) is permitted
+    if (axis != Z_AXIS) { BUZZ(100, 880); return; }
+  #else
+    #define CAN_HOME(A) \
+      (axis == A##_AXIS && ((A##_MIN_PIN > -1 && A##_HOME_DIR < 0) || (A##_MAX_PIN > -1 && A##_HOME_DIR > 0)))
+    if (!CAN_HOME(X) && !CAN_HOME(Y) && !CAN_HOME(Z)) return;
+  #endif
+
+  #if ENABLED(DEBUG_LEVELING_FEATURE)
+    if (DEBUGGING(LEVELING)) {
+      SERIAL_ECHOPAIR(">>> homeaxis(", axis_codes[axis]);
+      SERIAL_CHAR(')');
+      SERIAL_EOL();
+    }
+  #endif
+
+  const int axis_home_dir =
+    #if ENABLED(DUAL_X_CARRIAGE)
+      (axis == X_AXIS) ? x_home_dir(active_extruder) :
+    #endif
+    home_dir(axis);
+
+  // Homing Z towards the bed? Deploy the Z probe or endstop.
+  #if HOMING_Z_WITH_PROBE
+    if (axis == Z_AXIS && DEPLOY_PROBE()) return;
+  #endif
+
+  // Set a flag for Z motor locking
+  #if ENABLED(Z_DUAL_ENDSTOPS)
+    if (axis == Z_AXIS) stepper.set_homing_flag(true);
+  #endif
+
+  // Disable stealthChop if used. Enable diag1 pin on driver.
+  #if ENABLED(SENSORLESS_HOMING)
+    #if ENABLED(X_IS_TMC2130)
+      if (axis == X_AXIS) tmc2130_sensorless_homing(stepperX);
+    #endif
+    #if ENABLED(Y_IS_TMC2130)
+      if (axis == Y_AXIS) tmc2130_sensorless_homing(stepperY);
+    #endif
+  #endif
+
+  // Fast move towards endstop until triggered
+  #if ENABLED(DEBUG_LEVELING_FEATURE)
+    if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Home 1 Fast:");
+  #endif
+  do_homing_move(axis, 1.5 * max_length(axis) * axis_home_dir);
+
+  // When homing Z with probe respect probe clearance
+  const float bump = axis_home_dir * (
+    #if HOMING_Z_WITH_PROBE
+      (axis == Z_AXIS) ? max(Z_CLEARANCE_BETWEEN_PROBES, home_bump_mm(Z_AXIS)) :
+    #endif
+    home_bump_mm(axis)
+  );
+
+  // If a second homing move is configured...
+  if (bump) {
+    // Move away from the endstop by the axis HOME_BUMP_MM
+    #if ENABLED(DEBUG_LEVELING_FEATURE)
+      if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Move Away:");
+    #endif
+    do_homing_move(axis, -bump);
+
+    // Slow move towards endstop until triggered
+    #if ENABLED(DEBUG_LEVELING_FEATURE)
+      if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Home 2 Slow:");
+    #endif
+    do_homing_move(axis, 2 * bump, get_homing_bump_feedrate(axis));
+  }
+
+  #if ENABLED(Z_DUAL_ENDSTOPS)
+    if (axis == Z_AXIS) {
+      float adj = FABS(z_endstop_adj);
+      bool lockZ1;
+      if (axis_home_dir > 0) {
+        adj = -adj;
+        lockZ1 = (z_endstop_adj > 0);
+      }
+      else
+        lockZ1 = (z_endstop_adj < 0);
+
+      if (lockZ1) stepper.set_z_lock(true); else stepper.set_z2_lock(true);
+
+      // Move to the adjusted endstop height
+      do_homing_move(axis, adj);
+
+      if (lockZ1) stepper.set_z_lock(false); else stepper.set_z2_lock(false);
+      stepper.set_homing_flag(false);
+    } // Z_AXIS
+  #endif
+
+  #if IS_SCARA
+
+    set_axis_is_at_home(axis);
+    SYNC_PLAN_POSITION_KINEMATIC();
+
+  #elif ENABLED(DELTA)
+
+    // Delta has already moved all three towers up in G28
+    // so here it re-homes each tower in turn.
+    // Delta homing treats the axes as normal linear axes.
+
+    // retrace by the amount specified in delta_endstop_adj + additional 0.1mm in order to have minimum steps
+    if (delta_endstop_adj[axis] * Z_HOME_DIR <= 0) {
+      #if ENABLED(DEBUG_LEVELING_FEATURE)
+        if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("delta_endstop_adj:");
+      #endif
+      do_homing_move(axis, delta_endstop_adj[axis] - 0.1);
+    }
+
+  #else
+
+    // For cartesian/core machines,
+    // set the axis to its home position
+    set_axis_is_at_home(axis);
+    sync_plan_position();
+
+    destination[axis] = current_position[axis];
+
+    #if ENABLED(DEBUG_LEVELING_FEATURE)
+      if (DEBUGGING(LEVELING)) DEBUG_POS("> AFTER set_axis_is_at_home", current_position);
+    #endif
+
+  #endif
+
+  // Re-enable stealthChop if used. Disable diag1 pin on driver.
+  #if ENABLED(SENSORLESS_HOMING)
+    #if ENABLED(X_IS_TMC2130)
+      if (axis == X_AXIS) tmc2130_sensorless_homing(stepperX, false);
+    #endif
+    #if ENABLED(Y_IS_TMC2130)
+      if (axis == Y_AXIS) tmc2130_sensorless_homing(stepperY, false);
+    #endif
+  #endif
+
+  // Put away the Z probe
+  #if HOMING_Z_WITH_PROBE
+    if (axis == Z_AXIS && STOW_PROBE()) return;
+  #endif
+
+  #if ENABLED(DEBUG_LEVELING_FEATURE)
+    if (DEBUGGING(LEVELING)) {
+      SERIAL_ECHOPAIR("<<< homeaxis(", axis_codes[axis]);
+      SERIAL_CHAR(')');
+      SERIAL_EOL();
+    }
+  #endif
+} // homeaxis()
+
+#if HAS_WORKSPACE_OFFSET || ENABLED(DUAL_X_CARRIAGE)
+
+  /**
+   * Software endstops can be used to monitor the open end of
+   * an axis that has a hardware endstop on the other end. Or
+   * they can prevent axes from moving past endstops and grinding.
+   *
+   * To keep doing their job as the coordinate system changes,
+   * the software endstop positions must be refreshed to remain
+   * at the same positions relative to the machine.
+   */
+  void update_software_endstops(const AxisEnum axis) {
+    const float offs = 0.0
+      #if HAS_HOME_OFFSET
+        + home_offset[axis]
+      #endif
+      #if HAS_POSITION_SHIFT
+        + position_shift[axis]
+      #endif
+    ;
+
+    #if HAS_HOME_OFFSET && HAS_POSITION_SHIFT
+      workspace_offset[axis] = offs;
+    #endif
+
+    #if ENABLED(DUAL_X_CARRIAGE)
+      if (axis == X_AXIS) {
+
+        // In Dual X mode hotend_offset[X] is T1's home position
+        float dual_max_x = max(hotend_offset[X_AXIS][1], X2_MAX_POS);
+
+        if (active_extruder != 0) {
+          // T1 can move from X2_MIN_POS to X2_MAX_POS or X2 home position (whichever is larger)
+          soft_endstop_min[X_AXIS] = X2_MIN_POS + offs;
+          soft_endstop_max[X_AXIS] = dual_max_x + offs;
+        }
+        else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
+          // In Duplication Mode, T0 can move as far left as X_MIN_POS
+          // but not so far to the right that T1 would move past the end
+          soft_endstop_min[X_AXIS] = base_min_pos(X_AXIS) + offs;
+          soft_endstop_max[X_AXIS] = min(base_max_pos(X_AXIS), dual_max_x - duplicate_extruder_x_offset) + offs;
+        }
+        else {
+          // In other modes, T0 can move from X_MIN_POS to X_MAX_POS
+          soft_endstop_min[axis] = base_min_pos(axis) + offs;
+          soft_endstop_max[axis] = base_max_pos(axis) + offs;
+        }
+      }
+    #elif ENABLED(DELTA)
+      soft_endstop_min[axis] = base_min_pos(axis) + (axis == Z_AXIS ? 0 : offs);
+      soft_endstop_max[axis] = base_max_pos(axis) + offs;
+    #else
+      soft_endstop_min[axis] = base_min_pos(axis) + offs;
+      soft_endstop_max[axis] = base_max_pos(axis) + offs;
+    #endif
+
+    #if ENABLED(DEBUG_LEVELING_FEATURE)
+      if (DEBUGGING(LEVELING)) {
+        SERIAL_ECHOPAIR("For ", axis_codes[axis]);
+        #if HAS_HOME_OFFSET
+          SERIAL_ECHOPAIR(" axis:\n home_offset = ", home_offset[axis]);
+        #endif
+        #if HAS_POSITION_SHIFT
+          SERIAL_ECHOPAIR("\n position_shift = ", position_shift[axis]);
+        #endif
+        SERIAL_ECHOPAIR("\n soft_endstop_min = ", soft_endstop_min[axis]);
+        SERIAL_ECHOLNPAIR("\n soft_endstop_max = ", soft_endstop_max[axis]);
+      }
+    #endif
+
+    #if ENABLED(DELTA)
+      if (axis == Z_AXIS)
+        delta_clip_start_height = soft_endstop_max[axis] - delta_safe_distance_from_top();
+    #endif
+  }
+
+#endif // HAS_WORKSPACE_OFFSET || DUAL_X_CARRIAGE
+
+#if HAS_M206_COMMAND
+  /**
+   * Change the home offset for an axis, update the current
+   * position and the software endstops to retain the same
+   * relative distance to the new home.
+   *
+   * Since this changes the current_position, code should
+   * call sync_plan_position soon after this.
+   */
+  void set_home_offset(const AxisEnum axis, const float v) {
+    current_position[axis] += v - home_offset[axis];
+    home_offset[axis] = v;
+    update_software_endstops(axis);
+  }
+#endif // HAS_M206_COMMAND

Marlin/src/module/motion.h

@@ -32,20 +32,53 @@
 
 #include "../inc/MarlinConfig.h"
 
-//#include "../HAL/HAL.h"
+#if IS_SCARA
-
+  #include "../module/scara.h"
-// #if ENABLED(DELTA)
+#endif
-//   #include "../module/delta.h"
-// #endif
 
 extern bool relative_mode;
 
-extern float current_position[XYZE], destination[XYZE];
+extern float current_position[XYZE],  // High-level current tool position
+             destination[XYZE];       // Destination for a move
+
+// Scratch space for a cartesian result
+extern float cartes[XYZ];
+
+// Until kinematics.cpp is created, declare this here
+#if IS_KINEMATIC
+  extern float delta[ABC];
+#endif
+
+#if OLDSCHOOL_ABL
+  extern float xy_probe_feedrate_mm_s;
+  #define XY_PROBE_FEEDRATE_MM_S xy_probe_feedrate_mm_s
+#elif defined(XY_PROBE_SPEED)
+  #define XY_PROBE_FEEDRATE_MM_S MMM_TO_MMS(XY_PROBE_SPEED)
+#else
+  #define XY_PROBE_FEEDRATE_MM_S PLANNER_XY_FEEDRATE()
+#endif
+
+/**
+ * Feed rates are often configured with mm/m
+ * but the planner and stepper like mm/s units.
+ */
+extern const float homing_feedrate_mm_s[4];
+FORCE_INLINE float homing_feedrate(const AxisEnum a) { return pgm_read_float(&homing_feedrate_mm_s[a]); }
 
 extern float feedrate_mm_s;
 
+/**
+ * Feedrate scaling and conversion
+ */
+extern int16_t feedrate_percentage;
+#define MMS_SCALED(MM_S) ((MM_S)*feedrate_percentage*0.01)
+
 extern uint8_t active_extruder;
 
+#if HOTENDS > 1
+  extern float hotend_offset[XYZ][HOTENDS];
+#endif
+
 extern float soft_endstop_min[XYZ], soft_endstop_max[XYZ];
 
 FORCE_INLINE float pgm_read_any(const float *p) { return pgm_read_float_near(p); }
@@ -71,9 +104,14 @@ XYZ_DEFS(signed char, home_dir, HOME_DIR);
   #define clamp_to_software_endstops(x) NOOP
 #endif
 
+void report_current_position();
+
 inline void set_current_to_destination() { COPY(current_position, destination); }
 inline void set_destination_to_current() { COPY(destination, current_position); }
 
+void get_cartesian_from_steppers();
+void set_current_from_steppers_for_axis(const AxisEnum axis);
+
 /**
  * sync_plan_position
  *
@@ -110,7 +148,35 @@ inline void line_to_destination() { line_to_destination(feedrate_mm_s); }
 
 void prepare_move_to_destination();
 
-void clamp_to_software_endstops(float target[XYZ]);
+/**
+ * Blocking movement and shorthand functions
+ */
+void do_blocking_move_to(const float &x, const float &y, const float &z, const float &fr_mm_s=0.0);
+void do_blocking_move_to_x(const float &x, const float &fr_mm_s=0.0);
+void do_blocking_move_to_z(const float &z, const float &fr_mm_s=0.0);
+void do_blocking_move_to_xy(const float &x, const float &y, const float &fr_mm_s=0.0);
+
+void setup_for_endstop_or_probe_move();
+void clean_up_after_endstop_or_probe_move();
+
+void bracket_probe_move(const bool before);
+void setup_for_endstop_or_probe_move();
+void clean_up_after_endstop_or_probe_move();
+
+//
+// Homing
+//
+
+#define NEED_UNHOMED_ERR (HAS_PROBING_PROCEDURE || HOTENDS > 1 || ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED) || ENABLED(NOZZLE_CLEAN_FEATURE) || ENABLED(NOZZLE_PARK_FEATURE) || ENABLED(DELTA_AUTO_CALIBRATION))
+
+#if NEED_UNHOMED_ERR
+  bool axis_unhomed_error(const bool x=true, const bool y=true, const bool z=true);
+#endif
+
+void set_axis_is_at_home(const AxisEnum axis);
+
+void homeaxis(const AxisEnum axis);
+#define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
 
 //
 // Macros
@@ -162,10 +228,6 @@ void clamp_to_software_endstops(float target[XYZ]);
 
 #if IS_KINEMATIC // (DELTA or SCARA)
 
-  #if IS_SCARA
-    extern const float L1, L2;
-  #endif
-
   inline bool position_is_reachable_raw_xy(const float &rx, const float &ry) {
     #if ENABLED(DELTA)
       return HYPOT2(rx, ry) <= sq(DELTA_PRINTABLE_RADIUS);
@@ -214,10 +276,16 @@ FORCE_INLINE bool position_is_reachable_xy(const float &lx, const float &ly) {
   return position_is_reachable_raw_xy(RAW_X_POSITION(lx), RAW_Y_POSITION(ly));
 }
 
+/**
+ * Dual X Carriage / Dual Nozzle
+ */
 #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
   extern bool extruder_duplication_enabled;       // Used in Dual X mode 2
 #endif
 
+/**
+ * Dual X Carriage
+ */
 #if ENABLED(DUAL_X_CARRIAGE)
 
   extern DualXMode dual_x_carriage_mode;
@@ -234,4 +302,12 @@ FORCE_INLINE bool position_is_reachable_xy(const float &lx, const float &ly) {
 
 #endif // DUAL_X_CARRIAGE
 
+#if HAS_WORKSPACE_OFFSET || ENABLED(DUAL_X_CARRIAGE)
+  void update_software_endstops(const AxisEnum axis);
+#endif
+
+#if HAS_M206_COMMAND
+  void set_home_offset(const AxisEnum axis, const float v);
+#endif
+
 #endif // MOTION_H

Marlin/src/module/planner.cpp

@@ -64,13 +64,12 @@
 #include "../module/temperature.h"
 #include "../lcd/ultralcd.h"
 #include "../core/language.h"
-#include "../feature/ubl/ubl.h"
 #include "../gcode/parser.h"
 
 #include "../Marlin.h"
 
-#if ENABLED(MESH_BED_LEVELING)
+#if HAS_LEVELING
-  #include "../feature/mbl/mesh_bed_leveling.h"
+  #include "../feature/bedlevel/bedlevel.h"
 #endif
 
 Planner planner;
@@ -107,12 +106,11 @@ float Planner::min_feedrate_mm_s,
       Planner::max_jerk[XYZE],       // The largest speed change requiring no acceleration
       Planner::min_travel_feedrate_mm_s;
 
-#if HAS_ABL
+#if OLDSCHOOL_ABL
   bool Planner::abl_enabled = false; // Flag that auto bed leveling is enabled
-#endif
+  #if ABL_PLANAR
-
+    matrix_3x3 Planner::bed_level_matrix; // Transform to compensate for bed level
-#if ABL_PLANAR
+  #endif
-  matrix_3x3 Planner::bed_level_matrix; // Transform to compensate for bed level
 #endif
 
 #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
@@ -546,7 +544,7 @@ void Planner::check_axes_activity() {
       #endif // FADE
     #endif // UBL
 
-    #if HAS_ABL
+    #if OLDSCHOOL_ABL
       if (!abl_enabled) return;
     #endif
 
@@ -634,7 +632,7 @@ void Planner::check_axes_activity() {
 
     #endif
 
-    #if HAS_ABL
+    #if OLDSCHOOL_ABL
       if (!abl_enabled) return;
     #endif
 

Marlin/src/module/planner.h

@@ -34,6 +34,12 @@
 
 #include "../Marlin.h"
 
+#include "motion.h"
+
+#if ENABLED(DELTA)
+  #include "delta.h"
+#endif
+
 #if HAS_ABL
   #include "../libs/vector_3.h"
 #endif
@@ -159,7 +165,7 @@ class Planner {
                  max_jerk[XYZE],       // The largest speed change requiring no acceleration
                  min_travel_feedrate_mm_s;
 
-    #if HAS_ABL
+    #if OLDSCHOOL_ABL
       static bool abl_enabled;              // Flag that bed leveling is enabled
       #if ABL_PLANAR
         static matrix_3x3 bed_level_matrix; // Transform to compensate for bed level

Marlin/src/module/probe.cpp

@@ -0,0 +1,709 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * probe.cpp
+ */
+
+#include "../inc/MarlinConfig.h"
+
+#if HAS_BED_PROBE
+
+#include "probe.h"
+#include "motion.h"
+#include "temperature.h"
+#include "endstops.h"
+
+#include "../gcode/gcode.h"
+#include "../lcd/ultralcd.h"
+
+#include "../Marlin.h"
+
+#if HAS_LEVELING
+  #include "../feature/bedlevel/bedlevel.h"
+#endif
+
+#if ENABLED(DELTA)
+  #include "../module/delta.h"
+#endif
+
+float zprobe_zoffset; // Initialized by settings.load()
+
+#if HAS_Z_SERVO_ENDSTOP
+  const int z_servo_angle[2] = Z_SERVO_ANGLES;
+#endif
+
+/**
+ * Raise Z to a minimum height to make room for a probe to move
+ */
+inline void do_probe_raise(const float z_raise) {
+  #if ENABLED(DEBUG_LEVELING_FEATURE)
+    if (DEBUGGING(LEVELING)) {
+      SERIAL_ECHOPAIR("do_probe_raise(", z_raise);
+      SERIAL_CHAR(')');
+      SERIAL_EOL();
+    }
+  #endif
+
+  float z_dest = z_raise;
+  if (zprobe_zoffset < 0) z_dest -= zprobe_zoffset;
+
+  if (z_dest > current_position[Z_AXIS])
+    do_blocking_move_to_z(z_dest);
+}
+
+#if ENABLED(Z_PROBE_SLED)
+
+  #ifndef SLED_DOCKING_OFFSET
+    #define SLED_DOCKING_OFFSET 0
+  #endif
+
+  /**
+   * Method to dock/undock a sled designed by Charles Bell.
+   *
+   * 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) {
+    #if ENABLED(DEBUG_LEVELING_FEATURE)
+      if (DEBUGGING(LEVELING)) {
+        SERIAL_ECHOPAIR("dock_sled(", stow);
+        SERIAL_CHAR(')');
+        SERIAL_EOL();
+      }
+    #endif
+
+    // Dock sled a bit closer to ensure proper capturing
+    do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET - ((stow) ? 1 : 0));
+
+    #if HAS_SOLENOID_1 && DISABLED(EXT_SOLENOID)
+      WRITE(SOL1_PIN, !stow); // switch solenoid
+    #endif
+  }
+
+#elif ENABLED(Z_PROBE_ALLEN_KEY)
+
+  FORCE_INLINE void do_blocking_move_to(const float logical[XYZ], const float &fr_mm_s) {
+    do_blocking_move_to(logical[X_AXIS], logical[Y_AXIS], logical[Z_AXIS], fr_mm_s);
+  }
+
+  void run_deploy_moves_script() {
+    #if defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_Z)
+      #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_X
+        #define Z_PROBE_ALLEN_KEY_DEPLOY_1_X current_position[X_AXIS]
+      #endif
+      #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_Y
+        #define Z_PROBE_ALLEN_KEY_DEPLOY_1_Y current_position[Y_AXIS]
+      #endif
+      #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_Z
+        #define Z_PROBE_ALLEN_KEY_DEPLOY_1_Z current_position[Z_AXIS]
+      #endif
+      #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE
+        #define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE 0.0
+      #endif
+      const float deploy_1[] = { Z_PROBE_ALLEN_KEY_DEPLOY_1_X, Z_PROBE_ALLEN_KEY_DEPLOY_1_Y, Z_PROBE_ALLEN_KEY_DEPLOY_1_Z };
+      do_blocking_move_to(deploy_1, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE));
+    #endif
+    #if defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_Z)
+      #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_X
+        #define Z_PROBE_ALLEN_KEY_DEPLOY_2_X current_position[X_AXIS]
+      #endif
+      #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_Y
+        #define Z_PROBE_ALLEN_KEY_DEPLOY_2_Y current_position[Y_AXIS]
+      #endif
+      #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_Z
+        #define Z_PROBE_ALLEN_KEY_DEPLOY_2_Z current_position[Z_AXIS]
+      #endif
+      #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE
+        #define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE 0.0
+      #endif
+      const float deploy_2[] = { Z_PROBE_ALLEN_KEY_DEPLOY_2_X, Z_PROBE_ALLEN_KEY_DEPLOY_2_Y, Z_PROBE_ALLEN_KEY_DEPLOY_2_Z };
+      do_blocking_move_to(deploy_2, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE));
+    #endif
+    #if defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_Z)
+      #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_X
+        #define Z_PROBE_ALLEN_KEY_DEPLOY_3_X current_position[X_AXIS]
+      #endif
+      #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_Y
+        #define Z_PROBE_ALLEN_KEY_DEPLOY_3_Y current_position[Y_AXIS]
+      #endif
+      #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_Z
+        #define Z_PROBE_ALLEN_KEY_DEPLOY_3_Z current_position[Z_AXIS]
+      #endif
+      #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE
+        #define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE 0.0
+      #endif
+      const float deploy_3[] = { Z_PROBE_ALLEN_KEY_DEPLOY_3_X, Z_PROBE_ALLEN_KEY_DEPLOY_3_Y, Z_PROBE_ALLEN_KEY_DEPLOY_3_Z };
+      do_blocking_move_to(deploy_3, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE));
+    #endif
+    #if defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_Z)
+      #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_X
+        #define Z_PROBE_ALLEN_KEY_DEPLOY_4_X current_position[X_AXIS]
+      #endif
+      #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_Y
+        #define Z_PROBE_ALLEN_KEY_DEPLOY_4_Y current_position[Y_AXIS]
+      #endif
+      #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_Z
+        #define Z_PROBE_ALLEN_KEY_DEPLOY_4_Z current_position[Z_AXIS]
+      #endif
+      #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE
+        #define Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE 0.0
+      #endif
+      const float deploy_4[] = { Z_PROBE_ALLEN_KEY_DEPLOY_4_X, Z_PROBE_ALLEN_KEY_DEPLOY_4_Y, Z_PROBE_ALLEN_KEY_DEPLOY_4_Z };
+      do_blocking_move_to(deploy_4, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE));
+    #endif
+    #if defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_Z)
+      #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_X
+        #define Z_PROBE_ALLEN_KEY_DEPLOY_5_X current_position[X_AXIS]
+      #endif
+      #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_Y
+        #define Z_PROBE_ALLEN_KEY_DEPLOY_5_Y current_position[Y_AXIS]
+      #endif
+      #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_Z
+        #define Z_PROBE_ALLEN_KEY_DEPLOY_5_Z current_position[Z_AXIS]
+      #endif
+      #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE
+        #define Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE 0.0
+      #endif
+      const float deploy_5[] = { Z_PROBE_ALLEN_KEY_DEPLOY_5_X, Z_PROBE_ALLEN_KEY_DEPLOY_5_Y, Z_PROBE_ALLEN_KEY_DEPLOY_5_Z };
+      do_blocking_move_to(deploy_5, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE));
+    #endif
+  }
+
+  void run_stow_moves_script() {
+    #if defined(Z_PROBE_ALLEN_KEY_STOW_1_X) || defined(Z_PROBE_ALLEN_KEY_STOW_1_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_1_Z)
+      #ifndef Z_PROBE_ALLEN_KEY_STOW_1_X
+        #define Z_PROBE_ALLEN_KEY_STOW_1_X current_position[X_AXIS]
+      #endif
+      #ifndef Z_PROBE_ALLEN_KEY_STOW_1_Y
+        #define Z_PROBE_ALLEN_KEY_STOW_1_Y current_position[Y_AXIS]
+      #endif
+      #ifndef Z_PROBE_ALLEN_KEY_STOW_1_Z
+        #define Z_PROBE_ALLEN_KEY_STOW_1_Z current_position[Z_AXIS]
+      #endif
+      #ifndef Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE
+        #define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE 0.0
+      #endif
+      const float stow_1[] = { Z_PROBE_ALLEN_KEY_STOW_1_X, Z_PROBE_ALLEN_KEY_STOW_1_Y, Z_PROBE_ALLEN_KEY_STOW_1_Z };
+      do_blocking_move_to(stow_1, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE));
+    #endif
+    #if defined(Z_PROBE_ALLEN_KEY_STOW_2_X) || defined(Z_PROBE_ALLEN_KEY_STOW_2_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_2_Z)
+      #ifndef Z_PROBE_ALLEN_KEY_STOW_2_X
+        #define Z_PROBE_ALLEN_KEY_STOW_2_X current_position[X_AXIS]
+      #endif
+      #ifndef Z_PROBE_ALLEN_KEY_STOW_2_Y
+        #define Z_PROBE_ALLEN_KEY_STOW_2_Y current_position[Y_AXIS]
+      #endif
+      #ifndef Z_PROBE_ALLEN_KEY_STOW_2_Z
+        #define Z_PROBE_ALLEN_KEY_STOW_2_Z current_position[Z_AXIS]
+      #endif
+      #ifndef Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE
+        #define Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE 0.0
+      #endif
+      const float stow_2[] = { Z_PROBE_ALLEN_KEY_STOW_2_X, Z_PROBE_ALLEN_KEY_STOW_2_Y, Z_PROBE_ALLEN_KEY_STOW_2_Z };
+      do_blocking_move_to(stow_2, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE));
+    #endif
+    #if defined(Z_PROBE_ALLEN_KEY_STOW_3_X) || defined(Z_PROBE_ALLEN_KEY_STOW_3_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_3_Z)
+      #ifndef Z_PROBE_ALLEN_KEY_STOW_3_X
+        #define Z_PROBE_ALLEN_KEY_STOW_3_X current_position[X_AXIS]
+      #endif
+      #ifndef Z_PROBE_ALLEN_KEY_STOW_3_Y
+        #define Z_PROBE_ALLEN_KEY_STOW_3_Y current_position[Y_AXIS]
+      #endif
+      #ifndef Z_PROBE_ALLEN_KEY_STOW_3_Z
+        #define Z_PROBE_ALLEN_KEY_STOW_3_Z current_position[Z_AXIS]
+      #endif
+      #ifndef Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE
+        #define Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE 0.0
+      #endif
+      const float stow_3[] = { Z_PROBE_ALLEN_KEY_STOW_3_X, Z_PROBE_ALLEN_KEY_STOW_3_Y, Z_PROBE_ALLEN_KEY_STOW_3_Z };
+      do_blocking_move_to(stow_3, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE));
+    #endif
+    #if defined(Z_PROBE_ALLEN_KEY_STOW_4_X) || defined(Z_PROBE_ALLEN_KEY_STOW_4_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_4_Z)
+      #ifndef Z_PROBE_ALLEN_KEY_STOW_4_X
+        #define Z_PROBE_ALLEN_KEY_STOW_4_X current_position[X_AXIS]
+      #endif
+      #ifndef Z_PROBE_ALLEN_KEY_STOW_4_Y
+        #define Z_PROBE_ALLEN_KEY_STOW_4_Y current_position[Y_AXIS]
+      #endif
+      #ifndef Z_PROBE_ALLEN_KEY_STOW_4_Z
+        #define Z_PROBE_ALLEN_KEY_STOW_4_Z current_position[Z_AXIS]
+      #endif
+      #ifndef Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE
+        #define Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE 0.0
+      #endif
+      const float stow_4[] = { Z_PROBE_ALLEN_KEY_STOW_4_X, Z_PROBE_ALLEN_KEY_STOW_4_Y, Z_PROBE_ALLEN_KEY_STOW_4_Z };
+      do_blocking_move_to(stow_4, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE));
+    #endif
+    #if defined(Z_PROBE_ALLEN_KEY_STOW_5_X) || defined(Z_PROBE_ALLEN_KEY_STOW_5_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_5_Z)
+      #ifndef Z_PROBE_ALLEN_KEY_STOW_5_X
+        #define Z_PROBE_ALLEN_KEY_STOW_5_X current_position[X_AXIS]
+      #endif
+      #ifndef Z_PROBE_ALLEN_KEY_STOW_5_Y
+        #define Z_PROBE_ALLEN_KEY_STOW_5_Y current_position[Y_AXIS]
+      #endif
+      #ifndef Z_PROBE_ALLEN_KEY_STOW_5_Z
+        #define Z_PROBE_ALLEN_KEY_STOW_5_Z current_position[Z_AXIS]
+      #endif
+      #ifndef Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE
+        #define Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE 0.0
+      #endif
+      const float stow_5[] = { Z_PROBE_ALLEN_KEY_STOW_5_X, Z_PROBE_ALLEN_KEY_STOW_5_Y, Z_PROBE_ALLEN_KEY_STOW_5_Z };
+      do_blocking_move_to(stow_5, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE));
+    #endif
+  }
+
+#endif
+
+#if ENABLED(PROBING_FANS_OFF)
+
+  void fans_pause(const bool p) {
+    if (p != fans_paused) {
+      fans_paused = p;
+      if (p)
+        for (uint8_t x = 0; x < FAN_COUNT; x++) {
+          paused_fanSpeeds[x] = fanSpeeds[x];
+          fanSpeeds[x] = 0;
+        }
+      else
+        for (uint8_t x = 0; x < FAN_COUNT; x++)
+          fanSpeeds[x] = paused_fanSpeeds[x];
+    }
+  }
+
+#endif // PROBING_FANS_OFF
+
+#if QUIET_PROBING
+  void probing_pause(const bool p) {
+    #if ENABLED(PROBING_HEATERS_OFF)
+      thermalManager.pause(p);
+    #endif
+    #if ENABLED(PROBING_FANS_OFF)
+      fans_pause(p);
+    #endif
+    if (p) safe_delay(
+      #if DELAY_BEFORE_PROBING > 25
+        DELAY_BEFORE_PROBING
+      #else
+        25
+      #endif
+    );
+  }
+#endif // QUIET_PROBING
+
+#if ENABLED(BLTOUCH)
+
+  void bltouch_command(const int angle) {
+    MOVE_SERVO(Z_ENDSTOP_SERVO_NR, angle);  // Give the BL-Touch the command and wait
+    safe_delay(BLTOUCH_DELAY);
+  }
+
+  bool set_bltouch_deployed(const bool deploy) {
+    if (deploy && TEST_BLTOUCH()) {      // If BL-Touch says it's triggered
+      bltouch_command(BLTOUCH_RESET);    //  try to reset it.
+      bltouch_command(BLTOUCH_DEPLOY);   // Also needs to deploy and stow to
+      bltouch_command(BLTOUCH_STOW);     //  clear the triggered condition.
+      safe_delay(1500);                  // Wait for internal self-test to complete.
+                                         //  (Measured completion time was 0.65 seconds
+                                         //   after reset, deploy, and stow sequence)
+      if (TEST_BLTOUCH()) {              // If it still claims to be triggered...
+        SERIAL_ERROR_START();
+        SERIAL_ERRORLNPGM(MSG_STOP_BLTOUCH);
+        stop();                          // punt!
+        return true;
+      }
+    }
+
+    bltouch_command(deploy ? BLTOUCH_DEPLOY : BLTOUCH_STOW);
+
+    #if ENABLED(DEBUG_LEVELING_FEATURE)
+      if (DEBUGGING(LEVELING)) {
+        SERIAL_ECHOPAIR("set_bltouch_deployed(", deploy);
+        SERIAL_CHAR(')');
+        SERIAL_EOL();
+      }
+    #endif
+
+    return false;
+  }
+
+#endif // BLTOUCH
+
+// returns false for ok and true for failure
+bool set_probe_deployed(const bool deploy) {
+
+  // Can be extended to servo probes, if needed.
+  #if ENABLED(PROBE_IS_TRIGGERED_WHEN_STOWED_TEST)
+    #if ENABLED(Z_MIN_PROBE_ENDSTOP)
+      #define _TRIGGERED_WHEN_STOWED_TEST (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING)
+    #else
+      #define _TRIGGERED_WHEN_STOWED_TEST (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING)
+    #endif
+  #endif
+
+  #if ENABLED(DEBUG_LEVELING_FEATURE)
+    if (DEBUGGING(LEVELING)) {
+      DEBUG_POS("set_probe_deployed", current_position);
+      SERIAL_ECHOLNPAIR("deploy: ", deploy);
+    }
+  #endif
+
+  if (endstops.z_probe_enabled == deploy) return false;
+
+  // Make room for probe
+  do_probe_raise(_Z_CLEARANCE_DEPLOY_PROBE);
+
+  #if ENABLED(Z_PROBE_SLED) || ENABLED(Z_PROBE_ALLEN_KEY)
+    #if ENABLED(Z_PROBE_SLED)
+      #define _AUE_ARGS true, false, false
+    #else
+      #define _AUE_ARGS
+    #endif
+    if (axis_unhomed_error(_AUE_ARGS)) {
+      SERIAL_ERROR_START();
+      SERIAL_ERRORLNPGM(MSG_STOP_UNHOMED);
+      stop();
+      return true;
+    }
+  #endif
+
+  const float oldXpos = current_position[X_AXIS],
+              oldYpos = current_position[Y_AXIS];
+
+  #ifdef _TRIGGERED_WHEN_STOWED_TEST
+
+    // If endstop is already false, the Z probe is deployed
+    if (_TRIGGERED_WHEN_STOWED_TEST == deploy) {     // closed after the probe specific actions.
+                                                     // Would a goto be less ugly?
+      //while (!_TRIGGERED_WHEN_STOWED_TEST) idle(); // would offer the opportunity
+                                                     // for a triggered when stowed manual probe.
+
+      if (!deploy) endstops.enable_z_probe(false); // Switch off triggered when stowed probes early
+                                                   // otherwise an Allen-Key probe can't be stowed.
+  #endif
+
+      #if ENABLED(SOLENOID_PROBE)
+
+        #if HAS_SOLENOID_1
+          WRITE(SOL1_PIN, deploy);
+        #endif
+
+      #elif ENABLED(Z_PROBE_SLED)
+
+        dock_sled(!deploy);
+
+      #elif HAS_Z_SERVO_ENDSTOP && DISABLED(BLTOUCH)
+
+        MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[deploy ? 0 : 1]);
+
+      #elif ENABLED(Z_PROBE_ALLEN_KEY)
+
+        deploy ? run_deploy_moves_script() : run_stow_moves_script();
+
+      #endif
+
+  #ifdef _TRIGGERED_WHEN_STOWED_TEST
+    } // _TRIGGERED_WHEN_STOWED_TEST == deploy
+
+    if (_TRIGGERED_WHEN_STOWED_TEST == deploy) { // State hasn't changed?
+
+      if (IsRunning()) {
+        SERIAL_ERROR_START();
+        SERIAL_ERRORLNPGM("Z-Probe failed");
+        LCD_ALERTMESSAGEPGM("Err: ZPROBE");
+      }
+      stop();
+      return true;
+
+    } // _TRIGGERED_WHEN_STOWED_TEST == deploy
+
+  #endif
+
+  do_blocking_move_to(oldXpos, oldYpos, current_position[Z_AXIS]); // return to position before deploy
+  endstops.enable_z_probe(deploy);
+  return false;
+}
+
+/**
+ * @brief Used by run_z_probe to do a single Z probe move.
+ *
+ * @param  z        Z destination
+ * @param  fr_mm_s  Feedrate in mm/s
+ * @return true to indicate an error
+ */
+static bool do_probe_move(const float z, const float fr_mm_m) {
+  #if ENABLED(DEBUG_LEVELING_FEATURE)
+    if (DEBUGGING(LEVELING)) DEBUG_POS(">>> do_probe_move", current_position);
+  #endif
+
+  // Deploy BLTouch at the start of any probe
+  #if ENABLED(BLTOUCH)
+    if (set_bltouch_deployed(true)) return true;
+  #endif
+
+  #if QUIET_PROBING
+    probing_pause(true);
+  #endif
+
+  // Move down until probe triggered
+  do_blocking_move_to_z(z, MMM_TO_MMS(fr_mm_m));
+
+  // Check to see if the probe was triggered
+  const bool probe_triggered = TEST(Endstops::endstop_hit_bits,
+    #if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
+      Z_MIN
+    #else
+      Z_MIN_PROBE
+    #endif
+  );
+
+  #if QUIET_PROBING
+    probing_pause(false);
+  #endif
+
+  // Retract BLTouch immediately after a probe if it was triggered
+  #if ENABLED(BLTOUCH)
+    if (probe_triggered && set_bltouch_deployed(false)) return true;
+  #endif
+
+  // Clear endstop flags
+  endstops.hit_on_purpose();
+
+  // Get Z where the steppers were interrupted
+  set_current_from_steppers_for_axis(Z_AXIS);
+
+  // Tell the planner where we actually are
+  SYNC_PLAN_POSITION_KINEMATIC();
+
+  #if ENABLED(DEBUG_LEVELING_FEATURE)
+    if (DEBUGGING(LEVELING)) DEBUG_POS("<<< do_probe_move", current_position);
+  #endif
+
+  return !probe_triggered;
+}
+
+/**
+ * @details Used by probe_pt to do a single Z probe.
+ *          Leaves current_position[Z_AXIS] at the height where the probe triggered.
+ *
+ * @param  short_move Flag for a shorter probe move towards the bed
+ * @return The raw Z position where the probe was triggered
+ */
+static float run_z_probe(const bool short_move=true) {
+
+  #if ENABLED(DEBUG_LEVELING_FEATURE)
+    if (DEBUGGING(LEVELING)) DEBUG_POS(">>> run_z_probe", current_position);
+  #endif
+
+  // Prevent stepper_inactive_time from running out and EXTRUDER_RUNOUT_PREVENT from extruding
+  gcode.refresh_cmd_timeout();
+
+  #if ENABLED(PROBE_DOUBLE_TOUCH)
+
+    // Do a first probe at the fast speed
+    if (do_probe_move(-10, Z_PROBE_SPEED_FAST)) return NAN;
+
+    #if ENABLED(DEBUG_LEVELING_FEATURE)
+      float first_probe_z = current_position[Z_AXIS];
+      if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("1st Probe Z:", first_probe_z);
+    #endif
+
+    // move up to make clearance for the probe
+    do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
+
+  #else
+
+    // If the nozzle is above the travel height then
+    // move down quickly before doing the slow probe
+    float z = Z_CLEARANCE_DEPLOY_PROBE;
+    if (zprobe_zoffset < 0) z -= zprobe_zoffset;
+
+    if (z < current_position[Z_AXIS]) {
+
+      // If we don't make it to the z position (i.e. the probe triggered), move up to make clearance for the probe
+      if (!do_probe_move(z, Z_PROBE_SPEED_FAST))
+        do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
+    }
+  #endif
+
+  // move down slowly to find bed
+  if (do_probe_move(-10 + (short_move ? 0 : -(Z_MAX_LENGTH)), Z_PROBE_SPEED_SLOW)) return NAN;
+
+  #if ENABLED(DEBUG_LEVELING_FEATURE)
+    if (DEBUGGING(LEVELING)) DEBUG_POS("<<< run_z_probe", current_position);
+  #endif
+
+  // Debug: compare probe heights
+  #if ENABLED(PROBE_DOUBLE_TOUCH) && ENABLED(DEBUG_LEVELING_FEATURE)
+    if (DEBUGGING(LEVELING)) {
+      SERIAL_ECHOPAIR("2nd Probe Z:", current_position[Z_AXIS]);
+      SERIAL_ECHOLNPAIR(" Discrepancy:", first_probe_z - current_position[Z_AXIS]);
+    }
+  #endif
+
+  return RAW_CURRENT_POSITION(Z) + zprobe_zoffset
+    #if ENABLED(DELTA)
+      + home_offset[Z_AXIS] // Account for delta height adjustment
+    #endif
+  ;
+}
+
+/**
+ * - Move to the given XY
+ * - Deploy the probe, if not already deployed
+ * - Probe the bed, get the Z position
+ * - Depending on the 'stow' flag
+ *   - Stow the probe, or
+ *   - Raise to the BETWEEN height
+ * - Return the probed Z position
+ */
+float probe_pt(const float &lx, const float &ly, const bool stow, const uint8_t verbose_level, const bool printable/*=true*/) {
+  #if ENABLED(DEBUG_LEVELING_FEATURE)
+    if (DEBUGGING(LEVELING)) {
+      SERIAL_ECHOPAIR(">>> probe_pt(", lx);
+      SERIAL_ECHOPAIR(", ", ly);
+      SERIAL_ECHOPAIR(", ", stow ? "" : "no ");
+      SERIAL_ECHOLNPGM("stow)");
+      DEBUG_POS("", current_position);
+    }
+  #endif
+
+  const float nx = lx - (X_PROBE_OFFSET_FROM_EXTRUDER), ny = ly - (Y_PROBE_OFFSET_FROM_EXTRUDER);
+
+  if (printable
+    ? !position_is_reachable_xy(nx, ny)
+    : !position_is_reachable_by_probe_xy(lx, ly)
+  ) return NAN;
+
+
+  const float old_feedrate_mm_s = feedrate_mm_s;
+
+  #if ENABLED(DELTA)
+    if (current_position[Z_AXIS] > delta_clip_start_height)
+      do_blocking_move_to_z(delta_clip_start_height);
+  #endif
+
+  #if HAS_SOFTWARE_ENDSTOPS
+    // Store the status of the soft endstops and disable if we're probing a non-printable location
+    static bool enable_soft_endstops = soft_endstops_enabled;
+    if (!printable) soft_endstops_enabled = false;
+  #endif
+
+  feedrate_mm_s = XY_PROBE_FEEDRATE_MM_S;
+
+  // Move the probe to the given XY
+  do_blocking_move_to_xy(nx, ny);
+
+  float measured_z = NAN;
+  if (!DEPLOY_PROBE()) {
+    measured_z = run_z_probe(printable);
+
+    if (!stow)
+      do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
+    else
+      if (STOW_PROBE()) measured_z = NAN;
+  }
+
+  #if HAS_SOFTWARE_ENDSTOPS
+    // Restore the soft endstop status
+    soft_endstops_enabled = enable_soft_endstops;
+  #endif
+
+  if (verbose_level > 2) {
+    SERIAL_PROTOCOLPGM("Bed X: ");
+    SERIAL_PROTOCOL_F(lx, 3);
+    SERIAL_PROTOCOLPGM(" Y: ");
+    SERIAL_PROTOCOL_F(ly, 3);
+    SERIAL_PROTOCOLPGM(" Z: ");
+    SERIAL_PROTOCOL_F(measured_z, 3);
+    SERIAL_EOL();
+  }
+
+  #if ENABLED(DEBUG_LEVELING_FEATURE)
+    if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< probe_pt");
+  #endif
+
+  feedrate_mm_s = old_feedrate_mm_s;
+
+  if (isnan(measured_z)) {
+    LCD_MESSAGEPGM(MSG_ERR_PROBING_FAILED);
+    SERIAL_ERROR_START();
+    SERIAL_ERRORLNPGM(MSG_ERR_PROBING_FAILED);
+  }
+
+  return measured_z;
+}
+
+void refresh_zprobe_zoffset(const bool no_babystep/*=false*/) {
+  static float last_zoffset = NAN;
+
+  if (!isnan(last_zoffset)) {
+
+    #if ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(BABYSTEP_ZPROBE_OFFSET) || ENABLED(DELTA)
+      const float diff = zprobe_zoffset - last_zoffset;
+    #endif
+
+    #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
+      // Correct bilinear grid for new probe offset
+      if (diff) {
+        for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
+          for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
+            z_values[x][y] -= diff;
+      }
+      #if ENABLED(ABL_BILINEAR_SUBDIVISION)
+        bed_level_virt_interpolate();
+      #endif
+    #endif
+
+    #if ENABLED(BABYSTEP_ZPROBE_OFFSET)
+      if (!no_babystep && leveling_is_active())
+        thermalManager.babystep_axis(Z_AXIS, -LROUND(diff * planner.axis_steps_per_mm[Z_AXIS]));
+    #else
+      UNUSED(no_babystep);
+    #endif
+
+    #if ENABLED(DELTA) // correct the delta_height
+      home_offset[Z_AXIS] -= diff;
+    #endif
+  }
+
+  last_zoffset = zprobe_zoffset;
+}
+
+#if HAS_Z_SERVO_ENDSTOP
+
+  void servo_probe_init() {
+    /**
+     * Set position of Z Servo Endstop
+     *
+     * The servo might be deployed and positioned too low to stow
+     * when starting up the machine or rebooting the board.
+     * There's no way to know where the nozzle is positioned until
+     * homing has been done - no homing with z-probe without init!
+     *
+     */
+    STOW_Z_SERVO();
+  }
+
+#endif // HAS_Z_SERVO_ENDSTOP
+
+#endif // HAS_BED_PROBE

Marlin/src/module/probe.h

@@ -0,0 +1,69 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * probe.h - Move, deploy, enable, etc.
+ */
+
+#ifndef PROBE_H
+#define PROBE_H
+
+#include "../inc/MarlinConfig.h"
+
+bool set_probe_deployed(const bool deploy);
+float probe_pt(const float &lx, const float &ly, const bool, const uint8_t, const bool printable=true);
+
+#if HAS_BED_PROBE
+  extern float zprobe_zoffset;
+  void refresh_zprobe_zoffset(const bool no_babystep=false);
+  #define DEPLOY_PROBE() set_probe_deployed(true)
+  #define STOW_PROBE() set_probe_deployed(false)
+#else
+  #define DEPLOY_PROBE()
+  #define STOW_PROBE()
+#endif
+
+#if HAS_Z_SERVO_ENDSTOP
+  extern const int z_servo_angle[2];
+  void servo_probe_init();
+#endif
+
+#if QUIET_PROBING
+  void probing_pause(const bool p);
+#endif
+
+#if ENABLED(PROBING_FANS_OFF)
+  void fans_pause(const bool p);
+#endif
+
+#if ENABLED(BLTOUCH)
+  void bltouch_command(int angle);
+  bool set_bltouch_deployed(const bool deploy);
+  FORCE_INLINE void bltouch_init() {
+    // Make sure any BLTouch error condition is cleared
+    bltouch_command(BLTOUCH_RESET);
+    set_bltouch_deployed(true);
+    set_bltouch_deployed(false);
+  }
+#endif
+
+#endif // PROBE_H

Marlin/src/module/scara.cpp

@@ -0,0 +1,155 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * scara.cpp
+ */
+
+#include "../inc/MarlinConfig.h"
+
+#if IS_SCARA
+
+#include "scara.h"
+#include "motion.h"
+#include "stepper.h"
+
+float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND;
+
+void scara_set_axis_is_at_home(const AxisEnum axis) {
+  if (axis == Z_AXIS)
+    current_position[Z_AXIS] = LOGICAL_POSITION(Z_HOME_POS, Z_AXIS);
+  else {
+
+    /**
+     * SCARA homes XY at the same time
+     */
+    float homeposition[XYZ];
+    LOOP_XYZ(i) homeposition[i] = LOGICAL_POSITION(base_home_pos((AxisEnum)i), i);
+
+    // SERIAL_ECHOPAIR("homeposition X:", homeposition[X_AXIS]);
+    // SERIAL_ECHOLNPAIR(" Y:", homeposition[Y_AXIS]);
+
+    /**
+     * Get Home position SCARA arm angles using inverse kinematics,
+     * and calculate homing offset using forward kinematics
+     */
+    inverse_kinematics(homeposition);
+    forward_kinematics_SCARA(delta[A_AXIS], delta[B_AXIS]);
+
+    // SERIAL_ECHOPAIR("Cartesian X:", cartes[X_AXIS]);
+    // SERIAL_ECHOLNPAIR(" Y:", cartes[Y_AXIS]);
+
+    current_position[axis] = LOGICAL_POSITION(cartes[axis], axis);
+
+    /**
+     * SCARA home positions are based on configuration since the actual
+     * limits are determined by the inverse kinematic transform.
+     */
+    soft_endstop_min[axis] = base_min_pos(axis); // + (cartes[axis] - base_home_pos(axis));
+    soft_endstop_max[axis] = base_max_pos(axis); // + (cartes[axis] - base_home_pos(axis));
+  }
+}
+
+/**
+ * Morgan SCARA Forward Kinematics. Results in cartes[].
+ * Maths and first version by QHARLEY.
+ * Integrated into Marlin and slightly restructured by Joachim Cerny.
+ */
+void forward_kinematics_SCARA(const float &a, const float &b) {
+
+  const float a_sin = sin(RADIANS(a)) * L1,
+              a_cos = cos(RADIANS(a)) * L1,
+              b_sin = sin(RADIANS(b)) * L2,
+              b_cos = cos(RADIANS(b)) * L2;
+
+  cartes[X_AXIS] = a_cos + b_cos + SCARA_OFFSET_X;  //theta
+  cartes[Y_AXIS] = a_sin + b_sin + SCARA_OFFSET_Y;  //theta+phi
+
+  /*
+    SERIAL_ECHOPAIR("SCARA FK Angle a=", a);
+    SERIAL_ECHOPAIR(" b=", b);
+    SERIAL_ECHOPAIR(" a_sin=", a_sin);
+    SERIAL_ECHOPAIR(" a_cos=", a_cos);
+    SERIAL_ECHOPAIR(" b_sin=", b_sin);
+    SERIAL_ECHOLNPAIR(" b_cos=", b_cos);
+    SERIAL_ECHOPAIR(" cartes[X_AXIS]=", cartes[X_AXIS]);
+    SERIAL_ECHOLNPAIR(" cartes[Y_AXIS]=", cartes[Y_AXIS]);
+  //*/
+}
+
+/**
+ * Morgan SCARA Inverse Kinematics. Results in delta[].
+ *
+ * See http://forums.reprap.org/read.php?185,283327
+ *
+ * Maths and first version by QHARLEY.
+ * Integrated into Marlin and slightly restructured by Joachim Cerny.
+ */
+void inverse_kinematics(const float logical[XYZ]) {
+
+  static float C2, S2, SK1, SK2, THETA, PSI;
+
+  float sx = RAW_X_POSITION(logical[X_AXIS]) - SCARA_OFFSET_X,  // Translate SCARA to standard X Y
+        sy = RAW_Y_POSITION(logical[Y_AXIS]) - SCARA_OFFSET_Y;  // With scaling factor.
+
+  if (L1 == L2)
+    C2 = HYPOT2(sx, sy) / L1_2_2 - 1;
+  else
+    C2 = (HYPOT2(sx, sy) - (L1_2 + L2_2)) / (2.0 * L1 * L2);
+
+  S2 = SQRT(1 - sq(C2));
+
+  // Unrotated Arm1 plus rotated Arm2 gives the distance from Center to End
+  SK1 = L1 + L2 * C2;
+
+  // Rotated Arm2 gives the distance from Arm1 to Arm2
+  SK2 = L2 * S2;
+
+  // Angle of Arm1 is the difference between Center-to-End angle and the Center-to-Elbow
+  THETA = ATAN2(SK1, SK2) - ATAN2(sx, sy);
+
+  // Angle of Arm2
+  PSI = ATAN2(S2, C2);
+
+  delta[A_AXIS] = DEGREES(THETA);        // theta is support arm angle
+  delta[B_AXIS] = DEGREES(THETA + PSI);  // equal to sub arm angle (inverted motor)
+  delta[C_AXIS] = logical[Z_AXIS];
+
+  /*
+    DEBUG_POS("SCARA IK", logical);
+    DEBUG_POS("SCARA IK", delta);
+    SERIAL_ECHOPAIR("  SCARA (x,y) ", sx);
+    SERIAL_ECHOPAIR(",", sy);
+    SERIAL_ECHOPAIR(" C2=", C2);
+    SERIAL_ECHOPAIR(" S2=", S2);
+    SERIAL_ECHOPAIR(" Theta=", THETA);
+    SERIAL_ECHOLNPAIR(" Phi=", PHI);
+  //*/
+}
+
+void scara_report_positions() {
+  SERIAL_PROTOCOLPAIR("SCARA Theta:", stepper.get_axis_position_degrees(A_AXIS));
+  SERIAL_PROTOCOLLNPAIR("   Psi+Theta:", stepper.get_axis_position_degrees(B_AXIS));
+  SERIAL_EOL();
+}
+
+#endif // IS_SCARA

Marlin/src/module/scara.h

@@ -0,0 +1,46 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * scara.h - SCARA-specific functions
+ */
+
+#ifndef __SCARA_H__
+#define __SCARA_H__
+
+#include "../core/macros.h"
+
+extern float delta_segments_per_second;
+
+// Float constants for SCARA calculations
+float constexpr L1 = SCARA_LINKAGE_1, L2 = SCARA_LINKAGE_2,
+                L1_2 = sq(float(L1)), L1_2_2 = 2.0 * L1_2,
+                L2_2 = sq(float(L2));
+
+void scara_set_axis_is_at_home(const AxisEnum axis);
+
+void inverse_kinematics(const float logical[XYZ]);
+void forward_kinematics_SCARA(const float &a, const float &b);
+
+void scara_report_positions();
+
+#endif // __SCARA_H__

Marlin/src/module/stepper.cpp

@@ -52,6 +52,7 @@
 
 #include "endstops.h"
 #include "planner.h"
+#include "motion.h"
 
 #include "../Marlin.h"
 #include "../module/temperature.h"