Apply home offsets to probing, Z Safe Homing (#19423)

Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>

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

@@ -361,32 +361,24 @@ G29_TYPE GcodeSuite::G29() {
 
       if (parser.seen('H')) {
         const int16_t size = (int16_t)parser.value_linear_units();
-        probe_position_lf.set(
+        probe_position_lf.set(_MAX((X_CENTER) - size / 2, x_min), _MAX((Y_CENTER) - size / 2, y_min));
-          _MAX(X_CENTER - size / 2, x_min),
+        probe_position_rb.set(_MIN(probe_position_lf.x + size, x_max), _MIN(probe_position_lf.y + size, y_max));
-          _MAX(Y_CENTER - size / 2, y_min)
-        );
-        probe_position_rb.set(
-          _MIN(probe_position_lf.x + size, x_max),
-          _MIN(probe_position_lf.y + size, y_max)
-        );
       }
       else {
-        probe_position_lf.set(
+        probe_position_lf.set(parser.linearval('L', x_min), parser.linearval('F', y_min));
-          parser.seenval('L') ? RAW_X_POSITION(parser.value_linear_units()) : x_min,
+        probe_position_rb.set(parser.linearval('R', x_max), parser.linearval('B', y_max));
-          parser.seenval('F') ? RAW_Y_POSITION(parser.value_linear_units()) : y_min
-        );
-        probe_position_rb.set(
-          parser.seenval('R') ? RAW_X_POSITION(parser.value_linear_units()) : x_max,
-          parser.seenval('B') ? RAW_Y_POSITION(parser.value_linear_units()) : y_max
-        );
       }
 
       if (!probe.good_bounds(probe_position_lf, probe_position_rb)) {
+        if (DEBUGGING(LEVELING)) {
+          DEBUG_ECHOLNPAIR("G29 L", probe_position_lf.x, " R", probe_position_rb.x,
+                              " F", probe_position_lf.y, " B", probe_position_rb.y);
+        }
         SERIAL_ECHOLNPGM("? (L,R,F,B) out of bounds.");
         G29_RETURN(false);
       }
 
-      // probe at the points of a lattice grid
+      // Probe at the points of a lattice grid
       gridSpacing.set((probe_position_rb.x - probe_position_lf.x) / (abl_grid_points.x - 1),
                       (probe_position_rb.y - probe_position_lf.y) / (abl_grid_points.y - 1));
 

Marlin/src/gcode/calibrate/G28.cpp

@@ -126,7 +126,15 @@
      * Move the Z probe (or just the nozzle) to the safe homing point
      * (Z is already at the right height)
      */
-    destination.set(safe_homing_xy, current_position.z);
+    constexpr xy_float_t safe_homing_xy = { Z_SAFE_HOMING_X_POINT, Z_SAFE_HOMING_Y_POINT };
+    #if HAS_HOME_OFFSET
+      xy_float_t okay_homing_xy = safe_homing_xy;
+      okay_homing_xy -= home_offset;
+    #else
+      constexpr xy_float_t okay_homing_xy = safe_homing_xy;
+    #endif
+
+    destination.set(okay_homing_xy, current_position.z);
 
     TERN_(HOMING_Z_WITH_PROBE, destination -= probe.offset_xy);
 

Marlin/src/gcode/geometry/M206_M428.cpp

@@ -28,6 +28,13 @@
 #include "../../module/motion.h"
 #include "../../lcd/marlinui.h"
 #include "../../libs/buzzer.h"
+#include "../../MarlinCore.h"
+
+extern const char SP_Y_STR[], SP_Z_STR[];
+
+void m206_report() {
+  SERIAL_ECHOLNPAIR_P(PSTR("M206 X"), home_offset.x, SP_Y_STR, home_offset.y, SP_Z_STR, home_offset.z);
+}
 
 /**
  * M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
@@ -46,7 +53,10 @@ void GcodeSuite::M206() {
     if (parser.seen('P')) set_home_offset(B_AXIS, parser.value_float()); // Psi
   #endif
 
-  report_current_position();
+  if (!parser.seen("XYZ"))
+    m206_report();
+  else
+    report_current_position();
 }
 
 /**

Marlin/src/module/motion.h

@@ -78,10 +78,6 @@ extern xyz_pos_t cartes;
   #define XY_PROBE_FEEDRATE_MM_S PLANNER_XY_FEEDRATE()
 #endif
 
-#if ENABLED(Z_SAFE_HOMING)
-  constexpr xy_float_t safe_homing_xy = { Z_SAFE_HOMING_X_POINT, Z_SAFE_HOMING_Y_POINT };
-#endif
-
 /**
  * Feed rates are often configured with mm/m
  * but the planner and stepper like mm/s units.

Marlin/src/module/probe.h

@@ -133,53 +133,37 @@ public:
   #if HAS_BED_PROBE || HAS_LEVELING
     #if IS_KINEMATIC
       static constexpr float printable_radius = (
-        #if ENABLED(DELTA)
+        TERN_(DELTA, DELTA_PRINTABLE_RADIUS)
-          DELTA_PRINTABLE_RADIUS
+        TERN_(IS_SCARA, SCARA_PRINTABLE_RADIUS)
-        #elif IS_SCARA
-          SCARA_PRINTABLE_RADIUS
-        #endif
       );
-
       static inline float probe_radius() {
         return printable_radius - _MAX(PROBING_MARGIN, HYPOT(offset_xy.x, offset_xy.y));
       }
     #endif
 
     static inline float min_x() {
-      return (
+      return TERN(IS_KINEMATIC,
-        #if IS_KINEMATIC
+        (X_CENTER) - probe_radius(),
-          (X_CENTER) - probe_radius()
+        _MAX((X_MIN_BED) + (PROBING_MARGIN_LEFT), (X_MIN_POS) + offset_xy.x)
-        #else
+      ) - TERN0(NOZZLE_AS_PROBE, home_offset.x);
-          _MAX((X_MIN_BED) + (PROBING_MARGIN_LEFT), (X_MIN_POS) + offset_xy.x)
-        #endif
-      );
     }
     static inline float max_x() {
-      return (
+      return TERN(IS_KINEMATIC,
-        #if IS_KINEMATIC
+        (X_CENTER) + probe_radius(),
-          (X_CENTER) + probe_radius()
+        _MIN((X_MAX_BED) - (PROBING_MARGIN_RIGHT), (X_MAX_POS) + offset_xy.x)
-        #else
+      ) - TERN0(NOZZLE_AS_PROBE, home_offset.x);
-          _MIN((X_MAX_BED) - (PROBING_MARGIN_RIGHT), (X_MAX_POS) + offset_xy.x)
-        #endif
-      );
     }
     static inline float min_y() {
-      return (
+      return TERN(IS_KINEMATIC,
-        #if IS_KINEMATIC
+        (Y_CENTER) - probe_radius(),
-          (Y_CENTER) - probe_radius()
+        _MAX((Y_MIN_BED) + (PROBING_MARGIN_FRONT), (Y_MIN_POS) + offset_xy.y)
-        #else
+      ) - TERN0(NOZZLE_AS_PROBE, home_offset.y);
-          _MAX((Y_MIN_BED) + (PROBING_MARGIN_FRONT), (Y_MIN_POS) + offset_xy.y)
-        #endif
-      );
     }
     static inline float max_y() {
-      return (
+      return TERN(IS_KINEMATIC,
-        #if IS_KINEMATIC
+        (Y_CENTER) + probe_radius(),
-          (Y_CENTER) + probe_radius()
+        _MIN((Y_MAX_BED) - (PROBING_MARGIN_BACK), (Y_MAX_POS) + offset_xy.y)
-        #else
+      ) - TERN0(NOZZLE_AS_PROBE, home_offset.y);
-          _MIN((Y_MAX_BED) - (PROBING_MARGIN_BACK), (Y_MAX_POS) + offset_xy.y)
-        #endif
-      );
     }
 
     #if NEEDS_THREE_PROBE_POINTS