Fix G26's circle drawing... (MarlinFirmware#8291)

* Fix G26's circle drawing...

This mostly catches the bugfix-v1.1.x branch up to bugfix-v2.0.0

I'll have to do something similar to get bugfix-v2.0.0 caught up to
bugfix-v1.1.x

* only use planner.leveling_active if appropriate

Author: Roxy-3D

Marlin/Marlin_main.cpp

@@ -10071,7 +10071,7 @@ void quickstop_stepper() {
                hasQ = !hasZ && parser.seen('Q');
 
     if (hasC) {
-      const mesh_index_pair location = ubl.find_closest_mesh_point_of_type(REAL, current_position[X_AXIS], current_position[Y_AXIS], USE_NOZZLE_AS_REFERENCE, NULL, false);
+      const mesh_index_pair location = ubl.find_closest_mesh_point_of_type(REAL, current_position[X_AXIS], current_position[Y_AXIS], USE_NOZZLE_AS_REFERENCE, NULL);
       ix = location.x_index;
       iy = location.y_index;
     }
@@ -12955,24 +12955,28 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
    * Returns true if current_position[] was set to destination[]
    */
   inline bool prepare_move_to_destination_cartesian() {
-    if (current_position[X_AXIS] != destination[X_AXIS] || current_position[Y_AXIS] != destination[Y_AXIS]) {
-      const float fr_scaled = MMS_SCALED(feedrate_mm_s);
+    const float fr_scaled = MMS_SCALED(feedrate_mm_s);
       #if HAS_MESH
-        if (planner.leveling_active) {
-          #if ENABLED(AUTO_BED_LEVELING_UBL)
-            ubl.line_to_destination_cartesian(fr_scaled, active_extruder);
-          #elif ENABLED(MESH_BED_LEVELING)
-            mesh_line_to_destination(fr_scaled);
-          #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
-            bilinear_line_to_destination(fr_scaled);
-          #endif
-          return true;
+        if (!planner.leveling_active) {
+          line_to_destination(fr_scaled);
+          return false;
         }
+        #if ENABLED(AUTO_BED_LEVELING_UBL)
+          ubl.line_to_destination_cartesian(fr_scaled, active_extruder);  // UBL's motion routine needs to know about all moves,
+          return true;                                                    // even purely Z-Axis moves
+        #else
+          if (current_position[X_AXIS] != destination[X_AXIS] || current_position[Y_AXIS] != destination[Y_AXIS]) {
+            #if ENABLED(MESH_BED_LEVELING)
+              mesh_line_to_destination(fr_scaled);
+            #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
+              bilinear_line_to_destination(fr_scaled);
+            #endif
+            return true;
+          }
+          else
+            line_to_destination();
+        #endif
       #endif // HAS_MESH
-      line_to_destination(fr_scaled);
-    }
-    else
-      line_to_destination();
 
     return false;
   }

Marlin/example_configurations/gCreate/gMax1.5+/Configuration.h

@@ -694,7 +694,7 @@
  */
 #define X_PROBE_OFFSET_FROM_EXTRUDER -17    // X offset: -left  +right  [of the nozzle]
 #define Y_PROBE_OFFSET_FROM_EXTRUDER -10    // Y offset: -front +behind [the nozzle]
-#define Z_PROBE_OFFSET_FROM_EXTRUDER -1.027 // Z offset: -below +above  [the nozzle]
+#define Z_PROBE_OFFSET_FROM_EXTRUDER -0.87  // Z offset: -below +above  [the nozzle]
 
 // X and Y axis travel speed (mm/m) between probes
 #define XY_PROBE_SPEED 7500

Marlin/example_configurations/gCreate/gMax1.5+/Configuration_adv.h

@@ -617,7 +617,7 @@
    * On print completion the LCD Menu will open with the file selected.
    * You can just click to start the print, or navigate elsewhere.
    */
-  //#define SD_REPRINT_LAST_SELECTED_FILE
+  #define SD_REPRINT_LAST_SELECTED_FILE
 
 #endif // SDSUPPORT
 
@@ -679,7 +679,7 @@
 #if ENABLED(BABYSTEPPING)
   //#define BABYSTEP_XY              // Also enable X/Y Babystepping. Not supported on DELTA!
   #define BABYSTEP_INVERT_Z false    // Change if Z babysteps should go the other way
-  #define BABYSTEP_MULTIPLICATOR   1 // Babysteps are very small. Increase for faster motion.
+  #define BABYSTEP_MULTIPLICATOR   3 // Babysteps are very small. Increase for faster motion.
   //#define BABYSTEP_ZPROBE_OFFSET   // Enable to combine M851 and Babystepping
   #define DOUBLECLICK_FOR_Z_BABYSTEPPING // Double-click on the Status Screen for Z Babystepping.
   #define DOUBLECLICK_MAX_INTERVAL 1250 // Maximum interval between clicks, in milliseconds.

Marlin/ubl.cpp

@@ -36,9 +36,9 @@
    * to unsigned long will allow us to go to 32x32 if higher resolution Mesh's are needed
    * in the future.
    */
-  void bit_clear(uint16_t bits[16], uint8_t x, uint8_t y) { CBI(bits[y], x); }
-  void bit_set(uint16_t bits[16], uint8_t x, uint8_t y) { SBI(bits[y], x); }
-  bool is_bit_set(uint16_t bits[16], uint8_t x, uint8_t y) { return TEST(bits[y], x); }
+  void bit_clear(uint16_t bits[16], const uint8_t x, const uint8_t y) { CBI(bits[y], x); }
+  void bit_set(uint16_t bits[16], const uint8_t x, const uint8_t y) { SBI(bits[y], x); }
+  bool is_bit_set(uint16_t bits[16], const uint8_t x, const uint8_t y) { return TEST(bits[y], x); }
 
   uint8_t ubl_cnt = 0;
 

Marlin/ubl.h

@@ -46,9 +46,9 @@
 
   // ubl.cpp
 
-  void bit_clear(uint16_t bits[16], uint8_t x, uint8_t y);
-  void bit_set(uint16_t bits[16], uint8_t x, uint8_t y);
-  bool is_bit_set(uint16_t bits[16], uint8_t x, uint8_t y);
+void bit_clear(uint16_t bits[16], const uint8_t x, const uint8_t y);
+void bit_set(uint16_t bits[16], const uint8_t x, const uint8_t y);
+bool is_bit_set(uint16_t bits[16], const uint8_t x, const uint8_t y);
 
   // ubl_motion.cpp
 
@@ -147,7 +147,8 @@
       static void save_ubl_active_state_and_disable();
       static void restore_ubl_active_state_and_leave();
       static void display_map(const int);
-      static mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType, const float&, const float&, const bool, uint16_t[16], bool);
+    static mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType, const float&, const float&, const bool, uint16_t[16]);
+    static mesh_index_pair find_furthest_invalid_mesh_point();
       static void reset();
       static void invalidate();
       static void set_all_mesh_points_to_value(const float);
@@ -246,12 +247,16 @@
        */
       inline static float z_correction_for_x_on_horizontal_mesh_line(const float &rx0, const int x1_i, const int yi) {
         if (!WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 2) || !WITHIN(yi, 0, GRID_MAX_POINTS_Y - 1)) {
+        #if ENABLED(DEBUG_LEVELING_FEATURE)
+          if (DEBUGGING(LEVELING)) {
           serialprintPGM( !WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1) ? PSTR("x1l_i") : PSTR("yi") );
           SERIAL_ECHOPAIR(" out of bounds in z_correction_for_x_on_horizontal_mesh_line(rx0=", rx0);
           SERIAL_ECHOPAIR(",x1_i=", x1_i);
           SERIAL_ECHOPAIR(",yi=", yi);
           SERIAL_CHAR(')');
           SERIAL_EOL();
+          }
+        #endif
           return NAN;
         }
 
@@ -266,12 +271,16 @@
       //
       inline static float z_correction_for_y_on_vertical_mesh_line(const float &ry0, const int xi, const int y1_i) {
         if (!WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(y1_i, 0, GRID_MAX_POINTS_Y - 2)) {
+        #if ENABLED(DEBUG_LEVELING_FEATURE)
+          if (DEBUGGING(LEVELING)) {
           serialprintPGM( !WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) ? PSTR("xi") : PSTR("yl_i") );
           SERIAL_ECHOPAIR(" out of bounds in z_correction_for_y_on_vertical_mesh_line(ry0=", ry0);
           SERIAL_ECHOPAIR(", xi=", xi);
           SERIAL_ECHOPAIR(", y1_i=", y1_i);
           SERIAL_CHAR(')');
           SERIAL_EOL();
+          }
+        #endif
           return NAN;
         }
 
@@ -365,6 +374,19 @@
       static bool prepare_segmented_line_to(const float rtarget[XYZE], const float &feedrate);
       static void line_to_destination_cartesian(const float &fr, uint8_t e);
 
+    #define _CMPZ(a,b) (z_values[a][b] == z_values[a][b+1])
+    #define CMPZ(a) (_CMPZ(a, 0) && _CMPZ(a, 1))
+    #define ZZER(a) (z_values[a][0] == 0)
+
+    FORCE_INLINE bool mesh_is_valid() {
+      return !(
+        (    CMPZ(0) && CMPZ(1) && CMPZ(2) // adjacent z values all equal?
+          && ZZER(0) && ZZER(1) && ZZER(2) // all zero at the edge?
+        )
+        || isnan(z_values[0][0])
+      );
+    }
+
   }; // class unified_bed_leveling
 
   extern unified_bed_leveling ubl;