Consolidate probe clearance, add section debug (MarlinFirmware#18576)

* Better section / function log
* Add do_z_clearance motion function

Marlin/src/core/debug_out.h

@@ -26,6 +26,7 @@
 //  (or not) in a given .cpp file
 //
 
+#undef DEBUG_SECTION
 #undef DEBUG_PRINT_P
 #undef DEBUG_ECHO_START
 #undef DEBUG_ERROR_START
@@ -53,6 +54,10 @@
 #undef DEBUG_DELAY
 
 #if DEBUG_OUT
+
+  #include "debug_section.h"
+  #define DEBUG_SECTION(N,S,D)    SectionLog N(PSTR(S),D)
+
   #define DEBUG_PRINT_P(P)        serialprintPGM(P)
   #define DEBUG_ECHO_START        SERIAL_ECHO_START
   #define DEBUG_ERROR_START       SERIAL_ERROR_START
@@ -78,7 +83,10 @@
   #define DEBUG_POS               SERIAL_POS
   #define DEBUG_XYZ               SERIAL_XYZ
   #define DEBUG_DELAY(ms)         serial_delay(ms)
+
 #else
+
+  #define DEBUG_SECTION(...)        NOOP
   #define DEBUG_PRINT_P(P)          NOOP
   #define DEBUG_ECHO_START()        NOOP
   #define DEBUG_ERROR_START()       NOOP
@@ -104,6 +112,7 @@
   #define DEBUG_POS(...)            NOOP
   #define DEBUG_XYZ(...)            NOOP
   #define DEBUG_DELAY(...)          NOOP
+
 #endif
 
 #undef DEBUG_OUT

Marlin/src/core/debug_section.h

@@ -0,0 +1,49 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+#include "serial.h"
+#include "../module/motion.h"
+
+class SectionLog {
+public:
+  SectionLog(PGM_P const msg=nullptr, bool inbug=true) {
+    the_msg = msg;
+    if ((debug = inbug)) echo_msg(PSTR(">>>"));
+  }
+
+  ~SectionLog() { if (debug) echo_msg(PSTR("<<<")); }
+
+private:
+  PGM_P the_msg;
+  bool debug;
+
+  void echo_msg(PGM_P const pre) {
+    serialprintPGM(pre);
+    if (the_msg) {
+      SERIAL_CHAR(' ');
+      serialprintPGM(the_msg);
+    }
+    SERIAL_CHAR(' ');
+    print_xyz(current_position);
+  }
+};

Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp

@@ -462,7 +462,7 @@
             // Manually Probe Mesh in areas that can't be reached by the probe
             //
             SERIAL_ECHOLNPGM("Manually probing unreachable points.");
-            do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
+            do_z_clearance(Z_CLEARANCE_BETWEEN_PROBES);
 
             if (parser.seen('C') && !xy_seen) {
 
@@ -780,9 +780,7 @@
       probe.stow();
       TERN_(HAS_LCD_MENU, ui.capture());
 
-      #ifdef Z_AFTER_PROBING
-        probe.move_z_after_probing();
-      #endif
+      probe.move_z_after_probing();
 
       restore_ubl_active_state_and_leave();
 
@@ -858,7 +856,6 @@
       echo_and_take_a_measurement();
 
       const float z2 = measure_point_with_encoder();
-
       do_blocking_move_to_z(current_position.z + Z_CLEARANCE_BETWEEN_PROBES);
 
       const float thickness = ABS(z1 - z2);
@@ -899,7 +896,7 @@
         LCD_MESSAGEPGM(MSG_UBL_MOVING_TO_NEXT);
 
         do_blocking_move_to(ppos);
-        do_blocking_move_to_z(z_clearance);
+        do_z_clearance(z_clearance);
 
         KEEPALIVE_STATE(PAUSED_FOR_USER);
         ui.capture();
@@ -915,7 +912,7 @@
 
         if (click_and_hold()) {
           SERIAL_ECHOLNPGM("\nMesh only partially populated.");
-          do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE);
+          do_z_clearance(Z_CLEARANCE_DEPLOY_PROBE);
           return restore_ubl_active_state_and_leave();
         }
 
@@ -940,7 +937,7 @@
 
     void abort_fine_tune() {
       ui.return_to_status();
-      do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
+      do_z_clearance(Z_CLEARANCE_BETWEEN_PROBES);
       set_message_with_feedback(GET_TEXT(MSG_EDITING_STOPPED));
     }
 
@@ -1415,9 +1412,7 @@
         }
 
         probe.stow();
-        #ifdef Z_AFTER_PROBING
-          probe.move_z_after_probing();
-        #endif
+        probe.move_z_after_probing();
 
         if (abort_flag) {
           SERIAL_ECHOLNPGM("?Error probing point. Aborting operation.");
@@ -1478,9 +1473,7 @@
         }
       }
       probe.stow();
-      #ifdef Z_AFTER_PROBING
-        probe.move_z_after_probing();
-      #endif
+      probe.move_z_after_probing();
 
       if (abort_flag || finish_incremental_LSF(&lsf_results)) {
         SERIAL_ECHOPGM("Could not complete LSF!");

Marlin/src/gcode/bedlevel/G26.cpp

@@ -622,8 +622,7 @@ void GcodeSuite::G26() {
    */
   set_bed_leveling_enabled(!parser.seen('D'));
 
-  if (current_position.z < Z_CLEARANCE_BETWEEN_PROBES)
-    do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
+  do_z_clearance(Z_CLEARANCE_BETWEEN_PROBES);
 
   #if DISABLED(NO_VOLUMETRICS)
     bool volumetric_was_enabled = parser.volumetric_enabled;

Marlin/src/gcode/bedlevel/G35.cpp

@@ -75,10 +75,9 @@ static_assert(G35_PROBE_COUNT > 2, "TRAMMING_POINT_XY requires at least 3 XY pos
  *               51 - Counter-Clockwise M5
  **/
 void GcodeSuite::G35() {
-  if (DEBUGGING(LEVELING)) {
-    DEBUG_ECHOLNPGM(">>> G35");
-    log_machine_info();
-  }
+  DEBUG_SECTION(log_G35, "G35", DEBUGGING(LEVELING));
+
+  if (DEBUGGING(LEVELING)) log_machine_info();
 
   float z_measured[G35_PROBE_COUNT] = { 0 };
 
@@ -181,8 +180,6 @@ void GcodeSuite::G35() {
 
   // Home Z after the alignment procedure
   process_subcommands_now_P(PSTR("G28Z"));
-
-  if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("<<< G35");
 }
 
 #endif // ASSISTED_TRAMMING

Marlin/src/gcode/bedlevel/abl/G29.cpp

@@ -172,10 +172,8 @@ G29_TYPE GcodeSuite::G29() {
   #if ENABLED(DEBUG_LEVELING_FEATURE)
     const uint8_t old_debug_flags = marlin_debug_flags;
     if (seenQ) marlin_debug_flags |= MARLIN_DEBUG_LEVELING;
-    if (DEBUGGING(LEVELING)) {
-      DEBUG_POS(">>> G29", current_position);
-      log_machine_info();
-    }
+    DEBUG_SECTION(log_G29, "G29", DEBUGGING(LEVELING));
+    if (DEBUGGING(LEVELING)) log_machine_info();
     marlin_debug_flags = old_debug_flags;
     if (DISABLED(PROBE_MANUALLY) && seenQ) G29_RETURN(false);
   #endif
@@ -188,7 +186,7 @@ G29_TYPE GcodeSuite::G29() {
   if (axis_unhomed_error()) G29_RETURN(false);
 
   if (!no_action && planner.leveling_active && parser.boolval('O')) { // Auto-level only if needed
-    if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> Auto-level not needed, skip\n<<< G29");
+    if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> Auto-level not needed, skip");
     G29_RETURN(false);
   }
 
@@ -416,7 +414,7 @@ G29_TYPE GcodeSuite::G29() {
     // Deploy certain probes before starting probing
     #if HAS_BED_PROBE
       if (ENABLED(BLTOUCH))
-        do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE);
+        do_z_clearance(Z_CLEARANCE_DEPLOY_PROBE);
       else if (probe.deploy()) {
         set_bed_leveling_enabled(abl_should_enable);
         G29_RETURN(false);
@@ -884,7 +882,7 @@ G29_TYPE GcodeSuite::G29() {
   // Sync the planner from the current_position
   if (planner.leveling_active) sync_plan_position();
 
-  #if HAS_BED_PROBE && defined(Z_AFTER_PROBING)
+  #if HAS_BED_PROBE
     probe.move_z_after_probing();
   #endif
 
@@ -900,8 +898,6 @@ G29_TYPE GcodeSuite::G29() {
 
   report_current_position();
 
-  if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("<<< G29");
-
   G29_RETURN(isnan(measured_z));
 }
 

Marlin/src/gcode/calibrate/G28.cpp

@@ -115,11 +115,11 @@
 #if ENABLED(Z_SAFE_HOMING)
 
   inline void home_z_safely() {
+    DEBUG_SECTION(log_G28, "home_z_safely", DEBUGGING(LEVELING));
+
     // Disallow Z homing if X or Y homing is needed
     if (axis_unhomed_error(_BV(X_AXIS) | _BV(Y_AXIS))) return;
 
-    if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("home_z_safely >>>");
-
     sync_plan_position();
 
     /**
@@ -146,8 +146,6 @@
       LCD_MESSAGEPGM(MSG_ZPROBE_OUT);
       SERIAL_ECHO_MSG(STR_ZPROBE_OUT_SER);
     }
-
-    if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("<<< home_z_safely");
   }
 
 #endif // Z_SAFE_HOMING
@@ -197,15 +195,10 @@
  *
  */
 void GcodeSuite::G28() {
+  DEBUG_SECTION(log_G28, "G28", DEBUGGING(LEVELING));
+  if (DEBUGGING(LEVELING)) log_machine_info();
 
-  if (DEBUGGING(LEVELING)) {
-    DEBUG_ECHOLNPGM(">>> G28");
-    log_machine_info();
-  }
-
-  #if ENABLED(LASER_MOVE_G28_OFF)
-    cutter.set_inline_enabled(false);       // turn off laser
-  #endif
+  TERN_(LASER_MOVE_G28_OFF, cutter.set_inline_enabled(false));  // turn off laser
 
   TERN_(DWIN_CREALITY_LCD, HMI_flag.home_flag = true);
 
@@ -220,14 +213,13 @@ void GcodeSuite::G28() {
       sync_plan_position();
       SERIAL_ECHOLNPGM("Simulated Homing");
       report_current_position();
-      if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("<<< G28");
       return;
     }
   #endif
 
   // Home (O)nly if position is unknown
   if (!homing_needed() && parser.boolval('O')) {
-    if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> homing not needed, skip\n<<< G28");
+    if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> homing not needed, skip");
     return;
   }
 
@@ -313,26 +305,21 @@ void GcodeSuite::G28() {
                home_all = homeX == homeY && homeX == homeZ, // All or None
                doX = home_all || homeX, doY = home_all || homeY, doZ = home_all || homeZ;
 
-    destination = current_position;
-
     #if Z_HOME_DIR > 0  // If homing away from BED do Z first
 
       if (doZ) homeaxis(Z_AXIS);
 
     #endif
 
     const float z_homing_height =
-      (DISABLED(UNKNOWN_Z_NO_RAISE) || TEST(axis_known_position, Z_AXIS))
-        ? (parser.seenval('R') ? parser.value_linear_units() : Z_HOMING_HEIGHT)
-        : 0;
+      ENABLED(UNKNOWN_Z_NO_RAISE) && TEST(axis_known_position, Z_AXIS)
+        ? 0
+        : (parser.seenval('R') ? parser.value_linear_units() : Z_HOMING_HEIGHT);
 
-    if (z_homing_height && (doX || doY || ENABLED(Z_SAFE_HOMING))) {
+    if (z_homing_height && (doX || doY || (ENABLED(Z_SAFE_HOMING) && doZ))) {
       // Raise Z before homing any other axes and z is not already high enough (never lower z)
-      destination.z = z_homing_height + (TEST(axis_known_position, Z_AXIS) ? 0.0f : current_position.z);
-      if (destination.z > current_position.z) {
-        if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Raise Z (before homing) to ", destination.z);
-        do_blocking_move_to_z(destination.z);
-      }
+      if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Raise Z (before homing) by ", z_homing_height);
+      do_z_clearance(z_homing_height, TEST(axis_known_position, Z_AXIS), DISABLED(UNKNOWN_Z_NO_RAISE));
     }
 
     #if ENABLED(QUICK_HOME)
@@ -387,15 +374,7 @@ void GcodeSuite::G28() {
 
         TERN(Z_SAFE_HOMING, home_z_safely(), homeaxis(Z_AXIS));
 
-        #if HOMING_Z_WITH_PROBE && defined(Z_AFTER_PROBING)
-          #if Z_AFTER_HOMING > Z_AFTER_PROBING
-            do_blocking_move_to_z(Z_AFTER_HOMING);
-          #else
-            probe.move_z_after_probing();
-          #endif
-        #elif defined(Z_AFTER_HOMING)
-          do_blocking_move_to_z(Z_AFTER_HOMING);
-        #endif
+        probe.move_z_after_homing();
 
       } // doZ
 
@@ -485,8 +464,6 @@ void GcodeSuite::G28() {
   if (ENABLED(NANODLP_Z_SYNC) && (doZ || ENABLED(NANODLP_ALL_AXIS)))
     SERIAL_ECHOLNPGM(STR_Z_MOVE_COMP);
 
-  if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("<<< G28");
-
   #if HAS_L64XX
     // Set L6470 absolute position registers to counts
     // constexpr *might* move this to PROGMEM.

Marlin/src/gcode/calibrate/G34_M422.cpp

@@ -56,10 +56,8 @@
  *   R<recalculate> points based on current probe offsets
  */
 void GcodeSuite::G34() {
-  if (DEBUGGING(LEVELING)) {
-    DEBUG_ECHOLNPGM(">>> G34");
-    log_machine_info();
-  }
+  DEBUG_SECTION(log_G34, "G34", DEBUGGING(LEVELING));
+  if (DEBUGGING(LEVELING)) log_machine_info();
 
   do { // break out on error
 
@@ -367,8 +365,6 @@ void GcodeSuite::G34() {
     #endif
 
   }while(0);
-
-  if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("<<< G34");
 }
 
 /**

Marlin/src/gcode/calibrate/G76_M871.cpp

@@ -104,7 +104,7 @@ void GcodeSuite::G76() {
   };
 
   auto g76_probe = [](const TempSensorID sid, uint16_t &targ, const xy_pos_t &nozpos) {
-    do_blocking_move_to_z(5.0); // Raise nozzle before probing
+    do_z_clearance(5.0); // Raise nozzle before probing
     const float measured_z = probe.probe_at_point(nozpos, PROBE_PT_STOW, 0, false);  // verbose=0, probe_relative=false
     if (isnan(measured_z))
       SERIAL_ECHOLNPGM("!Received NAN. Aborting.");