diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index abc0b8778fea64c1e400baf90cc791851062a2f1..e4d3f731cb04b791721cab1315721da9945eefe2 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -3577,10 +3577,39 @@ inline void gcode_G28() {
} //xProbe
} //yProbe
+ #else // !AUTO_BED_LEVELING_GRID
+
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> 3-point Leveling");
#endif
+ // Probe at 3 arbitrary points
+ float z_at_pt_1 = probe_pt( ABL_PROBE_PT_1_X + home_offset[X_AXIS],
+ ABL_PROBE_PT_1_Y + home_offset[Y_AXIS],
+ stow_probe_after_each, verbose_level),
+ z_at_pt_2 = probe_pt( ABL_PROBE_PT_2_X + home_offset[X_AXIS],
+ ABL_PROBE_PT_2_Y + home_offset[Y_AXIS],
+ stow_probe_after_each, verbose_level),
+ z_at_pt_3 = probe_pt( ABL_PROBE_PT_3_X + home_offset[X_AXIS],
+ ABL_PROBE_PT_3_Y + home_offset[Y_AXIS],
+ stow_probe_after_each, verbose_level);
+
+ if (!dryrun) set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
+
+ #endif // !AUTO_BED_LEVELING_GRID
+
+ // Raise to Z_RAISE_AFTER_PROBING. Stow the probe.
+ stow_z_probe();
+
+ // Restore state after probing
+ clean_up_after_endstop_or_probe_move();
+
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) DEBUG_POS("> probing complete", current_position);
+ #endif
+
+ // Calculate leveling, print reports, correct the position
+ #if ENABLED(AUTO_BED_LEVELING_GRID)
#if ENABLED(DELTA)
if (!dryrun) extrapolate_unprobed_bed_level();
@@ -3676,41 +3705,7 @@ inline void gcode_G28() {
}
} //do_topography_map
#endif //!DELTA
-
- #else // !AUTO_BED_LEVELING_GRID
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> 3-point Leveling");
- #endif
-
- #if ENABLED(Z_PROBE_SLED) || ENABLED(Z_PROBE_ALLEN_KEY)
- const ProbeAction p1 = ProbeStay, p2 = ProbeStay, p3 = ProbeStay;
- #else
- // Actions for each probe
- ProbeAction p1, p2, p3;
- if (deploy_probe_for_each_reading)
- p1 = p2 = p3 = ProbeDeployAndStow;
- else
- p1 = ProbeDeploy, p2 = ProbeStay, p3 = ProbeStow;
- #endif
-
- // Probe at 3 arbitrary points
- float z_at_pt_1 = probe_pt( ABL_PROBE_PT_1_X + home_offset[X_AXIS],
- ABL_PROBE_PT_1_Y + home_offset[Y_AXIS],
- Z_RAISE_BEFORE_PROBING,
- p1, verbose_level),
- z_at_pt_2 = probe_pt( ABL_PROBE_PT_2_X + home_offset[X_AXIS],
- ABL_PROBE_PT_2_Y + home_offset[Y_AXIS],
- Z_RAISE_BETWEEN_PROBINGS,
- p2, verbose_level),
- z_at_pt_3 = probe_pt( ABL_PROBE_PT_3_X + home_offset[X_AXIS],
- ABL_PROBE_PT_3_Y + home_offset[Y_AXIS],
- Z_RAISE_BETWEEN_PROBINGS,
- p3, verbose_level);
-
- if (!dryrun) set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
-
- #endif // !AUTO_BED_LEVELING_GRID
+ #endif // AUTO_BED_LEVELING_GRID
#if DISABLED(DELTA)
if (verbose_level > 0)
@@ -3725,13 +3720,12 @@ inline void gcode_G28() {
float x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER,
y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER,
z_tmp = current_position[Z_AXIS],
- real_z = stepper.get_axis_position_mm(Z_AXIS); //get the real Z (since planner.adjusted_position is now correcting the plane)
+ stepper_z = stepper.get_axis_position_mm(Z_AXIS); //get the real Z (since planner.adjusted_position is now correcting the plane)
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR("> BEFORE apply_rotation_xyz > z_tmp = ", z_tmp);
- SERIAL_EOL;
- SERIAL_ECHOPAIR("> BEFORE apply_rotation_xyz > real_z = ", real_z);
+ SERIAL_ECHOPAIR("> BEFORE apply_rotation_xyz > stepper_z = ", stepper_z);
+ SERIAL_ECHOPAIR(" ... z_tmp = ", z_tmp);
SERIAL_EOL;
}
#endif
@@ -3739,28 +3733,6 @@ inline void gcode_G28() {
// Apply the correction sending the Z probe offset
apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp);
- /*
- * Get the current Z position and send it to the planner.
- *
- * >> (z_tmp - real_z) : The rotated current Z minus the uncorrected Z
- * (most recent planner.set_position_mm/sync_plan_position)
- *
- * >> zprobe_zoffset : Z distance from nozzle to Z probe
- * (set by default, M851, EEPROM, or Menu)
- *
- * >> Z_RAISE_AFTER_PROBING : The distance the Z probe will have lifted
- * after the last probe
- *
- * >> Should home_offset[Z_AXIS] be included?
- *
- *
- * Discussion: home_offset[Z_AXIS] was applied in G28 to set the
- * starting Z. If Z is not tweaked in G29 -and- the Z probe in G29 is
- * not actually "homing" Z... then perhaps it should not be included
- * here. The purpose of home_offset[] is to adjust for inaccurate
- * endstops, not for reasonably accurate probes. If it were added
- * here, it could be seen as a compensating factor for the Z probe.
- */
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("> AFTER apply_rotation_xyz > z_tmp = ", z_tmp);
@@ -3768,30 +3740,16 @@ inline void gcode_G28() {
}
#endif
- current_position[Z_AXIS] = -zprobe_zoffset + (z_tmp - real_z)
- #if HAS_Z_SERVO_ENDSTOP || ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED)
- + Z_RAISE_AFTER_PROBING
- #endif
- ;
- // current_position[Z_AXIS] += home_offset[Z_AXIS]; // The Z probe determines Z=0, not "Z home"
+ // Adjust the current Z and send it to the planner.
+ current_position[Z_AXIS] += z_tmp - stepper_z;
SYNC_PLAN_POSITION_KINEMATIC();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("> corrected Z in G29", current_position);
#endif
}
-
#endif // !DELTA
- // Final raise of Z axis after probing.
- raise_z_after_probing();
-
- // Stow the probe. Servo will raise if needed.
- stow_z_probe();
-
- // Restore state after probing
- clean_up_after_endstop_or_probe_move();
-
#ifdef Z_PROBE_END_SCRIPT
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
@@ -3804,9 +3762,7 @@ inline void gcode_G28() {
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOLNPGM("<<< gcode_G29");
- }
+ if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< gcode_G29");
#endif
bed_leveling_in_progress = false;