G28 / G30 probe related changes

Marlin/src/gcode/calibrate/G28.cpp

@@ -195,6 +195,11 @@
  *  L<bool>   Force leveling state ON (if possible) or OFF after homing (Requires RESTORE_LEVELING_AFTER_G28 or ENABLE_LEVELING_AFTER_G28)
  *  O         Home only if the position is not known and trusted
  *  R<linear> Raise by n mm/inches before homing
+ *  H         Hold the current X/Y position when executing a home Z, or if
+ *            multiple axes are homed, the position when Z home is executed.
+ *            When using a probe for Z Home, positions close to the edge may
+ *            fail with position unreachable due to probe/nozzle offset.  This
+ *            can be used to avoid a model.  
  *
  * Cartesian/SCARA parameters
  *
@@ -486,10 +491,21 @@ void GcodeSuite::G28() {
           #endif
 
           #if ENABLED(Z_SAFE_HOMING)
-            if (TERN1(POWER_LOSS_RECOVERY, !parser.seen_test('H'))) home_z_safely(); else homeaxis(Z_AXIS);
+            // H means hold the current X/Y position when probing, if not
+            // specified, move to the define safe X/Y position before homing Z.
+            if (!parser.seen_test('H'))
+              home_z_safely();
+            else
+              homeaxis(Z_AXIS);
           #else
             homeaxis(Z_AXIS);
           #endif
+
+          #if ENABLED(BLTOUCH)
+            // stow() is not automatic in high_speed_mode
+            if (bltouch.high_speed_mode) probe.stow();
+          #endif
+
           probe.move_z_after_homing();
         }
       #endif

Marlin/src/gcode/probe/G30.cpp

@@ -44,6 +44,12 @@
 /**
  * G30: Do a single Z probe at the current XY
  *
+ * If either X or Y are given, the probe is moved to that location.
+ * that will be the probe location.
+ * the probe will be moved to
+ * it will move the probe to that position relative
+ * to the nozzle, by default it probes the position the probe is at.
+ *
  * Parameters:
  *
  *   X   Probe X position (default current X)
@@ -56,10 +62,18 @@ void GcodeSuite::G30() {
   probe.use_probing_tool();
 
   // Convert the given logical position to native position
-  const xy_pos_t pos = {
-    parser.seenval('X') ? RAW_X_POSITION(parser.value_linear_units()) : current_position.x,
-    parser.seenval('Y') ? RAW_Y_POSITION(parser.value_linear_units()) : current_position.y
-  };
+  xy_pos_t pos;
+  const bool seenX = parser.seenval('X');
+  pos.x = seenX ? RAW_X_POSITION(parser.value_linear_units()) :
+    current_position.x;
+  const bool seenY = parser.seenval('Y');
+  pos.y = seenY ? RAW_Y_POSITION(parser.value_linear_units()) :
+    current_position.y;
+  // If X or Y was given, then probe that bed location, which means moving
+  // the probe over that point, which is accomplished by indicating the point
+  // is a relative (probe to nozzle) location.  False is absolute and no
+  // movement since it is already at the current location.
+  const bool probe_relative = seenX || seenY;
 
   if (probe.can_reach(pos)) {
     // Disable leveling so the planner won't mess with us
@@ -74,7 +88,8 @@ void GcodeSuite::G30() {
     const ProbePtRaise raise_after = parser.boolval('E', true) ? PROBE_PT_STOW : PROBE_PT_NONE;
 
     TERN_(HAS_PTC, ptc.set_enabled(!parser.seen('C') || parser.value_bool()));
-    const float measured_z = probe.probe_at_point(pos, raise_after, 1);
+    const float measured_z = probe.probe_at_point(pos, raise_after, 1,
+      probe_relative);
     TERN_(HAS_PTC, ptc.set_enabled(true));
     if (!isnan(measured_z)) {
       SERIAL_ECHOLNPGM("Bed X: ", pos.asLogical().x, " Y: ", pos.asLogical().y, " Z: ", measured_z);

Marlin/src/module/probe.cpp

@@ -919,11 +919,6 @@ float Probe::probe_at_point(const_float_t rx, const_float_t ry, const ProbePtRai
     DEBUG_POS("", current_position);
   }
 
-  #if ENABLED(BLTOUCH)
-    // Reset a BLTouch in HS mode if already triggered
-    if (bltouch.high_speed_mode && bltouch.triggered()) bltouch._reset();
-  #endif
-
   // Use a safe Z height for the XY move
   const float safe_z = _MAX(current_position.z, Z_PROBE_SAFE_CLEARANCE);
 
@@ -952,6 +947,13 @@ float Probe::probe_at_point(const_float_t rx, const_float_t ry, const ProbePtRai
     return current_position.z - bdl.read(); // Difference between Z-home-relative Z and sensor reading
   #endif
 
+  #if ENABLED(BLTOUCH)
+    // Now at the safe_z if it is still triggered it may be in an alarm
+    // condition.  Reset to clear alarm has a side effect of stowing the probe,
+    // which the following deploy will handle.
+    if (bltouch.triggered()) bltouch._reset();
+  #endif
+
   float measured_z = NAN;
   if (!deploy()) {
     measured_z = run_z_probe(sanity_check) + offset.z;