More data in UBL class, make it a static class

- Make all `unified_bed_leveling` data/methods static
- Move some UBL-related variables into the class
- Replace `map_[xy]_index_to_bed_location` with `mesh_index_to_[xy]pos`

Marlin/G26_Mesh_Validation_Tool.cpp

@@ -265,8 +265,8 @@
         location = find_closest_circle_to_print(x_pos, y_pos); // Find the closest Mesh Intersection to where we are now.
 
       if (location.x_index >= 0 && location.y_index >= 0) {
-        circle_x = ubl.map_x_index_to_bed_location(location.x_index);
-        circle_y = ubl.map_y_index_to_bed_location(location.y_index);
+        circle_x = ubl.mesh_index_to_xpos[location.x_index];
+        circle_y = ubl.mesh_index_to_ypos[location.y_index];
 
         // Let's do a couple of quick sanity checks.  We can pull this code out later if we never see it catch a problem
         #ifdef DELTA
@@ -415,8 +415,8 @@
     for (uint8_t i = 0; i < UBL_MESH_NUM_X_POINTS; i++) {
       for (uint8_t j = 0; j < UBL_MESH_NUM_Y_POINTS; j++) {
         if (!is_bit_set(circle_flags, i, j)) {
-          mx = ubl.map_x_index_to_bed_location(i);  // We found a circle that needs to be printed
-          my = ubl.map_y_index_to_bed_location(j);
+          mx = ubl.mesh_index_to_xpos[i];  // We found a circle that needs to be printed
+          my = ubl.mesh_index_to_ypos[j];
 
           dx = X - mx;        // Get the distance to this intersection
           dy = Y - my;
@@ -461,11 +461,11 @@
               // We found two circles that need a horizontal line to connect them
               // Print it!
               //
-              sx = ubl.map_x_index_to_bed_location(i);
+              sx = ubl.mesh_index_to_xpos[i];
               sx = sx + SIZE_OF_INTERSECTION_CIRCLES - SIZE_OF_CROSS_HAIRS; // get the right edge of the circle
-              sy = ubl.map_y_index_to_bed_location(j);
+              sy = ubl.mesh_index_to_ypos[j];
 
-              ex = ubl.map_x_index_to_bed_location(i + 1);
+              ex = ubl.mesh_index_to_xpos[i + 1];
               ex = ex - SIZE_OF_INTERSECTION_CIRCLES + SIZE_OF_CROSS_HAIRS; // get the left edge of the circle
               ey = sy;
 
@@ -498,12 +498,12 @@
                 // We found two circles that need a vertical line to connect them
                 // Print it!
                 //
-                sx = ubl.map_x_index_to_bed_location(i);
-                sy = ubl.map_y_index_to_bed_location(j);
+                sx = ubl.mesh_index_to_xpos[i];
+                sy = ubl.mesh_index_to_ypos[j];
                 sy = sy + SIZE_OF_INTERSECTION_CIRCLES - SIZE_OF_CROSS_HAIRS; // get the top edge of the circle
 
                 ex = sx;
-                ey = ubl.map_y_index_to_bed_location(j + 1);
+                ey = ubl.mesh_index_to_ypos[j + 1];
                 ey = ey - SIZE_OF_INTERSECTION_CIRCLES + SIZE_OF_CROSS_HAIRS; // get the bottom edge of the circle
 
                 sx = constrain(sx, X_MIN_POS + 1, X_MAX_POS - 1);             // This keeps us from bumping the endstops

Marlin/Marlin.h

@@ -430,4 +430,8 @@ void do_blocking_move_to_x(const float &x, const float &fr_mm_s=0.0);
 void do_blocking_move_to_z(const float &z, const float &fr_mm_s=0.0);
 void do_blocking_move_to_xy(const float &x, const float &y, const float &fr_mm_s=0.0);
 
+#if ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED) || HAS_PROBING_PROCEDURE || HOTENDS > 1 || ENABLED(NOZZLE_CLEAN_FEATURE) || ENABLED(NOZZLE_PARK_FEATURE)
+  bool axis_unhomed_error(const bool x, const bool y, const bool z);
+#endif
+
 #endif //MARLIN_H

Marlin/Marlin_main.cpp

@@ -3221,7 +3221,7 @@ inline void gcode_G4() {
    */
   inline void gcode_G12() {
     // Don't allow nozzle cleaning without homing first
-    if (axis_unhomed_error(true, true, true)) { return; }
+    if (axis_unhomed_error(true, true, true)) return;
 
     const uint8_t pattern = code_seen('P') ? code_value_ushort() : 0,
                   strokes = code_seen('S') ? code_value_ushort() : NOZZLE_CLEAN_STROKES,

Marlin/UBL.h

@@ -39,7 +39,6 @@
 
     enum MeshPointType { INVALID, REAL, SET_IN_BITMAP };
 
-    bool axis_unhomed_error(bool, bool, bool);
     void dump(char * const str, const float &f);
     bool ubl_lcd_clicked();
     void probe_entire_mesh(const float&, const float&, const bool, const bool, const bool);
@@ -78,275 +77,273 @@
 
     enum MBLStatus { MBL_STATUS_NONE = 0, MBL_STATUS_HAS_MESH_BIT = 0, MBL_STATUS_ACTIVE_BIT = 1 };
 
-    #define MESH_X_DIST ((float(UBL_MESH_MAX_X) - float(UBL_MESH_MIN_X)) / (float(UBL_MESH_NUM_X_POINTS) - 1.0))
-    #define MESH_Y_DIST ((float(UBL_MESH_MAX_Y) - float(UBL_MESH_MIN_Y)) / (float(UBL_MESH_NUM_Y_POINTS) - 1.0))
+    #define MESH_X_DIST (float(UBL_MESH_MAX_X - (UBL_MESH_MIN_X)) / float(UBL_MESH_NUM_X_POINTS - 1))
+    #define MESH_Y_DIST (float(UBL_MESH_MAX_Y - (UBL_MESH_MIN_Y)) / float(UBL_MESH_NUM_Y_POINTS - 1))
 
-    extern float mesh_index_to_x_location[UBL_MESH_NUM_X_POINTS + 1]; // +1 just because of paranoia that we might end up on the
-    extern float mesh_index_to_y_location[UBL_MESH_NUM_Y_POINTS + 1]; // the last Mesh Line and that is the start of a whole new cell
+    typedef struct {
+      bool active = false;
+      float z_offset = 0.0;
+      int8_t eeprom_storage_slot = -1,
+             n_x = UBL_MESH_NUM_X_POINTS,
+             n_y = UBL_MESH_NUM_Y_POINTS;
+
+      float mesh_x_min = UBL_MESH_MIN_X,
+            mesh_y_min = UBL_MESH_MIN_Y,
+            mesh_x_max = UBL_MESH_MAX_X,
+            mesh_y_max = UBL_MESH_MAX_Y,
+            mesh_x_dist = MESH_X_DIST,
+            mesh_y_dist = MESH_Y_DIST;
+
+      #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
+        float g29_correction_fade_height = 10.0,
+              g29_fade_height_multiplier = 1.0 / 10.0; // It's cheaper to do a floating point multiply than divide,
+                                                       // so keep this value and its reciprocal.
+      #else
+        const float g29_correction_fade_height = 10.0,
+                    g29_fade_height_multiplier = 1.0 / 10.0;
+      #endif
+
+      // If you change this struct, adjust TOTAL_STRUCT_SIZE
+
+      #define TOTAL_STRUCT_SIZE 40 // Total size of the above fields
+
+      // padding provides space to add state variables without
+      // changing the location of data structures in the EEPROM.
+      // This is for compatibility with future versions to keep
+      // users from having to regenerate their mesh data.
+      unsigned char padding[64 - TOTAL_STRUCT_SIZE];
+
+    } ubl_state;
 
     class unified_bed_leveling {
       private:
 
-      float last_specified_z,
-            fade_scaling_factor_for_current_height;
+        static float last_specified_z,
+                     fade_scaling_factor_for_current_height;
 
       public:
 
-      float z_values[UBL_MESH_NUM_X_POINTS][UBL_MESH_NUM_Y_POINTS];
+        static ubl_state state, pre_initialized;
 
-      bool g26_debug_flag = false,
-           has_control_of_lcd_panel = false;
+        static float z_values[UBL_MESH_NUM_X_POINTS][UBL_MESH_NUM_Y_POINTS],
+                     mesh_index_to_xpos[UBL_MESH_NUM_X_POINTS + 1], // +1 safety margin for now, until determinism prevails
+                     mesh_index_to_ypos[UBL_MESH_NUM_Y_POINTS + 1];
 
-      int8_t eeprom_start = -1;
+        static bool g26_debug_flag,
+                    has_control_of_lcd_panel;
 
-      volatile int encoder_diff; // Volatile because it's changed at interrupt time.
+        static int8_t eeprom_start;
 
-      struct ubl_state {
-        bool active = false;
-        float z_offset = 0.0;
-        int8_t eeprom_storage_slot = -1,
-               n_x = UBL_MESH_NUM_X_POINTS,
-               n_y = UBL_MESH_NUM_Y_POINTS;
+        static volatile int encoder_diff; // Volatile because it's changed at interrupt time.
 
-        float mesh_x_min = UBL_MESH_MIN_X,
-              mesh_y_min = UBL_MESH_MIN_Y,
-              mesh_x_max = UBL_MESH_MAX_X,
-              mesh_y_max = UBL_MESH_MAX_Y,
-              mesh_x_dist = MESH_X_DIST,
-              mesh_y_dist = MESH_Y_DIST;
+        unified_bed_leveling();
 
-        #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
-          float g29_correction_fade_height = 10.0,
-                g29_fade_height_multiplier = 1.0 / 10.0; // It's cheaper to do a floating point multiply than divide,
-                                                         // so keep this value and its reciprocal.
-        #else
-          const float g29_correction_fade_height = 10.0,
-                      g29_fade_height_multiplier = 1.0 / 10.0;
-        #endif
+        static void display_map(const int);
 
-        // If you change this struct, adjust TOTAL_STRUCT_SIZE
-
-        #define TOTAL_STRUCT_SIZE 43 // Total size of the above fields
-
-        // padding provides space to add state variables without
-        // changing the location of data structures in the EEPROM.
-        // This is for compatibility with future versions to keep
-        // users from having to regenerate their mesh data.
-        unsigned char padding[64 - TOTAL_STRUCT_SIZE];
-
-      } state, pre_initialized;
-
-      unified_bed_leveling();
-
-      void display_map(const int);
-
-      void reset();
-      void invalidate();
-
-      void store_state();
-      void load_state();
-      void store_mesh(const int16_t);
-      void load_mesh(const int16_t);
-
-      bool sanity_check();
-
-      FORCE_INLINE static float map_x_index_to_bed_location(const int8_t i) { return ((float) UBL_MESH_MIN_X) + (((float) MESH_X_DIST) * (float) i); };
-      FORCE_INLINE static float map_y_index_to_bed_location(const int8_t i) { return ((float) UBL_MESH_MIN_Y) + (((float) MESH_Y_DIST) * (float) i); };
-
-      FORCE_INLINE void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; }
-
-      static int8_t get_cell_index_x(const float &x) {
-        const int8_t cx = (x - (UBL_MESH_MIN_X)) * (1.0 / (MESH_X_DIST));
-        return constrain(cx, 0, (UBL_MESH_NUM_X_POINTS) - 1);   // -1 is appropriate if we want all movement to the X_MAX
-      }                                                         // position. But with this defined this way, it is possible
-                                                                // to extrapolate off of this point even further out. Probably
-                                                                // that is OK because something else should be keeping that from
-                                                                // happening and should not be worried about at this level.
-      static int8_t get_cell_index_y(const float &y) {
-        const int8_t cy = (y - (UBL_MESH_MIN_Y)) * (1.0 / (MESH_Y_DIST));
-        return constrain(cy, 0, (UBL_MESH_NUM_Y_POINTS) - 1);   // -1 is appropriate if we want all movement to the Y_MAX
-      }                                                         // position. But with this defined this way, it is possible
-                                                                // to extrapolate off of this point even further out. Probably
-                                                                // that is OK because something else should be keeping that from
-                                                                // happening and should not be worried about at this level.
-
-      static int8_t find_closest_x_index(const float &x) {
-        const int8_t px = (x - (UBL_MESH_MIN_X) + (MESH_X_DIST) * 0.5) * (1.0 / (MESH_X_DIST));
-        return (px >= 0 && px < (UBL_MESH_NUM_X_POINTS)) ? px : -1;
-      }
-
-      static int8_t find_closest_y_index(const float &y) {
-        const int8_t py = (y - (UBL_MESH_MIN_Y) + (MESH_Y_DIST) * 0.5) * (1.0 / (MESH_Y_DIST));
-        return (py >= 0 && py < (UBL_MESH_NUM_Y_POINTS)) ? py : -1;
-      }
-
-      /**
-       *                           z2   --|
-       *                 z0        |      |
-       *                  |        |      + (z2-z1)
-       *   z1             |        |      |
-       * ---+-------------+--------+--  --|
-       *   a1            a0        a2
-       *    |<---delta_a---------->|
-       *
-       *  calc_z0 is the basis for all the Mesh Based correction. It is used to
-       *  find the expected Z Height at a position between two known Z-Height locations.
-       *
-       *  It is fairly expensive with its 4 floating point additions and 2 floating point
-       *  multiplications.
-       */
-      static FORCE_INLINE float calc_z0(const float &a0, const float &a1, const float &z1, const float &a2, const float &z2) {
-        const float delta_z = (z2 - z1),
-                    delta_a = (a0 - a1) / (a2 - a1);
-        return z1 + delta_a * delta_z;
-      }
-
-      /**
-       * get_z_correction_at_Y_intercept(float x0, int x1_i, int yi) only takes
-       * three parameters. It assumes the x0 point is on a Mesh line denoted by yi. In theory
-       * we could use get_cell_index_x(float x) to obtain the 2nd parameter x1_i but any code calling
-       * the get_z_correction_along_vertical_mesh_line_at_specific_X routine  will already have
-       * the X index of the x0 intersection available and we don't want to perform any extra floating
-       * point operations.
-       */
-      inline float get_z_correction_along_horizontal_mesh_line_at_specific_X(const float &x0, const int x1_i, const int yi) {
-        if (x1_i < 0 || yi < 0 || x1_i >= UBL_MESH_NUM_X_POINTS || yi >= UBL_MESH_NUM_Y_POINTS) {
-          SERIAL_ECHOPAIR("? in get_z_correction_along_horizontal_mesh_line_at_specific_X(x0=", x0);
-          SERIAL_ECHOPAIR(",x1_i=", x1_i);
-          SERIAL_ECHOPAIR(",yi=", yi);
-          SERIAL_CHAR(')');
-          SERIAL_EOL;
-          return NAN;
+        static void reset();
+        static void invalidate();
+
+        static void store_state();
+        static void load_state();
+        static void store_mesh(const int16_t);
+        static void load_mesh(const int16_t);
+
+        static bool sanity_check();
+
+        static FORCE_INLINE void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; }
+
+        static int8_t get_cell_index_x(const float &x) {
+          const int8_t cx = (x - (UBL_MESH_MIN_X)) * (1.0 / (MESH_X_DIST));
+          return constrain(cx, 0, (UBL_MESH_NUM_X_POINTS) - 1);   // -1 is appropriate if we want all movement to the X_MAX
+        }                                                         // position. But with this defined this way, it is possible
+                                                                  // to extrapolate off of this point even further out. Probably
+                                                                  // that is OK because something else should be keeping that from
+                                                                  // happening and should not be worried about at this level.
+        static int8_t get_cell_index_y(const float &y) {
+          const int8_t cy = (y - (UBL_MESH_MIN_Y)) * (1.0 / (MESH_Y_DIST));
+          return constrain(cy, 0, (UBL_MESH_NUM_Y_POINTS) - 1);   // -1 is appropriate if we want all movement to the Y_MAX
+        }                                                         // position. But with this defined this way, it is possible
+                                                                  // to extrapolate off of this point even further out. Probably
+                                                                  // that is OK because something else should be keeping that from
+                                                                  // happening and should not be worried about at this level.
+
+        static int8_t find_closest_x_index(const float &x) {
+          const int8_t px = (x - (UBL_MESH_MIN_X) + (MESH_X_DIST) * 0.5) * (1.0 / (MESH_X_DIST));
+          return (px >= 0 && px < (UBL_MESH_NUM_X_POINTS)) ? px : -1;
         }
 
-        const float xratio = (RAW_X_POSITION(x0) - mesh_index_to_x_location[x1_i]) * (1.0 / (MESH_X_DIST)),
-                    z1 = z_values[x1_i][yi],
-                    z2 = z_values[x1_i + 1][yi],
-                    dz = (z2 - z1);
-
-        return z1 + xratio * dz;
-      }
-
-      //
-      // See comments above for get_z_correction_along_horizontal_mesh_line_at_specific_X
-      //
-      inline float get_z_correction_along_vertical_mesh_line_at_specific_Y(const float &y0, const int xi, const int y1_i) {
-        if (xi < 0 || y1_i < 0 || xi >= UBL_MESH_NUM_X_POINTS || y1_i >= UBL_MESH_NUM_Y_POINTS) {
-          SERIAL_ECHOPAIR("? in get_z_correction_along_vertical_mesh_line_at_specific_X(y0=", y0);
-          SERIAL_ECHOPAIR(", x1_i=", xi);
-          SERIAL_ECHOPAIR(", yi=", y1_i);
-          SERIAL_CHAR(')');
-          SERIAL_EOL;
-          return NAN;
+        static int8_t find_closest_y_index(const float &y) {
+          const int8_t py = (y - (UBL_MESH_MIN_Y) + (MESH_Y_DIST) * 0.5) * (1.0 / (MESH_Y_DIST));
+          return (py >= 0 && py < (UBL_MESH_NUM_Y_POINTS)) ? py : -1;
         }
 
-        const float yratio = (RAW_Y_POSITION(y0) - mesh_index_to_y_location[y1_i]) * (1.0 / (MESH_Y_DIST)),
-                    z1 = z_values[xi][y1_i],
-                    z2 = z_values[xi][y1_i + 1],
-                    dz = (z2 - z1);
-
-        return z1 + yratio * dz;
-      }
-
-      /**
-       * This is the generic Z-Correction. It works anywhere within a Mesh Cell. It first
-       * does a linear interpolation along both of the bounding X-Mesh-Lines to find the
-       * Z-Height at both ends. Then it does a linear interpolation of these heights based
-       * on the Y position within the cell.
-       */
-      float get_z_correction(const float &x0, const float &y0) const {
-        const int8_t cx = get_cell_index_x(RAW_X_POSITION(x0)),
-                     cy = get_cell_index_y(RAW_Y_POSITION(y0));
-
-        if (cx < 0 || cy < 0 || cx >= UBL_MESH_NUM_X_POINTS || cy >= UBL_MESH_NUM_Y_POINTS) {
-
-          SERIAL_ECHOPAIR("? in get_z_correction(x0=", x0);
-          SERIAL_ECHOPAIR(", y0=", y0);
-          SERIAL_CHAR(')');
-          SERIAL_EOL;
-
-          #if ENABLED(ULTRA_LCD)
-            strcpy(lcd_status_message, "get_z_correction() indexes out of range.");
-            lcd_quick_feedback();
-          #endif
-          return 0.0; // this used to return state.z_offset
+        /**
+         *                           z2   --|
+         *                 z0        |      |
+         *                  |        |      + (z2-z1)
+         *   z1             |        |      |
+         * ---+-------------+--------+--  --|
+         *   a1            a0        a2
+         *    |<---delta_a---------->|
+         *
+         *  calc_z0 is the basis for all the Mesh Based correction. It is used to
+         *  find the expected Z Height at a position between two known Z-Height locations.
+         *
+         *  It is fairly expensive with its 4 floating point additions and 2 floating point
+         *  multiplications.
+         */
+        static FORCE_INLINE float calc_z0(const float &a0, const float &a1, const float &z1, const float &a2, const float &z2) {
+          const float delta_z = (z2 - z1),
+                      delta_a = (a0 - a1) / (a2 - a1);
+          return z1 + delta_a * delta_z;
         }
 
-        const float z1 = calc_z0(RAW_X_POSITION(x0),
-                      map_x_index_to_bed_location(cx), z_values[cx][cy],
-                      map_x_index_to_bed_location(cx + 1), z_values[cx + 1][cy]),
-                    z2 = calc_z0(RAW_X_POSITION(x0),
-                      map_x_index_to_bed_location(cx), z_values[cx][cy + 1],
-                      map_x_index_to_bed_location(cx + 1), z_values[cx + 1][cy + 1]);
-              float z0 = calc_z0(RAW_Y_POSITION(y0),
-                  map_y_index_to_bed_location(cy), z1,
-                  map_y_index_to_bed_location(cy + 1), z2);
-
-        #if ENABLED(DEBUG_LEVELING_FEATURE)
-          if (DEBUGGING(MESH_ADJUST)) {
-            SERIAL_ECHOPAIR(" raw get_z_correction(", x0);
-            SERIAL_CHAR(',')
-            SERIAL_ECHO(y0);
-            SERIAL_ECHOPGM(") = ");
-            SERIAL_ECHO_F(z0, 6);
+        /**
+         * get_z_correction_at_Y_intercept(float x0, int x1_i, int yi) only takes
+         * three parameters. It assumes the x0 point is on a Mesh line denoted by yi. In theory
+         * we could use get_cell_index_x(float x) to obtain the 2nd parameter x1_i but any code calling
+         * the get_z_correction_along_vertical_mesh_line_at_specific_X routine  will already have
+         * the X index of the x0 intersection available and we don't want to perform any extra floating
+         * point operations.
+         */
+        static inline float get_z_correction_along_horizontal_mesh_line_at_specific_X(const float &x0, const int x1_i, const int yi) {
+          if (x1_i < 0 || yi < 0 || x1_i >= UBL_MESH_NUM_X_POINTS || yi >= UBL_MESH_NUM_Y_POINTS) {
+            SERIAL_ECHOPAIR("? in get_z_correction_along_horizontal_mesh_line_at_specific_X(x0=", x0);
+            SERIAL_ECHOPAIR(",x1_i=", x1_i);
+            SERIAL_ECHOPAIR(",yi=", yi);
+            SERIAL_CHAR(')');
+            SERIAL_EOL;
+            return NAN;
           }
-        #endif
 
-        #if ENABLED(DEBUG_LEVELING_FEATURE)
-          if (DEBUGGING(MESH_ADJUST)) {
-            SERIAL_ECHOPGM(" >>>---> ");
-            SERIAL_ECHO_F(z0, 6);
+          const float xratio = (RAW_X_POSITION(x0) - mesh_index_to_xpos[x1_i]) * (1.0 / (MESH_X_DIST)),
+                      z1 = z_values[x1_i][yi],
+                      z2 = z_values[x1_i + 1][yi],
+                      dz = (z2 - z1);
+
+          return z1 + xratio * dz;
+        }
+
+        //
+        // See comments above for get_z_correction_along_horizontal_mesh_line_at_specific_X
+        //
+        static inline float get_z_correction_along_vertical_mesh_line_at_specific_Y(const float &y0, const int xi, const int y1_i) {
+          if (xi < 0 || y1_i < 0 || xi >= UBL_MESH_NUM_X_POINTS || y1_i >= UBL_MESH_NUM_Y_POINTS) {
+            SERIAL_ECHOPAIR("? in get_z_correction_along_vertical_mesh_line_at_specific_X(y0=", y0);
+            SERIAL_ECHOPAIR(", x1_i=", xi);
+            SERIAL_ECHOPAIR(", yi=", y1_i);
+            SERIAL_CHAR(')');
             SERIAL_EOL;
+            return NAN;
           }
-        #endif
 
-        if (isnan(z0)) { // if part of the Mesh is undefined, it will show up as NAN
-          z0 = 0.0;      // in ubl.z_values[][] and propagate through the
-                         // calculations. If our correction is NAN, we throw it out
-                         // because part of the Mesh is undefined and we don't have the
-                         // information we need to complete the height correction.
+          const float yratio = (RAW_Y_POSITION(y0) - mesh_index_to_ypos[y1_i]) * (1.0 / (MESH_Y_DIST)),
+                      z1 = z_values[xi][y1_i],
+                      z2 = z_values[xi][y1_i + 1],
+                      dz = (z2 - z1);
+
+          return z1 + yratio * dz;
+        }
+
+        /**
+         * This is the generic Z-Correction. It works anywhere within a Mesh Cell. It first
+         * does a linear interpolation along both of the bounding X-Mesh-Lines to find the
+         * Z-Height at both ends. Then it does a linear interpolation of these heights based
+         * on the Y position within the cell.
+         */
+        static float get_z_correction(const float &x0, const float &y0) {
+          const int8_t cx = get_cell_index_x(RAW_X_POSITION(x0)),
+                       cy = get_cell_index_y(RAW_Y_POSITION(y0));
+
+          if (cx < 0 || cy < 0 || cx >= UBL_MESH_NUM_X_POINTS || cy >= UBL_MESH_NUM_Y_POINTS) {
+
+            SERIAL_ECHOPAIR("? in get_z_correction(x0=", x0);
+            SERIAL_ECHOPAIR(", y0=", y0);
+            SERIAL_CHAR(')');
+            SERIAL_EOL;
+
+            #if ENABLED(ULTRA_LCD)
+              strcpy(lcd_status_message, "get_z_correction() indexes out of range.");
+              lcd_quick_feedback();
+            #endif
+            return 0.0; // this used to return state.z_offset
+          }
+
+          const float z1 = calc_z0(RAW_X_POSITION(x0),
+                        mesh_index_to_xpos[cx], z_values[cx][cy],
+                        mesh_index_to_xpos[cx + 1], z_values[cx + 1][cy]),
+                      z2 = calc_z0(RAW_X_POSITION(x0),
+                        mesh_index_to_xpos[cx], z_values[cx][cy + 1],
+                        mesh_index_to_xpos[cx + 1], z_values[cx + 1][cy + 1]);
+                float z0 = calc_z0(RAW_Y_POSITION(y0),
+                    mesh_index_to_ypos[cy], z1,
+                    mesh_index_to_ypos[cy + 1], z2);
 
           #if ENABLED(DEBUG_LEVELING_FEATURE)
             if (DEBUGGING(MESH_ADJUST)) {
-              SERIAL_ECHOPAIR("??? Yikes!  NAN in get_z_correction(", x0);
-              SERIAL_CHAR(',');
+              SERIAL_ECHOPAIR(" raw get_z_correction(", x0);
+              SERIAL_CHAR(',')
               SERIAL_ECHO(y0);
-              SERIAL_CHAR(')');
+              SERIAL_ECHOPGM(") = ");
+              SERIAL_ECHO_F(z0, 6);
+            }
+          #endif
+
+          #if ENABLED(DEBUG_LEVELING_FEATURE)
+            if (DEBUGGING(MESH_ADJUST)) {
+              SERIAL_ECHOPGM(" >>>---> ");
+              SERIAL_ECHO_F(z0, 6);
               SERIAL_EOL;
             }
           #endif
-        }
-        return z0; // there used to be a +state.z_offset on this line
-      }
-
-      /**
-       * This routine is used to scale the Z correction depending upon the current nozzle height. It is
-       * optimized for speed. It avoids floating point operations by checking if the requested scaling
-       * factor is going to be the same as the last time the function calculated a value. If so, it just
-       * returns it.
-       *
-       * It returns a scaling factor of 1.0 if UBL is inactive.
-       * It returns a scaling factor of 0.0 if Z is past the specified 'Fade Height'
-       */
-      #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
 
-        FORCE_INLINE float fade_scaling_factor_for_z(const float &lz) {
-          const float rz = RAW_Z_POSITION(lz);
-          if (last_specified_z != rz) {
-            last_specified_z = rz;
-            fade_scaling_factor_for_current_height =
-              state.active && rz < state.g29_correction_fade_height
-                ? 1.0 - (rz * state.g29_fade_height_multiplier)
-                : 0.0;
+          if (isnan(z0)) { // if part of the Mesh is undefined, it will show up as NAN
+            z0 = 0.0;      // in ubl.z_values[][] and propagate through the
+                           // calculations. If our correction is NAN, we throw it out
+                           // because part of the Mesh is undefined and we don't have the
+                           // information we need to complete the height correction.
+
+            #if ENABLED(DEBUG_LEVELING_FEATURE)
+              if (DEBUGGING(MESH_ADJUST)) {
+                SERIAL_ECHOPAIR("??? Yikes!  NAN in get_z_correction(", x0);
+                SERIAL_CHAR(',');
+                SERIAL_ECHO(y0);
+                SERIAL_CHAR(')');
+                SERIAL_EOL;
+              }
+            #endif
           }
-          return fade_scaling_factor_for_current_height;
+          return z0; // there used to be a +state.z_offset on this line
         }
 
-      #else
+        /**
+         * This routine is used to scale the Z correction depending upon the current nozzle height. It is
+         * optimized for speed. It avoids floating point operations by checking if the requested scaling
+         * factor is going to be the same as the last time the function calculated a value. If so, it just
+         * returns it.
+         *
+         * It returns a scaling factor of 1.0 if UBL is inactive.
+         * It returns a scaling factor of 0.0 if Z is past the specified 'Fade Height'
+         */
+        #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
+
+          FORCE_INLINE float fade_scaling_factor_for_z(const float &lz) {
+            const float rz = RAW_Z_POSITION(lz);
+            if (last_specified_z != rz) {
+              last_specified_z = rz;
+              fade_scaling_factor_for_current_height =
+                state.active && rz < state.g29_correction_fade_height
+                  ? 1.0 - (rz * state.g29_fade_height_multiplier)
+                  : 0.0;
+            }
+            return fade_scaling_factor_for_current_height;
+          }
 
-        static constexpr float fade_scaling_factor_for_z(const float &lz) { UNUSED(lz); return 1.0; }
+        #else
 
-      #endif
+          static constexpr float fade_scaling_factor_for_z(const float &lz) { UNUSED(lz); return 1.0; }
+
+        #endif
 
     }; // class unified_bed_leveling
 
@@ -355,5 +352,4 @@
     #define UBL_LAST_EEPROM_INDEX (E2END - sizeof(unified_bed_leveling::state))
 
   #endif // AUTO_BED_LEVELING_UBL
-
 #endif // UNIFIED_BED_LEVELING_H

Marlin/UBL_Bed_Leveling.cpp

@@ -57,23 +57,26 @@
     }
   }
 
-  /**
-   * These variables used to be declared inside the unified_bed_leveling class. We are going to
-   * still declare them within the .cpp file for bed leveling. But there is only one instance of
-   * the bed leveling object and we can get rid of a level of inderection by not making them
-   * 'member data'. So, in the interest of speed, we do it this way. On a 32-bit CPU they can be
-   * moved back inside the bed leveling class.
-   */
-  float mesh_index_to_x_location[UBL_MESH_NUM_X_POINTS + 1], // +1 just because of paranoia that we might end up on the
-        mesh_index_to_y_location[UBL_MESH_NUM_Y_POINTS + 1]; // the last Mesh Line and that is the start of a whole new cell
+  ubl_state unified_bed_leveling::state, unified_bed_leveling::pre_initialized;
 
-  unified_bed_leveling::unified_bed_leveling() {
-    for (uint8_t i = 0; i <= UBL_MESH_NUM_X_POINTS; i++)  // We go one past what we expect to ever need for safety
-      mesh_index_to_x_location[i] = double(UBL_MESH_MIN_X) + double(MESH_X_DIST) * double(i);
+  float unified_bed_leveling::z_values[UBL_MESH_NUM_X_POINTS][UBL_MESH_NUM_Y_POINTS],
+        unified_bed_leveling::last_specified_z,
+        unified_bed_leveling::fade_scaling_factor_for_current_height,
+        unified_bed_leveling::mesh_index_to_xpos[UBL_MESH_NUM_X_POINTS + 1], // +1 safety margin for now, until determinism prevails
+        unified_bed_leveling::mesh_index_to_ypos[UBL_MESH_NUM_Y_POINTS + 1];
+
+  bool unified_bed_leveling::g26_debug_flag = false,
+       unified_bed_leveling::has_control_of_lcd_panel = false;
 
-    for (uint8_t i = 0; i <= UBL_MESH_NUM_Y_POINTS; i++)  // We go one past what we expect to ever need for safety
-      mesh_index_to_y_location[i] = double(UBL_MESH_MIN_Y) + double(MESH_Y_DIST) * double(i);
+  int8_t unified_bed_leveling::eeprom_start = -1;
 
+  volatile int unified_bed_leveling::encoder_diff;
+
+  unified_bed_leveling::unified_bed_leveling() {
+    for (uint8_t i = 0; i < COUNT(mesh_index_to_xpos); i++)
+      mesh_index_to_xpos[i] = UBL_MESH_MIN_X + i * (MESH_X_DIST);
+    for (uint8_t i = 0; i < COUNT(mesh_index_to_ypos); i++)
+      mesh_index_to_ypos[i] = UBL_MESH_MIN_Y + i * (MESH_Y_DIST);
     reset();
   }
 
@@ -161,9 +164,6 @@
   }
 
   void unified_bed_leveling::invalidate() {
-    print_hex_word((uint16_t)this);
-    SERIAL_EOL;
-
     state.active = false;
     state.z_offset = 0;
     for (int x = 0; x < UBL_MESH_NUM_X_POINTS; x++)

Marlin/UBL_G29.cpp

@@ -750,8 +750,8 @@
       location = find_closest_mesh_point_of_type(INVALID, lx, ly, 1, NULL, do_furthest );  // the '1' says we want the location to be relative to the probe
       if (location.x_index >= 0 && location.y_index >= 0) {
 
-        const float rawx = ubl.map_x_index_to_bed_location(location.x_index),
-                    rawy = ubl.map_y_index_to_bed_location(location.y_index);
+        const float rawx = ubl.mesh_index_to_xpos[location.x_index],
+                    rawy = ubl.mesh_index_to_ypos[location.y_index];
 
         // TODO: Change to use `position_is_reachable` (for SCARA-compatibility)
         if (rawx < (MIN_PROBE_X) || rawx > (MAX_PROBE_X) || rawy < (MIN_PROBE_Y) || rawy > (MAX_PROBE_Y)) {
@@ -900,8 +900,8 @@
       // It doesn't matter if the probe can't reach the NAN location. This is a manual probe.
       if (location.x_index < 0 && location.y_index < 0) continue;
 
-      const float rawx = ubl.map_x_index_to_bed_location(location.x_index),
-                  rawy = ubl.map_y_index_to_bed_location(location.y_index);
+      const float rawx = ubl.mesh_index_to_xpos[location.x_index],
+                  rawy = ubl.mesh_index_to_ypos[location.y_index];
 
       // TODO: Change to use `position_is_reachable` (for SCARA-compatibility)
       if (rawx < (X_MIN_POS) || rawx > (X_MAX_POS) || rawy < (Y_MIN_POS) || rawy > (Y_MAX_POS)) {
@@ -1137,7 +1137,7 @@
 
     SERIAL_PROTOCOLPGM("X-Axis Mesh Points at: ");
     for (uint8_t i = 0; i < UBL_MESH_NUM_X_POINTS; i++) {
-      SERIAL_PROTOCOL_F(LOGICAL_X_POSITION(ubl.map_x_index_to_bed_location(i)), 1);
+      SERIAL_PROTOCOL_F(LOGICAL_X_POSITION(ubl.mesh_index_to_xpos[i]), 1);
       SERIAL_PROTOCOLPGM("  ");
       safe_delay(50);
     }
@@ -1145,7 +1145,7 @@
 
     SERIAL_PROTOCOLPGM("Y-Axis Mesh Points at: ");
     for (uint8_t i = 0; i < UBL_MESH_NUM_Y_POINTS; i++) {
-      SERIAL_PROTOCOL_F(LOGICAL_Y_POSITION(ubl.map_y_index_to_bed_location(i)), 1);
+      SERIAL_PROTOCOL_F(LOGICAL_Y_POSITION(ubl.mesh_index_to_ypos[i]), 1);
       SERIAL_PROTOCOLPGM("  ");
       safe_delay(50);
     }
@@ -1283,8 +1283,8 @@
 
           // We only get here if we found a Mesh Point of the specified type
 
-          const float rawx = ubl.map_x_index_to_bed_location(i), // Check if we can probe this mesh location
-                      rawy = ubl.map_y_index_to_bed_location(j);
+          const float rawx = ubl.mesh_index_to_xpos[i], // Check if we can probe this mesh location
+                      rawy = ubl.mesh_index_to_ypos[j];
 
           // If using the probe as the reference there are some unreachable locations.
           // Prune them from the list and ignore them till the next Phase (manual nozzle probing).
@@ -1350,8 +1350,8 @@
       bit_clear(not_done, location.x_index, location.y_index);  // Mark this location as 'adjusted' so we will find a
                                                                 // different location the next time through the loop
 
-      const float rawx = ubl.map_x_index_to_bed_location(location.x_index),
-                  rawy = ubl.map_y_index_to_bed_location(location.y_index);
+      const float rawx = ubl.mesh_index_to_xpos[location.x_index],
+                  rawy = ubl.mesh_index_to_ypos[location.y_index];
 
       // TODO: Change to use `position_is_reachable` (for SCARA-compatibility)
       if (rawx < (X_MIN_POS) || rawx > (X_MAX_POS) || rawy < (Y_MIN_POS) || rawy > (Y_MAX_POS)) { // In theory, we don't need this check.

Marlin/UBL_line_to_destination.cpp

@@ -167,16 +167,16 @@
        * to create a 1-over number for us. That will allow us to do a floating point multiply instead of a floating point divide.
        */
 
-      const float xratio = (RAW_X_POSITION(x_end) - mesh_index_to_x_location[cell_dest_xi]) * (1.0 / (MESH_X_DIST)),
-                  z1 = z_values[cell_dest_xi    ][cell_dest_yi    ] + xratio *
-                      (z_values[cell_dest_xi + 1][cell_dest_yi    ] - z_values[cell_dest_xi][cell_dest_yi    ]),
-                  z2 = z_values[cell_dest_xi    ][cell_dest_yi + 1] + xratio *
-                      (z_values[cell_dest_xi + 1][cell_dest_yi + 1] - z_values[cell_dest_xi][cell_dest_yi + 1]);
+      const float xratio = (RAW_X_POSITION(x_end) - ubl.mesh_index_to_xpos[cell_dest_xi]) * (1.0 / (MESH_X_DIST)),
+                  z1 = ubl.z_values[cell_dest_xi    ][cell_dest_yi    ] + xratio *
+                      (ubl.z_values[cell_dest_xi + 1][cell_dest_yi    ] - ubl.z_values[cell_dest_xi][cell_dest_yi    ]),
+                  z2 = ubl.z_values[cell_dest_xi    ][cell_dest_yi + 1] + xratio *
+                      (ubl.z_values[cell_dest_xi + 1][cell_dest_yi + 1] - ubl.z_values[cell_dest_xi][cell_dest_yi + 1]);
 
       // we are done with the fractional X distance into the cell. Now with the two Z-Heights we have calculated, we
       // are going to apply the Y-Distance into the cell to interpolate the final Z correction.
 
-      const float yratio = (RAW_Y_POSITION(y_end) - mesh_index_to_y_location[cell_dest_yi]) * (1.0 / (MESH_Y_DIST));
+      const float yratio = (RAW_Y_POSITION(y_end) - ubl.mesh_index_to_ypos[cell_dest_yi]) * (1.0 / (MESH_Y_DIST));
 
       float z0 = z1 + (z2 - z1) * yratio;
 
@@ -274,7 +274,7 @@
       current_yi += down_flag;  // Line is heading down, we just want to go to the bottom
       while (current_yi != cell_dest_yi + down_flag) {
         current_yi += dyi;
-        const float next_mesh_line_y = LOGICAL_Y_POSITION(mesh_index_to_y_location[current_yi]);
+        const float next_mesh_line_y = LOGICAL_Y_POSITION(ubl.mesh_index_to_ypos[current_yi]);
 
         /**
          * inf_m_flag? the slope of the line is infinite, we won't do the calculations
@@ -316,7 +316,7 @@
          */
         if (isnan(z0)) z0 = 0.0;
 
-        const float y = LOGICAL_Y_POSITION(mesh_index_to_y_location[current_yi]);
+        const float y = LOGICAL_Y_POSITION(ubl.mesh_index_to_ypos[current_yi]);
 
         /**
          * Without this check, it is possible for the algorithm to generate a zero length move in the case
@@ -365,7 +365,7 @@
                                 // edge of this cell for the first move.
       while (current_xi != cell_dest_xi + left_flag) {
         current_xi += dxi;
-        const float next_mesh_line_x = LOGICAL_X_POSITION(mesh_index_to_x_location[current_xi]),
+        const float next_mesh_line_x = LOGICAL_X_POSITION(ubl.mesh_index_to_xpos[current_xi]),
                     y = m * next_mesh_line_x + c;   // Calculate X at the next Y mesh line
 
         float z0 = ubl.get_z_correction_along_vertical_mesh_line_at_specific_Y(y, current_xi, current_yi);
@@ -401,7 +401,7 @@
          */
         if (isnan(z0)) z0 = 0.0;
 
-        const float x = LOGICAL_X_POSITION(mesh_index_to_x_location[current_xi]);
+        const float x = LOGICAL_X_POSITION(ubl.mesh_index_to_xpos[current_xi]);
 
         /**
          * Without this check, it is possible for the algorithm to generate a zero length move in the case
@@ -451,8 +451,8 @@
 
     while (xi_cnt > 0 || yi_cnt > 0) {
 
-      const float next_mesh_line_x = LOGICAL_X_POSITION(mesh_index_to_x_location[current_xi + dxi]),
-                  next_mesh_line_y = LOGICAL_Y_POSITION(mesh_index_to_y_location[current_yi + dyi]),
+      const float next_mesh_line_x = LOGICAL_X_POSITION(ubl.mesh_index_to_xpos[current_xi + dxi]),
+                  next_mesh_line_y = LOGICAL_Y_POSITION(ubl.mesh_index_to_ypos[current_yi + dyi]),
                   y = m * next_mesh_line_x + c,   // Calculate Y at the next X mesh line
                   x = (next_mesh_line_y - c) / m; // Calculate X at the next Y mesh line    (we don't have to worry
                                                   // about m being equal to 0.0  If this was the case, we would have