Homing feedrates as XYZ array (MarlinFirmware#20426)

Co-authored-by: Scott Lahteine <[email protected]>

Marlin/Configuration.h

@@ -1001,7 +1001,7 @@
 #define XY_PROBE_SPEED (133*60)
 
 // Feedrate (mm/min) for the first approach when double-probing (MULTIPLE_PROBING == 2)
-#define Z_PROBE_SPEED_FAST HOMING_FEEDRATE_Z
+#define Z_PROBE_SPEED_FAST (4*60)
 
 // Feedrate (mm/min) for the "accurate" probe of each point
 #define Z_PROBE_SPEED_SLOW (Z_PROBE_SPEED_FAST / 2)
@@ -1458,8 +1458,7 @@
 #endif
 
 // Homing speeds (mm/min)
-#define HOMING_FEEDRATE_XY (50*60)
-#define HOMING_FEEDRATE_Z  (4*60)
+#define HOMING_FEEDRATE_MM_M { (50*60), (50*60), (4*60) }
 
 // Validate that endstops are triggered on homing moves
 #define VALIDATE_HOMING_ENDSTOPS

Marlin/src/inc/Conditionals_post.h

@@ -2317,11 +2317,7 @@
     #define Z_PROBE_OFFSET_RANGE_MAX 20
   #endif
   #ifndef XY_PROBE_SPEED
-    #ifdef HOMING_FEEDRATE_XY
-      #define XY_PROBE_SPEED HOMING_FEEDRATE_XY
-    #else
-      #define XY_PROBE_SPEED 4000
-    #endif
+    #define XY_PROBE_SPEED ((homing_feedrate_mm_m.x + homing_feedrate_mm_m.y) / 2)
   #endif
   #ifndef NOZZLE_TO_PROBE_OFFSET
     #define NOZZLE_TO_PROBE_OFFSET { 0, 0, 0 }

Marlin/src/inc/SanityCheck.h

@@ -189,7 +189,9 @@
 #elif defined(ENDSTOPS_ONLY_FOR_HOMING)
   #error "ENDSTOPS_ONLY_FOR_HOMING is deprecated. Use (disable) ENDSTOPS_ALWAYS_ON_DEFAULT instead."
 #elif defined(HOMING_FEEDRATE)
-  #error "HOMING_FEEDRATE is deprecated. Set individual rates with HOMING_FEEDRATE_(XY|Z|E) instead."
+  #error "HOMING_FEEDRATE is now set using the HOMING_FEEDRATE_MM_M array instead."
+#elif defined(HOMING_FEEDRATE_XY) || defined(HOMING_FEEDRATE_Z)
+  #error "HOMING_FEEDRATE_XY and HOMING_FEEDRATE_Z are now set using the HOMING_FEEDRATE_MM_M array instead."
 #elif defined(MANUAL_HOME_POSITIONS)
   #error "MANUAL_HOME_POSITIONS is deprecated. Set MANUAL_[XYZ]_HOME_POS as-needed instead."
 #elif defined(PID_ADD_EXTRUSION_RATE)

Marlin/src/module/motion.cpp

@@ -143,16 +143,6 @@ xyze_pos_t destination; // {0}
 feedRate_t feedrate_mm_s = MMM_TO_MMS(1500);
 int16_t feedrate_percentage = 100;
 
-// Homing feedrate is const progmem - compare to constexpr in the header
-const feedRate_t homing_feedrate_mm_s[XYZ] PROGMEM = {
-  #if ENABLED(DELTA)
-    MMM_TO_MMS(HOMING_FEEDRATE_Z), MMM_TO_MMS(HOMING_FEEDRATE_Z),
-  #else
-    MMM_TO_MMS(HOMING_FEEDRATE_XY), MMM_TO_MMS(HOMING_FEEDRATE_XY),
-  #endif
-  MMM_TO_MMS(HOMING_FEEDRATE_Z)
-};
-
 // Cartesian conversion result goes here:
 xyz_pos_t cartes;
 
@@ -195,7 +185,7 @@ xyz_pos_t cartes;
 #endif
 
 #if HAS_ABL_NOT_UBL
-  float xy_probe_feedrate_mm_s = MMM_TO_MMS(XY_PROBE_SPEED);
+  feedRate_t xy_probe_feedrate_mm_s = MMM_TO_MMS(XY_PROBE_SPEED);
 #endif
 
 /**
@@ -510,7 +500,7 @@ void do_z_clearance(const float &zclear, const bool z_trusted/*=true*/, const bo
   const bool rel = raise_on_untrusted && !z_trusted;
   float zdest = zclear + (rel ? current_position.z : 0.0f);
   if (!lower_allowed) NOLESS(zdest, current_position.z);
-  do_blocking_move_to_z(_MIN(zdest, Z_MAX_POS), TERN(HAS_BED_PROBE, MMM_TO_MMS(Z_PROBE_SPEED_FAST), homing_feedrate(Z_AXIS)));
+  do_blocking_move_to_z(_MIN(zdest, Z_MAX_POS), TERN(HAS_BED_PROBE, z_probe_fast_mm_s, homing_feedrate(Z_AXIS)));
 }
 
 //
@@ -1841,7 +1831,7 @@ void homeaxis(const AxisEnum axis) {
       current_position[axis] -= ABS(endstop_backoff[axis]) * axis_home_dir;
       line_to_current_position(
         #if HOMING_Z_WITH_PROBE
-          (axis == Z_AXIS) ? MMM_TO_MMS(Z_PROBE_SPEED_FAST) :
+          (axis == Z_AXIS) ? z_probe_fast_mm_s :
         #endif
         homing_feedrate(axis)
       );

Marlin/src/module/motion.h

@@ -57,20 +57,36 @@ extern xyz_pos_t cartes;
 #endif
 
 #if HAS_ABL_NOT_UBL
-  extern float xy_probe_feedrate_mm_s;
+  extern feedRate_t xy_probe_feedrate_mm_s;
   #define XY_PROBE_FEEDRATE_MM_S xy_probe_feedrate_mm_s
 #elif defined(XY_PROBE_SPEED)
   #define XY_PROBE_FEEDRATE_MM_S MMM_TO_MMS(XY_PROBE_SPEED)
 #else
   #define XY_PROBE_FEEDRATE_MM_S PLANNER_XY_FEEDRATE()
 #endif
 
+constexpr feedRate_t z_probe_fast_mm_s = MMM_TO_MMS(Z_PROBE_SPEED_FAST);
+
 /**
  * Feed rates are often configured with mm/m
  * but the planner and stepper like mm/s units.
  */
-extern const feedRate_t homing_feedrate_mm_s[XYZ];
-FORCE_INLINE feedRate_t homing_feedrate(const AxisEnum a) { return pgm_read_float(&homing_feedrate_mm_s[a]); }
+constexpr xyz_feedrate_t homing_feedrate_mm_m = HOMING_FEEDRATE_MM_M;
+FORCE_INLINE feedRate_t homing_feedrate(const AxisEnum a) {
+  float v;
+  #if ENABLED(DELTA)
+    v = homing_feedrate_mm_m.z;
+  #else
+    switch (a) {
+      case X_AXIS: v = homing_feedrate_mm_m.x; break;
+      case Y_AXIS: v = homing_feedrate_mm_m.y; break;
+      case Z_AXIS:
+          default: v = homing_feedrate_mm_m.z;
+    }
+  #endif
+  return MMM_TO_MMS(v);
+}
+
 feedRate_t get_homing_bump_feedrate(const AxisEnum axis);
 
 /**

Marlin/src/module/probe.cpp

@@ -516,15 +516,15 @@ float Probe::run_z_probe(const bool sanity_check/*=true*/) {
   #if TOTAL_PROBING == 2
 
     // Do a first probe at the fast speed
-    if (try_to_probe(PSTR("FAST"), z_probe_low_point, MMM_TO_MMS(Z_PROBE_SPEED_FAST),
+    if (try_to_probe(PSTR("FAST"), z_probe_low_point, z_probe_fast_mm_s,
                      sanity_check, Z_CLEARANCE_BETWEEN_PROBES) ) return NAN;
 
     const float first_probe_z = current_position.z;
 
     if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("1st Probe Z:", first_probe_z);
 
     // Raise to give the probe clearance
-    do_blocking_move_to_z(current_position.z + Z_CLEARANCE_MULTI_PROBE, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
+    do_blocking_move_to_z(current_position.z + Z_CLEARANCE_MULTI_PROBE, z_probe_fast_mm_s);
 
   #elif Z_PROBE_SPEED_FAST != Z_PROBE_SPEED_SLOW
 
@@ -533,8 +533,8 @@ float Probe::run_z_probe(const bool sanity_check/*=true*/) {
     const float z = Z_CLEARANCE_DEPLOY_PROBE + 5.0 + (offset.z < 0 ? -offset.z : 0);
     if (current_position.z > z) {
       // Probe down fast. If the probe never triggered, raise for probe clearance
-      if (!probe_down_to_z(z, MMM_TO_MMS(Z_PROBE_SPEED_FAST)))
-        do_blocking_move_to_z(current_position.z + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
+      if (!probe_down_to_z(z, z_probe_fast_mm_s))
+        do_blocking_move_to_z(current_position.z + Z_CLEARANCE_BETWEEN_PROBES, z_probe_fast_mm_s);
     }
   #endif
 
@@ -582,7 +582,7 @@ float Probe::run_z_probe(const bool sanity_check/*=true*/) {
           #if EXTRA_PROBING > 0
             < TOTAL_PROBING - 1
           #endif
-        ) do_blocking_move_to_z(z + Z_CLEARANCE_MULTI_PROBE, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
+        ) do_blocking_move_to_z(z + Z_CLEARANCE_MULTI_PROBE, z_probe_fast_mm_s);
       #endif
     }
 
@@ -672,7 +672,7 @@ float Probe::probe_at_point(const float &rx, const float &ry, const ProbePtRaise
   if (!isnan(measured_z)) {
     const bool big_raise = raise_after == PROBE_PT_BIG_RAISE;
     if (big_raise || raise_after == PROBE_PT_RAISE)
-      do_blocking_move_to_z(current_position.z + (big_raise ? 25 : Z_CLEARANCE_BETWEEN_PROBES), MMM_TO_MMS(Z_PROBE_SPEED_FAST));
+      do_blocking_move_to_z(current_position.z + (big_raise ? 25 : Z_CLEARANCE_BETWEEN_PROBES), z_probe_fast_mm_s);
     else if (raise_after == PROBE_PT_STOW)
       if (stow()) measured_z = NAN;   // Error on stow?