Unify run_z_probe

[AnHardt]

Unify run_z_probe
Add double touch for DELTAs.

[AnHardt]

@thinkyhead
Here i have one to make you pseudonym honer.

Tested as working for my Prusa i3.
Untested for Deltas. But i'm quite sure my mathematics are correct.

For the reasons why see:
Unifying run_z_probe.txt

[thinkyhead]

Yes, odd this wasn't already being done for delta. Should this also contain "#if (DELTA) reset_bed_level()"?

[AnHardt]

No. This should be done in the callers (G29, G30, M48). Will check.

A unified 'switch_of_leveling()' would be nice. Only one place to decide what kind of leveling to switch of - and compensate.

[AnHardt]

Aiii. That opens a can of worms

run_z_probe() {

    #if ENABLED(AUTO_BED_LEVELING_FEATURE)
      planner.bed_level_matrix.set_to_identity();
    #endif

-----------------------------
gcode_G28() {

  // For auto bed leveling, clear the level matrix
  #if ENABLED(AUTO_BED_LEVELING_FEATURE)
    planner.bed_level_matrix.set_to_identity();
    #if ENABLED(DELTA)
      reset_bed_level();
    #endif
  #endif

  /**
   * For mesh bed leveling deactivate the mesh calculations, will be turned
   * on again when homing all axis
   */
  #if ENABLED(MESH_BED_LEVELING)
    float pre_home_z = MESH_HOME_SEARCH_Z;
    if (mbl.active()) {
      // Save known Z position if already homed
      if (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS]) {
        pre_home_z = current_position[Z_AXIS];
        pre_home_z += mbl.get_z(RAW_CURRENT_POSITION(X_AXIS), RAW_CURRENT_POSITION(Y_AXIS));
      }
      mbl.set_active(false);
      current_position[Z_AXIS] = pre_home_z;
    }
  #endif

  --------------------------------------
  G29 (mesh)

        case MeshReset:
        if (mbl.active()) {
          current_position[Z_AXIS] +=
            mbl.get_z(RAW_CURRENT_POSITION(X_AXIS), RAW_CURRENT_POSITION(Y_AXIS)) - MESH_HOME_SEARCH_Z;
          mbl.reset();
          SYNC_PLAN_POSITION_KINEMATIC();
        }
        else
          mbl.reset();

  -------------------------------------
  G29 (grid)

      // make sure the bed_level_rotation_matrix is identity or the planner will get it wrong
      planner.bed_level_matrix.set_to_identity();

      #if ENABLED(DELTA)
        reset_bed_level();
      #else //!DELTA

-------------------------------------------
gcode_G30() {

    // TODO: clear the leveling matrix or the planner will be set incorrectly

--------------------------------------------
M48

    #if ENABLED(DELTA)
      // we don't do bed level correction in M48 because we want the raw data when we probe
      reset_bed_level();
    #elif ENABLED(AUTO_BED_LEVELING_FEATURE)
      // we don't do bed level correction in M48 because we want the raw data when we probe
      planner.bed_level_matrix.set_to_identity();
    #endif
---------------------------

• Not two of these do the same.
• If the matrix is involved it theoretically needs a correction in x, y and z when the matrix is set to identity.
• In DELTA leveling it needs a correction in z when switching off.
• Dito for MESH.
  *

Enough stuff to think about.

[thinkyhead]

This is great. Amazing how much the leveling code is condensing.

❓ But will it fix our friend's probing-in-only-one-quadrant problem❓ That would be a bonus.

[AnHardt]

But will it fix our friend's probing-in-only-one-quadrant problem

That's hopefully fixed by MarlinFirmware#4303.