Merge pull request #8234 from thinkyhead/bf2_native_operation

[2.0.x] Operate in Native Machine Space

Marlin/src/core/utility.cpp

@@ -365,10 +365,10 @@ void safe_delay(millis_t ms) {
 
       SERIAL_ECHOPGM("Mesh Bed Leveling");
       if (planner.leveling_active) {
-        float lz = current_position[Z_AXIS];
-        planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], lz);
+        float rz = current_position[Z_AXIS];
+        planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], rz);
         SERIAL_ECHOLNPGM(" (enabled)");
-        SERIAL_ECHOPAIR("MBL Adjustment Z", lz);
+        SERIAL_ECHOPAIR("MBL Adjustment Z", rz);
       }
       else
         SERIAL_ECHOPGM(" (disabled)");

Marlin/src/feature/bedlevel/abl/abl.cpp

@@ -259,7 +259,7 @@ void refresh_bed_level() {
 #endif
 
 // Get the Z adjustment for non-linear bed leveling
-float bilinear_z_offset(const float logical[XYZ]) {
+float bilinear_z_offset(const float raw[XYZ]) {
 
   static float z1, d2, z3, d4, L, D, ratio_x, ratio_y,
                last_x = -999.999, last_y = -999.999;
@@ -269,8 +269,8 @@ float bilinear_z_offset(const float logical[XYZ]) {
                 last_gridx = -99, last_gridy = -99;
 
   // XY relative to the probed area
-  const float x = RAW_X_POSITION(logical[X_AXIS]) - bilinear_start[X_AXIS],
-              y = RAW_Y_POSITION(logical[Y_AXIS]) - bilinear_start[Y_AXIS];
+  const float rx = raw[X_AXIS] - bilinear_start[X_AXIS],
+              ry = raw[Y_AXIS] - bilinear_start[Y_AXIS];
 
   #if ENABLED(EXTRAPOLATE_BEYOND_GRID)
     // Keep using the last grid box
@@ -280,9 +280,9 @@ float bilinear_z_offset(const float logical[XYZ]) {
     #define FAR_EDGE_OR_BOX 1
   #endif
 
-  if (last_x != x) {
-    last_x = x;
-    ratio_x = x * ABL_BG_FACTOR(X_AXIS);
+  if (last_x != rx) {
+    last_x = rx;
+    ratio_x = rx * ABL_BG_FACTOR(X_AXIS);
     const float gx = constrain(FLOOR(ratio_x), 0, ABL_BG_POINTS_X - FAR_EDGE_OR_BOX);
     ratio_x -= gx;      // Subtract whole to get the ratio within the grid box
 
@@ -295,11 +295,11 @@ float bilinear_z_offset(const float logical[XYZ]) {
     nextx = min(gridx + 1, ABL_BG_POINTS_X - 1);
   }
 
-  if (last_y != y || last_gridx != gridx) {
+  if (last_y != ry || last_gridx != gridx) {
 
-    if (last_y != y) {
-      last_y = y;
-      ratio_y = y * ABL_BG_FACTOR(Y_AXIS);
+    if (last_y != ry) {
+      last_y = ry;
+      ratio_y = ry * ABL_BG_FACTOR(Y_AXIS);
       const float gy = constrain(FLOOR(ratio_y), 0, ABL_BG_POINTS_Y - FAR_EDGE_OR_BOX);
       ratio_y -= gy;
 
@@ -322,7 +322,7 @@ float bilinear_z_offset(const float logical[XYZ]) {
       d4 = ABL_BG_GRID(nextx, nexty) - z3;  // right-back (delta)
     }
 
-    // Bilinear interpolate. Needed since y or gridx has changed.
+    // Bilinear interpolate. Needed since ry or gridx has changed.
                 L = z1 + d2 * ratio_y;   // Linear interp. LF -> LB
     const float R = z3 + d4 * ratio_y;   // Linear interp. RF -> RB
 
@@ -335,10 +335,10 @@ float bilinear_z_offset(const float logical[XYZ]) {
   static float last_offset = 0;
   if (FABS(last_offset - offset) > 0.2) {
     SERIAL_ECHOPGM("Sudden Shift at ");
-    SERIAL_ECHOPAIR("x=", x);
+    SERIAL_ECHOPAIR("x=", rx);
     SERIAL_ECHOPAIR(" / ", bilinear_grid_spacing[X_AXIS]);
     SERIAL_ECHOLNPAIR(" -> gridx=", gridx);
-    SERIAL_ECHOPAIR(" y=", y);
+    SERIAL_ECHOPAIR(" y=", ry);
     SERIAL_ECHOPAIR(" / ", bilinear_grid_spacing[Y_AXIS]);
     SERIAL_ECHOLNPAIR(" -> gridy=", gridy);
     SERIAL_ECHOPAIR(" ratio_x=", ratio_x);
@@ -390,14 +390,14 @@ float bilinear_z_offset(const float logical[XYZ]) {
     const int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2);
     if (cx2 != cx1 && TEST(x_splits, gcx)) {
       COPY(end, destination);
-      destination[X_AXIS] = LOGICAL_X_POSITION(bilinear_start[X_AXIS] + ABL_BG_SPACING(X_AXIS) * gcx);
+      destination[X_AXIS] = bilinear_start[X_AXIS] + ABL_BG_SPACING(X_AXIS) * gcx;
       normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
       destination[Y_AXIS] = LINE_SEGMENT_END(Y);
       CBI(x_splits, gcx);
     }
     else if (cy2 != cy1 && TEST(y_splits, gcy)) {
       COPY(end, destination);
-      destination[Y_AXIS] = LOGICAL_Y_POSITION(bilinear_start[Y_AXIS] + ABL_BG_SPACING(Y_AXIS) * gcy);
+      destination[Y_AXIS] = bilinear_start[Y_AXIS] + ABL_BG_SPACING(Y_AXIS) * gcy;
       normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
       destination[X_AXIS] = LINE_SEGMENT_END(X);
       CBI(y_splits, gcy);

Marlin/src/feature/bedlevel/abl/abl.h

@@ -32,7 +32,7 @@
   extern int bilinear_grid_spacing[2], bilinear_start[2];
   extern float bilinear_grid_factor[2],
                z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
-  float bilinear_z_offset(const float logical[XYZ]);
+  float bilinear_z_offset(const float raw[XYZ]);
 
   void extrapolate_unprobed_bed_level();
   void print_bilinear_leveling_grid();

Marlin/src/feature/bedlevel/bedlevel.cpp

@@ -256,18 +256,18 @@ void reset_bed_level() {
 
 #if ENABLED(MESH_BED_LEVELING) || ENABLED(PROBE_MANUALLY)
 
-  void _manual_goto_xy(const float &x, const float &y) {
+  void _manual_goto_xy(const float &rx, const float &ry) {
     const float old_feedrate_mm_s = feedrate_mm_s;
     #if MANUAL_PROBE_HEIGHT > 0
       const float prev_z = current_position[Z_AXIS];
       feedrate_mm_s = homing_feedrate(Z_AXIS);
-      current_position[Z_AXIS] = LOGICAL_Z_POSITION(MANUAL_PROBE_HEIGHT);
+      current_position[Z_AXIS] = MANUAL_PROBE_HEIGHT;
       line_to_current_position();
     #endif
 
     feedrate_mm_s = MMM_TO_MMS(XY_PROBE_SPEED);
-    current_position[X_AXIS] = LOGICAL_X_POSITION(x);
-    current_position[Y_AXIS] = LOGICAL_Y_POSITION(y);
+    current_position[X_AXIS] = rx;
+    current_position[Y_AXIS] = ry;
     line_to_current_position();
 
     #if MANUAL_PROBE_HEIGHT > 0

Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.cpp

@@ -57,10 +57,10 @@
    * splitting the move where it crosses mesh borders.
    */
   void mesh_line_to_destination(const float fr_mm_s, uint8_t x_splits, uint8_t y_splits) {
-    int cx1 = mbl.cell_index_x(RAW_CURRENT_POSITION(X)),
-        cy1 = mbl.cell_index_y(RAW_CURRENT_POSITION(Y)),
-        cx2 = mbl.cell_index_x(RAW_X_POSITION(destination[X_AXIS])),
-        cy2 = mbl.cell_index_y(RAW_Y_POSITION(destination[Y_AXIS]));
+    int cx1 = mbl.cell_index_x(current_position[X_AXIS]),
+        cy1 = mbl.cell_index_y(current_position[Y_AXIS]),
+        cx2 = mbl.cell_index_x(destination[X_AXIS]),
+        cy2 = mbl.cell_index_y(destination[Y_AXIS]);
     NOMORE(cx1, GRID_MAX_POINTS_X - 2);
     NOMORE(cy1, GRID_MAX_POINTS_Y - 2);
     NOMORE(cx2, GRID_MAX_POINTS_X - 2);
@@ -81,14 +81,14 @@
     const int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2);
     if (cx2 != cx1 && TEST(x_splits, gcx)) {
       COPY(end, destination);
-      destination[X_AXIS] = LOGICAL_X_POSITION(mbl.index_to_xpos[gcx]);
+      destination[X_AXIS] = mbl.index_to_xpos[gcx];
       normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
       destination[Y_AXIS] = MBL_SEGMENT_END(Y);
       CBI(x_splits, gcx);
     }
     else if (cy2 != cy1 && TEST(y_splits, gcy)) {
       COPY(end, destination);
-      destination[Y_AXIS] = LOGICAL_Y_POSITION(mbl.index_to_ypos[gcy]);
+      destination[Y_AXIS] = mbl.index_to_ypos[gcy];
       normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
       destination[X_AXIS] = MBL_SEGMENT_END(X);
       CBI(y_splits, gcy);

Marlin/src/feature/bedlevel/ubl/G26_Mesh_Validation_Tool.cpp

@@ -276,7 +276,7 @@ void unified_bed_leveling::G26() {
 
       // If this mesh location is outside the printable_radius, skip it.
 
-      if (!position_is_reachable_raw_xy(circle_x, circle_y)) continue;
+      if (!position_is_reachable(circle_x, circle_y)) continue;
 
       xi = location.x_index;  // Just to shrink the next few lines and make them easier to understand
       yi = location.y_index;
@@ -325,16 +325,16 @@ void unified_bed_leveling::G26() {
         if (tmp_div_30 < 0) tmp_div_30 += 360 / 30;
         if (tmp_div_30 > 11) tmp_div_30 -= 360 / 30;
 
-        float x = circle_x + cos_table[tmp_div_30],    // for speed, these are now a lookup table entry
-              y = circle_y + sin_table[tmp_div_30],
+        float rx = circle_x + cos_table[tmp_div_30],    // for speed, these are now a lookup table entry
+              ry = circle_y + sin_table[tmp_div_30],
               xe = circle_x + cos_table[tmp_div_30 + 1],
               ye = circle_y + sin_table[tmp_div_30 + 1];
         #if IS_KINEMATIC
           // Check to make sure this segment is entirely on the bed, skip if not.
-          if (!position_is_reachable_raw_xy(x, y) || !position_is_reachable_raw_xy(xe, ye)) continue;
+          if (!position_is_reachable(rx, ry) || !position_is_reachable(xe, ye)) continue;
         #else                                              // not, we need to skip
-          x  = constrain(x, X_MIN_POS + 1, X_MAX_POS - 1); // This keeps us from bumping the endstops
-          y  = constrain(y, Y_MIN_POS + 1, Y_MAX_POS - 1);
+          rx = constrain(rx, X_MIN_POS + 1, X_MAX_POS - 1); // This keeps us from bumping the endstops
+          ry = constrain(ry, Y_MIN_POS + 1, Y_MAX_POS - 1);
           xe = constrain(xe, X_MIN_POS + 1, X_MAX_POS - 1);
           ye = constrain(ye, Y_MIN_POS + 1, Y_MAX_POS - 1);
         #endif
@@ -350,7 +350,7 @@ void unified_bed_leveling::G26() {
         //  debug_current_and_destination(seg_msg);
         //}
 
-        print_line_from_here_to_there(LOGICAL_X_POSITION(x), LOGICAL_Y_POSITION(y), g26_layer_height, LOGICAL_X_POSITION(xe), LOGICAL_Y_POSITION(ye), g26_layer_height);
+        print_line_from_here_to_there(rx, ry, g26_layer_height, xe, ye, g26_layer_height);
 
       }
       if (look_for_lines_to_connect())
@@ -456,7 +456,7 @@ bool unified_bed_leveling::look_for_lines_to_connect() {
             sy = ey = constrain(mesh_index_to_ypos(j), Y_MIN_POS + 1, Y_MAX_POS - 1);
             ex = constrain(ex, X_MIN_POS + 1, X_MAX_POS - 1);
 
-            if (position_is_reachable_raw_xy(sx, sy) && position_is_reachable_raw_xy(ex, ey)) {
+            if (position_is_reachable(sx, sy) && position_is_reachable(ex, ey)) {
 
               if (g26_debug_flag) {
                 SERIAL_ECHOPAIR(" Connecting with horizontal line (sx=", sx);
@@ -468,7 +468,7 @@ bool unified_bed_leveling::look_for_lines_to_connect() {
                 //debug_current_and_destination(PSTR("Connecting horizontal line."));
               }
 
-              print_line_from_here_to_there(LOGICAL_X_POSITION(sx), LOGICAL_Y_POSITION(sy), g26_layer_height, LOGICAL_X_POSITION(ex), LOGICAL_Y_POSITION(ey), g26_layer_height);
+              print_line_from_here_to_there(sx, sy, g26_layer_height, ex, ey, g26_layer_height);
             }
             bit_set(horizontal_mesh_line_flags, i, j);   // Mark it as done so we don't do it again, even if we skipped it
           }
@@ -490,7 +490,7 @@ bool unified_bed_leveling::look_for_lines_to_connect() {
               sy = constrain(sy, Y_MIN_POS + 1, Y_MAX_POS - 1);
               ey = constrain(ey, Y_MIN_POS + 1, Y_MAX_POS - 1);
 
-              if (position_is_reachable_raw_xy(sx, sy) && position_is_reachable_raw_xy(ex, ey)) {
+              if (position_is_reachable(sx, sy) && position_is_reachable(ex, ey)) {
 
                 if (g26_debug_flag) {
                   SERIAL_ECHOPAIR(" Connecting with vertical line (sx=", sx);
@@ -501,7 +501,7 @@ bool unified_bed_leveling::look_for_lines_to_connect() {
                   SERIAL_EOL();
                   debug_current_and_destination(PSTR("Connecting vertical line."));
                 }
-                print_line_from_here_to_there(LOGICAL_X_POSITION(sx), LOGICAL_Y_POSITION(sy), g26_layer_height, LOGICAL_X_POSITION(ex), LOGICAL_Y_POSITION(ey), g26_layer_height);
+                print_line_from_here_to_there(sx, sy, g26_layer_height, ex, ey, g26_layer_height);
               }
               bit_set(vertical_mesh_line_flags, i, j);   // Mark it as done so we don't do it again, even if skipped
             }
@@ -513,11 +513,11 @@ bool unified_bed_leveling::look_for_lines_to_connect() {
   return false;
 }
 
-void unified_bed_leveling::move_to(const float &x, const float &y, const float &z, const float &e_delta) {
+void unified_bed_leveling::move_to(const float &rx, const float &ry, const float &z, const float &e_delta) {
   float feed_value;
   static float last_z = -999.99;
 
-  bool has_xy_component = (x != current_position[X_AXIS] || y != current_position[Y_AXIS]); // Check if X or Y is involved in the movement.
+  bool has_xy_component = (rx != current_position[X_AXIS] || ry != current_position[Y_AXIS]); // Check if X or Y is involved in the movement.
 
   if (z != last_z) {
     last_z = z;
@@ -540,8 +540,8 @@ void unified_bed_leveling::move_to(const float &x, const float &y, const float &
 
   if (g26_debug_flag) SERIAL_ECHOLNPAIR("in move_to() feed_value for XY:", feed_value);
 
-  destination[X_AXIS] = x;
-  destination[Y_AXIS] = y;
+  destination[X_AXIS] = rx;
+  destination[Y_AXIS] = ry;
   destination[E_AXIS] += e_delta;
 
   G26_line_to_destination(feed_value);
@@ -734,9 +734,9 @@ bool unified_bed_leveling::parse_G26_parameters() {
     return UBL_ERR;
   }
 
-  g26_x_pos = parser.linearval('X', current_position[X_AXIS]);
-  g26_y_pos = parser.linearval('Y', current_position[Y_AXIS]);
-  if (!position_is_reachable_xy(g26_x_pos, g26_y_pos)) {
+  g26_x_pos = parser.seenval('X') ? RAW_X_POSITION(parser.value_linear_units()) : current_position[X_AXIS];
+  g26_y_pos = parser.seenval('Y') ? RAW_X_POSITION(parser.value_linear_units()) : current_position[Y_AXIS];
+  if (!position_is_reachable(g26_x_pos, g26_y_pos)) {
     SERIAL_PROTOCOLLNPGM("?Specified X,Y coordinate out of bounds.");
     return UBL_ERR;
   }

Marlin/src/feature/bedlevel/ubl/ubl.h

@@ -108,14 +108,14 @@ class unified_bed_leveling {
     static bool g29_parameter_parsing();
     static void find_mean_mesh_height();
     static void shift_mesh_height();
-    static void probe_entire_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map, const bool stow_probe, bool do_furthest);
+    static void probe_entire_mesh(const float &rx, const float &ry, const bool do_ubl_mesh_map, const bool stow_probe, bool do_furthest);
     static void manually_probe_remaining_mesh(const float&, const float&, const float&, const float&, const bool);
     static void tilt_mesh_based_on_3pts(const float &z1, const float &z2, const float &z3);
     static void tilt_mesh_based_on_probed_grid(const bool do_ubl_mesh_map);
     static void g29_what_command();
     static void g29_eeprom_dump();
     static void g29_compare_current_mesh_to_stored_mesh();
-    static void fine_tune_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map);
+    static void fine_tune_mesh(const float &rx, const float &ry, const bool do_ubl_mesh_map);
     static bool smart_fill_one(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir);
     static void smart_fill_mesh();
 
@@ -243,12 +243,12 @@ class unified_bed_leveling {
      * z_correction_for_x_on_horizontal_mesh_line is an optimization for
      * the case where the printer is making a vertical line that only crosses horizontal mesh lines.
      */
-    inline static float z_correction_for_x_on_horizontal_mesh_line(const float &lx0, const int x1_i, const int yi) {
+    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(lx0=", lx0);
+            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(')');
@@ -258,7 +258,7 @@ class unified_bed_leveling {
         return NAN;
       }
 
-      const float xratio = (RAW_X_POSITION(lx0) - mesh_index_to_xpos(x1_i)) * (1.0 / (MESH_X_DIST)),
+      const float xratio = (rx0 - mesh_index_to_xpos(x1_i)) * (1.0 / (MESH_X_DIST)),
                   z1 = z_values[x1_i][yi];
 
       return z1 + xratio * (z_values[x1_i + 1][yi] - z1);
@@ -267,12 +267,12 @@ class unified_bed_leveling {
     //
     // See comments above for z_correction_for_x_on_horizontal_mesh_line
     //
-    inline static float z_correction_for_y_on_vertical_mesh_line(const float &ly0, const int xi, const int y1_i) {
+    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(ly0=", ly0);
+            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(')');
@@ -282,7 +282,7 @@ class unified_bed_leveling {
         return NAN;
       }
 
-      const float yratio = (RAW_Y_POSITION(ly0) - mesh_index_to_ypos(y1_i)) * (1.0 / (MESH_Y_DIST)),
+      const float yratio = (ry0 - mesh_index_to_ypos(y1_i)) * (1.0 / (MESH_Y_DIST)),
                   z1 = z_values[xi][y1_i];
 
       return z1 + yratio * (z_values[xi][y1_i + 1] - z1);
@@ -294,14 +294,14 @@ class unified_bed_leveling {
      * 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 &lx0, const float &ly0) {
-      const int8_t cx = get_cell_index_x(RAW_X_POSITION(lx0)),
-                   cy = get_cell_index_y(RAW_Y_POSITION(ly0));
+    static float get_z_correction(const float &rx0, const float &ry0) {
+      const int8_t cx = get_cell_index_x(rx0),
+                   cy = get_cell_index_y(ry0);
 
       if (!WITHIN(cx, 0, GRID_MAX_POINTS_X - 2) || !WITHIN(cy, 0, GRID_MAX_POINTS_Y - 2)) {
 
-        SERIAL_ECHOPAIR("? in get_z_correction(lx0=", lx0);
-        SERIAL_ECHOPAIR(", ly0=", ly0);
+        SERIAL_ECHOPAIR("? in get_z_correction(rx0=", rx0);
+        SERIAL_ECHOPAIR(", ry0=", ry0);
         SERIAL_CHAR(')');
         SERIAL_EOL();
 
@@ -312,23 +312,23 @@ class unified_bed_leveling {
         return NAN;
       }
 
-      const float z1 = calc_z0(RAW_X_POSITION(lx0),
+      const float z1 = calc_z0(rx0,
                                mesh_index_to_xpos(cx), z_values[cx][cy],
                                mesh_index_to_xpos(cx + 1), z_values[cx + 1][cy]);
 
-      const float z2 = calc_z0(RAW_X_POSITION(lx0),
+      const float z2 = calc_z0(rx0,
                                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(ly0),
+      float z0 = calc_z0(ry0,
                          mesh_index_to_ypos(cy), z1,
                          mesh_index_to_ypos(cy + 1), z2);
 
       #if ENABLED(DEBUG_LEVELING_FEATURE)
         if (DEBUGGING(MESH_ADJUST)) {
-          SERIAL_ECHOPAIR(" raw get_z_correction(", lx0);
+          SERIAL_ECHOPAIR(" raw get_z_correction(", rx0);
           SERIAL_CHAR(',');
-          SERIAL_ECHO(ly0);
+          SERIAL_ECHO(ry0);
           SERIAL_ECHOPGM(") = ");
           SERIAL_ECHO_F(z0, 6);
         }
@@ -350,9 +350,9 @@ class unified_bed_leveling {
 
         #if ENABLED(DEBUG_LEVELING_FEATURE)
           if (DEBUGGING(MESH_ADJUST)) {
-            SERIAL_ECHOPAIR("??? Yikes!  NAN in get_z_correction(", lx0);
+            SERIAL_ECHOPAIR("??? Yikes!  NAN in get_z_correction(", rx0);
             SERIAL_CHAR(',');
-            SERIAL_ECHO(ly0);
+            SERIAL_ECHO(ry0);
             SERIAL_CHAR(')');
             SERIAL_EOL();
           }
@@ -369,7 +369,7 @@ class unified_bed_leveling {
       return i < GRID_MAX_POINTS_Y ? pgm_read_float(&_mesh_index_to_ypos[i]) : MESH_MIN_Y + i * (MESH_Y_DIST);
     }
 
-    static bool prepare_segmented_line_to(const float ltarget[XYZE], const float &feedrate);
+    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])

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

@@ -393,11 +393,11 @@
           restore_ubl_active_state_and_leave();
         }
         else { // grid_size == 0 : A 3-Point leveling has been requested
-          float z3, z2, z1 = probe_pt(LOGICAL_X_POSITION(UBL_PROBE_PT_1_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_1_Y), false, g29_verbose_level);
+          float z3, z2, z1 = probe_pt(UBL_PROBE_PT_1_X, UBL_PROBE_PT_1_Y, false, g29_verbose_level);
           if (!isnan(z1)) {
-            z2 = probe_pt(LOGICAL_X_POSITION(UBL_PROBE_PT_2_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_2_Y), false, g29_verbose_level);
+            z2 = probe_pt(UBL_PROBE_PT_2_X, UBL_PROBE_PT_2_Y, false, g29_verbose_level);
             if (!isnan(z2))
-              z3 = probe_pt(LOGICAL_X_POSITION(UBL_PROBE_PT_3_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_3_Y), true, g29_verbose_level);
+              z3 = probe_pt(UBL_PROBE_PT_3_X, UBL_PROBE_PT_3_Y, true, g29_verbose_level);
           }
 
           if (isnan(z1) || isnan(z2) || isnan(z3)) { // probe_pt will return NAN if unreachable
@@ -411,9 +411,9 @@
           // its height is.)
 
           save_ubl_active_state_and_disable();
-          z1 -= get_z_correction(LOGICAL_X_POSITION(UBL_PROBE_PT_1_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_1_Y)) /* + zprobe_zoffset */ ;
-          z2 -= get_z_correction(LOGICAL_X_POSITION(UBL_PROBE_PT_2_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_2_Y)) /* + zprobe_zoffset */ ;
-          z3 -= get_z_correction(LOGICAL_X_POSITION(UBL_PROBE_PT_3_X), LOGICAL_Y_POSITION(UBL_PROBE_PT_3_Y)) /* + zprobe_zoffset */ ;
+          z1 -= get_z_correction(UBL_PROBE_PT_1_X, UBL_PROBE_PT_1_Y) /* + zprobe_zoffset */ ;
+          z2 -= get_z_correction(UBL_PROBE_PT_2_X, UBL_PROBE_PT_2_Y) /* + zprobe_zoffset */ ;
+          z3 -= get_z_correction(UBL_PROBE_PT_3_X, UBL_PROBE_PT_3_Y) /* + zprobe_zoffset */ ;
 
           do_blocking_move_to_xy(0.5 * (MESH_MAX_X - (MESH_MIN_X)), 0.5 * (MESH_MAX_Y - (MESH_MIN_Y)));
           tilt_mesh_based_on_3pts(z1, z2, z3);
@@ -497,7 +497,7 @@
               }
             }
 
-            if (!position_is_reachable_xy(g29_x_pos, g29_y_pos)) {
+            if (!position_is_reachable(g29_x_pos, g29_y_pos)) {
               SERIAL_PROTOCOLLNPGM("XY outside printable radius.");
               return;
             }
@@ -734,7 +734,7 @@
      * Probe all invalidated locations of the mesh that can be reached by the probe.
      * This attempts to fill in locations closest to the nozzle's start location first.
      */
-    void unified_bed_leveling::probe_entire_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map, const bool stow_probe, bool close_or_far) {
+    void unified_bed_leveling::probe_entire_mesh(const float &rx, const float &ry, const bool do_ubl_mesh_map, const bool stow_probe, bool close_or_far) {
       mesh_index_pair location;
 
       has_control_of_lcd_panel = true;
@@ -762,13 +762,13 @@
         if (close_or_far)
           location = find_furthest_invalid_mesh_point();
         else
-          location = find_closest_mesh_point_of_type(INVALID, lx, ly, USE_PROBE_AS_REFERENCE, NULL);
+          location = find_closest_mesh_point_of_type(INVALID, rx, ry, USE_PROBE_AS_REFERENCE, NULL);
 
         if (location.x_index >= 0) {    // mesh point found and is reachable by probe
           const float rawx = mesh_index_to_xpos(location.x_index),
                       rawy = mesh_index_to_ypos(location.y_index);
 
-          const float measured_z = probe_pt(LOGICAL_X_POSITION(rawx), LOGICAL_Y_POSITION(rawy), stow_probe, g29_verbose_level); // TODO: Needs error handling
+          const float measured_z = probe_pt(rawx, rawy, stow_probe, g29_verbose_level); // TODO: Needs error handling
           z_values[location.x_index][location.y_index] = measured_z;
         }
 
@@ -778,8 +778,8 @@
       restore_ubl_active_state_and_leave();
 
       do_blocking_move_to_xy(
-        constrain(lx - (X_PROBE_OFFSET_FROM_EXTRUDER), MESH_MIN_X, MESH_MAX_X),
-        constrain(ly - (Y_PROBE_OFFSET_FROM_EXTRUDER), MESH_MIN_Y, MESH_MAX_Y)
+        constrain(rx - (X_PROBE_OFFSET_FROM_EXTRUDER), MESH_MIN_X, MESH_MAX_X),
+        constrain(ry - (Y_PROBE_OFFSET_FROM_EXTRUDER), MESH_MIN_Y, MESH_MAX_Y)
       );
     }
 
@@ -953,28 +953,26 @@
       return thickness;
     }
 
-    void unified_bed_leveling::manually_probe_remaining_mesh(const float &lx, const float &ly, const float &z_clearance, const float &thick, const bool do_ubl_mesh_map) {
+    void unified_bed_leveling::manually_probe_remaining_mesh(const float &rx, const float &ry, const float &z_clearance, const float &thick, const bool do_ubl_mesh_map) {
 
       has_control_of_lcd_panel = true;
 
       save_ubl_active_state_and_disable();   // we don't do bed level correction because we want the raw data when we probe
       do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
-      do_blocking_move_to_xy(lx, ly);
+      do_blocking_move_to_xy(rx, ry);
 
       lcd_return_to_status();
 
       mesh_index_pair location;
       do {
-        location = find_closest_mesh_point_of_type(INVALID, lx, ly, USE_NOZZLE_AS_REFERENCE, NULL);
+        location = find_closest_mesh_point_of_type(INVALID, rx, ry, USE_NOZZLE_AS_REFERENCE, NULL);
         // 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 = mesh_index_to_xpos(location.x_index),
-                    rawy = mesh_index_to_ypos(location.y_index),
-                    xProbe = LOGICAL_X_POSITION(rawx),
-                    yProbe = LOGICAL_Y_POSITION(rawy);
+        const float xProbe = mesh_index_to_xpos(location.x_index),
+                    yProbe = mesh_index_to_ypos(location.y_index);
 
-        if (!position_is_reachable_raw_xy(rawx, rawy)) break; // SHOULD NOT OCCUR (find_closest_mesh_point only returns reachable points)
+        if (!position_is_reachable(xProbe, yProbe)) break; // SHOULD NOT OCCUR (find_closest_mesh_point only returns reachable points)
 
         do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
 
@@ -1038,7 +1036,7 @@
       restore_ubl_active_state_and_leave();
       KEEPALIVE_STATE(IN_HANDLER);
       do_blocking_move_to_z(Z_CLEARANCE_DEPLOY_PROBE);
-      do_blocking_move_to_xy(lx, ly);
+      do_blocking_move_to_xy(rx, ry);
     }
 
   #endif // NEWPANEL
@@ -1111,8 +1109,8 @@
     }
 
     // If X or Y are not valid, use center of the bed values
-    if (!WITHIN(RAW_X_POSITION(g29_x_pos), X_MIN_BED, X_MAX_BED)) g29_x_pos = LOGICAL_X_POSITION(X_CENTER);
-    if (!WITHIN(RAW_Y_POSITION(g29_y_pos), Y_MIN_BED, Y_MAX_BED)) g29_y_pos = LOGICAL_Y_POSITION(Y_CENTER);
+    if (!WITHIN(g29_x_pos, X_MIN_BED, X_MAX_BED)) g29_x_pos = X_CENTER;
+    if (!WITHIN(g29_y_pos, Y_MIN_BED, Y_MAX_BED)) g29_y_pos = Y_CENTER;
 
     if (err_flag) return UBL_ERR;
 
@@ -1365,7 +1363,7 @@
           const float mx = mesh_index_to_xpos(i),
                       my = mesh_index_to_ypos(j);
 
-          if ( !position_is_reachable_by_probe_raw_xy(mx, my))  // make sure the probe can get to the mesh point
+          if ( !position_is_reachable_by_probe(mx, my))  // make sure the probe can get to the mesh point
             continue;
 
           found_a_NAN = true;
@@ -1413,14 +1411,14 @@
     return out_mesh;
   }
 
-  mesh_index_pair unified_bed_leveling::find_closest_mesh_point_of_type(const MeshPointType type, const float &lx, const float &ly, const bool probe_as_reference, uint16_t bits[16]) {
+  mesh_index_pair unified_bed_leveling::find_closest_mesh_point_of_type(const MeshPointType type, const float &rx, const float &ry, const bool probe_as_reference, uint16_t bits[16]) {
     mesh_index_pair out_mesh;
     out_mesh.x_index = out_mesh.y_index = -1;
     out_mesh.distance = -99999.9;
 
     // Get our reference position. Either the nozzle or probe location.
-    const float px = RAW_X_POSITION(lx) - (probe_as_reference == USE_PROBE_AS_REFERENCE ? X_PROBE_OFFSET_FROM_EXTRUDER : 0),
-                py = RAW_Y_POSITION(ly) - (probe_as_reference == USE_PROBE_AS_REFERENCE ? Y_PROBE_OFFSET_FROM_EXTRUDER : 0);
+    const float px = rx - (probe_as_reference == USE_PROBE_AS_REFERENCE ? X_PROBE_OFFSET_FROM_EXTRUDER : 0),
+                py = ry - (probe_as_reference == USE_PROBE_AS_REFERENCE ? Y_PROBE_OFFSET_FROM_EXTRUDER : 0);
 
     float best_so_far = 99999.99;
 
@@ -1433,7 +1431,6 @@
         ) {
           // We only get here if we found a Mesh Point of the specified type
 
-          float raw_x = RAW_CURRENT_POSITION(X), raw_y = RAW_CURRENT_POSITION(Y);
           const float mx = mesh_index_to_xpos(i),
                       my = mesh_index_to_ypos(j);
 
@@ -1441,7 +1438,7 @@
           // Also for round beds, there are grid points outside the bed the nozzle can't reach.
           // Prune them from the list and ignore them till the next Phase (manual nozzle probing).
 
-          if (probe_as_reference ? !position_is_reachable_by_probe_raw_xy(mx, my) : !position_is_reachable_raw_xy(mx, my))
+          if (probe_as_reference ? !position_is_reachable_by_probe(mx, my) : !position_is_reachable(mx, my))
             continue;
 
           // Reachable. Check if it's the best_so_far location to the nozzle.
@@ -1450,7 +1447,7 @@
 
           // factor in the distance from the current location for the normal case
           // so the nozzle isn't running all over the bed.
-          distance += HYPOT(raw_x - mx, raw_y - my) * 0.1;
+          distance += HYPOT(current_position[X_AXIS] - mx, current_position[Y_AXIS] - my) * 0.1;
           if (distance < best_so_far) {
             best_so_far = distance;   // We found a closer location with
             out_mesh.x_index = i;     // the specified type of mesh value.
@@ -1465,7 +1462,7 @@
 
   #if ENABLED(NEWPANEL)
 
-    void unified_bed_leveling::fine_tune_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map) {
+    void unified_bed_leveling::fine_tune_mesh(const float &rx, const float &ry, const bool do_ubl_mesh_map) {
       if (!parser.seen('R'))    // fine_tune_mesh() is special. If no repetition count flag is specified
         g29_repetition_cnt = 1;   // do exactly one mesh location. Otherwise use what the parser decided.
 
@@ -1480,7 +1477,7 @@
 
       mesh_index_pair location;
 
-      if (!position_is_reachable_xy(lx, ly)) {
+      if (!position_is_reachable(rx, ry)) {
         SERIAL_PROTOCOLLNPGM("(X,Y) outside printable radius.");
         return;
       }
@@ -1490,12 +1487,12 @@
       LCD_MESSAGEPGM(MSG_UBL_FINE_TUNE_MESH);
 
       do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
-      do_blocking_move_to_xy(lx, ly);
+      do_blocking_move_to_xy(rx, ry);
 
       uint16_t not_done[16];
       memset(not_done, 0xFF, sizeof(not_done));
       do {
-        location = find_closest_mesh_point_of_type(SET_IN_BITMAP, lx, ly, USE_NOZZLE_AS_REFERENCE, not_done);
+        location = find_closest_mesh_point_of_type(SET_IN_BITMAP, rx, ry, USE_NOZZLE_AS_REFERENCE, not_done);
 
         if (location.x_index < 0) break; // stop when we can't find any more reachable points.
 
@@ -1505,7 +1502,7 @@
         const float rawx = mesh_index_to_xpos(location.x_index),
                     rawy = mesh_index_to_ypos(location.y_index);
 
-        if (!position_is_reachable_raw_xy(rawx, rawy)) // SHOULD NOT OCCUR because find_closest_mesh_point_of_type will only return reachable
+        if (!position_is_reachable(rawx, rawy)) // SHOULD NOT OCCUR because find_closest_mesh_point_of_type will only return reachable
           break;
 
         float new_z = z_values[location.x_index][location.y_index];
@@ -1514,7 +1511,7 @@
           new_z = 0.0;
 
         do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);    // Move the nozzle to where we are going to edit
-        do_blocking_move_to_xy(LOGICAL_X_POSITION(rawx), LOGICAL_Y_POSITION(rawy));
+        do_blocking_move_to_xy(rawx, rawy);
 
         new_z = FLOOR(new_z * 1000.0) * 0.001; // Chop off digits after the 1000ths place
 
@@ -1576,7 +1573,7 @@
       restore_ubl_active_state_and_leave();
       do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
 
-      do_blocking_move_to_xy(lx, ly);
+      do_blocking_move_to_xy(rx, ry);
 
       LCD_MESSAGEPGM(MSG_UBL_DONE_EDITING_MESH);
       SERIAL_ECHOLNPGM("Done Editing Mesh");
@@ -1654,29 +1651,29 @@
 
       bool zig_zag = false;
       for (uint8_t ix = 0; ix < g29_grid_size; ix++) {
-        const float x = float(x_min) + ix * dx;
+        const float rx = float(x_min) + ix * dx;
         for (int8_t iy = 0; iy < g29_grid_size; iy++) {
-          const float y = float(y_min) + dy * (zig_zag ? g29_grid_size - 1 - iy : iy);
-          float measured_z = probe_pt(LOGICAL_X_POSITION(x), LOGICAL_Y_POSITION(y), parser.seen('E'), g29_verbose_level); // TODO: Needs error handling
+          const float ry = float(y_min) + dy * (zig_zag ? g29_grid_size - 1 - iy : iy);
+          float measured_z = probe_pt(rx, ry, parser.seen('E'), g29_verbose_level); // TODO: Needs error handling
           #if ENABLED(DEBUG_LEVELING_FEATURE)
             if (DEBUGGING(LEVELING)) {
               SERIAL_CHAR('(');
-              SERIAL_PROTOCOL_F(x, 7);
+              SERIAL_PROTOCOL_F(rx, 7);
               SERIAL_CHAR(',');
-              SERIAL_PROTOCOL_F(y, 7);
+              SERIAL_PROTOCOL_F(ry, 7);
               SERIAL_ECHOPGM(")   logical: ");
               SERIAL_CHAR('(');
-              SERIAL_PROTOCOL_F(LOGICAL_X_POSITION(x), 7);
+              SERIAL_PROTOCOL_F(LOGICAL_X_POSITION(rx), 7);
               SERIAL_CHAR(',');
-              SERIAL_PROTOCOL_F(LOGICAL_X_POSITION(y), 7);
+              SERIAL_PROTOCOL_F(LOGICAL_X_POSITION(ry), 7);
               SERIAL_ECHOPGM(")   measured: ");
               SERIAL_PROTOCOL_F(measured_z, 7);
               SERIAL_ECHOPGM("   correction: ");
-              SERIAL_PROTOCOL_F(get_z_correction(LOGICAL_X_POSITION(x), LOGICAL_Y_POSITION(y)), 7);
+              SERIAL_PROTOCOL_F(get_z_correction(rx, ry), 7);
             }
           #endif
 
-          measured_z -= get_z_correction(LOGICAL_X_POSITION(x), LOGICAL_Y_POSITION(y)) /* + zprobe_zoffset */ ;
+          measured_z -= get_z_correction(rx, ry) /* + zprobe_zoffset */ ;
 
           #if ENABLED(DEBUG_LEVELING_FEATURE)
             if (DEBUGGING(LEVELING)) {
@@ -1686,7 +1683,7 @@
             }
           #endif
 
-          incremental_LSF(&lsf_results, x, y, measured_z);
+          incremental_LSF(&lsf_results, rx, ry, measured_z);
         }
 
         zig_zag ^= true;

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

@@ -112,10 +112,10 @@
                   destination[E_AXIS]
                 };
 
-    const int cell_start_xi = get_cell_index_x(RAW_X_POSITION(start[X_AXIS])),
-              cell_start_yi = get_cell_index_y(RAW_Y_POSITION(start[Y_AXIS])),
-              cell_dest_xi  = get_cell_index_x(RAW_X_POSITION(end[X_AXIS])),
-              cell_dest_yi  = get_cell_index_y(RAW_Y_POSITION(end[Y_AXIS]));
+    const int cell_start_xi = get_cell_index_x(start[X_AXIS]),
+              cell_start_yi = get_cell_index_y(start[Y_AXIS]),
+              cell_dest_xi  = get_cell_index_x(end[X_AXIS]),
+              cell_dest_yi  = get_cell_index_y(end[Y_AXIS]);
 
     if (g26_debug_flag) {
       SERIAL_ECHOPAIR(" ubl.line_to_destination(xe=", end[X_AXIS]);
@@ -160,7 +160,7 @@
        * 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(end[X_AXIS]) - mesh_index_to_xpos(cell_dest_xi)) * (1.0 / (MESH_X_DIST));
+      const float xratio = (end[X_AXIS] - mesh_index_to_xpos(cell_dest_xi)) * (1.0 / (MESH_X_DIST));
 
       float 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    ]),
@@ -172,7 +172,7 @@
       // 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(end[Y_AXIS]) - mesh_index_to_ypos(cell_dest_yi)) * (1.0 / (MESH_Y_DIST));
+      const float yratio = (end[Y_AXIS] - mesh_index_to_ypos(cell_dest_yi)) * (1.0 / (MESH_Y_DIST));
       float z0 = cell_dest_yi < GRID_MAX_POINTS_Y - 1 ? (z1 + (z2 - z1) * yratio) * planner.fade_scaling_factor_for_z(end[Z_AXIS]) : 0.0;
 
       /**
@@ -248,16 +248,16 @@
       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_ypos(current_yi));
+        const float next_mesh_line_y = mesh_index_to_ypos(current_yi);
 
         /**
          * if the slope of the line is infinite, we won't do the calculations
          * else, we know the next X is the same so we can recover and continue!
          * Calculate X at the next Y mesh line
          */
-        const float x = inf_m_flag ? start[X_AXIS] : (next_mesh_line_y - c) / m;
+        const float rx = inf_m_flag ? start[X_AXIS] : (next_mesh_line_y - c) / m;
 
-        float z0 = z_correction_for_x_on_horizontal_mesh_line(x, current_xi, current_yi)
+        float z0 = z_correction_for_x_on_horizontal_mesh_line(rx, current_xi, current_yi)
                    * planner.fade_scaling_factor_for_z(end[Z_AXIS]);
 
         /**
@@ -269,7 +269,7 @@
          */
         if (isnan(z0)) z0 = 0.0;
 
-        const float y = LOGICAL_Y_POSITION(mesh_index_to_ypos(current_yi));
+        const float ry = mesh_index_to_ypos(current_yi);
 
         /**
          * Without this check, it is possible for the algorithm to generate a zero length move in the case
@@ -277,9 +277,9 @@
          * happens, it might be best to remove the check and always 'schedule' the move because
          * the planner._buffer_line() routine will filter it if that happens.
          */
-        if (y != start[Y_AXIS]) {
+        if (ry != start[Y_AXIS]) {
           if (!inf_normalized_flag) {
-            on_axis_distance = use_x_dist ? x - start[X_AXIS] : y - start[Y_AXIS];
+            on_axis_distance = use_x_dist ? rx - start[X_AXIS] : ry - start[Y_AXIS];
             e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist;
             z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist;
           }
@@ -288,7 +288,7 @@
             z_position = end[Z_AXIS];
           }
 
-          planner._buffer_line(x, y, z_position + z0, e_position, feed_rate, extruder);
+          planner._buffer_line(rx, ry, z_position + z0, e_position, feed_rate, extruder);
         } //else printf("FIRST MOVE PRUNED  ");
       }
 
@@ -318,10 +318,10 @@
                                 // 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_xpos(current_xi)),
-                    y = m * next_mesh_line_x + c;   // Calculate Y at the next X mesh line
+        const float next_mesh_line_x = mesh_index_to_xpos(current_xi),
+                    ry = m * next_mesh_line_x + c;   // Calculate Y at the next X mesh line
 
-        float z0 = z_correction_for_y_on_vertical_mesh_line(y, current_xi, current_yi)
+        float z0 = z_correction_for_y_on_vertical_mesh_line(ry, current_xi, current_yi)
                    * planner.fade_scaling_factor_for_z(end[Z_AXIS]);
 
         /**
@@ -333,7 +333,7 @@
          */
         if (isnan(z0)) z0 = 0.0;
 
-        const float x = LOGICAL_X_POSITION(mesh_index_to_xpos(current_xi));
+        const float rx = mesh_index_to_xpos(current_xi);
 
         /**
          * Without this check, it is possible for the algorithm to generate a zero length move in the case
@@ -341,9 +341,9 @@
          * that happens, it might be best to remove the check and always 'schedule' the move because
          * the planner._buffer_line() routine will filter it if that happens.
          */
-        if (x != start[X_AXIS]) {
+        if (rx != start[X_AXIS]) {
           if (!inf_normalized_flag) {
-            on_axis_distance = use_x_dist ? x - start[X_AXIS] : y - start[Y_AXIS];
+            on_axis_distance = use_x_dist ? rx - start[X_AXIS] : ry - start[Y_AXIS];
             e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist;  // is based on X or Y because this is a horizontal move
             z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist;
           }
@@ -352,7 +352,7 @@
             z_position = end[Z_AXIS];
           }
 
-          planner._buffer_line(x, y, z_position + z0, e_position, feed_rate, extruder);
+          planner._buffer_line(rx, ry, z_position + z0, e_position, feed_rate, extruder);
         } //else printf("FIRST MOVE PRUNED  ");
       }
 
@@ -383,17 +383,17 @@
 
     while (xi_cnt > 0 || yi_cnt > 0) {
 
-      const float next_mesh_line_x = LOGICAL_X_POSITION(mesh_index_to_xpos(current_xi + dxi)),
-                  next_mesh_line_y = LOGICAL_Y_POSITION(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
-                                                  // (No need to worry about m being zero.
-                                                  //  If that was the case, it was already detected
-                                                  //  as a vertical line move above.)
+      const float next_mesh_line_x = mesh_index_to_xpos(current_xi + dxi),
+                  next_mesh_line_y = mesh_index_to_ypos(current_yi + dyi),
+                  ry = m * next_mesh_line_x + c,   // Calculate Y at the next X mesh line
+                  rx = (next_mesh_line_y - c) / m; // Calculate X at the next Y mesh line
+                                                   // (No need to worry about m being zero.
+                                                   //  If that was the case, it was already detected
+                                                   //  as a vertical line move above.)
 
-      if (left_flag == (x > next_mesh_line_x)) { // Check if we hit the Y line first
+      if (left_flag == (rx > next_mesh_line_x)) { // Check if we hit the Y line first
         // Yes!  Crossing a Y Mesh Line next
-        float z0 = z_correction_for_x_on_horizontal_mesh_line(x, current_xi - left_flag, current_yi + dyi)
+        float z0 = z_correction_for_x_on_horizontal_mesh_line(rx, current_xi - left_flag, current_yi + dyi)
                    * planner.fade_scaling_factor_for_z(end[Z_AXIS]);
 
         /**
@@ -406,7 +406,7 @@
         if (isnan(z0)) z0 = 0.0;
 
         if (!inf_normalized_flag) {
-          on_axis_distance = use_x_dist ? x - start[X_AXIS] : next_mesh_line_y - start[Y_AXIS];
+          on_axis_distance = use_x_dist ? rx - start[X_AXIS] : next_mesh_line_y - start[Y_AXIS];
           e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist;
           z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist;
         }
@@ -414,13 +414,13 @@
           e_position = end[E_AXIS];
           z_position = end[Z_AXIS];
         }
-        planner._buffer_line(x, next_mesh_line_y, z_position + z0, e_position, feed_rate, extruder);
+        planner._buffer_line(rx, next_mesh_line_y, z_position + z0, e_position, feed_rate, extruder);
         current_yi += dyi;
         yi_cnt--;
       }
       else {
         // Yes!  Crossing a X Mesh Line next
-        float z0 = z_correction_for_y_on_vertical_mesh_line(y, current_xi + dxi, current_yi - down_flag)
+        float z0 = z_correction_for_y_on_vertical_mesh_line(ry, current_xi + dxi, current_yi - down_flag)
                    * planner.fade_scaling_factor_for_z(end[Z_AXIS]);
 
         /**
@@ -433,7 +433,7 @@
         if (isnan(z0)) z0 = 0.0;
 
         if (!inf_normalized_flag) {
-          on_axis_distance = use_x_dist ? next_mesh_line_x - start[X_AXIS] : y - start[Y_AXIS];
+          on_axis_distance = use_x_dist ? next_mesh_line_x - start[X_AXIS] : ry - start[Y_AXIS];
           e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist;
           z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist;
         }
@@ -442,7 +442,7 @@
           z_position = end[Z_AXIS];
         }
 
-        planner._buffer_line(next_mesh_line_x, y, z_position + z0, e_position, feed_rate, extruder);
+        planner._buffer_line(next_mesh_line_x, ry, z_position + z0, e_position, feed_rate, extruder);
         current_xi += dxi;
         xi_cnt--;
       }
@@ -476,7 +476,7 @@
     // We don't want additional apply_leveling() performed by regular buffer_line or buffer_line_kinematic,
     // so we call _buffer_line directly here.  Per-segmented leveling and kinematics performed first.
 
-    inline void _O2 ubl_buffer_segment_raw( float rx, float ry, float rz, float le, float fr ) {
+    inline void _O2 ubl_buffer_segment_raw(const float &rx, const float &ry, const float rz, const float &e, const float &fr) {
 
       #if ENABLED(DELTA)  // apply delta inverse_kinematics
 
@@ -492,14 +492,11 @@
                                          - HYPOT2( delta_tower[C_AXIS][X_AXIS] - rx,
                                                    delta_tower[C_AXIS][Y_AXIS] - ry ));
 
-        planner._buffer_line(delta_A, delta_B, delta_C, le, fr, active_extruder);
+        planner._buffer_line(delta_A, delta_B, delta_C, e, fr, active_extruder);
 
       #elif IS_SCARA  // apply scara inverse_kinematics (should be changed to save raw->logical->raw)
 
-        const float lseg[XYZ] = { LOGICAL_X_POSITION(rx),
-                                  LOGICAL_Y_POSITION(ry),
-                                  LOGICAL_Z_POSITION(rz)
-                                };
+        const float lseg[XYZ] = { rx, ry, rz };
 
         inverse_kinematics(lseg); // this writes delta[ABC] from lseg[XYZ]
                                   // should move the feedrate scaling to scara inverse_kinematics
@@ -510,17 +507,11 @@
         scara_oldB = delta[B_AXIS];
         float s_feedrate = max(adiff, bdiff) * scara_feed_factor;
 
-        planner._buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], le, s_feedrate, active_extruder);
+        planner._buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], e, s_feedrate, active_extruder);
 
       #else // CARTESIAN
 
-        // Cartesian _buffer_line seems to take LOGICAL, not RAW coordinates
-
-        const float lx = LOGICAL_X_POSITION(rx),
-                    ly = LOGICAL_Y_POSITION(ry),
-                    lz = LOGICAL_Z_POSITION(rz);
-
-        planner._buffer_line(lx, ly, lz, le, fr, active_extruder);
+        planner._buffer_line(rx, ry, rz, e, fr, active_extruder);
 
       #endif
 
@@ -533,15 +524,15 @@
      * Returns true if did NOT move, false if moved (requires current_position update).
      */
 
-    bool _O2 unified_bed_leveling::prepare_segmented_line_to(const float ltarget[XYZE], const float &feedrate) {
+    bool _O2 unified_bed_leveling::prepare_segmented_line_to(const float rtarget[XYZE], const float &feedrate) {
 
-      if (!position_is_reachable_xy(ltarget[X_AXIS], ltarget[Y_AXIS]))  // fail if moving outside reachable boundary
+      if (!position_is_reachable(rtarget[X_AXIS], rtarget[Y_AXIS]))  // fail if moving outside reachable boundary
         return true; // did not move, so current_position still accurate
 
-      const float tot_dx = ltarget[X_AXIS] - current_position[X_AXIS],
-                  tot_dy = ltarget[Y_AXIS] - current_position[Y_AXIS],
-                  tot_dz = ltarget[Z_AXIS] - current_position[Z_AXIS],
-                  tot_de = ltarget[E_AXIS] - current_position[E_AXIS];
+      const float tot_dx = rtarget[X_AXIS] - current_position[X_AXIS],
+                  tot_dy = rtarget[Y_AXIS] - current_position[Y_AXIS],
+                  tot_dz = rtarget[Z_AXIS] - current_position[Z_AXIS],
+                  tot_de = rtarget[E_AXIS] - current_position[E_AXIS];
 
       const float cartesian_xy_mm = HYPOT(tot_dx, tot_dy);  // total horizontal xy distance
 
@@ -571,14 +562,14 @@
       // Note that E segment distance could vary slightly as z mesh height
       // changes for each segment, but small enough to ignore.
 
-      float seg_rx = RAW_X_POSITION(current_position[X_AXIS]),
-            seg_ry = RAW_Y_POSITION(current_position[Y_AXIS]),
-            seg_rz = RAW_Z_POSITION(current_position[Z_AXIS]),
+      float seg_rx = current_position[X_AXIS],
+            seg_ry = current_position[Y_AXIS],
+            seg_rz = current_position[Z_AXIS],
             seg_le = current_position[E_AXIS];
 
       // Only compute leveling per segment if ubl active and target below z_fade_height.
 
-      if (!planner.leveling_active || !planner.leveling_active_at_z(ltarget[Z_AXIS])) {   // no mesh leveling
+      if (!planner.leveling_active || !planner.leveling_active_at_z(rtarget[Z_AXIS])) {   // no mesh leveling
 
         do {
 
@@ -588,13 +579,13 @@
             seg_rz += seg_dz;
             seg_le += seg_de;
           } else {              // last segment, use exact destination
-            seg_rx = RAW_X_POSITION(ltarget[X_AXIS]);
-            seg_ry = RAW_Y_POSITION(ltarget[Y_AXIS]);
-            seg_rz = RAW_Z_POSITION(ltarget[Z_AXIS]);
-            seg_le = ltarget[E_AXIS];
+            seg_rx = rtarget[X_AXIS];
+            seg_ry = rtarget[Y_AXIS];
+            seg_rz = rtarget[Z_AXIS];
+            seg_le = rtarget[E_AXIS];
           }
 
-          ubl_buffer_segment_raw( seg_rx, seg_ry, seg_rz, seg_le, feedrate );
+          ubl_buffer_segment_raw(seg_rx, seg_ry, seg_rz, seg_le, feedrate);
 
         } while (segments);
 
@@ -604,7 +595,7 @@
       // Otherwise perform per-segment leveling
 
       #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
-        const float fade_scaling_factor = planner.fade_scaling_factor_for_z(ltarget[Z_AXIS]);
+        const float fade_scaling_factor = planner.fade_scaling_factor_for_z(rtarget[Z_AXIS]);
       #endif
 
       // increment to first segment destination
@@ -671,16 +662,16 @@
             z_cxcy *= fade_scaling_factor;          // apply fade factor to interpolated mesh height
           #endif
 
-          if (--segments == 0) {                    // if this is last segment, use ltarget for exact
-            seg_rx = RAW_X_POSITION(ltarget[X_AXIS]);
-            seg_ry = RAW_Y_POSITION(ltarget[Y_AXIS]);
-            seg_rz = RAW_Z_POSITION(ltarget[Z_AXIS]);
-            seg_le = ltarget[E_AXIS];
+          if (--segments == 0) {                    // if this is last segment, use rtarget for exact
+            seg_rx = rtarget[X_AXIS];
+            seg_ry = rtarget[Y_AXIS];
+            seg_rz = rtarget[Z_AXIS];
+            seg_le = rtarget[E_AXIS];
           }
 
-          ubl_buffer_segment_raw( seg_rx, seg_ry, seg_rz + z_cxcy, seg_le, feedrate );
+          ubl_buffer_segment_raw(seg_rx, seg_ry, seg_rz + z_cxcy, seg_le, feedrate);
 
-          if (segments == 0 )                       // done with last segment
+          if (segments == 0)                        // done with last segment
             return false;                           // did not set_current_from_destination()
 
           seg_rx += seg_dx;

Marlin/src/gcode/bedlevel/G42.cpp

@@ -56,8 +56,8 @@ void GcodeSuite::G42() {
     #endif
 
     set_destination_from_current();
-    if (hasI) destination[X_AXIS] = LOGICAL_X_POSITION(_GET_MESH_X(ix));
-    if (hasJ) destination[Y_AXIS] = LOGICAL_Y_POSITION(_GET_MESH_Y(iy));
+    if (hasI) destination[X_AXIS] = _GET_MESH_X(ix);
+    if (hasJ) destination[Y_AXIS] = _GET_MESH_Y(iy);
     if (parser.boolval('P')) {
       if (hasI) destination[X_AXIS] -= X_PROBE_OFFSET_FROM_EXTRUDER;
       if (hasJ) destination[Y_AXIS] -= Y_PROBE_OFFSET_FROM_EXTRUDER;

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

@@ -258,28 +258,28 @@ void GcodeSuite::G29() {
           return;
         }
 
-        const float z = parser.floatval('Z', RAW_CURRENT_POSITION(Z));
-        if (!WITHIN(z, -10, 10)) {
+        const float rz = parser.seenval('Z') ? RAW_Z_POSITION(parser.value_linear_units()) : current_position[Z_AXIS];
+        if (!WITHIN(rz, -10, 10)) {
           SERIAL_ERROR_START();
           SERIAL_ERRORLNPGM("Bad Z value");
           return;
         }
 
-        const float x = parser.floatval('X', NAN),
-                    y = parser.floatval('Y', NAN);
+        const float rx = RAW_X_POSITION(parser.linearval('X', NAN)),
+                    ry = RAW_Y_POSITION(parser.linearval('Y', NAN));
         int8_t i = parser.byteval('I', -1),
                j = parser.byteval('J', -1);
 
-        if (!isnan(x) && !isnan(y)) {
-          // Get nearest i / j from x / y
-          i = (x - LOGICAL_X_POSITION(bilinear_start[X_AXIS]) + 0.5 * xGridSpacing) / xGridSpacing;
-          j = (y - LOGICAL_Y_POSITION(bilinear_start[Y_AXIS]) + 0.5 * yGridSpacing) / yGridSpacing;
+        if (!isnan(rx) && !isnan(ry)) {
+          // Get nearest i / j from rx / ry
+          i = (rx - bilinear_start[X_AXIS] + 0.5 * xGridSpacing) / xGridSpacing;
+          j = (ry - bilinear_start[Y_AXIS] + 0.5 * yGridSpacing) / yGridSpacing;
           i = constrain(i, 0, GRID_MAX_POINTS_X - 1);
           j = constrain(j, 0, GRID_MAX_POINTS_Y - 1);
         }
         if (WITHIN(i, 0, GRID_MAX_POINTS_X - 1) && WITHIN(j, 0, GRID_MAX_POINTS_Y)) {
           set_bed_leveling_enabled(false);
-          z_values[i][j] = z;
+          z_values[i][j] = rz;
           #if ENABLED(ABL_BILINEAR_SUBDIVISION)
             bed_level_virt_interpolate();
           #endif
@@ -340,36 +340,36 @@ void GcodeSuite::G29() {
 
       xy_probe_feedrate_mm_s = MMM_TO_MMS(parser.linearval('S', XY_PROBE_SPEED));
 
-      left_probe_bed_position = (int)parser.linearval('L', LOGICAL_X_POSITION(LEFT_PROBE_BED_POSITION));
-      right_probe_bed_position = (int)parser.linearval('R', LOGICAL_X_POSITION(RIGHT_PROBE_BED_POSITION));
-      front_probe_bed_position = (int)parser.linearval('F', LOGICAL_Y_POSITION(FRONT_PROBE_BED_POSITION));
-      back_probe_bed_position = (int)parser.linearval('B', LOGICAL_Y_POSITION(BACK_PROBE_BED_POSITION));
-
-      const bool left_out_l = left_probe_bed_position < LOGICAL_X_POSITION(MIN_PROBE_X),
+      left_probe_bed_position  = parser.seenval('L') ? (int)RAW_X_POSITION(parser.value_linear_units()) : LEFT_PROBE_BED_POSITION;
+      right_probe_bed_position = parser.seenval('R') ? (int)RAW_X_POSITION(parser.value_linear_units()) : RIGHT_PROBE_BED_POSITION;
+      front_probe_bed_position = parser.seenval('F') ? (int)RAW_Y_POSITION(parser.value_linear_units()) : FRONT_PROBE_BED_POSITION;
+      back_probe_bed_position  = parser.seenval('B') ? (int)RAW_Y_POSITION(parser.value_linear_units()) : BACK_PROBE_BED_POSITION;
+  
+      const bool left_out_l = left_probe_bed_position < MIN_PROBE_X,
                  left_out = left_out_l || left_probe_bed_position > right_probe_bed_position - (MIN_PROBE_EDGE),
-                 right_out_r = right_probe_bed_position > LOGICAL_X_POSITION(MAX_PROBE_X),
+                 right_out_r = right_probe_bed_position > MAX_PROBE_X,
                  right_out = right_out_r || right_probe_bed_position < left_probe_bed_position + MIN_PROBE_EDGE,
-                 front_out_f = front_probe_bed_position < LOGICAL_Y_POSITION(MIN_PROBE_Y),
+                 front_out_f = front_probe_bed_position < MIN_PROBE_Y,
                  front_out = front_out_f || front_probe_bed_position > back_probe_bed_position - (MIN_PROBE_EDGE),
-                 back_out_b = back_probe_bed_position > LOGICAL_Y_POSITION(MAX_PROBE_Y),
+                 back_out_b = back_probe_bed_position > MAX_PROBE_Y,
                  back_out = back_out_b || back_probe_bed_position < front_probe_bed_position + MIN_PROBE_EDGE;
 
       if (left_out || right_out || front_out || back_out) {
         if (left_out) {
           out_of_range_error(PSTR("(L)eft"));
-          left_probe_bed_position = left_out_l ? LOGICAL_X_POSITION(MIN_PROBE_X) : right_probe_bed_position - (MIN_PROBE_EDGE);
+          left_probe_bed_position = left_out_l ? MIN_PROBE_X : right_probe_bed_position - (MIN_PROBE_EDGE);
         }
         if (right_out) {
           out_of_range_error(PSTR("(R)ight"));
-          right_probe_bed_position = right_out_r ? LOGICAL_Y_POSITION(MAX_PROBE_X) : left_probe_bed_position + MIN_PROBE_EDGE;
+          right_probe_bed_position = right_out_r ? MAX_PROBE_X : left_probe_bed_position + MIN_PROBE_EDGE;
         }
         if (front_out) {
           out_of_range_error(PSTR("(F)ront"));
-          front_probe_bed_position = front_out_f ? LOGICAL_Y_POSITION(MIN_PROBE_Y) : back_probe_bed_position - (MIN_PROBE_EDGE);
+          front_probe_bed_position = front_out_f ? MIN_PROBE_Y : back_probe_bed_position - (MIN_PROBE_EDGE);
         }
         if (back_out) {
           out_of_range_error(PSTR("(B)ack"));
-          back_probe_bed_position = back_out_b ? LOGICAL_Y_POSITION(MAX_PROBE_Y) : front_probe_bed_position + MIN_PROBE_EDGE;
+          back_probe_bed_position = back_out_b ? MAX_PROBE_Y : front_probe_bed_position + MIN_PROBE_EDGE;
         }
         return;
       }
@@ -416,8 +416,8 @@ void GcodeSuite::G29() {
       #endif
       if ( xGridSpacing != bilinear_grid_spacing[X_AXIS]
         || yGridSpacing != bilinear_grid_spacing[Y_AXIS]
-        || left_probe_bed_position != LOGICAL_X_POSITION(bilinear_start[X_AXIS])
-        || front_probe_bed_position != LOGICAL_Y_POSITION(bilinear_start[Y_AXIS])
+        || left_probe_bed_position != bilinear_start[X_AXIS]
+        || front_probe_bed_position != bilinear_start[Y_AXIS]
       ) {
         if (dryrun) {
           // Before reset bed level, re-enable to correct the position
@@ -429,8 +429,8 @@ void GcodeSuite::G29() {
         // Initialize a grid with the given dimensions
         bilinear_grid_spacing[X_AXIS] = xGridSpacing;
         bilinear_grid_spacing[Y_AXIS] = yGridSpacing;
-        bilinear_start[X_AXIS] = RAW_X_POSITION(left_probe_bed_position);
-        bilinear_start[Y_AXIS] = RAW_Y_POSITION(front_probe_bed_position);
+        bilinear_start[X_AXIS] = left_probe_bed_position;
+        bilinear_start[Y_AXIS] = front_probe_bed_position;
 
         // Can't re-enable (on error) until the new grid is written
         abl_should_enable = false;
@@ -555,7 +555,7 @@ void GcodeSuite::G29() {
         #endif
 
         // Keep looping till a reachable point is found
-        if (position_is_reachable_xy(xProbe, yProbe)) break;
+        if (position_is_reachable(xProbe, yProbe)) break;
         ++abl_probe_index;
       }
 
@@ -585,8 +585,8 @@ void GcodeSuite::G29() {
 
       // Probe at 3 arbitrary points
       if (abl_probe_index < 3) {
-        xProbe = LOGICAL_X_POSITION(points[abl_probe_index].x);
-        yProbe = LOGICAL_Y_POSITION(points[abl_probe_index].y);
+        xProbe = points[abl_probe_index].x;
+        yProbe = points[abl_probe_index].y;
         #if HAS_SOFTWARE_ENDSTOPS
           // Disable software endstops to allow manual adjustment
           // If G29 is not completed, they will not be re-enabled
@@ -663,7 +663,7 @@ void GcodeSuite::G29() {
 
           #if IS_KINEMATIC
             // Avoid probing outside the round or hexagonal area
-            if (!position_is_reachable_by_probe_xy(xProbe, yProbe)) continue;
+            if (!position_is_reachable_by_probe(xProbe, yProbe)) continue;
           #endif
 
           measured_z = faux ? 0.001 * random(-100, 101) : probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
@@ -701,8 +701,8 @@ void GcodeSuite::G29() {
 
       for (uint8_t i = 0; i < 3; ++i) {
         // Retain the last probe position
-        xProbe = LOGICAL_X_POSITION(points[i].x);
-        yProbe = LOGICAL_Y_POSITION(points[i].y);
+        xProbe = points[i].x;
+        yProbe = points[i].y;
         measured_z = faux ? 0.001 * random(-100, 101) : probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
         if (isnan(measured_z)) {
           planner.leveling_active = abl_should_enable;

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

@@ -46,7 +46,7 @@ void mesh_probing_done() {
   gcode.home_all_axes();
   set_bed_leveling_enabled(true);
   #if ENABLED(MESH_G28_REST_ORIGIN)
-    current_position[Z_AXIS] = LOGICAL_Z_POSITION(Z_MIN_POS);
+    current_position[Z_AXIS] = Z_MIN_POS;
     set_destination_from_current();
     line_to_destination(homing_feedrate(Z_AXIS));
     stepper.synchronize();
@@ -139,7 +139,7 @@ void GcodeSuite::G29() {
       }
       else {
         // One last "return to the bed" (as originally coded) at completion
-        current_position[Z_AXIS] = LOGICAL_Z_POSITION(Z_MIN_POS) + MANUAL_PROBE_HEIGHT;
+        current_position[Z_AXIS] = Z_MIN_POS + MANUAL_PROBE_HEIGHT;
         line_to_current_position();
         stepper.synchronize();
 

Marlin/src/gcode/calibrate/G28.cpp

@@ -86,8 +86,8 @@
     /**
      * Move the Z probe (or just the nozzle) to the safe homing point
      */
-    destination[X_AXIS] = LOGICAL_X_POSITION(Z_SAFE_HOMING_X_POINT);
-    destination[Y_AXIS] = LOGICAL_Y_POSITION(Z_SAFE_HOMING_Y_POINT);
+    destination[X_AXIS] = Z_SAFE_HOMING_X_POINT;
+    destination[Y_AXIS] = Z_SAFE_HOMING_Y_POINT;
     destination[Z_AXIS] = current_position[Z_AXIS]; // Z is already at the right height
 
     #if HOMING_Z_WITH_PROBE
@@ -95,7 +95,7 @@
       destination[Y_AXIS] -= Y_PROBE_OFFSET_FROM_EXTRUDER;
     #endif
 
-    if (position_is_reachable_xy(destination[X_AXIS], destination[Y_AXIS])) {
+    if (position_is_reachable(destination[X_AXIS], destination[Y_AXIS])) {
 
       #if ENABLED(DEBUG_LEVELING_FEATURE)
         if (DEBUGGING(LEVELING)) DEBUG_POS("Z_SAFE_HOMING", destination);
@@ -209,7 +209,7 @@ void GcodeSuite::G28(const bool always_home_all) {
 
       if (home_all || homeX || homeY) {
         // Raise Z before homing any other axes and z is not already high enough (never lower z)
-        destination[Z_AXIS] = LOGICAL_Z_POSITION(Z_HOMING_HEIGHT);
+        destination[Z_AXIS] = Z_HOMING_HEIGHT;
         if (destination[Z_AXIS] > current_position[Z_AXIS]) {
 
           #if ENABLED(DEBUG_LEVELING_FEATURE)
@@ -251,7 +251,7 @@ void GcodeSuite::G28(const bool always_home_all) {
         HOMEAXIS(X);
 
         // Remember this extruder's position for later tool change
-        inactive_extruder_x_pos = RAW_X_POSITION(current_position[X_AXIS]);
+        inactive_extruder_x_pos = current_position[X_AXIS];
 
         // Home the 1st (left) extruder
         active_extruder = 0;

Marlin/src/gcode/calibrate/G33.cpp

@@ -459,7 +459,7 @@ void GcodeSuite::G33() {
     LOOP_CAL_RAD(axis) {
       const float a = RADIANS(210 + (360 / NPP) *  (axis - 1)),
                   r = delta_calibration_radius * (1 + (_7p_9_centre ? 0.1 : 0.0));
-      if (!position_is_reachable_xy(cos(a) * r, sin(a) * r)) {
+      if (!position_is_reachable(cos(a) * r, sin(a) * r)) {
         SERIAL_PROTOCOLLNPGM("?(M665 B)ed radius is implausible.");
         return;
       }

Marlin/src/gcode/calibrate/M48.cpp

@@ -82,16 +82,16 @@ void GcodeSuite::M48() {
               Y_probe_location = parser.linearval('Y', Y_current + Y_PROBE_OFFSET_FROM_EXTRUDER);
 
   #if DISABLED(DELTA)
-    if (!WITHIN(X_probe_location, LOGICAL_X_POSITION(MIN_PROBE_X), LOGICAL_X_POSITION(MAX_PROBE_X))) {
+    if (!WITHIN(X_probe_location, MIN_PROBE_X, MAX_PROBE_X)) {
       out_of_range_error(PSTR("X"));
       return;
     }
-    if (!WITHIN(Y_probe_location, LOGICAL_Y_POSITION(MIN_PROBE_Y), LOGICAL_Y_POSITION(MAX_PROBE_Y))) {
+    if (!WITHIN(Y_probe_location, MIN_PROBE_Y, MAX_PROBE_Y)) {
       out_of_range_error(PSTR("Y"));
       return;
     }
   #else
-    if (!position_is_reachable_by_probe_xy(X_probe_location, Y_probe_location)) {
+    if (!position_is_reachable_by_probe(X_probe_location, Y_probe_location)) {
       SERIAL_PROTOCOLLNPGM("? (X,Y) location outside of probeable radius.");
       return;
     }
@@ -184,7 +184,7 @@ void GcodeSuite::M48() {
           #else
             // If we have gone out too far, we can do a simple fix and scale the numbers
             // back in closer to the origin.
-            while (!position_is_reachable_by_probe_xy(X_current, Y_current)) {
+            while (!position_is_reachable_by_probe(X_current, Y_current)) {
               X_current *= 0.8;
               Y_current *= 0.8;
               if (verbose_level > 3) {

Marlin/src/gcode/gcode.cpp

@@ -89,7 +89,7 @@ bool GcodeSuite::get_target_extruder_from_command() {
 void GcodeSuite::get_destination_from_command() {
   LOOP_XYZE(i) {
     if (parser.seen(axis_codes[i]))
-      destination[i] = parser.value_axis_units((AxisEnum)i) + (axis_relative_modes[i] || relative_mode ? current_position[i] : 0);
+      destination[i] = LOGICAL_TO_NATIVE(parser.value_axis_units((AxisEnum)i) + (axis_relative_modes[i] || relative_mode ? current_position[i] : 0), i);
     else
       destination[i] = current_position[i];
   }

Marlin/src/gcode/geometry/M206_M428.cpp

@@ -67,7 +67,7 @@ void GcodeSuite::M428() {
   LOOP_XYZ(i) {
     if (axis_homed[i]) {
       const float base = (current_position[i] > (soft_endstop_min[i] + soft_endstop_max[i]) * 0.5) ? base_home_pos((AxisEnum)i) : 0,
-                  diff = base - RAW_POSITION(current_position[i], i);
+                  diff = base - current_position[i];
       if (WITHIN(diff, -20, 20)) {
         set_home_offset((AxisEnum)i, diff);
       }

Marlin/src/gcode/host/M114.cpp

@@ -46,11 +46,15 @@
     stepper.synchronize();
 
     SERIAL_PROTOCOLPGM("\nLogical:");
-    report_xyze(current_position);
+    const float logical[XYZ] = {
+      LOGICAL_X_POSITION(current_position[X_AXIS]),
+      LOGICAL_Y_POSITION(current_position[Y_AXIS]),
+      LOGICAL_Z_POSITION(current_position[Z_AXIS])
+    };
+    report_xyze(logical);
 
     SERIAL_PROTOCOLPGM("Raw:    ");
-    const float raw[XYZ] = { RAW_X_POSITION(current_position[X_AXIS]), RAW_Y_POSITION(current_position[Y_AXIS]), RAW_Z_POSITION(current_position[Z_AXIS]) };
-    report_xyz(raw);
+    report_xyz(current_position);
 
     SERIAL_PROTOCOLPGM("Leveled:");
     float leveled[XYZ] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] };

Marlin/src/gcode/motion/G2_G3.cpp

@@ -44,7 +44,7 @@
  * options for G2/G3 arc generation. In future these options may be GCode tunable.
  */
 void plan_arc(
-  float logical[XYZE], // Destination position
+  float rtarget[XYZE], // Destination position
   float *offset,       // Center of rotation relative to current_position
   uint8_t clockwise    // Clockwise?
 ) {
@@ -65,10 +65,10 @@ void plan_arc(
   const float radius = HYPOT(r_P, r_Q),
               center_P = current_position[p_axis] - r_P,
               center_Q = current_position[q_axis] - r_Q,
-              rt_X = logical[p_axis] - center_P,
-              rt_Y = logical[q_axis] - center_Q,
-              linear_travel = logical[l_axis] - current_position[l_axis],
-              extruder_travel = logical[E_AXIS] - current_position[E_AXIS];
+              rt_X = rtarget[p_axis] - center_P,
+              rt_Y = rtarget[q_axis] - center_Q,
+              linear_travel = rtarget[l_axis] - current_position[l_axis],
+              extruder_travel = rtarget[E_AXIS] - current_position[E_AXIS];
 
   // CCW angle of rotation between position and target from the circle center. Only one atan2() trig computation required.
   float angular_travel = ATAN2(r_P * rt_Y - r_Q * rt_X, r_P * rt_X + r_Q * rt_Y);
@@ -76,7 +76,7 @@ void plan_arc(
   if (clockwise) angular_travel -= RADIANS(360);
 
   // Make a circle if the angular rotation is 0 and the target is current position
-  if (angular_travel == 0 && current_position[p_axis] == logical[p_axis] && current_position[q_axis] == logical[q_axis])
+  if (angular_travel == 0 && current_position[p_axis] == rtarget[p_axis] && current_position[q_axis] == rtarget[q_axis])
     angular_travel = RADIANS(360);
 
   const float mm_of_travel = HYPOT(angular_travel * radius, FABS(linear_travel));
@@ -176,7 +176,7 @@ void plan_arc(
   }
 
   // Ensure last segment arrives at target location.
-  planner.buffer_line_kinematic(logical, fr_mm_s, active_extruder);
+  planner.buffer_line_kinematic(rtarget, fr_mm_s, active_extruder);
 
   // As far as the parser is concerned, the position is now == target. In reality the
   // motion control system might still be processing the action and the real tool position

Marlin/src/gcode/probe/G30.cpp

@@ -42,7 +42,7 @@ void GcodeSuite::G30() {
   const float xpos = parser.linearval('X', current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER),
               ypos = parser.linearval('Y', current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER);
 
-  if (!position_is_reachable_by_probe_xy(xpos, ypos)) return;
+  if (!position_is_reachable_by_probe(xpos, ypos)) return;
 
   // Disable leveling so the planner won't mess with us
   #if HAS_LEVELING

Marlin/src/gcode/scara/M360-M364.cpp

@@ -32,8 +32,8 @@
 inline bool SCARA_move_to_cal(const uint8_t delta_a, const uint8_t delta_b) {
   if (IsRunning()) {
     forward_kinematics_SCARA(delta_a, delta_b);
-    destination[X_AXIS] = LOGICAL_X_POSITION(cartes[X_AXIS]);
-    destination[Y_AXIS] = LOGICAL_Y_POSITION(cartes[Y_AXIS]);
+    destination[X_AXIS] = cartes[X_AXIS];
+    destination[Y_AXIS] = cartes[Y_AXIS];
     destination[Z_AXIS] = current_position[Z_AXIS];
     prepare_move_to_destination();
     return true;

Marlin/src/lcd/ultralcd.cpp

@@ -1672,7 +1672,7 @@ void kill_screen(const char* lcd_msg) {
      */
     static int8_t bed_corner;
     void _lcd_goto_next_corner() {
-      line_to_z(LOGICAL_Z_POSITION(4.0));
+      line_to_z(4.0);
       switch (bed_corner) {
         case 0:
           current_position[X_AXIS] = X_MIN_BED + 10;
@@ -1689,7 +1689,7 @@ void kill_screen(const char* lcd_msg) {
           break;
       }
       planner.buffer_line_kinematic(current_position, MMM_TO_MMS(manual_feedrate_mm_m[X_AXIS]), active_extruder);
-      line_to_z(LOGICAL_Z_POSITION(0.0));
+      line_to_z(0.0);
       if (++bed_corner > 3) bed_corner = 0;
     }
 
@@ -1735,7 +1735,7 @@ void kill_screen(const char* lcd_msg) {
     //
     void _lcd_after_probing() {
       #if MANUAL_PROBE_HEIGHT > 0
-        line_to_z(LOGICAL_Z_POSITION(Z_MIN_POS) + MANUAL_PROBE_HEIGHT);
+        line_to_z(Z_MIN_POS + MANUAL_PROBE_HEIGHT);
       #endif
       // Display "Done" screen and wait for moves to complete
       #if MANUAL_PROBE_HEIGHT > 0 || ENABLED(MESH_BED_LEVELING)
@@ -1750,13 +1750,13 @@ void kill_screen(const char* lcd_msg) {
     #if ENABLED(MESH_BED_LEVELING)
 
       // Utility to go to the next mesh point
-      inline void _manual_probe_goto_xy(float x, float y) {
+      inline void _manual_probe_goto_xy(const float &rx, const float &ry) {
         #if MANUAL_PROBE_HEIGHT > 0
           const float prev_z = current_position[Z_AXIS];
-          line_to_z(LOGICAL_Z_POSITION(Z_MIN_POS) + MANUAL_PROBE_HEIGHT);
+          line_to_z(Z_MIN_POS + MANUAL_PROBE_HEIGHT);
         #endif
-        current_position[X_AXIS] = LOGICAL_X_POSITION(x);
-        current_position[Y_AXIS] = LOGICAL_Y_POSITION(y);
+        current_position[X_AXIS] = rx;
+        current_position[Y_AXIS] = ry;
         planner.buffer_line_kinematic(current_position, MMM_TO_MMS(XY_PROBE_SPEED), active_extruder);
         #if MANUAL_PROBE_HEIGHT > 0
           line_to_z(prev_z);
@@ -1886,10 +1886,7 @@ void kill_screen(const char* lcd_msg) {
         mbl.zigzag(manual_probe_index, px, py);
 
         // Controls the loop until the move is done
-        _manual_probe_goto_xy(
-          LOGICAL_X_POSITION(mbl.index_to_xpos[px]),
-          LOGICAL_Y_POSITION(mbl.index_to_ypos[py])
-        );
+        _manual_probe_goto_xy(mbl.index_to_xpos[px], mbl.index_to_ypos[py]);
 
         // After the blocking function returns, change menus
         lcd_goto_screen(_lcd_level_bed_get_z);
@@ -2370,8 +2367,8 @@ void kill_screen(const char* lcd_msg) {
      * UBL LCD Map Movement
      */
     void ubl_map_move_to_xy() {
-      current_position[X_AXIS] = LOGICAL_X_POSITION(pgm_read_float(&ubl._mesh_index_to_xpos[x_plot]));
-      current_position[Y_AXIS] = LOGICAL_Y_POSITION(pgm_read_float(&ubl._mesh_index_to_ypos[y_plot]));
+      current_position[X_AXIS] = pgm_read_float(&ubl._mesh_index_to_xpos[x_plot]);
+      current_position[Y_AXIS] = pgm_read_float(&ubl._mesh_index_to_ypos[y_plot]);
       planner.buffer_line_kinematic(current_position, MMM_TO_MMS(XY_PROBE_SPEED), active_extruder);
     }
 
@@ -2705,17 +2702,17 @@ void kill_screen(const char* lcd_msg) {
       lcd_goto_screen(_lcd_calibrate_homing);
     }
 
-    void _man_probe_pt(const float &lx, const float &ly) {
+    void _man_probe_pt(const float &rx, const float &ry) {
       #if HAS_LEVELING
         reset_bed_level(); // After calibration bed-level data is no longer valid
       #endif
 
-      float z_dest = LOGICAL_Z_POSITION((Z_CLEARANCE_BETWEEN_PROBES) + (DELTA_PRINTABLE_RADIUS) / 5);
+      float z_dest = (Z_CLEARANCE_BETWEEN_PROBES) + (DELTA_PRINTABLE_RADIUS) / 5;
       line_to_z(z_dest);
-      current_position[X_AXIS] = LOGICAL_X_POSITION(lx);
-      current_position[Y_AXIS] = LOGICAL_Y_POSITION(ly);
+      current_position[X_AXIS] = rx;
+      current_position[Y_AXIS] = ry;
       line_to_current_z();
-      z_dest = LOGICAL_Z_POSITION(Z_CLEARANCE_BETWEEN_PROBES);
+      z_dest = Z_CLEARANCE_BETWEEN_PROBES;
       line_to_z(z_dest);
 
       lcd_synchronize();
@@ -2723,8 +2720,8 @@ void kill_screen(const char* lcd_msg) {
       lcd_goto_screen(lcd_move_z);
     }
 
-    float lcd_probe_pt(const float &lx, const float &ly) {
-      _man_probe_pt(lx, ly);
+    float lcd_probe_pt(const float &rx, const float &ry) {
+      _man_probe_pt(rx, ry);
       KEEPALIVE_STATE(PAUSED_FOR_USER);
       defer_return_to_status = true;
       wait_for_user = true;

Marlin/src/lcd/ultralcd.h

@@ -119,7 +119,7 @@
     #endif
 
     #if ENABLED(DELTA_CALIBRATION_MENU)
-      float lcd_probe_pt(const float &lx, const float &ly);
+      float lcd_probe_pt(const float &rx, const float &ry);
     #endif
 
   #else

Marlin/src/lcd/ultralcd_impl_DOGM.h

@@ -646,9 +646,9 @@ static void lcd_implementation_status_screen() {
 
   // At the first page, regenerate the XYZ strings
   if (page.page == 0) {
-    strcpy(xstring, ftostr4sign(current_position[X_AXIS]));
-    strcpy(ystring, ftostr4sign(current_position[Y_AXIS]));
-    strcpy(zstring, ftostr52sp(FIXFLOAT(current_position[Z_AXIS])));
+    strcpy(xstring, ftostr4sign(LOGICAL_X_POSITION(current_position[X_AXIS])));
+    strcpy(ystring, ftostr4sign(LOGICAL_Y_POSITION(current_position[Y_AXIS])));
+    strcpy(zstring, ftostr52sp(FIXFLOAT(LOGICAL_Z_POSITION(current_position[Z_AXIS]))));
     #if ENABLED(FILAMENT_LCD_DISPLAY) && DISABLED(SDSUPPORT)
       strcpy(wstring, ftostr12ns(filament_width_meas));
       strcpy(mstring, itostr3(100.0 * planner.volumetric_multiplier[FILAMENT_SENSOR_EXTRUDER_NUM]));

Marlin/src/lcd/ultralcd_impl_HD44780.h

@@ -621,7 +621,9 @@ FORCE_INLINE void _draw_heater_status(const int8_t heater, const char prefix, co
   lcd.print(itostr3(t1 + 0.5));
   lcd.write('/');
 
-  #if HEATER_IDLE_HANDLER
+  #if !HEATER_IDLE_HANDLER
+    UNUSED(blink);
+  #else
     const bool is_idle = (!isBed ? thermalManager.is_heater_idle(heater) :
       #if HAS_TEMP_BED
         thermalManager.is_bed_idle()
@@ -779,12 +781,12 @@ static void lcd_implementation_status_screen() {
         // When everything is ok you see a constant 'X'.
 
         _draw_axis_label(X_AXIS, PSTR(MSG_X), blink);
-        lcd.print(ftostr4sign(current_position[X_AXIS]));
+        lcd.print(ftostr4sign(LOGICAL_X_POSITION(current_position[X_AXIS])));
 
         lcd.write(' ');
 
         _draw_axis_label(Y_AXIS, PSTR(MSG_Y), blink);
-        lcd.print(ftostr4sign(current_position[Y_AXIS]));
+        lcd.print(ftostr4sign(LOGICAL_Y_POSITION(current_position[Y_AXIS])));
 
       #endif // HOTENDS > 1 || TEMP_SENSOR_BED != 0
 
@@ -842,11 +844,11 @@ static void lcd_implementation_status_screen() {
 
   #if ENABLED(LCD_PROGRESS_BAR)
 
+    // Draw the progress bar if the message has shown long enough
+    // or if there is no message set.
     #if DISABLED(LCD_SET_PROGRESS_MANUALLY)
       const uint8_t progress_bar_percent = card.percentDone();
     #endif
-    // Draw the progress bar if the message has shown long enough
-    // or if there is no message set.
     if (progress_bar_percent > 2 && (ELAPSED(millis(), progress_bar_ms + PROGRESS_BAR_MSG_TIME) || !lcd_status_message[0]))
       return lcd_draw_progress_bar(progress_bar_percent);
 
@@ -1168,9 +1170,9 @@ static void lcd_implementation_status_screen() {
       return ret_val;
     }
 
-    coordinate pixel_location(uint8_t x, uint8_t y) { return pixel_location((int16_t)x, (int16_t)y); }
+    inline coordinate pixel_location(const uint8_t x, const uint8_t y) { return pixel_location((int16_t)x, (int16_t)y); }
 
-    void lcd_implementation_ubl_plot(uint8_t x, uint8_t inverted_y) {
+    void lcd_implementation_ubl_plot(const uint8_t x, const uint8_t inverted_y) {
 
       #if LCD_WIDTH >= 20
         #define _LCD_W_POS 12

Marlin/src/module/delta.cpp

@@ -72,7 +72,7 @@ void recalc_delta_settings(const float radius, const float diagonal_rod, const f
 /**
  * Delta Inverse Kinematics
  *
- * Calculate the tower positions for a given logical
+ * Calculate the tower positions for a given machine
  * position, storing the result in the delta[] array.
  *
  * This is an expensive calculation, requiring 3 square
@@ -117,8 +117,8 @@ void recalc_delta_settings(const float radius, const float diagonal_rod, const f
     SERIAL_ECHOLNPAIR(" C:", delta[C_AXIS]);      \
   }while(0)
 
-void inverse_kinematics(const float logical[XYZ]) {
-  DELTA_LOGICAL_IK();
+void inverse_kinematics(const float raw[XYZ]) {
+  DELTA_RAW_IK();
   // DELTA_DEBUG();
 }
 
@@ -127,14 +127,10 @@ void inverse_kinematics(const float logical[XYZ]) {
  * effector has the full range of XY motion.
  */
 float delta_safe_distance_from_top() {
-  float cartesian[XYZ] = {
-    LOGICAL_X_POSITION(0),
-    LOGICAL_Y_POSITION(0),
-    LOGICAL_Z_POSITION(0)
-  };
+  float cartesian[XYZ] = { 0, 0, 0 };
   inverse_kinematics(cartesian);
   float distance = delta[A_AXIS];
-  cartesian[Y_AXIS] = LOGICAL_Y_POSITION(DELTA_PRINTABLE_RADIUS);
+  cartesian[Y_AXIS] = DELTA_PRINTABLE_RADIUS;
   inverse_kinematics(cartesian);
   return FABS(distance - delta[A_AXIS]);
 }

Marlin/src/module/delta.h

@@ -47,7 +47,7 @@ void recalc_delta_settings(const float radius, const float diagonal_rod, const f
 /**
  * Delta Inverse Kinematics
  *
- * Calculate the tower positions for a given logical
+ * Calculate the tower positions for a given machine
  * position, storing the result in the delta[] array.
  *
  * This is an expensive calculation, requiring 3 square
@@ -88,16 +88,7 @@ void recalc_delta_settings(const float radius, const float diagonal_rod, const f
   delta[C_AXIS] = DELTA_Z(C_AXIS); \
 }while(0)
 
-#define DELTA_LOGICAL_IK() do {      \
-  const float raw[XYZ] = {           \
-    RAW_X_POSITION(logical[X_AXIS]), \
-    RAW_Y_POSITION(logical[Y_AXIS]), \
-    RAW_Z_POSITION(logical[Z_AXIS])  \
-  };                                 \
-  DELTA_RAW_IK();                    \
-}while(0)
-
-void inverse_kinematics(const float logical[XYZ]);
+void inverse_kinematics(const float raw[XYZ]);
 
 /**
  * Calculate the highest Z position where the

Marlin/src/module/motion.cpp

@@ -73,7 +73,7 @@ bool relative_mode = false;
 
 /**
  * Cartesian Current Position
- *   Used to track the logical position as moves are queued.
+ *   Used to track the native machine position as moves are queued.
  *   Used by 'line_to_current_position' to do a move after changing it.
  *   Used by 'SYNC_PLAN_POSITION_KINEMATIC' to update 'planner.position'.
  */
@@ -197,20 +197,16 @@ void get_cartesian_from_steppers() {
       stepper.get_axis_position_mm(B_AXIS),
       stepper.get_axis_position_mm(C_AXIS)
     );
-    cartes[X_AXIS] += LOGICAL_X_POSITION(0);
-    cartes[Y_AXIS] += LOGICAL_Y_POSITION(0);
-    cartes[Z_AXIS] += LOGICAL_Z_POSITION(0);
-  #elif IS_SCARA
-    forward_kinematics_SCARA(
-      stepper.get_axis_position_degrees(A_AXIS),
-      stepper.get_axis_position_degrees(B_AXIS)
-    );
-    cartes[X_AXIS] += LOGICAL_X_POSITION(0);
-    cartes[Y_AXIS] += LOGICAL_Y_POSITION(0);
-    cartes[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
   #else
-    cartes[X_AXIS] = stepper.get_axis_position_mm(X_AXIS);
-    cartes[Y_AXIS] = stepper.get_axis_position_mm(Y_AXIS);
+    #if IS_SCARA
+      forward_kinematics_SCARA(
+        stepper.get_axis_position_degrees(A_AXIS),
+        stepper.get_axis_position_degrees(B_AXIS)
+      );
+    #else
+      cartes[X_AXIS] = stepper.get_axis_position_mm(X_AXIS);
+      cartes[Y_AXIS] = stepper.get_axis_position_mm(Y_AXIS);
+    #endif
     cartes[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
   #endif
 }
@@ -288,16 +284,16 @@ void line_to_destination(const float fr_mm_s) {
  *  Plan a move to (X, Y, Z) and set the current_position
  *  The final current_position may not be the one that was requested
  */
-void do_blocking_move_to(const float &lx, const float &ly, const float &lz, const float &fr_mm_s/*=0.0*/) {
+void do_blocking_move_to(const float &rx, const float &ry, const float &rz, const float &fr_mm_s/*=0.0*/) {
   const float old_feedrate_mm_s = feedrate_mm_s;
 
   #if ENABLED(DEBUG_LEVELING_FEATURE)
-    if (DEBUGGING(LEVELING)) print_xyz(PSTR(">>> do_blocking_move_to"), NULL, lx, ly, lz);
+    if (DEBUGGING(LEVELING)) print_xyz(PSTR(">>> do_blocking_move_to"), NULL, rx, ry, rz);
   #endif
 
   #if ENABLED(DELTA)
 
-    if (!position_is_reachable_xy(lx, ly)) return;
+    if (!position_is_reachable(rx, ry)) return;
 
     feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
 
@@ -309,10 +305,10 @@ void do_blocking_move_to(const float &lx, const float &ly, const float &lz, cons
 
     // when in the danger zone
     if (current_position[Z_AXIS] > delta_clip_start_height) {
-      if (lz > delta_clip_start_height) {   // staying in the danger zone
-        destination[X_AXIS] = lx;           // move directly (uninterpolated)
-        destination[Y_AXIS] = ly;
-        destination[Z_AXIS] = lz;
+      if (rz > delta_clip_start_height) {   // staying in the danger zone
+        destination[X_AXIS] = rx;           // move directly (uninterpolated)
+        destination[Y_AXIS] = ry;
+        destination[Z_AXIS] = rz;
         prepare_uninterpolated_move_to_destination(); // set_current_from_destination()
         #if ENABLED(DEBUG_LEVELING_FEATURE)
           if (DEBUGGING(LEVELING)) DEBUG_POS("danger zone move", current_position);
@@ -328,23 +324,23 @@ void do_blocking_move_to(const float &lx, const float &ly, const float &lz, cons
       }
     }
 
-    if (lz > current_position[Z_AXIS]) {    // raising?
-      destination[Z_AXIS] = lz;
+    if (rz > current_position[Z_AXIS]) {    // raising?
+      destination[Z_AXIS] = rz;
       prepare_uninterpolated_move_to_destination();   // set_current_from_destination()
       #if ENABLED(DEBUG_LEVELING_FEATURE)
         if (DEBUGGING(LEVELING)) DEBUG_POS("z raise move", current_position);
       #endif
     }
 
-    destination[X_AXIS] = lx;
-    destination[Y_AXIS] = ly;
+    destination[X_AXIS] = rx;
+    destination[Y_AXIS] = ry;
     prepare_move_to_destination();         // set_current_from_destination()
     #if ENABLED(DEBUG_LEVELING_FEATURE)
       if (DEBUGGING(LEVELING)) DEBUG_POS("xy move", current_position);
     #endif
 
-    if (lz < current_position[Z_AXIS]) {    // lowering?
-      destination[Z_AXIS] = lz;
+    if (rz < current_position[Z_AXIS]) {    // lowering?
+      destination[Z_AXIS] = rz;
       prepare_uninterpolated_move_to_destination();   // set_current_from_destination()
       #if ENABLED(DEBUG_LEVELING_FEATURE)
         if (DEBUGGING(LEVELING)) DEBUG_POS("z lower move", current_position);
@@ -353,44 +349,44 @@ void do_blocking_move_to(const float &lx, const float &ly, const float &lz, cons
 
   #elif IS_SCARA
 
-    if (!position_is_reachable_xy(lx, ly)) return;
+    if (!position_is_reachable(rx, ry)) return;
 
     set_destination_from_current();
 
     // If Z needs to raise, do it before moving XY
-    if (destination[Z_AXIS] < lz) {
-      destination[Z_AXIS] = lz;
+    if (destination[Z_AXIS] < rz) {
+      destination[Z_AXIS] = rz;
       prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS));
     }
 
-    destination[X_AXIS] = lx;
-    destination[Y_AXIS] = ly;
+    destination[X_AXIS] = rx;
+    destination[Y_AXIS] = ry;
     prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S);
 
     // If Z needs to lower, do it after moving XY
-    if (destination[Z_AXIS] > lz) {
-      destination[Z_AXIS] = lz;
+    if (destination[Z_AXIS] > rz) {
+      destination[Z_AXIS] = rz;
       prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS));
     }
 
   #else
 
     // If Z needs to raise, do it before moving XY
-    if (current_position[Z_AXIS] < lz) {
+    if (current_position[Z_AXIS] < rz) {
       feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS);
-      current_position[Z_AXIS] = lz;
+      current_position[Z_AXIS] = rz;
       line_to_current_position();
     }
 
     feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
-    current_position[X_AXIS] = lx;
-    current_position[Y_AXIS] = ly;
+    current_position[X_AXIS] = rx;
+    current_position[Y_AXIS] = ry;
     line_to_current_position();
 
     // If Z needs to lower, do it after moving XY
-    if (current_position[Z_AXIS] > lz) {
+    if (current_position[Z_AXIS] > rz) {
       feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS);
-      current_position[Z_AXIS] = lz;
+      current_position[Z_AXIS] = rz;
       line_to_current_position();
     }
 
@@ -404,14 +400,14 @@ void do_blocking_move_to(const float &lx, const float &ly, const float &lz, cons
     if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< do_blocking_move_to");
   #endif
 }
-void do_blocking_move_to_x(const float &lx, const float &fr_mm_s/*=0.0*/) {
-  do_blocking_move_to(lx, current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_s);
+void do_blocking_move_to_x(const float &rx, const float &fr_mm_s/*=0.0*/) {
+  do_blocking_move_to(rx, current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_s);
 }
-void do_blocking_move_to_z(const float &lz, const float &fr_mm_s/*=0.0*/) {
-  do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], lz, fr_mm_s);
+void do_blocking_move_to_z(const float &rz, const float &fr_mm_s/*=0.0*/) {
+  do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], rz, fr_mm_s);
 }
-void do_blocking_move_to_xy(const float &lx, const float &ly, const float &fr_mm_s/*=0.0*/) {
-  do_blocking_move_to(lx, ly, current_position[Z_AXIS], fr_mm_s);
+void do_blocking_move_to_xy(const float &rx, const float &ry, const float &fr_mm_s/*=0.0*/) {
+  do_blocking_move_to(rx, ry, current_position[Z_AXIS], fr_mm_s);
 }
 
 //
@@ -521,26 +517,26 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
    * This calls planner.buffer_line several times, adding
    * small incremental moves for DELTA or SCARA.
    */
-  inline bool prepare_kinematic_move_to(float ltarget[XYZE]) {
+  inline bool prepare_kinematic_move_to(float rtarget[XYZE]) {
 
     // Get the top feedrate of the move in the XY plane
     const float _feedrate_mm_s = MMS_SCALED(feedrate_mm_s);
 
     // If the move is only in Z/E don't split up the move
-    if (ltarget[X_AXIS] == current_position[X_AXIS] && ltarget[Y_AXIS] == current_position[Y_AXIS]) {
-      planner.buffer_line_kinematic(ltarget, _feedrate_mm_s, active_extruder);
+    if (rtarget[X_AXIS] == current_position[X_AXIS] && rtarget[Y_AXIS] == current_position[Y_AXIS]) {
+      planner.buffer_line_kinematic(rtarget, _feedrate_mm_s, active_extruder);
       return false;
     }
 
     // Fail if attempting move outside printable radius
-    if (!position_is_reachable_xy(ltarget[X_AXIS], ltarget[Y_AXIS])) return true;
+    if (!position_is_reachable(rtarget[X_AXIS], rtarget[Y_AXIS])) return true;
 
     // Get the cartesian distances moved in XYZE
     const float difference[XYZE] = {
-      ltarget[X_AXIS] - current_position[X_AXIS],
-      ltarget[Y_AXIS] - current_position[Y_AXIS],
-      ltarget[Z_AXIS] - current_position[Z_AXIS],
-      ltarget[E_AXIS] - current_position[E_AXIS]
+      rtarget[X_AXIS] - current_position[X_AXIS],
+      rtarget[Y_AXIS] - current_position[Y_AXIS],
+      rtarget[Z_AXIS] - current_position[Z_AXIS],
+      rtarget[E_AXIS] - current_position[E_AXIS]
     };
 
     // Get the linear distance in XYZ
@@ -588,9 +584,9 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
             oldB = stepper.get_axis_position_degrees(B_AXIS);
     #endif
 
-    // Get the logical current position as starting point
-    float logical[XYZE];
-    COPY(logical, current_position);
+    // Get the current position as starting point
+    float raw[XYZE];
+    COPY(raw, current_position);
 
     // Drop one segment so the last move is to the exact target.
     // If there's only 1 segment, loops will be skipped entirely.
@@ -598,25 +594,25 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
 
     // Calculate and execute the segments
     for (uint16_t s = segments + 1; --s;) {
-      LOOP_XYZE(i) logical[i] += segment_distance[i];
+      LOOP_XYZE(i) raw[i] += segment_distance[i];
       #if ENABLED(DELTA)
-        DELTA_LOGICAL_IK(); // Delta can inline its kinematics
+        DELTA_RAW_IK(); // Delta can inline its kinematics
       #else
-        inverse_kinematics(logical);
+        inverse_kinematics(raw);
       #endif
 
-      ADJUST_DELTA(logical); // Adjust Z if bed leveling is enabled
+      ADJUST_DELTA(raw); // Adjust Z if bed leveling is enabled
 
       #if IS_SCARA && ENABLED(SCARA_FEEDRATE_SCALING)
         // For SCARA scale the feed rate from mm/s to degrees/s
         // Use ratio between the length of the move and the larger angle change
         const float adiff = abs(delta[A_AXIS] - oldA),
                     bdiff = abs(delta[B_AXIS] - oldB);
-        planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], max(adiff, bdiff) * feed_factor, active_extruder);
+        planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], max(adiff, bdiff) * feed_factor, active_extruder);
         oldA = delta[A_AXIS];
         oldB = delta[B_AXIS];
       #else
-        planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], _feedrate_mm_s, active_extruder);
+        planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], _feedrate_mm_s, active_extruder);
       #endif
     }
 
@@ -626,13 +622,13 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
     #if IS_SCARA && ENABLED(SCARA_FEEDRATE_SCALING)
       // For SCARA scale the feed rate from mm/s to degrees/s
       // With segments > 1 length is 1 segment, otherwise total length
-      inverse_kinematics(ltarget);
-      ADJUST_DELTA(ltarget);
+      inverse_kinematics(rtarget);
+      ADJUST_DELTA(rtarget);
       const float adiff = abs(delta[A_AXIS] - oldA),
                   bdiff = abs(delta[B_AXIS] - oldB);
-      planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], max(adiff, bdiff) * feed_factor, active_extruder);
+      planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], max(adiff, bdiff) * feed_factor, active_extruder);
     #else
-      planner.buffer_line_kinematic(ltarget, _feedrate_mm_s, active_extruder);
+      planner.buffer_line_kinematic(rtarget, _feedrate_mm_s, active_extruder);
     #endif
 
     return false;
@@ -687,7 +683,7 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
 
   float x_home_pos(const int extruder) {
     if (extruder == 0)
-      return LOGICAL_X_POSITION(base_home_pos(X_AXIS));
+      return base_home_pos(X_AXIS);
     else
       /**
        * In dual carriage mode the extruder offset provides an override of the
@@ -695,7 +691,7 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
        * This allows soft recalibration of the second extruder home position
        * without firmware reflash (through the M218 command).
        */
-      return LOGICAL_X_POSITION(hotend_offset[X_AXIS][1] > 0 ? hotend_offset[X_AXIS][1] : X2_HOME_POS);
+      return hotend_offset[X_AXIS][1] > 0 ? hotend_offset[X_AXIS][1] : X2_HOME_POS;
   }
 
   /**
@@ -740,13 +736,13 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
           if (active_extruder == 0) {
             #if ENABLED(DEBUG_LEVELING_FEATURE)
               if (DEBUGGING(LEVELING)) {
-                SERIAL_ECHOPAIR("Set planner X", LOGICAL_X_POSITION(inactive_extruder_x_pos));
+                SERIAL_ECHOPAIR("Set planner X", inactive_extruder_x_pos);
                 SERIAL_ECHOLNPAIR(" ... Line to X", current_position[X_AXIS] + duplicate_extruder_x_offset);
               }
             #endif
             // move duplicate extruder into correct duplication position.
             planner.set_position_mm(
-              LOGICAL_X_POSITION(inactive_extruder_x_pos),
+              inactive_extruder_x_pos,
               current_position[Y_AXIS],
               current_position[Z_AXIS],
               current_position[E_AXIS]
@@ -970,7 +966,7 @@ void set_axis_is_at_home(const AxisEnum axis) {
   #if ENABLED(MORGAN_SCARA)
     scara_set_axis_is_at_home(axis);
   #else
-    current_position[axis] = LOGICAL_POSITION(base_home_pos(axis), axis);
+    current_position[axis] = base_home_pos(axis);
   #endif
 
   /**

Marlin/src/module/motion.h

@@ -217,14 +217,14 @@ void homeaxis(const AxisEnum axis);
   #define WORKSPACE_OFFSET(AXIS) 0
 #endif
 
-#define LOGICAL_POSITION(POS, AXIS) ((POS) + WORKSPACE_OFFSET(AXIS))
-#define RAW_POSITION(POS, AXIS)     ((POS) - WORKSPACE_OFFSET(AXIS))
+#define NATIVE_TO_LOGICAL(POS, AXIS) ((POS) + WORKSPACE_OFFSET(AXIS))
+#define LOGICAL_TO_NATIVE(POS, AXIS) ((POS) - WORKSPACE_OFFSET(AXIS))
 
 #if HAS_POSITION_SHIFT || DISABLED(DELTA)
-  #define LOGICAL_X_POSITION(POS)   LOGICAL_POSITION(POS, X_AXIS)
-  #define LOGICAL_Y_POSITION(POS)   LOGICAL_POSITION(POS, Y_AXIS)
-  #define RAW_X_POSITION(POS)       RAW_POSITION(POS, X_AXIS)
-  #define RAW_Y_POSITION(POS)       RAW_POSITION(POS, Y_AXIS)
+  #define LOGICAL_X_POSITION(POS)   NATIVE_TO_LOGICAL(POS, X_AXIS)
+  #define LOGICAL_Y_POSITION(POS)   NATIVE_TO_LOGICAL(POS, Y_AXIS)
+  #define RAW_X_POSITION(POS)       LOGICAL_TO_NATIVE(POS, X_AXIS)
+  #define RAW_Y_POSITION(POS)       LOGICAL_TO_NATIVE(POS, Y_AXIS)
 #else
   #define LOGICAL_X_POSITION(POS)   (POS)
   #define LOGICAL_Y_POSITION(POS)   (POS)
@@ -232,9 +232,8 @@ void homeaxis(const AxisEnum axis);
   #define RAW_Y_POSITION(POS)       (POS)
 #endif
 
-#define LOGICAL_Z_POSITION(POS)     LOGICAL_POSITION(POS, Z_AXIS)
-#define RAW_Z_POSITION(POS)         RAW_POSITION(POS, Z_AXIS)
-#define RAW_CURRENT_POSITION(A)     RAW_##A##_POSITION(current_position[A##_AXIS])
+#define LOGICAL_Z_POSITION(POS)     NATIVE_TO_LOGICAL(POS, Z_AXIS)
+#define RAW_Z_POSITION(POS)         LOGICAL_TO_NATIVE(POS, Z_AXIS)
 
 /**
  * position_is_reachable family of functions
@@ -242,7 +241,7 @@ void homeaxis(const AxisEnum axis);
 
 #if IS_KINEMATIC // (DELTA or SCARA)
 
-  inline bool position_is_reachable_raw_xy(const float &rx, const float &ry) {
+  inline bool position_is_reachable(const float &rx, const float &ry) {
     #if ENABLED(DELTA)
       return HYPOT2(rx, ry) <= sq(DELTA_PRINTABLE_RADIUS);
     #elif IS_SCARA
@@ -257,24 +256,24 @@ void homeaxis(const AxisEnum axis);
     #endif
   }
 
-  inline bool position_is_reachable_by_probe_raw_xy(const float &rx, const float &ry) {
+  inline bool position_is_reachable_by_probe(const float &rx, const float &ry) {
 
     // Both the nozzle and the probe must be able to reach the point.
     // This won't work on SCARA since the probe offset rotates with the arm.
 
-    return position_is_reachable_raw_xy(rx, ry)
-        && position_is_reachable_raw_xy(rx - X_PROBE_OFFSET_FROM_EXTRUDER, ry - Y_PROBE_OFFSET_FROM_EXTRUDER);
+    return position_is_reachable(rx, ry)
+        && position_is_reachable(rx - X_PROBE_OFFSET_FROM_EXTRUDER, ry - Y_PROBE_OFFSET_FROM_EXTRUDER);
   }
 
 #else // CARTESIAN
 
-  inline bool position_is_reachable_raw_xy(const float &rx, const float &ry) {
+  inline bool position_is_reachable(const float &rx, const float &ry) {
       // Add 0.001 margin to deal with float imprecision
       return WITHIN(rx, X_MIN_POS - 0.001, X_MAX_POS + 0.001)
           && WITHIN(ry, Y_MIN_POS - 0.001, Y_MAX_POS + 0.001);
   }
 
-  inline bool position_is_reachable_by_probe_raw_xy(const float &rx, const float &ry) {
+  inline bool position_is_reachable_by_probe(const float &rx, const float &ry) {
       // Add 0.001 margin to deal with float imprecision
       return WITHIN(rx, MIN_PROBE_X - 0.001, MAX_PROBE_X + 0.001)
           && WITHIN(ry, MIN_PROBE_Y - 0.001, MAX_PROBE_Y + 0.001);
@@ -282,14 +281,6 @@ void homeaxis(const AxisEnum axis);
 
 #endif // CARTESIAN
 
-FORCE_INLINE bool position_is_reachable_by_probe_xy(const float &lx, const float &ly) {
-  return position_is_reachable_by_probe_raw_xy(RAW_X_POSITION(lx), RAW_Y_POSITION(ly));
-}
-
-FORCE_INLINE bool position_is_reachable_xy(const float &lx, const float &ly) {
-  return position_is_reachable_raw_xy(RAW_X_POSITION(lx), RAW_Y_POSITION(ly));
-}
-
 /**
  * Dual X Carriage / Dual Nozzle
  */

Marlin/src/module/planner.cpp

@@ -132,7 +132,7 @@ float Planner::min_feedrate_mm_s,
 #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
   float Planner::z_fade_height, // Initialized by settings.load()
         Planner::inverse_z_fade_height,
-        Planner::last_raw_lz;
+        Planner::last_fade_z;
 #endif
 
 #if ENABLED(AUTOTEMP)
@@ -552,14 +552,14 @@ void Planner::calculate_volumetric_multipliers() {
 
 #if PLANNER_LEVELING
   /**
-   * lx, ly, lz - logical (cartesian, not delta) positions in mm
+   * rx, ry, rz - Cartesian positions in mm
    */
-  void Planner::apply_leveling(float &lx, float &ly, float &lz) {
+  void Planner::apply_leveling(float &rx, float &ry, float &rz) {
 
     if (!planner.leveling_active) return;
 
     #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
-      const float fade_scaling_factor = fade_scaling_factor_for_z(lz);
+      const float fade_scaling_factor = fade_scaling_factor_for_z(rz);
       if (!fade_scaling_factor) return;
     #else
       constexpr float fade_scaling_factor = 1.0;
@@ -567,11 +567,11 @@ void Planner::calculate_volumetric_multipliers() {
 
     #if ENABLED(AUTO_BED_LEVELING_UBL)
 
-      lz += ubl.get_z_correction(lx, ly) * fade_scaling_factor;
+      rz += ubl.get_z_correction(rx, ry) * fade_scaling_factor;
 
     #elif ENABLED(MESH_BED_LEVELING)
 
-      lz += mbl.get_z(RAW_X_POSITION(lx), RAW_Y_POSITION(ly)
+      rz += mbl.get_z(rx, ry
         #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
           , fade_scaling_factor
         #endif
@@ -581,42 +581,38 @@ void Planner::calculate_volumetric_multipliers() {
 
       UNUSED(fade_scaling_factor);
 
-      float dx = RAW_X_POSITION(lx) - (X_TILT_FULCRUM),
-            dy = RAW_Y_POSITION(ly) - (Y_TILT_FULCRUM),
-            dz = RAW_Z_POSITION(lz);
+      float dx = rx - (X_TILT_FULCRUM),
+            dy = ry - (Y_TILT_FULCRUM);
 
-      apply_rotation_xyz(bed_level_matrix, dx, dy, dz);
+      apply_rotation_xyz(bed_level_matrix, dx, dy, rz);
 
-      lx = LOGICAL_X_POSITION(dx + X_TILT_FULCRUM);
-      ly = LOGICAL_Y_POSITION(dy + Y_TILT_FULCRUM);
-      lz = LOGICAL_Z_POSITION(dz);
+      rx = dx + X_TILT_FULCRUM;
+      ry = dy + Y_TILT_FULCRUM;
 
     #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
 
-      float tmp[XYZ] = { lx, ly, 0 };
-      lz += bilinear_z_offset(tmp) * fade_scaling_factor;
+      float tmp[XYZ] = { rx, ry, 0 };
+      rz += bilinear_z_offset(tmp) * fade_scaling_factor;
 
     #endif
   }
 
-  void Planner::unapply_leveling(float logical[XYZ]) {
+  void Planner::unapply_leveling(float raw[XYZ]) {
 
     if (!planner.leveling_active) return;
 
     #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
-      if (z_fade_height && RAW_Z_POSITION(logical[Z_AXIS]) >= z_fade_height) return;
+      if (z_fade_height && raw[Z_AXIS] >= z_fade_height) return;
     #endif
 
     #if ENABLED(AUTO_BED_LEVELING_UBL)
 
-      const float z_physical = RAW_Z_POSITION(logical[Z_AXIS]),
-                  z_correct = ubl.get_z_correction(logical[X_AXIS], logical[Y_AXIS]),
-                  z_virtual = z_physical - z_correct;
-            float z_logical = LOGICAL_Z_POSITION(z_virtual);
+      const float z_correct = ubl.get_z_correction(raw[X_AXIS], raw[Y_AXIS]);
+            float z_raw = raw[Z_AXIS] - z_correct;
 
       #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
 
-        // for P=physical_z, L=logical_z, M=mesh_z, H=fade_height,
+        // for P=physical_z, L=raw_z, M=mesh_z, H=fade_height,
         // Given P=L+M(1-L/H) (faded mesh correction formula for L<H)
         //  then L=P-M(1-L/H)
         //    so L=P-M+ML/H
@@ -625,46 +621,46 @@ void Planner::calculate_volumetric_multipliers() {
         //    so L=(P-M)/(1-M/H) for L<H
 
         if (planner.z_fade_height) {
-          if (z_logical >= planner.z_fade_height)
-            z_logical = LOGICAL_Z_POSITION(z_physical);
+          if (z_raw >= planner.z_fade_height)
+            z_raw = raw[Z_AXIS];
           else
-            z_logical /= 1.0 - z_correct * planner.inverse_z_fade_height;
+            z_raw /= 1.0 - z_correct * planner.inverse_z_fade_height;
         }
 
       #endif // ENABLE_LEVELING_FADE_HEIGHT
 
-      logical[Z_AXIS] = z_logical;
+      raw[Z_AXIS] = z_raw;
 
     #elif ENABLED(MESH_BED_LEVELING)
 
       #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
-        const float c = mbl.get_z(RAW_X_POSITION(logical[X_AXIS]), RAW_Y_POSITION(logical[Y_AXIS]), 1.0);
-        logical[Z_AXIS] = (z_fade_height * (RAW_Z_POSITION(logical[Z_AXIS]) - c)) / (z_fade_height - c);
+        const float c = mbl.get_z(raw[X_AXIS], raw[Y_AXIS], 1.0);
+        raw[Z_AXIS] = (z_fade_height * (raw[Z_AXIS] - c)) / (z_fade_height - c);
       #else
-        logical[Z_AXIS] -= mbl.get_z(RAW_X_POSITION(logical[X_AXIS]), RAW_Y_POSITION(logical[Y_AXIS]));
+        raw[Z_AXIS] -= mbl.get_z(raw[X_AXIS], raw[Y_AXIS]);
       #endif
 
     #elif ABL_PLANAR
 
       matrix_3x3 inverse = matrix_3x3::transpose(bed_level_matrix);
 
-      float dx = RAW_X_POSITION(logical[X_AXIS]) - (X_TILT_FULCRUM),
-            dy = RAW_Y_POSITION(logical[Y_AXIS]) - (Y_TILT_FULCRUM),
-            dz = RAW_Z_POSITION(logical[Z_AXIS]);
+      float dx = raw[X_AXIS] - (X_TILT_FULCRUM),
+            dy = raw[Y_AXIS] - (Y_TILT_FULCRUM),
+            dz = raw[Z_AXIS];
 
       apply_rotation_xyz(inverse, dx, dy, dz);
 
-      logical[X_AXIS] = LOGICAL_X_POSITION(dx + X_TILT_FULCRUM);
-      logical[Y_AXIS] = LOGICAL_Y_POSITION(dy + Y_TILT_FULCRUM);
-      logical[Z_AXIS] = LOGICAL_Z_POSITION(dz);
+      raw[X_AXIS] = dx + X_TILT_FULCRUM;
+      raw[Y_AXIS] = dy + Y_TILT_FULCRUM;
+      raw[Z_AXIS] = dz;
 
     #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
 
       #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
-        const float c = bilinear_z_offset(logical);
-        logical[Z_AXIS] = (z_fade_height * (RAW_Z_POSITION(logical[Z_AXIS]) - c)) / (z_fade_height - c);
+        const float c = bilinear_z_offset(raw);
+        raw[Z_AXIS] = (z_fade_height * (raw[Z_AXIS]) - c) / (z_fade_height - c);
       #else
-        logical[Z_AXIS] -= bilinear_z_offset(logical);
+        raw[Z_AXIS] -= bilinear_z_offset(raw);
       #endif
 
     #endif

Marlin/src/module/planner.h

@@ -202,7 +202,7 @@ class Planner {
     static uint32_t cutoff_long;
 
     #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
-      static float last_raw_lz;
+      static float last_fade_z;
     #endif
 
     #if ENABLED(DISABLE_INACTIVE_EXTRUDER)
@@ -275,21 +275,20 @@ class Planner {
        *  Returns 1.0 if planner.z_fade_height is 0.0.
        *  Returns 0.0 if Z is past the specified 'Fade Height'.
        */
-      inline static float fade_scaling_factor_for_z(const float &lz) {
+      inline static float fade_scaling_factor_for_z(const float &rz) {
         static float z_fade_factor = 1.0;
         if (z_fade_height) {
-          const float raw_lz = RAW_Z_POSITION(lz);
-          if (raw_lz >= z_fade_height) return 0.0;
-          if (last_raw_lz != raw_lz) {
-            last_raw_lz = raw_lz;
-            z_fade_factor = 1.0 - raw_lz * inverse_z_fade_height;
+          if (rz >= z_fade_height) return 0.0;
+          if (last_fade_z != rz) {
+            last_fade_z = rz;
+            z_fade_factor = 1.0 - rz * inverse_z_fade_height;
           }
           return z_fade_factor;
         }
         return 1.0;
       }
 
-      FORCE_INLINE static void force_fade_recalc() { last_raw_lz = -999.999; }
+      FORCE_INLINE static void force_fade_recalc() { last_fade_z = -999.999; }
 
       FORCE_INLINE static void set_z_fade_height(const float &zfh) {
         z_fade_height = zfh > 0 ? zfh : 0;
@@ -297,40 +296,40 @@ class Planner {
         force_fade_recalc();
       }
 
-      FORCE_INLINE static bool leveling_active_at_z(const float &lz) {
-        return !z_fade_height || RAW_Z_POSITION(lz) < z_fade_height;
+      FORCE_INLINE static bool leveling_active_at_z(const float &rz) {
+        return !z_fade_height || rz < z_fade_height;
       }
 
     #else
 
-      FORCE_INLINE static float fade_scaling_factor_for_z(const float &lz) {
-        UNUSED(lz);
+      FORCE_INLINE static float fade_scaling_factor_for_z(const float &rz) {
+        UNUSED(rz);
         return 1.0;
       }
 
-      FORCE_INLINE static bool leveling_active_at_z(const float &lz) { UNUSED(lz); return true; }
+      FORCE_INLINE static bool leveling_active_at_z(const float &rz) { UNUSED(rz); return true; }
 
     #endif
 
     #if PLANNER_LEVELING
 
-      #define ARG_X float lx
-      #define ARG_Y float ly
-      #define ARG_Z float lz
+      #define ARG_X float rx
+      #define ARG_Y float ry
+      #define ARG_Z float rz
 
       /**
        * Apply leveling to transform a cartesian position
        * as it will be given to the planner and steppers.
        */
-      static void apply_leveling(float &lx, float &ly, float &lz);
-      static void apply_leveling(float logical[XYZ]) { apply_leveling(logical[X_AXIS], logical[Y_AXIS], logical[Z_AXIS]); }
-      static void unapply_leveling(float logical[XYZ]);
+      static void apply_leveling(float &rx, float &ry, float &rz);
+      static void apply_leveling(float raw[XYZ]) { apply_leveling(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS]); }
+      static void unapply_leveling(float raw[XYZ]);
 
     #else
 
-      #define ARG_X const float &lx
-      #define ARG_Y const float &ly
-      #define ARG_Z const float &lz
+      #define ARG_X const float &rx
+      #define ARG_Y const float &ry
+      #define ARG_Z const float &rz
 
     #endif
 
@@ -357,15 +356,15 @@ class Planner {
      * Kinematic machines should call buffer_line_kinematic (for leveled moves).
      * (Cartesians may also call buffer_line_kinematic.)
      *
-     *  lx,ly,lz,e   - target position in mm or degrees
+     *  rx,ry,rz,e   - target position in mm or degrees
      *  fr_mm_s      - (target) speed of the move (mm/s)
      *  extruder     - target extruder
      */
     static FORCE_INLINE void buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, const float &fr_mm_s, const uint8_t extruder) {
       #if PLANNER_LEVELING && IS_CARTESIAN
-        apply_leveling(lx, ly, lz);
+        apply_leveling(rx, ry, rz);
       #endif
-      _buffer_line(lx, ly, lz, e, fr_mm_s, extruder);
+      _buffer_line(rx, ry, rz, e, fr_mm_s, extruder);
     }
 
     /**
@@ -373,22 +372,22 @@ class Planner {
      * The target is cartesian, it's translated to delta/scara if
      * needed.
      *
-     *  ltarget  - x,y,z,e CARTESIAN target in mm
+     *  rtarget  - x,y,z,e CARTESIAN target in mm
      *  fr_mm_s  - (target) speed of the move (mm/s)
      *  extruder - target extruder
      */
-    static FORCE_INLINE void buffer_line_kinematic(const float ltarget[XYZE], const float &fr_mm_s, const uint8_t extruder) {
+    static FORCE_INLINE void buffer_line_kinematic(const float rtarget[XYZE], const float &fr_mm_s, const uint8_t extruder) {
       #if PLANNER_LEVELING
-        float lpos[XYZ] = { ltarget[X_AXIS], ltarget[Y_AXIS], ltarget[Z_AXIS] };
+        float lpos[XYZ] = { rtarget[X_AXIS], rtarget[Y_AXIS], rtarget[Z_AXIS] };
         apply_leveling(lpos);
       #else
-        const float * const lpos = ltarget;
+        const float * const lpos = rtarget;
       #endif
       #if IS_KINEMATIC
         inverse_kinematics(lpos);
-        _buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], ltarget[E_AXIS], fr_mm_s, extruder);
+        _buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], rtarget[E_AXIS], fr_mm_s, extruder);
       #else
-        _buffer_line(lpos[X_AXIS], lpos[Y_AXIS], lpos[Z_AXIS], ltarget[E_AXIS], fr_mm_s, extruder);
+        _buffer_line(lpos[X_AXIS], lpos[Y_AXIS], lpos[Z_AXIS], rtarget[E_AXIS], fr_mm_s, extruder);
       #endif
     }
 
@@ -403,9 +402,9 @@ class Planner {
      */
     static FORCE_INLINE void set_position_mm(ARG_X, ARG_Y, ARG_Z, const float &e) {
       #if PLANNER_LEVELING && IS_CARTESIAN
-        apply_leveling(lx, ly, lz);
+        apply_leveling(rx, ry, rz);
       #endif
-      _set_position_mm(lx, ly, lz, e);
+      _set_position_mm(rx, ry, rz, e);
     }
     static void set_position_mm_kinematic(const float position[NUM_AXIS]);
     static void set_position_mm(const AxisEnum axis, const float &v);

Marlin/src/module/probe.cpp

@@ -106,8 +106,8 @@ inline void do_probe_raise(const float z_raise) {
 
 #elif ENABLED(Z_PROBE_ALLEN_KEY)
 
-  FORCE_INLINE void do_blocking_move_to(const float logical[XYZ], const float &fr_mm_s) {
-    do_blocking_move_to(logical[X_AXIS], logical[Y_AXIS], logical[Z_AXIS], fr_mm_s);
+  FORCE_INLINE void do_blocking_move_to(const float raw[XYZ], const float &fr_mm_s) {
+    do_blocking_move_to(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], fr_mm_s);
   }
 
   void run_deploy_moves_script() {
@@ -564,7 +564,7 @@ static float run_z_probe(const bool short_move=true) {
     }
   #endif
 
-  return RAW_CURRENT_POSITION(Z) + zprobe_zoffset
+  return current_position[Z_AXIS] + zprobe_zoffset
     #if ENABLED(DELTA)
       + home_offset[Z_AXIS] // Account for delta height adjustment
     #endif
@@ -580,22 +580,22 @@ static float run_z_probe(const bool short_move=true) {
  *   - Raise to the BETWEEN height
  * - Return the probed Z position
  */
-float probe_pt(const float &lx, const float &ly, const bool stow, const uint8_t verbose_level, const bool printable/*=true*/) {
+float probe_pt(const float &rx, const float &ry, const bool stow, const uint8_t verbose_level, const bool printable/*=true*/) {
   #if ENABLED(DEBUG_LEVELING_FEATURE)
     if (DEBUGGING(LEVELING)) {
-      SERIAL_ECHOPAIR(">>> probe_pt(", lx);
-      SERIAL_ECHOPAIR(", ", ly);
+      SERIAL_ECHOPAIR(">>> probe_pt(", LOGICAL_X_POSITION(rx));
+      SERIAL_ECHOPAIR(", ", LOGICAL_Y_POSITION(ry));
       SERIAL_ECHOPAIR(", ", stow ? "" : "no ");
       SERIAL_ECHOLNPGM("stow)");
       DEBUG_POS("", current_position);
     }
   #endif
 
-  const float nx = lx - (X_PROBE_OFFSET_FROM_EXTRUDER), ny = ly - (Y_PROBE_OFFSET_FROM_EXTRUDER);
+  const float nx = rx - (X_PROBE_OFFSET_FROM_EXTRUDER), ny = ry - (Y_PROBE_OFFSET_FROM_EXTRUDER);
 
   if (printable
-    ? !position_is_reachable_xy(nx, ny)
-    : !position_is_reachable_by_probe_xy(lx, ly)
+    ? !position_is_reachable(nx, ny)
+    : !position_is_reachable_by_probe(rx, ry)
   ) return NAN;
 
 
@@ -634,9 +634,9 @@ float probe_pt(const float &lx, const float &ly, const bool stow, const uint8_t
 
   if (verbose_level > 2) {
     SERIAL_PROTOCOLPGM("Bed X: ");
-    SERIAL_PROTOCOL_F(lx, 3);
+    SERIAL_PROTOCOL_F(LOGICAL_X_POSITION(rx), 3);
     SERIAL_PROTOCOLPGM(" Y: ");
-    SERIAL_PROTOCOL_F(ly, 3);
+    SERIAL_PROTOCOL_F(LOGICAL_Y_POSITION(ry), 3);
     SERIAL_PROTOCOLPGM(" Z: ");
     SERIAL_PROTOCOL_F(measured_z, 3);
     SERIAL_EOL();

Marlin/src/module/probe.h

@@ -30,7 +30,7 @@
 #include "../inc/MarlinConfig.h"
 
 bool set_probe_deployed(const bool deploy);
-float probe_pt(const float &lx, const float &ly, const bool, const uint8_t, const bool printable=true);
+float probe_pt(const float &rx, const float &ry, const bool, const uint8_t, const bool printable=true);
 
 #if HAS_BED_PROBE
   extern float zprobe_zoffset;

Marlin/src/module/scara.cpp

@@ -36,14 +36,14 @@ float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND;
 
 void scara_set_axis_is_at_home(const AxisEnum axis) {
   if (axis == Z_AXIS)
-    current_position[Z_AXIS] = LOGICAL_POSITION(Z_HOME_POS, Z_AXIS);
+    current_position[Z_AXIS] = Z_HOME_POS;
   else {
 
     /**
      * SCARA homes XY at the same time
      */
     float homeposition[XYZ];
-    LOOP_XYZ(i) homeposition[i] = LOGICAL_POSITION(base_home_pos((AxisEnum)i), i);
+    LOOP_XYZ(i) homeposition[i] = base_home_pos((AxisEnum)i);
 
     // SERIAL_ECHOPAIR("homeposition X:", homeposition[X_AXIS]);
     // SERIAL_ECHOLNPAIR(" Y:", homeposition[Y_AXIS]);
@@ -58,7 +58,7 @@ void scara_set_axis_is_at_home(const AxisEnum axis) {
     // SERIAL_ECHOPAIR("Cartesian X:", cartes[X_AXIS]);
     // SERIAL_ECHOLNPAIR(" Y:", cartes[Y_AXIS]);
 
-    current_position[axis] = LOGICAL_POSITION(cartes[axis], axis);
+    current_position[axis] = cartes[axis];
 
     /**
      * SCARA home positions are based on configuration since the actual
@@ -104,12 +104,12 @@ void forward_kinematics_SCARA(const float &a, const float &b) {
  * Maths and first version by QHARLEY.
  * Integrated into Marlin and slightly restructured by Joachim Cerny.
  */
-void inverse_kinematics(const float logical[XYZ]) {
+void inverse_kinematics(const float raw[XYZ]) {
 
   static float C2, S2, SK1, SK2, THETA, PSI;
 
-  float sx = RAW_X_POSITION(logical[X_AXIS]) - SCARA_OFFSET_X,  // Translate SCARA to standard X Y
-        sy = RAW_Y_POSITION(logical[Y_AXIS]) - SCARA_OFFSET_Y;  // With scaling factor.
+  float sx = raw[X_AXIS] - SCARA_OFFSET_X,  // Translate SCARA to standard X Y
+        sy = raw[Y_AXIS] - SCARA_OFFSET_Y;  // With scaling factor.
 
   if (L1 == L2)
     C2 = HYPOT2(sx, sy) / L1_2_2 - 1;
@@ -132,10 +132,10 @@ void inverse_kinematics(const float logical[XYZ]) {
 
   delta[A_AXIS] = DEGREES(THETA);        // theta is support arm angle
   delta[B_AXIS] = DEGREES(THETA + PSI);  // equal to sub arm angle (inverted motor)
-  delta[C_AXIS] = logical[Z_AXIS];
+  delta[C_AXIS] = raw[Z_AXIS];
 
   /*
-    DEBUG_POS("SCARA IK", logical);
+    DEBUG_POS("SCARA IK", raw);
     DEBUG_POS("SCARA IK", delta);
     SERIAL_ECHOPAIR("  SCARA (x,y) ", sx);
     SERIAL_ECHOPAIR(",", sy);

Marlin/src/module/scara.h

@@ -38,7 +38,7 @@ float constexpr L1 = SCARA_LINKAGE_1, L2 = SCARA_LINKAGE_2,
 
 void scara_set_axis_is_at_home(const AxisEnum axis);
 
-void inverse_kinematics(const float logical[XYZ]);
+void inverse_kinematics(const float raw[XYZ]);
 void forward_kinematics_SCARA(const float &a, const float &b);
 
 void scara_report_positions();

Marlin/src/module/tool_change.cpp

@@ -240,9 +240,9 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
           switch (dual_x_carriage_mode) {
             case DXC_FULL_CONTROL_MODE:
               // New current position is the position of the activated extruder
-              current_position[X_AXIS] = LOGICAL_X_POSITION(inactive_extruder_x_pos);
+              current_position[X_AXIS] = inactive_extruder_x_pos;
               // Save the inactive extruder's position (from the old current_position)
-              inactive_extruder_x_pos = RAW_X_POSITION(destination[X_AXIS]);
+              inactive_extruder_x_pos = destination[X_AXIS];
               break;
             case DXC_AUTO_PARK_MODE:
               // record raised toolhead position for use by unpark
@@ -260,10 +260,10 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
               active_extruder_parked = (active_extruder == 0);
 
               if (active_extruder_parked)
-                current_position[X_AXIS] = LOGICAL_X_POSITION(inactive_extruder_x_pos);
+                current_position[X_AXIS] = inactive_extruder_x_pos;
               else
                 current_position[X_AXIS] = destination[X_AXIS] + duplicate_extruder_x_offset;
-              inactive_extruder_x_pos = RAW_X_POSITION(destination[X_AXIS]);
+              inactive_extruder_x_pos = destination[X_AXIS];
               extruder_duplication_enabled = false;
               #if ENABLED(DEBUG_LEVELING_FEATURE)
                 if (DEBUGGING(LEVELING)) {