🎨 Misc. probe-related cleanup

Author: thinkyhead

Marlin/src/gcode/calibrate/G34_M422.cpp

@@ -244,7 +244,7 @@ void GcodeSuite::G34() {
 
           // Add height to each value, to provide a more useful target height for
           // the next iteration of probing. This allows adjustments to be made away from the bed.
-          z_measured[iprobe] = z_probed_height + Z_CLEARANCE_BETWEEN_PROBES;
+          z_measured[iprobe] = z_probed_height + (Z_CLEARANCE_BETWEEN_PROBES);
 
           if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> Z", iprobe + 1, " measured position is ", z_measured[iprobe]);
 
@@ -446,7 +446,7 @@ void GcodeSuite::G34() {
         // Use the probed height from the last iteration to determine the Z height.
         // z_measured_min is used, because all steppers are aligned to z_measured_min.
         // Ideally, this would be equal to the 'z_probe * 0.5f' which was added earlier.
-        current_position.z -= z_measured_min - (float)Z_CLEARANCE_BETWEEN_PROBES;
+        current_position.z -= z_measured_min - float(Z_CLEARANCE_BETWEEN_PROBES);
         sync_plan_position();
       #endif
 

Marlin/src/gcode/probe/M401_M402.cpp

@@ -62,7 +62,9 @@ void GcodeSuite::M401() {
  */
 void GcodeSuite::M402() {
   probe.stow();
-  probe.move_z_after_probing();
+  #ifdef Z_AFTER_PROBING
+    do_z_clearance(Z_AFTER_PROBING);
+  #endif
   report_current_position();
 }
 

Marlin/src/module/motion.cpp

@@ -783,6 +783,10 @@ void do_blocking_move_to_x(const_float_t rx, const_feedRate_t fr_mm_s/*=0.0*/) {
     if (!lower_allowed) NOLESS(zdest, current_position.z);
     do_blocking_move_to_z(_MIN(zdest, Z_MAX_POS), TERN(HAS_BED_PROBE, z_probe_fast_mm_s, homing_feedrate(Z_AXIS)));
   }
+  void do_z_clearance_by(const_float_t zclear) {
+    if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("do_z_clearance_by(", zclear, ")");
+    do_z_clearance(current_position.z + zclear);
+  }
 #endif
 
 //
@@ -2340,15 +2344,10 @@ void set_axis_is_at_home(const AxisEnum axis) {
   #if HAS_BED_PROBE && Z_HOME_TO_MIN
     if (axis == Z_AXIS) {
       #if HOMING_Z_WITH_PROBE
-
         current_position.z -= probe.offset.z;
-
         if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("*** Z HOMED WITH PROBE (Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) ***\n> probe.offset.z = ", probe.offset.z);
-
       #else
-
-        if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("*** Z homed to ENDSTOP ***");
-
+        if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("*** Z HOMED TO ENDSTOP ***");
       #endif
     }
   #endif

Marlin/src/module/motion.h

@@ -400,8 +400,10 @@ void restore_feedrate_and_scaling();
 
 #if HAS_Z_AXIS
   void do_z_clearance(const_float_t zclear, const bool lower_allowed=false);
+  void do_z_clearance_by(const_float_t zclear);
 #else
   inline void do_z_clearance(float, bool=false) {}
+  inline void do_z_clearance_by(float) {}
 #endif
 
 /**

Marlin/src/module/probe.cpp

@@ -744,8 +744,8 @@ float Probe::run_z_probe(const bool sanity_check/*=true*/) {
     if (try_to_probe(PSTR("FAST"), z_probe_low_point, z_probe_fast_mm_s,
                      sanity_check, Z_CLEARANCE_BETWEEN_PROBES) ) return NAN;
 
-    const float first_probe_z = DIFF_TERN(HAS_DELTA_SENSORLESS_PROBING, current_position.z, largest_sensorless_adj);
-    if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("1st Probe Z:", first_probe_z);
+    const float z1 = DIFF_TERN(HAS_DELTA_SENSORLESS_PROBING, current_position.z, largest_sensorless_adj);
+    if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("1st Probe Z:", z1);
 
     // Raise to give the probe clearance
     do_blocking_move_to_z(current_position.z + Z_CLEARANCE_MULTI_PROBE, z_probe_fast_mm_s);
@@ -754,7 +754,7 @@ float Probe::run_z_probe(const bool sanity_check/*=true*/) {
 
     // If the nozzle is well over the travel height then
     // move down quickly before doing the slow probe
-    const float z = Z_CLEARANCE_DEPLOY_PROBE + 5.0 + (offset.z < 0 ? -offset.z : 0);
+    const float z = (Z_CLEARANCE_DEPLOY_PROBE) + 5.0f + (offset.z < 0 ? -offset.z : 0);
     if (current_position.z > z) {
       // Probe down fast. If the probe never triggered, raise for probe clearance
       if (!probe_down_to_z(z, z_probe_fast_mm_s))
@@ -839,10 +839,10 @@ float Probe::run_z_probe(const bool sanity_check/*=true*/) {
 
     const float z2 = DIFF_TERN(HAS_DELTA_SENSORLESS_PROBING, current_position.z, largest_sensorless_adj);
 
-    if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("2nd Probe Z:", z2, " Discrepancy:", first_probe_z - z2);
+    if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("2nd Probe Z:", z2, " Discrepancy:", z1 - z2);
 
     // Return a weighted average of the fast and slow probes
-    const float measured_z = (z2 * 3.0 + first_probe_z * 2.0) * 0.2;
+    const float measured_z = (z2 * 3.0f + z1 * 2.0f) * 0.2f;
 
   #else
 

Marlin/src/module/probe.h

@@ -33,6 +33,9 @@
   #include "../lcd/e3v2/proui/dwin.h"
 #endif
 
+#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
+#include "../core/debug_out.h"
+
 #if HAS_BED_PROBE
   enum ProbePtRaise : uint8_t {
     PROBE_PT_NONE,      // No raise or stow after run_z_probe
@@ -139,6 +142,7 @@ class Probe {
     #endif // !IS_KINEMATIC
 
     static void move_z_after_probing() {
+      DEBUG_SECTION(mzah, "move_z_after_probing", DEBUGGING(LEVELING));
       #ifdef Z_AFTER_PROBING
         do_z_clearance(Z_AFTER_PROBING, true); // Move down still permitted
       #endif
@@ -159,6 +163,7 @@ class Probe {
   #endif // !HAS_BED_PROBE
 
   static void move_z_after_homing() {
+    DEBUG_SECTION(mzah, "move_z_after_homing", DEBUGGING(LEVELING));
     #if ALL(DWIN_LCD_PROUI, INDIVIDUAL_AXIS_HOMING_SUBMENU, MESH_BED_LEVELING) || defined(Z_AFTER_HOMING)
       do_z_clearance(Z_POST_CLEARANCE, true);
     #elif HAS_BED_PROBE