🚸 Fix / improve LCD_BED_TRAMMING (MarlinFirmware#25425)

Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>

Author: Farva42

Marlin/src/gcode/probe/M401_M402.cpp

@@ -38,30 +38,33 @@
  * With BLTOUCH_HS_MODE:
  *  H       Report the current BLTouch HS mode state and exit
  *  S<bool> Set High Speed (HS) Mode and exit without deploy
+ *
+ *  R<bool> Remain in place after deploying (and before activating) the probe
  */
 void GcodeSuite::M401() {
-  const bool seenH = parser.seen_test('H'),
-             seenS = parser.seen('S');
-  if (seenH || seenS) {
-    #ifdef BLTOUCH_HS_MODE
+  #ifdef BLTOUCH_HS_MODE
+    const bool seenH = parser.seen_test('H'),
+               seenS = parser.seen('S');
+    if (seenH || seenS) {
       if (seenS) bltouch.high_speed_mode = parser.value_bool();
       SERIAL_ECHO_START();
       SERIAL_ECHOPGM("BLTouch HS mode ");
       serialprintln_onoff(bltouch.high_speed_mode);
-    #endif
-  }
-  else {
-    probe.deploy();
-    TERN_(PROBE_TARE, probe.tare());
-    report_current_position();
-  }
+      return;
+    }
+  #endif
+
+  probe.deploy(parser.boolval('R'));
+  TERN_(PROBE_TARE, probe.tare());
+  report_current_position();
 }
 
 /**
  * M402: Deactivate and stow the Z probe
+ *  R<bool> Remain in place after stowing (and before deactivating) the probe
  */
 void GcodeSuite::M402() {
-  probe.stow();
+  probe.stow(parser.boolval('R'));
   probe.move_z_after_probing();
   report_current_position();
 }

Marlin/src/lcd/menu/menu_bed_tramming.cpp

@@ -43,6 +43,10 @@
   #define BED_TRAMMING_HEIGHT 0.0
 #endif
 
+#if BOTH(HAS_STOWABLE_PROBE, BED_TRAMMING_USE_PROBE) && DISABLED(BLTOUCH)
+  #define NEEDS_PROBE_DEPLOY 1
+#endif
+
 #if ENABLED(BED_TRAMMING_USE_PROBE)
   #include "../../module/probe.h"
   #include "../../module/endstops.h"
@@ -97,62 +101,68 @@ constexpr xy_pos_t lf { (X_MIN_BED) + inset_lfrb[0], (Y_MIN_BED) + inset_lfrb[1]
 static int8_t bed_corner;
 
 /**
- * Select next corner coordinates
+ * Move to the next corner coordinates
  */
-static void _lcd_bed_tramming_get_next_position() {
+static void _lcd_goto_next_corner() {
+  xy_pos_t corner_point = lf;                     // Left front
 
   if (tramming_3_points) {
     if (bed_corner >= available_points) bed_corner = 0; // Above max position -> move back to first corner
     switch (bed_corner) {
       case 0 ... 1:
         // First two corners set explicitly by the configuration
-        current_position = lf;                       // Left front
         switch (lco[bed_corner]) {
-          case RF: current_position.x = rb.x; break; // Right Front
-          case RB: current_position   = rb;   break; // Right Back
-          case LB: current_position.y = rb.y; break; // Left Back
+          case RF: corner_point.x = rb.x; break;  // Right Front
+          case RB: corner_point   = rb;   break;  // Right Back
+          case LB: corner_point.y = rb.y; break;  // Left Back
         }
         break;
 
       case 2:
         // Determine which edge to probe for 3rd point
-        current_position.set(lf.x + (rb.x - lf.x) / 2, lf.y + (rb.y - lf.y) / 2);
-        if ((lco[0] == LB && lco[1] == RB) || (lco[0] == RB && lco[1] == LB)) current_position.y = lf.y; // Front Center
-        if ((lco[0] == LF && lco[1] == LB) || (lco[0] == LB && lco[1] == LF)) current_position.x = rb.x; // Center Right
-        if ((lco[0] == RF && lco[1] == RB) || (lco[0] == RB && lco[1] == RF)) current_position.x = lf.x; // Left Center
-        if ((lco[0] == LF && lco[1] == RF) || (lco[0] == RF && lco[1] == LF)) current_position.y = rb.y; // Center Back
-        #if DISABLED(BED_TRAMMING_INCLUDE_CENTER) && ENABLED(BED_TRAMMING_USE_PROBE)
+        corner_point.set(lf.x + (rb.x - lf.x) / 2, lf.y + (rb.y - lf.y) / 2);
+        if ((lco[0] == LB && lco[1] == RB) || (lco[0] == RB && lco[1] == LB)) corner_point.y = lf.y; // Front Center
+        if ((lco[0] == LF && lco[1] == LB) || (lco[0] == LB && lco[1] == LF)) corner_point.x = rb.x; // Center Right
+        if ((lco[0] == RF && lco[1] == RB) || (lco[0] == RB && lco[1] == RF)) corner_point.x = lf.x; // Left Center
+        if ((lco[0] == LF && lco[1] == RF) || (lco[0] == RF && lco[1] == LF)) corner_point.y = rb.y; // Center Back
+        #if ENABLED(BED_TRAMMING_USE_PROBE) && DISABLED(BED_TRAMMING_INCLUDE_CENTER)
           bed_corner++;  // Must increment the count to ensure it resets the loop if the 3rd point is out of tolerance
         #endif
         break;
 
       #if ENABLED(BED_TRAMMING_INCLUDE_CENTER)
         case 3:
-          current_position.set(X_CENTER, Y_CENTER);
+          corner_point.set(X_CENTER, Y_CENTER);
           break;
       #endif
     }
   }
   else {
     // Four-Corner Bed Tramming with optional center
     if (TERN0(BED_TRAMMING_INCLUDE_CENTER, bed_corner == center_index)) {
-      current_position.set(X_CENTER, Y_CENTER);
-      TERN_(BED_TRAMMING_USE_PROBE, good_points--); // Decrement to allow one additional probe point
+      corner_point.set(X_CENTER, Y_CENTER);
     }
     else {
-      current_position = lf;                       // Left front
       switch (lco[bed_corner]) {
-        case RF: current_position.x = rb.x; break; // Right Front
-        case RB: current_position   = rb;   break; // Right Back
-        case LB: current_position.y = rb.y; break; // Left Back
+        case RF: corner_point.x = rb.x; break;  // Right Front
+        case RB: corner_point   = rb;   break;  // Right Back
+        case LB: corner_point.y = rb.y; break;  // Left Back
       }
     }
   }
+
+  float z = BED_TRAMMING_Z_HOP;
+  #if BOTH(BED_TRAMMING_USE_PROBE, BLTOUCH)
+    z += bltouch.z_extra_clearance();
+  #endif
+  line_to_z(z);
+  do_blocking_move_to_xy(DIFF_TERN(BED_TRAMMING_USE_PROBE, corner_point, probe.offset_xy), manual_feedrate_mm_s.x);
+  #if DISABLED(BED_TRAMMING_USE_PROBE)
+    line_to_z(BED_TRAMMING_HEIGHT);
+    if (++bed_corner >= available_points) bed_corner = 0;
+  #endif
 }
 
-/**
- * Level corners, starting in the front-left corner.
- */
 #if ENABLED(BED_TRAMMING_USE_PROBE)
 
   #define VALIDATE_POINT(X, Y, STR) static_assert(Probe::build_time::can_reach((X), (Y)), \
@@ -210,13 +220,21 @@ static void _lcd_bed_tramming_get_next_position() {
     MenuItem_confirm::select_screen(
         GET_TEXT_F(TERN(HAS_LEVELING, MSG_BUTTON_LEVEL, MSG_BUTTON_DONE))
       , TERN(HAS_LEVELING, GET_TEXT_F(MSG_BUTTON_BACK), nullptr)
-      , []{ queue.inject(TERN(HAS_LEVELING, F("G29N"), FPSTR(G28_STR))); ui.return_to_status(); }
-      , TERN(HAS_LEVELING, ui.goto_previous_screen_no_defer, []{})
+      , []{
+          tramming_done = true;
+          queue.inject(TERN(HAS_LEVELING, F("G29N"), FPSTR(G28_STR)));
+          ui.goto_previous_screen_no_defer();
+        }
+      , []{
+          tramming_done = true;
+          TERN_(HAS_LEVELING, ui.goto_previous_screen_no_defer());
+          TERN_(NEEDS_PROBE_DEPLOY, probe.stow(true));
+        }
       , GET_TEXT_F(MSG_BED_TRAMMING_IN_RANGE)
     );
   }
 
-  bool _lcd_bed_tramming_probe(bool verify=false) {
+  bool _lcd_bed_tramming_probe(const bool verify=false) {
     if (verify) line_to_z(BED_TRAMMING_Z_HOP); // do clearance if needed
     TERN_(BLTOUCH, if (!bltouch.high_speed_mode) bltouch.deploy()); // Deploy in LOW SPEED MODE on every probe action
     do_blocking_move_to_z(last_z - BED_TRAMMING_PROBE_TOLERANCE, MMM_TO_MMS(Z_PROBE_FEEDRATE_SLOW)); // Move down to lower tolerance
@@ -232,6 +250,11 @@ static void _lcd_bed_tramming_get_next_position() {
         last_z = current_position.z; // Above tolerance. Set a new Z for subsequent corners.
         good_points = 0;             // ...and start over
       }
+
+      // Raise the probe after the last point to give clearance for stow
+      if (TERN0(NEEDS_PROBE_DEPLOY, good_points == nr_edge_points - 1))
+        line_to_z(BED_TRAMMING_Z_HOP);
+
       return true; // probe triggered
     }
     line_to_z(last_z); // go back to tolerance middle point before raise
@@ -267,11 +290,7 @@ static void _lcd_bed_tramming_get_next_position() {
       ui.refresh(LCDVIEW_REDRAW_NOW);
       _lcd_draw_probing();                                // update screen with # of good points
 
-      line_to_z(current_position.z + BED_TRAMMING_Z_HOP + TERN0(BLTOUCH, bltouch.z_extra_clearance())); // clearance
-
-      _lcd_bed_tramming_get_next_position();              // Select next corner coordinates
-      current_position -= probe.offset_xy;                // Account for probe offsets
-      do_blocking_move_to_xy(current_position);           // Goto corner
+      _lcd_goto_next_corner();                            // Goto corner
 
       TERN_(BLTOUCH, if (bltouch.high_speed_mode) bltouch.deploy()); // Deploy in HIGH SPEED MODE
       if (!_lcd_bed_tramming_probe()) {                   // Probe down to tolerance
@@ -306,31 +325,26 @@ static void _lcd_bed_tramming_get_next_position() {
     ui.set_selection(true);
   }
 
-#else // !BED_TRAMMING_USE_PROBE
-
-  static void _lcd_goto_next_corner() {
-    line_to_z(BED_TRAMMING_Z_HOP);
-
-    // Select next corner coordinates
-    _lcd_bed_tramming_get_next_position();
-
-    line_to_current_position(manual_feedrate_mm_s.x);
-    line_to_z(BED_TRAMMING_HEIGHT);
-    if (++bed_corner >= available_points) bed_corner = 0;
-  }
-
-#endif // !BED_TRAMMING_USE_PROBE
+#endif // BED_TRAMMING_USE_PROBE
 
 void _lcd_bed_tramming_homing() {
-  _lcd_draw_homing();
-  if (!all_axes_homed()) return;
+  if (!all_axes_homed() && TERN1(NEEDS_PROBE_DEPLOY, probe.deploy())) return;
+
+  #if HAS_LEVELING // Disable leveling so the planner won't mess with us
+    menu_leveling_was_active = planner.leveling_active;
+    set_bed_leveling_enabled(false);
+  #endif
 
   #if ENABLED(BED_TRAMMING_USE_PROBE)
 
-    _lcd_test_corners();
-    if (tramming_done) ui.goto_previous_screen_no_defer();
+    if (!tramming_done) _lcd_test_corners(); // May set tramming_done
+    if (tramming_done) {
+      ui.goto_previous_screen_no_defer();
+      TERN_(NEEDS_PROBE_DEPLOY, probe.stow(true));
+    }
+    tramming_done = true;
     TERN_(HAS_LEVELING, set_bed_leveling_enabled(menu_leveling_was_active));
-    endstops.enable_z_probe(false);
+    TERN_(BLTOUCH, endstops.enable_z_probe(false));
 
   #else // !BED_TRAMMING_USE_PROBE
 
@@ -354,20 +368,28 @@ void _lcd_bed_tramming_homing() {
   #endif // !BED_TRAMMING_USE_PROBE
 }
 
-void _lcd_bed_tramming() {
-  ui.defer_status_screen();
-  if (!all_axes_trusted()) {
-    set_all_unhomed();
-    queue.inject_P(G28_STR);
+#if NEEDS_PROBE_DEPLOY
+
+  void deploy_probe() {
+    if (!tramming_done) probe.deploy(true);
+    ui.goto_screen([]{
+      if (ui.should_draw()) MenuItem_static::draw((LCD_HEIGHT - 1) / 2, GET_TEXT_F(MSG_MANUAL_DEPLOY));
+      if (!probe.deploy() && !tramming_done) _lcd_bed_tramming_homing();
+    });
   }
 
-  // Disable leveling so the planner won't mess with us
-  #if HAS_LEVELING
-    menu_leveling_was_active = planner.leveling_active;
-    set_bed_leveling_enabled(false);
-  #endif
+#endif // NEEDS_PROBE_DEPLOY
 
-  ui.goto_screen(_lcd_bed_tramming_homing);
+void _lcd_bed_tramming() {
+  TERN_(BED_TRAMMING_USE_PROBE, tramming_done = false);
+  ui.defer_status_screen();
+  set_all_unhomed();
+  queue.inject(TERN(CAN_SET_LEVELING_AFTER_G28, F("G28L0"), FPSTR(G28_STR)));
+  ui.goto_screen([]{
+    _lcd_draw_homing();
+    if (!all_axes_homed()) return;
+    TERN(NEEDS_PROBE_DEPLOY, deploy_probe(), ui.goto_screen(_lcd_bed_tramming_homing));
+  });
 }
 
 #endif // HAS_MARLINUI_MENU && LCD_BED_TRAMMING

Marlin/src/module/probe.cpp

@@ -500,11 +500,11 @@ void Probe::probe_error_stop() {
  *
  * Return TRUE if the probe could not be deployed/stowed
  */
-bool Probe::set_deployed(const bool deploy) {
+bool Probe::set_deployed(const bool deploy, const bool no_return/*=false*/) {
 
   if (DEBUGGING(LEVELING)) {
     DEBUG_POS("Probe::set_deployed", current_position);
-    DEBUG_ECHOLNPGM("deploy: ", deploy);
+    DEBUG_ECHOLNPGM("deploy=", deploy, " no_return=", no_return);
   }
 
   if (endstops.z_probe_enabled == deploy) return false;
@@ -557,7 +557,8 @@ bool Probe::set_deployed(const bool deploy) {
   // If preheating is required before any probing...
   TERN_(PREHEAT_BEFORE_PROBING, if (deploy) preheat_for_probing(PROBING_NOZZLE_TEMP, PROBING_BED_TEMP));
 
-  do_blocking_move_to(old_xy);
+  if (!no_return) do_blocking_move_to(old_xy); // Return to the original location unless handled externally
+
   endstops.enable_z_probe(deploy);
   return false;
 }

Marlin/src/module/probe.h

@@ -90,7 +90,7 @@ class Probe {
 
     static void probe_error_stop();
 
-    static bool set_deployed(const bool deploy);
+    static bool set_deployed(const bool deploy, const bool no_return=false);
 
     #if IS_KINEMATIC
 
@@ -182,7 +182,7 @@ class Probe {
 
     static constexpr xyz_pos_t offset = xyz_pos_t(NUM_AXIS_ARRAY_1(0)); // See #16767
 
-    static bool set_deployed(const bool) { return false; }
+    static bool set_deployed(const bool, const bool=false) { return false; }
 
     static bool can_reach(const_float_t rx, const_float_t ry, const bool=true) { return position_is_reachable(rx, ry); }
 
@@ -216,8 +216,8 @@ class Probe {
     static constexpr xy_pos_t offset_xy = xy_pos_t({ 0, 0 });   // See #16767
   #endif
 
-  static bool deploy() { return set_deployed(true); }
-  static bool stow()   { return set_deployed(false); }
+  static bool deploy(const bool no_return=false) { return set_deployed(true, no_return); }
+  static bool stow(const bool no_return=false)   { return set_deployed(false, no_return); }
 
   #if HAS_BED_PROBE || HAS_LEVELING
     #if IS_KINEMATIC