UBL's Grid Based Leveling code

Pretty much...  The code is in place.  Still more work to do.    But it
has a lot of hooks and variables in other code, so commit and merge
before I pick up a million 'Conflicts'.

Marlin/G26_Mesh_Validation_Tool.cpp

@@ -219,8 +219,8 @@
     move_to(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], 0.0);
     move_to(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], ooze_amount);
 
-    ubl.has_control_of_lcd_panel++;
-    //debug_current_and_destination((char*)"Starting G26 Mesh Validation Pattern.");
+    ubl.has_control_of_lcd_panel = true;
+    //debug_current_and_destination(PSTR("Starting G26 Mesh Validation Pattern."));
 
     /**
      * Declare and generate a sin() & cos() table to be used during the circle drawing.  This will lighten
@@ -346,12 +346,12 @@
 
         }
 
-        //debug_current_and_destination((char*)"Looking for lines to connect.");
+        //debug_current_and_destination(PSTR("Looking for lines to connect."));
         look_for_lines_to_connect();
-        //debug_current_and_destination((char*)"Done with line connect.");
+        //debug_current_and_destination(PSTR("Done with line connect."));
       }
 
-      //debug_current_and_destination((char*)"Done with current circle.");
+      //debug_current_and_destination(PSTR("Done with current circle."));
 
     } while (location.x_index >= 0 && location.y_index >= 0);
 
@@ -362,16 +362,16 @@
     retract_filament(destination);
     destination[Z_AXIS] = Z_CLEARANCE_BETWEEN_PROBES;
 
-    //debug_current_and_destination((char*)"ready to do Z-Raise.");
+    //debug_current_and_destination(PSTR("ready to do Z-Raise."));
     move_to(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], 0); // Raise the nozzle
-    //debug_current_and_destination((char*)"done doing Z-Raise.");
+    //debug_current_and_destination(PSTR("done doing Z-Raise."));
 
     destination[X_AXIS] = x_pos;                                               // Move back to the starting position
     destination[Y_AXIS] = y_pos;
     //destination[Z_AXIS] = Z_CLEARANCE_BETWEEN_PROBES;                        // Keep the nozzle where it is
 
     move_to(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], 0); // Move back to the starting position
-    //debug_current_and_destination((char*)"done doing X/Y move.");
+    //debug_current_and_destination(PSTR("done doing X/Y move."));
 
     ubl.has_control_of_lcd_panel = false;     // Give back control of the LCD Panel!
 
@@ -458,7 +458,7 @@
                 SERIAL_ECHOPAIR(", ey=", ey);
                 SERIAL_CHAR(')');
                 SERIAL_EOL;
-                //debug_current_and_destination((char*)"Connecting horizontal line.");
+                //debug_current_and_destination(PSTR("Connecting horizontal line."));
               }
 
               print_line_from_here_to_there(LOGICAL_X_POSITION(sx), LOGICAL_Y_POSITION(sy), layer_height, LOGICAL_X_POSITION(ex), LOGICAL_Y_POSITION(ey), layer_height);
@@ -489,7 +489,7 @@
                   SERIAL_ECHOPAIR(", ey=", ey);
                   SERIAL_CHAR(')');
                   SERIAL_EOL;
-                  debug_current_and_destination((char*)"Connecting vertical line.");
+                  debug_current_and_destination(PSTR("Connecting vertical line."));
                 }
                 print_line_from_here_to_there(LOGICAL_X_POSITION(sx), LOGICAL_Y_POSITION(sy), layer_height, LOGICAL_X_POSITION(ex), LOGICAL_Y_POSITION(ey), layer_height);
                 bit_set(vertical_mesh_line_flags, i, j);   // Mark it as done so we don't do it again
@@ -525,7 +525,7 @@
       stepper.synchronize();
       set_destination_to_current();
 
-      //if (ubl.g26_debug_flag) debug_current_and_destination((char*)" in move_to() done with Z move");
+      //if (ubl.g26_debug_flag) debug_current_and_destination(PSTR(" in move_to() done with Z move"));
     }
 
     // Check if X or Y is involved in the movement.
@@ -538,11 +538,11 @@
     destination[Y_AXIS] = y;
     destination[E_AXIS] += e_delta;
 
-    //if (ubl.g26_debug_flag) debug_current_and_destination((char*)" in move_to() doing last move");
+    //if (ubl.g26_debug_flag) debug_current_and_destination(PSTR(" in move_to() doing last move"));
 
     ubl_line_to_destination(feed_value, 0);
 
-    //if (ubl.g26_debug_flag) debug_current_and_destination((char*)" in move_to() after last move");
+    //if (ubl.g26_debug_flag) debug_current_and_destination(PSTR(" in move_to() after last move"));
 
     stepper.synchronize();
     set_destination_to_current();
@@ -613,7 +613,7 @@
 
     //if (ubl.g26_debug_flag) {
     //  SERIAL_ECHOLNPGM("  doing printing move.");
-    //  debug_current_and_destination((char*)"doing final move_to() inside print_line_from_here_to_there()");
+    //  debug_current_and_destination(PSTR("doing final move_to() inside print_line_from_here_to_there()"));
     //}
     move_to(ex, ey, ez, e_pos_delta);  // Get to the ending point with an appropriate amount of extrusion
   }
@@ -771,7 +771,7 @@
           lcd_setstatuspgm(PSTR("G26 Heating Bed."), 99);
           lcd_quick_feedback();
       #endif
-          ubl.has_control_of_lcd_panel++;
+          ubl.has_control_of_lcd_panel = true;
           thermalManager.setTargetBed(bed_temp);
           while (abs(thermalManager.degBed() - bed_temp) > 3) {
             if (ubl_lcd_clicked()) return exit_from_g26();
@@ -808,7 +808,7 @@
 
     if (prime_flag == -1) {  // The user wants to control how much filament gets purged
 
-      ubl.has_control_of_lcd_panel++;
+      ubl.has_control_of_lcd_panel = true;
 
       lcd_setstatuspgm(PSTR("User-Controlled Prime"), 99);
       chirp_at_user();

Marlin/Marlin.h

@@ -288,6 +288,13 @@ float code_value_temp_diff();
   void set_bed_leveling_enabled(bool enable=true);
 #endif
 
+#if ENABLED(AUTO_BED_LEVELING_UBL)
+struct linear_fit {
+	double A, B, D;
+};
+struct linear_fit *lsf_linear_fit( double *, double *, double *, int );
+#endif
+
 #if PLANNER_LEVELING
   void reset_bed_level();
 #endif
@@ -298,6 +305,8 @@ float code_value_temp_diff();
 
 #if HAS_BED_PROBE
   extern float zprobe_zoffset;
+  #define DEPLOY_PROBE() set_probe_deployed(true)
+  #define STOW_PROBE() set_probe_deployed(false)
 #endif
 
 #if ENABLED(HOST_KEEPALIVE_FEATURE)

Marlin/Marlin_main.cpp

@@ -1983,8 +1983,6 @@ static void clean_up_after_endstop_or_probe_move() {
     #endif
   #endif
 
-  #define DEPLOY_PROBE() set_probe_deployed(true)
-  #define STOW_PROBE() set_probe_deployed(false)
 
   #if ENABLED(BLTOUCH)
     void bltouch_command(int angle) {

Marlin/_Bootscreen.h

@@ -0,0 +1,110 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * Custom Bitmap for splashscreen
+ *
+ * You may use one of the following tools to generate the C++ bitmap array from
+ * a black and white image:
+ *
+ *  - http://www.marlinfw.org/tools/u8glib/converter.html
+ *  - http://www.digole.com/tools/PicturetoC_Hex_converter.php
+ */
+//custom screen can be up to 112 wide and 64 high
+
+#include <avr/pgmspace.h>
+
+#define CUSTOM_BOOTSCREEN_TIMEOUT   2500
+#define CUSTOM_BOOTSCREEN_BMPWIDTH  112
+#define CUSTOM_BOOTSCREEN_BMPHEIGHT 64
+
+// Width: 112, Height: 64
+const unsigned char custom_start_bmp[896] PROGMEM = {
+	0xff, 0xff, 0xff, 0xff, 0xfe, 0x00, 0x3f, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
+	0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
+	0x80, 0x00, 0x00, 0x00, 0x00, 0x18, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
+	0x80, 0x00, 0x00, 0x00, 0x00, 0x18, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
+	0x80, 0x00, 0x00, 0x00, 0x00, 0x30, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
+	0x80, 0x00, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
+	0x80, 0x00, 0x00, 0x00, 0x00, 0xc0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
+	0x80, 0x00, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
+	0x80, 0x00, 0x00, 0x00, 0x0f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
+	0x80, 0x00, 0x00, 0x00, 0x31, 0x00, 0x00, 0x01, 0xe0, 0x00, 0x00, 0x00, 0x00, 0x01,
+	0x80, 0x00, 0x00, 0x01, 0xf9, 0x00, 0x00, 0x03, 0xf8, 0x00, 0x00, 0x01, 0xc0, 0x01,
+	0x80, 0x00, 0x00, 0x06, 0x4d, 0x00, 0x00, 0x07, 0x38, 0x00, 0x00, 0x01, 0xc0, 0x01,
+	0x80, 0x00, 0x00, 0x0c, 0x26, 0x00, 0x0e, 0xe7, 0x39, 0xd3, 0xe1, 0xf3, 0xe7, 0xc1,
+	0x80, 0x00, 0x00, 0x19, 0x12, 0x00, 0x0f, 0xe7, 0x39, 0xf7, 0xf3, 0xfb, 0xef, 0xe1,
+	0x80, 0x00, 0x00, 0x37, 0xce, 0x00, 0x0e, 0xe7, 0x01, 0xf7, 0x73, 0xb9, 0xce, 0xe1,
+	0x80, 0x00, 0x00, 0x64, 0x66, 0x00, 0x0e, 0xe7, 0x01, 0xc7, 0xf3, 0xb9, 0xcf, 0xe1,
+	0x80, 0x00, 0x00, 0x4b, 0xa6, 0x00, 0x0e, 0xe7, 0x39, 0xc7, 0xf0, 0xf9, 0xcf, 0xe1,
+	0x80, 0x00, 0x00, 0xca, 0xb4, 0x00, 0x0f, 0xe7, 0x39, 0xc7, 0x03, 0xf9, 0xce, 0x01,
+	0x80, 0x00, 0x00, 0xcd, 0xa4, 0x00, 0x06, 0xe7, 0x39, 0xc7, 0x73, 0xb9, 0xce, 0xe1,
+	0x80, 0x00, 0x03, 0xa6, 0x6c, 0x00, 0x00, 0xe7, 0x39, 0xc7, 0x73, 0xb9, 0xce, 0xe1,
+	0x80, 0x00, 0xff, 0x13, 0xd8, 0x00, 0x0e, 0xe3, 0xf1, 0xc7, 0xf3, 0xf9, 0xef, 0xe1,
+	0x80, 0x01, 0x21, 0x88, 0x18, 0x00, 0x0f, 0xe1, 0xe1, 0xc3, 0xe1, 0xb9, 0xe7, 0xc1,
+	0x80, 0x06, 0x61, 0x16, 0x30, 0x00, 0x07, 0xc0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
+	0x80, 0x04, 0x41, 0x23, 0x60, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
+	0x80, 0x04, 0xfe, 0x41, 0xc0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
+	0x80, 0x0b, 0x86, 0x8f, 0x00, 0x00, 0x00, 0x00, 0x3f, 0x1f, 0x80, 0x00, 0x00, 0x01,
+	0x80, 0x1e, 0x01, 0x9a, 0x00, 0x00, 0x00, 0x00, 0x3f, 0x1f, 0x80, 0x00, 0x00, 0x01,
+	0x80, 0x1c, 0x07, 0x22, 0x00, 0x00, 0x07, 0xbc, 0x3f, 0x9f, 0x81, 0xf8, 0xf1, 0xe1,
+	0x80, 0x08, 0x1f, 0xe2, 0x00, 0x00, 0x0f, 0xfc, 0x3f, 0xbf, 0x87, 0xfe, 0x71, 0xc1,
+	0x80, 0x00, 0x33, 0x62, 0x00, 0x00, 0x0f, 0x3c, 0x3d, 0xb7, 0x87, 0x9e, 0x7b, 0xc1,
+	0x80, 0x00, 0xc2, 0x22, 0x00, 0x00, 0x0f, 0x3c, 0x3d, 0xb7, 0x87, 0x9e, 0x7b, 0xc1,
+	0x80, 0x00, 0xc2, 0x3e, 0x00, 0x00, 0x0f, 0x3c, 0x3d, 0xf7, 0x80, 0x7e, 0x3b, 0x81,
+	0x80, 0x01, 0xe6, 0x1e, 0x00, 0x00, 0x0f, 0x3c, 0x3d, 0xf7, 0x83, 0xfe, 0x3f, 0x81,
+	0x80, 0x01, 0x3c, 0x12, 0x00, 0x00, 0x0f, 0x3c, 0x3d, 0xf7, 0x87, 0x9e, 0x3b, 0x81,
+	0x80, 0x01, 0x1c, 0x26, 0x00, 0x00, 0x0f, 0xfc, 0x3d, 0xf7, 0x87, 0x9e, 0x7b, 0xc1,
+	0x80, 0x01, 0x70, 0x64, 0x00, 0x00, 0x07, 0xbc, 0x3c, 0xe7, 0x87, 0x9e, 0x7b, 0xc1,
+	0x80, 0x03, 0xc0, 0x58, 0x00, 0x00, 0x00, 0x3c, 0x3c, 0xe7, 0x87, 0xfe, 0x71, 0xc1,
+	0x80, 0x0d, 0x80, 0xf0, 0x00, 0x00, 0x0f, 0x3c, 0x3c, 0xe7, 0x83, 0xde, 0xf1, 0xe1,
+	0x80, 0x1a, 0x00, 0xe0, 0x00, 0x00, 0x0f, 0xfc, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
+	0x80, 0x26, 0x00, 0x40, 0x00, 0x00, 0x03, 0xf0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
+	0x80, 0x4c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
+	0x80, 0xb2, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
+
+	0x81, 0x06, 0x00, 0x00, 0x00, 0x00, 0x07, 0x1c, 0x03, 0xc0, 0x20, 0x10, 0x00, 0x01,
+	0x83, 0x24, 0x00, 0x00, 0x00, 0x00, 0x08, 0x92, 0x02, 0x20, 0x00, 0x10, 0x00, 0x01,
+	0x02, 0x24, 0x00, 0x00, 0x00, 0x00, 0x00, 0x91, 0x02, 0x23, 0x27, 0x39, 0x8c, 0xe1,
+	0x06, 0x38, 0x00, 0x00, 0x00, 0x00, 0x03, 0x11, 0x03, 0xc2, 0x24, 0x92, 0x49, 0x01,
+	0x04, 0x50, 0x00, 0x00, 0x00, 0x00, 0x00, 0x91, 0x02, 0x02, 0x24, 0x93, 0xc8, 0xc1,
+	0x0d, 0xa0, 0x00, 0x00, 0x00, 0x00, 0x08, 0x92, 0x02, 0x02, 0x24, 0x92, 0x08, 0x21,
+	0x08, 0xe0, 0x00, 0x00, 0x00, 0x00, 0x07, 0x1c, 0x02, 0x02, 0x24, 0x99, 0xc9, 0xc1,
+	0x18, 0x60, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
+
+	0x10, 0x30, 0x00, 0x1c, 0x00, 0x00, 0x00, 0x0c, 0x18, 0x0f, 0xe0, 0x0f, 0x00, 0x01,
+	0x30, 0x20, 0x00, 0x37, 0x00, 0x00, 0x00, 0x12, 0x24, 0x08, 0x10, 0x09, 0x00, 0x01,
+	0x20, 0x30, 0x00, 0x6d, 0x80, 0x00, 0x00, 0x12, 0x24, 0x09, 0x88, 0x09, 0x00, 0x01,
+	0x10, 0x18, 0x1f, 0x60, 0xc0, 0x00, 0x00, 0x12, 0x24, 0x09, 0x48, 0x09, 0x00, 0x01,
+	0x30, 0x0c, 0x39, 0xe0, 0x60, 0x00, 0x00, 0x12, 0x24, 0x09, 0x90, 0x09, 0x00, 0x01,
+	0x30, 0x07, 0x90, 0x70, 0x60, 0x00, 0x00, 0x12, 0x24, 0x08, 0x60, 0x09, 0x00, 0x01,
+	0x10, 0x16, 0xf0, 0x18, 0x20, 0x00, 0x00, 0x12, 0x24, 0x08, 0x10, 0x09, 0x00, 0x01,
+	0x1a, 0x10, 0x60, 0x08, 0x30, 0x00, 0x00, 0x12, 0x24, 0x09, 0xc8, 0x09, 0x00, 0x01,
+	0x0b, 0x09, 0x80, 0x00, 0x30, 0x00, 0x00, 0x12, 0x24, 0x09, 0x24, 0x09, 0x00, 0x01,
+	0x0e, 0x07, 0x80, 0x00, 0x10, 0x00, 0x00, 0x13, 0xe4, 0x89, 0xc4, 0x89, 0xf9, 0x01,
+	0x06, 0x1e, 0x40, 0x10, 0x10, 0x00, 0x00, 0x10, 0x05, 0xc8, 0x09, 0xc8, 0x0b, 0x81,
+	0x06, 0x00, 0x40, 0x20, 0x10, 0x00, 0x00, 0x0f, 0xf8, 0x8f, 0xf0, 0x8f, 0xf9, 0x01,
+	0x03, 0x80, 0x00, 0x20, 0x30, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
+	0x01, 0xff, 0xff, 0xff, 0xe0, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
+};
+
+

Marlin/least_squares_fit.cpp

@@ -0,0 +1,134 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * Least Squares Best Fit  By Roxy and Ed Williams
+ *
+ * This algorythm is high speed and has a very small code footprint.
+ * Its results are identical to both the Iterative Least Squares published
+ * earlier by Roxy and the QR_SOLVE solution.   If used in place of QR_SOLVE
+ * it saves roughly 10KB of program memory.
+ *
+ */
+
+#include "MarlinConfig.h"
+
+#if ENABLED(AUTO_BED_LEVELING_UBL)
+  #include <math.h>
+  #include "UBL.h"
+  #include "Marlin.h"
+
+double linear_fit_average(double *, int);
+double linear_fit_average_squared(double *, int);
+double linear_fit_average_mixed_terms(double *, double *, int );
+double linear_fit_average_product(double *matrix1, double *matrix2, int n);
+void   linear_fit_subtract_mean(double *matrix, double bar, int n);
+double linear_fit_max_abs(double *, int);
+
+struct linear_fit linear_fit_results;
+
+struct linear_fit *lsf_linear_fit(double *x, double *y, double *z, int n) {
+	double xbar, ybar, zbar;
+	double x2bar, y2bar;
+	double xybar, xzbar, yzbar;
+	double D;
+	int i;
+
+	linear_fit_results.A = 0.0;
+	linear_fit_results.B = 0.0;
+	linear_fit_results.D = 0.0;
+
+	xbar = linear_fit_average(x, n);
+	ybar = linear_fit_average(y, n);
+	zbar = linear_fit_average(z, n);
+
+	linear_fit_subtract_mean( x, xbar, n);
+	linear_fit_subtract_mean( y, ybar, n);
+	linear_fit_subtract_mean( z, zbar, n);
+
+	x2bar = linear_fit_average_product( x, x, n);
+	y2bar = linear_fit_average_product( y, y, n);
+	xybar =	linear_fit_average_product( x, y, n);
+	xzbar =	linear_fit_average_product( x, z, n);
+	yzbar =	linear_fit_average_product( y, z, n);
+
+	D = x2bar*y2bar - xybar*xybar;
+	for(i=0; i<n; i++) {
+		if (fabs(D) <= 1e-15*( linear_fit_max_abs(x, n) + linear_fit_max_abs(y, n))) {
+			printf( "error: x,y points are collinear at index:%d \n", i );
+			return NULL;
+		}
+	}
+
+	linear_fit_results.A = -(xzbar*y2bar - yzbar*xybar) / D;
+	linear_fit_results.B = -(yzbar*x2bar - xzbar*xybar) / D;
+//	linear_fit_results.D = -(zbar - linear_fit_results->A*xbar - linear_fit_results->B*ybar);
+	linear_fit_results.D = -(zbar + linear_fit_results.A*xbar + linear_fit_results.B*ybar);
+
+	return &linear_fit_results;
+}
+
+
+
+
+double linear_fit_average(double *matrix, int n)
+{
+	int i;
+	double sum=0.0;
+
+	for (i = 0; i < n; i++)
+		sum += matrix[i];
+	return sum / (double) n;
+}
+
+double linear_fit_average_product(double *matrix1, double *matrix2, int n) {
+	int i;
+	double sum = 0.0;
+
+	for (i = 0; i < n; i++)
+		sum += matrix1[i] * matrix2[i];
+	return sum / (double) n;
+}
+
+
+
+void linear_fit_subtract_mean(double *matrix, double bar, int n) {
+	int i;
+
+	for (i = 0; i < n; i++) {
+		matrix[i] -= bar;
+	}
+	return;
+}
+
+double linear_fit_max_abs(double *matrix, int n) {
+	int i;
+	double max_abs = 0.0;
+
+	for(i=0; i<n; i++)
+		if ( max_abs < fabs(matrix[i]))
+			max_abs = fabs(matrix[i]);
+	return max_abs;
+}
+#endif
+
+

Marlin/ubl.cpp

@@ -47,7 +47,7 @@
     safe_delay(10);
   }
 
-  static void serial_echo_10x_spaces() {
+  static void serial_echo_11x_spaces() {
     for (uint8_t i = GRID_MAX_POINTS_X - 1; --i;) {
       SERIAL_ECHOPGM("          ");
       #if TX_BUFFER_SIZE > 0
@@ -92,15 +92,6 @@
       SERIAL_PROTOCOLLNPGM("?In load_state() sanity_check() failed.\n");
 
     #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
-      /**
-       * These lines can go away in a few weeks.  They are just
-       * to make sure people updating their firmware won't be using
-       * an incomplete Bed_Leveling.state structure. For speed
-       * we now multiply by the inverse of the Fade Height instead of
-       * dividing by it. Soon... all of the old structures will be
-       * updated, but until then, we try to ease the transition
-       * for our Beta testers.
-       */
       const float recip = ubl.state.g29_correction_fade_height ? 1.0 / ubl.state.g29_correction_fade_height : 1.0;
       if (ubl.state.g29_fade_height_multiplier != recip) {
         ubl.state.g29_fade_height_multiplier = recip;
@@ -181,11 +172,11 @@
     }
 
     if (map0) {
-      serial_echo_10x_spaces();
+      serial_echo_11x_spaces();
       serial_echo_xy(GRID_MAX_POINTS_X - 1, GRID_MAX_POINTS_Y - 1);
       SERIAL_EOL;
       serial_echo_xy(UBL_MESH_MIN_X, UBL_MESH_MIN_Y);
-      serial_echo_10x_spaces();
+      serial_echo_11x_spaces();
       serial_echo_xy(UBL_MESH_MAX_X, UBL_MESH_MAX_Y);
       SERIAL_EOL;
     }
@@ -231,12 +222,12 @@
     if (map0) {
       serial_echo_xy(UBL_MESH_MIN_X, UBL_MESH_MIN_Y);
       SERIAL_ECHOPGM("    ");
-      serial_echo_10x_spaces();
+      serial_echo_11x_spaces();
       serial_echo_xy(UBL_MESH_MAX_X, UBL_MESH_MIN_Y);
       SERIAL_EOL;
       serial_echo_xy(0, 0);
       SERIAL_ECHOPGM("       ");
-      serial_echo_10x_spaces();
+      serial_echo_11x_spaces();
       serial_echo_xy(GRID_MAX_POINTS_X - 1, 0);
       SERIAL_EOL;
     }

Marlin/ubl_G29.cpp

@@ -40,6 +40,7 @@
   bool lcd_clicked();
   void lcd_implementation_clear();
   void lcd_mesh_edit_setup(float initial);
+  void tilt_mesh_based_on_probed_grid( const bool );
   float lcd_mesh_edit();
   void lcd_z_offset_edit_setup(float);
   float lcd_z_offset_edit();
@@ -50,8 +51,7 @@
   extern bool code_has_value();
   extern float probe_pt(float x, float y, bool, int);
   extern bool set_probe_deployed(bool);
-  #define DEPLOY_PROBE() set_probe_deployed(true)
-  #define STOW_PROBE() set_probe_deployed(false)
+ 
   bool ProbeStay = true;
 
   constexpr float ubl_3_point_1_X = UBL_PROBE_PT_1_X,
@@ -302,7 +302,7 @@
 
   // The simple parameter flags and values are 'static' so parameter parsing can be in a support routine.
   static int g29_verbose_level, phase_value = -1, repetition_cnt,
-             storage_slot = 0, map_type; //unlevel_value = -1;
+             storage_slot = 0, map_type, grid_size_G ; //unlevel_value = -1;
   static bool repeat_flag, c_flag, x_flag, y_flag;
   static float x_pos, y_pos, measured_z, card_thickness = 0.0, ubl_constant = 0.0;
 
@@ -385,7 +385,20 @@
       //  return;
       //}
     }
-    //*/
+    */
+
+    if (code_seen('G')) {
+      uint8_t grid_size_G = code_has_value() ? code_value_int() : 3;
+      if (grid_size_G < 2) {
+        SERIAL_PROTOCOLLNPGM("ERROR - grid size must be 2 or more");
+        return;
+      }
+      if (grid_size_G > GRID_MAX_POINTS_X || grid_size_G > GRID_MAX_POINTS_Y ) {
+        SERIAL_PROTOCOLLNPGM("ERROR - grid size can NOT exceed GRID_MAX_POINTS_X nor GRID_MAX_POINTS_Y");
+        return;
+      }
+      tilt_mesh_based_on_probed_grid( code_seen('O')||code_seen('M'));
+    }
 
     if (code_seen('P')) {
       phase_value = code_value_int();
@@ -488,7 +501,7 @@
           SERIAL_ECHO_START;
           SERIAL_ECHOLNPGM("Checking G29 has control of LCD Panel:");
           KEEPALIVE_STATE(PAUSED_FOR_USER);
-          ubl.has_control_of_lcd_panel++;
+          ubl.has_control_of_lcd_panel = true;
           while (!ubl_lcd_clicked()) {
             safe_delay(250);
             if (ubl.encoder_diff) {
@@ -630,7 +643,7 @@
         save_ubl_active_state_and_disable();
         //measured_z = probe_pt(x_pos + X_PROBE_OFFSET_FROM_EXTRUDER, y_pos + Y_PROBE_OFFSET_FROM_EXTRUDER, ProbeDeployAndStow, g29_verbose_level);
 
-        ubl.has_control_of_lcd_panel++;     // Grab the LCD Hardware
+        ubl.has_control_of_lcd_panel = true;     // Grab the LCD Hardware
         measured_z = 1.5;
         do_blocking_move_to_z(measured_z);  // Get close to the bed, but leave some space so we don't damage anything
                                             // The user is not going to be locking in a new Z-Offset very often so
@@ -646,7 +659,7 @@
           do_blocking_move_to_z(measured_z);
         } while (!ubl_lcd_clicked());
 
-        ubl.has_control_of_lcd_panel++;   // There is a race condition for the Encoder Wheel getting clicked.
+        ubl.has_control_of_lcd_panel = true;   // There is a race condition for the Encoder Wheel getting clicked.
                                           // It could get detected in lcd_mesh_edit (actually _lcd_mesh_fine_tune)
                                           // or here. So, until we are done looking for a long Encoder Wheel Press,
                                           // we need to take control of the panel
@@ -744,7 +757,7 @@
   void probe_entire_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map, const bool stow_probe, bool do_furthest) {
     mesh_index_pair location;
 
-    ubl.has_control_of_lcd_panel++;
+    ubl.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
     DEPLOY_PROBE();
 
@@ -872,7 +885,7 @@
 
   float measure_business_card_thickness(const float &in_height) {
 
-    ubl.has_control_of_lcd_panel++;
+    ubl.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
 
     SERIAL_PROTOCOLLNPGM("Place Shim Under Nozzle and Perform Measurement.");
@@ -899,7 +912,7 @@
 
   void manually_probe_remaining_mesh(const float &lx, const float &ly, const float &z_clearance, const float &card_thickness, const bool do_ubl_mesh_map) {
 
-    ubl.has_control_of_lcd_panel++;
+    ubl.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);
     do_blocking_move_to_xy(lx, ly);
@@ -994,6 +1007,16 @@
       return UBL_ERR;
     }
 
+    if (code_seen('G')) {
+      grid_size_G = 3;
+      if (code_has_value())
+        grid_size_G = code_value_int();
+      if (!WITHIN(grid_size_G, 2, 10)) {
+        SERIAL_PROTOCOLLNPGM("Invalid grid probe points specified.\n");
+        return UBL_ERR;
+      }
+    }
+
     x_flag = code_seen('X') && code_has_value();
     x_pos = x_flag ? code_value_float() : current_position[X_AXIS];
     if (!WITHIN(RAW_X_POSITION(x_pos), X_MIN_POS, X_MAX_POS)) {
@@ -1053,7 +1076,6 @@
       return UBL_ERR;
     }
 
-    /*
     if (code_seen('M')) {     // Check if a map type was specified
       map_type = code_has_value() ? code_value_int() : 0;
       if (!WITHIN(map_type, 0, 1)) {
@@ -1061,7 +1083,6 @@
         return UBL_ERR;
       }
     }
-    //*/
 
     return UBL_OK;
   }
@@ -1070,6 +1091,7 @@
    * This function goes away after G29 debug is complete. But for right now, it is a handy
    * routine to dump binary data structures.
    */
+/*
   void dump(char * const str, const float &f) {
     char *ptr;
 
@@ -1087,6 +1109,7 @@
 
     SERIAL_EOL;
   }
+*/
 
   static int ubl_state_at_invocation = 0,
              ubl_state_recursion_chk = 0;
@@ -1438,4 +1461,178 @@
     SERIAL_ECHOLNPGM("Done Editing Mesh");
   }
 
+
+  void tilt_mesh_based_on_probed_grid( const bool do_ubl_mesh_map) {
+      int8_t grid_G_index_to_xpos[grid_size_G];  //  UBL MESH X index to be probed
+      int8_t grid_G_index_to_ypos[grid_size_G];  //  UBL MESH Y index to be probed
+      int8_t i, j ,k, xCount, yCount, G_X_index, G_Y_index;  // counter variables
+      float z_values_G[grid_size_G][grid_size_G];
+
+      struct linear_fit *results;
+
+      for (G_Y_index = 0; G_Y_index < grid_size_G; G_Y_index++)
+       for (G_X_index = 0; G_X_index < grid_size_G; G_X_index++)
+        z_values_G[G_X_index][G_Y_index] = NAN;
+      
+      uint8_t x_min = GRID_MAX_POINTS_X - 1;
+      uint8_t x_max = 0;
+      uint8_t y_min = GRID_MAX_POINTS_Y - 1;
+      uint8_t y_max = 0;
+      
+      //find min & max probeable points in the mesh
+      for (xCount = 0; xCount < GRID_MAX_POINTS_X ; xCount++) {
+        for (yCount = 0; yCount < GRID_MAX_POINTS_Y ; yCount++) {
+          if (WITHIN(ubl.mesh_index_to_xpos[xCount], MIN_PROBE_X, MAX_PROBE_X) && WITHIN(ubl.mesh_index_to_ypos[yCount], MIN_PROBE_Y, MAX_PROBE_Y)) {
+            if (x_min > xCount) x_min = xCount;
+            if (x_max < xCount) x_max = xCount;
+            if (y_min > yCount) y_min = yCount;
+            if (y_max < yCount) y_max = yCount;
+          }
+        }
+      }
+      
+      if ((x_max - x_min + 1) < (grid_size_G) || (y_max - y_min + 1) < (grid_size_G)) {
+        SERIAL_PROTOCOLPAIR("ERROR - probeable UBL MESH smaller than grid - X points: ", x_max - x_min + 1);
+        SERIAL_PROTOCOLPAIR("  Y points: ", y_max - y_min + 1);
+        SERIAL_PROTOCOLLNPAIR("  grid: ", grid_size_G);
+        return;
+      }
+      
+      // populate X matrix
+      for (G_X_index = 0; G_X_index < grid_size_G; G_X_index++) {
+        grid_G_index_to_xpos[G_X_index] = x_min + G_X_index * (x_max - x_min)/(grid_size_G - 1);
+        if (G_X_index > 0 && grid_G_index_to_xpos[G_X_index - 1] == grid_G_index_to_xpos[G_X_index] ) {
+          grid_G_index_to_xpos[G_X_index] = grid_G_index_to_xpos[G_X_index - 1] + 1;
+        }
+      }
+      
+      // populate Y matrix
+      for (G_Y_index = 0; G_Y_index < grid_size_G; G_Y_index++) {
+        grid_G_index_to_ypos[G_Y_index] = y_min + G_Y_index * (y_max - y_min)/(grid_size_G - 1);
+        if (G_Y_index > 0 && grid_G_index_to_ypos[G_Y_index -1] == grid_G_index_to_ypos[G_Y_index] ) {
+          grid_G_index_to_ypos[G_Y_index] = grid_G_index_to_ypos[G_Y_index - 1] + 1;
+        }
+      }
+      
+      ubl.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
+      
+      DEPLOY_PROBE();
+      
+      // this is a copy of the G29 AUTO_BED_LEVELING_BILINEAR method/code
+      #undef PROBE_Y_FIRST
+      #if ENABLED(PROBE_Y_FIRST)
+        #define PR_OUTER_VAR xCount
+        #define PR_OUTER_NUM grid_size_G
+        #define PR_INNER_VAR yCount
+        #define PR_INNER_NUM grid_size_G
+        #else
+        #define PR_OUTER_VAR yCount
+        #define PR_OUTER_NUM grid_size_G
+        #define PR_INNER_VAR xCount
+        #define PR_INNER_NUM grid_size_G
+      #endif
+      
+      bool zig = PR_OUTER_NUM & 1;  // Always end at RIGHT and BACK_PROBE_BED_POSITION
+      
+      // Outer loop is Y with PROBE_Y_FIRST disabled
+      for (PR_OUTER_VAR = 0; PR_OUTER_VAR < PR_OUTER_NUM; PR_OUTER_VAR++) {
+        
+        int8_t inStart, inStop, inInc;
+        
+SERIAL_PROTOCOLPAIR("\nPR_OUTER_VAR: ", PR_OUTER_VAR);
+
+        if (zig) { // away from origin
+          inStart = 0;
+          inStop = PR_INNER_NUM;
+          inInc = 1;
+        }
+        else {     // towards origin
+          inStart = PR_INNER_NUM - 1;
+          inStop = -1;
+          inInc = -1;
+        }
+        
+        zig = !zig; // zag
+        
+        // Inner loop is Y with PROBE_Y_FIRST enabled
+        for (PR_INNER_VAR = inStart; PR_INNER_VAR != inStop; PR_INNER_VAR += inInc) {
+SERIAL_PROTOCOLPAIR("\nPR_INNER_VAR: ", PR_INNER_VAR);
+
+SERIAL_PROTOCOLPAIR("\nCheckpoint: ", 1);
+          
+          // end of G29 AUTO_BED_LEVELING_BILINEAR method/code
+          if (ubl_lcd_clicked()) {
+SERIAL_PROTOCOLPAIR("\nCheckpoint: ", 2);
+            SERIAL_PROTOCOLLNPGM("\nGrid only partially populated.\n");
+            lcd_quick_feedback();
+            STOW_PROBE();
+SERIAL_PROTOCOLPAIR("\nCheckpoint: ", 3);
+            while (ubl_lcd_clicked()) idle();
+SERIAL_PROTOCOLPAIR("\nCheckpoint: ", 4);
+              ubl.has_control_of_lcd_panel = false;
+              restore_ubl_active_state_and_leave();
+              safe_delay(50);  // Debounce the Encoder wheel
+              return;
+            }
+SERIAL_PROTOCOLPAIR("\nCheckpoint: ", 5);
+          
+          const float probeX = ubl.mesh_index_to_xpos[grid_G_index_to_xpos[xCount]],  //where we want the probe to be
+          probeY = ubl.mesh_index_to_ypos[grid_G_index_to_ypos[yCount]];
+SERIAL_PROTOCOLPAIR("\nCheckpoint: ", 6);
+          
+          const float measured_z = probe_pt(LOGICAL_X_POSITION(probeX), LOGICAL_Y_POSITION(probeY), code_seen('E'), (code_seen('V') && code_has_value()) ? code_value_int() : 0 );  // takes into account the offsets
+
+SERIAL_PROTOCOLPAIR("\nmeasured_z: ", measured_z );
+
+          z_values_G[xCount][yCount] = measured_z;
+//SERIAL_PROTOCOLLNPGM("\nFine Tuning of Mesh Stopped.");
+        }
+      }
+      
+SERIAL_PROTOCOL("\nDone probing...\n");
+
+      STOW_PROBE();
+      restore_ubl_active_state_and_leave();
+
+// ??      ubl.has_control_of_lcd_panel = true;
+//    do_blocking_move_to_xy(ubl.mesh_index_to_xpos[grid_G_index_to_xpos[0]], ubl.mesh_index_to_ypos[grid_G_index_to_ypos[0]]);
+      
+      // least squares code
+double xxx9[] = { 0,50,100,150,200,           20,70,120,165,195,         0,50,100,150,200,           0,55,100,150,200,           0,65,100,150,205 };
+double yyy9[] = { 0, 1,  2,  3, 4,            50, 51,  52,  53, 54,     100, 101,102,103,104,        150,151,152,153,154,        200,201,202,203,204 };
+double zzz9[] = { 0.01,.002,-.01,-.02,0,      0.01,.002,-.01,-.02,0,     0.01,.002,-.01,-.02,0,      0.01,.002,-.01,-.02,0,      0.01,.002,-.01,-.012,0.01};
+int nine_size = sizeof(xxx9) / sizeof(double);
+
+double xxx0[] = { 0.0, 0.0, 1.0 };	// Expect [0,0,0.1,0]
+double yyy0[] = { 0.0, 1.0, 0.0 };
+double zzz0[] = { 0.1, 0.1, 0.1 };
+int zero_size = sizeof(xxx0) / sizeof(double);
+
+double xxx[] = { 0.0, 0.0, 1.0, 1.0 };	// Expect [0.1,0,0.05,0]
+double yyy[] = { 0.0, 1.0, 0.0, 1.0 };
+double zzz[] = { 0.05, 0.05, 0.15, 0.15 };      
+int three_size = sizeof(xxx) / sizeof(double);
+
+      results = lsf_linear_fit(xxx9, yyy9, zzz9, nine_size);
+SERIAL_PROTOCOLPAIR("\nxxx9->A =", results->A); 
+SERIAL_PROTOCOLPAIR("\nxxx9->B =", results->B); 
+SERIAL_PROTOCOLPAIR("\nxxx9->D =", results->D); 
+SERIAL_PROTOCOL("\n");
+
+      results = lsf_linear_fit(xxx0, yyy0, zzz0, zero_size);
+SERIAL_PROTOCOLPAIR("\nxxx0->A =", results->A); 
+SERIAL_PROTOCOLPAIR("\nxxx0->B =", results->B); 
+SERIAL_PROTOCOLPAIR("\nxxx0->D =", results->D); 
+SERIAL_PROTOCOL("\n");
+
+      results = lsf_linear_fit(xxx, yyy, zzz, three_size);
+SERIAL_PROTOCOLPAIR("\nxxx->A =", results->A); 
+SERIAL_PROTOCOLPAIR("\nxxx->B =", results->B); 
+SERIAL_PROTOCOLPAIR("\nxxx->D =", results->D); 
+SERIAL_PROTOCOL("\n");
+
+      return;
+    }  // end of tilt_mesh_based_on_probed_grid()
+
 #endif // AUTO_BED_LEVELING_UBL

Marlin/ubl_motion.cpp

@@ -39,7 +39,7 @@
       SERIAL_ECHO_F(destination[X_AXIS], 6);
   }
 
-  void debug_current_and_destination(char *title) {
+  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
@@ -85,12 +85,6 @@
     SERIAL_ECHO(title);
     SERIAL_EOL;
 
-    SET_INPUT_PULLUP(66); // Roxy's Left Switch is on pin 66.  Right Switch is on pin 65
-
-    //if (been_to_2_6) {
-    //while ((digitalRead(66) & 0x01) != 0)
-    //  idle();
-    //}
   }
 
   void ubl_line_to_destination(const float &feed_rate, uint8_t extruder) {
@@ -124,7 +118,7 @@
       SERIAL_ECHOPAIR(", ee=", end[E_AXIS]);
       SERIAL_CHAR(')');
       SERIAL_EOL;
-      debug_current_and_destination((char*)"Start of ubl_line_to_destination()");
+      debug_current_and_destination(PSTR("Start of ubl_line_to_destination()"));
     }
 
     if (cell_start_xi == cell_dest_xi && cell_start_yi == cell_dest_yi) { // if the whole move is within the same cell,
@@ -144,7 +138,7 @@
         set_current_to_destination();
 
         if (ubl.g26_debug_flag)
-          debug_current_and_destination((char*)"out of bounds in ubl_line_to_destination()");
+          debug_current_and_destination(PSTR("out of bounds in ubl_line_to_destination()"));
 
         return;
       }
@@ -181,7 +175,7 @@
         z_optimized = z0;
         z0 = ubl.get_z_correction(end[X_AXIS], end[Y_AXIS]);
         if (fabs(z_optimized - z0) > .01 || isnan(z0) || isnan(z_optimized)) {
-        debug_current_and_destination((char*)"FINAL_MOVE: z_correction()");
+        debug_current_and_destination(PSTR("FINAL_MOVE: z_correction()"));
         if (isnan(z0)) SERIAL_ECHO(" z0==NAN  ");
         if (isnan(z_optimized)) SERIAL_ECHO(" z_optimized==NAN  ");
         SERIAL_ECHOPAIR("  end[X_AXIS]=", end[X_AXIS]);
@@ -191,7 +185,8 @@
         SERIAL_ECHOPAIR("  err=",fabs(z_optimized - z0));
         SERIAL_EOL;
         }
-      //*/
+      */
+
       z0 *= ubl.fade_scaling_factor_for_z(end[Z_AXIS]);
 
       /**
@@ -206,7 +201,7 @@
       planner.buffer_line(end[X_AXIS], end[Y_AXIS], end[Z_AXIS] + z0 + ubl.state.z_offset, end[E_AXIS], feed_rate, extruder);
 
       if (ubl.g26_debug_flag)
-        debug_current_and_destination((char*)"FINAL_MOVE in ubl_line_to_destination()");
+        debug_current_and_destination(PSTR("FINAL_MOVE in ubl_line_to_destination()"));
 
       set_current_to_destination();
       return;
@@ -286,7 +281,7 @@
           z_optimized = z0;
           z0 = ubl.get_z_correction(x, next_mesh_line_y);
           if (fabs(z_optimized - z0) > .01 || isnan(z0) || isnan(z_optimized)) {
-            debug_current_and_destination((char*)"VERTICAL z_correction()");
+            debug_current_and_destination(PSTR("VERTICAL z_correction()"));
           if (isnan(z0)) SERIAL_ECHO(" z0==NAN  ");
             if (isnan(z_optimized)) SERIAL_ECHO(" z_optimized==NAN  ");
           SERIAL_ECHOPAIR("  x=", x);
@@ -296,7 +291,7 @@
           SERIAL_ECHOPAIR("  err=",fabs(z_optimized-z0));
           SERIAL_ECHO("\n");
           }
-        //*/
+        */
 
         z0 *= ubl.fade_scaling_factor_for_z(end[Z_AXIS]);
 
@@ -333,7 +328,7 @@
       }
 
       if (ubl.g26_debug_flag)
-        debug_current_and_destination((char*)"vertical move done in ubl_line_to_destination()");
+        debug_current_and_destination(PSTR("vertical move done in ubl_line_to_destination()"));
 
       //
       // 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.
@@ -371,7 +366,7 @@
           z_optimized = z0;
           z0 = ubl.get_z_correction(next_mesh_line_x, y);
           if (fabs(z_optimized - z0) > .01 || isnan(z0) || isnan(z_optimized)) {
-            debug_current_and_destination((char*)"HORIZONTAL z_correction()");
+            debug_current_and_destination(PSTR("HORIZONTAL z_correction()"));
           if (isnan(z0)) SERIAL_ECHO(" z0==NAN  ");
             if (isnan(z_optimized)) SERIAL_ECHO(" z_optimized==NAN  ");
           SERIAL_ECHOPAIR("  next_mesh_line_x=", next_mesh_line_x);
@@ -381,7 +376,7 @@
           SERIAL_ECHOPAIR("  err=",fabs(z_optimized-z0));
           SERIAL_ECHO("\n");
           }
-        //*/
+        */
 
         z0 *= ubl.fade_scaling_factor_for_z(end[Z_AXIS]);
 
@@ -418,7 +413,7 @@
       }
 
       if (ubl.g26_debug_flag)
-        debug_current_and_destination((char*)"horizontal move done in ubl_line_to_destination()");
+        debug_current_and_destination(PSTR("horizontal move done in ubl_line_to_destination()"));
 
       if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS])
         goto FINAL_MOVE;
@@ -466,7 +461,7 @@
           z_optimized = z0;
           z0 = ubl.get_z_correction(x, next_mesh_line_y);
           if (fabs(z_optimized - z0) > .01 || isnan(z0) || isnan(z_optimized)) {
-            debug_current_and_destination((char*)"General_1: z_correction()");
+            debug_current_and_destination(PSTR("General_1: z_correction()"));
             if (isnan(z0)) SERIAL_ECHO(" z0==NAN  ");
             if (isnan(z_optimized)) SERIAL_ECHO(" z_optimized==NAN  "); {
               SERIAL_ECHOPAIR("  x=", x);
@@ -477,7 +472,7 @@
             SERIAL_ECHOPAIR("  err=",fabs(z_optimized-z0));
             SERIAL_ECHO("\n");
           }
-        //*/
+        */
 
         z0 *= ubl.fade_scaling_factor_for_z(end[Z_AXIS]);
 
@@ -517,7 +512,7 @@
           z_optimized = z0;
           z0 = ubl.get_z_correction(next_mesh_line_x, y);
           if (fabs(z_optimized - z0) > .01 || isnan(z0) || isnan(z_optimized)) {
-          debug_current_and_destination((char*)"General_2: z_correction()");
+          debug_current_and_destination(PSTR("General_2: z_correction()"));
           if (isnan(z0)) SERIAL_ECHO(" z0==NAN  ");
           if (isnan(z_optimized)) SERIAL_ECHO(" z_optimized==NAN  ");
           SERIAL_ECHOPAIR("  next_mesh_line_x=", next_mesh_line_x);
@@ -527,7 +522,7 @@
           SERIAL_ECHOPAIR("  err=",fabs(z_optimized-z0));
           SERIAL_ECHO("\n");
           }
-        //*/
+        */
 
         z0 *= ubl.fade_scaling_factor_for_z(end[Z_AXIS]);
 
@@ -557,7 +552,7 @@
     }
 
     if (ubl.g26_debug_flag)
-      debug_current_and_destination((char*)"generic move done in ubl_line_to_destination()");
+      debug_current_and_destination(PSTR("generic move done in ubl_line_to_destination()"));
 
     if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS])
       goto FINAL_MOVE;