Merge pull request #8730 from thinkyhead/bf2_fixup_ubl

[2.0.x] UBL - Skew and Dual X Carriage

.travis.yml

@@ -79,13 +79,14 @@ script:
   - opt_set TEMP_SENSOR_3 20
   - opt_set TEMP_SENSOR_4 999
   - opt_set TEMP_SENSOR_BED 1
-  - opt_enable AUTO_BED_LEVELING_UBL DEBUG_LEVELING_FEATURE G26_MESH_EDITING ENABLE_LEVELING_FADE_HEIGHT EEPROM_SETTINGS EEPROM_CHITCHAT G3D_PANEL
+  - opt_enable AUTO_BED_LEVELING_UBL DEBUG_LEVELING_FEATURE G26_MESH_EDITING ENABLE_LEVELING_FADE_HEIGHT EEPROM_SETTINGS EEPROM_CHITCHAT G3D_PANEL SKEW_CORRECTION
   - opt_enable_adv CUSTOM_USER_MENUS I2C_POSITION_ENCODERS BABYSTEPPING LIN_ADVANCE NANODLP_Z_SYNC
   - build_marlin_pio ${TRAVIS_BUILD_DIR} ${TEST_PLATFORM}
   #
-  # And with a Sled Z Probe
+  # Add a Sled Z Probe, do non-segmented moves
   #
   - opt_enable Z_PROBE_SLED
+  - opt_disable SEGMENT_LEVELED_MOVES
   - opt_enable_adv BABYSTEP_ZPROBE_OFFSET DOUBLECLICK_FOR_Z_BABYSTEPPING
   - build_marlin_pio ${TRAVIS_BUILD_DIR} ${TEST_PLATFORM}
   #
@@ -121,7 +122,7 @@ script:
   - opt_enable ULTIMAKERCONTROLLER SDSUPPORT
   - opt_enable PRINTCOUNTER NOZZLE_PARK_FEATURE NOZZLE_CLEAN_FEATURE PCA9632 USE_XMAX_PLUG
   - opt_enable_adv BEZIER_CURVE_SUPPORT EXPERIMENTAL_I2CBUS
-  - opt_enable_adv ADVANCED_PAUSE_FEATURE PARK_HEAD_ON_PAUSE LCD_INFO_MENU
+  - opt_enable_adv ADVANCED_PAUSE_FEATURE PARK_HEAD_ON_PAUSE LCD_INFO_MENU M114_DETAIL
   - opt_set_adv PWM_MOTOR_CURRENT {1300,1300,1250}
   - opt_set_adv I2C_SLAVE_ADDRESS 63
   - build_marlin_pio ${TRAVIS_BUILD_DIR} ${TEST_PLATFORM}

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

@@ -55,6 +55,59 @@
     safe_delay(10);
   }
 
+  #if ENABLED(UBL_DEVEL_DEBUGGING)
+
+    static void debug_echo_axis(const AxisEnum axis) {
+      if (current_position[axis] == destination[axis])
+        SERIAL_ECHOPGM("-------------");
+      else
+        SERIAL_ECHO_F(destination[X_AXIS], 6);
+    }
+
+    void debug_current_and_destination(const char *title) {
+
+      // if the title message starts with a '!' it is so important, we are going to
+      // ignore the status of the g26_debug_flag
+      if (*title != '!' && !g26_debug_flag) return;
+
+      const float de = destination[E_AXIS] - current_position[E_AXIS];
+
+      if (de == 0.0) return; // Printing moves only
+
+      const float dx = destination[X_AXIS] - current_position[X_AXIS],
+                  dy = destination[Y_AXIS] - current_position[Y_AXIS],
+                  xy_dist = HYPOT(dx, dy);
+
+      if (xy_dist == 0.0) return;
+
+      SERIAL_ECHOPGM("   fpmm=");
+      const float fpmm = de / xy_dist;
+      SERIAL_ECHO_F(fpmm, 6);
+
+      SERIAL_ECHOPGM("    current=( ");
+      SERIAL_ECHO_F(current_position[X_AXIS], 6);
+      SERIAL_ECHOPGM(", ");
+      SERIAL_ECHO_F(current_position[Y_AXIS], 6);
+      SERIAL_ECHOPGM(", ");
+      SERIAL_ECHO_F(current_position[Z_AXIS], 6);
+      SERIAL_ECHOPGM(", ");
+      SERIAL_ECHO_F(current_position[E_AXIS], 6);
+      SERIAL_ECHOPGM(" )   destination=( ");
+      debug_echo_axis(X_AXIS);
+      SERIAL_ECHOPGM(", ");
+      debug_echo_axis(Y_AXIS);
+      SERIAL_ECHOPGM(", ");
+      debug_echo_axis(Z_AXIS);
+      SERIAL_ECHOPGM(", ");
+      debug_echo_axis(E_AXIS);
+      SERIAL_ECHOPGM(" )   ");
+      SERIAL_ECHO(title);
+      SERIAL_EOL();
+
+    }
+
+  #endif // UBL_DEVEL_DEBUGGING
+
   int8_t unified_bed_leveling::storage_slot;
 
   float unified_bed_leveling::z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
@@ -178,7 +231,7 @@
     uint8_t error_flag = 0;
 
     if (settings.calc_num_meshes() < 1) {
-      SERIAL_PROTOCOLLNPGM("?Insufficient EEPROM storage for a mesh of this size.");
+      SERIAL_PROTOCOLLNPGM("?Mesh too big for EEPROM.");
       error_flag++;
     }
 

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

@@ -23,6 +23,8 @@
 #ifndef UNIFIED_BED_LEVELING_H
 #define UNIFIED_BED_LEVELING_H
 
+//#define UBL_DEVEL_DEBUGGING
+
 #include "../bedlevel.h"
 #include "../../../module/planner.h"
 #include "../../../module/motion.h"
@@ -37,7 +39,11 @@
 
 // ubl_motion.cpp
 
-void debug_current_and_destination(const char * const title);
+#if ENABLED(UBL_DEVEL_DEBUGGING)
+  void debug_current_and_destination(const char * const title);
+#else
+  FORCE_INLINE void debug_current_and_destination(const char * const title) { UNUSED(title); }
+#endif
 
 // ubl_G29.cpp
 
@@ -217,9 +223,9 @@ class unified_bed_leveling {
       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[min(x1_i, GRID_MAX_POINTS_X - 2) + 1][yi] - z1);  // Don't allow x1_i+1 to be past the end of the array
-                                                                                       // If it is, it is clamped to the last element of the 
-                                                                                       // z_values[][] array and no correction is applied.
+      return z1 + xratio * (z_values[min(x1_i, GRID_MAX_POINTS_X - 2) + 1][yi] - z1); // Don't allow x1_i+1 to be past the end of the array
+                                                                                      // If it is, it is clamped to the last element of the
+                                                                                      // z_values[][] array and no correction is applied.
     }
 
     //
@@ -243,9 +249,9 @@ class unified_bed_leveling {
       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][min(y1_i, GRID_MAX_POINTS_Y - 2) + 1] - z1);  // Don't allow y1_i+1 to be past the end of the array
-                                                                                       // If it is, it is clamped to the last element of the 
-                                                                                       // z_values[][] array and no correction is applied.
+      return z1 + yratio * (z_values[xi][min(y1_i, GRID_MAX_POINTS_Y - 2) + 1] - z1); // Don't allow y1_i+1 to be past the end of the array
+                                                                                      // If it is, it is clamped to the last element of the
+                                                                                      // z_values[][] array and no correction is applied.
     }
 
     /**
@@ -315,8 +321,11 @@ 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 rtarget[XYZE], const float &feedrate);
-    static void line_to_destination_cartesian(const float &fr, uint8_t e);
+    #if UBL_SEGMENTED
+      static bool prepare_segmented_line_to(const float (&rtarget)[XYZE], const float &feedrate);
+    #else
+      static void line_to_destination_cartesian(const float &fr, const uint8_t e);
+    #endif
 
     #define _CMPZ(a,b) (z_values[a][b] == z_values[a][b+1])
     #define CMPZ(a) (_CMPZ(a, 0) && _CMPZ(a, 1))

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

@@ -23,93 +23,42 @@
 
 #if ENABLED(AUTO_BED_LEVELING_UBL)
 
-  #include "../bedlevel.h"
-  #include "../../../module/planner.h"
-  #include "../../../module/stepper.h"
-  #include "../../../module/motion.h"
+#include "../bedlevel.h"
+#include "../../../module/planner.h"
+#include "../../../module/stepper.h"
+#include "../../../module/motion.h"
 
-  #if ENABLED(DELTA)
-    #include "../../../module/delta.h"
-  #endif
-
-  #include "../../../Marlin.h"
-  #include <math.h>
-
-  extern float destination[XYZE];
-
-  #if AVR_AT90USB1286_FAMILY  // Teensyduino & Printrboard IDE extensions have compile errors without this
-    inline void set_current_from_destination() { COPY(current_position, destination); }
-  #else
-    extern void set_current_from_destination();
-  #endif
+#if ENABLED(DELTA)
+  #include "../../../module/delta.h"
+#endif
 
-  static void debug_echo_axis(const AxisEnum axis) {
-    if (current_position[axis] == destination[axis])
-      SERIAL_ECHOPGM("-------------");
-    else
-      SERIAL_ECHO_F(destination[X_AXIS], 6);
-  }
+#include "../../../Marlin.h"
+#include <math.h>
 
-  void debug_current_and_destination(const char *title) {
-
-    // if the title message starts with a '!' it is so important, we are going to
-    // ignore the status of the g26_debug_flag
-    if (*title != '!' && !g26_debug_flag) return;
-
-    const float de = destination[E_AXIS] - current_position[E_AXIS];
-
-    if (de == 0.0) return; // Printing moves only
-
-    const float dx = destination[X_AXIS] - current_position[X_AXIS],
-                dy = destination[Y_AXIS] - current_position[Y_AXIS],
-                xy_dist = HYPOT(dx, dy);
-
-    if (xy_dist == 0.0) return;
-
-    SERIAL_ECHOPGM("   fpmm=");
-    const float fpmm = de / xy_dist;
-    SERIAL_ECHO_F(fpmm, 6);
-
-    SERIAL_ECHOPGM("    current=( ");
-    SERIAL_ECHO_F(current_position[X_AXIS], 6);
-    SERIAL_ECHOPGM(", ");
-    SERIAL_ECHO_F(current_position[Y_AXIS], 6);
-    SERIAL_ECHOPGM(", ");
-    SERIAL_ECHO_F(current_position[Z_AXIS], 6);
-    SERIAL_ECHOPGM(", ");
-    SERIAL_ECHO_F(current_position[E_AXIS], 6);
-    SERIAL_ECHOPGM(" )   destination=( ");
-    debug_echo_axis(X_AXIS);
-    SERIAL_ECHOPGM(", ");
-    debug_echo_axis(Y_AXIS);
-    SERIAL_ECHOPGM(", ");
-    debug_echo_axis(Z_AXIS);
-    SERIAL_ECHOPGM(", ");
-    debug_echo_axis(E_AXIS);
-    SERIAL_ECHOPGM(" )   ");
-    SERIAL_ECHO(title);
-    SERIAL_EOL();
+#if AVR_AT90USB1286_FAMILY  // Teensyduino & Printrboard IDE extensions have compile errors without this
+  inline void set_current_from_destination() { COPY(current_position, destination); }
+#else
+  extern void set_current_from_destination();
+#endif
 
-  }
+#if !UBL_SEGMENTED
 
-  void unified_bed_leveling::line_to_destination_cartesian(const float &feed_rate, uint8_t extruder) {
+  void unified_bed_leveling::line_to_destination_cartesian(const float &feed_rate, const uint8_t extruder) {
     /**
      * Much of the nozzle movement will be within the same cell. So we will do as little computation
      * as possible to determine if this is the case. If this move is within the same cell, we will
      * just do the required Z-Height correction, call the Planner's buffer_line() routine, and leave
      */
-    const float start[XYZE] = {
-                  current_position[X_AXIS],
-                  current_position[Y_AXIS],
-                  current_position[Z_AXIS],
-                  current_position[E_AXIS]
-                },
-                end[XYZE] = {
-                  destination[X_AXIS],
-                  destination[Y_AXIS],
-                  destination[Z_AXIS],
-                  destination[E_AXIS]
-                };
+    #if ENABLED(SKEW_CORRECTION)
+      // For skew correction just adjust the destination point and we're done
+      float start[XYZE] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS] },
+            end[XYZE] = { destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS] };
+      planner.skew(start[X_AXIS], start[Y_AXIS], start[Z_AXIS]);
+      planner.skew(end[X_AXIS], end[Y_AXIS], end[Z_AXIS]);
+    #else
+      const float (&start)[XYZE] = current_position,
+                    (&end)[XYZE] = destination;
+    #endif
 
     const int cell_start_xi = get_cell_index_x(start[X_AXIS]),
               cell_start_yi = get_cell_index_y(start[Y_AXIS]),
@@ -117,13 +66,13 @@
               cell_dest_yi  = get_cell_index_y(end[Y_AXIS]);
 
     if (g26_debug_flag) {
-      SERIAL_ECHOPAIR(" ubl.line_to_destination(xe=", end[X_AXIS]);
-      SERIAL_ECHOPAIR(", ye=", end[Y_AXIS]);
-      SERIAL_ECHOPAIR(", ze=", end[Z_AXIS]);
-      SERIAL_ECHOPAIR(", ee=", end[E_AXIS]);
+      SERIAL_ECHOPAIR(" ubl.line_to_destination_cartesian(xe=", destination[X_AXIS]);
+      SERIAL_ECHOPAIR(", ye=", destination[Y_AXIS]);
+      SERIAL_ECHOPAIR(", ze=", destination[Z_AXIS]);
+      SERIAL_ECHOPAIR(", ee=", destination[E_AXIS]);
       SERIAL_CHAR(')');
       SERIAL_EOL();
-      debug_current_and_destination(PSTR("Start of ubl.line_to_destination()"));
+      debug_current_and_destination(PSTR("Start of ubl.line_to_destination_cartesian()"));
     }
 
     if (cell_start_xi == cell_dest_xi && cell_start_yi == cell_dest_yi) { // if the whole move is within the same cell,
@@ -139,11 +88,11 @@
         // Note: There is no Z Correction in this case. We are off the grid and don't know what
         // a reasonable correction would be.
 
-        planner._buffer_line(end[X_AXIS], end[Y_AXIS], end[Z_AXIS], end[E_AXIS], feed_rate, extruder);
+        planner.buffer_segment(end[X_AXIS], end[Y_AXIS], end[Z_AXIS], end[E_AXIS], feed_rate, extruder);
         set_current_from_destination();
 
         if (g26_debug_flag)
-          debug_current_and_destination(PSTR("out of bounds in ubl.line_to_destination()"));
+          debug_current_and_destination(PSTR("out of bounds in ubl.line_to_destination_cartesian()"));
 
         return;
       }
@@ -183,10 +132,10 @@
        */
       if (isnan(z0)) z0 = 0.0;
 
-      planner._buffer_line(end[X_AXIS], end[Y_AXIS], end[Z_AXIS] + z0, end[E_AXIS], feed_rate, extruder);
+      planner.buffer_segment(end[X_AXIS], end[Y_AXIS], end[Z_AXIS] + z0, end[E_AXIS], feed_rate, extruder);
 
       if (g26_debug_flag)
-        debug_current_and_destination(PSTR("FINAL_MOVE in ubl.line_to_destination()"));
+        debug_current_and_destination(PSTR("FINAL_MOVE in ubl.line_to_destination_cartesian()"));
 
       set_current_from_destination();
       return;
@@ -274,7 +223,7 @@
          * Without this check, it is possible for the algorithm to generate a zero length move in the case
          * where the line is heading down and it is starting right on a Mesh Line boundary. For how often 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.
+         * the planner.buffer_segment() routine will filter it if that happens.
          */
         if (ry != start[Y_AXIS]) {
           if (!inf_normalized_flag) {
@@ -287,12 +236,12 @@
             z_position = end[Z_AXIS];
           }
 
-          planner._buffer_line(rx, ry, z_position + z0, e_position, feed_rate, extruder);
+          planner.buffer_segment(rx, ry, z_position + z0, e_position, feed_rate, extruder);
         } //else printf("FIRST MOVE PRUNED  ");
       }
 
       if (g26_debug_flag)
-        debug_current_and_destination(PSTR("vertical move done in ubl.line_to_destination()"));
+        debug_current_and_destination(PSTR("vertical move done in ubl.line_to_destination_cartesian()"));
 
       //
       // Check if we are at the final destination. Usually, we won't be, but if it is on a Y Mesh Line, we are done.
@@ -338,7 +287,7 @@
          * Without this check, it is possible for the algorithm to generate a zero length move in the case
          * where the line is heading left and it is starting right on a Mesh Line boundary. For how often
          * 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.
+         * the planner.buffer_segment() routine will filter it if that happens.
          */
         if (rx != start[X_AXIS]) {
           if (!inf_normalized_flag) {
@@ -351,12 +300,12 @@
             z_position = end[Z_AXIS];
           }
 
-          planner._buffer_line(rx, ry, z_position + z0, e_position, feed_rate, extruder);
+          planner.buffer_segment(rx, ry, z_position + z0, e_position, feed_rate, extruder);
         } //else printf("FIRST MOVE PRUNED  ");
       }
 
       if (g26_debug_flag)
-        debug_current_and_destination(PSTR("horizontal move done in ubl.line_to_destination()"));
+        debug_current_and_destination(PSTR("horizontal move done in ubl.line_to_destination_cartesian()"));
 
       if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS])
         goto FINAL_MOVE;
@@ -413,7 +362,7 @@
           e_position = end[E_AXIS];
           z_position = end[Z_AXIS];
         }
-        planner._buffer_line(rx, next_mesh_line_y, z_position + z0, e_position, feed_rate, extruder);
+        planner.buffer_segment(rx, next_mesh_line_y, z_position + z0, e_position, feed_rate, extruder);
         current_yi += dyi;
         yi_cnt--;
       }
@@ -441,7 +390,7 @@
           z_position = end[Z_AXIS];
         }
 
-        planner._buffer_line(next_mesh_line_x, ry, z_position + z0, e_position, feed_rate, extruder);
+        planner.buffer_segment(next_mesh_line_x, ry, z_position + z0, e_position, feed_rate, extruder);
         current_xi += dxi;
         xi_cnt--;
       }
@@ -450,7 +399,7 @@
     }
 
     if (g26_debug_flag)
-      debug_current_and_destination(PSTR("generic move done in ubl.line_to_destination()"));
+      debug_current_and_destination(PSTR("generic move done in ubl.line_to_destination_cartesian()"));
 
     if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS])
       goto FINAL_MOVE;
@@ -458,223 +407,222 @@
     set_current_from_destination();
   }
 
-  #if UBL_DELTA
+#else // UBL_SEGMENTED
 
-    // macro to inline copy exactly 4 floats, don't rely on sizeof operator
-    #define COPY_XYZE( target, source ) { \
-                target[X_AXIS] = source[X_AXIS]; \
-                target[Y_AXIS] = source[Y_AXIS]; \
-                target[Z_AXIS] = source[Z_AXIS]; \
-                target[E_AXIS] = source[E_AXIS]; \
-            }
+  #if IS_SCARA // scale the feed rate from mm/s to degrees/s
+    static float scara_feed_factor, scara_oldA, scara_oldB;
+  #endif
 
-    #if IS_SCARA // scale the feed rate from mm/s to degrees/s
-      static float scara_feed_factor, scara_oldA, scara_oldB;
-    #endif
+  // We don't want additional apply_leveling() performed by regular buffer_line or buffer_line_kinematic,
+  // so we call buffer_segment directly here.  Per-segmented leveling and kinematics performed first.
 
-    // 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(const float (&in_raw)[XYZE], const float &fr) {
 
-    inline void _O2 ubl_buffer_segment_raw(const float raw[XYZE], const float &fr) {
+    #if ENABLED(SKEW_CORRECTION)
+      float raw[XYZE] = { in_raw[X_AXIS], in_raw[Y_AXIS], in_raw[Z_AXIS] };
+      planner.skew(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS]);
+    #else
+      const float (&raw)[XYZE] = in_raw;
+    #endif
 
-      #if ENABLED(DELTA)  // apply delta inverse_kinematics
+    #if ENABLED(DELTA)  // apply delta inverse_kinematics
 
-        DELTA_RAW_IK();
-        planner._buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], fr, active_extruder);
+      DELTA_RAW_IK();
+      planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], in_raw[E_AXIS], fr, active_extruder);
 
-      #elif IS_SCARA  // apply scara inverse_kinematics (should be changed to save raw->logical->raw)
+    #elif IS_SCARA  // apply scara inverse_kinematics (should be changed to save raw->logical->raw)
 
-        inverse_kinematics(raw);  // this writes delta[ABC] from raw[XYZE]
-                                  // should move the feedrate scaling to scara inverse_kinematics
+      inverse_kinematics(raw);  // this writes delta[ABC] from raw[XYZE]
+                                // should move the feedrate scaling to scara inverse_kinematics
 
-        const float adiff = FABS(delta[A_AXIS] - scara_oldA),
-                    bdiff = FABS(delta[B_AXIS] - scara_oldB);
-        scara_oldA = delta[A_AXIS];
-        scara_oldB = delta[B_AXIS];
-        float s_feedrate = max(adiff, bdiff) * scara_feed_factor;
+      const float adiff = FABS(delta[A_AXIS] - scara_oldA),
+                  bdiff = FABS(delta[B_AXIS] - scara_oldB);
+      scara_oldA = delta[A_AXIS];
+      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], raw[E_AXIS], s_feedrate, active_extruder);
+      planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], in_raw[E_AXIS], s_feedrate, active_extruder);
 
-      #else // CARTESIAN
+    #else // CARTESIAN
 
-        planner._buffer_line(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], raw[E_AXIS], fr, active_extruder);
+      planner.buffer_segment(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], in_raw[E_AXIS], fr, active_extruder);
 
-      #endif
-    }
+    #endif
+  }
 
-    #if IS_SCARA
-      #define DELTA_SEGMENT_MIN_LENGTH 0.25 // SCARA minimum segment size is 0.25mm
-    #elif ENABLED(DELTA)
-      #define DELTA_SEGMENT_MIN_LENGTH 0.10 // mm (still subject to DELTA_SEGMENTS_PER_SECOND)
-    #else // CARTESIAN
-      #ifdef LEVELED_SEGMENT_LENGTH
-        #define DELTA_SEGMENT_MIN_LENGTH LEVELED_SEGMENT_LENGTH
-      #else
-        #define DELTA_SEGMENT_MIN_LENGTH 1.00 // mm (similar to G2/G3 arc segmentation)
-      #endif
+  #if IS_SCARA
+    #define DELTA_SEGMENT_MIN_LENGTH 0.25 // SCARA minimum segment size is 0.25mm
+  #elif ENABLED(DELTA)
+    #define DELTA_SEGMENT_MIN_LENGTH 0.10 // mm (still subject to DELTA_SEGMENTS_PER_SECOND)
+  #else // CARTESIAN
+    #ifdef LEVELED_SEGMENT_LENGTH
+      #define DELTA_SEGMENT_MIN_LENGTH LEVELED_SEGMENT_LENGTH
+    #else
+      #define DELTA_SEGMENT_MIN_LENGTH 1.00 // mm (similar to G2/G3 arc segmentation)
     #endif
+  #endif
 
-    /**
-     * Prepare a segmented linear move for DELTA/SCARA/CARTESIAN with UBL and FADE semantics.
-     * This calls planner._buffer_line multiple times for small incremental moves.
-     * Returns true if did NOT move, false if moved (requires current_position update).
-     */
+  /**
+   * Prepare a segmented linear move for DELTA/SCARA/CARTESIAN with UBL and FADE semantics.
+   * This calls planner.buffer_segment multiple times for small incremental moves.
+   * Returns true if did NOT move, false if moved (requires current_position update).
+   */
+
+  bool _O2 unified_bed_leveling::prepare_segmented_line_to(const float (&rtarget)[XYZE], const float &feedrate) {
+
+    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 total[XYZE] = {
+      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]
+    };
+
+    const float cartesian_xy_mm = HYPOT(total[X_AXIS], total[Y_AXIS]);  // total horizontal xy distance
+
+    #if IS_KINEMATIC
+      const float seconds = cartesian_xy_mm / feedrate;                                  // seconds to move xy distance at requested rate
+      uint16_t segments = lroundf(delta_segments_per_second * seconds),                  // preferred number of segments for distance @ feedrate
+               seglimit = lroundf(cartesian_xy_mm * (1.0 / (DELTA_SEGMENT_MIN_LENGTH))); // number of segments at minimum segment length
+      NOMORE(segments, seglimit);                                                        // limit to minimum segment length (fewer segments)
+    #else
+      uint16_t segments = lroundf(cartesian_xy_mm * (1.0 / (DELTA_SEGMENT_MIN_LENGTH))); // cartesian fixed segment length
+    #endif
 
-    bool _O2 unified_bed_leveling::prepare_segmented_line_to(const float rtarget[XYZE], const float &feedrate) {
-
-      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 total[XYZE] = {
-        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]
-      };
-
-      const float cartesian_xy_mm = HYPOT(total[X_AXIS], total[Y_AXIS]);  // total horizontal xy distance
-
-      #if IS_KINEMATIC
-        const float seconds = cartesian_xy_mm / feedrate;                                  // seconds to move xy distance at requested rate
-        uint16_t segments = lroundf(delta_segments_per_second * seconds),                  // preferred number of segments for distance @ feedrate
-                 seglimit = lroundf(cartesian_xy_mm * (1.0 / (DELTA_SEGMENT_MIN_LENGTH))); // number of segments at minimum segment length
-        NOMORE(segments, seglimit);                                                        // limit to minimum segment length (fewer segments)
-      #else
-        uint16_t segments = lroundf(cartesian_xy_mm * (1.0 / (DELTA_SEGMENT_MIN_LENGTH))); // cartesian fixed segment length
-      #endif
-
-      NOLESS(segments, 1);                        // must have at least one segment
-      const float inv_segments = 1.0 / segments;  // divide once, multiply thereafter
-
-      #if IS_SCARA // scale the feed rate from mm/s to degrees/s
-        scara_feed_factor = cartesian_xy_mm * inv_segments * feedrate;
-        scara_oldA = stepper.get_axis_position_degrees(A_AXIS);
-        scara_oldB = stepper.get_axis_position_degrees(B_AXIS);
-      #endif
-
-      const float diff[XYZE] = {
-        total[X_AXIS] * inv_segments,
-        total[Y_AXIS] * inv_segments,
-        total[Z_AXIS] * inv_segments,
-        total[E_AXIS] * inv_segments
-      };
-
-      // Note that E segment distance could vary slightly as z mesh height
-      // changes for each segment, but small enough to ignore.
-
-      float raw[XYZE] = {
-        current_position[X_AXIS],
-        current_position[Y_AXIS],
-        current_position[Z_AXIS],
-        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(rtarget[Z_AXIS])) {   // no mesh leveling
-        while (--segments) {
-          LOOP_XYZE(i) raw[i] += diff[i];
-          ubl_buffer_segment_raw(raw, feedrate);
-        }
-        ubl_buffer_segment_raw(rtarget, feedrate);
-        return false; // moved but did not set_current_from_destination();
+    NOLESS(segments, 1);                        // must have at least one segment
+    const float inv_segments = 1.0 / segments;  // divide once, multiply thereafter
+
+    #if IS_SCARA // scale the feed rate from mm/s to degrees/s
+      scara_feed_factor = cartesian_xy_mm * inv_segments * feedrate;
+      scara_oldA = stepper.get_axis_position_degrees(A_AXIS);
+      scara_oldB = stepper.get_axis_position_degrees(B_AXIS);
+    #endif
+
+    const float diff[XYZE] = {
+      total[X_AXIS] * inv_segments,
+      total[Y_AXIS] * inv_segments,
+      total[Z_AXIS] * inv_segments,
+      total[E_AXIS] * inv_segments
+    };
+
+    // Note that E segment distance could vary slightly as z mesh height
+    // changes for each segment, but small enough to ignore.
+
+    float raw[XYZE] = {
+      current_position[X_AXIS],
+      current_position[Y_AXIS],
+      current_position[Z_AXIS],
+      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(rtarget[Z_AXIS])) {   // no mesh leveling
+      while (--segments) {
+        LOOP_XYZE(i) raw[i] += diff[i];
+        ubl_buffer_segment_raw(raw, feedrate);
       }
+      ubl_buffer_segment_raw(rtarget, feedrate);
+      return false; // moved but did not set_current_from_destination();
+    }
 
-      // Otherwise perform per-segment leveling
+    // Otherwise perform per-segment leveling
 
-      #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
-        const float fade_scaling_factor = planner.fade_scaling_factor_for_z(rtarget[Z_AXIS]);
-      #endif
+    #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
+      const float fade_scaling_factor = planner.fade_scaling_factor_for_z(rtarget[Z_AXIS]);
+    #endif
 
-      // increment to first segment destination
-      LOOP_XYZE(i) raw[i] += diff[i];
+    // increment to first segment destination
+    LOOP_XYZE(i) raw[i] += diff[i];
 
-      for(;;) {  // for each mesh cell encountered during the move
+    for(;;) {  // for each mesh cell encountered during the move
 
-        // Compute mesh cell invariants that remain constant for all segments within cell.
-        // Note for cell index, if point is outside the mesh grid (in MESH_INSET perimeter)
-        // the bilinear interpolation from the adjacent cell within the mesh will still work.
-        // Inner loop will exit each time (because out of cell bounds) but will come back
-        // in top of loop and again re-find same adjacent cell and use it, just less efficient
-        // for mesh inset area.
+      // Compute mesh cell invariants that remain constant for all segments within cell.
+      // Note for cell index, if point is outside the mesh grid (in MESH_INSET perimeter)
+      // the bilinear interpolation from the adjacent cell within the mesh will still work.
+      // Inner loop will exit each time (because out of cell bounds) but will come back
+      // in top of loop and again re-find same adjacent cell and use it, just less efficient
+      // for mesh inset area.
 
-        int8_t cell_xi = (raw[X_AXIS] - (MESH_MIN_X)) * (1.0 / (MESH_X_DIST)),
-               cell_yi = (raw[Y_AXIS] - (MESH_MIN_Y)) * (1.0 / (MESH_X_DIST));
+      int8_t cell_xi = (raw[X_AXIS] - (MESH_MIN_X)) * (1.0 / (MESH_X_DIST)),
+             cell_yi = (raw[Y_AXIS] - (MESH_MIN_Y)) * (1.0 / (MESH_X_DIST));
 
-        cell_xi = constrain(cell_xi, 0, (GRID_MAX_POINTS_X) - 1);
-        cell_yi = constrain(cell_yi, 0, (GRID_MAX_POINTS_Y) - 1);
+      cell_xi = constrain(cell_xi, 0, (GRID_MAX_POINTS_X) - 1);
+      cell_yi = constrain(cell_yi, 0, (GRID_MAX_POINTS_Y) - 1);
 
-        const float x0 = mesh_index_to_xpos(cell_xi),   // 64 byte table lookup avoids mul+add
-                    y0 = mesh_index_to_ypos(cell_yi);
+      const float x0 = mesh_index_to_xpos(cell_xi),   // 64 byte table lookup avoids mul+add
+                  y0 = mesh_index_to_ypos(cell_yi);
 
-        float z_x0y0 = z_values[cell_xi  ][cell_yi  ],  // z at lower left corner
-              z_x1y0 = z_values[cell_xi+1][cell_yi  ],  // z at upper left corner
-              z_x0y1 = z_values[cell_xi  ][cell_yi+1],  // z at lower right corner
-              z_x1y1 = z_values[cell_xi+1][cell_yi+1];  // z at upper right corner
+      float z_x0y0 = z_values[cell_xi  ][cell_yi  ],  // z at lower left corner
+            z_x1y0 = z_values[cell_xi+1][cell_yi  ],  // z at upper left corner
+            z_x0y1 = z_values[cell_xi  ][cell_yi+1],  // z at lower right corner
+            z_x1y1 = z_values[cell_xi+1][cell_yi+1];  // z at upper right corner
 
-        if (isnan(z_x0y0)) z_x0y0 = 0;              // ideally activating planner.leveling_active (G29 A)
-        if (isnan(z_x1y0)) z_x1y0 = 0;              //   should refuse if any invalid mesh points
-        if (isnan(z_x0y1)) z_x0y1 = 0;              //   in order to avoid isnan tests per cell,
-        if (isnan(z_x1y1)) z_x1y1 = 0;              //   thus guessing zero for undefined points
+      if (isnan(z_x0y0)) z_x0y0 = 0;              // ideally activating planner.leveling_active (G29 A)
+      if (isnan(z_x1y0)) z_x1y0 = 0;              //   should refuse if any invalid mesh points
+      if (isnan(z_x0y1)) z_x0y1 = 0;              //   in order to avoid isnan tests per cell,
+      if (isnan(z_x1y1)) z_x1y1 = 0;              //   thus guessing zero for undefined points
 
-        float cx = raw[X_AXIS] - x0,   // cell-relative x and y
-              cy = raw[Y_AXIS] - y0;
+      float cx = raw[X_AXIS] - x0,   // cell-relative x and y
+            cy = raw[Y_AXIS] - y0;
 
-        const float z_xmy0 = (z_x1y0 - z_x0y0) * (1.0 / (MESH_X_DIST)),   // z slope per x along y0 (lower left to lower right)
-                    z_xmy1 = (z_x1y1 - z_x0y1) * (1.0 / (MESH_X_DIST));   // z slope per x along y1 (upper left to upper right)
+      const float z_xmy0 = (z_x1y0 - z_x0y0) * (1.0 / (MESH_X_DIST)),   // z slope per x along y0 (lower left to lower right)
+                  z_xmy1 = (z_x1y1 - z_x0y1) * (1.0 / (MESH_X_DIST));   // z slope per x along y1 (upper left to upper right)
 
-              float z_cxy0 = z_x0y0 + z_xmy0 * cx;            // z height along y0 at cx (changes for each cx in cell)
+            float z_cxy0 = z_x0y0 + z_xmy0 * cx;            // z height along y0 at cx (changes for each cx in cell)
 
-        const float z_cxy1 = z_x0y1 + z_xmy1 * cx,            // z height along y1 at cx
-                    z_cxyd = z_cxy1 - z_cxy0;                 // z height difference along cx from y0 to y1
+      const float z_cxy1 = z_x0y1 + z_xmy1 * cx,            // z height along y1 at cx
+                  z_cxyd = z_cxy1 - z_cxy0;                 // z height difference along cx from y0 to y1
 
-              float z_cxym = z_cxyd * (1.0 / (MESH_Y_DIST));  // z slope per y along cx from y0 to y1 (changes for each cx in cell)
+            float z_cxym = z_cxyd * (1.0 / (MESH_Y_DIST));  // z slope per y along cx from y0 to y1 (changes for each cx in cell)
 
-        //    float z_cxcy = z_cxy0 + z_cxym * cy;            // interpolated mesh z height along cx at cy (do inside the segment loop)
+      //    float z_cxcy = z_cxy0 + z_cxym * cy;            // interpolated mesh z height along cx at cy (do inside the segment loop)
 
-        // As subsequent segments step through this cell, the z_cxy0 intercept will change
-        // and the z_cxym slope will change, both as a function of cx within the cell, and
-        // each change by a constant for fixed segment lengths.
+      // As subsequent segments step through this cell, the z_cxy0 intercept will change
+      // and the z_cxym slope will change, both as a function of cx within the cell, and
+      // each change by a constant for fixed segment lengths.
 
-        const float z_sxy0 = z_xmy0 * diff[X_AXIS],                                     // per-segment adjustment to z_cxy0
-                    z_sxym = (z_xmy1 - z_xmy0) * (1.0 / (MESH_Y_DIST)) * diff[X_AXIS];  // per-segment adjustment to z_cxym
+      const float z_sxy0 = z_xmy0 * diff[X_AXIS],                                     // per-segment adjustment to z_cxy0
+                  z_sxym = (z_xmy1 - z_xmy0) * (1.0 / (MESH_Y_DIST)) * diff[X_AXIS];  // per-segment adjustment to z_cxym
 
-        for(;;) {  // for all segments within this mesh cell
+      for(;;) {  // for all segments within this mesh cell
 
-          if (--segments == 0)                      // if this is last segment, use rtarget for exact
-            COPY(raw, rtarget);
+        if (--segments == 0)                      // if this is last segment, use rtarget for exact
+          COPY(raw, rtarget);
 
-          const float z_cxcy = (z_cxy0 + z_cxym * cy) // interpolated mesh z height along cx at cy
-            #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
-              * fade_scaling_factor                   // apply fade factor to interpolated mesh height
-            #endif
-          ;
+        const float z_cxcy = (z_cxy0 + z_cxym * cy) // interpolated mesh z height along cx at cy
+          #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
+            * fade_scaling_factor                   // apply fade factor to interpolated mesh height
+          #endif
+        ;
 
-          const float z = raw[Z_AXIS];
-          raw[Z_AXIS] += z_cxcy;
-          ubl_buffer_segment_raw(raw, feedrate);
-          raw[Z_AXIS] = z;
+        const float z = raw[Z_AXIS];
+        raw[Z_AXIS] += z_cxcy;
+        ubl_buffer_segment_raw(raw, feedrate);
+        raw[Z_AXIS] = z;
 
-          if (segments == 0)                        // done with last segment
-            return false;                           // did not set_current_from_destination()
+        if (segments == 0)                        // done with last segment
+          return false;                           // did not set_current_from_destination()
 
-          LOOP_XYZE(i) raw[i] += diff[i];
+        LOOP_XYZE(i) raw[i] += diff[i];
 
-          cx += diff[X_AXIS];
-          cy += diff[Y_AXIS];
+        cx += diff[X_AXIS];
+        cy += diff[Y_AXIS];
 
-          if (!WITHIN(cx, 0, MESH_X_DIST) || !WITHIN(cy, 0, MESH_Y_DIST))    // done within this cell, break to next
-            break;
+        if (!WITHIN(cx, 0, MESH_X_DIST) || !WITHIN(cy, 0, MESH_Y_DIST))    // done within this cell, break to next
+          break;
 
-          // Next segment still within same mesh cell, adjust the per-segment
-          // slope and intercept to compute next z height.
+        // Next segment still within same mesh cell, adjust the per-segment
+        // slope and intercept to compute next z height.
 
-          z_cxy0 += z_sxy0;   // adjust z_cxy0 by per-segment z_sxy0
-          z_cxym += z_sxym;   // adjust z_cxym by per-segment z_sxym
+        z_cxy0 += z_sxy0;   // adjust z_cxy0 by per-segment z_sxy0
+        z_cxym += z_sxym;   // adjust z_cxym by per-segment z_sxym
 
-        } // segment loop
-      } // cell loop
-    }
+      } // segment loop
+    } // cell loop
+  }
 
-  #endif // UBL_DELTA
+#endif // UBL_SEGMENTED
 
 #endif // AUTO_BED_LEVELING_UBL

Marlin/src/gcode/bedlevel/G26.cpp

@@ -220,7 +220,7 @@ mesh_index_pair find_closest_circle_to_print(const float &X, const float &Y) {
 void G26_line_to_destination(const float &feed_rate) {
   const float save_feedrate = feedrate_mm_s;
   feedrate_mm_s = feed_rate;      // use specified feed rate
-  prepare_move_to_destination();  // will ultimately call ubl.line_to_destination_cartesian or ubl.prepare_linear_move_to for UBL_DELTA
+  prepare_move_to_destination();  // will ultimately call ubl.line_to_destination_cartesian or ubl.prepare_linear_move_to for UBL_SEGMENTED
   feedrate_mm_s = save_feedrate;  // restore global feed rate
 }
 
@@ -261,16 +261,16 @@ void move_to(const float &rx, const float &ry, const float &z, const float &e_de
   set_destination_from_current();
 }
 
-FORCE_INLINE void move_to(const float where[XYZE], const float &de) { move_to(where[X_AXIS], where[Y_AXIS], where[Z_AXIS], de); }
+FORCE_INLINE void move_to(const float (&where)[XYZE], const float &de) { move_to(where[X_AXIS], where[Y_AXIS], where[Z_AXIS], de); }
 
-void retract_filament(const float where[XYZE]) {
+void retract_filament(const float (&where)[XYZE]) {
   if (!g26_retracted) { // Only retract if we are not already retracted!
     g26_retracted = true;
     move_to(where, -1.0 * g26_retraction_multiplier);
   }
 }
 
-void recover_filament(const float where[XYZE]) {
+void recover_filament(const float (&where)[XYZE]) {
   if (g26_retracted) { // Only un-retract if we are retracted.
     move_to(where, 1.2 * g26_retraction_multiplier);
     g26_retracted = false;

Marlin/src/gcode/host/M114.cpp

@@ -28,7 +28,7 @@
 
 #if ENABLED(M114_DETAIL)
 
-  void report_xyze(const float pos[XYZE], const uint8_t n = 4, const uint8_t precision = 3) {
+  void report_xyze(const float pos[], const uint8_t n = 4, const uint8_t precision = 3) {
     char str[12];
     for (uint8_t i = 0; i < n; i++) {
       SERIAL_CHAR(' ');
@@ -39,7 +39,7 @@
     SERIAL_EOL();
   }
 
-  inline void report_xyz(const float pos[XYZ]) { report_xyze(pos, 3); }
+  inline void report_xyz(const float pos[]) { report_xyze(pos, 3); }
 
   void report_current_position_detail() {
 
@@ -80,8 +80,13 @@
     #endif
 
     SERIAL_PROTOCOLPGM("Stepper:");
-    const float step_count[XYZE] = { stepper.position(X_AXIS), stepper.position(Y_AXIS), stepper.position(Z_AXIS), stepper.position(E_AXIS) };
-    report_xyze(step_count, 4, 0);
+    LOOP_XYZE(i) {
+      SERIAL_CHAR(' ');
+      SERIAL_CHAR(axis_codes[i]);
+      SERIAL_CHAR(':');
+      SERIAL_PROTOCOL(stepper.position((AxisEnum)i));
+    }
+    SERIAL_EOL();
 
     #if IS_SCARA
       const float deg[XYZ] = {

Marlin/src/gcode/motion/G2_G3.cpp

@@ -44,9 +44,9 @@
  * options for G2/G3 arc generation. In future these options may be GCode tunable.
  */
 void plan_arc(
-  float rtarget[XYZE], // Destination position
-  float *offset,       // Center of rotation relative to current_position
-  uint8_t clockwise    // Clockwise?
+  const float (&cart)[XYZE],  // Destination position
+  const float (&offset)[2],   // Center of rotation relative to current_position
+  const uint8_t clockwise     // Clockwise?
 ) {
   #if ENABLED(CNC_WORKSPACE_PLANES)
     AxisEnum p_axis, q_axis, l_axis;
@@ -66,10 +66,10 @@ 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 = 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];
+              rt_X = cart[p_axis] - center_P,
+              rt_Y = cart[q_axis] - center_Q,
+              linear_travel = cart[l_axis] - current_position[l_axis],
+              extruder_travel = cart[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);
@@ -77,7 +77,7 @@ 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] == rtarget[p_axis] && current_position[q_axis] == rtarget[q_axis])
+  if (angular_travel == 0 && current_position[p_axis] == cart[p_axis] && current_position[q_axis] == cart[q_axis])
     angular_travel = RADIANS(360);
 
   const float mm_of_travel = HYPOT(angular_travel * radius, FABS(linear_travel));
@@ -177,7 +177,7 @@ void plan_arc(
   }
 
   // Ensure last segment arrives at target location.
-  planner.buffer_line_kinematic(rtarget, fr_mm_s, active_extruder);
+  planner.buffer_line_kinematic(cart, 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/motion/G5.cpp

@@ -27,7 +27,7 @@
 #include "../../module/motion.h"
 #include "../../module/planner_bezier.h"
 
-void plan_cubic_move(const float offset[4]) {
+void plan_cubic_move(const float (&offset)[4]) {
   cubic_b_spline(current_position, destination, offset, MMS_SCALED(feedrate_mm_s), active_extruder);
 
   // As far as the parser is concerned, the position is now == destination. In reality the
@@ -62,7 +62,7 @@ void GcodeSuite::G5() {
 
     get_destination_from_command();
 
-    const float offset[] = {
+    const float offset[4] = {
       parser.linearval('I'),
       parser.linearval('J'),
       parser.linearval('P'),

Marlin/src/inc/Conditionals_post.h

@@ -977,15 +977,15 @@
 /**
  * Set granular options based on the specific type of leveling
  */
-#define UBL_DELTA  (ENABLED(AUTO_BED_LEVELING_UBL) && (ENABLED(DELTA) || ENABLED(SEGMENT_LEVELED_MOVES)))
-#define ABL_PLANAR (ENABLED(AUTO_BED_LEVELING_LINEAR) || ENABLED(AUTO_BED_LEVELING_3POINT))
-#define ABL_GRID   (ENABLED(AUTO_BED_LEVELING_LINEAR) || ENABLED(AUTO_BED_LEVELING_BILINEAR))
-#define OLDSCHOOL_ABL         (ABL_PLANAR || ABL_GRID)
-#define HAS_ABL               (OLDSCHOOL_ABL || ENABLED(AUTO_BED_LEVELING_UBL))
-#define HAS_LEVELING          (HAS_ABL || ENABLED(MESH_BED_LEVELING))
-#define HAS_AUTOLEVEL         (HAS_ABL && DISABLED(PROBE_MANUALLY))
-#define HAS_MESH              (ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(AUTO_BED_LEVELING_UBL) || ENABLED(MESH_BED_LEVELING))
-#define PLANNER_LEVELING      (OLDSCHOOL_ABL || ENABLED(MESH_BED_LEVELING) || UBL_DELTA)
+#define UBL_SEGMENTED  (ENABLED(AUTO_BED_LEVELING_UBL) && (ENABLED(DELTA) || ENABLED(SEGMENT_LEVELED_MOVES)))
+#define ABL_PLANAR     (ENABLED(AUTO_BED_LEVELING_LINEAR) || ENABLED(AUTO_BED_LEVELING_3POINT))
+#define ABL_GRID       (ENABLED(AUTO_BED_LEVELING_LINEAR) || ENABLED(AUTO_BED_LEVELING_BILINEAR))
+#define OLDSCHOOL_ABL  (ABL_PLANAR || ABL_GRID)
+#define HAS_ABL        (OLDSCHOOL_ABL || ENABLED(AUTO_BED_LEVELING_UBL))
+#define HAS_LEVELING   (HAS_ABL || ENABLED(MESH_BED_LEVELING))
+#define HAS_AUTOLEVEL  (HAS_ABL && DISABLED(PROBE_MANUALLY))
+#define HAS_MESH       (ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(AUTO_BED_LEVELING_UBL) || ENABLED(MESH_BED_LEVELING))
+#define PLANNER_LEVELING      (OLDSCHOOL_ABL || ENABLED(MESH_BED_LEVELING))
 #define HAS_PROBING_PROCEDURE (HAS_ABL || ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST))
 #if HAS_PROBING_PROCEDURE
   #define PROBE_BED_WIDTH abs(RIGHT_PROBE_BED_POSITION - (LEFT_PROBE_BED_POSITION))

Marlin/src/inc/SanityCheck.h

@@ -603,7 +603,7 @@ static_assert(1 >= 0
     #error "Delta probably shouldn't use Z_MIN_PROBE_ENDSTOP. Comment out this line to continue."
   #elif DISABLED(USE_XMAX_PLUG) && DISABLED(USE_YMAX_PLUG) && DISABLED(USE_ZMAX_PLUG)
     #error "You probably want to use Max Endstops for DELTA!"
-  #elif ENABLED(ENABLE_LEVELING_FADE_HEIGHT) && DISABLED(AUTO_BED_LEVELING_BILINEAR) && !UBL_DELTA
+  #elif ENABLED(ENABLE_LEVELING_FADE_HEIGHT) && DISABLED(AUTO_BED_LEVELING_BILINEAR) && !UBL_SEGMENTED
     #error "ENABLE_LEVELING_FADE_HEIGHT on DELTA requires AUTO_BED_LEVELING_BILINEAR or AUTO_BED_LEVELING_UBL."
   #elif ENABLED(DELTA_AUTO_CALIBRATION) && !(HAS_BED_PROBE || ENABLED(ULTIPANEL))
     #error "DELTA_AUTO_CALIBRATION requires a probe or LCD Controller."
@@ -1497,9 +1497,6 @@ static_assert(COUNT(sanity_arr_3) <= XYZE_N, "DEFAULT_MAX_ACCELERATION has too m
 #endif
 
 #if ENABLED(SKEW_CORRECTION)
-  #if ENABLED(AUTO_BED_LEVELING_UBL) && !ENABLED(SEGMENT_LEVELED_MOVES)
-    #error "SKEW_CORRECTION with AUTO_BED_LEVELING_UBL requires SEGMENT_LEVELED_MOVES."
-  #endif
   #if !defined(XY_SKEW_FACTOR) && !(defined(XY_DIAG_AC) && defined(XY_DIAG_BD) && defined(XY_SIDE_AD))
     #error "SKEW_CORRECTION requires XY_SKEW_FACTOR or XY_DIAG_AC, XY_DIAG_BD, XY_SIDE_AD."
   #endif

Marlin/src/module/motion.cpp

@@ -264,7 +264,7 @@ void buffer_line_to_destination(const float fr_mm_s) {
 
     gcode.refresh_cmd_timeout();
 
-    #if UBL_DELTA
+    #if UBL_SEGMENTED
       // ubl segmented line will do z-only moves in single segment
       ubl.prepare_segmented_line_to(destination, MMS_SCALED(fr_mm_s ? fr_mm_s : feedrate_mm_s));
     #else
@@ -495,7 +495,7 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
 
 #endif
 
-#if !UBL_DELTA
+#if !UBL_SEGMENTED
 #if IS_KINEMATIC
 
   #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
@@ -517,13 +517,19 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
   /**
    * Prepare a linear move in a DELTA or SCARA setup.
    *
+   * Called from prepare_move_to_destination as the
+   * default Delta/SCARA segmenter.
+   *
    * This calls planner.buffer_line several times, adding
    * small incremental moves for DELTA or SCARA.
    *
    * For Unified Bed Leveling (Delta or Segmented Cartesian)
    * the ubl.prepare_segmented_line_to method replaces this.
+   *
+   * For Auto Bed Leveling (Bilinear) with SEGMENT_LEVELED_MOVES
+   * this is replaced by segmented_line_to_destination below.
    */
-  inline bool prepare_kinematic_move_to(float rtarget[XYZE]) {
+  inline bool prepare_kinematic_move_to(const float (&rtarget)[XYZE]) {
 
     // Get the top feedrate of the move in the XY plane
     const float _feedrate_mm_s = MMS_SCALED(feedrate_mm_s);
@@ -756,7 +762,7 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
   }
 
 #endif // !IS_KINEMATIC
-#endif // !UBL_DELTA
+#endif // !UBL_SEGMENTED
 
 #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
   bool extruder_duplication_enabled = false;                              // Used in Dual X mode 2
@@ -790,7 +796,7 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
    *
    * Return true if current_position[] was set to destination[]
    */
-  inline bool prepare_move_to_destination_dualx() {
+  inline bool dual_x_carriage_unpark() {
     if (active_extruder_parked) {
       switch (dual_x_carriage_mode) {
         case DXC_FULL_CONTROL_MODE:
@@ -859,7 +865,7 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
           break;
       }
     }
-    return prepare_move_to_destination_cartesian();
+    return false;
   }
 
 #endif // DUAL_X_CARRIAGE
@@ -900,13 +906,15 @@ void prepare_move_to_destination() {
 
   #endif // PREVENT_COLD_EXTRUSION || PREVENT_LENGTHY_EXTRUDE
 
+  #if ENABLED(DUAL_X_CARRIAGE)
+    if (dual_x_carriage_unpark()) return;
+  #endif
+
   if (
-    #if UBL_DELTA // Also works for CARTESIAN (smaller segments follow mesh more closely)
+    #if UBL_SEGMENTED
       ubl.prepare_segmented_line_to(destination, MMS_SCALED(feedrate_mm_s))
     #elif IS_KINEMATIC
       prepare_kinematic_move_to(destination)
-    #elif ENABLED(DUAL_X_CARRIAGE)
-      prepare_move_to_destination_dualx()
     #else
       prepare_move_to_destination_cartesian()
     #endif

Marlin/src/module/planner.cpp

@@ -580,14 +580,7 @@ void Planner::calculate_volumetric_multipliers() {
   void Planner::apply_leveling(float &rx, float &ry, float &rz) {
 
     #if ENABLED(SKEW_CORRECTION)
-      if (WITHIN(rx, X_MIN_POS + 1, X_MAX_POS) && WITHIN(ry, Y_MIN_POS + 1, Y_MAX_POS)) {
-        const float tempry = ry - (rz * planner.yz_skew_factor),
-                    temprx = rx - (ry * planner.xy_skew_factor) - (rz * (planner.xz_skew_factor - (planner.xy_skew_factor * planner.yz_skew_factor)));
-        if (WITHIN(temprx, X_MIN_POS, X_MAX_POS) && WITHIN(tempry, Y_MIN_POS, Y_MAX_POS)) {
-          rx = temprx;
-          ry = tempry;
-        }
-      }
+      skew(rx, ry, rz);
     #endif
 
     if (!leveling_active) return;
@@ -616,7 +609,7 @@ void Planner::calculate_volumetric_multipliers() {
       #endif
 
       rz += (
-        #if ENABLED(AUTO_BED_LEVELING_UBL) // UBL_DELTA
+        #if ENABLED(AUTO_BED_LEVELING_UBL)
           ubl.get_z_correction(rx, ry) * fade_scaling_factor
         #elif ENABLED(MESH_BED_LEVELING)
           mbl.get_z(rx, ry
@@ -678,14 +671,7 @@ void Planner::calculate_volumetric_multipliers() {
     }
 
     #if ENABLED(SKEW_CORRECTION)
-      if (WITHIN(raw[X_AXIS], X_MIN_POS, X_MAX_POS) && WITHIN(raw[Y_AXIS], Y_MIN_POS, Y_MAX_POS)) {
-        const float temprx = raw[X_AXIS] + raw[Y_AXIS] * planner.xy_skew_factor + raw[Z_AXIS] * planner.xz_skew_factor,
-                    tempry = raw[Y_AXIS] + raw[Z_AXIS] * planner.yz_skew_factor;
-        if (WITHIN(temprx, X_MIN_POS, X_MAX_POS) && WITHIN(tempry, Y_MIN_POS, Y_MAX_POS)) {
-          raw[X_AXIS] = temprx;
-          raw[Y_AXIS] = tempry;
-        }
-      }
+      unskew(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS]);
     #endif
   }
 
@@ -1365,7 +1351,7 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE], float fr_mm_s, const
 } // _buffer_steps()
 
 /**
- * Planner::_buffer_line
+ * Planner::buffer_segment
  *
  * Add a new linear movement to the buffer in axis units.
  *
@@ -1375,7 +1361,7 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE], float fr_mm_s, const
  *  fr_mm_s   - (target) speed of the move
  *  extruder  - target extruder
  */
-void Planner::_buffer_line(const float &a, const float &b, const float &c, const float &e, const float &fr_mm_s, const uint8_t extruder) {
+void Planner::buffer_segment(const float &a, const float &b, const float &c, const float &e, const float &fr_mm_s, const uint8_t extruder) {
   // When changing extruders recalculate steps corresponding to the E position
   #if ENABLED(DISTINCT_E_FACTORS)
     if (last_extruder != extruder && axis_steps_per_mm[E_AXIS_N] != axis_steps_per_mm[E_AXIS + last_extruder]) {
@@ -1394,7 +1380,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
   };
 
   /* <-- add a slash to enable
-    SERIAL_ECHOPAIR("  _buffer_line FR:", fr_mm_s);
+    SERIAL_ECHOPAIR("  buffer_segment FR:", fr_mm_s);
     #if IS_KINEMATIC
       SERIAL_ECHOPAIR(" A:", a);
       SERIAL_ECHOPAIR(" (", position[A_AXIS]);
@@ -1441,7 +1427,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
 
   stepper.wake_up();
 
-} // _buffer_line()
+} // buffer_segment()
 
 /**
  * Directly set the planner XYZ position (and stepper positions)
@@ -1466,18 +1452,18 @@ void Planner::_set_position_mm(const float &a, const float &b, const float &c, c
   ZERO(previous_speed);
 }
 
-void Planner::set_position_mm_kinematic(const float position[NUM_AXIS]) {
+void Planner::set_position_mm_kinematic(const float (&cart)[XYZE]) {
   #if PLANNER_LEVELING
-    float lpos[XYZ] = { position[X_AXIS], position[Y_AXIS], position[Z_AXIS] };
-    apply_leveling(lpos);
+    float raw[XYZ] = { cart[X_AXIS], cart[Y_AXIS], cart[Z_AXIS] };
+    apply_leveling(raw);
   #else
-    const float * const lpos = position;
+    const float (&raw)[XYZE] = cart;
   #endif
   #if IS_KINEMATIC
-    inverse_kinematics(lpos);
-    _set_position_mm(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], position[E_AXIS]);
+    inverse_kinematics(raw);
+    _set_position_mm(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], cart[E_AXIS]);
   #else
-    _set_position_mm(lpos[X_AXIS], lpos[Y_AXIS], lpos[Z_AXIS], position[E_AXIS]);
+    _set_position_mm(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], cart[E_AXIS]);
   #endif
 }
 

Marlin/src/module/planner.h

@@ -146,7 +146,7 @@ class Planner {
      *            head!=tail : blocks are in the buffer
      *   head==(tail-1)%size : the buffer is full
      *
-     *  Writer of head is Planner::_buffer_line().
+     *  Writer of head is Planner::buffer_segment().
      *  Reader of tail is Stepper::isr(). Always consider tail busy / read-only
      */
     static block_t block_buffer[BLOCK_BUFFER_SIZE];
@@ -345,6 +345,30 @@ class Planner {
 
     #endif
 
+    #if ENABLED(SKEW_CORRECTION)
+
+      FORCE_INLINE static void skew(float &cx, float &cy, const float &cz) {
+        if (WITHIN(cx, X_MIN_POS + 1, X_MAX_POS) && WITHIN(cy, Y_MIN_POS + 1, Y_MAX_POS)) {
+          const float sx = cx - (cy * xy_skew_factor) - (cz * (xz_skew_factor - (xy_skew_factor * yz_skew_factor))),
+                      sy = cy - (cz * yz_skew_factor);
+          if (WITHIN(sx, X_MIN_POS, X_MAX_POS) && WITHIN(sy, Y_MIN_POS, Y_MAX_POS)) {
+            cx = sx; cy = sy;
+          }
+        }
+      }
+
+      FORCE_INLINE static void unskew(float &cx, float &cy, const float &cz) {
+        if (WITHIN(cx, X_MIN_POS, X_MAX_POS) && WITHIN(cy, Y_MIN_POS, Y_MAX_POS)) {
+          const float sx = cx + cy * xy_skew_factor + cz * xz_skew_factor,
+                      sy = cy + cz * yz_skew_factor;
+          if (WITHIN(sx, X_MIN_POS, X_MAX_POS) && WITHIN(sy, Y_MIN_POS, Y_MAX_POS)) {
+            cx = sx; cy = sy;
+          }
+        }
+      }
+
+    #endif // SKEW_CORRECTION
+
     #if PLANNER_LEVELING
 
       #define ARG_X float rx
@@ -356,7 +380,7 @@ class Planner {
        * as it will be given to the planner and steppers.
        */
       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 apply_leveling(float (&raw)[XYZ]) { apply_leveling(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS]); }
       static void unapply_leveling(float raw[XYZ]);
 
     #else
@@ -379,7 +403,7 @@ class Planner {
     static void _buffer_steps(const int32_t (&target)[XYZE], float fr_mm_s, const uint8_t extruder);
 
     /**
-     * Planner::_buffer_line
+     * Planner::buffer_segment
      *
      * Add a new linear movement to the buffer in axis units.
      *
@@ -389,7 +413,7 @@ class Planner {
      *  fr_mm_s   - (target) speed of the move
      *  extruder  - target extruder
      */
-    static void _buffer_line(const float &a, const float &b, const float &c, const float &e, const float &fr_mm_s, const uint8_t extruder);
+    static void buffer_segment(const float &a, const float &b, const float &c, const float &e, const float &fr_mm_s, const uint8_t extruder);
 
     static void _set_position_mm(const float &a, const float &b, const float &c, const float &e);
 
@@ -409,7 +433,7 @@ class Planner {
       #if PLANNER_LEVELING && IS_CARTESIAN
         apply_leveling(rx, ry, rz);
       #endif
-      _buffer_line(rx, ry, rz, e, fr_mm_s, extruder);
+      buffer_segment(rx, ry, rz, e, fr_mm_s, extruder);
     }
 
     /**
@@ -421,18 +445,18 @@ class Planner {
      *  fr_mm_s  - (target) speed of the move (mm/s)
      *  extruder - target extruder
      */
-    FORCE_INLINE static void buffer_line_kinematic(const float cart[XYZE], const float &fr_mm_s, const uint8_t extruder) {
+    FORCE_INLINE static void buffer_line_kinematic(const float (&cart)[XYZE], const float &fr_mm_s, const uint8_t extruder) {
       #if PLANNER_LEVELING
         float raw[XYZ] = { cart[X_AXIS], cart[Y_AXIS], cart[Z_AXIS] };
         apply_leveling(raw);
       #else
-        const float * const raw = cart;
+        const float (&raw)[XYZE] = cart;
       #endif
       #if IS_KINEMATIC
         inverse_kinematics(raw);
-        _buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], cart[E_AXIS], fr_mm_s, extruder);
+        buffer_segment(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], cart[E_AXIS], fr_mm_s, extruder);
       #else
-        _buffer_line(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], cart[E_AXIS], fr_mm_s, extruder);
+        buffer_segment(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], cart[E_AXIS], fr_mm_s, extruder);
       #endif
     }
 
@@ -451,7 +475,7 @@ class Planner {
       #endif
       _set_position_mm(rx, ry, rz, e);
     }
-    static void set_position_mm_kinematic(const float position[NUM_AXIS]);
+    static void set_position_mm_kinematic(const float (&cart)[XYZE]);
     static void set_position_mm(const AxisEnum axis, const float &v);
     FORCE_INLINE static void set_z_position_mm(const float &z) { set_position_mm(Z_AXIS, z); }
     FORCE_INLINE static void set_e_position_mm(const float &e) { set_position_mm(AxisEnum(E_AXIS), e); }

Marlin/src/module/probe.cpp

@@ -107,7 +107,7 @@ inline void do_probe_raise(const float z_raise) {
 
 #elif ENABLED(Z_PROBE_ALLEN_KEY)
 
-  FORCE_INLINE void do_blocking_move_to(const float raw[XYZ], const float &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);
   }
 

Marlin/src/module/stepper.cpp

@@ -1193,7 +1193,7 @@ void Stepper::set_e_position(const long &e) {
 /**
  * Get a stepper's position in steps.
  */
-long Stepper::position(AxisEnum axis) {
+long Stepper::position(const AxisEnum axis) {
   CRITICAL_SECTION_START;
   const long count_pos = count_position[axis];
   CRITICAL_SECTION_END;
@@ -1204,7 +1204,7 @@ long Stepper::position(AxisEnum axis) {
  * Get an axis position according to stepper position(s)
  * For CORE machines apply translation from ABC to XYZ.
  */
-float Stepper::get_axis_position_mm(AxisEnum axis) {
+float Stepper::get_axis_position_mm(const AxisEnum axis) {
   float axis_steps;
   #if IS_CORE
     // Requesting one of the "core" axes?
@@ -1242,7 +1242,7 @@ void Stepper::quick_stop() {
   #endif
 }
 
-void Stepper::endstop_triggered(AxisEnum axis) {
+void Stepper::endstop_triggered(const AxisEnum axis) {
 
   #if IS_CORE
 

Marlin/src/module/stepper.h

@@ -183,7 +183,7 @@ class Stepper {
     //
     // Get the position of a stepper, in steps
     //
-    static long position(AxisEnum axis);
+    static long position(const AxisEnum axis);
 
     //
     // Report the positions of the steppers, in steps
@@ -193,13 +193,13 @@ class Stepper {
     //
     // Get the position (mm) of an axis based on stepper position(s)
     //
-    static float get_axis_position_mm(AxisEnum axis);
+    static float get_axis_position_mm(const AxisEnum axis);
 
     //
     // SCARA AB axes are in degrees, not mm
     //
     #if IS_SCARA
-      FORCE_INLINE static float get_axis_position_degrees(AxisEnum axis) { return get_axis_position_mm(axis); }
+      FORCE_INLINE static float get_axis_position_degrees(const AxisEnum axis) { return get_axis_position_mm(axis); }
     #endif
 
     //
@@ -221,7 +221,7 @@ class Stepper {
     //
     // The direction of a single motor
     //
-    FORCE_INLINE static bool motor_direction(AxisEnum axis) { return TEST(last_direction_bits, axis); }
+    FORCE_INLINE static bool motor_direction(const AxisEnum axis) { return TEST(last_direction_bits, axis); }
 
     #if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM
       static void digitalPotWrite(const int16_t address, const int16_t value);
@@ -263,12 +263,12 @@ class Stepper {
     //
     // Handle a triggered endstop
     //
-    static void endstop_triggered(AxisEnum axis);
+    static void endstop_triggered(const AxisEnum axis);
 
     //
     // Triggered position of an axis in mm (not core-savvy)
     //
-    FORCE_INLINE static float triggered_position_mm(AxisEnum axis) {
+    FORCE_INLINE static float triggered_position_mm(const AxisEnum axis) {
       return endstops_trigsteps[axis] * planner.steps_to_mm[axis];
     }