Marlin.cpp

/**
 * 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/>.
 *
 */

/**
 * About Marlin
 *
 * This firmware is a mashup between Sprinter and grbl.
 *  - https://github.com/kliment/Sprinter
 *  - https://github.com/simen/grbl
 */

#include "Marlin.h"

#include "lcd/ultralcd.h"
#include "module/motion.h"
#include "module/planner.h"
#include "module/stepper.h"
#include "module/endstops.h"
#include "module/temperature.h"
#include "sd/cardreader.h"
#include "module/configuration_store.h"
#ifdef ARDUINO
  #include <pins_arduino.h>
#endif
#include <math.h>
#include "libs/nozzle.h"
#include "libs/duration_t.h"

#include "gcode/gcode.h"
#include "gcode/parser.h"
#include "gcode/queue.h"

#if HAS_BUZZER && DISABLED(LCD_USE_I2C_BUZZER)
  #include "libs/buzzer.h"
#endif

#if HAS_ABL
  #include "libs/vector_3.h"
  #if ENABLED(AUTO_BED_LEVELING_LINEAR)
    #include "libs/least_squares_fit.h"
  #endif
#elif ENABLED(MESH_BED_LEVELING)
  #include "feature/mbl/mesh_bed_leveling.h"
#endif

#if (ENABLED(SWITCHING_EXTRUDER) && !DONT_SWITCH) || ENABLED(SWITCHING_NOZZLE)
  #include "module/tool_change.h"
#endif

#if ENABLED(BEZIER_CURVE_SUPPORT)
  #include "module/planner_bezier.h"
#endif

#if ENABLED(MAX7219_DEBUG)
  #include "feature/Max7219_Debug_LEDs.h"
#endif

#if HAS_COLOR_LEDS
  #include "feature/leds/leds.h"
#endif

#if HAS_SERVOS
  #include "HAL/servo.h"
#endif

#if HAS_DIGIPOTSS
  #include <SPI.h>
#endif

#if ENABLED(DAC_STEPPER_CURRENT)
  #include "feature/dac/stepper_dac.h"
#endif

#if ENABLED(EXPERIMENTAL_I2CBUS)
  #include "feature/twibus.h"
#endif

#if ENABLED(I2C_POSITION_ENCODERS)
  #include "feature/I2CPositionEncoder.h"
#endif

#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
  #include "HAL/HAL_endstop_interrupts.h"
#endif

#if ENABLED(M100_FREE_MEMORY_WATCHER)
  void M100_dump_routine(const char * const title, const char *start, const char *end);
#endif

#if ENABLED(SDSUPPORT)
  CardReader card;
#endif

#if ENABLED(EXPERIMENTAL_I2CBUS)
  TWIBus i2c;
#endif

#if ENABLED(G38_PROBE_TARGET)
  bool G38_move = false,
       G38_endstop_hit = false;
#endif

#if ENABLED(AUTO_BED_LEVELING_UBL)
  #include "feature/ubl/ubl.h"
  extern bool defer_return_to_status;
  unified_bed_leveling ubl;
  #define UBL_MESH_VALID !( ( ubl.z_values[0][0] == ubl.z_values[0][1] && ubl.z_values[0][1] == ubl.z_values[0][2] \
                           && ubl.z_values[1][0] == ubl.z_values[1][1] && ubl.z_values[1][1] == ubl.z_values[1][2] \
                           && ubl.z_values[2][0] == ubl.z_values[2][1] && ubl.z_values[2][1] == ubl.z_values[2][2] \
                           && ubl.z_values[0][0] == 0 && ubl.z_values[1][0] == 0 && ubl.z_values[2][0] == 0 )  \
                           || isnan(ubl.z_values[0][0]))
#endif

#if ENABLED(SENSORLESS_HOMING)
  #include "feature/tmc2130.h"
#endif

bool Running = true;

/**
 * axis_homed
 *   Flags that each linear axis was homed.
 *   XYZ on cartesian, ABC on delta, ABZ on SCARA.
 *
 * axis_known_position
 *   Flags that the position is known in each linear axis. Set when homed.
 *   Cleared whenever a stepper powers off, potentially losing its position.
 */
bool axis_homed[XYZ] = { false }, axis_known_position[XYZ] = { false };

#if ENABLED(TEMPERATURE_UNITS_SUPPORT)
  TempUnit input_temp_units = TEMPUNIT_C;
#endif

/**
 * Feed rates are often configured with mm/m
 * but the planner and stepper like mm/s units.
 */
static const float homing_feedrate_mm_s[] 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
};
FORCE_INLINE float homing_feedrate(const AxisEnum a) { return pgm_read_float(&homing_feedrate_mm_s[a]); }

static float saved_feedrate_mm_s;
int16_t feedrate_percentage = 100, saved_feedrate_percentage,
    flow_percentage[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(100);

// Initialized by settings.load()
bool volumetric_enabled;
float filament_size[EXTRUDERS], volumetric_multiplier[EXTRUDERS];

#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 FAN_COUNT > 0
  int16_t fanSpeeds[FAN_COUNT] = { 0 };
  #if ENABLED(PROBING_FANS_OFF)
    bool fans_paused = false;
    int16_t paused_fanSpeeds[FAN_COUNT] = { 0 };
  #endif
#endif

// For M109 and M190, this flag may be cleared (by M108) to exit the wait loop
volatile bool wait_for_heatup = true;

// For M0/M1, this flag may be cleared (by M108) to exit the wait-for-user loop
#if HAS_RESUME_CONTINUE
  volatile bool wait_for_user = false;
#endif

// Inactivity shutdown
millis_t previous_cmd_ms = 0;
static millis_t max_inactive_time = 0;
static millis_t stepper_inactive_time = (DEFAULT_STEPPER_DEACTIVE_TIME) * 1000UL;

// Print Job Timer
#if ENABLED(PRINTCOUNTER)
  PrintCounter print_job_timer = PrintCounter();
#else
  Stopwatch print_job_timer = Stopwatch();
#endif

#if HAS_BED_PROBE
  float zprobe_zoffset; // Initialized by settings.load()
#endif

#if HAS_ABL
  float xy_probe_feedrate_mm_s = MMM_TO_MMS(XY_PROBE_SPEED);
  #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

#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
#elif IS_KINEMATIC
  #define ADJUST_DELTA(V) NOOP
#endif

#if ENABLED(Z_DUAL_ENDSTOPS)
  float z_endstop_adj;
#endif

// Extruder offsets
#if HOTENDS > 1
  float hotend_offset[XYZ][HOTENDS]; // Initialized by settings.load()
#endif

#if HAS_Z_SERVO_ENDSTOP
  const int z_servo_angle[2] = Z_SERVO_ANGLES;
#endif

#if ENABLED(BARICUDA)
  uint8_t baricuda_valve_pressure = 0,
          baricuda_e_to_p_pressure = 0;
#endif

#if HAS_POWER_SWITCH
  bool powersupply_on =
    #if ENABLED(PS_DEFAULT_OFF)
      false
    #else
      true
    #endif
  ;
#endif

#if ENABLED(DELTA)

  float delta[ABC],
        endstop_adj[ABC] = { 0 };

  // Initialized by settings.load()
  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 = Z_MAX_POS;

  float delta_safe_distance_from_top();

#endif

#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  int bilinear_grid_spacing[2], bilinear_start[2];
  float bilinear_grid_factor[2],
        z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
#endif

#if IS_SCARA
  // Float constants for SCARA calculations
  const float 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));

  float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND,
        delta[ABC];
#endif

float cartes[XYZ] = { 0 };

#if ENABLED(FILAMENT_WIDTH_SENSOR)
  bool filament_sensor = false;                                 // M405 turns on filament sensor control. M406 turns it off.
  float filament_width_nominal = DEFAULT_NOMINAL_FILAMENT_DIA,  // Nominal filament width. Change with M404.
        filament_width_meas = DEFAULT_MEASURED_FILAMENT_DIA;    // Measured filament diameter
  uint8_t meas_delay_cm = MEASUREMENT_DELAY_CM,                 // Distance delay setting
          measurement_delay[MAX_MEASUREMENT_DELAY + 1];         // Ring buffer to delayed measurement. Store extruder factor after subtracting 100
  int8_t filwidth_delay_index[2] = { 0, -1 };                   // Indexes into ring buffer
#endif

#if ENABLED(FILAMENT_RUNOUT_SENSOR)
  static bool filament_ran_out = false;
#endif

#if ENABLED(ADVANCED_PAUSE_FEATURE)
  AdvancedPauseMenuResponse advanced_pause_menu_response;
#endif

#if ENABLED(MIXING_EXTRUDER)
  float mixing_factor[MIXING_STEPPERS]; // Reciprocal of mix proportion. 0.0 = off, otherwise >= 1.0.
  #if MIXING_VIRTUAL_TOOLS > 1
    float mixing_virtual_tool_mix[MIXING_VIRTUAL_TOOLS][MIXING_STEPPERS];
  #endif
#endif

#if HAS_SERVOS
  HAL_SERVO_LIB servo[NUM_SERVOS];
  #define MOVE_SERVO(I, P) servo[I].move(P)
  #if HAS_Z_SERVO_ENDSTOP
    #define DEPLOY_Z_SERVO() MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[0])
    #define STOW_Z_SERVO() MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[1])
  #endif
#endif

#ifdef CHDK
  millis_t chdkHigh = 0;
  bool chdkActive = false;
#endif

#if ENABLED(PID_EXTRUSION_SCALING)
  int lpq_len = 20;
#endif

#if ENABLED(HOST_KEEPALIVE_FEATURE)
  MarlinBusyState busy_state = NOT_BUSY;
  static millis_t next_busy_signal_ms = 0;
  uint8_t host_keepalive_interval = DEFAULT_KEEPALIVE_INTERVAL;
#else
  #define host_keepalive() NOOP
#endif

#if ENABLED(I2C_POSITION_ENCODERS)
  I2CPositionEncodersMgr I2CPEM;
  uint8_t blockBufferIndexRef = 0;
  millis_t lastUpdateMillis;
#endif

#if ENABLED(CNC_WORKSPACE_PLANES)
  static WorkspacePlane workspace_plane = PLANE_XY;
#endif

/**
 * ***************************************************************************
 * ******************************** FUNCTIONS ********************************
 * ***************************************************************************
 */

void stop();

void get_cartesian_from_steppers();
void set_current_from_steppers_for_axis(const AxisEnum axis);

#if ENABLED(BEZIER_CURVE_SUPPORT)
  void plan_cubic_move(const float offset[4]);
#endif

void report_current_position();

#if ENABLED(DIGIPOT_I2C)
  extern void digipot_i2c_set_current(uint8_t channel, float current);
  extern void digipot_i2c_init();
#endif

void setup_killpin() {
  #if HAS_KILL
    SET_INPUT_PULLUP(KILL_PIN);
  #endif
}

#if ENABLED(FILAMENT_RUNOUT_SENSOR)

  void setup_filrunoutpin() {
    #if ENABLED(ENDSTOPPULLUP_FIL_RUNOUT)
      SET_INPUT_PULLUP(FIL_RUNOUT_PIN);
    #else
      SET_INPUT(FIL_RUNOUT_PIN);
    #endif
  }

#endif

void setup_powerhold() {
  #if HAS_SUICIDE
    OUT_WRITE(SUICIDE_PIN, HIGH);
  #endif
  #if HAS_POWER_SWITCH
    #if ENABLED(PS_DEFAULT_OFF)
      OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
    #else
      OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE);
    #endif
  #endif
}

void suicide() {
  #if HAS_SUICIDE
    OUT_WRITE(SUICIDE_PIN, LOW);
  #endif
}

void servo_init() {
  #if NUM_SERVOS >= 1 && HAS_SERVO_0
    servo[0].attach(SERVO0_PIN);
    servo[0].detach(); // Just set up the pin. We don't have a position yet. Don't move to a random position.
  #endif
  #if NUM_SERVOS >= 2 && HAS_SERVO_1
    servo[1].attach(SERVO1_PIN);
    servo[1].detach();
  #endif
  #if NUM_SERVOS >= 3 && HAS_SERVO_2
    servo[2].attach(SERVO2_PIN);
    servo[2].detach();
  #endif
  #if NUM_SERVOS >= 4 && HAS_SERVO_3
    servo[3].attach(SERVO3_PIN);
    servo[3].detach();
  #endif

  #if HAS_Z_SERVO_ENDSTOP
    /**
     * 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
}

/**
 * Stepper Reset (RigidBoard, et.al.)
 */
#if HAS_STEPPER_RESET
  void disableStepperDrivers() {
    OUT_WRITE(STEPPER_RESET_PIN, LOW);  // drive it down to hold in reset motor driver chips
  }
  void enableStepperDrivers() { SET_INPUT(STEPPER_RESET_PIN); }  // set to input, which allows it to be pulled high by pullups
#endif

#if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0

  void i2c_on_receive(int bytes) { // just echo all bytes received to serial
    i2c.receive(bytes);
  }

  void i2c_on_request() {          // just send dummy data for now
    i2c.reply("Hello World!\n");
  }

#endif

#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.
   */
  static 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

/**
 * 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!
 */
static 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)

    /**
     * Morgan SCARA homes XY at the same time
     */
    if (axis == X_AXIS || axis == Y_AXIS) {

      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));
    }
    else
  #endif
  {
    current_position[axis] = LOGICAL_POSITION(base_home_pos(axis), axis);
  }

  /**
   * 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
}

/**
 * Some planner shorthand inline functions
 */
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;
}

/**
 *  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)
//
static void setup_for_endstop_or_probe_move() {
  #if ENABLED(DEBUG_LEVELING_FEATURE)
    if (DEBUGGING(LEVELING)) DEBUG_POS("setup_for_endstop_or_probe_move", current_position);
  #endif
  saved_feedrate_mm_s = feedrate_mm_s;
  saved_feedrate_percentage = feedrate_percentage;
  feedrate_percentage = 100;
  gcode.refresh_cmd_timeout();
}

static void clean_up_after_endstop_or_probe_move() {
  #if ENABLED(DEBUG_LEVELING_FEATURE)
    if (DEBUGGING(LEVELING)) DEBUG_POS("clean_up_after_endstop_or_probe_move", current_position);
  #endif
  feedrate_mm_s = saved_feedrate_mm_s;
  feedrate_percentage = saved_feedrate_percentage;
  gcode.refresh_cmd_timeout();
}

#if HAS_BED_PROBE
  /**
   * 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);
  }

#endif // HAS_BED_PROBE

#if 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)

  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

#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