Add custom types for position (#15204)

Marlin/Configuration_adv.h

@@ -602,9 +602,7 @@
 //#define Z_STEPPER_AUTO_ALIGN
 #if ENABLED(Z_STEPPER_AUTO_ALIGN)
   // Define probe X and Y positions for Z1, Z2 [, Z3]
-  #define Z_STEPPER_ALIGN_X {  10, 150, 290 }
-  #define Z_STEPPER_ALIGN_Y { 290,  10, 290 }
-  // Set number of iterations to align
+  #define Z_STEPPER_ALIGN_XY { {  10, 290 }, { 150,  10 }, { 290, 290 } }  // Set number of iterations to align
   #define Z_STEPPER_ALIGN_ITERATIONS 3
   // Enable to restore leveling setup after operation
   #define RESTORE_LEVELING_AFTER_G34

Marlin/src/Marlin.cpp

@@ -582,10 +582,10 @@ void manage_inactivity(const bool ignore_stepper_queue/*=false*/) {
         }
       #endif // !SWITCHING_EXTRUDER
 
-      const float olde = current_position[E_AXIS];
-      current_position[E_AXIS] += EXTRUDER_RUNOUT_EXTRUDE;
-      planner.buffer_line(current_position, MMM_TO_MMS(EXTRUDER_RUNOUT_SPEED), active_extruder);
-      current_position[E_AXIS] = olde;
+      const float olde = current_position.e;
+      current_position.e += EXTRUDER_RUNOUT_EXTRUDE;
+      line_to_current_position(MMM_TO_MMS(EXTRUDER_RUNOUT_SPEED));
+      current_position.e = olde;
       planner.set_e_position_mm(olde);
       planner.synchronize();
 
@@ -629,7 +629,7 @@ void manage_inactivity(const bool ignore_stepper_queue/*=false*/) {
     if (delayed_move_time && ELAPSED(ms, delayed_move_time + 1000UL) && IsRunning()) {
       // travel moves have been received so enact them
       delayed_move_time = 0xFFFFFFFFUL; // force moves to be done
-      set_destination_from_current();
+      destination = current_position;
       prepare_move_to_destination();
     }
   #endif
@@ -1002,7 +1002,7 @@ void setup() {
 
   #if HAS_M206_COMMAND
     // Initialize current position based on home_offset
-    LOOP_XYZ(a) current_position[a] += home_offset[a];
+    current_position += home_offset;
   #endif
 
   // Vital to init stepper/planner equivalent for current_position

Marlin/src/core/enum.h

@@ -1,63 +0,0 @@
-/**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2019 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/>.
- *
- */
-#pragma once
-
-/**
- * Axis indices as enumerated constants
- *
- *  - X_AXIS, Y_AXIS, and Z_AXIS should be used for axes in Cartesian space
- *  - A_AXIS, B_AXIS, and C_AXIS should be used for Steppers, corresponding to XYZ on Cartesians
- *  - X_HEAD, Y_HEAD, and Z_HEAD should be used for Steppers on Core kinematics
- */
-enum AxisEnum : unsigned char {
-  X_AXIS    = 0,
-  A_AXIS    = 0,
-  Y_AXIS    = 1,
-  B_AXIS    = 1,
-  Z_AXIS    = 2,
-  C_AXIS    = 2,
-  E_AXIS    = 3,
-  X_HEAD    = 4,
-  Y_HEAD    = 5,
-  Z_HEAD    = 6,
-  E0_AXIS   = 3,
-  E1_AXIS   = 4,
-  E2_AXIS   = 5,
-  E3_AXIS   = 6,
-  E4_AXIS   = 7,
-  E5_AXIS   = 8,
-  ALL_AXES  = 0xFE,
-  NO_AXIS   = 0xFF
-};
-
-#define LOOP_S_LE_N(VAR, S, N) for (uint8_t VAR=(S); VAR<=(N); VAR++)
-#define LOOP_S_L_N(VAR, S, N) for (uint8_t VAR=(S); VAR<(N); VAR++)
-#define LOOP_LE_N(VAR, N) LOOP_S_LE_N(VAR, 0, N)
-#define LOOP_L_N(VAR, N) LOOP_S_L_N(VAR, 0, N)
-
-#define LOOP_NA(VAR) LOOP_L_N(VAR, NUM_AXIS)
-#define LOOP_XYZ(VAR) LOOP_S_LE_N(VAR, X_AXIS, Z_AXIS)
-#define LOOP_XYZE(VAR) LOOP_S_LE_N(VAR, X_AXIS, E_AXIS)
-#define LOOP_XYZE_N(VAR) LOOP_S_L_N(VAR, X_AXIS, XYZE_N)
-#define LOOP_ABC(VAR) LOOP_S_LE_N(VAR, A_AXIS, C_AXIS)
-#define LOOP_ABCE(VAR) LOOP_S_LE_N(VAR, A_AXIS, E_AXIS)
-#define LOOP_ABCE_N(VAR) LOOP_S_L_N(VAR, A_AXIS, XYZE_N)

Marlin/src/core/macros.h

@@ -26,6 +26,7 @@
 #define XYZE 4
 #define ABC  3
 #define XYZ  3
+#define XY   2
 
 #define _AXIS(A) (A##_AXIS)
 
@@ -252,12 +253,6 @@
 #define DECREMENT_(n) DEC_##n
 #define DECREMENT(n) DECREMENT_(n)
 
-// Feedrate
-typedef float feedRate_t;
-#define MMM_TO_MMS(MM_M) ((MM_M)/60.0f)
-#define MMS_TO_MMM(MM_S) ((MM_S)*60.0f)
-#define MMS_SCALED(V)    ((V) * 0.01f * feedrate_percentage)
-
 #define NOOP (void(0))
 
 #define CEILING(x,y) (((x) + (y) - 1) / (y))

Marlin/src/core/serial.cpp

@@ -22,7 +22,6 @@
 
 #include "serial.h"
 #include "language.h"
-#include "enum.h"
 
 uint8_t marlin_debug_flags = MARLIN_DEBUG_NONE;
 
@@ -68,12 +67,8 @@ void print_bin(const uint16_t val) {
   }
 }
 
-void print_xyz(PGM_P const prefix, PGM_P const suffix, const float &x, const float &y, const float &z) {
+void print_xyz(const float &x, const float &y, const float &z, PGM_P const prefix/*=nullptr*/, PGM_P const suffix/*=nullptr*/) {
   serialprintPGM(prefix);
   SERIAL_ECHOPAIR(" " MSG_X, x, " " MSG_Y, y, " " MSG_Z, z);
   if (suffix) serialprintPGM(suffix); else SERIAL_EOL();
 }
-
-void print_xyz(PGM_P const prefix, PGM_P const suffix, const float xyz[]) {
-  print_xyz(prefix, suffix, xyz[X_AXIS], xyz[Y_AXIS], xyz[Z_AXIS]);
-}

Marlin/src/core/serial.h

@@ -213,7 +213,11 @@ void serial_spaces(uint8_t count);
 
 void print_bin(const uint16_t val);
 
-void print_xyz(PGM_P const prefix, PGM_P const suffix, const float xyz[]);
-void print_xyz(PGM_P const prefix, PGM_P const suffix, const float &x, const float &y, const float &z);
-#define SERIAL_POS(SUFFIX,VAR) do { print_xyz(PSTR("  " STRINGIFY(VAR) "="), PSTR(" : " SUFFIX "\n"), VAR); }while(0)
-#define SERIAL_XYZ(PREFIX,V...) do { print_xyz(PSTR(PREFIX), nullptr, V); }while(0)
+void print_xyz(const float &x, const float &y, const float &z, PGM_P const prefix=nullptr, PGM_P const suffix=nullptr);
+
+inline void print_xyz(const xyz_pos_t &xyz, PGM_P const prefix=nullptr, PGM_P const suffix=nullptr) {
+  print_xyz(xyz.x, xyz.y, xyz.z, prefix, suffix);
+}
+
+#define SERIAL_POS(SUFFIX,VAR) do { print_xyz(VAR, PSTR("  " STRINGIFY(VAR) "="), PSTR(" : " SUFFIX "\n")); }while(0)
+#define SERIAL_XYZ(PREFIX,V...) do { print_xyz(V, PSTR(PREFIX), nullptr); }while(0)

Marlin/src/core/types.h

@@ -0,0 +1,486 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2019 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/>.
+ *
+ */
+#pragma once
+
+#include <math.h>
+#include <stddef.h>
+
+#include "millis_t.h"
+
+//
+// Enumerated axis indices
+//
+//  - X_AXIS, Y_AXIS, and Z_AXIS should be used for axes in Cartesian space
+//  - A_AXIS, B_AXIS, and C_AXIS should be used for Steppers, corresponding to XYZ on Cartesians
+//  - X_HEAD, Y_HEAD, and Z_HEAD should be used for Steppers on Core kinematics
+//
+enum AxisEnum : uint8_t {
+  X_AXIS   = 0, A_AXIS = 0,
+  Y_AXIS   = 1, B_AXIS = 1,
+  Z_AXIS   = 2, C_AXIS = 2,
+  E_AXIS   = 3,
+  X_HEAD   = 4, Y_HEAD = 5, Z_HEAD = 6,
+  E0_AXIS  = 3,
+  E1_AXIS  = 4,
+  E2_AXIS  = 5,
+  E3_AXIS  = 6,
+  E4_AXIS  = 7,
+  E5_AXIS  = 8,
+  ALL_AXES = 0xFE, NO_AXIS = 0xFF
+};
+
+//
+// Loop over XYZE axes
+//
+
+#define LOOP_S_LE_N(VAR, S, N) for (uint8_t VAR=(S); VAR<=(N); VAR++)
+#define LOOP_S_L_N(VAR, S, N) for (uint8_t VAR=(S); VAR<(N); VAR++)
+#define LOOP_LE_N(VAR, N) LOOP_S_LE_N(VAR, 0, N)
+#define LOOP_L_N(VAR, N) LOOP_S_L_N(VAR, 0, N)
+
+#define LOOP_XYZ(VAR) LOOP_S_LE_N(VAR, X_AXIS, Z_AXIS)
+#define LOOP_XYZE(VAR) LOOP_S_LE_N(VAR, X_AXIS, E_AXIS)
+#define LOOP_XYZE_N(VAR) LOOP_S_L_N(VAR, X_AXIS, XYZE_N)
+#define LOOP_ABC(VAR) LOOP_S_LE_N(VAR, A_AXIS, C_AXIS)
+#define LOOP_ABCE(VAR) LOOP_S_LE_N(VAR, A_AXIS, E_AXIS)
+#define LOOP_ABCE_N(VAR) LOOP_S_L_N(VAR, A_AXIS, XYZE_N)
+
+//
+// Conditional type assignment magic. For example...
+//
+// typename IF<(MYOPT==12), int, float>::type myvar;
+//
+template <bool, class L, class R>
+struct IF { typedef R type; };
+template <class L, class R>
+struct IF<true, L, R> { typedef L type; };
+
+//
+// feedRate_t is just a humble float
+//
+typedef float feedRate_t;
+
+// Conversion macros
+#define MMM_TO_MMS(MM_M) feedRate_t(float(MM_M) / 60.0f)
+#define MMS_TO_MMM(MM_S) (float(MM_S) * 60.0f)
+#define MMS_SCALED(V)    ((V) * 0.01f * feedrate_percentage)
+
+//
+// Coordinates structures for XY, XYZ, XYZE...
+//
+
+// Helpers
+#define _RECIP(N) ((N) ? 1.0f / float(N) : 0.0f)
+#define _ABS(N) ((N) < 0 ? -(N) : (N))
+#define _LS(N)  (N = (T)(uint32_t(N) << v))
+#define _RS(N)  (N = (T)(uint32_t(N) >> v))
+#define FI FORCE_INLINE
+
+// Forward declarations
+template<typename T> struct XYval;
+template<typename T> struct XYZval;
+template<typename T> struct XYZEval;
+
+typedef struct XYval<bool>          xy_bool_t;
+typedef struct XYZval<bool>        xyz_bool_t;
+typedef struct XYZEval<bool>      xyze_bool_t;
+
+typedef struct XYval<char>          xy_char_t;
+typedef struct XYZval<char>        xyz_char_t;
+typedef struct XYZEval<char>      xyze_char_t;
+
+typedef struct XYval<unsigned char>     xy_uchar_t;
+typedef struct XYZval<unsigned char>   xyz_uchar_t;
+typedef struct XYZEval<unsigned char> xyze_uchar_t;
+
+typedef struct XYval<int8_t>        xy_int8_t;
+typedef struct XYZval<int8_t>      xyz_int8_t;
+typedef struct XYZEval<int8_t>    xyze_int8_t;
+
+typedef struct XYval<uint8_t>      xy_uint8_t;
+typedef struct XYZval<uint8_t>    xyz_uint8_t;
+typedef struct XYZEval<uint8_t>  xyze_uint8_t;
+
+typedef struct XYval<int16_t>        xy_int_t;
+typedef struct XYZval<int16_t>      xyz_int_t;
+typedef struct XYZEval<int16_t>    xyze_int_t;
+
+typedef struct XYval<uint16_t>      xy_uint_t;
+typedef struct XYZval<uint16_t>    xyz_uint_t;
+typedef struct XYZEval<uint16_t>  xyze_uint_t;
+
+typedef struct XYval<int32_t>       xy_long_t;
+typedef struct XYZval<int32_t>     xyz_long_t;
+typedef struct XYZEval<int32_t>   xyze_long_t;
+
+typedef struct XYval<uint32_t>     xy_ulong_t;
+typedef struct XYZval<uint32_t>   xyz_ulong_t;
+typedef struct XYZEval<uint32_t> xyze_ulong_t;
+
+typedef struct XYZval<volatile int32_t>   xyz_vlong_t;
+typedef struct XYZEval<volatile int32_t> xyze_vlong_t;
+
+typedef struct XYval<float>        xy_float_t;
+typedef struct XYZval<float>      xyz_float_t;
+typedef struct XYZEval<float>    xyze_float_t;
+
+typedef struct XYval<feedRate_t>     xy_feedrate_t;
+typedef struct XYZval<feedRate_t>   xyz_feedrate_t;
+typedef struct XYZEval<feedRate_t> xyze_feedrate_t;
+
+typedef xy_uint8_t xy_byte_t;
+typedef xyz_uint8_t xyz_byte_t;
+typedef xyze_uint8_t xyze_byte_t;
+
+typedef xyz_long_t abc_long_t;
+typedef xyze_long_t abce_long_t;
+typedef xyz_ulong_t abc_ulong_t;
+typedef xyze_ulong_t abce_ulong_t;
+
+typedef xy_float_t xy_pos_t;
+typedef xyz_float_t xyz_pos_t;
+typedef xyze_float_t xyze_pos_t;
+
+typedef xy_float_t ab_float_t;
+typedef xyz_float_t abc_float_t;
+typedef xyze_float_t abce_float_t;
+
+typedef ab_float_t ab_pos_t;
+typedef abc_float_t abc_pos_t;
+typedef abce_float_t abce_pos_t;
+
+// External conversion methods
+void toLogical(xy_pos_t &raw);
+void toLogical(xyz_pos_t &raw);
+void toLogical(xyze_pos_t &raw);
+void toNative(xy_pos_t &raw);
+void toNative(xyz_pos_t &raw);
+void toNative(xyze_pos_t &raw);
+
+//
+// XY coordinates, counters, etc.
+//
+template<typename T>
+struct XYval {
+  union {
+    struct { T x, y; };
+    struct { T a, b; };
+    T pos[2];
+  };
+  FI void set(const T px)                               { x = px; }
+  FI void set(const T px, const T py)                   { x = px; y = py; }
+  FI void reset()                                       { x = y = 0; }
+  FI T magnitude()                                const { return (T)sqrtf(x*x + y*y); }
+  FI operator T* ()                                     { return pos; }
+  FI operator bool()                                    { return x || y; }
+  FI XYval<T>           copy()                    const { return *this; }
+  FI XYval<T>            ABS()                    const { return { T(_ABS(x)), T(_ABS(y)) }; }
+  FI XYval<int16_t>    asInt()                          { return { int16_t(x), int16_t(y) }; }
+  FI XYval<int16_t>    asInt()                    const { return { int16_t(x), int16_t(y) }; }
+  FI XYval<int32_t>   asLong()                          { return { int32_t(x), int32_t(y) }; }
+  FI XYval<int32_t>   asLong()                    const { return { int32_t(x), int32_t(y) }; }
+  FI XYval<float>    asFloat()                          { return {   float(x),   float(y) }; }
+  FI XYval<float>    asFloat()                    const { return {   float(x),   float(y) }; }
+  FI XYval<float> reciprocal()                    const { return {  _RECIP(x),  _RECIP(y) }; }
+  FI XYval<float>  asLogical()                    const { XYval<float> o = asFloat(); toLogical(o); return o; }
+  FI XYval<float>   asNative()                    const { XYval<float> o = asFloat(); toNative(o);  return o; }
+  FI operator XYZval<T>()                               { return { x, y }; }
+  FI operator XYZval<T>()                         const { return { x, y }; }
+  FI operator XYZEval<T>()                              { return { x, y }; }
+  FI operator XYZEval<T>()                        const { return { x, y }; }
+  FI       T&  operator[](const int i)                  { return pos[i]; }
+  FI const T&  operator[](const int i)            const { return pos[i]; }
+  FI XYval<T>& operator= (const T v)                    { set(v,    v   ); return *this; }
+  FI XYval<T>& operator= (const XYZval<T>  &rs)         { set(rs.x, rs.y); return *this; }
+  FI XYval<T>& operator= (const XYZEval<T> &rs)         { set(rs.x, rs.y); return *this; }
+  FI XYval<T>  operator+ (const XYval<T>   &rs)   const { XYval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; }
+  FI XYval<T>  operator+ (const XYval<T>   &rs)         { XYval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; }
+  FI XYval<T>  operator- (const XYval<T>   &rs)   const { XYval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; }
+  FI XYval<T>  operator- (const XYval<T>   &rs)         { XYval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; }
+  FI XYval<T>  operator* (const XYval<T>   &rs)   const { XYval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; }
+  FI XYval<T>  operator* (const XYval<T>   &rs)         { XYval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; }
+  FI XYval<T>  operator/ (const XYval<T>   &rs)   const { XYval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; }
+  FI XYval<T>  operator/ (const XYval<T>   &rs)         { XYval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; }
+  FI XYval<T>  operator+ (const XYZval<T>  &rs)   const { XYval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; }
+  FI XYval<T>  operator+ (const XYZval<T>  &rs)         { XYval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; }
+  FI XYval<T>  operator- (const XYZval<T>  &rs)   const { XYval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; }
+  FI XYval<T>  operator- (const XYZval<T>  &rs)         { XYval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; }
+  FI XYval<T>  operator* (const XYZval<T>  &rs)   const { XYval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; }
+  FI XYval<T>  operator* (const XYZval<T>  &rs)         { XYval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; }
+  FI XYval<T>  operator/ (const XYZval<T>  &rs)   const { XYval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; }
+  FI XYval<T>  operator/ (const XYZval<T>  &rs)         { XYval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; }
+  FI XYval<T>  operator+ (const XYZEval<T> &rs)   const { XYval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; }
+  FI XYval<T>  operator+ (const XYZEval<T> &rs)         { XYval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; }
+  FI XYval<T>  operator- (const XYZEval<T> &rs)   const { XYval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; }
+  FI XYval<T>  operator- (const XYZEval<T> &rs)         { XYval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; }
+  FI XYval<T>  operator* (const XYZEval<T> &rs)   const { XYval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; }
+  FI XYval<T>  operator* (const XYZEval<T> &rs)         { XYval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; }
+  FI XYval<T>  operator/ (const XYZEval<T> &rs)   const { XYval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; }
+  FI XYval<T>  operator/ (const XYZEval<T> &rs)         { XYval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; }
+  FI XYval<T>  operator* (const float &v)         const { XYval<T> ls = *this; ls.x *= v;    ls.y *= v;    return ls; }
+  FI XYval<T>  operator* (const float &v)               { XYval<T> ls = *this; ls.x *= v;    ls.y *= v;    return ls; }
+  FI XYval<T>  operator* (const int &v)           const { XYval<T> ls = *this; ls.x *= v;    ls.y *= v;    return ls; }
+  FI XYval<T>  operator* (const int &v)                 { XYval<T> ls = *this; ls.x *= v;    ls.y *= v;    return ls; }
+  FI XYval<T>  operator/ (const float &v)         const { XYval<T> ls = *this; ls.x /= v;    ls.y /= v;    return ls; }
+  FI XYval<T>  operator/ (const float &v)               { XYval<T> ls = *this; ls.x /= v;    ls.y /= v;    return ls; }
+  FI XYval<T>  operator/ (const int &v)           const { XYval<T> ls = *this; ls.x /= v;    ls.y /= v;    return ls; }
+  FI XYval<T>  operator/ (const int &v)                 { XYval<T> ls = *this; ls.x /= v;    ls.y /= v;    return ls; }
+  FI XYval<T>  operator>>(const int &v)           const { XYval<T> ls = *this; _RS(ls.x);    _RS(ls.y);    return ls; }
+  FI XYval<T>  operator>>(const int &v)                 { XYval<T> ls = *this; _RS(ls.x);    _RS(ls.y);    return ls; }
+  FI XYval<T>  operator<<(const int &v)           const { XYval<T> ls = *this; _LS(ls.x);    _LS(ls.y);    return ls; }
+  FI XYval<T>  operator<<(const int &v)                 { XYval<T> ls = *this; _LS(ls.x);    _LS(ls.y);    return ls; }
+  FI XYval<T>& operator+=(const XYval<T>   &rs)         { x += rs.x; y += rs.y; return *this; }
+  FI XYval<T>& operator-=(const XYval<T>   &rs)         { x -= rs.x; y -= rs.y; return *this; }
+  FI XYval<T>& operator*=(const XYval<T>   &rs)         { x *= rs.x; y *= rs.y; return *this; }
+  FI XYval<T>& operator+=(const XYZval<T>  &rs)         { x += rs.x; y += rs.y; return *this; }
+  FI XYval<T>& operator-=(const XYZval<T>  &rs)         { x -= rs.x; y -= rs.y; return *this; }
+  FI XYval<T>& operator*=(const XYZval<T>  &rs)         { x *= rs.x; y *= rs.y; return *this; }
+  FI XYval<T>& operator+=(const XYZEval<T> &rs)         { x += rs.x; y += rs.y; return *this; }
+  FI XYval<T>& operator-=(const XYZEval<T> &rs)         { x -= rs.x; y -= rs.y; return *this; }
+  FI XYval<T>& operator*=(const XYZEval<T> &rs)         { x *= rs.x; y *= rs.y; return *this; }
+  FI XYval<T>& operator*=(const float &v)               { x *= v;    y *= v;    return *this; }
+  FI XYval<T>& operator*=(const int &v)                 { x *= v;    y *= v;    return *this; }
+  FI XYval<T>& operator>>=(const int &v)                { _RS(x);    _RS(y);    return *this; }
+  FI XYval<T>& operator<<=(const int &v)                { _LS(x);    _LS(y);    return *this; }
+  FI bool      operator==(const XYval<T>   &rs)         { return x == rs.x && y == rs.y; }
+  FI bool      operator==(const XYZval<T>  &rs)         { return x == rs.x && y == rs.y; }
+  FI bool      operator==(const XYZEval<T> &rs)         { return x == rs.x && y == rs.y; }
+  FI bool      operator==(const XYval<T>   &rs)   const { return x == rs.x && y == rs.y; }
+  FI bool      operator==(const XYZval<T>  &rs)   const { return x == rs.x && y == rs.y; }
+  FI bool      operator==(const XYZEval<T> &rs)   const { return x == rs.x && y == rs.y; }
+  FI bool      operator!=(const XYval<T>   &rs)         { return !operator==(rs); }
+  FI bool      operator!=(const XYZval<T>  &rs)         { return !operator==(rs); }
+  FI bool      operator!=(const XYZEval<T> &rs)         { return !operator==(rs); }
+  FI bool      operator!=(const XYval<T>   &rs)   const { return !operator==(rs); }
+  FI bool      operator!=(const XYZval<T>  &rs)   const { return !operator==(rs); }
+  FI bool      operator!=(const XYZEval<T> &rs)   const { return !operator==(rs); }
+  FI XYval<T>       operator-()                         { XYval<T> o = *this; o.x = -x; o.y = -y; return o; }
+  FI const XYval<T> operator-()                   const { XYval<T> o = *this; o.x = -x; o.y = -y; return o; }
+};
+
+//
+// XYZ coordinates, counters, etc.
+//
+template<typename T>
+struct XYZval {
+  union {
+    struct { T x, y, z; };
+    struct { T a, b, c; };
+    T pos[3];
+  };
+  FI void set(const T px)                              { x = px; }
+  FI void set(const T px, const T py)                  { x = px; y = py; }
+  FI void set(const T px, const T py, const T pz)      { x = px; y = py; z = pz; }
+  FI void set(const XYval<T> pxy, const T pz)          { x = pxy.x; y = pxy.y; z = pz; }
+  FI void reset()                                      { x = y = z = 0; }
+  FI T magnitude()                               const { return (T)sqrtf(x*x + y*y + z*z); }
+  FI operator T* ()                                    { return pos; }
+  FI operator bool()                                   { return z || x || y; }
+  FI XYZval<T>          copy()                   const { XYZval<T> o = *this; return o; }
+  FI XYZval<T>           ABS()                   const { return { T(_ABS(x)), T(_ABS(y)), T(_ABS(z)) }; }
+  FI XYZval<int16_t>   asInt()                         { return { int16_t(x), int16_t(y), int16_t(z) }; }
+  FI XYZval<int16_t>   asInt()                   const { return { int16_t(x), int16_t(y), int16_t(z) }; }
+  FI XYZval<int32_t>  asLong()                         { return { int32_t(x), int32_t(y), int32_t(z) }; }
+  FI XYZval<int32_t>  asLong()                   const { return { int32_t(x), int32_t(y), int32_t(z) }; }
+  FI XYZval<float>   asFloat()                         { return {   float(x),   float(y),   float(z) }; }
+  FI XYZval<float>   asFloat()                   const { return {   float(x),   float(y),   float(z) }; }
+  FI XYZval<float> reciprocal()                  const { return {  _RECIP(x),  _RECIP(y),  _RECIP(z) }; }
+  FI XYZval<float> asLogical()                   const { XYZval<float> o = asFloat(); toLogical(o); return o; }
+  FI XYZval<float>  asNative()                   const { XYZval<float> o = asFloat(); toNative(o);  return o; }
+  FI operator       XYval<T>&()                        { return *(XYval<T>*)this; }
+  FI operator const XYval<T>&()                  const { return *(const XYval<T>*)this; }
+  FI operator       XYZEval<T>()                 const { return { x, y, z }; }
+  FI       T&   operator[](const int i)                { return pos[i]; }
+  FI const T&   operator[](const int i)          const { return pos[i]; }
+  FI XYZval<T>& operator= (const T v)                  { set(v,    v,    v   ); return *this; }
+  FI XYZval<T>& operator= (const XYval<T>   &rs)       { set(rs.x, rs.y      ); return *this; }
+  FI XYZval<T>& operator= (const XYZEval<T> &rs)       { set(rs.x, rs.y, rs.z); return *this; }
+  FI XYZval<T>  operator+ (const XYval<T>   &rs) const { XYZval<T> ls = *this; ls.x += rs.x; ls.y += rs.y;               return ls; }
+  FI XYZval<T>  operator+ (const XYval<T>   &rs)       { XYZval<T> ls = *this; ls.x += rs.x; ls.y += rs.y;               return ls; }
+  FI XYZval<T>  operator- (const XYval<T>   &rs) const { XYZval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y;               return ls; }
+  FI XYZval<T>  operator- (const XYval<T>   &rs)       { XYZval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y;               return ls; }
+  FI XYZval<T>  operator* (const XYval<T>   &rs) const { XYZval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y;               return ls; }
+  FI XYZval<T>  operator* (const XYval<T>   &rs)       { XYZval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y;               return ls; }
+  FI XYZval<T>  operator/ (const XYval<T>   &rs) const { XYZval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y;               return ls; }
+  FI XYZval<T>  operator/ (const XYval<T>   &rs)       { XYZval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y;               return ls; }
+  FI XYZval<T>  operator+ (const XYZval<T>  &rs) const { XYZval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; ls.z += rs.z; return ls; }
+  FI XYZval<T>  operator+ (const XYZval<T>  &rs)       { XYZval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; ls.z += rs.z; return ls; }
+  FI XYZval<T>  operator- (const XYZval<T>  &rs) const { XYZval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; ls.z -= rs.z; return ls; }
+  FI XYZval<T>  operator- (const XYZval<T>  &rs)       { XYZval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; ls.z -= rs.z; return ls; }
+  FI XYZval<T>  operator* (const XYZval<T>  &rs) const { XYZval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; ls.z *= rs.z; return ls; }
+  FI XYZval<T>  operator* (const XYZval<T>  &rs)       { XYZval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; ls.z *= rs.z; return ls; }
+  FI XYZval<T>  operator/ (const XYZval<T>  &rs) const { XYZval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; ls.z /= rs.z; return ls; }
+  FI XYZval<T>  operator/ (const XYZval<T>  &rs)       { XYZval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; ls.z /= rs.z; return ls; }
+  FI XYZval<T>  operator+ (const XYZEval<T> &rs) const { XYZval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; ls.z += rs.z; return ls; }
+  FI XYZval<T>  operator+ (const XYZEval<T> &rs)       { XYZval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; ls.z += rs.z; return ls; }
+  FI XYZval<T>  operator- (const XYZEval<T> &rs) const { XYZval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; ls.z -= rs.z; return ls; }
+  FI XYZval<T>  operator- (const XYZEval<T> &rs)       { XYZval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; ls.z -= rs.z; return ls; }
+  FI XYZval<T>  operator* (const XYZEval<T> &rs) const { XYZval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; ls.z *= rs.z; return ls; }
+  FI XYZval<T>  operator* (const XYZEval<T> &rs)       { XYZval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; ls.z *= rs.z; return ls; }
+  FI XYZval<T>  operator/ (const XYZEval<T> &rs) const { XYZval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; ls.z /= rs.z; return ls; }
+  FI XYZval<T>  operator/ (const XYZEval<T> &rs)       { XYZval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; ls.z /= rs.z; return ls; }
+  FI XYZval<T>  operator* (const float &v)       const { XYZval<T> ls = *this; ls.x *= v;    ls.y *= v;    ls.z *= z;    return ls; }
+  FI XYZval<T>  operator* (const float &v)             { XYZval<T> ls = *this; ls.x *= v;    ls.y *= v;    ls.z *= z;    return ls; }
+  FI XYZval<T>  operator* (const int &v)         const { XYZval<T> ls = *this; ls.x *= v;    ls.y *= v;    ls.z *= z;    return ls; }
+  FI XYZval<T>  operator* (const int &v)               { XYZval<T> ls = *this; ls.x *= v;    ls.y *= v;    ls.z *= z;    return ls; }
+  FI XYZval<T>  operator/ (const float &v)       const { XYZval<T> ls = *this; ls.x /= v;    ls.y /= v;    ls.z /= z;    return ls; }
+  FI XYZval<T>  operator/ (const float &v)             { XYZval<T> ls = *this; ls.x /= v;    ls.y /= v;    ls.z /= z;    return ls; }
+  FI XYZval<T>  operator/ (const int &v)         const { XYZval<T> ls = *this; ls.x /= v;    ls.y /= v;    ls.z /= z;    return ls; }
+  FI XYZval<T>  operator/ (const int &v)               { XYZval<T> ls = *this; ls.x /= v;    ls.y /= v;    ls.z /= z;    return ls; }
+  FI XYZval<T>  operator>>(const int &v)         const { XYZval<T> ls = *this; _RS(ls.x); _RS(ls.y); _RS(ls.z); return ls; }
+  FI XYZval<T>  operator>>(const int &v)               { XYZval<T> ls = *this; _RS(ls.x); _RS(ls.y); _RS(ls.z); return ls; }
+  FI XYZval<T>  operator<<(const int &v)         const { XYZval<T> ls = *this; _LS(ls.x); _LS(ls.y); _LS(ls.z); return ls; }
+  FI XYZval<T>  operator<<(const int &v)               { XYZval<T> ls = *this; _LS(ls.x); _LS(ls.y); _LS(ls.z); return ls; }
+  FI XYZval<T>& operator+=(const XYval<T>   &rs)       { x += rs.x; y += rs.y;            return *this; }
+  FI XYZval<T>& operator-=(const XYval<T>   &rs)       { x -= rs.x; y -= rs.y;            return *this; }
+  FI XYZval<T>& operator*=(const XYval<T>   &rs)       { x *= rs.x; y *= rs.y;            return *this; }
+  FI XYZval<T>& operator/=(const XYval<T>   &rs)       { x /= rs.x; y /= rs.y;            return *this; }
+  FI XYZval<T>& operator+=(const XYZval<T>  &rs)       { x += rs.x; y += rs.y; z += rs.z; return *this; }
+  FI XYZval<T>& operator-=(const XYZval<T>  &rs)       { x -= rs.x; y -= rs.y; z -= rs.z; return *this; }
+  FI XYZval<T>& operator*=(const XYZval<T>  &rs)       { x *= rs.x; y *= rs.y; z *= rs.z; return *this; }
+  FI XYZval<T>& operator/=(const XYZval<T>  &rs)       { x /= rs.x; y /= rs.y; z /= rs.z; return *this; }
+  FI XYZval<T>& operator+=(const XYZEval<T> &rs)       { x += rs.x; y += rs.y; z += rs.z; return *this; }
+  FI XYZval<T>& operator-=(const XYZEval<T> &rs)       { x -= rs.x; y -= rs.y; z -= rs.z; return *this; }
+  FI XYZval<T>& operator*=(const XYZEval<T> &rs)       { x *= rs.x; y *= rs.y; z *= rs.z; return *this; }
+  FI XYZval<T>& operator/=(const XYZEval<T> &rs)       { x /= rs.x; y /= rs.y; z /= rs.z; return *this; }
+  FI XYZval<T>& operator*=(const float &v)             { x *= v;    y *= v;    z *= v;    return *this; }
+  FI XYZval<T>& operator*=(const int &v)               { x *= v;    y *= v;    z *= v;    return *this; }
+  FI XYZval<T>& operator>>=(const int &v)              { _RS(x);   _RS(y);   _RS(z);   return *this; }
+  FI XYZval<T>& operator<<=(const int &v)              { _LS(x);   _LS(y);   _LS(z);   return *this; }
+  FI bool       operator==(const XYZEval<T> &rs)       { return x == rs.x && y == rs.y && z == rs.z; }
+  FI bool       operator!=(const XYZEval<T> &rs)       { return !operator==(rs); }
+  FI bool       operator==(const XYZEval<T> &rs) const { return x == rs.x && y == rs.y && z == rs.z; }
+  FI bool       operator!=(const XYZEval<T> &rs) const { return !operator==(rs); }
+  FI XYZval<T>       operator-()                       { XYZval<T> o = *this; o.x = -x; o.y = -y; o.z = -z; return o; }
+  FI const XYZval<T> operator-()                 const { XYZval<T> o = *this; o.x = -x; o.y = -y; o.z = -z; return o; }
+};
+
+//
+// XYZE coordinates, counters, etc.
+//
+template<typename T>
+struct XYZEval {
+  union {
+    struct{ T x, y, z, e; };
+    struct{ T a, b, c; };
+    T pos[4];
+  };
+  FI void reset()                                             { x = y = z = e = 0; }
+  FI T magnitude()                                      const { return (T)sqrtf(x*x + y*y + z*z + e*e); }
+  FI operator T* ()                                           { return pos; }
+  FI operator bool()                                          { return e || z || x || y; }
+  FI void set(const T px)                                     { x = px;                                        }
+  FI void set(const T px, const T py)                         { x = px;     y = py;                            }
+  FI void set(const T px, const T py, const T pz)             { x = px;     y = py;     z = pz;                }
+  FI void set(const T px, const T py, const T pz, const T pe) { x = px;     y = py;     z = pz;     e = pe;    }
+  FI void set(const XYval<T> pxy)                             { x = pxy.x;  y = pxy.y;                         }
+  FI void set(const XYval<T> pxy, const T pz)                 { x = pxy.x;  y = pxy.y;  z = pz;                }
+  FI void set(const XYZval<T> pxyz)                           { x = pxyz.x; y = pxyz.y; z = pxyz.z;            }
+  FI void set(const XYval<T> pxy, const T pz, const T pe)     { x = pxy.x;  y = pxy.y;  z = pz;     e = pe;    }
+  FI void set(const XYval<T> pxy, const XYval<T> pze)         { x = pxy.x;  y = pxy.y;  z = pze.z;  e = pze.e; }
+  FI void set(const XYZval<T> pxyz, const T pe)               { x = pxyz.x; y = pxyz.y; z = pxyz.z; e = pe;    }
+  FI XYZEval<T>          copy()                         const { return *this; }
+  FI XYZEval<T>           ABS()                         const { return { T(_ABS(x)), T(_ABS(y)), T(_ABS(z)), T(_ABS(e)) }; }
+  FI XYZEval<int16_t>   asInt()                               { return { int16_t(x), int16_t(y), int16_t(z), int16_t(e) }; }
+  FI XYZEval<int16_t>   asInt()                         const { return { int16_t(x), int16_t(y), int16_t(z), int16_t(e) }; }
+  FI XYZEval<int32_t>  asLong()                         const { return { int32_t(x), int32_t(y), int32_t(z), int32_t(e) }; }
+  FI XYZEval<int32_t>  asLong()                               { return { int32_t(x), int32_t(y), int32_t(z), int32_t(e) }; }
+  FI XYZEval<float>   asFloat()                               { return {   float(x),   float(y),   float(z),   float(e) }; }
+  FI XYZEval<float>   asFloat()                         const { return {   float(x),   float(y),   float(z),   float(e) }; }
+  FI XYZEval<float> reciprocal()                        const { return {  _RECIP(x),  _RECIP(y),  _RECIP(z),  _RECIP(e) }; }
+  FI XYZEval<float> asLogical()                         const { XYZEval<float> o = asFloat(); toLogical(o); return o; }
+  FI XYZEval<float>  asNative()                         const { XYZEval<float> o = asFloat(); toNative(o);  return o; }
+  FI operator       XYval<T>&()                               { return *(XYval<T>*)this; }
+  FI operator const XYval<T>&()                         const { return *(const XYval<T>*)this; }
+  FI operator       XYZval<T>&()                              { return *(XYZval<T>*)this; }
+  FI operator const XYZval<T>&()                        const { return *(const XYZval<T>*)this; }
+  FI       T&    operator[](const int i)                      { return pos[i]; }
+  FI const T&    operator[](const int i)                const { return pos[i]; }
+  FI XYZEval<T>& operator= (const T v)                        { set(v, v, v, v); return *this; }
+  FI XYZEval<T>& operator= (const XYval<T>   &rs)             { set(rs.x, rs.y); return *this; }
+  FI XYZEval<T>& operator= (const XYZval<T>  &rs)             { set(rs.x, rs.y, rs.z); return *this; }
+  FI XYZEval<T>  operator+ (const XYval<T>   &rs)       const { XYZEval<T> ls = *this; ls.x += rs.x; ls.y += rs.y;                             return ls; }
+  FI XYZEval<T>  operator+ (const XYval<T>   &rs)             { XYZEval<T> ls = *this; ls.x += rs.x; ls.y += rs.y;                             return ls; }
+  FI XYZEval<T>  operator- (const XYval<T>   &rs)       const { XYZEval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y;                             return ls; }
+  FI XYZEval<T>  operator- (const XYval<T>   &rs)             { XYZEval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y;                             return ls; }
+  FI XYZEval<T>  operator* (const XYval<T>   &rs)       const { XYZEval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y;                             return ls; }
+  FI XYZEval<T>  operator* (const XYval<T>   &rs)             { XYZEval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y;                             return ls; }
+  FI XYZEval<T>  operator/ (const XYval<T>   &rs)       const { XYZEval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y;                             return ls; }
+  FI XYZEval<T>  operator/ (const XYval<T>   &rs)             { XYZEval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y;                             return ls; }
+  FI XYZEval<T>  operator+ (const XYZval<T>  &rs)       const { XYZEval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; ls.z += rs.z;               return ls; }
+  FI XYZEval<T>  operator+ (const XYZval<T>  &rs)             { XYZEval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; ls.z += rs.z;               return ls; }
+  FI XYZEval<T>  operator- (const XYZval<T>  &rs)       const { XYZEval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; ls.z -= rs.z;               return ls; }
+  FI XYZEval<T>  operator- (const XYZval<T>  &rs)             { XYZEval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; ls.z -= rs.z;               return ls; }
+  FI XYZEval<T>  operator* (const XYZval<T>  &rs)       const { XYZEval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; ls.z *= rs.z;               return ls; }
+  FI XYZEval<T>  operator* (const XYZval<T>  &rs)             { XYZEval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; ls.z *= rs.z;               return ls; }
+  FI XYZEval<T>  operator/ (const XYZval<T>  &rs)       const { XYZEval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; ls.z /= rs.z;               return ls; }
+  FI XYZEval<T>  operator/ (const XYZval<T>  &rs)             { XYZEval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; ls.z /= rs.z;               return ls; }
+  FI XYZEval<T>  operator+ (const XYZEval<T> &rs)       const { XYZEval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; ls.z += rs.z; ls.e += rs.e; return ls; }
+  FI XYZEval<T>  operator+ (const XYZEval<T> &rs)             { XYZEval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; ls.z += rs.z; ls.e += rs.e; return ls; }
+  FI XYZEval<T>  operator- (const XYZEval<T> &rs)       const { XYZEval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; ls.z -= rs.z; ls.e -= rs.e; return ls; }
+  FI XYZEval<T>  operator- (const XYZEval<T> &rs)             { XYZEval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; ls.z -= rs.z; ls.e -= rs.e; return ls; }
+  FI XYZEval<T>  operator* (const XYZEval<T> &rs)       const { XYZEval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; ls.z *= rs.z; ls.e *= rs.e; return ls; }
+  FI XYZEval<T>  operator* (const XYZEval<T> &rs)             { XYZEval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; ls.z *= rs.z; ls.e *= rs.e; return ls; }
+  FI XYZEval<T>  operator/ (const XYZEval<T> &rs)       const { XYZEval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; ls.z /= rs.z; ls.e /= rs.e; return ls; }
+  FI XYZEval<T>  operator/ (const XYZEval<T> &rs)             { XYZEval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; ls.z /= rs.z; ls.e /= rs.e; return ls; }
+  FI XYZEval<T>  operator* (const float &v)             const { XYZEval<T> ls = *this; ls.x *= v;    ls.y *= v;    ls.z *= v;    ls.e *= v;    return ls; }
+  FI XYZEval<T>  operator* (const float &v)                   { XYZEval<T> ls = *this; ls.x *= v;    ls.y *= v;    ls.z *= v;    ls.e *= v;    return ls; }
+  FI XYZEval<T>  operator* (const int &v)               const { XYZEval<T> ls = *this; ls.x *= v;    ls.y *= v;    ls.z *= v;    ls.e *= v;    return ls; }
+  FI XYZEval<T>  operator* (const int &v)                     { XYZEval<T> ls = *this; ls.x *= v;    ls.y *= v;    ls.z *= v;    ls.e *= v;    return ls; }
+  FI XYZEval<T>  operator/ (const float &v)             const { XYZEval<T> ls = *this; ls.x /= v;    ls.y /= v;    ls.z /= v;    ls.e /= v;    return ls; }
+  FI XYZEval<T>  operator/ (const float &v)                   { XYZEval<T> ls = *this; ls.x /= v;    ls.y /= v;    ls.z /= v;    ls.e /= v;    return ls; }
+  FI XYZEval<T>  operator/ (const int &v)               const { XYZEval<T> ls = *this; ls.x /= v;    ls.y /= v;    ls.z /= v;    ls.e /= v;    return ls; }
+  FI XYZEval<T>  operator/ (const int &v)                     { XYZEval<T> ls = *this; ls.x /= v;    ls.y /= v;    ls.z /= v;    ls.e /= v;    return ls; }
+  FI XYZEval<T>  operator>>(const int &v)               const { XYZEval<T> ls = *this; _RS(ls.x);    _RS(ls.y);    _RS(ls.z);    _RS(ls.e);    return ls; }
+  FI XYZEval<T>  operator>>(const int &v)                     { XYZEval<T> ls = *this; _RS(ls.x);    _RS(ls.y);    _RS(ls.z);    _RS(ls.e);    return ls; }
+  FI XYZEval<T>  operator<<(const int &v)               const { XYZEval<T> ls = *this; _LS(ls.x);    _LS(ls.y);    _LS(ls.z);    _LS(ls.e);    return ls; }
+  FI XYZEval<T>  operator<<(const int &v)                     { XYZEval<T> ls = *this; _LS(ls.x);    _LS(ls.y);    _LS(ls.z);    _LS(ls.e);    return ls; }
+  FI XYZEval<T>& operator+=(const XYval<T>   &rs)             { x += rs.x; y += rs.y;                       return *this; }
+  FI XYZEval<T>& operator-=(const XYval<T>   &rs)             { x -= rs.x; y -= rs.y;                       return *this; }
+  FI XYZEval<T>& operator*=(const XYval<T>   &rs)             { x *= rs.x; y *= rs.y;                       return *this; }
+  FI XYZEval<T>& operator/=(const XYval<T>   &rs)             { x /= rs.x; y /= rs.y;                       return *this; }
+  FI XYZEval<T>& operator+=(const XYZval<T>  &rs)             { x += rs.x; y += rs.y; z += rs.z;            return *this; }
+  FI XYZEval<T>& operator-=(const XYZval<T>  &rs)             { x -= rs.x; y -= rs.y; z -= rs.z;            return *this; }
+  FI XYZEval<T>& operator*=(const XYZval<T>  &rs)             { x *= rs.x; y *= rs.y; z *= rs.z;            return *this; }
+  FI XYZEval<T>& operator/=(const XYZval<T>  &rs)             { x /= rs.x; y /= rs.y; z /= rs.z;            return *this; }
+  FI XYZEval<T>& operator+=(const XYZEval<T> &rs)             { x += rs.x; y += rs.y; z += rs.z; e += rs.e; return *this; }
+  FI XYZEval<T>& operator-=(const XYZEval<T> &rs)             { x -= rs.x; y -= rs.y; z -= rs.z; e -= rs.e; return *this; }
+  FI XYZEval<T>& operator*=(const XYZEval<T> &rs)             { x *= rs.x; y *= rs.y; z *= rs.z; e *= rs.e; return *this; }
+  FI XYZEval<T>& operator/=(const XYZEval<T> &rs)             { x /= rs.x; y /= rs.y; z /= rs.z; e /= rs.e; return *this; }
+  FI XYZEval<T>& operator*=(const T &v)                       { x *= v;    y *= v;    z *= v;    e *= v;    return *this; }
+  FI XYZEval<T>& operator>>=(const int &v)                    { _RS(x);    _RS(y);    _RS(z);    _RS(e);    return *this; }
+  FI XYZEval<T>& operator<<=(const int &v)                    { _LS(x);    _LS(y);    _LS(z);    _LS(e);    return *this; }
+  FI bool        operator==(const XYZval<T>  &rs)             { return x == rs.x && y == rs.y && z == rs.z; }
+  FI bool        operator!=(const XYZval<T>  &rs)             { return !operator==(rs); }
+  FI bool        operator==(const XYZval<T>  &rs)       const { return x == rs.x && y == rs.y && z == rs.z; }
+  FI bool        operator!=(const XYZval<T>  &rs)       const { return !operator==(rs); }
+  FI       XYZEval<T> operator-()                             { return { -x, -y, -z, -e }; }
+  FI const XYZEval<T> operator-()                       const { return { -x, -y, -z, -e }; }
+};
+
+#undef _RECIP
+#undef _ABS
+#undef _LS
+#undef _RS
+#undef FI
+
+const xyze_char_t axis_codes { 'X', 'Y', 'Z', 'E' };

Marlin/src/core/utility.cpp

@@ -79,36 +79,36 @@ void safe_delay(millis_t ms) {
     );
 
     #if HAS_BED_PROBE
-      SERIAL_ECHOPAIR("Probe Offset X:", probe_offset[X_AXIS], " Y:", probe_offset[Y_AXIS], " Z:", probe_offset[Z_AXIS]);
-      if (probe_offset[X_AXIS] > 0)
+      SERIAL_ECHOPAIR("Probe Offset X", probe_offset.x, " Y", probe_offset.y, " Z", probe_offset.z);
+      if (probe_offset.x > 0)
         SERIAL_ECHOPGM(" (Right");
-      else if (probe_offset[X_AXIS] < 0)
+      else if (probe_offset.x < 0)
         SERIAL_ECHOPGM(" (Left");
-      else if (probe_offset[Y_AXIS] != 0)
+      else if (probe_offset.y != 0)
         SERIAL_ECHOPGM(" (Middle");
       else
         SERIAL_ECHOPGM(" (Aligned With");
 
-      if (probe_offset[Y_AXIS] > 0) {
+      if (probe_offset.y > 0) {
         #if IS_SCARA
           SERIAL_ECHOPGM("-Distal");
         #else
           SERIAL_ECHOPGM("-Back");
         #endif
       }
-      else if (probe_offset[Y_AXIS] < 0) {
+      else if (probe_offset.y < 0) {
         #if IS_SCARA
           SERIAL_ECHOPGM("-Proximal");
         #else
           SERIAL_ECHOPGM("-Front");
         #endif
       }
-      else if (probe_offset[X_AXIS] != 0)
+      else if (probe_offset.x != 0)
         SERIAL_ECHOPGM("-Center");
 
-      if (probe_offset[Z_AXIS] < 0)
+      if (probe_offset.z < 0)
         SERIAL_ECHOPGM(" & Below");
-      else if (probe_offset[Z_AXIS] > 0)
+      else if (probe_offset.z > 0)
         SERIAL_ECHOPGM(" & Above");
       else
         SERIAL_ECHOPGM(" & Same Z as");
@@ -134,24 +134,18 @@ void safe_delay(millis_t ms) {
             SERIAL_ECHOLNPAIR("Z Fade: ", planner.z_fade_height);
         #endif
         #if ABL_PLANAR
-          const float diff[XYZ] = {
-            planner.get_axis_position_mm(X_AXIS) - current_position[X_AXIS],
-            planner.get_axis_position_mm(Y_AXIS) - current_position[Y_AXIS],
-            planner.get_axis_position_mm(Z_AXIS) - current_position[Z_AXIS]
-          };
           SERIAL_ECHOPGM("ABL Adjustment X");
-          if (diff[X_AXIS] > 0) SERIAL_CHAR('+');
-          SERIAL_ECHO(diff[X_AXIS]);
-          SERIAL_ECHOPGM(" Y");
-          if (diff[Y_AXIS] > 0) SERIAL_CHAR('+');
-          SERIAL_ECHO(diff[Y_AXIS]);
-          SERIAL_ECHOPGM(" Z");
-          if (diff[Z_AXIS] > 0) SERIAL_CHAR('+');
-          SERIAL_ECHO(diff[Z_AXIS]);
+          LOOP_XYZ(a) {
+            float v = planner.get_axis_position_mm(AxisEnum(a)) - current_position[a];
+            SERIAL_CHAR(' ');
+            SERIAL_CHAR('X' + char(a));
+            if (v > 0) SERIAL_CHAR('+');
+            SERIAL_ECHO(v);
+          }
         #else
           #if ENABLED(AUTO_BED_LEVELING_UBL)
             SERIAL_ECHOPGM("UBL Adjustment Z");
-            const float rz = ubl.get_z_correction(current_position[X_AXIS], current_position[Y_AXIS]);
+            const float rz = ubl.get_z_correction(current_position);
           #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
             SERIAL_ECHOPGM("ABL Adjustment Z");
             const float rz = bilinear_z_offset(current_position);
@@ -159,7 +153,7 @@ void safe_delay(millis_t ms) {
           SERIAL_ECHO(ftostr43sign(rz, '+'));
           #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
             if (planner.z_fade_height) {
-              SERIAL_ECHOPAIR(" (", ftostr43sign(rz * planner.fade_scaling_factor_for_z(current_position[Z_AXIS]), '+'));
+              SERIAL_ECHOPAIR(" (", ftostr43sign(rz * planner.fade_scaling_factor_for_z(current_position.z), '+'));
               SERIAL_CHAR(')');
             }
           #endif
@@ -175,15 +169,11 @@ void safe_delay(millis_t ms) {
       SERIAL_ECHOPGM("Mesh Bed Leveling");
       if (planner.leveling_active) {
         SERIAL_ECHOLNPGM(" (enabled)");
-        SERIAL_ECHOPAIR("MBL Adjustment Z", ftostr43sign(mbl.get_z(current_position[X_AXIS], current_position[Y_AXIS]
-          #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
-            , 1.0
-          #endif
-        ), '+'));
+        SERIAL_ECHOPAIR("MBL Adjustment Z", ftostr43sign(mbl.get_z(current_position), '+'));
         #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
           if (planner.z_fade_height) {
             SERIAL_ECHOPAIR(" (", ftostr43sign(
-              mbl.get_z(current_position[X_AXIS], current_position[Y_AXIS], planner.fade_scaling_factor_for_z(current_position[Z_AXIS])), '+'
+              mbl.get_z(current_position, planner.fade_scaling_factor_for_z(current_position.z)), '+'
             ));
             SERIAL_CHAR(')');
           }

Marlin/src/core/utility.h

@@ -22,8 +22,7 @@
 #pragma once
 
 #include "../inc/MarlinConfigPre.h"
-
-constexpr char axis_codes[XYZE] = { 'X', 'Y', 'Z', 'E' };
+#include "../core/types.h"
 
 // Delay that ensures heaters and watchdog are kept alive
 void safe_delay(millis_t ms);
@@ -37,10 +36,25 @@ inline void serial_delay(const millis_t ms) {
   #endif
 }
 
-// 16x16 bit arrays
-FORCE_INLINE void bitmap_clear(uint16_t bits[16], const uint8_t x, const uint8_t y)  { CBI(bits[y], x); }
-FORCE_INLINE void bitmap_set(uint16_t bits[16], const uint8_t x, const uint8_t y)    { SBI(bits[y], x); }
-FORCE_INLINE bool is_bitmap_set(uint16_t bits[16], const uint8_t x, const uint8_t y) { return TEST(bits[y], x); }
+#if GRID_MAX_POINTS_X && GRID_MAX_POINTS_Y
+
+  // 16x16 bit arrays
+  template <int W, int H>
+  struct FlagBits {
+    typename IF<(W>8), uint16_t, uint8_t>::type bits[H];
+    void fill()                                   { memset(bits, 0xFF, sizeof(bits)); }
+    void reset()                                  { memset(bits, 0x00, sizeof(bits)); }
+    void unmark(const uint8_t x, const uint8_t y) { CBI(bits[y], x); }
+    void mark(const uint8_t x, const uint8_t y)   { SBI(bits[y], x); }
+    bool marked(const uint8_t x, const uint8_t y) { return TEST(bits[y], x); }
+    inline void unmark(const xy_int8_t &xy)       { unmark(xy.y, xy.x); }
+    inline void mark(const xy_int8_t &xy)         { mark(xy.y, xy.x); }
+    inline bool marked(const xy_int8_t &xy)       { return marked(xy.y, xy.x); }
+  };
+
+  typedef FlagBits<GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y> MeshFlags;
+
+#endif
 
 #if ENABLED(DEBUG_LEVELING_FEATURE)
   void log_machine_info();

Marlin/src/feature/I2CPositionEncoder.cpp

@@ -326,25 +326,23 @@ bool I2CPositionEncoder::test_axis() {
   //only works on XYZ cartesian machines for the time being
   if (!(encoderAxis == X_AXIS || encoderAxis == Y_AXIS || encoderAxis == Z_AXIS)) return false;
 
-  float startCoord[NUM_AXIS] = { 0 }, endCoord[NUM_AXIS] = { 0 };
-
-  const float startPosition = soft_endstop[encoderAxis].min + 10,
-              endPosition = soft_endstop[encoderAxis].max - 10;
+  const float startPosition = soft_endstop.min[encoderAxis] + 10,
+              endPosition = soft_endstop.max[encoderAxis] - 10;
   const feedRate_t fr_mm_s = FLOOR(MMM_TO_MMS((encoderAxis == Z_AXIS) ? HOMING_FEEDRATE_Z : HOMING_FEEDRATE_XY));
 
   ec = false;
 
-  LOOP_XYZ(i) {
-    startCoord[i] = planner.get_axis_position_mm((AxisEnum)i);
-    endCoord[i] = planner.get_axis_position_mm((AxisEnum)i);
+  xyze_pos_t startCoord, endCoord;
+  LOOP_XYZ(a) {
+    startCoord[a] = planner.get_axis_position_mm((AxisEnum)a);
+    endCoord[a] = planner.get_axis_position_mm((AxisEnum)a);
   }
   startCoord[encoderAxis] = startPosition;
   endCoord[encoderAxis] = endPosition;
 
   planner.synchronize();
-
-  planner.buffer_line(startCoord[X_AXIS], startCoord[Y_AXIS], startCoord[Z_AXIS],
-                      planner.get_axis_position_mm(E_AXIS), fr_mm_s, 0);
+  startCoord.e = planner.get_axis_position_mm(E_AXIS);
+  planner.buffer_line(startCoord, fr_mm_s, 0);
   planner.synchronize();
 
   // if the module isn't currently trusted, wait until it is (or until it should be if things are working)
@@ -355,8 +353,8 @@ bool I2CPositionEncoder::test_axis() {
   }
 
   if (trusted) { // if trusted, commence test
-    planner.buffer_line(endCoord[X_AXIS], endCoord[Y_AXIS], endCoord[Z_AXIS],
-                        planner.get_axis_position_mm(E_AXIS), fr_mm_s, 0);
+    endCoord.e = planner.get_axis_position_mm(E_AXIS);
+    planner.buffer_line(endCoord, fr_mm_s, 0);
     planner.synchronize();
   }
 
@@ -376,8 +374,7 @@ void I2CPositionEncoder::calibrate_steps_mm(const uint8_t iter) {
 
   float old_steps_mm, new_steps_mm,
         startDistance, endDistance,
-        travelDistance, travelledDistance, total = 0,
-        startCoord[NUM_AXIS] = { 0 }, endCoord[NUM_AXIS] = { 0 };
+        travelDistance, travelledDistance, total = 0;
 
   int32_t startCount, stopCount;
 
@@ -387,31 +384,31 @@ void I2CPositionEncoder::calibrate_steps_mm(const uint8_t iter) {
   ec = false;
 
   startDistance = 20;
-  endDistance = soft_endstop[encoderAxis].max - 20;
+  endDistance = soft_endstop.max[encoderAxis] - 20;
   travelDistance = endDistance - startDistance;
 
+  xyze_pos_t startCoord, endCoord;
   LOOP_XYZ(a) {
     startCoord[a] = planner.get_axis_position_mm((AxisEnum)a);
     endCoord[a] = planner.get_axis_position_mm((AxisEnum)a);
   }
-
   startCoord[encoderAxis] = startDistance;
   endCoord[encoderAxis] = endDistance;
 
   planner.synchronize();
 
   LOOP_L_N(i, iter) {
-    planner.buffer_line(startCoord[X_AXIS], startCoord[Y_AXIS], startCoord[Z_AXIS],
-                        planner.get_axis_position_mm(E_AXIS), fr_mm_s, 0);
+    startCoord.e = planner.get_axis_position_mm(E_AXIS);
+    planner.buffer_line(startCoord, fr_mm_s, 0);
     planner.synchronize();
 
     delay(250);
     startCount = get_position();
 
-    //do_blocking_move_to(endCoord[X_AXIS],endCoord[Y_AXIS],endCoord[Z_AXIS]);
+    //do_blocking_move_to(endCoord);
 
-    planner.buffer_line(endCoord[X_AXIS], endCoord[Y_AXIS], endCoord[Z_AXIS],
-                        planner.get_axis_position_mm(E_AXIS), fr_mm_s, 0);
+    endCoord.e = planner.get_axis_position_mm(E_AXIS);
+    planner.buffer_line(endCoord, fr_mm_s, 0);
     planner.synchronize();
 
     //Read encoder distance

Marlin/src/feature/I2CPositionEncoder.h

@@ -93,8 +93,6 @@
 #define LOOP_PE(VAR) LOOP_L_N(VAR, I2CPE_ENCODER_CNT)
 #define CHECK_IDX() do{ if (!WITHIN(idx, 0, I2CPE_ENCODER_CNT - 1)) return; }while(0)
 
-extern const char axis_codes[XYZE];
-
 typedef union {
   volatile int32_t val = 0;
   uint8_t          bval[4];

Marlin/src/feature/backlash.cpp

@@ -31,9 +31,9 @@
 
 #ifdef BACKLASH_DISTANCE_MM
   #if ENABLED(BACKLASH_GCODE)
-    float Backlash::distance_mm[XYZ] = BACKLASH_DISTANCE_MM;
+    xyz_float_t Backlash::distance_mm = BACKLASH_DISTANCE_MM;
   #else
-    const float Backlash::distance_mm[XYZ] = BACKLASH_DISTANCE_MM;
+    const xyz_float_t Backlash::distance_mm = BACKLASH_DISTANCE_MM;
   #endif
 #endif
 
@@ -45,8 +45,8 @@
 #endif
 
 #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
-  float Backlash::measured_mm[XYZ] = { 0 };
-  uint8_t Backlash::measured_count[XYZ] = { 0 };
+  xyz_float_t Backlash::measured_mm{0};
+  xyz_uint8_t Backlash::measured_count{0};
 #endif
 
 Backlash backlash;
@@ -80,12 +80,12 @@ void Backlash::add_correction_steps(const int32_t &da, const int32_t &db, const
 
     // Residual error carried forward across multiple segments, so correction can be applied
     // to segments where there is no direction change.
-    static int32_t residual_error[XYZ] = { 0 };
+    static xyz_long_t residual_error{0};
   #else
     // No direction change, no correction.
     if (!changed_dir) return;
     // No leftover residual error from segment to segment
-    int32_t residual_error[XYZ] = { 0 };
+    xyz_long_t residual_error{0};
   #endif
 
   const float f_corr = float(correction) / 255.0f;
@@ -131,15 +131,15 @@ void Backlash::add_correction_steps(const int32_t &da, const int32_t &db, const
 
   // Measure Z backlash by raising nozzle in increments until probe deactivates
   void Backlash::measure_with_probe() {
-    if (measured_count[Z_AXIS] == 255) return;
+    if (measured_count.z == 255) return;
 
-    float start_height = current_position[Z_AXIS];
-    while (current_position[Z_AXIS] < (start_height + BACKLASH_MEASUREMENT_LIMIT) && TEST_PROBE_PIN)
-      do_blocking_move_to_z(current_position[Z_AXIS] + BACKLASH_MEASUREMENT_RESOLUTION, MMM_TO_MMS(BACKLASH_MEASUREMENT_FEEDRATE));
+    const float start_height = current_position.z;
+    while (current_position.z < (start_height + BACKLASH_MEASUREMENT_LIMIT) && TEST_PROBE_PIN)
+      do_blocking_move_to_z(current_position.z + BACKLASH_MEASUREMENT_RESOLUTION, MMM_TO_MMS(BACKLASH_MEASUREMENT_FEEDRATE));
 
     // The backlash from all probe points is averaged, so count the number of measurements
-    measured_mm[Z_AXIS] += current_position[Z_AXIS] - start_height;
-    measured_count[Z_AXIS]++;
+    measured_mm.z += current_position.z - start_height;
+    measured_count.z++;
   }
 #endif
 

Marlin/src/feature/backlash.h

@@ -29,7 +29,7 @@ constexpr uint8_t all_on = 0xFF, all_off = 0x00;
 class Backlash {
 public:
   #if ENABLED(BACKLASH_GCODE)
-    static float distance_mm[XYZ];
+    static xyz_float_t distance_mm;
     static uint8_t correction;
     #ifdef BACKLASH_SMOOTHING_MM
       static float smoothing_mm;
@@ -39,7 +39,7 @@ public:
     static inline float get_correction() { return float(ui8_to_percent(correction)) / 100.0f; }
   #else
     static constexpr uint8_t correction = (BACKLASH_CORRECTION) * 0xFF;
-    static const float distance_mm[XYZ];
+    static const xyz_float_t distance_mm;
     #ifdef BACKLASH_SMOOTHING_MM
       static constexpr float smoothing_mm = BACKLASH_SMOOTHING_MM;
     #endif
@@ -47,8 +47,8 @@ public:
 
   #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
     private:
-      static float measured_mm[XYZ];
-      static uint8_t measured_count[XYZ];
+      static xyz_float_t measured_mm;
+      static xyz_uint8_t measured_count;
     public:
       static void measure_with_probe();
   #endif

Marlin/src/feature/bedlevel/abl/abl.cpp

@@ -35,9 +35,9 @@
   #include "../../../lcd/extensible_ui/ui_api.h"
 #endif
 
-int bilinear_grid_spacing[2], bilinear_start[2];
-float bilinear_grid_factor[2],
-      z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
+xy_int_t bilinear_grid_spacing, bilinear_start;
+xy_float_t bilinear_grid_factor;
+bed_mesh_t z_values;
 
 /**
  * Extrapolate a single point from its neighbors
@@ -153,8 +153,8 @@ void print_bilinear_leveling_grid() {
   #define ABL_TEMP_POINTS_X (GRID_MAX_POINTS_X + 2)
   #define ABL_TEMP_POINTS_Y (GRID_MAX_POINTS_Y + 2)
   float z_values_virt[ABL_GRID_POINTS_VIRT_X][ABL_GRID_POINTS_VIRT_Y];
-  int bilinear_grid_spacing_virt[2] = { 0 };
-  float bilinear_grid_factor_virt[2] = { 0 };
+  xy_int_t bilinear_grid_spacing_virt;
+  xy_float_t bilinear_grid_factor_virt;
 
   void print_bilinear_leveling_grid_virt() {
     SERIAL_ECHOLNPGM("Subdivided with CATMULL ROM Leveling Grid:");
@@ -207,7 +207,7 @@ void print_bilinear_leveling_grid() {
       + p[i]   * (2 - 5 * sq(t) + 3 * t * sq(t))
       + p[i+1] * t * (1 + 4 * t - 3 * sq(t))
       - p[i+2] * sq(t) * (1 - t)
-    ) * 0.5;
+    ) * 0.5f;
   }
 
   static float bed_level_virt_2cmr(const uint8_t x, const uint8_t y, const float &tx, const float &ty) {
@@ -222,10 +222,8 @@ void print_bilinear_leveling_grid() {
   }
 
   void bed_level_virt_interpolate() {
-    bilinear_grid_spacing_virt[X_AXIS] = bilinear_grid_spacing[X_AXIS] / (BILINEAR_SUBDIVISIONS);
-    bilinear_grid_spacing_virt[Y_AXIS] = bilinear_grid_spacing[Y_AXIS] / (BILINEAR_SUBDIVISIONS);
-    bilinear_grid_factor_virt[X_AXIS] = RECIPROCAL(bilinear_grid_spacing_virt[X_AXIS]);
-    bilinear_grid_factor_virt[Y_AXIS] = RECIPROCAL(bilinear_grid_spacing_virt[Y_AXIS]);
+    bilinear_grid_spacing_virt = bilinear_grid_spacing / (BILINEAR_SUBDIVISIONS);
+    bilinear_grid_factor_virt = bilinear_grid_spacing_virt.reciprocal();
     for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
       for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
         for (uint8_t ty = 0; ty < BILINEAR_SUBDIVISIONS; ty++)
@@ -245,40 +243,38 @@ void print_bilinear_leveling_grid() {
 
 // Refresh after other values have been updated
 void refresh_bed_level() {
-  bilinear_grid_factor[X_AXIS] = RECIPROCAL(bilinear_grid_spacing[X_AXIS]);
-  bilinear_grid_factor[Y_AXIS] = RECIPROCAL(bilinear_grid_spacing[Y_AXIS]);
+  bilinear_grid_factor = bilinear_grid_spacing.reciprocal();
   #if ENABLED(ABL_BILINEAR_SUBDIVISION)
     bed_level_virt_interpolate();
   #endif
 }
 
 #if ENABLED(ABL_BILINEAR_SUBDIVISION)
-  #define ABL_BG_SPACING(A) bilinear_grid_spacing_virt[A]
-  #define ABL_BG_FACTOR(A)  bilinear_grid_factor_virt[A]
+  #define ABL_BG_SPACING(A) bilinear_grid_spacing_virt.A
+  #define ABL_BG_FACTOR(A)  bilinear_grid_factor_virt.A
   #define ABL_BG_POINTS_X   ABL_GRID_POINTS_VIRT_X
   #define ABL_BG_POINTS_Y   ABL_GRID_POINTS_VIRT_Y
   #define ABL_BG_GRID(X,Y)  z_values_virt[X][Y]
 #else
-  #define ABL_BG_SPACING(A) bilinear_grid_spacing[A]
-  #define ABL_BG_FACTOR(A)  bilinear_grid_factor[A]
+  #define ABL_BG_SPACING(A) bilinear_grid_spacing.A
+  #define ABL_BG_FACTOR(A)  bilinear_grid_factor.A
   #define ABL_BG_POINTS_X   GRID_MAX_POINTS_X
   #define ABL_BG_POINTS_Y   GRID_MAX_POINTS_Y
   #define ABL_BG_GRID(X,Y)  z_values[X][Y]
 #endif
 
 // Get the Z adjustment for non-linear bed leveling
-float bilinear_z_offset(const float raw[XYZ]) {
+float bilinear_z_offset(const xy_pos_t &raw) {
 
-  static float z1, d2, z3, d4, L, D, ratio_x, ratio_y,
-               last_x = -999.999, last_y = -999.999;
+  static float z1, d2, z3, d4, L, D;
+
+  static xy_pos_t prev { -999.999, -999.999 }, ratio;
 
   // Whole units for the grid line indices. Constrained within bounds.
-  static int8_t gridx, gridy, nextx, nexty,
-                last_gridx = -99, last_gridy = -99;
+  static xy_int8_t thisg, nextg, lastg { -99, -99 };
 
   // XY relative to the probed area
-  const float rx = raw[X_AXIS] - bilinear_start[X_AXIS],
-              ry = raw[Y_AXIS] - bilinear_start[Y_AXIS];
+  xy_pos_t rel = raw - bilinear_start.asFloat();
 
   #if ENABLED(EXTRAPOLATE_BEYOND_GRID)
     #define FAR_EDGE_OR_BOX 2   // Keep using the last grid box
@@ -286,63 +282,62 @@ float bilinear_z_offset(const float raw[XYZ]) {
     #define FAR_EDGE_OR_BOX 1   // Just use the grid far edge
   #endif
 
-  if (last_x != rx) {
-    last_x = rx;
-    ratio_x = rx * ABL_BG_FACTOR(X_AXIS);
-    const float gx = constrain(FLOOR(ratio_x), 0, ABL_BG_POINTS_X - (FAR_EDGE_OR_BOX));
-    ratio_x -= gx;      // Subtract whole to get the ratio within the grid box
+  if (prev.x != rel.x) {
+    prev.x = rel.x;
+    ratio.x = rel.x * ABL_BG_FACTOR(x);
+    const float gx = constrain(FLOOR(ratio.x), 0, ABL_BG_POINTS_X - (FAR_EDGE_OR_BOX));
+    ratio.x -= gx;      // Subtract whole to get the ratio within the grid box
 
     #if DISABLED(EXTRAPOLATE_BEYOND_GRID)
       // Beyond the grid maintain height at grid edges
-      NOLESS(ratio_x, 0); // Never < 0.0. (> 1.0 is ok when nextx==gridx.)
+      NOLESS(ratio.x, 0); // Never <0 (>1 is ok when nextg.x==thisg.x)
     #endif
 
-    gridx = gx;
-    nextx = _MIN(gridx + 1, ABL_BG_POINTS_X - 1);
+    thisg.x = gx;
+    nextg.x = _MIN(thisg.x + 1, ABL_BG_POINTS_X - 1);
   }
 
-  if (last_y != ry || last_gridx != gridx) {
+  if (prev.y != rel.y || lastg.x != thisg.x) {
 
-    if (last_y != ry) {
-      last_y = ry;
-      ratio_y = ry * ABL_BG_FACTOR(Y_AXIS);
-      const float gy = constrain(FLOOR(ratio_y), 0, ABL_BG_POINTS_Y - (FAR_EDGE_OR_BOX));
-      ratio_y -= gy;
+    if (prev.y != rel.y) {
+      prev.y = rel.y;
+      ratio.y = rel.y * ABL_BG_FACTOR(y);
+      const float gy = constrain(FLOOR(ratio.y), 0, ABL_BG_POINTS_Y - (FAR_EDGE_OR_BOX));
+      ratio.y -= gy;
 
       #if DISABLED(EXTRAPOLATE_BEYOND_GRID)
         // Beyond the grid maintain height at grid edges
-        NOLESS(ratio_y, 0); // Never < 0.0. (> 1.0 is ok when nexty==gridy.)
+        NOLESS(ratio.y, 0); // Never < 0.0. (> 1.0 is ok when nextg.y==thisg.y.)
       #endif
 
-      gridy = gy;
-      nexty = _MIN(gridy + 1, ABL_BG_POINTS_Y - 1);
+      thisg.y = gy;
+      nextg.y = _MIN(thisg.y + 1, ABL_BG_POINTS_Y - 1);
     }
 
-    if (last_gridx != gridx || last_gridy != gridy) {
-      last_gridx = gridx;
-      last_gridy = gridy;
+    if (lastg != thisg) {
+      lastg = thisg;
       // Z at the box corners
-      z1 = ABL_BG_GRID(gridx, gridy);       // left-front
-      d2 = ABL_BG_GRID(gridx, nexty) - z1;  // left-back (delta)
-      z3 = ABL_BG_GRID(nextx, gridy);       // right-front
-      d4 = ABL_BG_GRID(nextx, nexty) - z3;  // right-back (delta)
+      z1 = ABL_BG_GRID(thisg.x, thisg.y);       // left-front
+      d2 = ABL_BG_GRID(thisg.x, nextg.y) - z1;  // left-back (delta)
+      z3 = ABL_BG_GRID(nextg.x, thisg.y);       // right-front
+      d4 = ABL_BG_GRID(nextg.x, nextg.y) - z3;  // right-back (delta)
     }
 
-    // Bilinear interpolate. Needed since ry or gridx has changed.
-                L = z1 + d2 * ratio_y;   // Linear interp. LF -> LB
-    const float R = z3 + d4 * ratio_y;   // Linear interp. RF -> RB
+    // Bilinear interpolate. Needed since rel.y or thisg.x has changed.
+                L = z1 + d2 * ratio.y;   // Linear interp. LF -> LB
+    const float R = z3 + d4 * ratio.y;   // Linear interp. RF -> RB
 
     D = R - L;
   }
 
-  const float offset = L + ratio_x * D;   // the offset almost always changes
+  const float offset = L + ratio.x * D;   // the offset almost always changes
 
   /*
   static float last_offset = 0;
   if (ABS(last_offset - offset) > 0.2) {
-    SERIAL_ECHOLNPAIR("Sudden Shift at x=", rx, " / ", bilinear_grid_spacing[X_AXIS], " -> gridx=", gridx);
-    SERIAL_ECHOLNPAIR(" y=", ry, " / ", bilinear_grid_spacing[Y_AXIS], " -> gridy=", gridy);
-    SERIAL_ECHOLNPAIR(" ratio_x=", ratio_x, " ratio_y=", ratio_y);
+    SERIAL_ECHOLNPAIR("Sudden Shift at x=", rel.x, " / ", bilinear_grid_spacing.x, " -> thisg.x=", thisg.x);
+    SERIAL_ECHOLNPAIR(" y=", rel.y, " / ", bilinear_grid_spacing.y, " -> thisg.y=", thisg.y);
+    SERIAL_ECHOLNPAIR(" ratio.x=", ratio.x, " ratio.y=", ratio.y);
     SERIAL_ECHOLNPAIR(" z1=", z1, " z2=", z2, " z3=", z3, " z4=", z4);
     SERIAL_ECHOLNPAIR(" L=", L, " R=", R, " offset=", offset);
   }
@@ -354,7 +349,7 @@ float bilinear_z_offset(const float raw[XYZ]) {
 
 #if IS_CARTESIAN && DISABLED(SEGMENT_LEVELED_MOVES)
 
-  #define CELL_INDEX(A,V) ((V - bilinear_start[_AXIS(A)]) * ABL_BG_FACTOR(_AXIS(A)))
+  #define CELL_INDEX(A,V) ((V - bilinear_start.A) * ABL_BG_FACTOR(A))
 
   /**
    * Prepare a bilinear-leveled linear move on Cartesian,
@@ -362,62 +357,61 @@ float bilinear_z_offset(const float raw[XYZ]) {
    */
   void bilinear_line_to_destination(const feedRate_t scaled_fr_mm_s, uint16_t x_splits, uint16_t y_splits) {
     // Get current and destination cells for this line
-    int cx1 = CELL_INDEX(X, current_position[X_AXIS]),
-        cy1 = CELL_INDEX(Y, current_position[Y_AXIS]),
-        cx2 = CELL_INDEX(X, destination[X_AXIS]),
-        cy2 = CELL_INDEX(Y, destination[Y_AXIS]);
-    LIMIT(cx1, 0, ABL_BG_POINTS_X - 2);
-    LIMIT(cy1, 0, ABL_BG_POINTS_Y - 2);
-    LIMIT(cx2, 0, ABL_BG_POINTS_X - 2);
-    LIMIT(cy2, 0, ABL_BG_POINTS_Y - 2);
+    xy_int_t c1 { CELL_INDEX(x, current_position.x), CELL_INDEX(y, current_position.y) },
+             c2 { CELL_INDEX(x, destination.x), CELL_INDEX(y, destination.y) };
+    LIMIT(c1.x, 0, ABL_BG_POINTS_X - 2);
+    LIMIT(c1.y, 0, ABL_BG_POINTS_Y - 2);
+    LIMIT(c2.x, 0, ABL_BG_POINTS_X - 2);
+    LIMIT(c2.y, 0, ABL_BG_POINTS_Y - 2);
 
     // Start and end in the same cell? No split needed.
-    if (cx1 == cx2 && cy1 == cy2) {
-      set_current_from_destination();
+    if (c1 == c2) {
+      current_position = destination;
       line_to_current_position(scaled_fr_mm_s);
       return;
     }
 
-    #define LINE_SEGMENT_END(A) (current_position[_AXIS(A)] + (destination[_AXIS(A)] - current_position[_AXIS(A)]) * normalized_dist)
+    #define LINE_SEGMENT_END(A) (current_position.A + (destination.A - current_position.A) * normalized_dist)
 
-    float normalized_dist, end[XYZE];
-    const int8_t gcx = _MAX(cx1, cx2), gcy = _MAX(cy1, cy2);
+    float normalized_dist;
+    xyze_pos_t end;
+    const xy_int8_t gc { _MAX(c1.x, c2.x), _MAX(c1.y, c2.y) };
 
     // Crosses on the X and not already split on this X?
     // The x_splits flags are insurance against rounding errors.
-    if (cx2 != cx1 && TEST(x_splits, gcx)) {
+    if (c2.x != c1.x && TEST(x_splits, gc.x)) {
       // Split on the X grid line
-      CBI(x_splits, gcx);
-      COPY(end, destination);
-      destination[X_AXIS] = bilinear_start[X_AXIS] + ABL_BG_SPACING(X_AXIS) * gcx;
-      normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
-      destination[Y_AXIS] = LINE_SEGMENT_END(Y);
+      CBI(x_splits, gc.x);
+      end = destination;
+      destination.x = bilinear_start.x + ABL_BG_SPACING(x) * gc.x;
+      normalized_dist = (destination.x - current_position.x) / (end.x - current_position.x);
+      destination.y = LINE_SEGMENT_END(y);
     }
     // Crosses on the Y and not already split on this Y?
-    else if (cy2 != cy1 && TEST(y_splits, gcy)) {
+    else if (c2.y != c1.y && TEST(y_splits, gc.y)) {
       // Split on the Y grid line
-      CBI(y_splits, gcy);
-      COPY(end, destination);
-      destination[Y_AXIS] = bilinear_start[Y_AXIS] + ABL_BG_SPACING(Y_AXIS) * gcy;
-      normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
-      destination[X_AXIS] = LINE_SEGMENT_END(X);
+      CBI(y_splits, gc.y);
+      end = destination;
+      destination.y = bilinear_start.y + ABL_BG_SPACING(y) * gc.y;
+      normalized_dist = (destination.y - current_position.y) / (end.y - current_position.y);
+      destination.x = LINE_SEGMENT_END(x);
     }
     else {
       // Must already have been split on these border(s)
       // This should be a rare case.
-      set_current_from_destination();
+      current_position = destination;
       line_to_current_position(scaled_fr_mm_s);
       return;
     }
 
-    destination[Z_AXIS] = LINE_SEGMENT_END(Z);
-    destination[E_AXIS] = LINE_SEGMENT_END(E);
+    destination.z = LINE_SEGMENT_END(z);
+    destination.e = LINE_SEGMENT_END(e);
 
     // Do the split and look for more borders
     bilinear_line_to_destination(scaled_fr_mm_s, x_splits, y_splits);
 
     // Restore destination from stack
-    COPY(destination, end);
+    destination = end;
     bilinear_line_to_destination(scaled_fr_mm_s, x_splits, y_splits);
   }
 

Marlin/src/feature/bedlevel/abl/abl.h

@@ -23,10 +23,10 @@
 
 #include "../../../inc/MarlinConfigPre.h"
 
-extern int bilinear_grid_spacing[2], bilinear_start[2];
-extern float bilinear_grid_factor[2],
-             z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
-float bilinear_z_offset(const float raw[XYZ]);
+extern xy_int_t bilinear_grid_spacing, bilinear_start;
+extern xy_float_t bilinear_grid_factor;
+extern bed_mesh_t z_values;
+float bilinear_z_offset(const xy_pos_t &raw);
 
 void extrapolate_unprobed_bed_level();
 void print_bilinear_leveling_grid();
@@ -40,6 +40,6 @@ void refresh_bed_level();
   void bilinear_line_to_destination(const feedRate_t &scaled_fr_mm_s, uint16_t x_splits=0xFFFF, uint16_t y_splits=0xFFFF);
 #endif
 
-#define _GET_MESH_X(I) (bilinear_start[X_AXIS] + (I) * bilinear_grid_spacing[X_AXIS])
-#define _GET_MESH_Y(J) (bilinear_start[Y_AXIS] + (J) * bilinear_grid_spacing[Y_AXIS])
+#define _GET_MESH_X(I) float(bilinear_start.x + (I) * bilinear_grid_spacing.x)
+#define _GET_MESH_Y(J) float(bilinear_start.y + (J) * bilinear_grid_spacing.y)
 #define Z_VALUES_ARR  z_values

Marlin/src/feature/bedlevel/bedlevel.cpp

@@ -51,7 +51,7 @@ bool leveling_is_valid() {
     #if ENABLED(MESH_BED_LEVELING)
       mbl.has_mesh()
     #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
-      !!bilinear_grid_spacing[X_AXIS]
+      !!bilinear_grid_spacing.x
     #elif ENABLED(AUTO_BED_LEVELING_UBL)
       ubl.mesh_is_valid()
     #else // 3POINT, LINEAR
@@ -81,13 +81,13 @@ void set_bed_leveling_enabled(const bool enable/*=true*/) {
 
     #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
       // Force bilinear_z_offset to re-calculate next time
-      const float reset[XYZ] = { -9999.999, -9999.999, 0 };
+      const xyz_pos_t reset { -9999.999, -9999.999, 0 };
       (void)bilinear_z_offset(reset);
     #endif
 
     if (planner.leveling_active) {      // leveling from on to off
       // change unleveled current_position to physical current_position without moving steppers.
-      planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
+      planner.apply_leveling(current_position);
       planner.leveling_active = false;  // disable only AFTER calling apply_leveling
     }
     else {                              // leveling from off to on
@@ -116,9 +116,9 @@ TemporaryBedLevelingState::TemporaryBedLevelingState(const bool enable) : saved(
     planner.set_z_fade_height(zfh);
 
     if (leveling_was_active) {
-      const float oldpos[] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] };
+      const xyz_pos_t oldpos = current_position;
       set_bed_leveling_enabled(true);
-      if (do_report && memcmp(oldpos, current_position, sizeof(oldpos)))
+      if (do_report && oldpos != current_position)
         report_current_position();
     }
   }
@@ -137,8 +137,8 @@ void reset_bed_level() {
     #if ENABLED(MESH_BED_LEVELING)
       mbl.reset();
     #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
-      bilinear_start[X_AXIS] = bilinear_start[Y_AXIS] =
-      bilinear_grid_spacing[X_AXIS] = bilinear_grid_spacing[Y_AXIS] = 0;
+      bilinear_start.reset();
+      bilinear_grid_spacing.reset();
       for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
         for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++) {
           z_values[x][y] = NAN;
@@ -223,25 +223,25 @@ void reset_bed_level() {
 
 #if EITHER(MESH_BED_LEVELING, PROBE_MANUALLY)
 
-  void _manual_goto_xy(const float &rx, const float &ry) {
+  void _manual_goto_xy(const xy_pos_t &pos) {
 
     #ifdef MANUAL_PROBE_START_Z
+      constexpr float startz = _MAX(0, MANUAL_PROBE_START_Z);
       #if MANUAL_PROBE_HEIGHT > 0
-        do_blocking_move_to(rx, ry, MANUAL_PROBE_HEIGHT);
-        do_blocking_move_to_z(_MAX(0,MANUAL_PROBE_START_Z));
+        do_blocking_move_to(pos, MANUAL_PROBE_HEIGHT);
+        do_blocking_move_to_z(startz);
       #else
-        do_blocking_move_to(rx, ry, _MAX(0,MANUAL_PROBE_START_Z));
+        do_blocking_move_to(pos, startz);
       #endif
     #elif MANUAL_PROBE_HEIGHT > 0
-      const float prev_z = current_position[Z_AXIS];
-      do_blocking_move_to(rx, ry, MANUAL_PROBE_HEIGHT);
+      const float prev_z = current_position.z;
+      do_blocking_move_to(pos, MANUAL_PROBE_HEIGHT);
       do_blocking_move_to_z(prev_z);
     #else
-      do_blocking_move_to_xy(rx, ry);
+      do_blocking_move_to_xy(pos);
     #endif
 
-    current_position[X_AXIS] = rx;
-    current_position[Y_AXIS] = ry;
+    current_position = pos;
 
     #if ENABLED(LCD_BED_LEVELING)
       ui.wait_for_bl_move = false;

Marlin/src/feature/bedlevel/bedlevel.h

@@ -38,7 +38,7 @@ void reset_bed_level();
 #endif
 
 #if EITHER(MESH_BED_LEVELING, PROBE_MANUALLY)
-  void _manual_goto_xy(const float &x, const float &y);
+  void _manual_goto_xy(const xy_pos_t &pos);
 #endif
 
 /**
@@ -57,11 +57,6 @@ class TemporaryBedLevelingState {
 
   typedef float bed_mesh_t[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
 
-  typedef struct {
-    int8_t x_index, y_index;
-    float distance; // When populated, the distance from the search location
-  } mesh_index_pair;
-
   #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
     #include "abl/abl.h"
   #elif ENABLED(AUTO_BED_LEVELING_UBL)
@@ -71,6 +66,7 @@ class TemporaryBedLevelingState {
   #endif
 
   #define Z_VALUES(X,Y) Z_VALUES_ARR[X][Y]
+  #define _GET_MESH_POS(M) { _GET_MESH_X(M.a), _GET_MESH_Y(M.b) }
 
   #if EITHER(AUTO_BED_LEVELING_BILINEAR, MESH_BED_LEVELING)
 
@@ -85,4 +81,18 @@ class TemporaryBedLevelingState {
 
   #endif
 
+  struct mesh_index_pair {
+    xy_int8_t pos;
+    float distance;   // When populated, the distance from the search location
+    void invalidate() { pos = -1; }
+    bool valid() const { return pos.x >= 0 && pos.y >= 0; }
+    #if ENABLED(AUTO_BED_LEVELING_UBL)
+      xy_pos_t meshpos() {
+        return { ubl.mesh_index_to_xpos(pos.x), ubl.mesh_index_to_ypos(pos.y) };
+      }
+    #endif
+    operator xy_int8_t&() { return pos; }
+    operator const xy_int8_t&() const { return pos; }
+  };
+
 #endif

Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.cpp

@@ -24,10 +24,9 @@
 
 #if ENABLED(MESH_BED_LEVELING)
 
-  #include "mesh_bed_leveling.h"
+  #include "../bedlevel.h"
 
   #include "../../../module/motion.h"
-  #include "../../../feature/bedlevel/bedlevel.h"
 
   #if ENABLED(EXTENSIBLE_UI)
     #include "../../../lcd/extensible_ui/ui_api.h"
@@ -66,62 +65,60 @@
      */
     void mesh_bed_leveling::line_to_destination(const feedRate_t &scaled_fr_mm_s, uint8_t x_splits, uint8_t y_splits) {
       // Get current and destination cells for this line
-      int cx1 = cell_index_x(current_position[X_AXIS]),
-          cy1 = cell_index_y(current_position[Y_AXIS]),
-          cx2 = cell_index_x(destination[X_AXIS]),
-          cy2 = cell_index_y(destination[Y_AXIS]);
-      NOMORE(cx1, GRID_MAX_POINTS_X - 2);
-      NOMORE(cy1, GRID_MAX_POINTS_Y - 2);
-      NOMORE(cx2, GRID_MAX_POINTS_X - 2);
-      NOMORE(cy2, GRID_MAX_POINTS_Y - 2);
+      xy_int8_t scel = cell_indexes(current_position), ecel = cell_indexes(destination);
+      NOMORE(scel.x, GRID_MAX_POINTS_X - 2);
+      NOMORE(scel.y, GRID_MAX_POINTS_Y - 2);
+      NOMORE(ecel.x, GRID_MAX_POINTS_X - 2);
+      NOMORE(ecel.y, GRID_MAX_POINTS_Y - 2);
 
       // Start and end in the same cell? No split needed.
-      if (cx1 == cx2 && cy1 == cy2) {
+      if (scel == ecel) {
         line_to_destination(scaled_fr_mm_s);
-        set_current_from_destination();
+        current_position = destination;
         return;
       }
 
-      #define MBL_SEGMENT_END(A) (current_position[_AXIS(A)] + (destination[_AXIS(A)] - current_position[_AXIS(A)]) * normalized_dist)
+      #define MBL_SEGMENT_END(A) (current_position.A + (destination.A - current_position.A) * normalized_dist)
 
-      float normalized_dist, end[XYZE];
-      const int8_t gcx = _MAX(cx1, cx2), gcy = _MAX(cy1, cy2);
+      float normalized_dist;
+      xyze_pos_t dest;
+      const int8_t gcx = _MAX(scel.x, ecel.x), gcy = _MAX(scel.y, ecel.y);
 
       // Crosses on the X and not already split on this X?
       // The x_splits flags are insurance against rounding errors.
-      if (cx2 != cx1 && TEST(x_splits, gcx)) {
+      if (ecel.x != scel.x && TEST(x_splits, gcx)) {
         // Split on the X grid line
         CBI(x_splits, gcx);
-        COPY(end, destination);
-        destination[X_AXIS] = index_to_xpos[gcx];
-        normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
-        destination[Y_AXIS] = MBL_SEGMENT_END(Y);
+        dest = destination;
+        destination.x = index_to_xpos[gcx];
+        normalized_dist = (destination.x - current_position.x) / (dest.x - current_position.x);
+        destination.y = MBL_SEGMENT_END(y);
       }
       // Crosses on the Y and not already split on this Y?
-      else if (cy2 != cy1 && TEST(y_splits, gcy)) {
+      else if (ecel.y != scel.y && TEST(y_splits, gcy)) {
         // Split on the Y grid line
         CBI(y_splits, gcy);
-        COPY(end, destination);
-        destination[Y_AXIS] = index_to_ypos[gcy];
-        normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
-        destination[X_AXIS] = MBL_SEGMENT_END(X);
+        dest = destination;
+        destination.y = index_to_ypos[gcy];
+        normalized_dist = (destination.y - current_position.y) / (dest.y - current_position.y);
+        destination.x = MBL_SEGMENT_END(x);
       }
       else {
         // Must already have been split on these border(s)
         // This should be a rare case.
         line_to_destination(scaled_fr_mm_s);
-        set_current_from_destination();
+        current_position = destination;
         return;
       }
 
-      destination[Z_AXIS] = MBL_SEGMENT_END(Z);
-      destination[E_AXIS] = MBL_SEGMENT_END(E);
+      destination.z = MBL_SEGMENT_END(z);
+      destination.e = MBL_SEGMENT_END(e);
 
       // Do the split and look for more borders
       line_to_destination(scaled_fr_mm_s, x_splits, y_splits);
 
       // Restore destination from stack
-      COPY(destination, end);
+      destination = dest;
       line_to_destination(scaled_fr_mm_s, x_splits, y_splits);
     }
 

Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.h

@@ -76,21 +76,27 @@ public:
     int8_t cx = (x - (MESH_MIN_X)) * RECIPROCAL(MESH_X_DIST);
     return constrain(cx, 0, (GRID_MAX_POINTS_X) - 2);
   }
-
   static int8_t cell_index_y(const float &y) {
     int8_t cy = (y - (MESH_MIN_Y)) * RECIPROCAL(MESH_Y_DIST);
     return constrain(cy, 0, (GRID_MAX_POINTS_Y) - 2);
   }
+  static inline xy_int8_t cell_indexes(const float &x, const float &y) {
+    return { cell_index_x(x), cell_index_y(y) };
+  }
+  static inline xy_int8_t cell_indexes(const xy_pos_t &xy) { return cell_indexes(xy.x, xy.y); }
 
   static int8_t probe_index_x(const float &x) {
     int8_t px = (x - (MESH_MIN_X) + 0.5f * (MESH_X_DIST)) * RECIPROCAL(MESH_X_DIST);
     return WITHIN(px, 0, GRID_MAX_POINTS_X - 1) ? px : -1;
   }
-
   static int8_t probe_index_y(const float &y) {
     int8_t py = (y - (MESH_MIN_Y) + 0.5f * (MESH_Y_DIST)) * RECIPROCAL(MESH_Y_DIST);
     return WITHIN(py, 0, GRID_MAX_POINTS_Y - 1) ? py : -1;
   }
+  static inline xy_int8_t probe_indexes(const float &x, const float &y) {
+    return { probe_index_x(x), probe_index_y(y) };
+  }
+  static inline xy_int8_t probe_indexes(const xy_pos_t &xy) { return probe_indexes(xy.x, xy.y); }
 
   static float calc_z0(const float &a0, const float &a1, const float &z1, const float &a2, const float &z2) {
     const float delta_z = (z2 - z1) / (a2 - a1),
@@ -98,21 +104,21 @@ public:
     return z1 + delta_a * delta_z;
   }
 
-  static float get_z(const float &x0, const float &y0
+  static float get_z(const xy_pos_t &pos
     #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
-      , const float &factor
+      , const float &factor=1.0f
     #endif
   ) {
-    const int8_t cx = cell_index_x(x0), cy = cell_index_y(y0);
-    const float z1 = calc_z0(x0, index_to_xpos[cx], z_values[cx][cy], index_to_xpos[cx + 1], z_values[cx + 1][cy]),
-                z2 = calc_z0(x0, index_to_xpos[cx], z_values[cx][cy + 1], index_to_xpos[cx + 1], z_values[cx + 1][cy + 1]),
-                z0 = calc_z0(y0, index_to_ypos[cy], z1, index_to_ypos[cy + 1], z2);
-
-    return z_offset + z0
-      #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
-        * factor
-      #endif
-    ;
+    #if DISABLED(ENABLE_LEVELING_FADE_HEIGHT)
+      constexpr float factor = 1.0f;
+    #endif
+    const xy_int8_t ind = cell_indexes(pos);
+    const float x1 = index_to_xpos[ind.x], x2 = index_to_xpos[ind.x+1],
+                y1 = index_to_xpos[ind.y], y2 = index_to_xpos[ind.y+1],
+                z1 = calc_z0(pos.x, x1, z_values[ind.x][ind.y  ], x2, z_values[ind.x+1][ind.y  ]),
+                z2 = calc_z0(pos.x, x1, z_values[ind.x][ind.y+1], x2, z_values[ind.x+1][ind.y+1]);
+
+    return z_offset + calc_z0(pos.y, y1, z1, y2, z2) * factor;
   }
 
   #if IS_CARTESIAN && DISABLED(SEGMENT_LEVELED_MOVES)

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

@@ -176,8 +176,7 @@
     // Add XY probe offset from extruder because probe_at_point() subtracts them when
     // moving to the XY position to be measured. This ensures better agreement between
     // the current Z position after G28 and the mesh values.
-    const float current_xi = find_closest_x_index(current_position[X_AXIS] + probe_offset[X_AXIS]),
-                current_yi = find_closest_y_index(current_position[Y_AXIS] + probe_offset[Y_AXIS]);
+    const xy_int8_t curr = closest_indexes(xy_pos_t(current_position) + xy_pos_t(probe_offset));
 
     if (!lcd) SERIAL_EOL();
     for (int8_t j = GRID_MAX_POINTS_Y - 1; j >= 0; j--) {
@@ -193,7 +192,7 @@
       for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
 
         // Opening Brace or Space
-        const bool is_current = i == current_xi && j == current_yi;
+        const bool is_current = i == curr.x && j == curr.y;
         if (human) SERIAL_CHAR(is_current ? '[' : ' ');
 
         // Z Value at current I, J

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

@@ -32,15 +32,12 @@
 #define UBL_OK false
 #define UBL_ERR true
 
-#define USE_NOZZLE_AS_REFERENCE 0
-#define USE_PROBE_AS_REFERENCE 1
-
-// ubl_G29.cpp
-
 enum MeshPointType : char { INVALID, REAL, SET_IN_BITMAP };
 
 // External references
 
+struct mesh_index_pair;
+
 #define MESH_X_DIST (float(MESH_MAX_X - (MESH_MIN_X)) / float(GRID_MAX_POINTS_X - 1))
 #define MESH_Y_DIST (float(MESH_MAX_Y - (MESH_MIN_Y)) / float(GRID_MAX_POINTS_Y - 1))
 
@@ -52,10 +49,11 @@ class unified_bed_leveling {
                   g29_repetition_cnt,
                   g29_storage_slot,
                   g29_map_type;
-    static bool   g29_c_flag, g29_x_flag, g29_y_flag;
-    static float  g29_x_pos, g29_y_pos,
-                  g29_card_thickness,
+    static bool   g29_c_flag;
+    static float  g29_card_thickness,
                   g29_constant;
+    static xy_pos_t g29_pos;
+    static xy_bool_t xy_seen;
 
     #if HAS_BED_PROBE
       static int  g29_grid_size;
@@ -65,16 +63,19 @@ class unified_bed_leveling {
       static void move_z_with_encoder(const float &multiplier);
       static float measure_point_with_encoder();
       static float measure_business_card_thickness(float in_height);
-      static void manually_probe_remaining_mesh(const float&, const float&, const float&, const float&, const bool) _O0;
-      static void fine_tune_mesh(const float &rx, const float &ry, const bool do_ubl_mesh_map) _O0;
+      static void manually_probe_remaining_mesh(const xy_pos_t&, const float&, const float&, const bool) _O0;
+      static void fine_tune_mesh(const xy_pos_t &pos, const bool do_ubl_mesh_map) _O0;
     #endif
 
     static bool g29_parameter_parsing() _O0;
     static void shift_mesh_height();
-    static void probe_entire_mesh(const float &rx, const float &ry, const bool do_ubl_mesh_map, const bool stow_probe, const bool do_furthest) _O0;
+    static void probe_entire_mesh(const xy_pos_t &near, const bool do_ubl_mesh_map, const bool stow_probe, const bool do_furthest) _O0;
     static void tilt_mesh_based_on_3pts(const float &z1, const float &z2, const float &z3);
     static void tilt_mesh_based_on_probed_grid(const bool do_ubl_mesh_map);
     static bool smart_fill_one(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir);
+    static inline bool smart_fill_one(const xy_uint8_t &pos, const xy_uint8_t &dir) {
+      return smart_fill_one(pos.x, pos.y, dir.x, dir.y);
+    }
     static void smart_fill_mesh();
 
     #if ENABLED(UBL_DEVEL_DEBUGGING)
@@ -91,7 +92,7 @@ class unified_bed_leveling {
     static void save_ubl_active_state_and_disable();
     static void restore_ubl_active_state_and_leave();
     static void display_map(const int) _O0;
-    static mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType, const float&, const float&, const bool, uint16_t[16]) _O0;
+    static mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType, const xy_pos_t&, const bool=false, MeshFlags *done_flags=nullptr) _O0;
     static mesh_index_pair find_furthest_invalid_mesh_point() _O0;
     static void reset();
     static void invalidate();
@@ -118,14 +119,14 @@ class unified_bed_leveling {
 
     FORCE_INLINE static void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; }
 
-    static int8_t get_cell_index_x(const float &x) {
+    static int8_t cell_index_x(const float &x) {
       const int8_t cx = (x - (MESH_MIN_X)) * RECIPROCAL(MESH_X_DIST);
       return constrain(cx, 0, (GRID_MAX_POINTS_X) - 1);   // -1 is appropriate if we want all movement to the X_MAX
     }                                                     // position. But with this defined this way, it is possible
                                                           // to extrapolate off of this point even further out. Probably
                                                           // that is OK because something else should be keeping that from
                                                           // happening and should not be worried about at this level.
-    static int8_t get_cell_index_y(const float &y) {
+    static int8_t cell_index_y(const float &y) {
       const int8_t cy = (y - (MESH_MIN_Y)) * RECIPROCAL(MESH_Y_DIST);
       return constrain(cy, 0, (GRID_MAX_POINTS_Y) - 1);   // -1 is appropriate if we want all movement to the Y_MAX
     }                                                     // position. But with this defined this way, it is possible
@@ -133,15 +134,22 @@ class unified_bed_leveling {
                                                           // that is OK because something else should be keeping that from
                                                           // happening and should not be worried about at this level.
 
-    static int8_t find_closest_x_index(const float &x) {
+    static inline xy_int8_t cell_indexes(const float &x, const float &y) {
+      return { cell_index_x(x), cell_index_y(y) };
+    }
+    static inline xy_int8_t cell_indexes(const xy_pos_t &xy) { return cell_indexes(xy.x, xy.y); }
+
+    static int8_t closest_x_index(const float &x) {
       const int8_t px = (x - (MESH_MIN_X) + (MESH_X_DIST) * 0.5) * RECIPROCAL(MESH_X_DIST);
       return WITHIN(px, 0, GRID_MAX_POINTS_X - 1) ? px : -1;
     }
-
-    static int8_t find_closest_y_index(const float &y) {
+    static int8_t closest_y_index(const float &y) {
       const int8_t py = (y - (MESH_MIN_Y) + (MESH_Y_DIST) * 0.5) * RECIPROCAL(MESH_Y_DIST);
       return WITHIN(py, 0, GRID_MAX_POINTS_Y - 1) ? py : -1;
     }
+    static inline xy_int8_t closest_indexes(const xy_pos_t &xy) {
+      return { closest_x_index(xy.x), closest_y_index(xy.y) };
+    }
 
     /**
      *                           z2   --|
@@ -228,8 +236,7 @@ class unified_bed_leveling {
      * on the Y position within the cell.
      */
     static float get_z_correction(const float &rx0, const float &ry0) {
-      const int8_t cx = get_cell_index_x(rx0),
-                   cy = get_cell_index_y(ry0); // return values are clamped
+      const int8_t cx = cell_index_x(rx0), cy = cell_index_y(ry0); // return values are clamped
 
       /**
        * Check if the requested location is off the mesh.  If so, and
@@ -275,11 +282,11 @@ class unified_bed_leveling {
       }
       return z0;
     }
+    static inline float get_z_correction(const xy_pos_t &pos) { return get_z_correction(pos.x, pos.y); }
 
     static inline float mesh_index_to_xpos(const uint8_t i) {
       return i < GRID_MAX_POINTS_X ? pgm_read_float(&_mesh_index_to_xpos[i]) : MESH_MIN_X + i * (MESH_X_DIST);
     }
-
     static inline float mesh_index_to_ypos(const uint8_t i) {
       return i < GRID_MAX_POINTS_Y ? pgm_read_float(&_mesh_index_to_ypos[i]) : MESH_MIN_Y + i * (MESH_Y_DIST);
     }

Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp

@@ -53,8 +53,6 @@
 
   #define UBL_G29_P31
 
-  extern float destination[XYZE], current_position[XYZE];
-
   #if HAS_LCD_MENU
     void _lcd_ubl_output_map_lcd();
   #endif
@@ -67,13 +65,11 @@
          unified_bed_leveling::g29_repetition_cnt,
          unified_bed_leveling::g29_storage_slot = 0,
          unified_bed_leveling::g29_map_type;
-  bool   unified_bed_leveling::g29_c_flag,
-         unified_bed_leveling::g29_x_flag,
-         unified_bed_leveling::g29_y_flag;
-  float  unified_bed_leveling::g29_x_pos,
-         unified_bed_leveling::g29_y_pos,
-         unified_bed_leveling::g29_card_thickness = 0,
+  bool   unified_bed_leveling::g29_c_flag;
+  float  unified_bed_leveling::g29_card_thickness = 0,
          unified_bed_leveling::g29_constant = 0;
+  xy_bool_t unified_bed_leveling::xy_seen;
+  xy_pos_t unified_bed_leveling::g29_pos;
 
   #if HAS_BED_PROBE
     int  unified_bed_leveling::g29_grid_size;
@@ -330,18 +326,19 @@
       else {
         while (g29_repetition_cnt--) {
           if (cnt > 20) { cnt = 0; idle(); }
-          const mesh_index_pair location = find_closest_mesh_point_of_type(REAL, g29_x_pos, g29_y_pos, USE_NOZZLE_AS_REFERENCE, nullptr);
-          if (location.x_index < 0) {
-            // No more REACHABLE mesh points to invalidate, so we ASSUME the user
+          const mesh_index_pair closest = find_closest_mesh_point_of_type(REAL, g29_pos);
+          const xy_int8_t &cpos = closest.pos;
+          if (cpos.x < 0) {
+            // No more REAL mesh points to invalidate, so we ASSUME the user
             // meant to invalidate the ENTIRE mesh, which cannot be done with
-            // find_closest_mesh_point loop which only returns REACHABLE points.
+            // find_closest_mesh_point loop which only returns REAL points.
             set_all_mesh_points_to_value(NAN);
             SERIAL_ECHOLNPGM("Entire Mesh invalidated.\n");
             break;            // No more invalid Mesh Points to populate
           }
-          z_values[location.x_index][location.y_index] = NAN;
+          z_values[cpos.x][cpos.y] = NAN;
           #if ENABLED(EXTENSIBLE_UI)
-            ExtUI::onMeshUpdate(location.x_index, location.y_index, 0);
+            ExtUI::onMeshUpdate(closest, 0);
           #endif
           cnt++;
         }
@@ -448,13 +445,13 @@
               SERIAL_ECHOLNPGM("Mesh invalidated. Probing mesh.");
             }
             if (g29_verbose_level > 1) {
-              SERIAL_ECHOPAIR("Probing around (", g29_x_pos);
+              SERIAL_ECHOPAIR("Probing around (", g29_pos.x);
               SERIAL_CHAR(',');
-              SERIAL_ECHO(g29_y_pos);
+              SERIAL_ECHO(g29_pos.y);
               SERIAL_ECHOLNPGM(").\n");
             }
-            probe_entire_mesh(g29_x_pos + probe_offset[X_AXIS], g29_y_pos + probe_offset[Y_AXIS],
-                              parser.seen('T'), parser.seen('E'), parser.seen('U'));
+            const xy_pos_t near = g29_pos + probe_offset;
+            probe_entire_mesh(near, parser.seen('T'), parser.seen('E'), parser.seen('U'));
 
             report_current_position();
             probe_deployed = true;
@@ -470,7 +467,7 @@
             SERIAL_ECHOLNPGM("Manually probing unreachable mesh locations.");
             do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
 
-            if (parser.seen('C') && !g29_x_flag && !g29_y_flag) {
+            if (parser.seen('C') && !xy_seen) {
               /**
                * Use a good default location for the path.
                * The flipped > and < operators in these comparisons is intentional.
@@ -478,13 +475,14 @@
                * It may make sense to have Delta printers default to the center of the bed.
                * Until that is decided, this can be forced with the X and Y parameters.
                */
-              #if IS_KINEMATIC
-                g29_x_pos = X_HOME_POS;
-                g29_y_pos = Y_HOME_POS;
-              #else // cartesian
-                g29_x_pos = probe_offset[X_AXIS] > 0 ? X_BED_SIZE : 0;
-                g29_y_pos = probe_offset[Y_AXIS] < 0 ? Y_BED_SIZE : 0;
-              #endif
+              g29_pos.set(
+                #if IS_KINEMATIC
+                  X_HOME_POS, Y_HOME_POS
+                #else
+                  probe_offset.x > 0 ? X_BED_SIZE : 0,
+                  probe_offset.y < 0 ? Y_BED_SIZE : 0
+                #endif
+              );
             }
 
             if (parser.seen('B')) {
@@ -496,13 +494,13 @@
               probe_deployed = true;
             }
 
-            if (!position_is_reachable(g29_x_pos, g29_y_pos)) {
+            if (!position_is_reachable(g29_pos)) {
               SERIAL_ECHOLNPGM("XY outside printable radius.");
               return;
             }
 
             const float height = parser.floatval('H', Z_CLEARANCE_BETWEEN_PROBES);
-            manually_probe_remaining_mesh(g29_x_pos, g29_y_pos, height, g29_card_thickness, parser.seen('T'));
+            manually_probe_remaining_mesh(g29_pos, height, g29_card_thickness, parser.seen('T'));
 
             SERIAL_ECHOLNPGM("G29 P2 finished.");
 
@@ -530,20 +528,22 @@
             }
             else {
               while (g29_repetition_cnt--) {  // this only populates reachable mesh points near
-                const mesh_index_pair location = find_closest_mesh_point_of_type(INVALID, g29_x_pos, g29_y_pos, USE_NOZZLE_AS_REFERENCE, nullptr);
-                if (location.x_index < 0) {
-                  // No more REACHABLE INVALID mesh points to populate, so we ASSUME
+                const mesh_index_pair closest = find_closest_mesh_point_of_type(INVALID, g29_pos);
+                const xy_int8_t &cpos = closest.pos;
+                if (cpos.x < 0) {
+                  // No more REAL INVALID mesh points to populate, so we ASSUME
                   // user meant to populate ALL INVALID mesh points to value
                   for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
                     for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
-                      if (isnan(z_values[x][y]))
-                        z_values[x][y] = g29_constant;
+                      if (isnan(z_values[x][y])) z_values[x][y] = g29_constant;
                   break; // No more invalid Mesh Points to populate
                 }
-                z_values[location.x_index][location.y_index] = g29_constant;
-                #if ENABLED(EXTENSIBLE_UI)
-                  ExtUI::onMeshUpdate(location.x_index, location.y_index, z_values[location.x_index][location.y_index]);
-                #endif
+                else {
+                  z_values[cpos.x][cpos.y] = g29_constant;
+                  #if ENABLED(EXTENSIBLE_UI)
+                    ExtUI::onMeshUpdate(closest, g29_constant);
+                  #endif
+                }
               }
             }
           }
@@ -576,7 +576,7 @@
 
         case 4: // Fine Tune (i.e., Edit) the Mesh
           #if HAS_LCD_MENU
-            fine_tune_mesh(g29_x_pos, g29_y_pos, parser.seen('T'));
+            fine_tune_mesh(g29_pos, parser.seen('T'));
           #else
             SERIAL_ECHOLNPGM("?P4 is only available when an LCD is present.");
             return;
@@ -740,9 +740,7 @@
      * Probe all invalidated locations of the mesh that can be reached by the probe.
      * This attempts to fill in locations closest to the nozzle's start location first.
      */
-    void unified_bed_leveling::probe_entire_mesh(const float &rx, const float &ry, const bool do_ubl_mesh_map, const bool stow_probe, const bool do_furthest) {
-      mesh_index_pair location;
-
+    void unified_bed_leveling::probe_entire_mesh(const xy_pos_t &near, const bool do_ubl_mesh_map, const bool stow_probe, const bool do_furthest) {
       #if HAS_LCD_MENU
         ui.capture();
       #endif
@@ -752,6 +750,7 @@
 
       uint8_t count = GRID_MAX_POINTS;
 
+      mesh_index_pair best;
       do {
         if (do_ubl_mesh_map) display_map(g29_map_type);
 
@@ -773,23 +772,23 @@
           }
         #endif
 
-        if (do_furthest)
-          location = find_furthest_invalid_mesh_point();
-        else
-          location = find_closest_mesh_point_of_type(INVALID, rx, ry, USE_PROBE_AS_REFERENCE, nullptr);
+        best = do_furthest
+          ? find_furthest_invalid_mesh_point()
+          : find_closest_mesh_point_of_type(INVALID, near, true);
 
-        if (location.x_index >= 0) {    // mesh point found and is reachable by probe
-          const float rawx = mesh_index_to_xpos(location.x_index),
-                      rawy = mesh_index_to_ypos(location.y_index),
-                      measured_z = probe_at_point(rawx, rawy, stow_probe ? PROBE_PT_STOW : PROBE_PT_RAISE, g29_verbose_level); // TODO: Needs error handling
-          z_values[location.x_index][location.y_index] = measured_z;
+        if (best.pos.x >= 0) {    // mesh point found and is reachable by probe
+          const float measured_z = probe_at_point(
+                        best.meshpos(),
+                        stow_probe ? PROBE_PT_STOW : PROBE_PT_RAISE, g29_verbose_level
+                      );
+          z_values[best.pos.x][best.pos.y] = measured_z;
           #if ENABLED(EXTENSIBLE_UI)
-            ExtUI::onMeshUpdate(location.x_index, location.y_index, measured_z);
+            ExtUI::onMeshUpdate(best, measured_z);
           #endif
         }
         SERIAL_FLUSH(); // Prevent host M105 buffer overrun.
 
-      } while (location.x_index >= 0 && --count);
+      } while (best.pos.x >= 0 && --count);
 
       STOW_PROBE();
 
@@ -800,8 +799,8 @@
       restore_ubl_active_state_and_leave();
 
       do_blocking_move_to_xy(
-        constrain(rx - probe_offset[X_AXIS], MESH_MIN_X, MESH_MAX_X),
-        constrain(ry - probe_offset[Y_AXIS], MESH_MIN_Y, MESH_MAX_Y)
+        constrain(near.x - probe_offset.x, MESH_MIN_X, MESH_MAX_X),
+        constrain(near.y - probe_offset.y, MESH_MIN_Y, MESH_MAX_Y)
       );
     }
 
@@ -835,7 +834,7 @@
         idle();
         gcode.reset_stepper_timeout(); // Keep steppers powered
         if (encoder_diff) {
-          do_blocking_move_to_z(current_position[Z_AXIS] + float(encoder_diff) * multiplier);
+          do_blocking_move_to_z(current_position.z + float(encoder_diff) * multiplier);
           encoder_diff = 0;
         }
       }
@@ -844,7 +843,7 @@
     float unified_bed_leveling::measure_point_with_encoder() {
       KEEPALIVE_STATE(PAUSED_FOR_USER);
       move_z_with_encoder(0.01f);
-      return current_position[Z_AXIS];
+      return current_position.z;
     }
 
     static void echo_and_take_a_measurement() { SERIAL_ECHOLNPGM(" and take a measurement."); }
@@ -863,7 +862,7 @@
       echo_and_take_a_measurement();
 
       const float z1 = measure_point_with_encoder();
-      do_blocking_move_to_z(current_position[Z_AXIS] + SIZE_OF_LITTLE_RAISE);
+      do_blocking_move_to_z(current_position.z + SIZE_OF_LITTLE_RAISE);
       planner.synchronize();
 
       SERIAL_ECHOPGM("Remove shim");
@@ -872,7 +871,7 @@
 
       const float z2 = measure_point_with_encoder();
 
-      do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES);
+      do_blocking_move_to_z(current_position.z + Z_CLEARANCE_BETWEEN_PROBES);
 
       const float thickness = ABS(z1 - z2);
 
@@ -888,29 +887,33 @@
       return thickness;
     }
 
-    void unified_bed_leveling::manually_probe_remaining_mesh(const float &rx, const float &ry, const float &z_clearance, const float &thick, const bool do_ubl_mesh_map) {
+    void unified_bed_leveling::manually_probe_remaining_mesh(const xy_pos_t &pos, const float &z_clearance, const float &thick, const bool do_ubl_mesh_map) {
 
       ui.capture();
 
       save_ubl_active_state_and_disable();  // No bed level correction so only raw data is obtained
-      do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_clearance);
+      do_blocking_move_to(current_position.x, current_position.y, z_clearance);
 
       ui.return_to_status();
 
       mesh_index_pair location;
+      xy_int8_t &lpos = location.pos;
       do {
-        location = find_closest_mesh_point_of_type(INVALID, rx, ry, USE_NOZZLE_AS_REFERENCE, nullptr);
+        location = find_closest_mesh_point_of_type(INVALID, pos);
         // It doesn't matter if the probe can't reach the NAN location. This is a manual probe.
-        if (location.x_index < 0 && location.y_index < 0) continue;
+        if (!location.valid()) continue;
 
-        const float xProbe = mesh_index_to_xpos(location.x_index),
-                    yProbe = mesh_index_to_ypos(location.y_index);
+        const xyz_pos_t ppos = {
+          mesh_index_to_xpos(lpos.x),
+          mesh_index_to_ypos(lpos.y),
+          Z_CLEARANCE_BETWEEN_PROBES
+        };
 
-        if (!position_is_reachable(xProbe, yProbe)) break; // SHOULD NOT OCCUR (find_closest_mesh_point only returns reachable points)
+        if (!position_is_reachable(ppos)) break; // SHOULD NOT OCCUR (find_closest_mesh_point only returns reachable points)
 
         LCD_MESSAGEPGM(MSG_UBL_MOVING_TO_NEXT);
 
-        do_blocking_move_to(xProbe, yProbe, Z_CLEARANCE_BETWEEN_PROBES);
+        do_blocking_move_to(ppos);
         do_blocking_move_to_z(z_clearance);
 
         KEEPALIVE_STATE(PAUSED_FOR_USER);
@@ -932,20 +935,20 @@
           return restore_ubl_active_state_and_leave();
         }
 
-        z_values[location.x_index][location.y_index] = current_position[Z_AXIS] - thick;
+        z_values[lpos.x][lpos.y] = current_position.z - thick;
         #if ENABLED(EXTENSIBLE_UI)
-          ExtUI::onMeshUpdate(location.x_index, location.y_index, z_values[location.x_index][location.y_index]);
+          ExtUI::onMeshUpdate(location, z_values[lpos.x][lpos.y]);
         #endif
 
         if (g29_verbose_level > 2)
-          SERIAL_ECHOLNPAIR_F("Mesh Point Measured at: ", z_values[location.x_index][location.y_index], 6);
+          SERIAL_ECHOLNPAIR_F("Mesh Point Measured at: ", z_values[lpos.x][lpos.y], 6);
         SERIAL_FLUSH(); // Prevent host M105 buffer overrun.
-      } while (location.x_index >= 0 && location.y_index >= 0);
+      } while (location.valid());
 
       if (do_ubl_mesh_map) display_map(g29_map_type);  // show user where we're probing
 
       restore_ubl_active_state_and_leave();
-      do_blocking_move_to(rx, ry, Z_CLEARANCE_DEPLOY_PROBE);
+      do_blocking_move_to(pos, Z_CLEARANCE_DEPLOY_PROBE);
     }
 
     inline void set_message_with_feedback(PGM_P const msg_P) {
@@ -959,8 +962,8 @@
       set_message_with_feedback(PSTR(MSG_EDITING_STOPPED));
     }
 
-    void unified_bed_leveling::fine_tune_mesh(const float &rx, const float &ry, const bool do_ubl_mesh_map) {
-      if (!parser.seen('R'))    // fine_tune_mesh() is special. If no repetition count flag is specified
+    void unified_bed_leveling::fine_tune_mesh(const xy_pos_t &pos, const bool do_ubl_mesh_map) {
+      if (!parser.seen('R'))      // fine_tune_mesh() is special. If no repetition count flag is specified
         g29_repetition_cnt = 1;   // do exactly one mesh location. Otherwise use what the parser decided.
 
       #if ENABLED(UBL_MESH_EDIT_MOVES_Z)
@@ -973,7 +976,7 @@
 
       mesh_index_pair location;
 
-      if (!position_is_reachable(rx, ry)) {
+      if (!position_is_reachable(pos)) {
         SERIAL_ECHOLNPGM("(X,Y) outside printable radius.");
         return;
       }
@@ -981,76 +984,78 @@
       save_ubl_active_state_and_disable();
 
       LCD_MESSAGEPGM(MSG_UBL_FINE_TUNE_MESH);
-      ui.capture();                                                 // Take over control of the LCD encoder
+      ui.capture();                                         // Take over control of the LCD encoder
 
-      do_blocking_move_to(rx, ry, Z_CLEARANCE_BETWEEN_PROBES);      // Move to the given XY with probe clearance
+      do_blocking_move_to(pos, Z_CLEARANCE_BETWEEN_PROBES); // Move to the given XY with probe clearance
 
       #if ENABLED(UBL_MESH_EDIT_MOVES_Z)
-        do_blocking_move_to_z(h_offset);                            // Move Z to the given 'H' offset
+        do_blocking_move_to_z(h_offset);                    // Move Z to the given 'H' offset
       #endif
 
-      uint16_t not_done[16];
-      memset(not_done, 0xFF, sizeof(not_done));
+      MeshFlags done_flags{0};
+      xy_int8_t &lpos = location.pos;
       do {
-        location = find_closest_mesh_point_of_type(SET_IN_BITMAP, rx, ry, USE_NOZZLE_AS_REFERENCE, not_done);
-
-        if (location.x_index < 0) break;                            // Stop when there are no more reachable points
+        location = find_closest_mesh_point_of_type(SET_IN_BITMAP, pos, false, &done_flags);
 
-        bitmap_clear(not_done, location.x_index, location.y_index); // Mark this location as 'adjusted' so a new
-                                                                    // location is used on the next loop
+        if (lpos.x < 0) break;                              // Stop when there are no more reachable points
 
-        const float rawx = mesh_index_to_xpos(location.x_index),
-                    rawy = mesh_index_to_ypos(location.y_index);
+        done_flags.mark(lpos);                              // Mark this location as 'adjusted' so a new
+                                                            // location is used on the next loop
+        const xyz_pos_t raw = {
+          mesh_index_to_xpos(lpos.x),
+          mesh_index_to_ypos(lpos.y),
+          Z_CLEARANCE_BETWEEN_PROBES
+        };
 
-        if (!position_is_reachable(rawx, rawy)) break;              // SHOULD NOT OCCUR because find_closest_mesh_point_of_type will only return reachable
+        if (!position_is_reachable(raw)) break;             // SHOULD NOT OCCUR (find_closest_mesh_point_of_type only returns reachable)
 
-        do_blocking_move_to(rawx, rawy, Z_CLEARANCE_BETWEEN_PROBES); // Move the nozzle to the edit point with probe clearance
+        do_blocking_move_to(raw);                           // Move the nozzle to the edit point with probe clearance
 
         #if ENABLED(UBL_MESH_EDIT_MOVES_Z)
-          do_blocking_move_to_z(h_offset);                          // Move Z to the given 'H' offset before editing
+          do_blocking_move_to_z(h_offset);                  // Move Z to the given 'H' offset before editing
         #endif
 
         KEEPALIVE_STATE(PAUSED_FOR_USER);
 
-        if (do_ubl_mesh_map) display_map(g29_map_type);             // Display the current point
+        if (do_ubl_mesh_map) display_map(g29_map_type);     // Display the current point
 
         ui.refresh();
 
-        float new_z = z_values[location.x_index][location.y_index];
-        if (isnan(new_z)) new_z = 0;                                // Invalid points begin at 0
-        new_z = FLOOR(new_z * 1000) * 0.001f;                       // Chop off digits after the 1000ths place
+        float new_z = z_values[lpos.x][lpos.y];
+        if (isnan(new_z)) new_z = 0;                        // Invalid points begin at 0
+        new_z = FLOOR(new_z * 1000) * 0.001f;               // Chop off digits after the 1000ths place
 
         lcd_mesh_edit_setup(new_z);
 
         do {
           new_z = lcd_mesh_edit();
           #if ENABLED(UBL_MESH_EDIT_MOVES_Z)
-            do_blocking_move_to_z(h_offset + new_z);                // Move the nozzle as the point is edited
+            do_blocking_move_to_z(h_offset + new_z);        // Move the nozzle as the point is edited
           #endif
           idle();
-          SERIAL_FLUSH();                                           // Prevent host M105 buffer overrun.
+          SERIAL_FLUSH();                                   // Prevent host M105 buffer overrun.
         } while (!ui.button_pressed());
 
-        if (!lcd_map_control) ui.return_to_status();                // Just editing a single point? Return to status
+        if (!lcd_map_control) ui.return_to_status();        // Just editing a single point? Return to status
 
-        if (click_and_hold(abort_fine_tune)) break;                 // Button held down? Abort editing
+        if (click_and_hold(abort_fine_tune)) break;         // Button held down? Abort editing
 
-        z_values[location.x_index][location.y_index] = new_z;       // Save the updated Z value
+        z_values[lpos.x][lpos.y] = new_z;                   // Save the updated Z value
         #if ENABLED(EXTENSIBLE_UI)
-          ExtUI::onMeshUpdate(location.x_index, location.y_index, new_z);
+          ExtUI::onMeshUpdate(location, new_z);
         #endif
 
-        serial_delay(20);                                           // No switch noise
+        serial_delay(20);                                   // No switch noise
         ui.refresh();
 
-      } while (location.x_index >= 0 && --g29_repetition_cnt > 0);
+      } while (lpos.x >= 0 && --g29_repetition_cnt > 0);
 
       ui.release();
 
       if (do_ubl_mesh_map) display_map(g29_map_type);
       restore_ubl_active_state_and_leave();
 
-      do_blocking_move_to(rx, ry, Z_CLEARANCE_BETWEEN_PROBES);
+      do_blocking_move_to(pos, Z_CLEARANCE_BETWEEN_PROBES);
 
       LCD_MESSAGEPGM(MSG_UBL_DONE_EDITING_MESH);
       SERIAL_ECHOLNPGM("Done Editing Mesh");
@@ -1073,11 +1078,6 @@
     g29_constant = 0;
     g29_repetition_cnt = 0;
 
-    g29_x_flag = parser.seenval('X');
-    g29_x_pos = g29_x_flag ? parser.value_float() : current_position[X_AXIS];
-    g29_y_flag = parser.seenval('Y');
-    g29_y_pos = g29_y_flag ? parser.value_float() : current_position[Y_AXIS];
-
     if (parser.seen('R')) {
       g29_repetition_cnt = parser.has_value() ? parser.value_int() : GRID_MAX_POINTS;
       NOMORE(g29_repetition_cnt, GRID_MAX_POINTS);
@@ -1124,17 +1124,24 @@
       #endif
     }
 
-    if (g29_x_flag != g29_y_flag) {
+    xy_seen.x = parser.seenval('X');
+    float sx = xy_seen.x ? parser.value_float() : current_position.x;
+    xy_seen.y = parser.seenval('Y');
+    float sy = xy_seen.y ? parser.value_float() : current_position.y;
+
+    if (xy_seen.x != xy_seen.y) {
       SERIAL_ECHOLNPGM("Both X & Y locations must be specified.\n");
       err_flag = true;
     }
 
     // If X or Y are not valid, use center of the bed values
-    if (!WITHIN(g29_x_pos, X_MIN_BED, X_MAX_BED)) g29_x_pos = X_CENTER;
-    if (!WITHIN(g29_y_pos, Y_MIN_BED, Y_MAX_BED)) g29_y_pos = Y_CENTER;
+    if (!WITHIN(sx, X_MIN_BED, X_MAX_BED)) sx = X_CENTER;
+    if (!WITHIN(sy, Y_MIN_BED, Y_MAX_BED)) sy = Y_CENTER;
 
     if (err_flag) return UBL_ERR;
 
+    g29_pos.set(sx, sy);
+
     /**
      * Activate or deactivate UBL
      * Note: UBL's G29 restores the state set here when done.
@@ -1213,26 +1220,22 @@
 
   mesh_index_pair unified_bed_leveling::find_furthest_invalid_mesh_point() {
 
-    bool found_a_NAN  = false, found_a_real = false;
+    bool found_a_NAN = false, found_a_real = false;
 
-    mesh_index_pair out_mesh;
-    out_mesh.x_index = out_mesh.y_index = -1;
-    out_mesh.distance = -99999.99f;
+    mesh_index_pair farthest { -1, -1, -99999.99 };
 
     for (int8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
       for (int8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
 
-        if (isnan(z_values[i][j])) { // Check to see if this location holds an invalid mesh point
-
-          const float mx = mesh_index_to_xpos(i),
-                      my = mesh_index_to_ypos(j);
+        if (isnan(z_values[i][j])) {                  // Invalid mesh point?
 
-          if (!position_is_reachable_by_probe(mx, my))  // make sure the probe can get to the mesh point
+          // Skip points the probe can't reach
+          if (!position_is_reachable_by_probe(mesh_index_to_xpos(i), mesh_index_to_ypos(j)))
             continue;
 
           found_a_NAN = true;
 
-          int8_t closest_x = -1, closest_y = -1;
+          xy_int8_t near { -1, -1 };
           float d1, d2 = 99999.9f;
           for (int8_t k = 0; k < GRID_MAX_POINTS_X; k++) {
             for (int8_t l = 0; l < GRID_MAX_POINTS_Y; l++) {
@@ -1245,84 +1248,75 @@
 
                 d1 = HYPOT(i - k, j - l) + (1.0f / ((millis() % 47) + 13));
 
-                if (d1 < d2) {    // found a closer distance from invalid mesh point at (i,j) to defined mesh point at (k,l)
-                  d2 = d1;        // found a closer location with
-                  closest_x = i;  // an assigned mesh point value
-                  closest_y = j;
+                if (d1 < d2) {    // Invalid mesh point (i,j) is closer to the defined point (k,l)
+                  d2 = d1;
+                  near.set(i, j);
                 }
               }
             }
           }
 
           //
-          // At this point d2 should have the closest defined mesh point to invalid mesh point (i,j)
+          // At this point d2 should have the near defined mesh point to invalid mesh point (i,j)
           //
 
-          if (found_a_real && (closest_x >= 0) && (d2 > out_mesh.distance)) {
-            out_mesh.distance = d2;         // found an invalid location with a greater distance
-            out_mesh.x_index = closest_x;   // to a defined mesh point
-            out_mesh.y_index = closest_y;
+          if (found_a_real && near.x >= 0 && d2 > farthest.distance) {
+            farthest.pos = near;      // Found an invalid location farther from the defined mesh point
+            farthest.distance = d2;
           }
         }
       } // for j
     } // for i
 
     if (!found_a_real && found_a_NAN) {        // if the mesh is totally unpopulated, start the probing
-      out_mesh.x_index = GRID_MAX_POINTS_X / 2;
-      out_mesh.y_index = GRID_MAX_POINTS_Y / 2;
-      out_mesh.distance = 1;
+      farthest.pos.set(GRID_MAX_POINTS_X / 2, GRID_MAX_POINTS_Y / 2);
+      farthest.distance = 1;
     }
-    return out_mesh;
+    return farthest;
   }
 
-  mesh_index_pair unified_bed_leveling::find_closest_mesh_point_of_type(const MeshPointType type, const float &rx, const float &ry, const bool probe_as_reference, uint16_t bits[16]) {
-    mesh_index_pair out_mesh;
-    out_mesh.x_index = out_mesh.y_index = -1;
-    out_mesh.distance = -99999.9f;
+  mesh_index_pair unified_bed_leveling::find_closest_mesh_point_of_type(const MeshPointType type, const xy_pos_t &pos, const bool probe_relative/*=false*/, MeshFlags *done_flags/*=nullptr*/) {
+    mesh_index_pair closest;
+    closest.invalidate();
+    closest.distance = -99999.9f;
 
-    // Get our reference position. Either the nozzle or probe location.
-    const float px = rx + (probe_as_reference == USE_PROBE_AS_REFERENCE ? probe_offset[X_AXIS] : 0),
-                py = ry + (probe_as_reference == USE_PROBE_AS_REFERENCE ? probe_offset[Y_AXIS] : 0);
+    // Get the reference position, either nozzle or probe
+    const xy_pos_t ref = probe_relative ? pos + probe_offset : pos;
 
     float best_so_far = 99999.99f;
 
     for (int8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
       for (int8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
-
-        if ( (type == INVALID && isnan(z_values[i][j]))  // Check to see if this location holds the right thing
-          || (type == REAL && !isnan(z_values[i][j]))
-          || (type == SET_IN_BITMAP && is_bitmap_set(bits, i, j))
+        if ( (type == (isnan(z_values[i][j]) ? INVALID : REAL))
+          || (type == SET_IN_BITMAP && !done_flags->marked(i, j))
         ) {
-          // We only get here if we found a Mesh Point of the specified type
-
-          const float mx = mesh_index_to_xpos(i),
-                      my = mesh_index_to_ypos(j);
+          // Found a Mesh Point of the specified type!
+          const xy_pos_t mpos = { mesh_index_to_xpos(i), mesh_index_to_ypos(j) };
 
           // If using the probe as the reference there are some unreachable locations.
           // Also for round beds, there are grid points outside the bed the nozzle can't reach.
           // Prune them from the list and ignore them till the next Phase (manual nozzle probing).
 
-          if (probe_as_reference ? !position_is_reachable_by_probe(mx, my) : !position_is_reachable(mx, my))
+          if (probe_relative ? !position_is_reachable_by_probe(mpos) : !position_is_reachable(mpos))
             continue;
 
           // Reachable. Check if it's the best_so_far location to the nozzle.
 
-          float distance = HYPOT(px - mx, py - my);
+          const xy_pos_t diff = current_position - mpos;
+          const float distance = (ref - mpos).magnitude() + diff.magnitude() * 0.1f;
 
           // factor in the distance from the current location for the normal case
           // so the nozzle isn't running all over the bed.
-          distance += HYPOT(current_position[X_AXIS] - mx, current_position[Y_AXIS] - my) * 0.1f;
           if (distance < best_so_far) {
-            best_so_far = distance;   // We found a closer location with
-            out_mesh.x_index = i;     // the specified type of mesh value.
-            out_mesh.y_index = j;
-            out_mesh.distance = best_so_far;
+            best_so_far = distance;   // Found a closer location with the desired value type.
+            closest.pos.set(i, j);
+            closest.distance = best_so_far;
           }
         }
       } // for j
     } // for i
 
-    return out_mesh;
+    return closest;
   }
 
   /**
@@ -1332,20 +1326,20 @@
    */
 
   bool unified_bed_leveling::smart_fill_one(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir) {
-    const int8_t x1 = x + xdir, x2 = x1 + xdir,
-                 y1 = y + ydir, y2 = y1 + ydir;
-    // A NAN next to a pair of real values?
-    if (isnan(z_values[x][y]) && !isnan(z_values[x1][y1]) && !isnan(z_values[x2][y2])) {
-      if (z_values[x1][y1] < z_values[x2][y2])                  // Angled downward?
-        z_values[x][y] = z_values[x1][y1];                      // Use nearest (maybe a little too high.)
-      else
-        z_values[x][y] = 2.0f * z_values[x1][y1] - z_values[x2][y2];   // Angled upward...
-
-      #if ENABLED(EXTENSIBLE_UI)
-        ExtUI::onMeshUpdate(x, y, z_values[x][y]);
-      #endif
-
-      return true;
+    const float v = z_values[x][y];
+    if (isnan(v)) {                           // A NAN...
+      const int8_t dx = x + xdir, dy = y + ydir;
+      const float v1 = z_values[dx][dy];
+      if (!isnan(v1)) {                       // ...next to a pair of real values?
+        const float v2 = z_values[dx + xdir][dy + ydir];
+        if (!isnan(v2)) {
+          z_values[x][y] = v1 < v2 ? v1 : v1 + v1 - v2;
+          #if ENABLED(EXTENSIBLE_UI)
+            ExtUI::onMeshUpdate(x, y, z_values[pos.x][pos.y]);
+          #endif
+          return true;
+        }
+      }
     }
     return false;
   }
@@ -1391,15 +1385,15 @@
                   dx = (x_max - x_min) / (g29_grid_size - 1),
                   dy = (y_max - y_min) / (g29_grid_size - 1);
 
-      vector_3 points[3] = {
+      const vector_3 points[3] = {
         #if ENABLED(HAS_FIXED_3POINT)
-          vector_3(PROBE_PT_1_X, PROBE_PT_1_Y, 0),
-          vector_3(PROBE_PT_2_X, PROBE_PT_2_Y, 0),
-          vector_3(PROBE_PT_3_X, PROBE_PT_3_Y, 0)
+          { PROBE_PT_1_X, PROBE_PT_1_Y, 0 },
+          { PROBE_PT_2_X, PROBE_PT_2_Y, 0 },
+          { PROBE_PT_3_X, PROBE_PT_3_Y, 0 }
         #else
-          vector_3(x_min, y_min, 0),
-          vector_3(x_max, y_min, 0),
-          vector_3((x_max - x_min) / 2, y_max, 0)
+          { x_min, y_min, 0 },
+          { x_max, y_min, 0 },
+          { (x_max - x_min) / 2, y_max, 0 }
         #endif
       };
 
@@ -1419,11 +1413,11 @@
           ui.status_printf_P(0, PSTR(MSG_LCD_TILTING_MESH " 1/3"));
         #endif
 
-        measured_z = probe_at_point(points[0].x, points[0].y, PROBE_PT_RAISE, g29_verbose_level);
+        measured_z = probe_at_point(points[0], PROBE_PT_RAISE, g29_verbose_level);
         if (isnan(measured_z))
           abort_flag = true;
         else {
-          measured_z -= get_z_correction(points[0].x, points[0].y);
+          measured_z -= get_z_correction(points[0]);
           #ifdef VALIDATE_MESH_TILT
             z1 = measured_z;
           #endif
@@ -1431,7 +1425,7 @@
             serial_spaces(16);
             SERIAL_ECHOLNPAIR("Corrected_Z=", measured_z);
           }
-          incremental_LSF(&lsf_results, points[0].x, points[0].y, measured_z);
+          incremental_LSF(&lsf_results, points[0], measured_z);
         }
 
         if (!abort_flag) {
@@ -1440,19 +1434,19 @@
             ui.status_printf_P(0, PSTR(MSG_LCD_TILTING_MESH " 2/3"));
           #endif
 
-          measured_z = probe_at_point(points[1].x, points[1].y, PROBE_PT_RAISE, g29_verbose_level);
+          measured_z = probe_at_point(points[1], PROBE_PT_RAISE, g29_verbose_level);
           #ifdef VALIDATE_MESH_TILT
             z2 = measured_z;
           #endif
           if (isnan(measured_z))
             abort_flag = true;
           else {
-            measured_z -= get_z_correction(points[1].x, points[1].y);
+            measured_z -= get_z_correction(points[1]);
             if (g29_verbose_level > 3) {
               serial_spaces(16);
               SERIAL_ECHOLNPAIR("Corrected_Z=", measured_z);
             }
-            incremental_LSF(&lsf_results, points[1].x, points[1].y, measured_z);
+            incremental_LSF(&lsf_results, points[1], measured_z);
           }
         }
 
@@ -1462,19 +1456,19 @@
             ui.status_printf_P(0, PSTR(MSG_LCD_TILTING_MESH " 3/3"));
           #endif
 
-          measured_z = probe_at_point(points[2].x, points[2].y, PROBE_PT_STOW, g29_verbose_level);
+          measured_z = probe_at_point(points[2], PROBE_PT_STOW, g29_verbose_level);
           #ifdef VALIDATE_MESH_TILT
             z3 = measured_z;
           #endif
           if (isnan(measured_z))
             abort_flag = true;
           else {
-            measured_z -= get_z_correction(points[2].x, points[2].y);
+            measured_z -= get_z_correction(points[2]);
             if (g29_verbose_level > 3) {
               serial_spaces(16);
               SERIAL_ECHOLNPAIR("Corrected_Z=", measured_z);
             }
-            incremental_LSF(&lsf_results, points[2].x, points[2].y, measured_z);
+            incremental_LSF(&lsf_results, points[2], measured_z);
           }
         }
 
@@ -1494,10 +1488,11 @@
 
         uint16_t total_points = g29_grid_size * g29_grid_size, point_num = 1;
 
+        xy_pos_t rpos;
         for (uint8_t ix = 0; ix < g29_grid_size; ix++) {
-          const float rx = x_min + ix * dx;
+          rpos.x = x_min + ix * dx;
           for (int8_t iy = 0; iy < g29_grid_size; iy++) {
-            const float ry = y_min + dy * (zig_zag ? g29_grid_size - 1 - iy : iy);
+            rpos.y = y_min + dy * (zig_zag ? g29_grid_size - 1 - iy : iy);
 
             if (!abort_flag) {
               SERIAL_ECHOLNPAIR("Tilting mesh point ", point_num, "/", total_points, "\n");
@@ -1505,24 +1500,24 @@
                 ui.status_printf_P(0, PSTR(MSG_LCD_TILTING_MESH " %i/%i"), point_num, total_points);
               #endif
 
-              measured_z = probe_at_point(rx, ry, parser.seen('E') ? PROBE_PT_STOW : PROBE_PT_RAISE, g29_verbose_level); // TODO: Needs error handling
+              measured_z = probe_at_point(rpos, parser.seen('E') ? PROBE_PT_STOW : PROBE_PT_RAISE, g29_verbose_level); // TODO: Needs error handling
 
               abort_flag = isnan(measured_z);
 
               if (DEBUGGING(LEVELING)) {
+                const xy_pos_t lpos = rpos.asLogical();
                 DEBUG_CHAR('(');
-                DEBUG_ECHO_F(rx, 7);
+                DEBUG_ECHO_F(rpos.x, 7);
                 DEBUG_CHAR(',');
-                DEBUG_ECHO_F(ry, 7);
-                DEBUG_ECHOPGM(")   logical: (");
-                DEBUG_ECHO_F(LOGICAL_X_POSITION(rx), 7);
+                DEBUG_ECHO_F(rpos.y, 7);
+                DEBUG_ECHOPAIR_F(")   logical: (", lpos.x, 7);
                 DEBUG_CHAR(',');
-                DEBUG_ECHO_F(LOGICAL_Y_POSITION(ry), 7);
+                DEBUG_ECHO_F(lpos.y, 7);
                 DEBUG_ECHOPAIR_F(")   measured: ", measured_z, 7);
-                DEBUG_ECHOPAIR_F("   correction: ", get_z_correction(rx, ry), 7);
+                DEBUG_ECHOPAIR_F("   correction: ", get_z_correction(rpos), 7);
               }
 
-              measured_z -= get_z_correction(rx, ry) /* + probe_offset[Z_AXIS] */ ;
+              measured_z -= get_z_correction(rpos) /* + probe_offset.z */ ;
 
               if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR_F("   final >>>---> ", measured_z, 7);
 
@@ -1530,7 +1525,7 @@
                 serial_spaces(16);
                 SERIAL_ECHOLNPAIR("Corrected_Z=", measured_z);
               }
-              incremental_LSF(&lsf_results, rx, ry, measured_z);
+              incremental_LSF(&lsf_results, rpos, measured_z);
             }
 
             point_num++;
@@ -1564,33 +1559,33 @@
 
       for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
         for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
-          float x_tmp = mesh_index_to_xpos(i),
-                y_tmp = mesh_index_to_ypos(j),
-                z_tmp = z_values[i][j];
+          float mx = mesh_index_to_xpos(i),
+                my = mesh_index_to_ypos(j),
+                mz = z_values[i][j];
 
           if (DEBUGGING(LEVELING)) {
-            DEBUG_ECHOPAIR_F("before rotation = [", x_tmp, 7);
+            DEBUG_ECHOPAIR_F("before rotation = [", mx, 7);
             DEBUG_CHAR(',');
-            DEBUG_ECHO_F(y_tmp, 7);
+            DEBUG_ECHO_F(my, 7);
             DEBUG_CHAR(',');
-            DEBUG_ECHO_F(z_tmp, 7);
+            DEBUG_ECHO_F(mz, 7);
             DEBUG_ECHOPGM("]   ---> ");
             DEBUG_DELAY(20);
           }
 
-          apply_rotation_xyz(rotation, x_tmp, y_tmp, z_tmp);
+          apply_rotation_xyz(rotation, mx, my, mz);
 
           if (DEBUGGING(LEVELING)) {
-            DEBUG_ECHOPAIR_F("after rotation = [", x_tmp, 7);
+            DEBUG_ECHOPAIR_F("after rotation = [", mx, 7);
             DEBUG_CHAR(',');
-            DEBUG_ECHO_F(y_tmp, 7);
+            DEBUG_ECHO_F(my, 7);
             DEBUG_CHAR(',');
-            DEBUG_ECHO_F(z_tmp, 7);
+            DEBUG_ECHO_F(mz, 7);
             DEBUG_ECHOLNPGM("]");
-            DEBUG_DELAY(55);
+            DEBUG_DELAY(20);
           }
 
-          z_values[i][j] = z_tmp - lsf_results.D;
+          z_values[i][j] = mz - lsf_results.D;
           #if ENABLED(EXTENSIBLE_UI)
             ExtUI::onMeshUpdate(i, j, z_values[i][j]);
           #endif
@@ -1613,41 +1608,32 @@
         DEBUG_EOL();
 
         /**
-         * The following code can be used to check the validity of the mesh tilting algorithm.
-         * When a 3-Point Mesh Tilt is done, the same algorithm is used as the grid based tilting.
-         * The only difference is just 3 points are used in the calculations.   That fact guarantees
-         * each probed point should have an exact match when a get_z_correction() for that location
-         * is calculated.  The Z error between the probed point locations and the get_z_correction()
+         * Use the code below to check the validity of the mesh tilting algorithm.
+         * 3-Point Mesh Tilt uses the same algorithm as grid-based tilting, but only
+         * three points are used in the calculation. This guarantees that each probed point
+         * has an exact match when get_z_correction() for that location is calculated.
+         * The Z error between the probed point locations and the get_z_correction()
          * numbers for those locations should be 0.
          */
         #ifdef VALIDATE_MESH_TILT
-          float t, t1, d;
-          t = normal.x * x_min + normal.y * y_min;
-          d = t + normal.z * z1;
-          DEBUG_ECHOPAIR_F("D from 1st point: ", d, 6);
-          DEBUG_ECHOLNPAIR_F("   Z error: ", normal.z * z1 - get_z_correction(x_min, y_min), 6);
-
-          t = normal.x * x_max + normal.y * y_min;
-          d = t + normal.z * z2;
-          DEBUG_EOL();
-          DEBUG_ECHOPAIR_F("D from 2nd point: ", d, 6);
-          DEBUG_ECHOLNPAIR_F("   Z error: ", normal.z * z2 - get_z_correction(x_max, y_min), 6);
-
-          t = normal.x * ((x_max - x_min) / 2) + normal.y * (y_min);
-          d = t + normal.z * z3;
-          DEBUG_ECHOPAIR_F("D from 3rd point: ", d, 6);
-          DEBUG_ECHOLNPAIR_F("   Z error: ", normal.z * z3 - get_z_correction((x_max - x_min) / 2, y_max), 6);
-
-          t = normal.x * (Z_SAFE_HOMING_X_POINT) + normal.y * (Z_SAFE_HOMING_Y_POINT);
-          d = t + normal.z * 0;
-          DEBUG_ECHOLNPAIR_F("D from home location with Z=0 : ", d, 6);
-
-          t = normal.x * (Z_SAFE_HOMING_X_POINT) + normal.y * (Z_SAFE_HOMING_Y_POINT);
-          d = t + get_z_correction(Z_SAFE_HOMING_X_POINT, Z_SAFE_HOMING_Y_POINT); // normal.z * 0;
-          DEBUG_ECHOPAIR_F("D from home location using mesh value for Z: ", d, 6);
-
+          auto d_from = []() { DEBUG_ECHOPGM("D from "); };
+          auto normed = [&](const xy_pos_t &pos, const float &zadd) {
+            return normal.x * pos.x + normal.y * pos.y + zadd;
+          };
+          auto debug_pt = [](PGM_P const pre, const xy_pos_t &pos, const float &zadd) {
+            d_from(); serialprintPGM(pre);
+            DEBUG_ECHO_F(normed(pos, zadd), 6);
+            DEBUG_ECHOLNPAIR_F("   Z error: ", zadd - get_z_correction(pos), 6);
+          };
+          debug_pt(PSTR("1st point: "), probe_pt[0], normal.z * z1);
+          debug_pt(PSTR("2nd point: "), probe_pt[1], normal.z * z2);
+          debug_pt(PSTR("3rd point: "), probe_pt[2], normal.z * z3);
+          d_from(); DEBUG_ECHOPGM("safe home with Z=");
+          DEBUG_ECHOLNPAIR_F("0 : ", normed(safe_homing_xy, 0), 6);
+          d_from(); DEBUG_ECHOPGM("safe home with Z=");
+          DEBUG_ECHOLNPAIR_F("mesh value ", normed(safe_homing_xy, get_z_correction(safe_homing_xy)), 6);
           DEBUG_ECHOPAIR("   Z error: (", Z_SAFE_HOMING_X_POINT, ",", Z_SAFE_HOMING_Y_POINT);
-          DEBUG_ECHOLNPAIR_F(") = ", get_z_correction(Z_SAFE_HOMING_X_POINT, Z_SAFE_HOMING_Y_POINT), 6);
+          DEBUG_ECHOLNPAIR_F(") = ", get_z_correction(safe_homing_xy), 6);
         #endif
       } // DEBUGGING(LEVELING)
 
@@ -1676,21 +1662,23 @@
           if (!isnan(z_values[jx][jy]))
             SBI(bitmap[jx], jy);
 
+      xy_pos_t ppos;
       for (uint8_t ix = 0; ix < GRID_MAX_POINTS_X; ix++) {
-        const float px = mesh_index_to_xpos(ix);
+        ppos.x = mesh_index_to_xpos(ix);
         for (uint8_t iy = 0; iy < GRID_MAX_POINTS_Y; iy++) {
-          const float py = mesh_index_to_ypos(iy);
+          ppos.y = mesh_index_to_ypos(iy);
           if (isnan(z_values[ix][iy])) {
-            // undefined mesh point at (px,py), compute weighted LSF from original valid mesh points.
+            // undefined mesh point at (ppos.x,ppos.y), compute weighted LSF from original valid mesh points.
             incremental_LSF_reset(&lsf_results);
+            xy_pos_t rpos;
             for (uint8_t jx = 0; jx < GRID_MAX_POINTS_X; jx++) {
-              const float rx = mesh_index_to_xpos(jx);
+              rpos.x = mesh_index_to_xpos(jx);
               for (uint8_t jy = 0; jy < GRID_MAX_POINTS_Y; jy++) {
                 if (TEST(bitmap[jx], jy)) {
-                  const float ry = mesh_index_to_ypos(jy),
-                              rz = z_values[jx][jy],
-                              w  = 1 + weight_scaled / HYPOT((rx - px), (ry - py));
-                  incremental_WLSF(&lsf_results, rx, ry, rz, w);
+                  rpos.y = mesh_index_to_ypos(jy);
+                  const float rz = z_values[jx][jy],
+                               w = 1.0f + weight_scaled / (rpos - ppos).magnitude();
+                  incremental_WLSF(&lsf_results, rpos, rz, w);
                 }
               }
             }
@@ -1698,12 +1686,12 @@
               SERIAL_ECHOLNPGM("Insufficient data");
               return;
             }
-            const float ez = -lsf_results.D - lsf_results.A * px - lsf_results.B * py;
+            const float ez = -lsf_results.D - lsf_results.A * ppos.x - lsf_results.B * ppos.y;
             z_values[ix][iy] = ez;
             #if ENABLED(EXTENSIBLE_UI)
               ExtUI::onMeshUpdate(ix, iy, z_values[ix][iy]);
             #endif
-            idle();   // housekeeping
+            idle(); // housekeeping
           }
         }
       }
@@ -1734,7 +1722,7 @@
       adjust_mesh_to_mean(g29_c_flag, g29_constant);
 
       #if HAS_BED_PROBE
-        SERIAL_ECHOLNPAIR_F("Probe Offset M851 Z", probe_offset[Z_AXIS], 7);
+        SERIAL_ECHOLNPAIR_F("Probe Offset M851 Z", probe_offset.z, 7);
       #endif
 
       SERIAL_ECHOLNPAIR("MESH_MIN_X  " STRINGIFY(MESH_MIN_X) "=", MESH_MIN_X); serial_delay(50);

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

@@ -35,12 +35,6 @@
 #include "../../../Marlin.h"
 #include <math.h>
 
-#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 feedRate_t &scaled_fr_mm_s, const uint8_t extruder) {
@@ -50,60 +44,57 @@
      * just do the required Z-Height correction, call the Planner's buffer_line() routine, and leave
      */
     #if HAS_POSITION_MODIFIERS
-      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] };
+      xyze_pos_t start = current_position, end = destination;
       planner.apply_modifiers(start);
       planner.apply_modifiers(end);
     #else
-      const float (&start)[XYZE] = current_position,
-                    (&end)[XYZE] = destination;
+      const xyze_pos_t &start = current_position, &end = destination;
     #endif
 
-    const int cell_start_xi = get_cell_index_x(start[X_AXIS]),
-              cell_start_yi = get_cell_index_y(start[Y_AXIS]),
-              cell_dest_xi  = get_cell_index_x(end[X_AXIS]),
-              cell_dest_yi  = get_cell_index_y(end[Y_AXIS]);
+    const xy_int8_t istart = cell_indexes(start), iend = cell_indexes(end);
 
     // A move within the same cell needs no splitting
-    if (cell_start_xi == cell_dest_xi && cell_start_yi == cell_dest_yi) {
+    if (istart == iend) {
 
       // For a move off the bed, use a constant Z raise
-      if (!WITHIN(cell_dest_xi, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(cell_dest_yi, 0, GRID_MAX_POINTS_Y - 1)) {
+      if (!WITHIN(iend.x, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(iend.y, 0, GRID_MAX_POINTS_Y - 1)) {
 
         // Note: There is no Z Correction in this case. We are off the grid and don't know what
         // a reasonable correction would be.  If the user has specified a UBL_Z_RAISE_WHEN_OFF_MESH
         // value, that will be used instead of a calculated (Bi-Linear interpolation) correction.
 
-        const float z_raise = 0.0
-          #ifdef UBL_Z_RAISE_WHEN_OFF_MESH
-            + UBL_Z_RAISE_WHEN_OFF_MESH
-          #endif
-        ;
-        planner.buffer_segment(end[X_AXIS], end[Y_AXIS], end[Z_AXIS] + z_raise, end[E_AXIS], scaled_fr_mm_s, extruder);
-        set_current_from_destination();
+        #ifdef UBL_Z_RAISE_WHEN_OFF_MESH
+          end.z += UBL_Z_RAISE_WHEN_OFF_MESH;
+        #endif
+        planner.buffer_segment(end, scaled_fr_mm_s, extruder);
+        current_position = destination;
         return;
       }
 
       FINAL_MOVE:
 
       // The distance is always MESH_X_DIST so multiply by the constant reciprocal.
-      const float xratio = (end[X_AXIS] - mesh_index_to_xpos(cell_dest_xi)) * RECIPROCAL(MESH_X_DIST);
+      const float xratio = (end.x - mesh_index_to_xpos(iend.x)) * RECIPROCAL(MESH_X_DIST);
 
-      float z1 = z_values[cell_dest_xi    ][cell_dest_yi    ] + xratio *
-                (z_values[cell_dest_xi + 1][cell_dest_yi    ] - z_values[cell_dest_xi][cell_dest_yi    ]),
-            z2 = z_values[cell_dest_xi    ][cell_dest_yi + 1] + xratio *
-                (z_values[cell_dest_xi + 1][cell_dest_yi + 1] - z_values[cell_dest_xi][cell_dest_yi + 1]);
-
-      if (cell_dest_xi >= GRID_MAX_POINTS_X - 1) z1 = z2 = 0.0;
+      float z1, z2;
+      if (iend.x >= GRID_MAX_POINTS_X - 1)
+        z1 = z2 = 0.0;
+      else {
+        z1 = z_values[iend.x    ][iend.y    ] + xratio *
+            (z_values[iend.x + 1][iend.y    ] - z_values[iend.x][iend.y    ]),
+        z2 = z_values[iend.x    ][iend.y + 1] + xratio *
+            (z_values[iend.x + 1][iend.y + 1] - z_values[iend.x][iend.y + 1]);
+      }
 
       // X cell-fraction done. Interpolate the two Z offsets with the Y fraction for the final Z offset.
-      const float yratio = (end[Y_AXIS] - mesh_index_to_ypos(cell_dest_yi)) * RECIPROCAL(MESH_Y_DIST),
-                  z0 = cell_dest_yi < GRID_MAX_POINTS_Y - 1 ? (z1 + (z2 - z1) * yratio) * planner.fade_scaling_factor_for_z(end[Z_AXIS]) : 0.0;
+      const float yratio = (end.y - mesh_index_to_ypos(iend.y)) * RECIPROCAL(MESH_Y_DIST),
+                  z0 = iend.y < GRID_MAX_POINTS_Y - 1 ? (z1 + (z2 - z1) * yratio) * planner.fade_scaling_factor_for_z(end.z) : 0.0;
 
       // Undefined parts of the Mesh in z_values[][] are NAN.
       // Replace NAN corrections with 0.0 to prevent NAN propagation.
-      planner.buffer_segment(end[X_AXIS], end[Y_AXIS], end[Z_AXIS] + (isnan(z0) ? 0.0 : z0), end[E_AXIS], scaled_fr_mm_s, extruder);
-      set_current_from_destination();
+      if (!isnan(z0)) end.z += z0;
+      planner.buffer_segment(end, scaled_fr_mm_s, extruder);
+      current_position = destination;
       return;
     }
 
@@ -112,17 +103,11 @@
      * case - crossing only one X or Y line - after details are worked out to reduce computation.
      */
 
-    const float dx = end[X_AXIS] - start[X_AXIS],
-                dy = end[Y_AXIS] - start[Y_AXIS];
-
-    const int left_flag = dx < 0.0 ? 1 : 0,
-              down_flag = dy < 0.0 ? 1 : 0;
-
-    const float adx = left_flag ? -dx : dx,
-                ady = down_flag ? -dy : dy;
-
-    const int dxi = cell_start_xi == cell_dest_xi ? 0 : left_flag ? -1 : 1,
-              dyi = cell_start_yi == cell_dest_yi ? 0 : down_flag ? -1 : 1;
+    const xy_float_t dist = end - start;
+    const xy_bool_t neg { dist.x < 0, dist.y < 0 };
+    const xy_int8_t ineg { int8_t(neg.x), int8_t(neg.y) };
+    const xy_float_t sign { neg.x ? -1.0f : 1.0f, neg.y ? -1.0f : 1.0f };
+    const xy_int8_t iadd { int8_t(iend.x == istart.x ? 0 : sign.x), int8_t(iend.y == istart.y ? 0 : sign.y) };
 
     /**
      * Compute the extruder scaling factor for each partial move, checking for
@@ -132,64 +117,64 @@
      * components. The larger of the two is used to preserve precision.
      */
 
-    const bool use_x_dist = adx > ady;
+    const xy_float_t ad = sign * dist;
+    const bool use_x_dist = ad.x > ad.y;
 
-    float on_axis_distance = use_x_dist ? dx : dy,
-          e_position = end[E_AXIS] - start[E_AXIS],
-          z_position = end[Z_AXIS] - start[Z_AXIS];
+    float on_axis_distance = use_x_dist ? dist.x : dist.y,
+          e_position = end.e - start.e,
+          z_position = end.z - start.z;
 
-    const float e_normalized_dist = e_position / on_axis_distance,
+    const float e_normalized_dist = e_position / on_axis_distance, // Allow divide by zero
                 z_normalized_dist = z_position / on_axis_distance;
 
-    int current_xi = cell_start_xi,
-        current_yi = cell_start_yi;
+    xy_int8_t icell = istart;
 
-    const float m = dy / dx,
-                c = start[Y_AXIS] - m * start[X_AXIS];
+    const float ratio = dist.y / dist.x,        // Allow divide by zero
+                c = start.y - ratio * start.x;
 
-    const bool inf_normalized_flag = (isinf(e_normalized_dist) != 0),
-               inf_m_flag = (isinf(m) != 0);
+    const bool inf_normalized_flag = isinf(e_normalized_dist),
+               inf_ratio_flag = isinf(ratio);
 
     /**
      * Handle vertical lines that stay within one column.
      * These need not be perfectly vertical.
      */
-    if (dxi == 0) {             // Vertical line?
-      current_yi += down_flag;  // Line going down? Just go to the bottom.
-      while (current_yi != cell_dest_yi + down_flag) {
-        current_yi += dyi;
-        const float next_mesh_line_y = mesh_index_to_ypos(current_yi);
+    if (iadd.x == 0) {        // Vertical line?
+      icell.y += ineg.y;      // Line going down? Just go to the bottom.
+      while (icell.y != iend.y + ineg.y) {
+        icell.y += iadd.y;
+        const float next_mesh_line_y = mesh_index_to_ypos(icell.y);
 
         /**
          * Skip the calculations for an infinite slope.
          * For others the next X is the same so this can continue.
          * Calculate X at the next Y mesh line.
          */
-        const float rx = inf_m_flag ? start[X_AXIS] : (next_mesh_line_y - c) / m;
+        const float rx = inf_ratio_flag ? start.x : (next_mesh_line_y - c) / ratio;
 
-        float z0 = z_correction_for_x_on_horizontal_mesh_line(rx, current_xi, current_yi)
-                   * planner.fade_scaling_factor_for_z(end[Z_AXIS]);
+        float z0 = z_correction_for_x_on_horizontal_mesh_line(rx, icell.x, icell.y)
+                   * planner.fade_scaling_factor_for_z(end.z);
 
         // Undefined parts of the Mesh in z_values[][] are NAN.
         // Replace NAN corrections with 0.0 to prevent NAN propagation.
         if (isnan(z0)) z0 = 0.0;
 
-        const float ry = mesh_index_to_ypos(current_yi);
+        const float ry = mesh_index_to_ypos(icell.y);
 
         /**
          * Without this check, it's possible to generate a zero length move, as in the case where
          * the line is heading down, starting exactly on a mesh line boundary. Since this is rare
          * it might be fine to remove this check and let planner.buffer_segment() filter it out.
          */
-        if (ry != start[Y_AXIS]) {
-          if (!inf_normalized_flag) {
-            on_axis_distance = use_x_dist ? rx - start[X_AXIS] : ry - start[Y_AXIS];
-            e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist;
-            z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist;
+        if (ry != start.y) {
+          if (!inf_normalized_flag) { // fall-through faster than branch
+            on_axis_distance = use_x_dist ? rx - start.x : ry - start.y;
+            e_position = start.e + on_axis_distance * e_normalized_dist;
+            z_position = start.z + on_axis_distance * z_normalized_dist;
           }
           else {
-            e_position = end[E_AXIS];
-            z_position = end[Z_AXIS];
+            e_position = end.e;
+            z_position = end.z;
           }
 
           planner.buffer_segment(rx, ry, z_position + z0, e_position, scaled_fr_mm_s, extruder);
@@ -197,10 +182,10 @@
       }
 
       // At the final destination? Usually not, but when on a Y Mesh Line it's completed.
-      if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS])
+      if (xy_pos_t(current_position) != xy_pos_t(end))
         goto FINAL_MOVE;
 
-      set_current_from_destination();
+      current_position = destination;
       return;
     }
 
@@ -208,36 +193,34 @@
      * Handle horizontal lines that stay within one row.
      * These need not be perfectly horizontal.
      */
-    if (dyi == 0) {             // Horizontal line?
-      current_xi += left_flag;  // Heading left? Just go to the left edge of the cell for the first move.
-      while (current_xi != cell_dest_xi + left_flag) {
-        current_xi += dxi;
-        const float next_mesh_line_x = mesh_index_to_xpos(current_xi),
-                    ry = m * next_mesh_line_x + c;   // Calculate Y at the next X mesh line
+    if (iadd.y == 0) {      // Horizontal line?
+      icell.x += ineg.x;     // Heading left? Just go to the left edge of the cell for the first move.
+      while (icell.x != iend.x + ineg.x) {
+        icell.x += iadd.x;
+        const float rx = mesh_index_to_xpos(icell.x);
+        const float ry = ratio * rx + c;    // Calculate Y at the next X mesh line
 
-        float z0 = z_correction_for_y_on_vertical_mesh_line(ry, current_xi, current_yi)
-                   * planner.fade_scaling_factor_for_z(end[Z_AXIS]);
+        float z0 = z_correction_for_y_on_vertical_mesh_line(ry, icell.x, icell.y)
+                     * planner.fade_scaling_factor_for_z(end.z);
 
         // Undefined parts of the Mesh in z_values[][] are NAN.
         // Replace NAN corrections with 0.0 to prevent NAN propagation.
         if (isnan(z0)) z0 = 0.0;
 
-        const float rx = mesh_index_to_xpos(current_xi);
-
         /**
          * Without this check, it's possible to generate a zero length move, as in the case where
          * the line is heading left, starting exactly on a mesh line boundary. Since this is rare
          * it might be fine to remove this check and let planner.buffer_segment() filter it out.
          */
-        if (rx != start[X_AXIS]) {
+        if (rx != start.x) {
           if (!inf_normalized_flag) {
-            on_axis_distance = use_x_dist ? rx - start[X_AXIS] : ry - start[Y_AXIS];
-            e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist;  // is based on X or Y because this is a horizontal move
-            z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist;
+            on_axis_distance = use_x_dist ? rx - start.x : ry - start.y;
+            e_position = start.e + on_axis_distance * e_normalized_dist;  // is based on X or Y because this is a horizontal move
+            z_position = start.z + on_axis_distance * z_normalized_dist;
           }
           else {
-            e_position = end[E_AXIS];
-            z_position = end[Z_AXIS];
+            e_position = end.e;
+            z_position = end.z;
           }
 
           if (!planner.buffer_segment(rx, ry, z_position + z0, e_position, scaled_fr_mm_s, extruder))
@@ -245,93 +228,88 @@
         } //else printf("FIRST MOVE PRUNED  ");
       }
 
-      if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS])
+      if (xy_pos_t(current_position) != xy_pos_t(end))
         goto FINAL_MOVE;
 
-      set_current_from_destination();
+      current_position = destination;
       return;
     }
 
     /**
      *
-     * Handle the generic case of a line crossing both X and Y Mesh lines.
+     * Generic case of a line crossing both X and Y Mesh lines.
      *
      */
 
-    int xi_cnt = cell_start_xi - cell_dest_xi,
-        yi_cnt = cell_start_yi - cell_dest_yi;
-
-    if (xi_cnt < 0) xi_cnt = -xi_cnt;
-    if (yi_cnt < 0) yi_cnt = -yi_cnt;
+    xy_int8_t cnt = (istart - iend).ABS();
 
-    current_xi += left_flag;
-    current_yi += down_flag;
+    icell += ineg;
 
-    while (xi_cnt || yi_cnt) {
+    while (cnt) {
 
-      const float next_mesh_line_x = mesh_index_to_xpos(current_xi + dxi),
-                  next_mesh_line_y = mesh_index_to_ypos(current_yi + dyi),
-                  ry = m * next_mesh_line_x + c,   // Calculate Y at the next X mesh line
-                  rx = (next_mesh_line_y - c) / m; // Calculate X at the next Y mesh line
-                                                   // (No need to worry about m being zero.
-                                                   //  If that was the case, it was already detected
-                                                   //  as a vertical line move above.)
+      const float next_mesh_line_x = mesh_index_to_xpos(icell.x + iadd.x),
+                  next_mesh_line_y = mesh_index_to_ypos(icell.y + iadd.y),
+                  ry = ratio * next_mesh_line_x + c,    // Calculate Y at the next X mesh line
+                  rx = (next_mesh_line_y - c) / ratio;  // Calculate X at the next Y mesh line
+                                                        // (No need to worry about ratio == 0.
+                                                        //  In that case, it was already detected
+                                                        //  as a vertical line move above.)
 
-      if (left_flag == (rx > next_mesh_line_x)) { // Check if we hit the Y line first
+      if (neg.x == (rx > next_mesh_line_x)) { // Check if we hit the Y line first
         // Yes!  Crossing a Y Mesh Line next
-        float z0 = z_correction_for_x_on_horizontal_mesh_line(rx, current_xi - left_flag, current_yi + dyi)
-                   * planner.fade_scaling_factor_for_z(end[Z_AXIS]);
+        float z0 = z_correction_for_x_on_horizontal_mesh_line(rx, icell.x - ineg.x, icell.y + iadd.y)
+                   * planner.fade_scaling_factor_for_z(end.z);
 
         // Undefined parts of the Mesh in z_values[][] are NAN.
         // Replace NAN corrections with 0.0 to prevent NAN propagation.
         if (isnan(z0)) z0 = 0.0;
 
         if (!inf_normalized_flag) {
-          on_axis_distance = use_x_dist ? rx - start[X_AXIS] : next_mesh_line_y - start[Y_AXIS];
-          e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist;
-          z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist;
+          on_axis_distance = use_x_dist ? rx - start.x : next_mesh_line_y - start.y;
+          e_position = start.e + on_axis_distance * e_normalized_dist;
+          z_position = start.z + on_axis_distance * z_normalized_dist;
         }
         else {
-          e_position = end[E_AXIS];
-          z_position = end[Z_AXIS];
+          e_position = end.e;
+          z_position = end.z;
         }
         if (!planner.buffer_segment(rx, next_mesh_line_y, z_position + z0, e_position, scaled_fr_mm_s, extruder))
           break;
-        current_yi += dyi;
-        yi_cnt--;
+        icell.y += iadd.y;
+        cnt.y--;
       }
       else {
         // Yes!  Crossing a X Mesh Line next
-        float z0 = z_correction_for_y_on_vertical_mesh_line(ry, current_xi + dxi, current_yi - down_flag)
-                   * planner.fade_scaling_factor_for_z(end[Z_AXIS]);
+        float z0 = z_correction_for_y_on_vertical_mesh_line(ry, icell.x + iadd.x, icell.y - ineg.y)
+                   * planner.fade_scaling_factor_for_z(end.z);
 
         // Undefined parts of the Mesh in z_values[][] are NAN.
         // Replace NAN corrections with 0.0 to prevent NAN propagation.
         if (isnan(z0)) z0 = 0.0;
 
         if (!inf_normalized_flag) {
-          on_axis_distance = use_x_dist ? next_mesh_line_x - start[X_AXIS] : ry - start[Y_AXIS];
-          e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist;
-          z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist;
+          on_axis_distance = use_x_dist ? next_mesh_line_x - start.x : ry - start.y;
+          e_position = start.e + on_axis_distance * e_normalized_dist;
+          z_position = start.z + on_axis_distance * z_normalized_dist;
         }
         else {
-          e_position = end[E_AXIS];
-          z_position = end[Z_AXIS];
+          e_position = end.e;
+          z_position = end.z;
         }
 
         if (!planner.buffer_segment(next_mesh_line_x, ry, z_position + z0, e_position, scaled_fr_mm_s, extruder))
           break;
-        current_xi += dxi;
-        xi_cnt--;
+        icell.x += iadd.x;
+        cnt.x--;
       }
 
-      if (xi_cnt < 0 || yi_cnt < 0) break; // Too far! Exit the loop and go to FINAL_MOVE
+      if (cnt.x < 0 || cnt.y < 0) break; // Too far! Exit the loop and go to FINAL_MOVE
     }
 
-    if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS])
+    if (xy_pos_t(current_position) != xy_pos_t(end))
       goto FINAL_MOVE;
 
-    set_current_from_destination();
+    current_position = destination;
   }
 
 #else // UBL_SEGMENTED
@@ -356,56 +334,42 @@
 
   bool _O2 unified_bed_leveling::line_to_destination_segmented(const feedRate_t &scaled_fr_mm_s) {
 
-    if (!position_is_reachable(destination[X_AXIS], destination[Y_AXIS]))  // fail if moving outside reachable boundary
-      return true; // did not move, so current_position still accurate
+    if (!position_is_reachable(destination))  // fail if moving outside reachable boundary
+      return true;                            // did not move, so current_position still accurate
 
-    const float total[XYZE] = {
-      destination[X_AXIS] - current_position[X_AXIS],
-      destination[Y_AXIS] - current_position[Y_AXIS],
-      destination[Z_AXIS] - current_position[Z_AXIS],
-      destination[E_AXIS] - current_position[E_AXIS]
-    };
+    const xyze_pos_t total = destination - current_position;
 
-    const float cartesian_xy_mm = HYPOT(total[X_AXIS], total[Y_AXIS]);  // total horizontal xy distance
+    const float cart_xy_mm_2 = HYPOT2(total.x, total.y),
+                cart_xy_mm = SQRT(cart_xy_mm_2);                                     // Total XY distance
 
     #if IS_KINEMATIC
-      const float seconds = cartesian_xy_mm / scaled_fr_mm_s;                             // Duration of XY move at requested rate
-      uint16_t segments = LROUND(delta_segments_per_second * seconds),                    // Preferred number of segments for distance @ feedrate
-               seglimit = LROUND(cartesian_xy_mm * RECIPROCAL(DELTA_SEGMENT_MIN_LENGTH)); // Number of segments at minimum segment length
-      NOMORE(segments, seglimit);                                                         // Limit to minimum segment length (fewer segments)
+      const float seconds = cart_xy_mm / scaled_fr_mm_s;                             // Duration of XY move at requested rate
+      uint16_t segments = LROUND(delta_segments_per_second * seconds),               // Preferred number of segments for distance @ feedrate
+               seglimit = LROUND(cart_xy_mm * RECIPROCAL(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 = LROUND(cartesian_xy_mm * RECIPROCAL(DELTA_SEGMENT_MIN_LENGTH)); // cartesian fixed segment length
+      uint16_t segments = LROUND(cart_xy_mm * RECIPROCAL(DELTA_SEGMENT_MIN_LENGTH)); // Cartesian fixed segment length
     #endif
 
-    NOLESS(segments, 1U);                        // must have at least one segment
-    const float inv_segments = 1.0f / segments;  // divide once, multiply thereafter
+    NOLESS(segments, 1U);                                                            // Must have at least one segment
+    const float inv_segments = 1.0f / segments,                                      // Reciprocal to save calculation
+                segment_xyz_mm = SQRT(cart_xy_mm_2 + sq(total.z)) * inv_segments;    // Length of each segment
 
-    const float segment_xyz_mm = HYPOT(cartesian_xy_mm, total[Z_AXIS]) * inv_segments;   // length of each segment
     #if ENABLED(SCARA_FEEDRATE_SCALING)
       const float inv_duration = scaled_fr_mm_s / segment_xyz_mm;
     #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
-    };
+    xyze_float_t diff = total * 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]
-    };
+    xyze_pos_t raw = current_position;
 
     // Just do plain segmentation if UBL is inactive or the target is above the fade height
-    if (!planner.leveling_active || !planner.leveling_active_at_z(destination[Z_AXIS])) {
+    if (!planner.leveling_active || !planner.leveling_active_at_z(destination.z)) {
       while (--segments) {
-        LOOP_XYZE(i) raw[i] += diff[i];
+        raw += diff;
         planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, segment_xyz_mm
           #if ENABLED(SCARA_FEEDRATE_SCALING)
             , inv_duration
@@ -417,17 +381,17 @@
           , inv_duration
         #endif
       );
-      return false; // moved but did not set_current_from_destination();
+      return false; // Did not set current from destination
     }
 
     // Otherwise perform per-segment leveling
 
     #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
-      const float fade_scaling_factor = planner.fade_scaling_factor_for_z(destination[Z_AXIS]);
+      const float fade_scaling_factor = planner.fade_scaling_factor_for_z(destination.z);
     #endif
 
-    // increment to first segment destination
-    LOOP_XYZE(i) raw[i] += diff[i];
+    // Move to first segment destination
+    raw += diff;
 
     for (;;) {  // for each mesh cell encountered during the move
 
@@ -438,75 +402,68 @@
       // 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)) * RECIPROCAL(MESH_X_DIST),
-             cell_yi = (raw[Y_AXIS] - (MESH_MIN_Y)) * RECIPROCAL(MESH_Y_DIST);
+      xy_int8_t icell = {
+        int8_t((raw.x - (MESH_MIN_X)) * RECIPROCAL(MESH_X_DIST)),
+        int8_t((raw.y - (MESH_MIN_Y)) * RECIPROCAL(MESH_Y_DIST))
+      };
+      LIMIT(icell.x, 0, (GRID_MAX_POINTS_X) - 1);
+      LIMIT(icell.y, 0, (GRID_MAX_POINTS_Y) - 1);
 
-      LIMIT(cell_xi, 0, (GRID_MAX_POINTS_X) - 1);
-      LIMIT(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);
-
-      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[icell.x  ][icell.y  ],  // z at lower left corner
+            z_x1y0 = z_values[icell.x+1][icell.y  ],  // z at upper left corner
+            z_x0y1 = z_values[icell.x  ][icell.y+1],  // z at lower right corner
+            z_x1y1 = z_values[icell.x+1][icell.y+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
 
-      float cx = raw[X_AXIS] - x0,   // cell-relative x and y
-            cy = raw[Y_AXIS] - y0;
+      const xy_pos_t pos = { mesh_index_to_xpos(icell.x), mesh_index_to_ypos(icell.y) };
+      xy_pos_t cell = raw - pos;
 
       const float z_xmy0 = (z_x1y0 - z_x0y0) * RECIPROCAL(MESH_X_DIST),   // z slope per x along y0 (lower left to lower right)
                   z_xmy1 = (z_x1y1 - z_x0y1) * RECIPROCAL(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 * cell.x;        // z height along y0 at cell.x (changes for each cell.x 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 * cell.x,        // z height along y1 at cell.x
+                  z_cxyd = z_cxy1 - z_cxy0;                 // z height difference along cell.x from y0 to y1
 
-            float z_cxym = z_cxyd * RECIPROCAL(MESH_Y_DIST);  // z slope per y along cx from y0 to y1 (changes for each cx in cell)
+            float z_cxym = z_cxyd * RECIPROCAL(MESH_Y_DIST); // z slope per y along cell.x from pos.y to y1 (changes for each cell.x 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 * cell.y;        // interpolated mesh z height along cell.x at cell.y (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
+      // and the z_cxym slope will change, both as a function of cell.x 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) * RECIPROCAL(MESH_Y_DIST) * diff[X_AXIS];  // per-segment adjustment to z_cxym
+      const float z_sxy0 = z_xmy0 * diff.x,                                       // per-segment adjustment to z_cxy0
+                  z_sxym = (z_xmy1 - z_xmy0) * RECIPROCAL(MESH_Y_DIST) * diff.x;  // per-segment adjustment to z_cxym
 
       for (;;) {  // for all segments within this mesh cell
 
-        if (--segments == 0) COPY(raw, destination); // if this is last segment, use destination for exact
+        if (--segments == 0) raw = destination;     // if this is last segment, use destination for exact
 
-        const float z_cxcy = (z_cxy0 + z_cxym * cy) // interpolated mesh z height along cx at cy
+        const float z_cxcy = (z_cxy0 + z_cxym * cell.y) // interpolated mesh z height along cell.x at cell.y
           #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;
-        planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, segment_xyz_mm
+        planner.buffer_line(raw.x, raw.y, raw.z + z_cxcy, raw.e, scaled_fr_mm_s, active_extruder, segment_xyz_mm
           #if ENABLED(SCARA_FEEDRATE_SCALING)
             , inv_duration
           #endif
         );
-        raw[Z_AXIS] = z;
 
         if (segments == 0)                        // done with last segment
-          return false;                           // did not set_current_from_destination()
-
-        LOOP_XYZE(i) raw[i] += diff[i];
+          return false;                           // didn't set current from destination
 
-        cx += diff[X_AXIS];
-        cy += diff[Y_AXIS];
+        raw += diff;
+        cell += diff;
 
-        if (!WITHIN(cx, 0, MESH_X_DIST) || !WITHIN(cy, 0, MESH_Y_DIST))    // done within this cell, break to next
+        if (!WITHIN(cell.x, 0, MESH_X_DIST) || !WITHIN(cell.y, 0, MESH_Y_DIST))    // done within this cell, break to next
           break;
 
         // Next segment still within same mesh cell, adjust the per-segment

Marlin/src/feature/dac/dac_mcp4728.cpp

@@ -36,7 +36,7 @@
 
 #include "dac_mcp4728.h"
 
-uint16_t mcp4728_values[XYZE];
+xyze_uint_t mcp4728_values;
 
 /**
  * Begin I2C, get current values (input register and eeprom) of mcp4728
@@ -121,8 +121,8 @@ uint8_t mcp4728_getDrvPct(const uint8_t channel) { return uint8_t(100.0 * mcp472
  * Receives all Drive strengths as 0-100 percent values, updates
  * DAC Values array and calls fastwrite to update the DAC.
  */
-void mcp4728_setDrvPct(uint8_t pct[XYZE]) {
-  LOOP_XYZE(i) mcp4728_values[i] = 0.01 * pct[i] * (DAC_STEPPER_MAX);
+void mcp4728_setDrvPct(xyze_uint8_t &pct) {
+  mcp4728_values *= 0.01 * pct * (DAC_STEPPER_MAX);
   mcp4728_fastWrite();
 }
 

Marlin/src/feature/dac/dac_mcp4728.h

@@ -25,6 +25,8 @@
  * Arduino library for MicroChip MCP4728 I2C D/A converter.
  */
 
+#include "../../core/types.h"
+
 #include <Wire.h>
 
 #define defaultVDD     DAC_STEPPER_MAX //was 5000 but differs with internal Vref
@@ -54,4 +56,4 @@ uint16_t mcp4728_getValue(const uint8_t channel);
 uint8_t mcp4728_fastWrite();
 uint8_t mcp4728_simpleCommand(const byte simpleCommand);
 uint8_t mcp4728_getDrvPct(const uint8_t channel);
-void mcp4728_setDrvPct(uint8_t pct[XYZE]);
+void mcp4728_setDrvPct(xyze_uint8_t &pct);

Marlin/src/feature/dac/stepper_dac.cpp

@@ -31,8 +31,8 @@
 #include "stepper_dac.h"
 
 bool dac_present = false;
-const uint8_t dac_order[NUM_AXIS] = DAC_STEPPER_ORDER;
-uint8_t dac_channel_pct[XYZE] = DAC_MOTOR_CURRENT_DEFAULT;
+constexpr xyze_uint8_t dac_order = DAC_STEPPER_ORDER;
+xyze_uint8_t dac_channel_pct = DAC_MOTOR_CURRENT_DEFAULT;
 
 int dac_init() {
   #if PIN_EXISTS(DAC_DISABLE)
@@ -77,8 +77,8 @@ void dac_current_raw(uint8_t channel, uint16_t val) {
 static float dac_perc(int8_t n) { return 100.0 * mcp4728_getValue(dac_order[n]) * RECIPROCAL(DAC_STEPPER_MAX); }
 static float dac_amps(int8_t n) { return mcp4728_getDrvPct(dac_order[n]) * (DAC_STEPPER_MAX) * 0.125 * RECIPROCAL(DAC_STEPPER_SENSE); }
 
-uint8_t dac_current_get_percent(AxisEnum axis) { return mcp4728_getDrvPct(dac_order[axis]); }
-void dac_current_set_percents(const uint8_t pct[XYZE]) {
+uint8_t dac_current_get_percent(const AxisEnum axis) { return mcp4728_getDrvPct(dac_order[axis]); }
+void dac_current_set_percents(xyze_uint8_t &pct) {
   LOOP_XYZE(i) dac_channel_pct[i] = pct[dac_order[i]];
   mcp4728_setDrvPct(dac_channel_pct);
 }

Marlin/src/feature/dac/stepper_dac.h

@@ -33,4 +33,4 @@ void dac_current_raw(uint8_t channel, uint16_t val);
 void dac_print_values();
 void dac_commit_eeprom();
 uint8_t dac_current_get_percent(AxisEnum axis);
-void dac_current_set_percents(const uint8_t pct[XYZE]);
+void dac_current_set_percents(xyze_uint8_t &pct);

Marlin/src/feature/fwretract.cpp

@@ -123,8 +123,8 @@ void FWRetract::retract(const bool retracting
         SERIAL_ECHOLNPAIR("retracted_swap[", i, "] ", retracted_swap[i]);
       #endif
     }
-    SERIAL_ECHOLNPAIR("current_position[z] ", current_position[Z_AXIS]);
-    SERIAL_ECHOLNPAIR("current_position[e] ", current_position[E_AXIS]);
+    SERIAL_ECHOLNPAIR("current_position.z ", current_position.z);
+    SERIAL_ECHOLNPAIR("current_position.e ", current_position.e);
     SERIAL_ECHOLNPAIR("current_hop ", current_hop);
   //*/
 
@@ -136,7 +136,7 @@ void FWRetract::retract(const bool retracting
               );
 
   // The current position will be the destination for E and Z moves
-  set_destination_from_current();
+  destination = current_position;
 
   #if ENABLED(RETRACT_SYNC_MIXING)
     const uint8_t old_mixing_tool = mixer.get_current_vtool();
@@ -147,7 +147,7 @@ void FWRetract::retract(const bool retracting
   if (retracting) {
     // Retract by moving from a faux E position back to the current E position
     current_retract[active_extruder] = base_retract;
-    prepare_internal_move_to_destination(  // set_current_to_destination
+    prepare_internal_move_to_destination(                 // set current to destination
       settings.retract_feedrate_mm_s
       #if ENABLED(RETRACT_SYNC_MIXING)
         * (MIXING_STEPPERS)
@@ -171,7 +171,7 @@ void FWRetract::retract(const bool retracting
 
     const float extra_recover = swapping ? settings.swap_retract_recover_extra : settings.retract_recover_extra;
     if (extra_recover) {
-      current_position[E_AXIS] -= extra_recover;          // Adjust the current E position by the extra amount to recover
+      current_position.e -= extra_recover;          // Adjust the current E position by the extra amount to recover
       sync_plan_position_e();                             // Sync the planner position so the extra amount is recovered
     }
 
@@ -207,8 +207,8 @@ void FWRetract::retract(const bool retracting
         SERIAL_ECHOLNPAIR("retracted_swap[", i, "] ", retracted_swap[i]);
       #endif
     }
-    SERIAL_ECHOLNPAIR("current_position[z] ", current_position[Z_AXIS]);
-    SERIAL_ECHOLNPAIR("current_position[e] ", current_position[E_AXIS]);
+    SERIAL_ECHOLNPAIR("current_position.z ", current_position.z);
+    SERIAL_ECHOLNPAIR("current_position.e ", current_position.e);
     SERIAL_ECHOLNPAIR("current_hop ", current_hop);
   //*/
 }

Marlin/src/feature/joystick.cpp

@@ -71,35 +71,35 @@ Joystick joystick;
 
 #if HAS_JOY_ADC_X || HAS_JOY_ADC_Y || HAS_JOY_ADC_Z
 
-  void Joystick::calculate(float (&norm_jog)[XYZ]) {
+  void Joystick::calculate(xyz_float_t &norm_jog) {
     // Do nothing if enable pin (active-low) is not LOW
     #if HAS_JOY_ADC_EN
       if (READ(JOY_EN_PIN)) return;
     #endif
 
-    auto _normalize_joy = [](float &norm_jog, const int16_t raw, const int16_t (&joy_limits)[4]) {
+    auto _normalize_joy = [](float &axis_jog, const int16_t raw, const int16_t (&joy_limits)[4]) {
       if (WITHIN(raw, joy_limits[0], joy_limits[3])) {
         // within limits, check deadzone
         if (raw > joy_limits[2])
-          norm_jog = (raw - joy_limits[2]) / float(joy_limits[3] - joy_limits[2]);
+          axis_jog = (raw - joy_limits[2]) / float(joy_limits[3] - joy_limits[2]);
         else if (raw < joy_limits[1])
-          norm_jog = (raw - joy_limits[1]) / float(joy_limits[1] - joy_limits[0]);  // negative value
+          axis_jog = (raw - joy_limits[1]) / float(joy_limits[1] - joy_limits[0]);  // negative value
         // Map normal to jog value via quadratic relationship
-        norm_jog = SIGN(norm_jog) * sq(norm_jog);
+        axis_jog = SIGN(axis_jog) * sq(axis_jog);
       }
     };
 
     #if HAS_JOY_ADC_X
       static constexpr int16_t joy_x_limits[4] = JOY_X_LIMITS;
-      _normalize_joy(norm_jog[X_AXIS], x.raw, joy_x_limits);
+      _normalize_joy(norm_jog.x, x.raw, joy_x_limits);
     #endif
     #if HAS_JOY_ADC_Y
       static constexpr int16_t joy_y_limits[4] = JOY_Y_LIMITS;
-      _normalize_joy(norm_jog[Y_AXIS], y.raw, joy_y_limits);
+      _normalize_joy(norm_jog.y, y.raw, joy_y_limits);
     #endif
     #if HAS_JOY_ADC_Z
       static constexpr int16_t joy_z_limits[4] = JOY_Z_LIMITS;
-      _normalize_joy(norm_jog[Z_AXIS], z.raw, joy_z_limits);
+      _normalize_joy(norm_jog.z, z.raw, joy_z_limits);
     #endif
   }
 
@@ -129,7 +129,7 @@ Joystick joystick;
     // Normalized jog values are 0 for no movement and -1 or +1 for as max feedrate (nonlinear relationship)
     // Jog are initialized to zero and handling input can update values but doesn't have to
     // You could use a two-axis joystick and a one-axis keypad and they might work together
-    float norm_jog[XYZ] = { 0 };
+    xyz_float_t norm_jog{0};
 
     // Use ADC values and defined limits. The active zone is normalized: -1..0 (dead) 0..1
     #if HAS_JOY_ADC_X || HAS_JOY_ADC_Y || HAS_JOY_ADC_Z
@@ -143,16 +143,13 @@ Joystick joystick;
       ExtUI::_joystick_update(norm_jog);
     #endif
 
-    #if EITHER(ULTIPANEL, EXTENSIBLE_UI)
-      constexpr float manual_feedrate[XYZE] = MANUAL_FEEDRATE;
-    #endif
-
     // norm_jog values of [-1 .. 1] maps linearly to [-feedrate .. feedrate]
-    float move_dist[XYZ] = { 0 }, hypot2 = 0;
+    xyz_float_t move_dist{0};
+    float hypot2 = 0;
     LOOP_XYZ(i) if (norm_jog[i]) {
       move_dist[i] = seg_time * norm_jog[i] *
         #if EITHER(ULTIPANEL, EXTENSIBLE_UI)
-          MMM_TO_MMS(manual_feedrate[i]);
+          MMM_TO_MMS(manual_feedrate_mm_m[i]);
         #else
           planner.settings.max_feedrate_mm_s[i];
         #endif
@@ -160,7 +157,7 @@ Joystick joystick;
     }
 
     if (!UNEAR_ZERO(hypot2)) {
-      LOOP_XYZ(i) current_position[i] += move_dist[i];
+      current_position += move_dist;
       const float length = sqrt(hypot2);
       injecting_now = true;
       planner.buffer_line(current_position, length / seg_time, active_extruder, length);

Marlin/src/feature/joystick.h

@@ -25,6 +25,8 @@
  * joystick.h - joystick input / jogging
  */
 
+#include "../inc/MarlinConfigPre.h"
+#include "../core/types.h"
 #include "../core/macros.h"
 #include "../module/temperature.h"
 
@@ -46,7 +48,7 @@ class Joystick {
     #if ENABLED(JOYSTICK_DEBUG)
       static void report();
     #endif
-    static void calculate(float (&norm_jog)[XYZ]);
+    static void calculate(xyz_float_t &norm_jog);
     static void inject_jog_moves();
 };
 

Marlin/src/feature/pause.cpp

@@ -64,7 +64,7 @@
 
 // private:
 
-static float resume_position[XYZE];
+static xyze_pos_t resume_position;
 
 PauseMode pause_mode = PAUSE_MODE_PAUSE_PRINT;
 
@@ -126,8 +126,8 @@ void do_pause_e_move(const float &length, const feedRate_t &fr_mm_s) {
   #if HAS_FILAMENT_SENSOR
     runout.reset();
   #endif
-  current_position[E_AXIS] += length / planner.e_factor[active_extruder];
-  planner.buffer_line(current_position, fr_mm_s, active_extruder);
+  current_position.e += length / planner.e_factor[active_extruder];
+  line_to_current_position(fr_mm_s);
   planner.synchronize();
 }
 
@@ -385,7 +385,7 @@ bool unload_filament(const float &unload_length, const bool show_lcd/*=false*/,
  */
 uint8_t did_pause_print = 0;
 
-bool pause_print(const float &retract, const point_t &park_point, const float &unload_length/*=0*/, const bool show_lcd/*=false*/ DXC_ARGS) {
+bool pause_print(const float &retract, const xyz_pos_t &park_point, const float &unload_length/*=0*/, const bool show_lcd/*=false*/ DXC_ARGS) {
 
   #if !HAS_LCD_MENU
     UNUSED(show_lcd);
@@ -432,7 +432,7 @@ bool pause_print(const float &retract, const point_t &park_point, const float &u
   print_job_timer.pause();
 
   // Save current position
-  COPY(resume_position, current_position);
+  resume_position = current_position;
 
   // Wait for buffered blocks to complete
   planner.synchronize();
@@ -611,10 +611,10 @@ void wait_for_confirmation(const bool is_reload/*=false*/, const int8_t max_beep
  * - Display "wait for print to resume"
  * - Re-prime the nozzle...
  *   -  FWRETRACT: Recover/prime from the prior G10.
- *   - !FWRETRACT: Retract by resume_position[E], if negative.
+ *   - !FWRETRACT: Retract by resume_position.e, if negative.
  *                 Not sure how this logic comes into use.
  * - Move the nozzle back to resume_position
- * - Sync the planner E to resume_position[E]
+ * - Sync the planner E to resume_position.e
  * - Send host action for resume, if configured
  * - Resume the current SD print job, if any
  */
@@ -652,13 +652,13 @@ void resume_print(const float &slow_load_length/*=0*/, const float &fast_load_le
   #endif
 
   // If resume_position is negative
-  if (resume_position[E_AXIS] < 0) do_pause_e_move(resume_position[E_AXIS], feedRate_t(PAUSE_PARK_RETRACT_FEEDRATE));
+  if (resume_position.e < 0) do_pause_e_move(resume_position.e, feedRate_t(PAUSE_PARK_RETRACT_FEEDRATE));
 
   // Move XY to starting position, then Z
-  do_blocking_move_to_xy(resume_position[X_AXIS], resume_position[Y_AXIS], feedRate_t(NOZZLE_PARK_XY_FEEDRATE));
+  do_blocking_move_to_xy(xy_pos_t(resume_position), feedRate_t(NOZZLE_PARK_XY_FEEDRATE));
 
   // Move Z_AXIS to saved position
-  do_blocking_move_to_z(resume_position[Z_AXIS], feedRate_t(NOZZLE_PARK_Z_FEEDRATE));
+  do_blocking_move_to_z(resume_position.z, feedRate_t(NOZZLE_PARK_Z_FEEDRATE));
 
   #if ADVANCED_PAUSE_RESUME_PRIME != 0
     do_pause_e_move(ADVANCED_PAUSE_RESUME_PRIME, feedRate_t(ADVANCED_PAUSE_PURGE_FEEDRATE));
@@ -666,7 +666,7 @@ void resume_print(const float &slow_load_length/*=0*/, const float &fast_load_le
 
   // Now all extrusion positions are resumed and ready to be confirmed
   // Set extruder to saved position
-  planner.set_e_position_mm((destination[E_AXIS] = current_position[E_AXIS] = resume_position[E_AXIS]));
+  planner.set_e_position_mm((destination.e = current_position.e = resume_position.e));
 
   #if HAS_LCD_MENU
     lcd_pause_show_message(PAUSE_MESSAGE_STATUS);

Marlin/src/feature/pause.h

@@ -83,7 +83,7 @@ extern uint8_t did_pause_print;
 
 void do_pause_e_move(const float &length, const feedRate_t &fr_mm_s);
 
-bool pause_print(const float &retract, const point_t &park_point, const float &unload_length=0, const bool show_lcd=false DXC_PARAMS);
+bool pause_print(const float &retract, const xyz_pos_t &park_point, const float &unload_length=0, const bool show_lcd=false DXC_PARAMS);
 
 void wait_for_confirmation(const bool is_reload=false, const int8_t max_beep_count=0 DXC_PARAMS);
 

Marlin/src/feature/power_loss_recovery.cpp

@@ -156,7 +156,7 @@ void PrintJobRecovery::save(const bool force/*=false*/, const bool save_queue/*=
         || ELAPSED(ms, next_save_ms)
       #endif
       // Save if Z is above the last-saved position by some minimum height
-      || current_position[Z_AXIS] > info.current_position[Z_AXIS] + POWER_LOSS_MIN_Z_CHANGE
+      || current_position.z > info.current_position.z + POWER_LOSS_MIN_Z_CHANGE
     #endif
   ) {
 
@@ -170,12 +170,12 @@ void PrintJobRecovery::save(const bool force/*=false*/, const bool save_queue/*=
     info.valid_foot = info.valid_head;
 
     // Machine state
-    COPY(info.current_position, current_position);
+    info.current_position = current_position;
     #if HAS_HOME_OFFSET
-      COPY(info.home_offset, home_offset);
+      info.home_offset = home_offset;
     #endif
     #if HAS_POSITION_SHIFT
-      COPY(info.position_shift, position_shift);
+      info.position_shift = position_shift;
     #endif
     info.feedrate = uint16_t(feedrate_mm_s * 60.0f);
 
@@ -361,13 +361,13 @@ void PrintJobRecovery::resume() {
 
   // Move back to the saved XY
   sprintf_P(cmd, PSTR("G1 X%s Y%s F3000"),
-    dtostrf(info.current_position[X_AXIS], 1, 3, str_1),
-    dtostrf(info.current_position[Y_AXIS], 1, 3, str_2)
+    dtostrf(info.current_position.x, 1, 3, str_1),
+    dtostrf(info.current_position.y, 1, 3, str_2)
   );
   gcode.process_subcommands_now(cmd);
 
   // Move back to the saved Z
-  dtostrf(info.current_position[Z_AXIS], 1, 3, str_1);
+  dtostrf(info.current_position.z, 1, 3, str_1);
   #if Z_HOME_DIR > 0
     sprintf_P(cmd, PSTR("G1 Z%s F200"), str_1);
   #else
@@ -388,22 +388,20 @@ void PrintJobRecovery::resume() {
   gcode.process_subcommands_now(cmd);
 
   // Restore E position with G92.9
-  sprintf_P(cmd, PSTR("G92.9 E%s"), dtostrf(info.current_position[E_AXIS], 1, 3, str_1));
+  sprintf_P(cmd, PSTR("G92.9 E%s"), dtostrf(info.current_position.e, 1, 3, str_1));
   gcode.process_subcommands_now(cmd);
 
   // Relative axis modes
   gcode.axis_relative = info.axis_relative;
 
+  #if HAS_HOME_OFFSET
+    home_offset = info.home_offset;
+  #endif
+  #if HAS_POSITION_SHIFT
+    position_shift = info.position_shift;
+  #endif
   #if HAS_HOME_OFFSET || HAS_POSITION_SHIFT
-    LOOP_XYZ(i) {
-      #if HAS_HOME_OFFSET
-        home_offset[i] = info.home_offset[i];
-      #endif
-      #if HAS_POSITION_SHIFT
-        position_shift[i] = info.position_shift[i];
-      #endif
-      update_workspace_offset((AxisEnum)i);
-    }
+    LOOP_XYZ(i) update_workspace_offset((AxisEnum)i);
   #endif
 
   // Resume the SD file from the last position

Marlin/src/feature/power_loss_recovery.h

@@ -44,13 +44,13 @@ typedef struct {
   uint8_t valid_head;
 
   // Machine state
-  float current_position[NUM_AXIS];
+  xyze_pos_t current_position;
 
   #if HAS_HOME_OFFSET
-    float home_offset[XYZ];
+    xyz_pos_t home_offset;
   #endif
   #if HAS_POSITION_SHIFT
-    float position_shift[XYZ];
+    xyz_pos_t position_shift;
   #endif
 
   uint16_t feedrate;

Marlin/src/feature/prusa_MMU2/mmu2.cpp

@@ -550,10 +550,10 @@ bool MMU2::get_response() {
  */
 void MMU2::manage_response(const bool move_axes, const bool turn_off_nozzle) {
 
+  constexpr xyz_pos_t park_point = NOZZLE_PARK_POINT;
   bool response = false;
   mmu_print_saved = false;
-  point_t park_point = NOZZLE_PARK_POINT;
-  float resume_position[XYZE];
+  xyz_pos_t resume_position;
   int16_t resume_hotend_temp;
 
   KEEPALIVE_STATE(PAUSED_FOR_USER);
@@ -572,7 +572,7 @@ void MMU2::manage_response(const bool move_axes, const bool turn_off_nozzle) {
         SERIAL_ECHOLNPGM("MMU not responding");
 
         resume_hotend_temp = thermalManager.degTargetHotend(active_extruder);
-        COPY(resume_position, current_position);
+        resume_position = current_position;
 
         if (move_axes && all_axes_homed())
           nozzle.park(2, park_point /*= NOZZLE_PARK_POINT*/);
@@ -604,10 +604,10 @@ void MMU2::manage_response(const bool move_axes, const bool turn_off_nozzle) {
         BUZZ(200, 404);
 
         // Move XY to starting position, then Z
-        do_blocking_move_to_xy(resume_position[X_AXIS], resume_position[Y_AXIS], feedRate_t(NOZZLE_PARK_XY_FEEDRATE));
+        do_blocking_move_to_xy(resume_position, feedRate_t(NOZZLE_PARK_XY_FEEDRATE));
 
         // Move Z_AXIS to saved position
-        do_blocking_move_to_z(resume_position[Z_AXIS], feedRate_t(NOZZLE_PARK_Z_FEEDRATE));
+        do_blocking_move_to_z(resume_position.z, feedRate_t(NOZZLE_PARK_Z_FEEDRATE));
       }
       else {
         BUZZ(200, 404);
@@ -698,8 +698,8 @@ void MMU2::filament_runout() {
     LCD_MESSAGEPGM(MSG_MMU2_EJECTING_FILAMENT);
 
     enable_E0();
-    current_position[E_AXIS] -= MMU2_FILAMENTCHANGE_EJECT_FEED;
-    planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], 2500 / 60, active_extruder);
+    current_position.e -= MMU2_FILAMENTCHANGE_EJECT_FEED;
+    line_to_current_position(2500 / 60);
     planner.synchronize();
     command(MMU_CMD_E0 + index);
     manage_response(false, false);
@@ -787,7 +787,7 @@ void MMU2::filament_runout() {
       DEBUG_ECHO_START();
       DEBUG_ECHOLNPAIR("E step ", es, "/", fr_mm_m);
 
-      current_position[E_AXIS] += es;
+      current_position.e += es;
       line_to_current_position(MMM_TO_MMS(fr_mm_m));
       planner.synchronize();
 

Marlin/src/feature/runout.h

@@ -327,14 +327,14 @@ class FilamentSensorBase {
       }
 
       static inline void block_completed(const block_t* const b) {
-        if (b->steps[X_AXIS] || b->steps[Y_AXIS] || b->steps[Z_AXIS]
+        if (b->steps.x || b->steps.y || b->steps.z
           #if ENABLED(ADVANCED_PAUSE_FEATURE)
             || did_pause_print // Allow pause purge move to re-trigger runout state
           #endif
         ) {
           // Only trigger on extrusion with XYZ movement to allow filament change and retract/recover.
           const uint8_t e = b->extruder;
-          const int32_t steps = b->steps[E_AXIS];
+          const int32_t steps = b->steps.e;
           runout_mm_countdown[e] -= (TEST(b->direction_bits, E_AXIS) ? -steps : steps) * planner.steps_to_mm[E_AXIS_N(e)];
         }
       }

Marlin/src/feature/tmc_util.h

@@ -367,9 +367,9 @@ void test_tmc_connection(const bool test_x, const bool test_y, const bool test_z
     constexpr uint16_t default_sg_guard_duration = 400;
 
     struct slow_homing_t {
-      struct { uint32_t x, y; } acceleration;
+      xy_ulong_t acceleration;
       #if HAS_CLASSIC_JERK
-        struct { float x, y; } jerk;
+        xy_float_t jerk_xy;
       #endif
     };
   #endif

Marlin/src/gcode/bedlevel/G26.cpp

@@ -62,7 +62,7 @@
 #define G26_ERR true
 
 #if ENABLED(ARC_SUPPORT)
-  void plan_arc(const float (&cart)[XYZE], const float (&offset)[2], const uint8_t clockwise);
+  void plan_arc(const xyze_pos_t &cart, const ab_float_t &offset, const uint8_t clockwise);
 #endif
 
 /**
@@ -142,7 +142,7 @@
 
 // Private functions
 
-static uint16_t circle_flags[16], horizontal_mesh_line_flags[16], vertical_mesh_line_flags[16];
+static MeshFlags circle_flags, horizontal_mesh_line_flags, vertical_mesh_line_flags;
 float g26_e_axis_feedrate = 0.025,
       random_deviation = 0.0;
 
@@ -154,7 +154,7 @@ float g26_extrusion_multiplier,
       g26_layer_height,
       g26_prime_length;
 
-float g26_x_pos = 0, g26_y_pos = 0;
+xy_pos_t g26_pos; // = { 0, 0 }
 
 int16_t g26_bed_temp,
         g26_hotend_temp;
@@ -178,85 +178,85 @@ int8_t g26_prime_flag;
 
 #endif
 
-mesh_index_pair find_closest_circle_to_print(const float &X, const float &Y) {
+mesh_index_pair find_closest_circle_to_print(const xy_pos_t &pos) {
   float closest = 99999.99;
-  mesh_index_pair return_val;
+  mesh_index_pair out_point;
 
-  return_val.x_index = return_val.y_index = -1;
+  out_point.pos = -1;
 
   for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
     for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
-      if (!is_bitmap_set(circle_flags, i, j)) {
-        const float mx = _GET_MESH_X(i),  // We found a circle that needs to be printed
-                    my = _GET_MESH_Y(j);
+      if (!circle_flags.marked(i, j)) {
+        // We found a circle that needs to be printed
+        const xy_pos_t m = { _GET_MESH_X(i), _GET_MESH_Y(j) };
 
         // Get the distance to this intersection
-        float f = HYPOT(X - mx, Y - my);
+        float f = (pos - m).magnitude();
 
         // It is possible that we are being called with the values
         // to let us find the closest circle to the start position.
         // But if this is not the case, add a small weighting to the
         // distance calculation to help it choose a better place to continue.
-        f += HYPOT(g26_x_pos - mx, g26_y_pos - my) / 15.0;
+        f += (g26_pos - m).magnitude() / 15.0f;
 
-        // Add in the specified amount of Random Noise to our search
-        if (random_deviation > 1.0)
-          f += random(0.0, random_deviation);
+        // Add the specified amount of Random Noise to our search
+        if (random_deviation > 1.0) f += random(0.0, random_deviation);
 
         if (f < closest) {
-          closest = f;              // We found a closer location that is still
-          return_val.x_index = i;   // un-printed  --- save the data for it
-          return_val.y_index = j;
-          return_val.distance = closest;
+          closest = f;          // Found a closer un-printed location
+          out_point.pos.set(i, j);  // Save its data
+          out_point.distance = closest;
         }
       }
     }
   }
-  bitmap_set(circle_flags, return_val.x_index, return_val.y_index);   // Mark this location as done.
-  return return_val;
+  circle_flags.mark(out_point); // Mark this location as done.
+  return out_point;
 }
 
 void move_to(const float &rx, const float &ry, const float &z, const float &e_delta) {
   static float last_z = -999.99;
 
-  bool has_xy_component = (rx != current_position[X_AXIS] || ry != current_position[Y_AXIS]); // Check if X or Y is involved in the movement.
+  const xy_pos_t dest = { rx, ry };
 
-  if (z != last_z) {
-    last_z = z;
-    const feedRate_t feed_value = planner.settings.max_feedrate_mm_s[Z_AXIS] * 0.5f; // Use half of the Z_AXIS max feed rate
+  const bool has_xy_component = dest != current_position; // Check if X or Y is involved in the movement.
 
-    destination[X_AXIS] = current_position[X_AXIS];
-    destination[Y_AXIS] = current_position[Y_AXIS];
-    destination[Z_AXIS] = z;                          // We know the last_z!=z or we wouldn't be in this block of code.
-    destination[E_AXIS] = current_position[E_AXIS];
+  destination = current_position;
 
+  if (z != last_z) {
+    last_z = destination.z = z;
+    const feedRate_t feed_value = planner.settings.max_feedrate_mm_s[Z_AXIS] * 0.5f; // Use half of the Z_AXIS max feed rate
     prepare_internal_move_to_destination(feed_value);
-    set_destination_from_current();
+    destination = current_position;
   }
 
   // If X or Y is involved do a 'normal' move. Otherwise retract/recover/hop.
+  destination = dest;
+  destination.e += e_delta;
   const feedRate_t feed_value = has_xy_component ? feedRate_t(G26_XY_FEEDRATE) : planner.settings.max_feedrate_mm_s[E_AXIS] * 0.666f;
-
-  destination[X_AXIS] = rx;
-  destination[Y_AXIS] = ry;
-  destination[E_AXIS] += e_delta;
-
   prepare_internal_move_to_destination(feed_value);
-  set_destination_from_current();
+  destination = current_position;
 }
 
-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 xyz_pos_t &where, const float &de) { move_to(where.x, where.y, where.z, de); }
 
-void retract_filament(const float (&where)[XYZE]) {
+void retract_filament(const xyz_pos_t &where) {
   if (!g26_retracted) { // Only retract if we are not already retracted!
     g26_retracted = true;
-    move_to(where, -1.0 * g26_retraction_multiplier);
+    move_to(where, -1.0f * g26_retraction_multiplier);
   }
 }
 
-void recover_filament(const float (&where)[XYZE]) {
+// TODO: Parameterize the Z lift with a define
+void retract_lift_move(const xyz_pos_t &s) {
+  retract_filament(destination);
+  move_to(current_position.x, current_position.y, current_position.z + 0.5f, 0.0);  // Z lift to minimize scraping
+  move_to(s.x, s.y, s.z + 0.5f, 0.0);  // Get to the starting point with no extrusion while lifted
+}
+
+void recover_filament(const xyz_pos_t &where) {
   if (g26_retracted) { // Only un-retract if we are retracted.
-    move_to(where, 1.2 * g26_retraction_multiplier);
+    move_to(where, 1.2f * g26_retraction_multiplier);
     g26_retracted = false;
   }
 }
@@ -276,41 +276,34 @@ void recover_filament(const float (&where)[XYZE]) {
  * segment of a 'circle'. The time this requires is very short and is easily saved by the other
  * cases where the optimization comes into play.
  */
-void print_line_from_here_to_there(const float &sx, const float &sy, const float &sz, const float &ex, const float &ey, const float &ez) {
-  const float dx_s = current_position[X_AXIS] - sx,   // find our distance from the start of the actual line segment
-              dy_s = current_position[Y_AXIS] - sy,
-              dist_start = HYPOT2(dx_s, dy_s),        // We don't need to do a sqrt(), we can compare the distance^2
-                                                      // to save computation time
-              dx_e = current_position[X_AXIS] - ex,   // find our distance from the end of the actual line segment
-              dy_e = current_position[Y_AXIS] - ey,
-              dist_end = HYPOT2(dx_e, dy_e),
+void print_line_from_here_to_there(const xyz_pos_t &s, const xyz_pos_t &e) {
 
-              line_length = HYPOT(ex - sx, ey - sy);
+  // Distances to the start / end of the line
+  xy_float_t svec = current_position - s, evec = current_position - e;
+
+  const float dist_start = HYPOT2(svec.x, svec.y),
+              dist_end = HYPOT2(evec.x, evec.y),
+              line_length = HYPOT(e.x - s.x, e.y - s.y);
 
   // If the end point of the line is closer to the nozzle, flip the direction,
   // moving from the end to the start. On very small lines the optimization isn't worth it.
   if (dist_end < dist_start && (INTERSECTION_CIRCLE_RADIUS) < ABS(line_length))
-    return print_line_from_here_to_there(ex, ey, ez, sx, sy, sz);
+    return print_line_from_here_to_there(e, s);
 
-  // Decide whether to retract & bump
+  // Decide whether to retract & lift
+  if (dist_start > 2.0) retract_lift_move(s);
 
-  if (dist_start > 2.0) {
-    retract_filament(destination);
-    //todo:  parameterize the bump height with a define
-    move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + 0.500, 0.0);  // Z bump to minimize scraping
-    move_to(sx, sy, sz + 0.500, 0.0); // Get to the starting point with no extrusion while bumped
-  }
-
-  move_to(sx, sy, sz, 0.0); // Get to the starting point with no extrusion / un-Z bump
+  move_to(s, 0.0); // Get to the starting point with no extrusion / un-Z lift
 
   const float e_pos_delta = line_length * g26_e_axis_feedrate * g26_extrusion_multiplier;
 
   recover_filament(destination);
-  move_to(ex, ey, ez, e_pos_delta);  // Get to the ending point with an appropriate amount of extrusion
+  move_to(e, e_pos_delta);  // Get to the ending point with an appropriate amount of extrusion
 }
 
 inline bool look_for_lines_to_connect() {
-  float sx, sy, ex, ey;
+  xyz_pos_t s, e;
+  s.z = e.z = g26_layer_height;
 
   for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
     for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
@@ -319,43 +312,43 @@ inline bool look_for_lines_to_connect() {
         if (user_canceled()) return true;
       #endif
 
-      if (i < GRID_MAX_POINTS_X) { // Can't connect to anything to the right than GRID_MAX_POINTS_X.
-                                   // Already a half circle at the edge of the bed.
+      if (i < GRID_MAX_POINTS_X) {  // Can't connect to anything farther to the right than GRID_MAX_POINTS_X.
+                                    // Already a half circle at the edge of the bed.
 
-        if (is_bitmap_set(circle_flags, i, j) && is_bitmap_set(circle_flags, i + 1, j)) { // check if we can do a line to the left
-          if (!is_bitmap_set(horizontal_mesh_line_flags, i, j)) {
+        if (circle_flags.marked(i, j) && circle_flags.marked(i + 1, j)) {   // Test whether a leftward line can be done
+          if (!horizontal_mesh_line_flags.marked(i, j)) {
             // Two circles need a horizontal line to connect them
-            sx = _GET_MESH_X(  i  ) + (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // right edge
-            ex = _GET_MESH_X(i + 1) - (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // left edge
+            s.x = _GET_MESH_X(  i  ) + (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // right edge
+            e.x = _GET_MESH_X(i + 1) - (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // left edge
 
-            LIMIT(sx, X_MIN_POS + 1, X_MAX_POS - 1);
-            sy = ey = constrain(_GET_MESH_Y(j), Y_MIN_POS + 1, Y_MAX_POS - 1);
-            LIMIT(ex, X_MIN_POS + 1, X_MAX_POS - 1);
+            LIMIT(s.x, X_MIN_POS + 1, X_MAX_POS - 1);
+            s.y = e.y = constrain(_GET_MESH_Y(j), Y_MIN_POS + 1, Y_MAX_POS - 1);
+            LIMIT(e.x, X_MIN_POS + 1, X_MAX_POS - 1);
 
-            if (position_is_reachable(sx, sy) && position_is_reachable(ex, ey))
-              print_line_from_here_to_there(sx, sy, g26_layer_height, ex, ey, g26_layer_height);
+            if (position_is_reachable(s.x, s.y) && position_is_reachable(e.x, e.y))
+              print_line_from_here_to_there(s, e);
 
-            bitmap_set(horizontal_mesh_line_flags, i, j); // Mark done, even if skipped
+            horizontal_mesh_line_flags.mark(i, j); // Mark done, even if skipped
           }
         }
 
         if (j < GRID_MAX_POINTS_Y) {  // Can't connect to anything further back than GRID_MAX_POINTS_Y.
                                       // Already a half circle at the edge of the bed.
 
-          if (is_bitmap_set(circle_flags, i, j) && is_bitmap_set(circle_flags, i, j + 1)) { // check if we can do a line straight down
-            if (!is_bitmap_set( vertical_mesh_line_flags, i, j)) {
+          if (circle_flags.marked(i, j) && circle_flags.marked(i, j + 1)) {   // Test whether a downward line can be done
+            if (!vertical_mesh_line_flags.marked(i, j)) {
               // Two circles that need a vertical line to connect them
-              sy = _GET_MESH_Y(  j  ) + (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // top edge
-              ey = _GET_MESH_Y(j + 1) - (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // bottom edge
+              s.y = _GET_MESH_Y(  j  ) + (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // top edge
+              e.y = _GET_MESH_Y(j + 1) - (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // bottom edge
 
-              sx = ex = constrain(_GET_MESH_X(i), X_MIN_POS + 1, X_MAX_POS - 1);
-              LIMIT(sy, Y_MIN_POS + 1, Y_MAX_POS - 1);
-              LIMIT(ey, Y_MIN_POS + 1, Y_MAX_POS - 1);
+              s.x = e.x = constrain(_GET_MESH_X(i), X_MIN_POS + 1, X_MAX_POS - 1);
+              LIMIT(s.y, Y_MIN_POS + 1, Y_MAX_POS - 1);
+              LIMIT(e.y, Y_MIN_POS + 1, Y_MAX_POS - 1);
 
-              if (position_is_reachable(sx, sy) && position_is_reachable(ex, ey))
-                print_line_from_here_to_there(sx, sy, g26_layer_height, ex, ey, g26_layer_height);
+              if (position_is_reachable(s.x, s.y) && position_is_reachable(e.x, e.y))
+                print_line_from_here_to_there(s, e);
 
-              bitmap_set(vertical_mesh_line_flags, i, j); // Mark done, even if skipped
+              vertical_mesh_line_flags.mark(i, j); // Mark done, even if skipped
             }
           }
         }
@@ -436,19 +429,19 @@ inline bool prime_nozzle() {
       ui.set_status_P(PSTR(MSG_G26_MANUAL_PRIME), 99);
       ui.chirp();
 
-      set_destination_from_current();
+      destination = current_position;
 
       recover_filament(destination); // Make sure G26 doesn't think the filament is retracted().
 
       while (!ui.button_pressed()) {
         ui.chirp();
-        destination[E_AXIS] += 0.25;
+        destination.e += 0.25;
         #if ENABLED(PREVENT_LENGTHY_EXTRUDE)
           Total_Prime += 0.25;
           if (Total_Prime >= EXTRUDE_MAXLENGTH) return G26_ERR;
         #endif
         prepare_internal_move_to_destination(fr_slow_e);
-        set_destination_from_current();
+        destination = current_position;
         planner.synchronize();    // Without this synchronize, the purge is more consistent,
                                   // but because the planner has a buffer, we won't be able
                                   // to stop as quickly. So we put up with the less smooth
@@ -468,10 +461,10 @@ inline bool prime_nozzle() {
       ui.set_status_P(PSTR(MSG_G26_FIXED_LENGTH), 99);
       ui.quick_feedback();
     #endif
-    set_destination_from_current();
-    destination[E_AXIS] += g26_prime_length;
+    destination = current_position;
+    destination.e += g26_prime_length;
     prepare_internal_move_to_destination(fr_slow_e);
-    set_destination_from_current();
+    destination.e -= g26_prime_length;
     retract_filament(destination);
   }
 
@@ -630,9 +623,9 @@ void GcodeSuite::G26() {
     return;
   }
 
-  g26_x_pos = parser.seenval('X') ? RAW_X_POSITION(parser.value_linear_units()) : current_position[X_AXIS];
-  g26_y_pos = parser.seenval('Y') ? RAW_Y_POSITION(parser.value_linear_units()) : current_position[Y_AXIS];
-  if (!position_is_reachable(g26_x_pos, g26_y_pos)) {
+  g26_pos.set(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);
+  if (!position_is_reachable(g26_pos.x, g26_pos.y)) {
     SERIAL_ECHOLNPGM("?Specified X,Y coordinate out of bounds.");
     return;
   }
@@ -642,9 +635,9 @@ void GcodeSuite::G26() {
    */
   set_bed_leveling_enabled(!parser.seen('D'));
 
-  if (current_position[Z_AXIS] < Z_CLEARANCE_BETWEEN_PROBES) {
+  if (current_position.z < Z_CLEARANCE_BETWEEN_PROBES) {
     do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
-    set_current_from_destination();
+    current_position = destination;
   }
 
   #if DISABLED(NO_VOLUMETRICS)
@@ -655,7 +648,7 @@ void GcodeSuite::G26() {
 
   if (turn_on_heaters() != G26_OK) goto LEAVE;
 
-  current_position[E_AXIS] = 0.0;
+  current_position.e = 0.0;
   sync_plan_position_e();
 
   if (g26_prime_flag && prime_nozzle() != G26_OK) goto LEAVE;
@@ -670,13 +663,13 @@ void GcodeSuite::G26() {
    *  It's  "Show Time" !!!
    */
 
-  ZERO(circle_flags);
-  ZERO(horizontal_mesh_line_flags);
-  ZERO(vertical_mesh_line_flags);
+  circle_flags.reset();
+  horizontal_mesh_line_flags.reset();
+  vertical_mesh_line_flags.reset();
 
   // Move nozzle to the specified height for the first layer
-  set_destination_from_current();
-  destination[Z_AXIS] = g26_layer_height;
+  destination = current_position;
+  destination.z = g26_layer_height;
   move_to(destination, 0.0);
   move_to(destination, g26_ooze_amount);
 
@@ -706,71 +699,68 @@ void GcodeSuite::G26() {
 
   mesh_index_pair location;
   do {
-     location = g26_continue_with_closest
-      ? find_closest_circle_to_print(current_position[X_AXIS], current_position[Y_AXIS])
-      : find_closest_circle_to_print(g26_x_pos, g26_y_pos); // Find the closest Mesh Intersection to where we are now.
+    // Find the nearest confluence
+    location = find_closest_circle_to_print(g26_continue_with_closest ? xy_pos_t(current_position) : g26_pos);
 
-    if (location.x_index >= 0 && location.y_index >= 0) {
-      const float circle_x = _GET_MESH_X(location.x_index),
-                  circle_y = _GET_MESH_Y(location.y_index);
+    if (location.valid()) {
+      const xy_pos_t circle = _GET_MESH_POS(location.pos);
 
       // If this mesh location is outside the printable_radius, skip it.
-      if (!position_is_reachable(circle_x, circle_y)) continue;
+      if (!position_is_reachable(circle)) continue;
 
       // Determine where to start and end the circle,
       // which is always drawn counter-clockwise.
-      const uint8_t xi = location.x_index, yi = location.y_index;
-      const bool f = yi == 0, r = xi >= GRID_MAX_POINTS_X - 1, b = yi >= GRID_MAX_POINTS_Y - 1;
+      const xy_int8_t st = location;
+      const bool f = st.y == 0,
+                 r = st.x >= GRID_MAX_POINTS_X - 1,
+                 b = st.y >= GRID_MAX_POINTS_Y - 1;
 
       #if ENABLED(ARC_SUPPORT)
 
         #define ARC_LENGTH(quarters)  (INTERSECTION_CIRCLE_RADIUS * M_PI * (quarters) / 2)
         #define INTERSECTION_CIRCLE_DIAM  ((INTERSECTION_CIRCLE_RADIUS) * 2)
-        float sx = circle_x + INTERSECTION_CIRCLE_RADIUS,   // default to full circle
-              ex = circle_x + INTERSECTION_CIRCLE_RADIUS,
-              sy = circle_y, ey = circle_y,
-              arc_length = ARC_LENGTH(4);
+
+        xy_float_t e = { circle.x + INTERSECTION_CIRCLE_RADIUS, circle.y };
+        xyz_float_t s = e;
 
         // Figure out where to start and end the arc - we always print counterclockwise
-        if (xi == 0) {                             // left edge
-          if (!f) { sx = circle_x; sy -= INTERSECTION_CIRCLE_RADIUS; }
-          if (!b) { ex = circle_x; ey += INTERSECTION_CIRCLE_RADIUS; }
+        float arc_length = ARC_LENGTH(4);
+        if (st.x == 0) {                             // left edge
+          if (!f) { s.x = circle.x; s.y -= INTERSECTION_CIRCLE_RADIUS; }
+          if (!b) { e.x = circle.x; e.y += INTERSECTION_CIRCLE_RADIUS; }
           arc_length = (f || b) ? ARC_LENGTH(1) : ARC_LENGTH(2);
         }
         else if (r) {                             // right edge
-          sx = b ? circle_x - (INTERSECTION_CIRCLE_RADIUS) : circle_x;
-          ex = f ? circle_x - (INTERSECTION_CIRCLE_RADIUS) : circle_x;
-          sy = b ? circle_y : circle_y + INTERSECTION_CIRCLE_RADIUS;
-          ey = f ? circle_y : circle_y - (INTERSECTION_CIRCLE_RADIUS);
+          if (b) s.set(circle.x - (INTERSECTION_CIRCLE_RADIUS), circle.y);
+          else   s.set(circle.x, circle.y + INTERSECTION_CIRCLE_RADIUS);
+          if (f) e.set(circle.x - (INTERSECTION_CIRCLE_RADIUS), circle.y);
+          else   e.set(circle.x, circle.y - (INTERSECTION_CIRCLE_RADIUS));
           arc_length = (f || b) ? ARC_LENGTH(1) : ARC_LENGTH(2);
         }
         else if (f) {
-          ex -= INTERSECTION_CIRCLE_DIAM;
+          e.x -= INTERSECTION_CIRCLE_DIAM;
           arc_length = ARC_LENGTH(2);
         }
         else if (b) {
-          sx -= INTERSECTION_CIRCLE_DIAM;
+          s.x -= INTERSECTION_CIRCLE_DIAM;
           arc_length = ARC_LENGTH(2);
         }
 
-        const float arc_offset[2] = { circle_x - sx, circle_y - sy },
-                    dx_s = current_position[X_AXIS] - sx,   // find our distance from the start of the actual circle
-                    dy_s = current_position[Y_AXIS] - sy,
-                    dist_start = HYPOT2(dx_s, dy_s),
-                    endpoint[XYZE] = {
-                      ex, ey,
-                      g26_layer_height,
-                      current_position[E_AXIS] + (arc_length * g26_e_axis_feedrate * g26_extrusion_multiplier)
-                    };
+        const ab_float_t arc_offset = circle - s;
+        const xy_float_t dist = current_position - s;   // Distance from the start of the actual circle
+        const float dist_start = HYPOT2(dist.x, dist.y);
+        const xyze_pos_t endpoint = {
+          e.x, e.y, g26_layer_height,
+          current_position.e + (arc_length * g26_e_axis_feedrate * g26_extrusion_multiplier)
+        };
 
         if (dist_start > 2.0) {
-          retract_filament(destination);
-          //todo:  parameterize the bump height with a define
-          move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + 0.500, 0.0);  // Z bump to minimize scraping
-          move_to(sx, sy, g26_layer_height + 0.500, 0.0); // Get to the starting point with no extrusion while bumped
+          s.z = g26_layer_height + 0.5f;
+          retract_lift_move(s);
         }
 
-        move_to(sx, sy, g26_layer_height, 0.0); // Get to the starting point with no extrusion / un-Z bump
+        s.z = g26_layer_height;
+        move_to(s, 0.0);  // Get to the starting point with no extrusion / un-Z lift
 
         recover_filament(destination);
 
@@ -778,7 +768,7 @@ void GcodeSuite::G26() {
         feedrate_mm_s = PLANNER_XY_FEEDRATE() * 0.1f;
         plan_arc(endpoint, arc_offset, false);  // Draw a counter-clockwise arc
         feedrate_mm_s = old_feedrate;
-        set_destination_from_current();
+        destination = current_position;
 
         #if HAS_LCD_MENU
           if (user_canceled()) goto LEAVE; // Check if the user wants to stop the Mesh Validation
@@ -787,7 +777,7 @@ void GcodeSuite::G26() {
       #else // !ARC_SUPPORT
 
         int8_t start_ind = -2, end_ind = 9; // Assume a full circle (from 5:00 to 5:00)
-        if (xi == 0) {                      // Left edge? Just right half.
+        if (st.x == 0) {                    // Left edge? Just right half.
           start_ind = f ? 0 : -3;           //  03:00 to 12:00 for front-left
           end_ind = b ? 0 : 2;              //  06:00 to 03:00 for back-left
         }
@@ -810,23 +800,21 @@ void GcodeSuite::G26() {
             if (user_canceled()) goto LEAVE;          // Check if the user wants to stop the Mesh Validation
           #endif
 
-          float rx = circle_x + _COS(ind),            // For speed, these are now a lookup table entry
-                ry = circle_y + _SIN(ind),
-                xe = circle_x + _COS(ind + 1),
-                ye = circle_y + _SIN(ind + 1);
+          xy_float_t p = { circle.x + _COS(ind    ), circle.y + _SIN(ind    ), g26_layer_height },
+                     q = { circle.x + _COS(ind + 1), circle.y + _SIN(ind + 1), g26_layer_height };
 
           #if IS_KINEMATIC
             // Check to make sure this segment is entirely on the bed, skip if not.
-            if (!position_is_reachable(rx, ry) || !position_is_reachable(xe, ye)) continue;
-          #else                                               // not, we need to skip
-            LIMIT(rx, X_MIN_POS + 1, X_MAX_POS - 1); // This keeps us from bumping the endstops
-            LIMIT(ry, Y_MIN_POS + 1, Y_MAX_POS - 1);
-            LIMIT(xe, X_MIN_POS + 1, X_MAX_POS - 1);
-            LIMIT(ye, Y_MIN_POS + 1, Y_MAX_POS - 1);
+            if (!position_is_reachable(p) || !position_is_reachable(q)) continue;
+          #else
+            LIMIT(p.x, X_MIN_POS + 1, X_MAX_POS - 1); // Prevent hitting the endstops
+            LIMIT(p.y, Y_MIN_POS + 1, Y_MAX_POS - 1);
+            LIMIT(q.x, X_MIN_POS + 1, X_MAX_POS - 1);
+            LIMIT(q.y, Y_MIN_POS + 1, Y_MAX_POS - 1);
           #endif
 
-          print_line_from_here_to_there(rx, ry, g26_layer_height, xe, ye, g26_layer_height);
-          SERIAL_FLUSH();  // Prevent host M105 buffer overrun.
+          print_line_from_here_to_there(p, q);
+          SERIAL_FLUSH();   // Prevent host M105 buffer overrun.
         }
 
       #endif // !ARC_SUPPORT
@@ -836,19 +824,18 @@ void GcodeSuite::G26() {
 
     SERIAL_FLUSH(); // Prevent host M105 buffer overrun.
 
-  } while (--g26_repeats && location.x_index >= 0 && location.y_index >= 0);
+  } while (--g26_repeats && location.valid());
 
   LEAVE:
   ui.set_status_P(PSTR(MSG_G26_LEAVING), -1);
 
   retract_filament(destination);
-  destination[Z_AXIS] = Z_CLEARANCE_BETWEEN_PROBES;
+  destination.z = Z_CLEARANCE_BETWEEN_PROBES;
 
   move_to(destination, 0); // Raise the nozzle
 
-  destination[X_AXIS] = g26_x_pos;                            // Move back to the starting position
-  destination[Y_AXIS] = g26_y_pos;
-  //destination[Z_AXIS] = Z_CLEARANCE_BETWEEN_PROBES;         // Keep the nozzle where it is
+  destination.set(g26_pos.x, g26_pos.y);                      // Move back to the starting position
+  //destination.z = Z_CLEARANCE_BETWEEN_PROBES;               // Keep the nozzle where it is
 
   move_to(destination, 0);                                    // Move back to the starting position
 

Marlin/src/gcode/bedlevel/G42.cpp

@@ -27,6 +27,7 @@
 #include "../gcode.h"
 #include "../../Marlin.h" // for IsRunning()
 #include "../../module/motion.h"
+#include "../../module/probe.h" // for probe_offset
 #include "../../feature/bedlevel/bedlevel.h"
 
 /**
@@ -44,15 +45,15 @@ void GcodeSuite::G42() {
       return;
     }
 
-    set_destination_from_current();
+    destination = current_position;
 
-    if (hasI) destination[X_AXIS] = _GET_MESH_X(ix);
-    if (hasJ) destination[Y_AXIS] = _GET_MESH_Y(iy);
+    if (hasI) destination.x = _GET_MESH_X(ix);
+    if (hasJ) destination.y = _GET_MESH_Y(iy);
 
     #if HAS_BED_PROBE
       if (parser.boolval('P')) {
-        if (hasI) destination[X_AXIS] -= probe_offset[X_AXIS];
-        if (hasJ) destination[Y_AXIS] -= probe_offset[Y_AXIS];
+        if (hasI) destination.x -= probe_offset.x;
+        if (hasJ) destination.y -= probe_offset.y;
       }
     #endif
 

Marlin/src/gcode/bedlevel/M420.cpp

@@ -66,10 +66,9 @@ void GcodeSuite::M420() {
       #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
         const float x_min = probe_min_x(), x_max = probe_max_x(),
                     y_min = probe_min_y(), y_max = probe_max_y();
-        bilinear_start[X_AXIS] = x_min;
-        bilinear_start[Y_AXIS] = y_min;
-        bilinear_grid_spacing[X_AXIS] = (x_max - x_min) / (GRID_MAX_POINTS_X - 1);
-        bilinear_grid_spacing[Y_AXIS] = (y_max - y_min) / (GRID_MAX_POINTS_Y - 1);
+        bilinear_start.set(x_min, y_min);
+        bilinear_grid_spacing.set((x_max - x_min) / (GRID_MAX_POINTS_X - 1),
+                                  (y_max - y_min) / (GRID_MAX_POINTS_Y - 1));
       #endif
       for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
         for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++) {
@@ -91,7 +90,7 @@ void GcodeSuite::M420() {
   // (Don't disable for just M420 or M420 V)
   if (seen_S && !to_enable) set_bed_leveling_enabled(false);
 
-  const float oldpos[] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] };
+  xyz_pos_t oldpos = current_position;
 
   #if ENABLED(AUTO_BED_LEVELING_UBL)
 
@@ -251,7 +250,7 @@ void GcodeSuite::M420() {
   #endif
 
   // Report change in position
-  if (memcmp(oldpos, current_position, sizeof(oldpos)))
+  if (oldpos != current_position)
     report_current_position();
 }
 

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

@@ -61,15 +61,15 @@
 
 #if ABL_GRID
   #if ENABLED(PROBE_Y_FIRST)
-    #define PR_OUTER_VAR xCount
-    #define PR_OUTER_END abl_grid_points_x
-    #define PR_INNER_VAR yCount
-    #define PR_INNER_END abl_grid_points_y
+    #define PR_OUTER_VAR meshCount.x
+    #define PR_OUTER_END abl_grid_points.x
+    #define PR_INNER_VAR meshCount.y
+    #define PR_INNER_END abl_grid_points.y
   #else
-    #define PR_OUTER_VAR yCount
-    #define PR_OUTER_END abl_grid_points_y
-    #define PR_INNER_VAR xCount
-    #define PR_INNER_END abl_grid_points_x
+    #define PR_OUTER_VAR meshCount.y
+    #define PR_OUTER_END abl_grid_points.y
+    #define PR_INNER_VAR meshCount.x
+    #define PR_INNER_END abl_grid_points.x
   #endif
 #endif
 
@@ -210,7 +210,8 @@ G29_TYPE GcodeSuite::G29() {
   #endif
 
   ABL_VAR int verbose_level;
-  ABL_VAR float xProbe, yProbe, measured_z;
+  ABL_VAR xy_pos_t probePos;
+  ABL_VAR float measured_z;
   ABL_VAR bool dryrun, abl_should_enable;
 
   #if EITHER(PROBE_MANUALLY, AUTO_BED_LEVELING_LINEAR)
@@ -224,20 +225,17 @@ G29_TYPE GcodeSuite::G29() {
   #if ABL_GRID
 
     #if ENABLED(PROBE_MANUALLY)
-      ABL_VAR uint8_t PR_OUTER_VAR;
-      ABL_VAR  int8_t PR_INNER_VAR;
+      ABL_VAR xy_int8_t meshCount;
     #endif
 
-    ABL_VAR int left_probe_bed_position, right_probe_bed_position, front_probe_bed_position, back_probe_bed_position;
-    ABL_VAR float xGridSpacing = 0, yGridSpacing = 0;
+    ABL_VAR xy_int_t probe_position_lf, probe_position_rb;
+    ABL_VAR xy_float_t gridSpacing = { 0, 0 };
 
     #if ENABLED(AUTO_BED_LEVELING_LINEAR)
-      ABL_VAR uint8_t abl_grid_points_x = GRID_MAX_POINTS_X,
-                      abl_grid_points_y = GRID_MAX_POINTS_Y;
       ABL_VAR bool do_topography_map;
+      ABL_VAR xy_uint8_t abl_grid_points;
     #else // Bilinear
-      uint8_t constexpr abl_grid_points_x = GRID_MAX_POINTS_X,
-                        abl_grid_points_y = GRID_MAX_POINTS_Y;
+      constexpr xy_uint8_t abl_grid_points = { GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y };
     #endif
 
     #if ENABLED(AUTO_BED_LEVELING_LINEAR)
@@ -269,15 +267,15 @@ G29_TYPE GcodeSuite::G29() {
     const float x_min = probe_min_x(), x_max = probe_max_x(), y_min = probe_min_y(), y_max = probe_max_y();
 
     ABL_VAR vector_3 points[3] = {
-    #if ENABLED(HAS_FIXED_3POINT)
-      vector_3(PROBE_PT_1_X, PROBE_PT_1_Y, 0),
-      vector_3(PROBE_PT_2_X, PROBE_PT_2_Y, 0),
-      vector_3(PROBE_PT_3_X, PROBE_PT_3_Y, 0)
-    #else
-      vector_3(x_min, y_min, 0),
-      vector_3(x_max, y_min, 0),
-      vector_3((x_max - x_min) / 2, y_max, 0)
-    #endif
+      #if ENABLED(HAS_FIXED_3POINT)
+        { PROBE_PT_1_X, PROBE_PT_1_Y, 0 },
+        { PROBE_PT_2_X, PROBE_PT_2_Y, 0 },
+        { PROBE_PT_3_X, PROBE_PT_3_Y, 0 }
+      #else
+        { x_min, y_min, 0 },
+        { x_max, y_min, 0 },
+        { (x_max - x_min) / 2, y_max, 0 }
+      #endif
     };
 
   #endif // AUTO_BED_LEVELING_3POINT
@@ -311,7 +309,7 @@ G29_TYPE GcodeSuite::G29() {
           G29_RETURN(false);
         }
 
-        const float rz = parser.seenval('Z') ? RAW_Z_POSITION(parser.value_linear_units()) : current_position[Z_AXIS];
+        const float rz = parser.seenval('Z') ? RAW_Z_POSITION(parser.value_linear_units()) : current_position.z;
         if (!WITHIN(rz, -10, 10)) {
           SERIAL_ERROR_MSG("Bad Z value");
           G29_RETURN(false);
@@ -323,8 +321,8 @@ G29_TYPE GcodeSuite::G29() {
 
         if (!isnan(rx) && !isnan(ry)) {
           // Get nearest i / j from rx / ry
-          i = (rx - bilinear_start[X_AXIS] + 0.5 * xGridSpacing) / xGridSpacing;
-          j = (ry - bilinear_start[Y_AXIS] + 0.5 * yGridSpacing) / yGridSpacing;
+          i = (rx - bilinear_start.x + 0.5 * gridSpacing.x) / gridSpacing.x;
+          j = (ry - bilinear_start.y + 0.5 * gridSpacing.y) / gridSpacing.y;
           LIMIT(i, 0, GRID_MAX_POINTS_X - 1);
           LIMIT(j, 0, GRID_MAX_POINTS_Y - 1);
         }
@@ -373,20 +371,22 @@ G29_TYPE GcodeSuite::G29() {
 
       // X and Y specify points in each direction, overriding the default
       // These values may be saved with the completed mesh
-      abl_grid_points_x = parser.intval('X', GRID_MAX_POINTS_X);
-      abl_grid_points_y = parser.intval('Y', GRID_MAX_POINTS_Y);
-      if (parser.seenval('P')) abl_grid_points_x = abl_grid_points_y = parser.value_int();
+      abl_grid_points.set(
+        parser.byteval('X', GRID_MAX_POINTS_X),
+        parser.byteval('Y', GRID_MAX_POINTS_Y)
+      );
+      if (parser.seenval('P')) abl_grid_points.x = abl_grid_points.y = parser.value_int();
 
-      if (!WITHIN(abl_grid_points_x, 2, GRID_MAX_POINTS_X)) {
+      if (!WITHIN(abl_grid_points.x, 2, GRID_MAX_POINTS_X)) {
         SERIAL_ECHOLNPGM("?Probe points (X) implausible (2-" STRINGIFY(GRID_MAX_POINTS_X) ").");
         G29_RETURN(false);
       }
-      if (!WITHIN(abl_grid_points_y, 2, GRID_MAX_POINTS_Y)) {
+      if (!WITHIN(abl_grid_points.y, 2, GRID_MAX_POINTS_Y)) {
         SERIAL_ECHOLNPGM("?Probe points (Y) implausible (2-" STRINGIFY(GRID_MAX_POINTS_Y) ").");
         G29_RETURN(false);
       }
 
-      abl_points = abl_grid_points_x * abl_grid_points_y;
+      abl_points = abl_grid_points.x * abl_grid_points.y;
       mean = 0;
 
     #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
@@ -404,27 +404,35 @@ G29_TYPE GcodeSuite::G29() {
 
       if (parser.seen('H')) {
         const int16_t size = (int16_t)parser.value_linear_units();
-        left_probe_bed_position  = _MAX(X_CENTER - size / 2, x_min);
-        right_probe_bed_position = _MIN(left_probe_bed_position + size, x_max);
-        front_probe_bed_position = _MAX(Y_CENTER - size / 2, y_min);
-        back_probe_bed_position  = _MIN(front_probe_bed_position + size, y_max);
+        probe_position_lf.set(
+          _MAX(X_CENTER - size / 2, x_min),
+          _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 {
-        left_probe_bed_position  = parser.seenval('L') ? (int)RAW_X_POSITION(parser.value_linear_units()) : _MAX(X_CENTER - X_BED_SIZE / 2, x_min);
-        right_probe_bed_position = parser.seenval('R') ? (int)RAW_X_POSITION(parser.value_linear_units()) : _MIN(left_probe_bed_position + X_BED_SIZE, x_max);
-        front_probe_bed_position = parser.seenval('F') ? (int)RAW_Y_POSITION(parser.value_linear_units()) : _MAX(Y_CENTER - Y_BED_SIZE / 2, y_min);
-        back_probe_bed_position  = parser.seenval('B') ? (int)RAW_Y_POSITION(parser.value_linear_units()) : _MIN(front_probe_bed_position + Y_BED_SIZE, y_max);
+        probe_position_lf.set(
+          parser.seenval('L') ? (int)RAW_X_POSITION(parser.value_linear_units()) : _MAX(X_CENTER - (X_BED_SIZE) / 2,      x_min),
+          parser.seenval('F') ? (int)RAW_Y_POSITION(parser.value_linear_units()) : _MAX(Y_CENTER - (Y_BED_SIZE) / 2,      y_min)
+        );
+        probe_position_rb.set(
+          parser.seenval('R') ? (int)RAW_X_POSITION(parser.value_linear_units()) : _MIN(probe_position_lf.x + X_BED_SIZE, x_max),
+          parser.seenval('B') ? (int)RAW_Y_POSITION(parser.value_linear_units()) : _MIN(probe_position_lf.y + Y_BED_SIZE, y_max)
+        );
       }
 
       if (
         #if IS_SCARA || ENABLED(DELTA)
-             !position_is_reachable_by_probe(left_probe_bed_position, 0)
-          || !position_is_reachable_by_probe(right_probe_bed_position, 0)
-          || !position_is_reachable_by_probe(0, front_probe_bed_position)
-          || !position_is_reachable_by_probe(0, back_probe_bed_position)
+             !position_is_reachable_by_probe(probe_position_lf.x, 0)
+          || !position_is_reachable_by_probe(probe_position_rb.x, 0)
+          || !position_is_reachable_by_probe(0, probe_position_lf.y)
+          || !position_is_reachable_by_probe(0, probe_position_rb.y)
         #else
-             !position_is_reachable_by_probe(left_probe_bed_position, front_probe_bed_position)
-          || !position_is_reachable_by_probe(right_probe_bed_position, back_probe_bed_position)
+             !position_is_reachable_by_probe(probe_position_lf)
+          || !position_is_reachable_by_probe(probe_position_rb)
         #endif
       ) {
         SERIAL_ECHOLNPGM("? (L,R,F,B) out of bounds.");
@@ -432,8 +440,8 @@ G29_TYPE GcodeSuite::G29() {
       }
 
       // probe at the points of a lattice grid
-      xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (abl_grid_points_x - 1);
-      yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (abl_grid_points_y - 1);
+      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));
 
     #endif // ABL_GRID
 
@@ -464,19 +472,13 @@ G29_TYPE GcodeSuite::G29() {
       #if ENABLED(PROBE_MANUALLY)
         if (!no_action)
       #endif
-      if ( xGridSpacing != bilinear_grid_spacing[X_AXIS]
-        || yGridSpacing != bilinear_grid_spacing[Y_AXIS]
-        || left_probe_bed_position != bilinear_start[X_AXIS]
-        || front_probe_bed_position != bilinear_start[Y_AXIS]
-      ) {
+      if (gridSpacing != bilinear_grid_spacing || probe_position_lf != bilinear_start) {
         // Reset grid to 0.0 or "not probed". (Also disables ABL)
         reset_bed_level();
 
         // Initialize a grid with the given dimensions
-        bilinear_grid_spacing[X_AXIS] = xGridSpacing;
-        bilinear_grid_spacing[Y_AXIS] = yGridSpacing;
-        bilinear_start[X_AXIS] = left_probe_bed_position;
-        bilinear_start[Y_AXIS] = front_probe_bed_position;
+        bilinear_grid_spacing = gridSpacing.asInt();
+        bilinear_start = probe_position_lf;
 
         // Can't re-enable (on error) until the new grid is written
         abl_should_enable = false;
@@ -546,17 +548,17 @@ G29_TYPE GcodeSuite::G29() {
 
       // For G29 after adjusting Z.
       // Save the previous Z before going to the next point
-      measured_z = current_position[Z_AXIS];
+      measured_z = current_position.z;
 
       #if ENABLED(AUTO_BED_LEVELING_LINEAR)
 
         mean += measured_z;
         eqnBVector[index] = measured_z;
-        eqnAMatrix[index + 0 * abl_points] = xProbe;
-        eqnAMatrix[index + 1 * abl_points] = yProbe;
+        eqnAMatrix[index + 0 * abl_points] = probePos.x;
+        eqnAMatrix[index + 1 * abl_points] = probePos.y;
         eqnAMatrix[index + 2 * abl_points] = 1;
 
-        incremental_LSF(&lsf_results, xProbe, yProbe, measured_z);
+        incremental_LSF(&lsf_results, probePos, measured_z);
 
       #elif ENABLED(AUTO_BED_LEVELING_3POINT)
 
@@ -564,12 +566,13 @@ G29_TYPE GcodeSuite::G29() {
 
       #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
 
-        z_values[xCount][yCount] = measured_z + zoffset;
+        const float newz = measured_z + zoffset;
+        z_values[meshCount.x][meshCount.y] = newz;
         #if ENABLED(EXTENSIBLE_UI)
-          ExtUI::onMeshUpdate(xCount, yCount, z_values[xCount][yCount]);
+          ExtUI::onMeshUpdate(meshCount, newz);
         #endif
 
-        if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Save X", xCount, " Y", yCount, " Z", measured_z + zoffset);
+        if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Save X", meshCount.x, " Y", meshCount.y, " Z", measured_z + zoffset);
 
       #endif
     }
@@ -583,7 +586,7 @@ G29_TYPE GcodeSuite::G29() {
       // Skip any unreachable points
       while (abl_probe_index < abl_points) {
 
-        // Set xCount, yCount based on abl_probe_index, with zig-zag
+        // Set meshCount.x, meshCount.y based on abl_probe_index, with zig-zag
         PR_OUTER_VAR = abl_probe_index / PR_INNER_END;
         PR_INNER_VAR = abl_probe_index - (PR_OUTER_VAR * PR_INNER_END);
 
@@ -592,24 +595,23 @@ G29_TYPE GcodeSuite::G29() {
 
         if (zig) PR_INNER_VAR = (PR_INNER_END - 1) - PR_INNER_VAR;
 
-        const float xBase = xCount * xGridSpacing + left_probe_bed_position,
-                    yBase = yCount * yGridSpacing + front_probe_bed_position;
+        const xy_pos_t base = probe_position_lf.asFloat() + gridSpacing * meshCount.asFloat();
 
-        xProbe = FLOOR(xBase + (xBase < 0 ? 0 : 0.5));
-        yProbe = FLOOR(yBase + (yBase < 0 ? 0 : 0.5));
+        probePos.set(FLOOR(base.x + (base.x < 0 ? 0 : 0.5)),
+                     FLOOR(base.y + (base.y < 0 ? 0 : 0.5)));
 
         #if ENABLED(AUTO_BED_LEVELING_LINEAR)
-          indexIntoAB[xCount][yCount] = abl_probe_index;
+          indexIntoAB[meshCount.x][meshCount.y] = abl_probe_index;
         #endif
 
         // Keep looping till a reachable point is found
-        if (position_is_reachable(xProbe, yProbe)) break;
+        if (position_is_reachable(probePos)) break;
         ++abl_probe_index;
       }
 
       // Is there a next point to move to?
       if (abl_probe_index < abl_points) {
-        _manual_goto_xy(xProbe, yProbe); // Can be used here too!
+        _manual_goto_xy(probePos); // Can be used here too!
         #if HAS_SOFTWARE_ENDSTOPS
           // Disable software endstops to allow manual adjustment
           // If G29 is not completed, they will not be re-enabled
@@ -633,9 +635,8 @@ G29_TYPE GcodeSuite::G29() {
 
       // Probe at 3 arbitrary points
       if (abl_probe_index < abl_points) {
-        xProbe = points[abl_probe_index].x;
-        yProbe = points[abl_probe_index].y;
-        _manual_goto_xy(xProbe, yProbe);
+        probePos = points[abl_probe_index];
+        _manual_goto_xy(probePos);
         #if HAS_SOFTWARE_ENDSTOPS
           // Disable software endstops to allow manual adjustment
           // If G29 is not completed, they will not be re-enabled
@@ -654,11 +655,7 @@ G29_TYPE GcodeSuite::G29() {
 
         if (!dryrun) {
           vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal();
-          if (planeNormal.z < 0) {
-            planeNormal.x *= -1;
-            planeNormal.y *= -1;
-            planeNormal.z *= -1;
-          }
+          if (planeNormal.z < 0) planeNormal *= -1;
           planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
 
           // Can't re-enable (on error) until the new grid is written
@@ -681,8 +678,11 @@ G29_TYPE GcodeSuite::G29() {
 
       measured_z = 0;
 
+      xy_int8_t meshCount;
+
+      // Outer loop is X with PROBE_Y_FIRST enabled
       // Outer loop is Y with PROBE_Y_FIRST disabled
-      for (uint8_t PR_OUTER_VAR = 0; PR_OUTER_VAR < PR_OUTER_END && !isnan(measured_z); PR_OUTER_VAR++) {
+      for (PR_OUTER_VAR = 0; PR_OUTER_VAR < PR_OUTER_END && !isnan(measured_z); PR_OUTER_VAR++) {
 
         int8_t inStart, inStop, inInc;
 
@@ -703,21 +703,21 @@ G29_TYPE GcodeSuite::G29() {
         uint8_t pt_index = (PR_OUTER_VAR) * (PR_INNER_END) + 1;
 
         // Inner loop is Y with PROBE_Y_FIRST enabled
-        for (int8_t PR_INNER_VAR = inStart; PR_INNER_VAR != inStop; pt_index++, PR_INNER_VAR += inInc) {
+        // Inner loop is X with PROBE_Y_FIRST disabled
+        for (PR_INNER_VAR = inStart; PR_INNER_VAR != inStop; pt_index++, PR_INNER_VAR += inInc) {
 
-          const float xBase = left_probe_bed_position + xGridSpacing * xCount,
-                      yBase = front_probe_bed_position + yGridSpacing * yCount;
+          const xy_pos_t base = probe_position_lf.asFloat() + gridSpacing * meshCount.asFloat();
 
-          xProbe = FLOOR(xBase + (xBase < 0 ? 0 : 0.5));
-          yProbe = FLOOR(yBase + (yBase < 0 ? 0 : 0.5));
+          probePos.set(FLOOR(base.x + (base.x < 0 ? 0 : 0.5)),
+                       FLOOR(base.y + (base.y < 0 ? 0 : 0.5)));
 
           #if ENABLED(AUTO_BED_LEVELING_LINEAR)
-            indexIntoAB[xCount][yCount] = ++abl_probe_index; // 0...
+            indexIntoAB[meshCount.x][meshCount.y] = ++abl_probe_index; // 0...
           #endif
 
           #if IS_KINEMATIC
             // Avoid probing outside the round or hexagonal area
-            if (!position_is_reachable_by_probe(xProbe, yProbe)) continue;
+            if (!position_is_reachable_by_probe(probePos)) continue;
           #endif
 
           if (verbose_level) SERIAL_ECHOLNPAIR("Probing mesh point ", int(pt_index), "/", int(GRID_MAX_POINTS), ".");
@@ -725,7 +725,7 @@ G29_TYPE GcodeSuite::G29() {
             ui.status_printf_P(0, PSTR(S_FMT " %i/%i"), PSTR(MSG_PROBING_MESH), int(pt_index), int(GRID_MAX_POINTS));
           #endif
 
-          measured_z = faux ? 0.001 * random(-100, 101) : probe_at_point(xProbe, yProbe, raise_after, verbose_level);
+          measured_z = faux ? 0.001 * random(-100, 101) : probe_at_point(probePos, raise_after, verbose_level);
 
           if (isnan(measured_z)) {
             set_bed_leveling_enabled(abl_should_enable);
@@ -736,17 +736,17 @@ G29_TYPE GcodeSuite::G29() {
 
             mean += measured_z;
             eqnBVector[abl_probe_index] = measured_z;
-            eqnAMatrix[abl_probe_index + 0 * abl_points] = xProbe;
-            eqnAMatrix[abl_probe_index + 1 * abl_points] = yProbe;
+            eqnAMatrix[abl_probe_index + 0 * abl_points] = probePos.x;
+            eqnAMatrix[abl_probe_index + 1 * abl_points] = probePos.y;
             eqnAMatrix[abl_probe_index + 2 * abl_points] = 1;
 
-            incremental_LSF(&lsf_results, xProbe, yProbe, measured_z);
+            incremental_LSF(&lsf_results, probePos, measured_z);
 
           #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
 
-            z_values[xCount][yCount] = measured_z + zoffset;
+            z_values[meshCount.x][meshCount.y] = measured_z + zoffset;
             #if ENABLED(EXTENSIBLE_UI)
-              ExtUI::onMeshUpdate(xCount, yCount, z_values[xCount][yCount]);
+              ExtUI::onMeshUpdate(meshCount.x, meshCount.y, z_values[meshCount.x][meshCount.y]);
             #endif
 
           #endif
@@ -768,9 +768,8 @@ G29_TYPE GcodeSuite::G29() {
         #endif
 
         // Retain the last probe position
-        xProbe = points[i].x;
-        yProbe = points[i].y;
-        measured_z = faux ? 0.001 * random(-100, 101) : probe_at_point(xProbe, yProbe, raise_after, verbose_level);
+        probePos = points[i];
+        measured_z = faux ? 0.001 * random(-100, 101) : probe_at_point(probePos, raise_after, verbose_level);
         if (isnan(measured_z)) {
           set_bed_leveling_enabled(abl_should_enable);
           break;
@@ -845,19 +844,19 @@ G29_TYPE GcodeSuite::G29() {
        * plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
        * so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
        */
-      float plane_equation_coefficients[3];
+      struct { float a, b, d; } plane_equation_coefficients;
 
       finish_incremental_LSF(&lsf_results);
-      plane_equation_coefficients[0] = -lsf_results.A;  // We should be able to eliminate the '-' on these three lines and down below
-      plane_equation_coefficients[1] = -lsf_results.B;  // but that is not yet tested.
-      plane_equation_coefficients[2] = -lsf_results.D;
+      plane_equation_coefficients.a = -lsf_results.A;  // We should be able to eliminate the '-' on these three lines and down below
+      plane_equation_coefficients.b = -lsf_results.B;  // but that is not yet tested.
+      plane_equation_coefficients.d = -lsf_results.D;
 
       mean /= abl_points;
 
       if (verbose_level) {
-        SERIAL_ECHOPAIR_F("Eqn coefficients: a: ", plane_equation_coefficients[0], 8);
-        SERIAL_ECHOPAIR_F(" b: ", plane_equation_coefficients[1], 8);
-        SERIAL_ECHOPAIR_F(" d: ", plane_equation_coefficients[2], 8);
+        SERIAL_ECHOPAIR_F("Eqn coefficients: a: ", plane_equation_coefficients.a, 8);
+        SERIAL_ECHOPAIR_F(" b: ", plane_equation_coefficients.b, 8);
+        SERIAL_ECHOPAIR_F(" d: ", plane_equation_coefficients.d, 8);
         if (verbose_level > 2)
           SERIAL_ECHOPAIR_F("\nMean of sampled points: ", mean, 8);
         SERIAL_EOL();
@@ -866,13 +865,34 @@ G29_TYPE GcodeSuite::G29() {
       // Create the matrix but don't correct the position yet
       if (!dryrun)
         planner.bed_level_matrix = matrix_3x3::create_look_at(
-          vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1)    // We can eliminate the '-' here and up above
+          vector_3(-plane_equation_coefficients.a, -plane_equation_coefficients.b, 1)    // We can eliminate the '-' here and up above
         );
 
       // Show the Topography map if enabled
       if (do_topography_map) {
 
-        SERIAL_ECHOLNPGM("\nBed Height Topography:\n"
+        float min_diff = 999;
+
+        auto print_topo_map = [&](PGM_P const title, const bool get_min) {
+          serialprintPGM(title);
+          for (int8_t yy = abl_grid_points.y - 1; yy >= 0; yy--) {
+            for (uint8_t xx = 0; xx < abl_grid_points.x; xx++) {
+              const int ind = indexIntoAB[xx][yy];
+              xyz_float_t tmp = { eqnAMatrix[ind + 0 * abl_points],
+                                  eqnAMatrix[ind + 1 * abl_points], 0 };
+              apply_rotation_xyz(planner.bed_level_matrix, tmp);
+              if (get_min) NOMORE(min_diff, eqnBVector[ind] - tmp.z);
+              const float subval = get_min ? mean : tmp.z + min_diff,
+                            diff = eqnBVector[ind] - subval;
+              SERIAL_CHAR(' '); if (diff >= 0.0) SERIAL_CHAR('+');   // Include + for column alignment
+              SERIAL_ECHO_F(diff, 5);
+            } // xx
+            SERIAL_EOL();
+          } // yy
+          SERIAL_EOL();
+        };
+
+        print_topo_map(PSTR("\nBed Height Topography:\n"
                                "   +--- BACK --+\n"
                                "   |           |\n"
                                " L |    (+)    | R\n"
@@ -882,56 +902,10 @@ G29_TYPE GcodeSuite::G29() {
                                "   |    (-)    | T\n"
                                "   |           |\n"
                                "   O-- FRONT --+\n"
-                               " (0,0)");
+                               " (0,0)\n"), true);
+        if (verbose_level > 3)
+          print_topo_map(PSTR("\nCorrected Bed Height vs. Bed Topology:\n"), false);
 
-        float min_diff = 999;
-
-        for (int8_t yy = abl_grid_points_y - 1; yy >= 0; yy--) {
-          for (uint8_t xx = 0; xx < abl_grid_points_x; xx++) {
-            int ind = indexIntoAB[xx][yy];
-            float diff = eqnBVector[ind] - mean,
-                  x_tmp = eqnAMatrix[ind + 0 * abl_points],
-                  y_tmp = eqnAMatrix[ind + 1 * abl_points],
-                  z_tmp = 0;
-
-            apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp);
-
-            NOMORE(min_diff, eqnBVector[ind] - z_tmp);
-
-            if (diff >= 0.0)
-              SERIAL_ECHOPGM(" +");   // Include + for column alignment
-            else
-              SERIAL_CHAR(' ');
-            SERIAL_ECHO_F(diff, 5);
-          } // xx
-          SERIAL_EOL();
-        } // yy
-        SERIAL_EOL();
-
-        if (verbose_level > 3) {
-          SERIAL_ECHOLNPGM("\nCorrected Bed Height vs. Bed Topology:");
-
-          for (int8_t yy = abl_grid_points_y - 1; yy >= 0; yy--) {
-            for (uint8_t xx = 0; xx < abl_grid_points_x; xx++) {
-              int ind = indexIntoAB[xx][yy];
-              float x_tmp = eqnAMatrix[ind + 0 * abl_points],
-                    y_tmp = eqnAMatrix[ind + 1 * abl_points],
-                    z_tmp = 0;
-
-              apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp);
-
-              float diff = eqnBVector[ind] - z_tmp - min_diff;
-              if (diff >= 0.0)
-                SERIAL_ECHOPGM(" +");
-              // Include + for column alignment
-              else
-                SERIAL_CHAR(' ');
-              SERIAL_ECHO_F(diff, 5);
-            } // xx
-            SERIAL_EOL();
-          } // yy
-          SERIAL_EOL();
-        }
       } //do_topography_map
 
     #endif // AUTO_BED_LEVELING_LINEAR
@@ -950,24 +924,20 @@ G29_TYPE GcodeSuite::G29() {
 
         if (DEBUGGING(LEVELING)) DEBUG_POS("G29 uncorrected XYZ", current_position);
 
-        float converted[XYZ];
-        COPY(converted, current_position);
-
-        planner.leveling_active = true;
-        planner.unapply_leveling(converted); // use conversion machinery
-        planner.leveling_active = false;
+        xyze_pos_t converted = current_position;
+        planner.force_unapply_leveling(converted); // use conversion machinery
 
         // Use the last measured distance to the bed, if possible
-        if ( NEAR(current_position[X_AXIS], xProbe - probe_offset[X_AXIS])
-          && NEAR(current_position[Y_AXIS], yProbe - probe_offset[Y_AXIS])
+        if ( NEAR(current_position.x, probePos.x - probe_offset.x)
+          && NEAR(current_position.y, probePos.y - probe_offset.y)
         ) {
-          const float simple_z = current_position[Z_AXIS] - measured_z;
-          if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Probed Z", simple_z, "  Matrix Z", converted[Z_AXIS], "  Discrepancy ", simple_z - converted[Z_AXIS]);
-          converted[Z_AXIS] = simple_z;
+          const float simple_z = current_position.z - measured_z;
+          if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Probed Z", simple_z, "  Matrix Z", converted.z, "  Discrepancy ", simple_z - converted.z);
+          converted.z = simple_z;
         }
 
         // The rotated XY and corrected Z are now current_position
-        COPY(current_position, converted);
+        current_position = converted;
 
         if (DEBUGGING(LEVELING)) DEBUG_POS("G29 corrected XYZ", current_position);
       }
@@ -975,13 +945,13 @@ G29_TYPE GcodeSuite::G29() {
     #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
 
       if (!dryrun) {
-        if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("G29 uncorrected Z:", current_position[Z_AXIS]);
+        if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("G29 uncorrected Z:", current_position.z);
 
         // Unapply the offset because it is going to be immediately applied
         // and cause compensation movement in Z
-        current_position[Z_AXIS] -= bilinear_z_offset(current_position);
+        current_position.z -= bilinear_z_offset(current_position);
 
-        if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR(" corrected Z:", current_position[Z_AXIS]);
+        if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR(" corrected Z:", current_position.z);
       }
 
     #endif // ABL_PLANAR

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

@@ -110,7 +110,7 @@ void GcodeSuite::G29() {
       }
       else {
         // Save Z for the previous mesh position
-        mbl.set_zigzag_z(mbl_probe_index - 1, current_position[Z_AXIS]);
+        mbl.set_zigzag_z(mbl_probe_index - 1, current_position.z);
         #if HAS_SOFTWARE_ENDSTOPS
           soft_endstops_enabled = saved_soft_endstops_state;
         #endif
@@ -124,11 +124,11 @@ void GcodeSuite::G29() {
         #endif
 
         mbl.zigzag(mbl_probe_index++, ix, iy);
-        _manual_goto_xy(mbl.index_to_xpos[ix], mbl.index_to_ypos[iy]);
+        _manual_goto_xy({ mbl.index_to_xpos[ix], mbl.index_to_ypos[iy] });
       }
       else {
         // One last "return to the bed" (as originally coded) at completion
-        current_position[Z_AXIS] = MANUAL_PROBE_HEIGHT;
+        current_position.z = MANUAL_PROBE_HEIGHT;
         line_to_current_position();
         planner.synchronize();
 
@@ -142,7 +142,7 @@ void GcodeSuite::G29() {
         set_bed_leveling_enabled(true);
 
         #if ENABLED(MESH_G28_REST_ORIGIN)
-          current_position[Z_AXIS] = 0;
+          current_position.z = 0;
           line_to_current_position(homing_feedrate(Z_AXIS));
           planner.synchronize();
         #endif

Marlin/src/gcode/bedlevel/ubl/M421.cpp

@@ -46,28 +46,25 @@
  *   M421 C Q<offset>
  */
 void GcodeSuite::M421() {
-  int8_t ix = parser.intval('I', -1), iy = parser.intval('J', -1);
-  const bool hasI = ix >= 0,
-             hasJ = iy >= 0,
+  xy_int8_t ij = { int8_t(parser.intval('I', -1)), int8_t(parser.intval('J', -1)) };
+  const bool hasI = ij.x >= 0,
+             hasJ = ij.y >= 0,
              hasC = parser.seen('C'),
              hasN = parser.seen('N'),
              hasZ = parser.seen('Z'),
              hasQ = !hasZ && parser.seen('Q');
 
-  if (hasC) {
-    const mesh_index_pair location = ubl.find_closest_mesh_point_of_type(REAL, current_position[X_AXIS], current_position[Y_AXIS], USE_NOZZLE_AS_REFERENCE, nullptr);
-    ix = location.x_index;
-    iy = location.y_index;
-  }
+  if (hasC) ij = ubl.find_closest_mesh_point_of_type(REAL, current_position);
 
   if (int(hasC) + int(hasI && hasJ) != 1 || !(hasZ || hasQ || hasN))
     SERIAL_ERROR_MSG(MSG_ERR_M421_PARAMETERS);
-  else if (!WITHIN(ix, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(iy, 0, GRID_MAX_POINTS_Y - 1))
+  else if (!WITHIN(ij.x, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(ij.y, 0, GRID_MAX_POINTS_Y - 1))
     SERIAL_ERROR_MSG(MSG_ERR_MESH_XY);
   else {
-    ubl.z_values[ix][iy] = hasN ? NAN : parser.value_linear_units() + (hasQ ? ubl.z_values[ix][iy] : 0);
+    float &zval = ubl.z_values[ij.x][ij.y];
+    zval = hasN ? NAN : parser.value_linear_units() + (hasQ ? zval : 0);
     #if ENABLED(EXTENSIBLE_UI)
-      ExtUI::onMeshUpdate(ix, iy, ubl.z_values[ix][iy]);
+      ExtUI::onMeshUpdate(ij.x, ij.y, zval);
     #endif
   }
 }

Marlin/src/gcode/calibrate/G28.cpp

@@ -59,7 +59,7 @@
   static void quick_home_xy() {
 
     // Pretend the current position is 0,0
-    current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
+    current_position.set(0.0, 0.0);
     sync_plan_position();
 
     const int x_axis_home_dir =
@@ -95,7 +95,7 @@
 
     endstops.validate_homing_move();
 
-    current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
+    current_position.set(0.0, 0.0);
 
     #if ENABLED(SENSORLESS_HOMING)
       tmc_disable_stallguard(stepperX, stealth_states.x);
@@ -128,17 +128,15 @@
 
     /**
      * Move the Z probe (or just the nozzle) to the safe homing point
+     * (Z is already at the right height)
      */
-    destination[X_AXIS] = Z_SAFE_HOMING_X_POINT;
-    destination[Y_AXIS] = Z_SAFE_HOMING_Y_POINT;
-    destination[Z_AXIS] = current_position[Z_AXIS]; // Z is already at the right height
+    destination.set(safe_homing_xy, current_position.z);
 
     #if HOMING_Z_WITH_PROBE
-      destination[X_AXIS] -= probe_offset[X_AXIS];
-      destination[Y_AXIS] -= probe_offset[Y_AXIS];
+      destination -= probe_offset;
     #endif
 
-    if (position_is_reachable(destination[X_AXIS], destination[Y_AXIS])) {
+    if (position_is_reachable(destination)) {
 
       if (DEBUGGING(LEVELING)) DEBUG_POS("home_z_safely", destination);
 
@@ -151,7 +149,7 @@
         safe_delay(500); // Short delay needed to settle
       #endif
 
-      do_blocking_move_to_xy(destination[X_AXIS], destination[Y_AXIS]);
+      do_blocking_move_to_xy(destination);
       homeaxis(Z_AXIS);
     }
     else {
@@ -232,16 +230,14 @@ void GcodeSuite::G28(const bool always_home_all) {
   #endif
 
   #if ENABLED(IMPROVE_HOMING_RELIABILITY)
-    slow_homing_t slow_homing { 0 };
-    slow_homing.acceleration.x = planner.settings.max_acceleration_mm_per_s2[X_AXIS];
-    slow_homing.acceleration.y = planner.settings.max_acceleration_mm_per_s2[Y_AXIS];
+    slow_homing_t slow_homing{0};
+    slow_homing.acceleration.set(planner.settings.max_acceleration_mm_per_s2[X_AXIS];
+                                 planner.settings.max_acceleration_mm_per_s2[Y_AXIS]);
     planner.settings.max_acceleration_mm_per_s2[X_AXIS] = 100;
     planner.settings.max_acceleration_mm_per_s2[Y_AXIS] = 100;
     #if HAS_CLASSIC_JERK
-      slow_homing.jerk.x = planner.max_jerk[X_AXIS];
-      slow_homing.jerk.y = planner.max_jerk[Y_AXIS];
-      planner.max_jerk[X_AXIS] = 0;
-      planner.max_jerk[Y_AXIS] = 0;
+      slow_homing.jerk_xy = planner.max_jerk;
+      planner.max_jerk.set(0, 0);
     #endif
 
     planner.reset_acceleration_rates();
@@ -274,7 +270,7 @@ void GcodeSuite::G28(const bool always_home_all) {
                home_all = always_home_all || (homeX == homeY && homeX == homeZ),
                doX = home_all || homeX, doY = home_all || homeY, doZ = home_all || homeZ;
 
-    set_destination_from_current();
+    destination = current_position;
 
     #if Z_HOME_DIR > 0  // If homing away from BED do Z first
 
@@ -291,10 +287,10 @@ void GcodeSuite::G28(const bool always_home_all) {
 
     if (z_homing_height && (doX || doY)) {
       // Raise Z before homing any other axes and z is not already high enough (never lower z)
-      destination[Z_AXIS] = z_homing_height;
-      if (destination[Z_AXIS] > current_position[Z_AXIS]) {
-        if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Raise Z (before homing) to ", destination[Z_AXIS]);
-        do_blocking_move_to_z(destination[Z_AXIS]);
+      destination.z = z_homing_height;
+      if (destination.z > current_position.z) {
+        if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Raise Z (before homing) to ", destination.z);
+        do_blocking_move_to_z(destination.z);
       }
     }
 
@@ -329,14 +325,14 @@ void GcodeSuite::G28(const bool always_home_all) {
         homeaxis(X_AXIS);
 
         // Remember this extruder's position for later tool change
-        inactive_extruder_x_pos = current_position[X_AXIS];
+        inactive_extruder_x_pos = current_position.x;
 
         // Home the 1st (left) extruder
         active_extruder = 0;
         homeaxis(X_AXIS);
 
         // Consider the active extruder to be parked
-        COPY(raised_parked_position, current_position);
+        raised_parked_position = current_position;
         delayed_move_time = 0;
         active_extruder_parked = true;
 
@@ -390,14 +386,14 @@ void GcodeSuite::G28(const bool always_home_all) {
       homeaxis(X_AXIS);
 
       // Remember this extruder's position for later tool change
-      inactive_extruder_x_pos = current_position[X_AXIS];
+      inactive_extruder_x_pos = current_position.x;
 
       // Home the 1st (left) extruder
       active_extruder = 0;
       homeaxis(X_AXIS);
 
       // Consider the active extruder to be parked
-      COPY(raised_parked_position, current_position);
+      raised_parked_position = current_position;
       delayed_move_time = 0;
       active_extruder_parked = true;
       extruder_duplication_enabled = IDEX_saved_duplication_state;
@@ -441,10 +437,8 @@ void GcodeSuite::G28(const bool always_home_all) {
     planner.settings.max_acceleration_mm_per_s2[X_AXIS] = slow_homing.acceleration.x;
     planner.settings.max_acceleration_mm_per_s2[Y_AXIS] = slow_homing.acceleration.y;
     #if HAS_CLASSIC_JERK
-      planner.max_jerk[X_AXIS] = slow_homing.jerk.x;
-      planner.max_jerk[Y_AXIS] = slow_homing.jerk.y;
+      planner.max_jerk = slow_homing.jerk_xy;
     #endif
-
     planner.reset_acceleration_rates();
   #endif
 

Marlin/src/gcode/calibrate/G33.cpp

@@ -70,7 +70,7 @@ enum CalEnum : char {                        // the 7 main calibration points -
   #define AC_CLEANUP() ac_cleanup()
 #endif
 
-float lcd_probe_pt(const float &rx, const float &ry);
+float lcd_probe_pt(const xy_pos_t &xy);
 
 void ac_home() {
   endstops.enable(true);
@@ -122,9 +122,9 @@ void print_signed_float(PGM_P const prefix, const float &f) {
 static void print_calibration_settings(const bool end_stops, const bool tower_angles) {
   SERIAL_ECHOPAIR(".Height:", delta_height);
   if (end_stops) {
-    print_signed_float(PSTR("Ex"), delta_endstop_adj[A_AXIS]);
-    print_signed_float(PSTR("Ey"), delta_endstop_adj[B_AXIS]);
-    print_signed_float(PSTR("Ez"), delta_endstop_adj[C_AXIS]);
+    print_signed_float(PSTR("Ex"), delta_endstop_adj.a);
+    print_signed_float(PSTR("Ey"), delta_endstop_adj.b);
+    print_signed_float(PSTR("Ez"), delta_endstop_adj.c);
   }
   if (end_stops && tower_angles) {
     SERIAL_ECHOPAIR("  Radius:", delta_radius);
@@ -133,9 +133,9 @@ static void print_calibration_settings(const bool end_stops, const bool tower_an
     SERIAL_ECHO_SP(13);
   }
   if (tower_angles) {
-    print_signed_float(PSTR("Tx"), delta_tower_angle_trim[A_AXIS]);
-    print_signed_float(PSTR("Ty"), delta_tower_angle_trim[B_AXIS]);
-    print_signed_float(PSTR("Tz"), delta_tower_angle_trim[C_AXIS]);
+    print_signed_float(PSTR("Tx"), delta_tower_angle_trim.a);
+    print_signed_float(PSTR("Ty"), delta_tower_angle_trim.b);
+    print_signed_float(PSTR("Tz"), delta_tower_angle_trim.c);
   }
   if ((!end_stops && tower_angles) || (end_stops && !tower_angles)) { // XOR
     SERIAL_ECHOPAIR("  Radius:", delta_radius);
@@ -188,12 +188,12 @@ static float std_dev_points(float z_pt[NPP + 1], const bool _0p_cal, const bool
 /**
  *  - Probe a point
  */
-static float calibration_probe(const float &nx, const float &ny, const bool stow) {
+static float calibration_probe(const xy_pos_t &xy, const bool stow) {
   #if HAS_BED_PROBE
-    return probe_at_point(nx, ny, stow ? PROBE_PT_STOW : PROBE_PT_RAISE, 0, false);
+    return probe_at_point(xy, stow ? PROBE_PT_STOW : PROBE_PT_RAISE, 0, false);
   #else
     UNUSED(stow);
-    return lcd_probe_pt(nx, ny);
+    return lcd_probe_pt(xy);
   #endif
 }
 
@@ -223,7 +223,8 @@ static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_poi
   if (!_0p_calibration) {
 
     if (!_7p_no_intermediates && !_7p_4_intermediates && !_7p_11_intermediates) { // probe the center
-      z_pt[CEN] += calibration_probe(0, 0, stow_after_each);
+      const xy_pos_t center{0};
+      z_pt[CEN] += calibration_probe(center, stow_after_each);
       if (isnan(z_pt[CEN])) return false;
     }
 
@@ -233,7 +234,8 @@ static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_poi
       I_LOOP_CAL_PT(rad, start, steps) {
         const float a = RADIANS(210 + (360 / NPP) *  (rad - 1)),
                     r = delta_calibration_radius * 0.1;
-        z_pt[CEN] += calibration_probe(cos(a) * r, sin(a) * r, stow_after_each);
+        const xy_pos_t vec = { cos(a), sin(a) };
+        z_pt[CEN] += calibration_probe(vec * r, stow_after_each);
         if (isnan(z_pt[CEN])) return false;
      }
       z_pt[CEN] /= float(_7p_2_intermediates ? 7 : probe_points);
@@ -257,7 +259,8 @@ static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_poi
           const float a = RADIANS(210 + (360 / NPP) *  (rad - 1)),
                       r = delta_calibration_radius * (1 - 0.1 * (zig_zag ? offset - circle : circle)),
                       interpol = FMOD(rad, 1);
-          const float z_temp = calibration_probe(cos(a) * r, sin(a) * r, stow_after_each);
+          const xy_pos_t vec = { cos(a), sin(a) };
+          const float z_temp = calibration_probe(vec * r, stow_after_each);
           if (isnan(z_temp)) return false;
           // split probe point to neighbouring calibration points
           z_pt[uint8_t(LROUND(rad - interpol + NPP - 1)) % NPP + 1] += z_temp * sq(cos(RADIANS(interpol * 90)));
@@ -281,80 +284,69 @@ static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_poi
  *  - formulae for approximative forward kinematics in the end-stop displacement matrix
  *  - definition of the matrix scaling parameters
  */
-static void reverse_kinematics_probe_points(float z_pt[NPP + 1], float mm_at_pt_axis[NPP + 1][ABC]) {
-  float pos[XYZ] = { 0.0 };
+static void reverse_kinematics_probe_points(float z_pt[NPP + 1], abc_float_t mm_at_pt_axis[NPP + 1]) {
+  xyz_pos_t pos{0};
 
   LOOP_CAL_ALL(rad) {
     const float a = RADIANS(210 + (360 / NPP) *  (rad - 1)),
                 r = (rad == CEN ? 0.0f : delta_calibration_radius);
-    pos[X_AXIS] = cos(a) * r;
-    pos[Y_AXIS] = sin(a) * r;
-    pos[Z_AXIS] = z_pt[rad];
+    pos.set(cos(a) * r, sin(a) * r, z_pt[rad]);
     inverse_kinematics(pos);
-    LOOP_XYZ(axis) mm_at_pt_axis[rad][axis] = delta[axis];
+    mm_at_pt_axis[rad] = delta;
   }
 }
 
-static void forward_kinematics_probe_points(float mm_at_pt_axis[NPP + 1][ABC], float z_pt[NPP + 1]) {
+static void forward_kinematics_probe_points(abc_float_t mm_at_pt_axis[NPP + 1], float z_pt[NPP + 1]) {
   const float r_quot = delta_calibration_radius / delta_radius;
 
-  #define ZPP(N,I,A) ((1 / 3.0f + r_quot * (N) / 3.0f ) * mm_at_pt_axis[I][A])
+  #define ZPP(N,I,A) (((1.0f + r_quot * (N)) / 3.0f) * mm_at_pt_axis[I].A)
   #define Z00(I, A) ZPP( 0, I, A)
   #define Zp1(I, A) ZPP(+1, I, A)
   #define Zm1(I, A) ZPP(-1, I, A)
   #define Zp2(I, A) ZPP(+2, I, A)
   #define Zm2(I, A) ZPP(-2, I, A)
 
-  z_pt[CEN] = Z00(CEN, A_AXIS) + Z00(CEN, B_AXIS) + Z00(CEN, C_AXIS);
-  z_pt[__A] = Zp2(__A, A_AXIS) + Zm1(__A, B_AXIS) + Zm1(__A, C_AXIS);
-  z_pt[__B] = Zm1(__B, A_AXIS) + Zp2(__B, B_AXIS) + Zm1(__B, C_AXIS);
-  z_pt[__C] = Zm1(__C, A_AXIS) + Zm1(__C, B_AXIS) + Zp2(__C, C_AXIS);
-  z_pt[_BC] = Zm2(_BC, A_AXIS) + Zp1(_BC, B_AXIS) + Zp1(_BC, C_AXIS);
-  z_pt[_CA] = Zp1(_CA, A_AXIS) + Zm2(_CA, B_AXIS) + Zp1(_CA, C_AXIS);
-  z_pt[_AB] = Zp1(_AB, A_AXIS) + Zp1(_AB, B_AXIS) + Zm2(_AB, C_AXIS);
+  z_pt[CEN] = Z00(CEN, a) + Z00(CEN, b) + Z00(CEN, c);
+  z_pt[__A] = Zp2(__A, a) + Zm1(__A, b) + Zm1(__A, c);
+  z_pt[__B] = Zm1(__B, a) + Zp2(__B, b) + Zm1(__B, c);
+  z_pt[__C] = Zm1(__C, a) + Zm1(__C, b) + Zp2(__C, c);
+  z_pt[_BC] = Zm2(_BC, a) + Zp1(_BC, b) + Zp1(_BC, c);
+  z_pt[_CA] = Zp1(_CA, a) + Zm2(_CA, b) + Zp1(_CA, c);
+  z_pt[_AB] = Zp1(_AB, a) + Zp1(_AB, b) + Zm2(_AB, c);
 }
 
-static void calc_kinematics_diff_probe_points(float z_pt[NPP + 1], float delta_e[ABC], float delta_r, float delta_t[ABC]) {
+static void calc_kinematics_diff_probe_points(float z_pt[NPP + 1], abc_float_t delta_e, const float delta_r, abc_float_t delta_t) {
   const float z_center = z_pt[CEN];
-  float diff_mm_at_pt_axis[NPP + 1][ABC],
-        new_mm_at_pt_axis[NPP + 1][ABC];
+  abc_float_t diff_mm_at_pt_axis[NPP + 1], new_mm_at_pt_axis[NPP + 1];
 
   reverse_kinematics_probe_points(z_pt, diff_mm_at_pt_axis);
 
   delta_radius += delta_r;
-  LOOP_XYZ(axis) delta_tower_angle_trim[axis] += delta_t[axis];
+  delta_tower_angle_trim += delta_t;
   recalc_delta_settings();
   reverse_kinematics_probe_points(z_pt, new_mm_at_pt_axis);
 
-  LOOP_XYZ(axis) LOOP_CAL_ALL(rad) diff_mm_at_pt_axis[rad][axis] -= new_mm_at_pt_axis[rad][axis] + delta_e[axis];
+  LOOP_CAL_ALL(rad) diff_mm_at_pt_axis[rad] -= new_mm_at_pt_axis[rad] + delta_e;
   forward_kinematics_probe_points(diff_mm_at_pt_axis, z_pt);
 
   LOOP_CAL_RAD(rad) z_pt[rad] -= z_pt[CEN] - z_center;
   z_pt[CEN] = z_center;
 
   delta_radius -= delta_r;
-  LOOP_XYZ(axis) delta_tower_angle_trim[axis] -= delta_t[axis];
+  delta_tower_angle_trim -= delta_t;
   recalc_delta_settings();
 }
 
 static float auto_tune_h() {
   const float r_quot = delta_calibration_radius / delta_radius;
-  float h_fac = 0.0f;
-
-  h_fac = r_quot / (2.0f / 3.0f);
-  h_fac = 1.0f / h_fac; // (2/3)/CR
-  return h_fac;
+  return RECIPROCAL(r_quot / (2.0f / 3.0f));  // (2/3)/CR
 }
 
 static float auto_tune_r() {
-  const float diff = 0.01f;
-  float r_fac = 0.0f,
-        z_pt[NPP + 1] = { 0.0f },
-        delta_e[ABC] = { 0.0f },
-        delta_r = { 0.0f },
-        delta_t[ABC] = { 0.0f };
-
-  delta_r = diff;
+  constexpr float diff = 0.01f, delta_r = diff;
+  float r_fac = 0.0f, z_pt[NPP + 1] = { 0.0f };
+  abc_float_t delta_e = { 0.0f }, delta_t = { 0.0f };
+
   calc_kinematics_diff_probe_points(z_pt, delta_e, delta_r, delta_t);
   r_fac = -(z_pt[__A] + z_pt[__B] + z_pt[__C] + z_pt[_BC] + z_pt[_CA] + z_pt[_AB]) / 6.0f;
   r_fac = diff / r_fac / 3.0f; // 1/(3*delta_Z)
@@ -362,14 +354,11 @@ static float auto_tune_r() {
 }
 
 static float auto_tune_a() {
-  const float diff = 0.01f;
-  float a_fac = 0.0f,
-        z_pt[NPP + 1] = { 0.0f },
-        delta_e[ABC] = { 0.0f },
-        delta_r = { 0.0f },
-        delta_t[ABC] = { 0.0f };
-
-  ZERO(delta_t);
+  constexpr float diff = 0.01f, delta_r = 0.0f;
+  float a_fac = 0.0f, z_pt[NPP + 1] = { 0.0f };
+  abc_float_t delta_e = { 0.0f }, delta_t = { 0.0f };
+
+  delta_t.reset();
   LOOP_XYZ(axis) {
     delta_t[axis] = diff;
     calc_kinematics_diff_probe_points(z_pt, delta_e, delta_r, delta_t);
@@ -453,21 +442,11 @@ void GcodeSuite::G33() {
         zero_std_dev = (verbose_level ? 999.0f : 0.0f), // 0.0 in dry-run mode : forced end
         zero_std_dev_min = zero_std_dev,
         zero_std_dev_old = zero_std_dev,
-        h_factor,
-        r_factor,
-        a_factor,
-        e_old[ABC] = {
-          delta_endstop_adj[A_AXIS],
-          delta_endstop_adj[B_AXIS],
-          delta_endstop_adj[C_AXIS]
-        },
+        h_factor, r_factor, a_factor,
         r_old = delta_radius,
-        h_old = delta_height,
-        a_old[ABC] = {
-          delta_tower_angle_trim[A_AXIS],
-          delta_tower_angle_trim[B_AXIS],
-          delta_tower_angle_trim[C_AXIS]
-        };
+        h_old = delta_height;
+
+  abc_pos_t e_old = delta_endstop_adj, a_old = delta_tower_angle_trim;
 
   SERIAL_ECHOLNPGM("G33 Auto Calibrate");
 
@@ -520,15 +499,14 @@ void GcodeSuite::G33() {
 
       if (zero_std_dev < zero_std_dev_min) {
         // set roll-back point
-        COPY(e_old, delta_endstop_adj);
+        e_old = delta_endstop_adj;
         r_old = delta_radius;
         h_old = delta_height;
-        COPY(a_old, delta_tower_angle_trim);
+        a_old = delta_tower_angle_trim;
       }
 
-      float e_delta[ABC] = { 0.0f },
-            r_delta = 0.0f,
-            t_delta[ABC] = { 0.0f };
+      abc_float_t e_delta = { 0.0f }, t_delta = { 0.0f };
+      float r_delta = 0.0f;
 
       /**
        * convergence matrices:
@@ -563,42 +541,42 @@ void GcodeSuite::G33() {
 
         case 2:
           if (towers_set) { // see 4 point calibration (towers) matrix
-            e_delta[A_AXIS] = (+Z4(__A) -Z2(__B) -Z2(__C)) * h_factor  +Z4(CEN);
-            e_delta[B_AXIS] = (-Z2(__A) +Z4(__B) -Z2(__C)) * h_factor  +Z4(CEN);
-            e_delta[C_AXIS] = (-Z2(__A) -Z2(__B) +Z4(__C)) * h_factor  +Z4(CEN);
-            r_delta         = (+Z4(__A) +Z4(__B) +Z4(__C) -Z12(CEN)) * r_factor;
+            e_delta.set((+Z4(__A) -Z2(__B) -Z2(__C)) * h_factor  +Z4(CEN),
+                        (-Z2(__A) +Z4(__B) -Z2(__C)) * h_factor  +Z4(CEN),
+                        (-Z2(__A) -Z2(__B) +Z4(__C)) * h_factor  +Z4(CEN));
+            r_delta   = (+Z4(__A) +Z4(__B) +Z4(__C) -Z12(CEN)) * r_factor;
           }
           else { // see 4 point calibration (opposites) matrix
-            e_delta[A_AXIS] = (-Z4(_BC) +Z2(_CA) +Z2(_AB)) * h_factor  +Z4(CEN);
-            e_delta[B_AXIS] = (+Z2(_BC) -Z4(_CA) +Z2(_AB)) * h_factor  +Z4(CEN);
-            e_delta[C_AXIS] = (+Z2(_BC) +Z2(_CA) -Z4(_AB)) * h_factor  +Z4(CEN);
-            r_delta         = (+Z4(_BC) +Z4(_CA) +Z4(_AB) -Z12(CEN)) * r_factor;
+            e_delta.set((-Z4(_BC) +Z2(_CA) +Z2(_AB)) * h_factor  +Z4(CEN),
+                        (+Z2(_BC) -Z4(_CA) +Z2(_AB)) * h_factor  +Z4(CEN),
+                        (+Z2(_BC) +Z2(_CA) -Z4(_AB)) * h_factor  +Z4(CEN));
+            r_delta   = (+Z4(_BC) +Z4(_CA) +Z4(_AB) -Z12(CEN)) * r_factor;
           }
           break;
 
         default: // see 7 point calibration (towers & opposites) matrix
-          e_delta[A_AXIS] = (+Z2(__A) -Z1(__B) -Z1(__C) -Z2(_BC) +Z1(_CA) +Z1(_AB)) * h_factor  +Z4(CEN);
-          e_delta[B_AXIS] = (-Z1(__A) +Z2(__B) -Z1(__C) +Z1(_BC) -Z2(_CA) +Z1(_AB)) * h_factor  +Z4(CEN);
-          e_delta[C_AXIS] = (-Z1(__A) -Z1(__B) +Z2(__C) +Z1(_BC) +Z1(_CA) -Z2(_AB)) * h_factor  +Z4(CEN);
-          r_delta         = (+Z2(__A) +Z2(__B) +Z2(__C) +Z2(_BC) +Z2(_CA) +Z2(_AB) -Z12(CEN)) * r_factor;
+          e_delta.set((+Z2(__A) -Z1(__B) -Z1(__C) -Z2(_BC) +Z1(_CA) +Z1(_AB)) * h_factor  +Z4(CEN),
+                      (-Z1(__A) +Z2(__B) -Z1(__C) +Z1(_BC) -Z2(_CA) +Z1(_AB)) * h_factor  +Z4(CEN),
+                      (-Z1(__A) -Z1(__B) +Z2(__C) +Z1(_BC) +Z1(_CA) -Z2(_AB)) * h_factor  +Z4(CEN));
+          r_delta   = (+Z2(__A) +Z2(__B) +Z2(__C) +Z2(_BC) +Z2(_CA) +Z2(_AB) -Z12(CEN)) * r_factor;
 
           if (towers_set) { // see 7 point tower angle calibration (towers & opposites) matrix
-            t_delta[A_AXIS] = (+Z0(__A) -Z4(__B) +Z4(__C) +Z0(_BC) -Z4(_CA) +Z4(_AB) +Z0(CEN)) * a_factor;
-            t_delta[B_AXIS] = (+Z4(__A) +Z0(__B) -Z4(__C) +Z4(_BC) +Z0(_CA) -Z4(_AB) +Z0(CEN)) * a_factor;
-            t_delta[C_AXIS] = (-Z4(__A) +Z4(__B) +Z0(__C) -Z4(_BC) +Z4(_CA) +Z0(_AB) +Z0(CEN)) * a_factor;
+            t_delta.set((+Z0(__A) -Z4(__B) +Z4(__C) +Z0(_BC) -Z4(_CA) +Z4(_AB) +Z0(CEN)) * a_factor,
+                        (+Z4(__A) +Z0(__B) -Z4(__C) +Z4(_BC) +Z0(_CA) -Z4(_AB) +Z0(CEN)) * a_factor,
+                        (-Z4(__A) +Z4(__B) +Z0(__C) -Z4(_BC) +Z4(_CA) +Z0(_AB) +Z0(CEN)) * a_factor);
           }
           break;
       }
-      LOOP_XYZ(axis) delta_endstop_adj[axis] += e_delta[axis];
+      delta_endstop_adj += e_delta;
       delta_radius += r_delta;
-      LOOP_XYZ(axis) delta_tower_angle_trim[axis] += t_delta[axis];
+      delta_tower_angle_trim += t_delta;
     }
     else if (zero_std_dev >= test_precision) {
       // roll back
-      COPY(delta_endstop_adj, e_old);
+      delta_endstop_adj = e_old;
       delta_radius = r_old;
       delta_height = h_old;
-      COPY(delta_tower_angle_trim, a_old);
+      delta_tower_angle_trim = a_old;
     }
 
     if (verbose_level != 0) {                                    // !dry run
@@ -611,7 +589,7 @@ void GcodeSuite::G33() {
       }
 
       // adjust delta_height and endstops by the max amount
-      const float z_temp = _MAX(delta_endstop_adj[A_AXIS], delta_endstop_adj[B_AXIS], delta_endstop_adj[C_AXIS]);
+      const float z_temp = _MAX(delta_endstop_adj.a, delta_endstop_adj.b, delta_endstop_adj.c);
       delta_height -= z_temp;
       LOOP_XYZ(axis) delta_endstop_adj[axis] -= z_temp;
     }

Marlin/src/gcode/calibrate/G34_M422.cpp

@@ -45,8 +45,17 @@
 #define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
 #include "../../core/debug_out.h"
 
-float z_auto_align_xpos[Z_STEPPER_COUNT] = Z_STEPPER_ALIGN_X,
-      z_auto_align_ypos[Z_STEPPER_COUNT] = Z_STEPPER_ALIGN_Y;
+// Sanity-check
+constexpr xy_pos_t sanity_arr_z_align[] = Z_STEPPER_ALIGN_XY;
+static_assert(COUNT(sanity_arr_z_align) == Z_STEPPER_COUNT,
+  #if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
+    "Z_STEPPER_ALIGN_XY requires three {X,Y} entries (Z, Z2, and Z3)."
+  #else
+    "Z_STEPPER_ALIGN_XY requires two {X,Y} entries (Z and Z2)."
+  #endif
+);
+
+xy_pos_t z_auto_align_pos[Z_STEPPER_COUNT] = Z_STEPPER_ALIGN_XY;
 
 inline void set_all_z_lock(const bool lock) {
   stepper.set_z_lock(lock);
@@ -123,11 +132,11 @@ void GcodeSuite::G34() {
 
     float z_probe = Z_BASIC_CLEARANCE + (G34_MAX_GRADE) * 0.01f * (
       #if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
-         SQRT(_MAX(HYPOT2(z_auto_align_xpos[0] - z_auto_align_ypos[0], z_auto_align_xpos[1] - z_auto_align_ypos[1]),
-                  HYPOT2(z_auto_align_xpos[1] - z_auto_align_ypos[1], z_auto_align_xpos[2] - z_auto_align_ypos[2]),
-                  HYPOT2(z_auto_align_xpos[2] - z_auto_align_ypos[2], z_auto_align_xpos[0] - z_auto_align_ypos[0])))
+         SQRT(_MAX(HYPOT2(z_auto_align_pos[0].x - z_auto_align_pos[0].y, z_auto_align_pos[1].x - z_auto_align_pos[1].y),
+                  HYPOT2(z_auto_align_pos[1].x - z_auto_align_pos[1].y, z_auto_align_pos[2].x - z_auto_align_pos[2].y),
+                  HYPOT2(z_auto_align_pos[2].x - z_auto_align_pos[2].y, z_auto_align_pos[0].x - z_auto_align_pos[0].y)))
       #else
-         HYPOT(z_auto_align_xpos[0] - z_auto_align_ypos[0], z_auto_align_xpos[1] - z_auto_align_ypos[1])
+         HYPOT(z_auto_align_pos[0].x - z_auto_align_pos[0].y, z_auto_align_pos[1].x - z_auto_align_pos[1].y)
       #endif
     );
 
@@ -135,7 +144,7 @@ void GcodeSuite::G34() {
     if (!all_axes_known()) home_all_axes();
 
     // Move the Z coordinate realm towards the positive - dirty trick
-    current_position[Z_AXIS] -= z_probe * 0.5;
+    current_position.z -= z_probe * 0.5f;
 
     float last_z_align_move[Z_STEPPER_COUNT] = ARRAY_N(Z_STEPPER_COUNT, 10000.0f, 10000.0f, 10000.0f),
           z_measured[Z_STEPPER_COUNT] = { 0 },
@@ -162,7 +171,7 @@ void GcodeSuite::G34() {
         if (iteration == 0 || izstepper > 0) do_blocking_move_to_z(z_probe);
 
         // Probe a Z height for each stepper.
-        const float z_probed_height = probe_at_point(z_auto_align_xpos[zstepper], z_auto_align_ypos[zstepper], raise_after, 0, true);
+        const float z_probed_height = probe_at_point(z_auto_align_pos[zstepper], raise_after, 0, true);
         if (isnan(z_probed_height)) {
           SERIAL_ECHOLNPGM("Probing failed.");
           err_break = true;
@@ -240,7 +249,7 @@ void GcodeSuite::G34() {
         }
 
         // Do a move to correct part of the misalignment for the current stepper
-        do_blocking_move_to_z(amplification * z_align_move + current_position[Z_AXIS]);
+        do_blocking_move_to_z(amplification * z_align_move + current_position.z);
       } // for (zstepper)
 
       // Back to normal stepper operations
@@ -299,20 +308,22 @@ void GcodeSuite::M422() {
     return;
   }
 
-  const float x_pos = parser.floatval('X', z_auto_align_xpos[zstepper]);
-  if (!WITHIN(x_pos, X_MIN_POS, X_MAX_POS)) {
+  const xy_pos_t pos = {
+    parser.floatval('X', z_auto_align_pos[zstepper].x),
+    parser.floatval('Y', z_auto_align_pos[zstepper].y)
+  };
+
+  if (!WITHIN(pos.x, X_MIN_POS, X_MAX_POS)) {
     SERIAL_ECHOLNPGM("?(X) out of bounds.");
     return;
   }
 
-  const float y_pos = parser.floatval('Y', z_auto_align_ypos[zstepper]);
-  if (!WITHIN(y_pos, Y_MIN_POS, Y_MAX_POS)) {
+  if (!WITHIN(pos.y, Y_MIN_POS, Y_MAX_POS)) {
     SERIAL_ECHOLNPGM("?(Y) out of bounds.");
     return;
   }
 
-  z_auto_align_xpos[zstepper] = x_pos;
-  z_auto_align_ypos[zstepper] = y_pos;
+  z_auto_align_pos[zstepper] = pos;
 }
 
 #endif // Z_STEPPER_AUTO_ALIGN

Marlin/src/gcode/calibrate/G425.cpp

@@ -61,17 +61,17 @@
 
 enum side_t : uint8_t { TOP, RIGHT, FRONT, LEFT, BACK, NUM_SIDES };
 
-struct measurements_t {
-  static constexpr float dimensions[XYZ] = CALIBRATION_OBJECT_DIMENSIONS;
-  static constexpr float true_center[XYZ] = CALIBRATION_OBJECT_CENTER;
+static constexpr xyz_pos_t true_center CALIBRATION_OBJECT_CENTER;
+static constexpr xyz_float_t dimensions CALIBRATION_OBJECT_DIMENSIONS;
+static constexpr xy_float_t nod = { CALIBRATION_NOZZLE_OUTER_DIAMETER, CALIBRATION_NOZZLE_OUTER_DIAMETER };
 
-  float obj_center[XYZ] = CALIBRATION_OBJECT_CENTER;
-  float obj_side[NUM_SIDES];
+struct measurements_t {
+  xyz_pos_t obj_center = true_center; // Non-static must be assigned from xyz_pos_t
 
-  float backlash[NUM_SIDES];
-  float pos_error[XYZ];
+  float obj_side[NUM_SIDES], backlash[NUM_SIDES];
+  xyz_float_t pos_error;
 
-  float nozzle_outer_dimension[2] = {CALIBRATION_NOZZLE_OUTER_DIAMETER, CALIBRATION_NOZZLE_OUTER_DIAMETER};
+  xy_float_t nozzle_outer_dimension = nod;
 };
 
 #define TEMPORARY_SOFT_ENDSTOP_STATE(enable) REMEMBER(tes, soft_endstops_enabled, enable);
@@ -88,29 +88,8 @@ struct measurements_t {
   #define TEMPORARY_BACKLASH_SMOOTHING(value)
 #endif
 
-/**
- * Move to a particular location. Up to three individual axes
- * and their destinations can be specified, in any order.
- */
-inline void move_to(
-  const AxisEnum a1 = NO_AXIS, const float p1 = 0,
-  const AxisEnum a2 = NO_AXIS, const float p2 = 0,
-  const AxisEnum a3 = NO_AXIS, const float p3 = 0
-) {
-  set_destination_from_current();
-
-  // Note: The order of p1, p2, p3 may not correspond to X, Y, Z
-  if (a1 != NO_AXIS) destination[a1] = p1;
-  if (a2 != NO_AXIS) destination[a2] = p2;
-  if (a3 != NO_AXIS) destination[a3] = p3;
-
-  // Make sure coordinates are within bounds
-  destination[X_AXIS] = _MAX(_MIN(destination[X_AXIS], X_MAX_POS), X_MIN_POS);
-  destination[Y_AXIS] = _MAX(_MIN(destination[Y_AXIS], Y_MAX_POS), Y_MIN_POS);
-  destination[Z_AXIS] = _MAX(_MIN(destination[Z_AXIS], Z_MAX_POS), Z_MIN_POS);
-
-  // Move to position
-  do_blocking_move_to(destination, MMM_TO_MMS(CALIBRATION_FEEDRATE_TRAVEL));
+inline void calibration_move() {
+  do_blocking_move_to(current_position, MMM_TO_MMS(CALIBRATION_FEEDRATE_TRAVEL));
 }
 
 /**
@@ -121,10 +100,12 @@ inline void move_to(
  */
 inline void park_above_object(measurements_t &m, const float uncertainty) {
   // Move to safe distance above calibration object
-  move_to(Z_AXIS, m.obj_center[Z_AXIS] + m.dimensions[Z_AXIS] / 2 + uncertainty);
+  current_position.z = m.obj_center.z + dimensions.z / 2 + uncertainty;
+  calibration_move();
 
   // Move to center of calibration object in XY
-  move_to(X_AXIS, m.obj_center[X_AXIS], Y_AXIS, m.obj_center[Y_AXIS]);
+  current_position = xy_pos_t(m.obj_center);
+  calibration_move();
 }
 
 #if HOTENDS > 1
@@ -139,14 +120,9 @@ inline void park_above_object(measurements_t &m, const float uncertainty) {
 #if HAS_HOTEND_OFFSET
 
   inline void normalize_hotend_offsets() {
-    for (uint8_t e = 1; e < HOTENDS; e++) {
-      hotend_offset[X_AXIS][e] -= hotend_offset[X_AXIS][0];
-      hotend_offset[Y_AXIS][e] -= hotend_offset[Y_AXIS][0];
-      hotend_offset[Z_AXIS][e] -= hotend_offset[Z_AXIS][0];
-    }
-    hotend_offset[X_AXIS][0] = 0;
-    hotend_offset[Y_AXIS][0] = 0;
-    hotend_offset[Z_AXIS][0] = 0;
+    for (uint8_t e = 1; e < HOTENDS; e++)
+      hotend_offset[e] -= hotend_offset[0];
+    hotend_offset[0].reset();
   }
 
 #endif
@@ -175,7 +151,7 @@ float measuring_movement(const AxisEnum axis, const int dir, const bool stop_sta
   const feedRate_t mms = fast ? MMM_TO_MMS(CALIBRATION_FEEDRATE_FAST) : MMM_TO_MMS(CALIBRATION_FEEDRATE_SLOW);
   const float limit    = fast ? 50 : 5;
 
-  set_destination_from_current();
+  destination = current_position;
   for (float travel = 0; travel < limit; travel += step) {
     destination[axis] += dir * step;
     do_blocking_move_to(destination, mms);
@@ -199,7 +175,7 @@ inline float measure(const AxisEnum axis, const int dir, const bool stop_state,
   const bool fast = uncertainty == CALIBRATION_MEASUREMENT_UNKNOWN;
 
   // Save position
-  set_destination_from_current();
+  destination = current_position;
   const float start_pos = destination[axis];
   const float measured_pos = measuring_movement(axis, dir, stop_state, fast);
   // Measure backlash
@@ -223,7 +199,7 @@ inline float measure(const AxisEnum axis, const int dir, const bool stop_state,
  *                               to find out height of edge
  */
 inline void probe_side(measurements_t &m, const float uncertainty, const side_t side, const bool probe_top_at_edge=false) {
-  const float dimensions[]  = CALIBRATION_OBJECT_DIMENSIONS;
+  const xyz_float_t dimensions = CALIBRATION_OBJECT_DIMENSIONS;
   AxisEnum axis;
   float dir;
 
@@ -232,7 +208,7 @@ inline void probe_side(measurements_t &m, const float uncertainty, const side_t
   switch (side) {
     case TOP: {
       const float measurement = measure(Z_AXIS, -1, true, &m.backlash[TOP], uncertainty);
-      m.obj_center[Z_AXIS] = measurement - dimensions[Z_AXIS] / 2;
+      m.obj_center.z = measurement - dimensions.z / 2;
       m.obj_side[TOP] = measurement;
       return;
     }
@@ -240,22 +216,24 @@ inline void probe_side(measurements_t &m, const float uncertainty, const side_t
     case FRONT: axis = Y_AXIS; dir =  1; break;
     case LEFT:  axis = X_AXIS; dir =  1; break;
     case BACK:  axis = Y_AXIS; dir = -1; break;
-    default:
-      return;
+    default: return;
   }
 
   if (probe_top_at_edge) {
     // Probe top nearest the side we are probing
-    move_to(axis, m.obj_center[axis] + (-dir) * (dimensions[axis] / 2 - m.nozzle_outer_dimension[axis]));
+    current_position[axis] = m.obj_center[axis] + (-dir) * (dimensions[axis] / 2 - m.nozzle_outer_dimension[axis]);
+    calibration_move();
     m.obj_side[TOP] = measure(Z_AXIS, -1, true, &m.backlash[TOP], uncertainty);
-    m.obj_center[Z_AXIS] = m.obj_side[TOP] - dimensions[Z_AXIS] / 2;
+    m.obj_center.z = m.obj_side[TOP] - dimensions.z / 2;
   }
 
   // Move to safe distance to the side of the calibration object
-  move_to(axis, m.obj_center[axis] + (-dir) * (dimensions[axis] / 2 + m.nozzle_outer_dimension[axis] / 2 + uncertainty));
+  current_position[axis] = m.obj_center[axis] + (-dir) * (dimensions[axis] / 2 + m.nozzle_outer_dimension[axis] / 2 + uncertainty);
+  calibration_move();
 
   // Plunge below the side of the calibration object and measure
-  move_to(Z_AXIS, m.obj_side[TOP] - CALIBRATION_NOZZLE_TIP_HEIGHT * 0.7);
+  current_position.z = m.obj_side[TOP] - CALIBRATION_NOZZLE_TIP_HEIGHT * 0.7;
+  calibration_move();
   const float measurement = measure(axis, dir, true, &m.backlash[side], uncertainty);
   m.obj_center[axis] = measurement + dir * (dimensions[axis] / 2 + m.nozzle_outer_dimension[axis] / 2);
   m.obj_side[side] = measurement;
@@ -294,36 +272,36 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
 
   // Compute the measured center of the calibration object.
   #if HAS_X_CENTER
-    m.obj_center[X_AXIS] = (m.obj_side[LEFT] + m.obj_side[RIGHT]) / 2;
+    m.obj_center.x = (m.obj_side[LEFT] + m.obj_side[RIGHT]) / 2;
   #endif
   #if HAS_Y_CENTER
-    m.obj_center[Y_AXIS] = (m.obj_side[FRONT] + m.obj_side[BACK]) / 2;
+    m.obj_center.y = (m.obj_side[FRONT] + m.obj_side[BACK]) / 2;
   #endif
 
   // Compute the outside diameter of the nozzle at the height
   // at which it makes contact with the calibration object
   #if HAS_X_CENTER
-    m.nozzle_outer_dimension[X_AXIS] = m.obj_side[RIGHT] - m.obj_side[LEFT] - m.dimensions[X_AXIS];
+    m.nozzle_outer_dimension.x = m.obj_side[RIGHT] - m.obj_side[LEFT] - dimensions.x;
   #endif
   #if HAS_Y_CENTER
-    m.nozzle_outer_dimension[Y_AXIS] = m.obj_side[BACK]  - m.obj_side[FRONT] - m.dimensions[Y_AXIS];
+    m.nozzle_outer_dimension.y = m.obj_side[BACK]  - m.obj_side[FRONT] - dimensions.y;
   #endif
 
   park_above_object(m, uncertainty);
 
   // The difference between the known and the measured location
   // of the calibration object is the positional error
-  m.pos_error[X_AXIS] = (0
+  m.pos_error.x = (0
     #if HAS_X_CENTER
-      + m.true_center[X_AXIS] - m.obj_center[X_AXIS]
+      + true_center.x - m.obj_center.x
     #endif
   );
-  m.pos_error[Y_AXIS] = (0
+  m.pos_error.y = (0
     #if HAS_Y_CENTER
-      + m.true_center[Y_AXIS] - m.obj_center[Y_AXIS]
+      + true_center.y - m.obj_center.y
     #endif
   );
-  m.pos_error[Z_AXIS] = m.true_center[Z_AXIS] - m.obj_center[Z_AXIS];
+  m.pos_error.z = true_center.z - m.obj_center.z;
 }
 
 #if ENABLED(CALIBRATION_REPORTING)
@@ -348,12 +326,12 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
   inline void report_measured_center(const measurements_t &m) {
     SERIAL_ECHOLNPGM("Center:");
     #if HAS_X_CENTER
-      SERIAL_ECHOLNPAIR(" X", m.obj_center[X_AXIS]);
+      SERIAL_ECHOLNPAIR(" X", m.obj_center.x);
     #endif
     #if HAS_Y_CENTER
-      SERIAL_ECHOLNPAIR(" Y", m.obj_center[Y_AXIS]);
+      SERIAL_ECHOLNPAIR(" Y", m.obj_center.y);
     #endif
-    SERIAL_ECHOLNPAIR(" Z", m.obj_center[Z_AXIS]);
+    SERIAL_ECHOLNPAIR(" Z", m.obj_center.z);
     SERIAL_EOL();
   }
 
@@ -380,12 +358,12 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
     SERIAL_ECHO(int(active_extruder));
     SERIAL_ECHOLNPGM(" Positional Error:");
     #if HAS_X_CENTER
-      SERIAL_ECHOLNPAIR(" X", m.pos_error[X_AXIS]);
+      SERIAL_ECHOLNPAIR(" X", m.pos_error.x);
     #endif
     #if HAS_Y_CENTER
-      SERIAL_ECHOLNPAIR(" Y", m.pos_error[Y_AXIS]);
+      SERIAL_ECHOLNPAIR(" Y", m.pos_error.y);
     #endif
-    SERIAL_ECHOLNPAIR(" Z", m.pos_error[Z_AXIS]);
+    SERIAL_ECHOLNPAIR(" Z", m.pos_error.z);
     SERIAL_EOL();
   }
 
@@ -393,10 +371,10 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
     SERIAL_ECHOLNPGM("Nozzle Tip Outer Dimensions:");
     #if HAS_X_CENTER || HAS_Y_CENTER
       #if HAS_X_CENTER
-        SERIAL_ECHOLNPAIR(" X", m.nozzle_outer_dimension[X_AXIS]);
+        SERIAL_ECHOLNPAIR(" X", m.nozzle_outer_dimension.x);
       #endif
       #if HAS_Y_CENTER
-        SERIAL_ECHOLNPAIR(" Y", m.nozzle_outer_dimension[Y_AXIS]);
+        SERIAL_ECHOLNPAIR(" Y", m.nozzle_outer_dimension.y);
       #endif
     #else
       UNUSED(m);
@@ -410,7 +388,7 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {
     //
     inline void report_hotend_offsets() {
       for (uint8_t e = 1; e < HOTENDS; e++)
-        SERIAL_ECHOLNPAIR("T", int(e), " Hotend Offset X", hotend_offset[X_AXIS][e], " Y", hotend_offset[Y_AXIS][e], " Z", hotend_offset[Z_AXIS][e]);
+        SERIAL_ECHOLNPAIR("T", int(e), " Hotend Offset X", hotend_offset[e].x, " Y", hotend_offset[e].y, " Z", hotend_offset[e].z);
     }
   #endif
 
@@ -434,49 +412,40 @@ inline void calibrate_backlash(measurements_t &m, const float uncertainty) {
 
     #if ENABLED(BACKLASH_GCODE)
       #if HAS_X_CENTER
-        backlash.distance_mm[X_AXIS] = (m.backlash[LEFT] + m.backlash[RIGHT]) / 2;
+        backlash.distance_mm.x = (m.backlash[LEFT] + m.backlash[RIGHT]) / 2;
       #elif ENABLED(CALIBRATION_MEASURE_LEFT)
-        backlash.distance_mm[X_AXIS] = m.backlash[LEFT];
+        backlash.distance_mm.x = m.backlash[LEFT];
       #elif ENABLED(CALIBRATION_MEASURE_RIGHT)
-        backlash.distance_mm[X_AXIS] = m.backlash[RIGHT];
+        backlash.distance_mm.x = m.backlash[RIGHT];
       #endif
 
       #if HAS_Y_CENTER
-        backlash.distance_mm[Y_AXIS] = (m.backlash[FRONT] + m.backlash[BACK]) / 2;
+        backlash.distance_mm.y = (m.backlash[FRONT] + m.backlash[BACK]) / 2;
       #elif ENABLED(CALIBRATION_MEASURE_FRONT)
-        backlash.distance_mm[Y_AXIS] = m.backlash[FRONT];
+        backlash.distance_mm.y = m.backlash[FRONT];
       #elif ENABLED(CALIBRATION_MEASURE_BACK)
-        backlash.distance_mm[Y_AXIS] = m.backlash[BACK];
+        backlash.distance_mm.y = m.backlash[BACK];
       #endif
 
-      backlash.distance_mm[Z_AXIS] = m.backlash[TOP];
+      backlash.distance_mm.z = m.backlash[TOP];
     #endif
   }
 
   #if ENABLED(BACKLASH_GCODE)
     // Turn on backlash compensation and move in all
     // directions to take up any backlash
-
     {
       // New scope for TEMPORARY_BACKLASH_CORRECTION
       TEMPORARY_BACKLASH_CORRECTION(all_on);
       TEMPORARY_BACKLASH_SMOOTHING(0.0f);
-      move_to(
-        X_AXIS, current_position[X_AXIS] + 3,
-        Y_AXIS, current_position[Y_AXIS] + 3,
-        Z_AXIS, current_position[Z_AXIS] + 3
-      );
-      move_to(
-        X_AXIS, current_position[X_AXIS] - 3,
-        Y_AXIS, current_position[Y_AXIS] - 3,
-        Z_AXIS, current_position[Z_AXIS] - 3
-      );
+      const xyz_float_t move = { 3, 3, 3 };
+      current_position += move; calibration_move();
+      current_position -= move; calibration_move();
     }
   #endif
 }
 
 inline void update_measurements(measurements_t &m, const AxisEnum axis) {
-  const float true_center[XYZ] = CALIBRATION_OBJECT_CENTER;
   current_position[axis] += m.pos_error[axis];
   m.obj_center[axis] = true_center[axis];
   m.pos_error[axis] = 0;
@@ -508,12 +477,12 @@ inline void calibrate_toolhead(measurements_t &m, const float uncertainty, const
   // Adjust the hotend offset
   #if HAS_HOTEND_OFFSET
     #if HAS_X_CENTER
-      hotend_offset[X_AXIS][extruder] += m.pos_error[X_AXIS];
+      hotend_offset[extruder].x += m.pos_error.x;
     #endif
     #if HAS_Y_CENTER
-      hotend_offset[Y_AXIS][extruder] += m.pos_error[Y_AXIS];
+      hotend_offset[extruder].y += m.pos_error.y;
     #endif
-    hotend_offset[Z_AXIS][extruder] += m.pos_error[Z_AXIS];
+    hotend_offset[extruder].z += m.pos_error.z;
     normalize_hotend_offsets();
   #endif
 
@@ -589,7 +558,8 @@ inline void calibrate_all() {
   // Do a slow and precise calibration of the toolheads
   calibrate_all_toolheads(m, CALIBRATION_MEASUREMENT_UNCERTAIN);
 
-  move_to(X_AXIS, 150); // Park nozzle away from calibration object
+  current_position.x = X_CENTER;
+  calibration_move();         // Park nozzle away from calibration object
 }
 
 /**

Marlin/src/gcode/calibrate/M48.cpp

@@ -74,13 +74,14 @@ void GcodeSuite::M48() {
 
   const ProbePtRaise raise_after = parser.boolval('E') ? PROBE_PT_STOW : PROBE_PT_RAISE;
 
-  float X_current = current_position[X_AXIS],
-        Y_current = current_position[Y_AXIS];
+  xy_float_t next_pos = current_position;
 
-  const float X_probe_location = parser.linearval('X', X_current + probe_offset[X_AXIS]),
-              Y_probe_location = parser.linearval('Y', Y_current + probe_offset[Y_AXIS]);
+  const xy_pos_t probe_pos = {
+    parser.linearval('X', next_pos.x + probe_offset.x),
+    parser.linearval('Y', next_pos.y + probe_offset.y)
+  };
 
-  if (!position_is_reachable_by_probe(X_probe_location, Y_probe_location)) {
+  if (!position_is_reachable_by_probe(probe_pos)) {
     SERIAL_ECHOLNPGM("? (X,Y) out of bounds.");
     return;
   }
@@ -116,7 +117,7 @@ void GcodeSuite::M48() {
   float mean = 0.0, sigma = 0.0, min = 99999.9, max = -99999.9, sample_set[n_samples];
 
   // Move to the first point, deploy, and probe
-  const float t = probe_at_point(X_probe_location, Y_probe_location, raise_after, verbose_level);
+  const float t = probe_at_point(probe_pos, raise_after, verbose_level);
   bool probing_good = !isnan(t);
 
   if (probing_good) {
@@ -165,32 +166,31 @@ void GcodeSuite::M48() {
           while (angle < 0.0) angle += 360.0;   // outside of this range.   It looks like they behave correctly with
                                                 // numbers outside of the range, but just to be safe we clamp them.
 
-          X_current = X_probe_location - probe_offset[X_AXIS] + cos(RADIANS(angle)) * radius;
-          Y_current = Y_probe_location - probe_offset[Y_AXIS] + sin(RADIANS(angle)) * radius;
+          next_pos.set(probe_pos.x - probe_offset.x + cos(RADIANS(angle)) * radius,
+                       probe_pos.y - probe_offset.y + sin(RADIANS(angle)) * radius);
 
           #if DISABLED(DELTA)
-            LIMIT(X_current, X_MIN_POS, X_MAX_POS);
-            LIMIT(Y_current, Y_MIN_POS, Y_MAX_POS);
+            LIMIT(next_pos.x, X_MIN_POS, X_MAX_POS);
+            LIMIT(next_pos.y, Y_MIN_POS, Y_MAX_POS);
           #else
             // If we have gone out too far, we can do a simple fix and scale the numbers
             // back in closer to the origin.
-            while (!position_is_reachable_by_probe(X_current, Y_current)) {
-              X_current *= 0.8;
-              Y_current *= 0.8;
+            while (!position_is_reachable_by_probe(next_pos)) {
+              next_pos *= 0.8;
               if (verbose_level > 3)
-                SERIAL_ECHOLNPAIR("Moving inward: X", X_current, " Y", Y_current);
+                SERIAL_ECHOLNPAIR("Moving inward: X", next_pos.x, " Y", next_pos.y);
             }
           #endif
 
           if (verbose_level > 3)
-            SERIAL_ECHOLNPAIR("Going to: X", X_current, " Y", Y_current, " Z", current_position[Z_AXIS]);
+            SERIAL_ECHOLNPAIR("Going to: X", next_pos.x, " Y", next_pos.y);
 
-          do_blocking_move_to_xy(X_current, Y_current);
+          do_blocking_move_to_xy(next_pos);
         } // n_legs loop
       } // n_legs
 
       // Probe a single point
-      sample_set[n] = probe_at_point(X_probe_location, Y_probe_location, raise_after, 0);
+      sample_set[n] = probe_at_point(probe_pos, raise_after, 0);
 
       // Break the loop if the probe fails
       probing_good = !isnan(sample_set[n]);

Marlin/src/gcode/calibrate/M665.cpp

@@ -43,14 +43,14 @@
    *    Z = Gamma (Tower 3) angle trim
    */
   void GcodeSuite::M665() {
-    if (parser.seen('H')) delta_height                   = parser.value_linear_units();
-    if (parser.seen('L')) delta_diagonal_rod             = parser.value_linear_units();
-    if (parser.seen('R')) delta_radius                   = parser.value_linear_units();
-    if (parser.seen('S')) delta_segments_per_second      = parser.value_float();
-    if (parser.seen('B')) delta_calibration_radius       = parser.value_float();
-    if (parser.seen('X')) delta_tower_angle_trim[A_AXIS] = parser.value_float();
-    if (parser.seen('Y')) delta_tower_angle_trim[B_AXIS] = parser.value_float();
-    if (parser.seen('Z')) delta_tower_angle_trim[C_AXIS] = parser.value_float();
+    if (parser.seen('H')) delta_height              = parser.value_linear_units();
+    if (parser.seen('L')) delta_diagonal_rod        = parser.value_linear_units();
+    if (parser.seen('R')) delta_radius              = parser.value_linear_units();
+    if (parser.seen('S')) delta_segments_per_second = parser.value_float();
+    if (parser.seen('B')) delta_calibration_radius  = parser.value_float();
+    if (parser.seen('X')) delta_tower_angle_trim.a  = parser.value_float();
+    if (parser.seen('Y')) delta_tower_angle_trim.b  = parser.value_float();
+    if (parser.seen('Z')) delta_tower_angle_trim.c  = parser.value_float();
     recalc_delta_settings();
   }
 
@@ -76,13 +76,13 @@
 
     #if HAS_SCARA_OFFSET
 
-      if (parser.seenval('Z')) scara_home_offset[Z_AXIS] = parser.value_linear_units();
+      if (parser.seenval('Z')) scara_home_offset.z = parser.value_linear_units();
 
       const bool hasA = parser.seenval('A'), hasP = parser.seenval('P'), hasX = parser.seenval('X');
       const uint8_t sumAPX = hasA + hasP + hasX;
       if (sumAPX) {
         if (sumAPX == 1)
-          scara_home_offset[A_AXIS] = parser.value_float();
+          scara_home_offset.a = parser.value_float();
         else {
           SERIAL_ERROR_MSG("Only one of A, P, or X is allowed.");
           return;
@@ -93,7 +93,7 @@
       const uint8_t sumBTY = hasB + hasT + hasY;
       if (sumBTY) {
         if (sumBTY == 1)
-          scara_home_offset[B_AXIS] = parser.value_float();
+          scara_home_offset.b = parser.value_float();
         else {
           SERIAL_ERROR_MSG("Only one of B, T, or Y is allowed.");
           return;

Marlin/src/gcode/config/M200-M205.cpp

@@ -152,17 +152,17 @@ void GcodeSuite::M205() {
     }
   #endif
   #if HAS_CLASSIC_JERK
-    if (parser.seen('X')) planner.max_jerk[X_AXIS] = parser.value_linear_units();
-    if (parser.seen('Y')) planner.max_jerk[Y_AXIS] = parser.value_linear_units();
+    if (parser.seen('X')) planner.max_jerk.x = parser.value_linear_units();
+    if (parser.seen('Y')) planner.max_jerk.y = parser.value_linear_units();
     if (parser.seen('Z')) {
-      planner.max_jerk[Z_AXIS] = parser.value_linear_units();
+      planner.max_jerk.z = parser.value_linear_units();
       #if HAS_MESH
-        if (planner.max_jerk[Z_AXIS] <= 0.1f)
+        if (planner.max_jerk.z <= 0.1f)
           SERIAL_ECHOLNPGM("WARNING! Low Z Jerk may lead to unwanted pauses.");
       #endif
     }
     #if !BOTH(JUNCTION_DEVIATION, LIN_ADVANCE)
-      if (parser.seen('E')) planner.max_jerk[E_AXIS] = parser.value_linear_units();
+      if (parser.seen('E')) planner.max_jerk.e = parser.value_linear_units();
     #endif
   #endif
 }

Marlin/src/gcode/config/M218.cpp

@@ -44,27 +44,27 @@ void GcodeSuite::M218() {
   const int8_t target_extruder = get_target_extruder_from_command();
   if (target_extruder < 0) return;
 
-  if (parser.seenval('X')) hotend_offset[X_AXIS][target_extruder] = parser.value_linear_units();
-  if (parser.seenval('Y')) hotend_offset[Y_AXIS][target_extruder] = parser.value_linear_units();
-  if (parser.seenval('Z')) hotend_offset[Z_AXIS][target_extruder] = parser.value_linear_units();
+  if (parser.seenval('X')) hotend_offset[target_extruder].x = parser.value_linear_units();
+  if (parser.seenval('Y')) hotend_offset[target_extruder].y = parser.value_linear_units();
+  if (parser.seenval('Z')) hotend_offset[target_extruder].z = parser.value_linear_units();
 
   if (!parser.seen("XYZ")) {
     SERIAL_ECHO_START();
     SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
     HOTEND_LOOP() {
       SERIAL_CHAR(' ');
-      SERIAL_ECHO(hotend_offset[X_AXIS][e]);
+      SERIAL_ECHO(hotend_offset[e].x);
       SERIAL_CHAR(',');
-      SERIAL_ECHO(hotend_offset[Y_AXIS][e]);
+      SERIAL_ECHO(hotend_offset[e].y);
       SERIAL_CHAR(',');
-      SERIAL_ECHO_F(hotend_offset[Z_AXIS][e], 3);
+      SERIAL_ECHO_F(hotend_offset[e].z, 3);
     }
     SERIAL_EOL();
   }
 
   #if ENABLED(DELTA)
     if (target_extruder == active_extruder)
-      do_blocking_move_to_xy(current_position[X_AXIS], current_position[Y_AXIS], planner.settings.max_feedrate_mm_s[X_AXIS]);
+      do_blocking_move_to_xy(current_position, planner.settings.max_feedrate_mm_s[X_AXIS]);
   #endif
 }
 

Marlin/src/gcode/config/M92.cpp

@@ -77,7 +77,7 @@ void GcodeSuite::M92() {
         if (value < 20) {
           float factor = planner.settings.axis_steps_per_mm[E_AXIS_N(target_extruder)] / value; // increase e constants if M92 E14 is given for netfab.
           #if HAS_CLASSIC_JERK && !BOTH(JUNCTION_DEVIATION, LIN_ADVANCE)
-            planner.max_jerk[E_AXIS] *= factor;
+            planner.max_jerk.e *= factor;
           #endif
           planner.settings.max_feedrate_mm_s[E_AXIS_N(target_extruder)] *= factor;
           planner.max_acceleration_steps_per_s2[E_AXIS_N(target_extruder)] *= factor;

Marlin/src/gcode/control/M211.cpp

@@ -33,18 +33,14 @@
  * Usage: M211 S1 to enable, M211 S0 to disable, M211 alone for report
  */
 void GcodeSuite::M211() {
+  const xyz_pos_t l_soft_min = soft_endstop.min.asLogical(),
+                  l_soft_max = soft_endstop.max.asLogical();
   SERIAL_ECHO_START();
   SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS);
   if (parser.seen('S')) soft_endstops_enabled = parser.value_bool();
   serialprint_onoff(soft_endstops_enabled);
-  SERIAL_ECHOPGM(MSG_SOFT_MIN);
-  SERIAL_ECHOPAIR(    MSG_X, LOGICAL_X_POSITION(soft_endstop[X_AXIS].min));
-  SERIAL_ECHOPAIR(" " MSG_Y, LOGICAL_Y_POSITION(soft_endstop[Y_AXIS].min));
-  SERIAL_ECHOPAIR(" " MSG_Z, LOGICAL_Z_POSITION(soft_endstop[Z_AXIS].min));
-  SERIAL_ECHOPGM(MSG_SOFT_MAX);
-  SERIAL_ECHOPAIR(    MSG_X, LOGICAL_X_POSITION(soft_endstop[X_AXIS].max));
-  SERIAL_ECHOPAIR(" " MSG_Y, LOGICAL_Y_POSITION(soft_endstop[Y_AXIS].max));
-  SERIAL_ECHOLNPAIR(" " MSG_Z, LOGICAL_Z_POSITION(soft_endstop[Z_AXIS].max));
+  print_xyz(l_soft_min, PSTR(MSG_SOFT_MIN), PSTR(" "));
+  print_xyz(l_soft_max, PSTR(MSG_SOFT_MAX));
 }
 
 #endif

Marlin/src/gcode/control/M605.cpp

@@ -79,9 +79,9 @@
         }
         mirrored_duplication_mode = true;
         stepper.set_directions();
-        float x_jog = current_position[X_AXIS] - .1;
+        float x_jog = current_position.x - .1;
         for (uint8_t i = 2; --i;) {
-          planner.buffer_line(x_jog, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate_mm_s, 0);
+          planner.buffer_line(x_jog, current_position.y, current_position.z, current_position.e, feedrate_mm_s, 0);
           x_jog += .1;
         }
         return;
@@ -122,7 +122,7 @@
         DEBUG_ECHOPAIR("\nActive Ext: ", int(active_extruder));
         if (!active_extruder_parked) DEBUG_ECHOPGM(" NOT ");
         DEBUG_ECHOPGM(" parked.");
-        DEBUG_ECHOPAIR("\nactive_extruder_x_pos: ", current_position[X_AXIS]);
+        DEBUG_ECHOPAIR("\nactive_extruder_x_pos: ", current_position.x);
         DEBUG_ECHOPAIR("\ninactive_extruder_x_pos: ", inactive_extruder_x_pos);
         DEBUG_ECHOPAIR("\nextruder_duplication_enabled: ", int(extruder_duplication_enabled));
         DEBUG_ECHOPAIR("\nduplicate_extruder_x_offset: ", duplicate_extruder_x_offset);
@@ -138,7 +138,7 @@
 
         HOTEND_LOOP() {
           DEBUG_ECHOPAIR(" T", int(e));
-          LOOP_XYZ(a) DEBUG_ECHOPAIR("  hotend_offset[", axis_codes[a], "_AXIS][", int(e), "]=", hotend_offset[a][e]);
+          LOOP_XYZ(a) DEBUG_ECHOPAIR("  hotend_offset[", int(e), "].", axis_codes[a] | 0x20, "=", hotend_offset[e][a]);
           DEBUG_EOL();
         }
         DEBUG_EOL();

Marlin/src/gcode/feature/camera/M240.cpp

@@ -48,8 +48,8 @@
         #if ENABLED(ADVANCED_PAUSE_FEATURE)
           do_pause_e_move(length, fr_mm_s);
         #else
-          current_position[E_AXIS] += length / planner.e_factor[active_extruder];
-          planner.buffer_line(current_position, fr_mm_s, active_extruder);
+          current_position.e += length / planner.e_factor[active_extruder];
+          line_to_current_position(fr_mm_s);
         #endif
       }
     }
@@ -97,10 +97,10 @@ void GcodeSuite::M240() {
 
     if (axis_unhomed_error()) return;
 
-    const float old_pos[XYZ] = {
-      current_position[X_AXIS] + parser.linearval('A'),
-      current_position[Y_AXIS] + parser.linearval('B'),
-      current_position[Z_AXIS]
+    const xyz_pos_t old_pos = {
+      current_position.x + parser.linearval('A'),
+      current_position.y + parser.linearval('B'),
+      current_position.z
     };
 
     #ifdef PHOTO_RETRACT_MM
@@ -121,22 +121,22 @@ void GcodeSuite::M240() {
     feedRate_t fr_mm_s = MMM_TO_MMS(parser.linearval('F'));
     if (fr_mm_s) NOLESS(fr_mm_s, 10.0f);
 
-    constexpr float photo_position[XYZ] = PHOTO_POSITION;
-    float raw[XYZ] = {
-       parser.seenval('X') ? RAW_X_POSITION(parser.value_linear_units()) : photo_position[X_AXIS],
-       parser.seenval('Y') ? RAW_Y_POSITION(parser.value_linear_units()) : photo_position[Y_AXIS],
-      (parser.seenval('Z') ? parser.value_linear_units() : photo_position[Z_AXIS]) + current_position[Z_AXIS]
+    constexpr xyz_pos_t photo_position = PHOTO_POSITION;
+    xyz_pos_t raw = {
+       parser.seenval('X') ? RAW_X_POSITION(parser.value_linear_units()) : photo_position.x,
+       parser.seenval('Y') ? RAW_Y_POSITION(parser.value_linear_units()) : photo_position.y,
+      (parser.seenval('Z') ? parser.value_linear_units() : photo_position.z) + current_position.z
     };
     apply_motion_limits(raw);
     do_blocking_move_to(raw, fr_mm_s);
 
     #ifdef PHOTO_SWITCH_POSITION
-      constexpr float photo_switch_position[2] = PHOTO_SWITCH_POSITION;
-      const float sraw[] = {
-         parser.seenval('I') ? RAW_X_POSITION(parser.value_linear_units()) : photo_switch_position[X_AXIS],
-         parser.seenval('J') ? RAW_Y_POSITION(parser.value_linear_units()) : photo_switch_position[Y_AXIS]
+      constexpr xy_pos_t photo_switch_position = PHOTO_SWITCH_POSITION;
+      const xy_pos_t sraw = {
+         parser.seenval('I') ? RAW_X_POSITION(parser.value_linear_units()) : photo_switch_position.x,
+         parser.seenval('J') ? RAW_Y_POSITION(parser.value_linear_units()) : photo_switch_position.y
       };
-      do_blocking_move_to_xy(sraw[X_AXIS], sraw[Y_AXIS], get_homing_bump_feedrate(X_AXIS));
+      do_blocking_move_to_xy(sraw, get_homing_bump_feedrate(X_AXIS));
       #if PHOTO_SWITCH_MS > 0
         safe_delay(parser.intval('D', PHOTO_SWITCH_MS));
       #endif

Marlin/src/gcode/feature/pause/M125.cpp

@@ -58,7 +58,7 @@ void GcodeSuite::M125() {
     #endif
   );
 
-  point_t park_point = NOZZLE_PARK_POINT;
+  xyz_pos_t park_point = NOZZLE_PARK_POINT;
 
   // Move XY axes to filament change position or given position
   if (parser.seenval('X')) park_point.x = RAW_X_POSITION(parser.linearval('X'));
@@ -68,8 +68,7 @@ void GcodeSuite::M125() {
   if (parser.seenval('Z')) park_point.z = parser.linearval('Z');
 
   #if HAS_HOTEND_OFFSET && NONE(DUAL_X_CARRIAGE, DELTA)
-    park_point.x += hotend_offset[X_AXIS][active_extruder];
-    park_point.y += hotend_offset[Y_AXIS][active_extruder];
+    park_point += hotend_offset[active_extruder];
   #endif
 
   #if ENABLED(SDSUPPORT)

Marlin/src/gcode/feature/pause/M600.cpp

@@ -60,7 +60,6 @@
  *  Default values are used for omitted arguments.
  */
 void GcodeSuite::M600() {
-  point_t park_point = NOZZLE_PARK_POINT;
 
   #if ENABLED(MIXING_EXTRUDER)
     const int8_t target_e_stepper = get_target_e_stepper_from_command();
@@ -119,6 +118,8 @@ void GcodeSuite::M600() {
     #endif
   );
 
+  xyz_pos_t park_point NOZZLE_PARK_POINT;
+
   // Lift Z axis
   if (parser.seenval('Z')) park_point.z = parser.linearval('Z');
 
@@ -127,8 +128,7 @@ void GcodeSuite::M600() {
   if (parser.seenval('Y')) park_point.y = parser.linearval('Y');
 
   #if HAS_HOTEND_OFFSET && NONE(DUAL_X_CARRIAGE, DELTA)
-    park_point.x += hotend_offset[X_AXIS][active_extruder];
-    park_point.y += hotend_offset[Y_AXIS][active_extruder];
+    park_point += hotend_offset[active_extruder];
   #endif
 
   #if ENABLED(MMU2_MENUS)

Marlin/src/gcode/feature/pause/M701_M702.cpp

@@ -28,7 +28,6 @@
 #include "../../../Marlin.h"
 #include "../../../module/motion.h"
 #include "../../../module/temperature.h"
-#include "../../../libs/point_t.h"
 
 #if EXTRUDERS > 1
   #include "../../../module/tool_change.h"
@@ -57,7 +56,7 @@
  *  Default values are used for omitted arguments.
  */
 void GcodeSuite::M701() {
-  point_t park_point = NOZZLE_PARK_POINT;
+  xyz_pos_t park_point = NOZZLE_PARK_POINT;
 
   #if ENABLED(NO_MOTION_BEFORE_HOMING)
     // Don't raise Z if the machine isn't homed
@@ -97,7 +96,7 @@ void GcodeSuite::M701() {
 
   // Lift Z axis
   if (park_point.z > 0)
-    do_blocking_move_to_z(_MIN(current_position[Z_AXIS] + park_point.z, Z_MAX_POS), feedRate_t(NOZZLE_PARK_Z_FEEDRATE));
+    do_blocking_move_to_z(_MIN(current_position.z + park_point.z, Z_MAX_POS), feedRate_t(NOZZLE_PARK_Z_FEEDRATE));
 
   // Load filament
   #if ENABLED(PRUSA_MMU2)
@@ -116,7 +115,7 @@ void GcodeSuite::M701() {
 
   // Restore Z axis
   if (park_point.z > 0)
-    do_blocking_move_to_z(_MAX(current_position[Z_AXIS] - park_point.z, 0), feedRate_t(NOZZLE_PARK_Z_FEEDRATE));
+    do_blocking_move_to_z(_MAX(current_position.z - park_point.z, 0), feedRate_t(NOZZLE_PARK_Z_FEEDRATE));
 
   #if EXTRUDERS > 1 && DISABLED(PRUSA_MMU2)
     // Restore toolhead if it was changed
@@ -146,7 +145,7 @@ void GcodeSuite::M701() {
  *  Default values are used for omitted arguments.
  */
 void GcodeSuite::M702() {
-  point_t park_point = NOZZLE_PARK_POINT;
+  xyz_pos_t park_point = NOZZLE_PARK_POINT;
 
   #if ENABLED(NO_MOTION_BEFORE_HOMING)
     // Don't raise Z if the machine isn't homed
@@ -196,7 +195,7 @@ void GcodeSuite::M702() {
 
   // Lift Z axis
   if (park_point.z > 0)
-    do_blocking_move_to_z(_MIN(current_position[Z_AXIS] + park_point.z, Z_MAX_POS), feedRate_t(NOZZLE_PARK_Z_FEEDRATE));
+    do_blocking_move_to_z(_MIN(current_position.z + park_point.z, Z_MAX_POS), feedRate_t(NOZZLE_PARK_Z_FEEDRATE));
 
   // Unload filament
   #if ENABLED(PRUSA_MMU2)
@@ -226,7 +225,7 @@ void GcodeSuite::M702() {
 
   // Restore Z axis
   if (park_point.z > 0)
-    do_blocking_move_to_z(_MAX(current_position[Z_AXIS] - park_point.z, 0), feedRate_t(NOZZLE_PARK_Z_FEEDRATE));
+    do_blocking_move_to_z(_MAX(current_position.z - park_point.z, 0), feedRate_t(NOZZLE_PARK_Z_FEEDRATE));
 
   #if EXTRUDERS > 1 && DISABLED(PRUSA_MMU2)
     // Restore toolhead if it was changed

Marlin/src/gcode/feature/trinamic/M122.cpp

@@ -31,8 +31,8 @@
  * M122: Debug TMC drivers
  */
 void GcodeSuite::M122() {
-  bool print_axis[XYZE] = { false, false, false, false },
-       print_all = true;
+  xyze_bool_t print_axis = { false, false, false, false };
+  bool print_all = true;
   LOOP_XYZE(i) if (parser.seen(axis_codes[i])) { print_axis[i] = true; print_all = false; }
 
   if (print_all) LOOP_XYZE(i) print_axis[i] = true;
@@ -45,12 +45,12 @@ void GcodeSuite::M122() {
     #endif
 
     if (parser.seen('V'))
-      tmc_get_registers(print_axis[X_AXIS], print_axis[Y_AXIS], print_axis[Z_AXIS], print_axis[E_AXIS]);
+      tmc_get_registers(print_axis.x, print_axis.y, print_axis.z, print_axis.e);
     else
-      tmc_report_all(print_axis[X_AXIS], print_axis[Y_AXIS], print_axis[Z_AXIS], print_axis[E_AXIS]);
+      tmc_report_all(print_axis.x, print_axis.y, print_axis.z, print_axis.e);
   #endif
 
-  test_tmc_connection(print_axis[X_AXIS], print_axis[Y_AXIS], print_axis[Z_AXIS], print_axis[E_AXIS]);
+  test_tmc_connection(print_axis.x, print_axis.y, print_axis.z, print_axis.e);
 }
 
 #endif // HAS_TRINAMIC

Marlin/src/gcode/feature/trinamic/M911-M914.cpp

@@ -104,25 +104,25 @@
    */
   void GcodeSuite::M912() {
     #if M91x_SOME_X
-      const bool hasX = parser.seen(axis_codes[X_AXIS]);
+      const bool hasX = parser.seen(axis_codes.x);
     #else
       constexpr bool hasX = false;
     #endif
 
     #if M91x_SOME_Y
-      const bool hasY = parser.seen(axis_codes[Y_AXIS]);
+      const bool hasY = parser.seen(axis_codes.y);
     #else
       constexpr bool hasY = false;
     #endif
 
     #if M91x_SOME_Z
-      const bool hasZ = parser.seen(axis_codes[Z_AXIS]);
+      const bool hasZ = parser.seen(axis_codes.z);
     #else
       constexpr bool hasZ = false;
     #endif
 
     #if M91x_SOME_E
-      const bool hasE = parser.seen(axis_codes[E_AXIS]);
+      const bool hasE = parser.seen(axis_codes.e);
     #else
       constexpr bool hasE = false;
     #endif
@@ -130,7 +130,7 @@
     const bool hasNone = !hasX && !hasY && !hasZ && !hasE;
 
     #if M91x_SOME_X
-      const int8_t xval = int8_t(parser.byteval(axis_codes[X_AXIS], 0xFF));
+      const int8_t xval = int8_t(parser.byteval(axis_codes.x, 0xFF));
       #if M91x_USE(X)
         if (hasNone || xval == 1 || (hasX && xval < 0)) tmc_clear_otpw(stepperX);
       #endif
@@ -140,7 +140,7 @@
     #endif
 
     #if M91x_SOME_Y
-      const int8_t yval = int8_t(parser.byteval(axis_codes[Y_AXIS], 0xFF));
+      const int8_t yval = int8_t(parser.byteval(axis_codes.y, 0xFF));
       #if M91x_USE(Y)
         if (hasNone || yval == 1 || (hasY && yval < 0)) tmc_clear_otpw(stepperY);
       #endif
@@ -150,7 +150,7 @@
     #endif
 
     #if M91x_SOME_Z
-      const int8_t zval = int8_t(parser.byteval(axis_codes[Z_AXIS], 0xFF));
+      const int8_t zval = int8_t(parser.byteval(axis_codes.z, 0xFF));
       #if M91x_USE(Z)
         if (hasNone || zval == 1 || (hasZ && zval < 0)) tmc_clear_otpw(stepperZ);
       #endif
@@ -163,7 +163,7 @@
     #endif
 
     #if M91x_SOME_E
-      const int8_t eval = int8_t(parser.byteval(axis_codes[E_AXIS], 0xFF));
+      const int8_t eval = int8_t(parser.byteval(axis_codes.e, 0xFF));
       #if M91x_USE_E(0)
         if (hasNone || eval == 0 || (hasE && eval < 0)) tmc_clear_otpw(stepperE0);
       #endif

Marlin/src/gcode/gcode.cpp

@@ -49,12 +49,13 @@ GcodeSuite gcode;
 
 millis_t GcodeSuite::previous_move_ms;
 
-static constexpr bool ar_init[XYZE] = AXIS_RELATIVE_MODES;
+// Relative motion mode for each logical axis
+static constexpr xyze_bool_t ar_init = AXIS_RELATIVE_MODES;
 uint8_t GcodeSuite::axis_relative = (
-    (ar_init[X_AXIS] ? _BV(REL_X) : 0)
-  | (ar_init[Y_AXIS] ? _BV(REL_Y) : 0)
-  | (ar_init[Z_AXIS] ? _BV(REL_Z) : 0)
-  | (ar_init[E_AXIS] ? _BV(REL_E) : 0)
+    (ar_init.x ? _BV(REL_X) : 0)
+  | (ar_init.y ? _BV(REL_Y) : 0)
+  | (ar_init.z ? _BV(REL_Z) : 0)
+  | (ar_init.e ? _BV(REL_E) : 0)
 );
 
 #if ENABLED(HOST_KEEPALIVE_FEATURE)
@@ -68,7 +69,7 @@ uint8_t GcodeSuite::axis_relative = (
 
 #if ENABLED(CNC_COORDINATE_SYSTEMS)
   int8_t GcodeSuite::active_coordinate_system = -1; // machine space
-  float GcodeSuite::coordinate_system[MAX_COORDINATE_SYSTEMS][XYZ];
+  xyz_pos_t GcodeSuite::coordinate_system[MAX_COORDINATE_SYSTEMS];
 #endif
 
 /**
@@ -112,7 +113,7 @@ int8_t GcodeSuite::get_target_e_stepper_from_command() {
  *  - Set the feedrate, if included
  */
 void GcodeSuite::get_destination_from_command() {
-  bool seen[XYZE] = { false, false, false, false };
+  xyze_bool_t seen = { false, false, false, false };
   LOOP_XYZE(i) {
     if ( (seen[i] = parser.seenval(axis_codes[i])) ) {
       const float v = parser.value_axis_units((AxisEnum)i);
@@ -124,7 +125,7 @@ void GcodeSuite::get_destination_from_command() {
 
   #if ENABLED(POWER_LOSS_RECOVERY) && !PIN_EXISTS(POWER_LOSS)
     // Only update power loss recovery on moves with E
-    if (recovery.enabled && IS_SD_PRINTING() && seen[E_AXIS] && (seen[X_AXIS] || seen[Y_AXIS]))
+    if (recovery.enabled && IS_SD_PRINTING() && seen.e && (seen.x || seen.y))
       recovery.save();
   #endif
 
@@ -133,7 +134,7 @@ void GcodeSuite::get_destination_from_command() {
 
   #if ENABLED(PRINTCOUNTER)
     if (!DEBUGGING(DRYRUN))
-      print_job_timer.incFilamentUsed(destination[E_AXIS] - current_position[E_AXIS]);
+      print_job_timer.incFilamentUsed(destination.e - current_position.e);
   #endif
 
   // Get ABCDHI mixing factors

Marlin/src/gcode/gcode.h

@@ -321,7 +321,7 @@ public:
   #define MAX_COORDINATE_SYSTEMS 9
   #if ENABLED(CNC_COORDINATE_SYSTEMS)
     static int8_t active_coordinate_system;
-    static float coordinate_system[MAX_COORDINATE_SYSTEMS][XYZ];
+    static xyz_pos_t coordinate_system[MAX_COORDINATE_SYSTEMS];
     static bool select_coordinate_system(const int8_t _new);
   #endif
 

Marlin/src/gcode/geometry/G53-G59.cpp

@@ -36,9 +36,9 @@
 bool GcodeSuite::select_coordinate_system(const int8_t _new) {
   if (active_coordinate_system == _new) return false;
   active_coordinate_system = _new;
-  float new_offset[XYZ] = { 0 };
+  xyz_float_t new_offset{0};
   if (WITHIN(_new, 0, MAX_COORDINATE_SYSTEMS - 1))
-    COPY(new_offset, coordinate_system[_new]);
+    new_offset = coordinate_system[_new];
   LOOP_XYZ(i) {
     if (position_shift[i] != new_offset[i]) {
       position_shift[i] = new_offset[i];

Marlin/src/gcode/geometry/G92.cpp

@@ -86,7 +86,7 @@ void GcodeSuite::G92() {
             #elif HAS_POSITION_SHIFT
               if (i == E_AXIS) {
                 didE = true;
-                current_position[E_AXIS] = v; // When using coordinate spaces, only E is set directly
+                current_position.e = v; // When using coordinate spaces, only E is set directly
               }
               else {
                 position_shift[i] += d;       // Other axes simply offset the coordinate space
@@ -102,7 +102,7 @@ void GcodeSuite::G92() {
   #if ENABLED(CNC_COORDINATE_SYSTEMS)
     // Apply workspace offset to the active coordinate system
     if (WITHIN(active_coordinate_system, 0, MAX_COORDINATE_SYSTEMS - 1))
-      COPY(coordinate_system[active_coordinate_system], position_shift);
+      coordinate_system[active_coordinate_system] = position_shift;
   #endif
 
   if    (didXYZ) sync_plan_position();

Marlin/src/gcode/geometry/M206_M428.cpp

@@ -63,7 +63,7 @@ void GcodeSuite::M206() {
 void GcodeSuite::M428() {
   if (axis_unhomed_error()) return;
 
-  float diff[XYZ];
+  xyz_float_t diff;
   LOOP_XYZ(i) {
     diff[i] = base_home_pos((AxisEnum)i) - current_position[i];
     if (!WITHIN(diff[i], -20, 20) && home_dir((AxisEnum)i) > 0)

Marlin/src/gcode/host/M114.cpp

@@ -36,7 +36,7 @@
     #include "../../core/debug_out.h"
   #endif
 
-  void report_xyze(const float pos[], const uint8_t n = 4, const uint8_t precision = 3) {
+  void report_xyze(const xyze_pos_t &pos, const uint8_t n=4, const uint8_t precision=3) {
     char str[12];
     for (uint8_t a = 0; a < n; a++) {
       SERIAL_CHAR(' ');
@@ -47,22 +47,27 @@
     SERIAL_EOL();
   }
 
-  inline void report_xyz(const float pos[]) { report_xyze(pos, 3); }
+  void report_xyz(const xyz_pos_t &pos, const uint8_t precision=3) {
+    char str[12];
+    for (uint8_t a = X_AXIS; a <= Z_AXIS; a++) {
+      SERIAL_CHAR(' ');
+      SERIAL_CHAR(axis_codes[a]);
+      SERIAL_CHAR(':');
+      SERIAL_ECHO(dtostrf(pos[a], 1, precision, str));
+    }
+    SERIAL_EOL();
+  }
+  inline void report_xyz(const xyze_pos_t &pos) { report_xyze(pos, 3); }
 
   void report_current_position_detail() {
 
     SERIAL_ECHOPGM("\nLogical:");
-    const float logical[XYZ] = {
-      LOGICAL_X_POSITION(current_position[X_AXIS]),
-      LOGICAL_Y_POSITION(current_position[Y_AXIS]),
-      LOGICAL_Z_POSITION(current_position[Z_AXIS])
-    };
-    report_xyz(logical);
+    report_xyz(current_position.asLogical());
 
     SERIAL_ECHOPGM("Raw:    ");
     report_xyz(current_position);
 
-    float leveled[XYZ] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] };
+    xyze_pos_t leveled = current_position;
 
     #if HAS_LEVELING
       SERIAL_ECHOPGM("Leveled:");
@@ -70,7 +75,7 @@
       report_xyz(leveled);
 
       SERIAL_ECHOPGM("UnLevel:");
-      float unleveled[XYZ] = { leveled[X_AXIS], leveled[Y_AXIS], leveled[Z_AXIS] };
+      xyze_pos_t unleveled = leveled;
       planner.unapply_leveling(unleveled);
       report_xyz(unleveled);
     #endif
@@ -153,7 +158,7 @@
     SERIAL_EOL();
 
     #if IS_SCARA
-      const float deg[XYZ] = {
+      const xy_float_t deg = {
         planner.get_axis_position_degrees(A_AXIS),
         planner.get_axis_position_degrees(B_AXIS)
       };
@@ -162,17 +167,12 @@
     #endif
 
     SERIAL_ECHOPGM("FromStp:");
-    get_cartesian_from_steppers();  // writes cartes[XYZ] (with forward kinematics)
-    const float from_steppers[XYZE] = { cartes[X_AXIS], cartes[Y_AXIS], cartes[Z_AXIS], planner.get_axis_position_mm(E_AXIS) };
+    get_cartesian_from_steppers();  // writes 'cartes' (with forward kinematics)
+    xyze_pos_t from_steppers = { cartes.x, cartes.y, cartes.z, planner.get_axis_position_mm(E_AXIS) };
     report_xyze(from_steppers);
 
-    const float diff[XYZE] = {
-      from_steppers[X_AXIS] - leveled[X_AXIS],
-      from_steppers[Y_AXIS] - leveled[Y_AXIS],
-      from_steppers[Z_AXIS] - leveled[Z_AXIS],
-      from_steppers[E_AXIS] - current_position[E_AXIS]
-    };
-    SERIAL_ECHOPGM("Differ: ");
+    const xyze_float_t diff = from_steppers - leveled;
+    SERIAL_ECHOPGM("Diff: ");
     report_xyze(diff);
   }
 

Marlin/src/gcode/motion/G0_G1.cpp

@@ -35,7 +35,7 @@
   #include "../../module/stepper.h"
 #endif
 
-extern float destination[XYZE];
+extern xyze_pos_t destination;
 
 #if ENABLED(VARIABLE_G0_FEEDRATE)
   feedRate_t fast_move_feedrate = MMM_TO_MMS(G0_FEEDRATE);
@@ -87,12 +87,12 @@ void GcodeSuite::G0_G1(
       if (MIN_AUTORETRACT <= MAX_AUTORETRACT) {
         // When M209 Autoretract is enabled, convert E-only moves to firmware retract/recover moves
         if (fwretract.autoretract_enabled && parser.seen('E') && !(parser.seen('X') || parser.seen('Y') || parser.seen('Z'))) {
-          const float echange = destination[E_AXIS] - current_position[E_AXIS];
+          const float echange = destination.e - current_position.e;
           // Is this a retract or recover move?
           if (WITHIN(ABS(echange), MIN_AUTORETRACT, MAX_AUTORETRACT) && fwretract.retracted[active_extruder] == (echange > 0.0)) {
-            current_position[E_AXIS] = destination[E_AXIS]; // Hide a G1-based retract/recover from calculations
-            sync_plan_position_e();                         // AND from the planner
-            return fwretract.retract(echange < 0.0);        // Firmware-based retract/recover (double-retract ignored)
+            current_position.e = destination.e;       // Hide a G1-based retract/recover from calculations
+            sync_plan_position_e();                   // AND from the planner
+            return fwretract.retract(echange < 0.0);  // Firmware-based retract/recover (double-retract ignored)
           }
         }
       }

Marlin/src/gcode/motion/G2_G3.cpp

@@ -50,9 +50,9 @@
  * options for G2/G3 arc generation. In future these options may be GCode tunable.
  */
 void plan_arc(
-  const float (&cart)[XYZE],  // Destination position
-  const float (&offset)[2],   // Center of rotation relative to current_position
-  const uint8_t clockwise     // Clockwise?
+  const xyze_pos_t &cart,   // Destination position
+  const ab_float_t &offset, // Center of rotation relative to current_position
+  const uint8_t clockwise   // Clockwise?
 ) {
   #if ENABLED(CNC_WORKSPACE_PLANES)
     AxisEnum p_axis, q_axis, l_axis;
@@ -67,21 +67,21 @@ void plan_arc(
   #endif
 
   // Radius vector from center to current location
-  float r_P = -offset[0], r_Q = -offset[1];
+  ab_float_t rvec = -offset;
 
-  const float radius = HYPOT(r_P, r_Q),
+  const float radius = HYPOT(rvec.a, rvec.b),
               #if ENABLED(AUTO_BED_LEVELING_UBL)
                 start_L  = current_position[l_axis],
               #endif
-              center_P = current_position[p_axis] - r_P,
-              center_Q = current_position[q_axis] - r_Q,
+              center_P = current_position[p_axis] - rvec.a,
+              center_Q = current_position[q_axis] - rvec.b,
               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];
+              extruder_travel = cart.e - current_position.e;
 
   // 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);
+  float angular_travel = ATAN2(rvec.a * rt_Y - rvec.b * rt_X, rvec.a * rt_X + rvec.b * rt_Y);
   if (angular_travel < 0) angular_travel += RADIANS(360);
   #ifdef MIN_ARC_SEGMENTS
     uint16_t min_segments = CEIL((MIN_ARC_SEGMENTS) * (angular_travel / RADIANS(360)));
@@ -133,7 +133,7 @@ void plan_arc(
    * This is important when there are successive arc motions.
    */
   // Vector rotation matrix values
-  float raw[XYZE];
+  xyze_pos_t raw;
   const float theta_per_segment = angular_travel / segments,
               linear_per_segment = linear_travel / segments,
               extruder_per_segment = extruder_travel / segments,
@@ -144,7 +144,7 @@ void plan_arc(
   raw[l_axis] = current_position[l_axis];
 
   // Initialize the extruder axis
-  raw[E_AXIS] = current_position[E_AXIS];
+  raw.e = current_position.e;
 
   const feedRate_t scaled_fr_mm_s = MMS_SCALED(feedrate_mm_s);
 
@@ -168,10 +168,10 @@ void plan_arc(
 
     #if N_ARC_CORRECTION > 1
       if (--arc_recalc_count) {
-        // Apply vector rotation matrix to previous r_P / 1
-        const float r_new_Y = r_P * sin_T + r_Q * cos_T;
-        r_P = r_P * cos_T - r_Q * sin_T;
-        r_Q = r_new_Y;
+        // Apply vector rotation matrix to previous rvec.a / 1
+        const float r_new_Y = rvec.a * sin_T + rvec.b * cos_T;
+        rvec.a = rvec.a * cos_T - rvec.b * sin_T;
+        rvec.b = r_new_Y;
       }
       else
     #endif
@@ -185,20 +185,20 @@ void plan_arc(
       // To reduce stuttering, the sin and cos could be computed at different times.
       // For now, compute both at the same time.
       const float cos_Ti = cos(i * theta_per_segment), sin_Ti = sin(i * theta_per_segment);
-      r_P = -offset[0] * cos_Ti + offset[1] * sin_Ti;
-      r_Q = -offset[0] * sin_Ti - offset[1] * cos_Ti;
+      rvec.a = -offset[0] * cos_Ti + offset[1] * sin_Ti;
+      rvec.b = -offset[0] * sin_Ti - offset[1] * cos_Ti;
     }
 
     // Update raw location
-    raw[p_axis] = center_P + r_P;
-    raw[q_axis] = center_Q + r_Q;
+    raw[p_axis] = center_P + rvec.a;
+    raw[q_axis] = center_Q + rvec.b;
     #if ENABLED(AUTO_BED_LEVELING_UBL)
       raw[l_axis] = start_L;
       UNUSED(linear_per_segment);
     #else
       raw[l_axis] += linear_per_segment;
     #endif
-    raw[E_AXIS] += extruder_per_segment;
+    raw.e += extruder_per_segment;
 
     apply_motion_limits(raw);
 
@@ -215,7 +215,7 @@ void plan_arc(
   }
 
   // Ensure last segment arrives at target location.
-  COPY(raw, cart);
+  raw = cart;
   #if ENABLED(AUTO_BED_LEVELING_UBL)
     raw[l_axis] = start_L;
   #endif
@@ -235,7 +235,7 @@ void plan_arc(
   #if ENABLED(AUTO_BED_LEVELING_UBL)
     raw[l_axis] = start_L;
   #endif
-  COPY(current_position, raw);
+  current_position = raw;
 } // plan_arc
 
 /**
@@ -278,32 +278,27 @@ void GcodeSuite::G2_G3(const bool clockwise) {
       relative_mode = relative_mode_backup;
     #endif
 
-    float arc_offset[2] = { 0, 0 };
+    ab_float_t arc_offset = { 0, 0 };
     if (parser.seenval('R')) {
       const float r = parser.value_linear_units();
       if (r) {
-        const float p1 = current_position[X_AXIS], q1 = current_position[Y_AXIS],
-                    p2 = destination[X_AXIS], q2 = destination[Y_AXIS];
-        if (p2 != p1 || q2 != q1) {
-          const float e = clockwise ^ (r < 0) ? -1 : 1,            // clockwise -1/1, counterclockwise 1/-1
-                      dx = p2 - p1, dy = q2 - q1,                  // X and Y differences
-                      d = HYPOT(dx, dy),                           // Linear distance between the points
-                      dinv = 1/d,                                  // Inverse of d
-                      h = SQRT(sq(r) - sq(d * 0.5f)),              // Distance to the arc pivot-point
-                      mx = (p1 + p2) * 0.5f, my = (q1 + q2) * 0.5f,// Point between the two points
-                      sx = -dy * dinv, sy = dx * dinv,             // Slope of the perpendicular bisector
-                      cx = mx + e * h * sx, cy = my + e * h * sy;  // Pivot-point of the arc
-          arc_offset[0] = cx - p1;
-          arc_offset[1] = cy - q1;
+        const xy_pos_t p1 = current_position, p2 = destination;
+        if (p1 != p2) {
+          const xy_pos_t d = p2 - p1, m = (p1 + p2) * 0.5f;   // XY distance and midpoint
+          const float e = clockwise ^ (r < 0) ? -1 : 1,       // clockwise -1/1, counterclockwise 1/-1
+                      len = d.magnitude(),                    // Total move length
+                      h = SQRT(sq(r) - sq(len * 0.5f));       // Distance to the arc pivot-point
+          const xy_pos_t s = { d.x, -d.y };                   // Inverse Slope of the perpendicular bisector
+          arc_offset = m + s * RECIPROCAL(len) * e * h - p1;  // The calculated offset
         }
       }
     }
     else {
-      if (parser.seenval('I')) arc_offset[0] = parser.value_linear_units();
-      if (parser.seenval('J')) arc_offset[1] = parser.value_linear_units();
+      if (parser.seenval('I')) arc_offset.a = parser.value_linear_units();
+      if (parser.seenval('J')) arc_offset.b = parser.value_linear_units();
     }
 
-    if (arc_offset[0] || arc_offset[1]) {
+    if (arc_offset) {
 
       #if ENABLED(ARC_P_CIRCLES)
         // P indicates number of circles to do

Marlin/src/gcode/motion/G5.cpp

@@ -27,11 +27,6 @@
 #include "../../module/motion.h"
 #include "../../module/planner_bezier.h"
 
-void plan_cubic_move(const float (&cart)[XYZE], const float (&offset)[4]) {
-  cubic_b_spline(current_position, cart, offset, MMS_SCALED(feedrate_mm_s), active_extruder);
-  COPY(current_position, cart);
-}
-
 /**
  * Parameters interpreted according to:
  * http://linuxcnc.org/docs/2.6/html/gcode/parser.html#sec:G5-Cubic-Spline
@@ -57,14 +52,13 @@ void GcodeSuite::G5() {
 
     get_destination_from_command();
 
-    const float offset[4] = {
-      parser.linearval('I'),
-      parser.linearval('J'),
-      parser.linearval('P'),
-      parser.linearval('Q')
+    const xy_pos_t offsets[2] = {
+      { parser.linearval('I'), parser.linearval('J') },
+      { parser.linearval('P'), parser.linearval('Q') }
     };
 
-    plan_cubic_move(destination, offset);
+    cubic_b_spline(current_position, destination, offsets, MMS_SCALED(feedrate_mm_s), active_extruder);
+    current_position = destination;
   }
 }
 

Marlin/src/gcode/motion/M290.cpp

@@ -40,21 +40,21 @@
 
 #if ENABLED(BABYSTEP_ZPROBE_OFFSET)
 
-  FORCE_INLINE void mod_zprobe_zoffset(const float &offs) {
+  FORCE_INLINE void mod_probe_offset(const float &offs) {
     if (true
       #if ENABLED(BABYSTEP_HOTEND_Z_OFFSET)
         && active_extruder == 0
       #endif
     ) {
-      probe_offset[Z_AXIS] += offs;
+      probe_offset.z += offs;
       SERIAL_ECHO_START();
-      SERIAL_ECHOLNPAIR(MSG_PROBE_OFFSET MSG_Z ": ", probe_offset[Z_AXIS]);
+      SERIAL_ECHOLNPAIR(MSG_PROBE_OFFSET MSG_Z ": ", probe_offset.z);
     }
     else {
       #if ENABLED(BABYSTEP_HOTEND_Z_OFFSET)
-        hotend_offset[Z_AXIS][active_extruder] -= offs;
+        hotend_offset[active_extruder].z -= offs;
         SERIAL_ECHO_START();
-        SERIAL_ECHOLNPAIR(MSG_PROBE_OFFSET MSG_Z ": ", hotend_offset[Z_AXIS][active_extruder]);
+        SERIAL_ECHOLNPAIR(MSG_PROBE_OFFSET MSG_Z ": ", hotend_offset[active_extruder].z);
       #endif
     }
   }
@@ -81,7 +81,7 @@ void GcodeSuite::M290() {
         const float offs = constrain(parser.value_axis_units((AxisEnum)a), -2, 2);
         babystep.add_mm((AxisEnum)a, offs);
         #if ENABLED(BABYSTEP_ZPROBE_OFFSET)
-          if (a == Z_AXIS && (!parser.seen('P') || parser.value_bool())) mod_zprobe_zoffset(offs);
+          if (a == Z_AXIS && (!parser.seen('P') || parser.value_bool())) mod_probe_offset(offs);
         #endif
       }
   #else
@@ -89,7 +89,7 @@ void GcodeSuite::M290() {
       const float offs = constrain(parser.value_axis_units(Z_AXIS), -2, 2);
       babystep.add_mm(Z_AXIS, offs);
       #if ENABLED(BABYSTEP_ZPROBE_OFFSET)
-        if (!parser.seen('P') || parser.value_bool()) mod_zprobe_zoffset(offs);
+        if (!parser.seen('P') || parser.value_bool()) mod_probe_offset(offs);
       #endif
     }
   #endif
@@ -98,17 +98,17 @@ void GcodeSuite::M290() {
     SERIAL_ECHO_START();
 
     #if ENABLED(BABYSTEP_ZPROBE_OFFSET)
-      SERIAL_ECHOLNPAIR(MSG_PROBE_OFFSET " " MSG_Z, probe_offset[Z_AXIS]);
+      SERIAL_ECHOLNPAIR(MSG_PROBE_OFFSET " " MSG_Z, probe_offset.z);
     #endif
 
     #if ENABLED(BABYSTEP_HOTEND_Z_OFFSET)
     {
       SERIAL_ECHOLNPAIR("Hotend ", int(active_extruder), "Offset"
         #if ENABLED(BABYSTEP_XY)
-          " X", hotend_offset[X_AXIS][active_extruder],
-          " Y", hotend_offset[Y_AXIS][active_extruder],
+          " X", hotend_offset[active_extruder].x,
+          " Y", hotend_offset[active_extruder].y,
         #endif
-        " Z", hotend_offset[Z_AXIS][active_extruder]
+        " Z", hotend_offset[active_extruder].z
       );
     }
     #endif

Marlin/src/gcode/probe/G30.cpp

@@ -39,10 +39,10 @@
  *   E   Engage the probe for each probe (default 1)
  */
 void GcodeSuite::G30() {
-  const float xpos = parser.linearval('X', current_position[X_AXIS] + probe_offset[X_AXIS]),
-              ypos = parser.linearval('Y', current_position[Y_AXIS] + probe_offset[Y_AXIS]);
+  const xy_pos_t pos = { parser.linearval('X', current_position.x + probe_offset.x),
+                         parser.linearval('Y', current_position.y + probe_offset.y) };
 
-  if (!position_is_reachable_by_probe(xpos, ypos)) return;
+  if (!position_is_reachable_by_probe(pos)) return;
 
   // Disable leveling so the planner won't mess with us
   #if HAS_LEVELING
@@ -52,10 +52,9 @@ void GcodeSuite::G30() {
   remember_feedrate_scaling_off();
 
   const ProbePtRaise raise_after = parser.boolval('E', true) ? PROBE_PT_STOW : PROBE_PT_NONE;
-  const float measured_z = probe_at_point(xpos, ypos, raise_after, 1);
-
+  const float measured_z = probe_at_point(pos, raise_after, 1);
   if (!isnan(measured_z))
-    SERIAL_ECHOLNPAIR("Bed X: ", FIXFLOAT(xpos), " Y: ", FIXFLOAT(ypos), " Z: ", FIXFLOAT(measured_z));
+    SERIAL_ECHOLNPAIR("Bed X: ", FIXFLOAT(pos.x), " Y: ", FIXFLOAT(pos.y), " Z: ", FIXFLOAT(measured_z));
 
   restore_feedrate_and_scaling();
 

Marlin/src/gcode/probe/G38.cpp

@@ -48,7 +48,7 @@ inline bool G38_run_probe() {
 
   #if MULTIPLE_PROBING > 1
     // Get direction of move and retract
-    float retract_mm[XYZ];
+    xyz_float_t retract_mm;
     LOOP_XYZ(i) {
       const float dist = destination[i] - current_position[i];
       retract_mm[i] = ABS(dist) < G38_MINIMUM_MOVE ? 0 : home_bump_mm((AxisEnum)i) * (dist > 0 ? -1 : 1);
@@ -75,8 +75,7 @@ inline bool G38_run_probe() {
 
     #if MULTIPLE_PROBING > 1
       // Move away by the retract distance
-      set_destination_from_current();
-      LOOP_XYZ(i) destination[i] += retract_mm[i];
+      destination = current_position + retract_mm;
       endstops.enable(false);
       prepare_move_to_destination();
       planner.synchronize();
@@ -84,7 +83,7 @@ inline bool G38_run_probe() {
       REMEMBER(fr, feedrate_mm_s, feedrate_mm_s * 0.25);
 
       // Bump the target more slowly
-      LOOP_XYZ(i) destination[i] -= retract_mm[i] * 2;
+      destination -= retract_mm * 2;
 
       G38_single_probe(move_value);
     #endif

Marlin/src/gcode/probe/M851.cpp

@@ -35,18 +35,18 @@ void GcodeSuite::M851() {
 
   // Show usage with no parameters
   if (!parser.seen("XYZ")) {
-    SERIAL_ECHOLNPAIR(MSG_PROBE_OFFSET " X", probe_offset[X_AXIS], " Y", probe_offset[Y_AXIS], " Z", probe_offset[Z_AXIS]);
+    SERIAL_ECHOLNPAIR(MSG_PROBE_OFFSET " X", probe_offset.x, " Y", probe_offset.y, " Z", probe_offset.z);
     return;
   }
 
-  float offs[XYZ] = { probe_offset[X_AXIS], probe_offset[Y_AXIS], probe_offset[Z_AXIS] };
+  xyz_pos_t offs = probe_offset;
 
   bool ok = true;
 
   if (parser.seenval('X')) {
     const float x = parser.value_float();
     if (WITHIN(x, -(X_BED_SIZE), X_BED_SIZE))
-      offs[X_AXIS] = x;
+      offs.x = x;
     else {
       SERIAL_ECHOLNPAIR("?X out of range (-", int(X_BED_SIZE), " to ", int(X_BED_SIZE), ")");
       ok = false;
@@ -56,7 +56,7 @@ void GcodeSuite::M851() {
   if (parser.seenval('Y')) {
     const float y = parser.value_float();
     if (WITHIN(y, -(Y_BED_SIZE), Y_BED_SIZE))
-      offs[Y_AXIS] = y;
+      offs.y = y;
     else {
       SERIAL_ECHOLNPAIR("?Y out of range (-", int(Y_BED_SIZE), " to ", int(Y_BED_SIZE), ")");
       ok = false;
@@ -66,7 +66,7 @@ void GcodeSuite::M851() {
   if (parser.seenval('Z')) {
     const float z = parser.value_float();
     if (WITHIN(z, Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX))
-      offs[Z_AXIS] = z;
+      offs.z = z;
     else {
       SERIAL_ECHOLNPAIR("?Z out of range (", int(Z_PROBE_OFFSET_RANGE_MIN), " to ", int(Z_PROBE_OFFSET_RANGE_MAX), ")");
       ok = false;
@@ -74,7 +74,7 @@ void GcodeSuite::M851() {
   }
 
   // Save the new offsets
-  if (ok) COPY(probe_offset, offs);
+  if (ok) probe_offset = offs;
 }
 
 #endif // HAS_BED_PROBE

Marlin/src/gcode/scara/M360-M364.cpp

@@ -32,7 +32,7 @@
 inline bool SCARA_move_to_cal(const uint8_t delta_a, const uint8_t delta_b) {
   if (IsRunning()) {
     forward_kinematics_SCARA(delta_a, delta_b);
-    do_blocking_move_to_xy(cartes[X_AXIS], cartes[Y_AXIS]);
+    do_blocking_move_to_xy(cartes);
     return true;
   }
   return false;

Marlin/src/inc/Conditionals_post.h

@@ -1472,7 +1472,7 @@
   #define _PROBE_RADIUS (DELTA_PRINTABLE_RADIUS - (MIN_PROBE_EDGE))
   #ifndef DELTA_CALIBRATION_RADIUS
     #ifdef NOZZLE_TO_PROBE_OFFSET
-      #define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - _MAX(ABS(nozzle_to_probe_offset[X_AXIS]), ABS(nozzle_to_probe_offset[Y_AXIS]), ABS(MIN_PROBE_EDGE)))
+      #define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - _MAX(ABS(nozzle_to_probe_offset.x), ABS(nozzle_to_probe_offset.y), ABS(MIN_PROBE_EDGE)))
     #else
       #define DELTA_CALIBRATION_RADIUS _PROBE_RADIUS
     #endif
@@ -1506,6 +1506,7 @@
   #define PROBE_Y_MIN (Y_CENTER - (SCARA_PRINTABLE_RADIUS) + MIN_PROBE_EDGE_FRONT)
   #define PROBE_X_MAX (X_CENTER +  SCARA_PRINTABLE_RADIUS - (MIN_PROBE_EDGE_RIGHT))
   #define PROBE_Y_MAX (Y_CENTER +  SCARA_PRINTABLE_RADIUS - (MIN_PROBE_EDGE_BACK))
+
 #endif
 
 #if ENABLED(SEGMENT_LEVELED_MOVES) && !defined(LEVELED_SEGMENT_LENGTH)
@@ -1532,10 +1533,10 @@
       #define _MESH_MAX_X (_MIN(X_MAX_BED - (MESH_INSET), X_MAX_POS))
       #define _MESH_MAX_Y (_MIN(Y_MAX_BED - (MESH_INSET), Y_MAX_POS))
     #else
-      #define _MESH_MIN_X (_MAX(X_MIN_BED + MESH_INSET, X_MIN_POS + nozzle_to_probe_offset[X_AXIS]))
-      #define _MESH_MIN_Y (_MAX(Y_MIN_BED + MESH_INSET, Y_MIN_POS + nozzle_to_probe_offset[Y_AXIS]))
-      #define _MESH_MAX_X (_MIN(X_MAX_BED - (MESH_INSET), X_MAX_POS + nozzle_to_probe_offset[X_AXIS]))
-      #define _MESH_MAX_Y (_MIN(Y_MAX_BED - (MESH_INSET), Y_MAX_POS + nozzle_to_probe_offset[Y_AXIS]))
+      #define _MESH_MIN_X (_MAX(X_MIN_BED + MESH_INSET, X_MIN_POS + nozzle_to_probe_offset.x))
+      #define _MESH_MIN_Y (_MAX(Y_MIN_BED + MESH_INSET, Y_MIN_POS + nozzle_to_probe_offset.y))
+      #define _MESH_MAX_X (_MIN(X_MAX_BED - (MESH_INSET), X_MAX_POS + nozzle_to_probe_offset.x))
+      #define _MESH_MAX_Y (_MIN(Y_MAX_BED - (MESH_INSET), Y_MAX_POS + nozzle_to_probe_offset.y))
     #endif
   #endif
 

Marlin/src/inc/MarlinConfig.h

@@ -39,7 +39,7 @@
 #include HAL_PATH(../HAL, inc/SanityCheck.h)
 
 // Include all core headers
-#include "../core/enum.h"
+#include "../core/types.h"
 #include "../core/language.h"
 #include "../core/utility.h"
 #include "../core/serial.h"

Marlin/src/inc/MarlinConfigPre.h

@@ -34,7 +34,6 @@
 
 #include "../core/boards.h"
 #include "../core/macros.h"
-#include "../core/millis_t.h"
 #include "Version.h"
 #include "../../Configuration.h"
 

Marlin/src/inc/SanityCheck.h

@@ -402,6 +402,8 @@
   #error "[XYZ]_PROBE_OFFSET_FROM_EXTRUDER is now NOZZLE_TO_PROBE_OFFSET. Please update your configuration."
 #elif defined(MIN_PROBE_X) || defined(MIN_PROBE_Y) || defined(MAX_PROBE_X) || defined(MAX_PROBE_Y)
   #error "(MIN|MAX)_PROBE_[XY] are now calculated at runtime. Please remove them from Configuration.h."
+#elif defined(Z_STEPPER_ALIGN_X) || defined(Z_STEPPER_ALIGN_X)
+  #error "Z_STEPPER_ALIGN_X and Z_STEPPER_ALIGN_Y are now combined as Z_STEPPER_ALIGN_XY. Please update your Configuration_adv.h."
 #endif
 
 #define BOARD_MKS_13        -1000
@@ -2305,11 +2307,6 @@ static_assert(   _ARR_TEST(3,0) && _ARR_TEST(3,1) && _ARR_TEST(3,2)
   #elif !HAS_BED_PROBE
     #error "Z_STEPPER_AUTO_ALIGN requires a Z-bed probe."
   #endif
-  constexpr float sanity_arr_z_align_x[] = Z_STEPPER_ALIGN_X, sanity_arr_z_align_y[] = Z_STEPPER_ALIGN_Y;
-  static_assert(
-    COUNT(sanity_arr_z_align_x) == Z_STEPPER_COUNT && COUNT(sanity_arr_z_align_y) == Z_STEPPER_COUNT,
-    "Z_STEPPER_ALIGN_[XY] settings require one element per Z stepper."
-  );
 #endif
 
 #if ENABLED(PRINTCOUNTER) && DISABLED(EEPROM_SETTINGS)

Marlin/src/lcd/HD44780/ultralcd_HD44780.cpp

@@ -817,11 +817,10 @@ void MarlinUI::draw_status_screen() {
 
           #else
 
-            _draw_axis_value(X_AXIS, ftostr4sign(LOGICAL_X_POSITION(current_position[X_AXIS])), blink);
-
+            xy_pos_t lpos = current_position; toLogical(lpos);
+            _draw_axis_value(X_AXIS, ftostr4sign(lpos.x), blink);
             lcd_put_wchar(' ');
-
-            _draw_axis_value(Y_AXIS, ftostr4sign(LOGICAL_Y_POSITION(current_position[Y_AXIS])), blink);
+            _draw_axis_value(Y_AXIS, ftostr4sign(lpos.y), blink);
 
           #endif
 
@@ -830,7 +829,7 @@ void MarlinUI::draw_status_screen() {
       #endif // LCD_WIDTH >= 20
 
       lcd_moveto(LCD_WIDTH - 8, 1);
-      _draw_axis_value(Z_AXIS, ftostr52sp(LOGICAL_Z_POSITION(current_position[Z_AXIS])), blink);
+      _draw_axis_value(Z_AXIS, ftostr52sp(LOGICAL_Z_POSITION(current_position.z)), blink);
 
       #if HAS_LEVELING && !HAS_HEATED_BED
         lcd_put_wchar(planner.leveling_active || blink ? '_' : ' ');
@@ -902,7 +901,7 @@ void MarlinUI::draw_status_screen() {
     // Z Coordinate
     //
     lcd_moveto(LCD_WIDTH - 9, 0);
-    _draw_axis_value(Z_AXIS, ftostr52sp(LOGICAL_Z_POSITION(current_position[Z_AXIS])), blink);
+    _draw_axis_value(Z_AXIS, ftostr52sp(LOGICAL_Z_POSITION(current_position.z)), blink);
 
     #if HAS_LEVELING && (HOTENDS > 1 || !HAS_HEATED_BED)
       lcd_put_wchar(LCD_WIDTH - 1, 0, planner.leveling_active || blink ? '_' : ' ');
@@ -1189,10 +1188,9 @@ void MarlinUI::draw_status_screen() {
          * Show X and Y positions
          */
         _XLABEL(_PLOT_X, 0);
-        lcd_put_u8str(ftostr52(LOGICAL_X_POSITION(pgm_read_float(&ubl._mesh_index_to_xpos[x_plot]))));
-
+        lcd_put_u8str(ftostr52(LOGICAL_X_POSITION(ubl.mesh_index_to_xpos(x_plot))));
         _YLABEL(_LCD_W_POS, 0);
-        lcd_put_u8str(ftostr52(LOGICAL_Y_POSITION(pgm_read_float(&ubl._mesh_index_to_ypos[y_plot]))));
+        lcd_put_u8str(ftostr52(LOGICAL_Y_POSITION(ubl.mesh_index_to_ypos(y_plot))));
 
         lcd_moveto(_PLOT_X, 0);
 
@@ -1395,9 +1393,9 @@ void MarlinUI::draw_status_screen() {
          * Show all values at right of screen
          */
         _XLABEL(_LCD_W_POS, 1);
-        lcd_put_u8str(ftostr52(LOGICAL_X_POSITION(pgm_read_float(&ubl._mesh_index_to_xpos[x_plot]))));
+        lcd_put_u8str(ftostr52(LOGICAL_X_POSITION(ubl.mesh_index_to_xpos(x_plot))));
         _YLABEL(_LCD_W_POS, 2);
-        lcd_put_u8str(ftostr52(LOGICAL_Y_POSITION(pgm_read_float(&ubl._mesh_index_to_ypos[y_plot]))));
+        lcd_put_u8str(ftostr52(LOGICAL_Y_POSITION(ubl.mesh_index_to_ypos(y_plot))));
 
         /**
          * Show the location value

Marlin/src/lcd/dogm/status_screen_DOGM.cpp

@@ -345,9 +345,10 @@ void MarlinUI::draw_status_screen() {
       #endif
       heat_bits = new_bits;
     #endif
-    strcpy(xstring, ftostr4sign(LOGICAL_X_POSITION(current_position[X_AXIS])));
-    strcpy(ystring, ftostr4sign(LOGICAL_Y_POSITION(current_position[Y_AXIS])));
-    strcpy(zstring, ftostr52sp( LOGICAL_Z_POSITION(current_position[Z_AXIS])));
+    const xyz_pos_t lpos = current_position.asLogical();
+    strcpy(xstring, ftostr4sign(lpos.x));
+    strcpy(ystring, ftostr4sign(lpos.y));
+    strcpy(zstring, ftostr52sp( lpos.z));
     #if ENABLED(FILAMENT_LCD_DISPLAY)
       strcpy(wstring, ftostr12ns(filwidth.measured_mm));
       strcpy(mstring, i16tostr3(planner.volumetric_percent(parser.volumetric_enabled)));

Marlin/src/lcd/dogm/status_screen_lite_ST7920.cpp

@@ -660,7 +660,7 @@ void ST7920_Lite_Status_Screen::draw_status_message() {
   #endif
 }
 
-void ST7920_Lite_Status_Screen::draw_position(const float (&pos)[XYZE], const bool position_known) {
+void ST7920_Lite_Status_Screen::draw_position(const xyz_pos_t &pos, const bool position_known) {
   char str[7];
   set_ddram_address(DDRAM_LINE_4);
   begin_data();
@@ -669,13 +669,13 @@ void ST7920_Lite_Status_Screen::draw_position(const float (&pos)[XYZE], const bo
   const unsigned char alt_label = position_known ? 0 : (ui.get_blink() ? ' ' : 0);
 
   write_byte(alt_label ? alt_label : 'X');
-  write_str(dtostrf(pos[X_AXIS], -4, 0, str), 4);
+  write_str(dtostrf(pos.x, -4, 0, str), 4);
 
   write_byte(alt_label ? alt_label : 'Y');
-  write_str(dtostrf(pos[Y_AXIS], -4, 0, str), 4);
+  write_str(dtostrf(pos.y, -4, 0, str), 4);
 
   write_byte(alt_label ? alt_label : 'Z');
-  write_str(dtostrf(pos[Z_AXIS], -5, 1, str), 5);
+  write_str(dtostrf(pos.z, -5, 1, str), 5);
 }
 
 bool ST7920_Lite_Status_Screen::indicators_changed() {
@@ -750,8 +750,8 @@ void ST7920_Lite_Status_Screen::update_indicators(const bool forceUpdate) {
 }
 
 bool ST7920_Lite_Status_Screen::position_changed() {
-  const float x_pos = current_position[X_AXIS], y_pos = current_position[Y_AXIS], z_pos = current_position[Z_AXIS];
-  const uint8_t checksum = uint8_t(x_pos) ^ uint8_t(y_pos) ^ uint8_t(z_pos);
+  const xyz_pos_t pos = current_position;
+  const uint8_t checksum = uint8_t(pos.x) ^ uint8_t(pos.y) ^ uint8_t(pos.z);
   static uint8_t last_checksum = 0, changed = last_checksum != checksum;
   if (changed) last_checksum = checksum;
   return changed;

Marlin/src/lcd/dogm/status_screen_lite_ST7920.h

@@ -17,6 +17,7 @@
 
 #include "../../HAL/shared/HAL_ST7920.h"
 
+#include "../../core/types.h"
 #include "../../core/macros.h"
 #include "../../libs/duration_t.h"
 
@@ -86,7 +87,7 @@ class ST7920_Lite_Status_Screen {
     static void draw_print_time(const duration_t &elapsed);
     static void draw_feedrate_percentage(const uint16_t percentage);
     static void draw_status_message();
-    static void draw_position(const float (&pos)[XYZE], bool position_known = true);
+    static void draw_position(const xyz_pos_t &pos, bool position_known = true);
 
     static bool indicators_changed();
     static bool position_changed();

Marlin/src/lcd/dogm/ultralcd_DOGM.cpp

@@ -547,10 +547,12 @@ void MarlinUI::clear_lcd() { } // Automatically cleared by Picture Loop
       // Show X and Y positions at top of screen
       u8g.setColorIndex(1);
       if (PAGE_UNDER(7)) {
+        const xy_pos_t pos = { ubl.mesh_index_to_xpos(x_plot), ubl.mesh_index_to_ypos(y_plot) },
+                       lpos = pos.asLogical();
         lcd_put_u8str(5, 7, "X:");
-        lcd_put_u8str(ftostr52(LOGICAL_X_POSITION(pgm_read_float(&ubl._mesh_index_to_xpos[x_plot]))));
+        lcd_put_u8str(ftostr52(lpos.x));
         lcd_put_u8str(74, 7, "Y:");
-        lcd_put_u8str(ftostr52(LOGICAL_Y_POSITION(pgm_read_float(&ubl._mesh_index_to_ypos[y_plot]))));
+        lcd_put_u8str(ftostr52(lpos.y));
       }
 
       // Print plot position

Marlin/src/lcd/extensible_ui/lib/dgus/DGUSDisplayDefinition.cpp

@@ -169,7 +169,7 @@ const struct DGUS_VP_Variable ListOfVP[] PROGMEM = {
     VPHELPER(VP_T_E1_Is, &thermalManager.temp_hotend[0].celsius, nullptr, DGUSScreenVariableHandler::DGUSLCD_SendFloatAsLongValueToDisplay<0>),
     VPHELPER(VP_T_E1_Set, &thermalManager.temp_hotend[0].target, DGUSScreenVariableHandler::HandleTemperatureChanged, &DGUSScreenVariableHandler::DGUSLCD_SendWordValueToDisplay),
     VPHELPER(VP_Flowrate_E1, nullptr, DGUSScreenVariableHandler::HandleFlowRateChanged, &DGUSScreenVariableHandler::DGUSLCD_SendWordValueToDisplay),
-    VPHELPER(VP_EPos, &destination[3], nullptr, DGUSScreenVariableHandler::DGUSLCD_SendFloatAsLongValueToDisplay<2>),
+    VPHELPER(VP_EPos, &destination.e, nullptr, DGUSScreenVariableHandler::DGUSLCD_SendFloatAsLongValueToDisplay<2>),
     VPHELPER(VP_MOVE_E1, nullptr, &DGUSScreenVariableHandler::HandleManualExtrude, nullptr),
   #endif
   #if HOTENDS >= 2
@@ -195,9 +195,9 @@ const struct DGUS_VP_Variable ListOfVP[] PROGMEM = {
   VPHELPER(VP_Feedrate_Percentage, &feedrate_percentage, DGUSScreenVariableHandler::DGUSLCD_SetValueDirectly<int16_t>, &DGUSScreenVariableHandler::DGUSLCD_SendWordValueToDisplay ),
 
   // Position Data.
-  VPHELPER(VP_XPos, &current_position[0], nullptr, DGUSScreenVariableHandler::DGUSLCD_SendFloatAsLongValueToDisplay<2>),
-  VPHELPER(VP_YPos, &current_position[1], nullptr, DGUSScreenVariableHandler::DGUSLCD_SendFloatAsLongValueToDisplay<2>),
-  VPHELPER(VP_ZPos, &current_position[2], nullptr, DGUSScreenVariableHandler::DGUSLCD_SendFloatAsLongValueToDisplay<2>),
+  VPHELPER(VP_XPos, &current_position.x, nullptr, DGUSScreenVariableHandler::DGUSLCD_SendFloatAsLongValueToDisplay<2>),
+  VPHELPER(VP_YPos, &current_position.y, nullptr, DGUSScreenVariableHandler::DGUSLCD_SendFloatAsLongValueToDisplay<2>),
+  VPHELPER(VP_ZPos, &current_position.z, nullptr, DGUSScreenVariableHandler::DGUSLCD_SendFloatAsLongValueToDisplay<2>),
 
   // Print Progress.
   VPHELPER(VP_PrintProgress_Percentage, &ui.progress_bar_percent, nullptr, DGUSScreenVariableHandler::DGUSLCD_SendWordValueToDisplay ),

Marlin/src/lcd/extensible_ui/lib/lulzbot/screens/bio_status_screen.cpp

@@ -258,22 +258,22 @@ bool StatusScreen::onTouchStart(uint8_t) {
 
 bool StatusScreen::onTouchEnd(uint8_t tag) {
   switch (tag) {
-    case 1:
-    case 2:
-    case 3:
-    case 4:
+    case  1:
+    case  2:
+    case  3:
+    case  4:
     case 12:
       if (!jog_xy) {
         jog_xy = true;
         injectCommands_P(PSTR("M17"));
       }
-      jog(0,  0,  0);
+      jog({ 0, 0, 0 });
       break;
-    case 5:
-    case 6:
-      jog(0,  0,  0);
+    case  5:
+    case  6:
+      jog({ 0, 0, 0 });
       break;
-    case 9:  GOTO_SCREEN(FilesScreen); break;
+    case  9: GOTO_SCREEN(FilesScreen); break;
     case 10: GOTO_SCREEN(MainMenu); break;
     case 13: SpinnerDialogBox::enqueueAndWait_P(F("G112"));  break;
     case 14: SpinnerDialogBox::enqueueAndWait_P(F("G28 Z")); break;
@@ -291,14 +291,13 @@ bool StatusScreen::onTouchHeld(uint8_t tag) {
   if (tag >= 1 && tag <= 4 && !jog_xy) return false;
   const float s = min_speed + (fine_motion ? 0 : (max_speed - min_speed) * sq(increment));
   switch (tag) {
-    case 1: jog(-s,  0,  0); break;
-    case 2: jog( s,  0,  0); break;
-    case 4: jog( 0, -s,  0); break; // NOTE: Y directions inverted because bed rather than needle moves
-    case 3: jog( 0,  s,  0); break;
-    case 5: jog( 0,  0, -s); break;
-    case 6: jog( 0,  0,  s); break;
-    case 7:
-    case 8:
+    case 1: jog({-s,  0,  0}); break;
+    case 2: jog({ s,  0,  0}); break;
+    case 4: jog({ 0, -s,  0}); break; // NOTE: Y directions inverted because bed rather than needle moves
+    case 3: jog({ 0,  s,  0}); break;
+    case 5: jog({ 0,  0, -s}); break;
+    case 6: jog({ 0,  0,  s}); break;
+    case 7: case 8:
     {
       if (ExtUI::isMoving()) return false;
       const feedRate_t feedrate = emin_speed + (fine_motion ? 0 : (emax_speed - emin_speed) * sq(increment));

Marlin/src/lcd/extensible_ui/lib/lulzbot/screens/change_filament_screen.cpp

@@ -305,8 +305,8 @@ bool ChangeFilamentScreen::onTouchEnd(uint8_t tag) {
 bool ChangeFilamentScreen::onTouchHeld(uint8_t tag) {
   if (ExtUI::isMoving()) return false; // Don't allow moves to accumulate
   constexpr float increment = 1;
-  #define UI_INCREMENT_AXIS(axis) MoveAxisScreen::setManualFeedrate(axis, increment); UI_INCREMENT(AxisPosition_mm, axis);
-  #define UI_DECREMENT_AXIS(axis) MoveAxisScreen::setManualFeedrate(axis, increment); UI_DECREMENT(AxisPosition_mm, axis);
+  #define UI_INCREMENT_AXIS(axis) UI_INCREMENT(AxisPosition_mm, axis);
+  #define UI_DECREMENT_AXIS(axis) UI_DECREMENT(AxisPosition_mm, axis);
   switch (tag) {
     case 5: case 7: UI_DECREMENT_AXIS(getExtruder()); break;
     case 6: case 8: UI_INCREMENT_AXIS(getExtruder()); break;

Marlin/src/lcd/extensible_ui/lib/lulzbot/screens/move_axis_screen.cpp

@@ -110,8 +110,8 @@ float MoveAxisScreen::getManualFeedrate(uint8_t axis, float increment_mm) {
   // Compute feedrate so that the tool lags the adjuster when it is
   // being held down, this allows enough margin for the planner to
   // connect segments and even out the motion.
-  constexpr float manual_feedrate[XYZE] = MANUAL_FEEDRATE;
-  return min(manual_feedrate[axis] / 60.0f, abs(increment_mm * (TOUCH_REPEATS_PER_SECOND) * 0.80f));
+  constexpr xyze_feedrate_t max_manual_feedrate = MANUAL_FEEDRATE;
+  return min(max_manual_feedrate[axis] / 60.0f, abs(increment_mm * (TOUCH_REPEATS_PER_SECOND) * 0.80f));
 }
 
 void MoveAxisScreen::setManualFeedrate(ExtUI::axis_t axis, float increment_mm) {

Marlin/src/lcd/extensible_ui/lib/lulzbot/screens/nudge_nozzle_screen.cpp

@@ -36,9 +36,8 @@ void NudgeNozzleScreen::onEntry() {
   #if EXTRUDERS > 1
     screen_data.NudgeNozzleScreen.link_nozzles = true;
   #endif
-  LOOP_XYZ(i) {
-    screen_data.NudgeNozzleScreen.rel[i] = 0;
-  }
+  screen_data.NudgeNozzleScreen.rel.reset();
+
   BaseNumericAdjustmentScreen::onEntry();
 }
 
@@ -48,10 +47,10 @@ void NudgeNozzleScreen::onRedraw(draw_mode_t what) {
 
   w.heading(                   GET_TEXTF(NUDGE_NOZZLE));
   #if ENABLED(BABYSTEP_XY)
-  w.color(x_axis).adjuster(2,  GET_TEXTF(AXIS_X), screen_data.NudgeNozzleScreen.rel[0] / getAxisSteps_per_mm(X));
-  w.color(y_axis).adjuster(4,  GET_TEXTF(AXIS_Y), screen_data.NudgeNozzleScreen.rel[1] / getAxisSteps_per_mm(Y));
+  w.color(x_axis).adjuster(2,  GET_TEXTF(AXIS_X), screen_data.NudgeNozzleScreen.rel.x / getAxisSteps_per_mm(X));
+  w.color(y_axis).adjuster(4,  GET_TEXTF(AXIS_Y), screen_data.NudgeNozzleScreen.rel.y / getAxisSteps_per_mm(Y));
   #endif
-  w.color(z_axis).adjuster(6,  GET_TEXTF(AXIS_Z), screen_data.NudgeNozzleScreen.rel[2] / getAxisSteps_per_mm(Z));
+  w.color(z_axis).adjuster(6,  GET_TEXTF(AXIS_Z), screen_data.NudgeNozzleScreen.rel.z / getAxisSteps_per_mm(Z));
   w.increments();
   #if EXTRUDERS > 1
     w.toggle  (8,  GET_TEXTF(ADJUST_BOTH_NOZZLES), screen_data.NudgeNozzleScreen.link_nozzles);
@@ -90,12 +89,12 @@ bool NudgeNozzleScreen::onTouchHeld(uint8_t tag) {
   #endif
   int16_t steps;
   switch (tag) {
-    case  2: steps = mmToWholeSteps(inc, X); smartAdjustAxis_steps(-steps, X, link); screen_data.NudgeNozzleScreen.rel[0] -= steps; break;
-    case  3: steps = mmToWholeSteps(inc, X); smartAdjustAxis_steps( steps, X, link); screen_data.NudgeNozzleScreen.rel[0] += steps; break;
-    case  4: steps = mmToWholeSteps(inc, Y); smartAdjustAxis_steps(-steps, Y, link); screen_data.NudgeNozzleScreen.rel[1] -= steps; break;
-    case  5: steps = mmToWholeSteps(inc, Y); smartAdjustAxis_steps( steps, Y, link); screen_data.NudgeNozzleScreen.rel[1] += steps; break;
-    case  6: steps = mmToWholeSteps(inc, Z); smartAdjustAxis_steps(-steps, Z, link); screen_data.NudgeNozzleScreen.rel[2] -= steps; break;
-    case  7: steps = mmToWholeSteps(inc, Z); smartAdjustAxis_steps( steps, Z, link); screen_data.NudgeNozzleScreen.rel[2] += steps; break;
+    case  2: steps = mmToWholeSteps(inc, X); smartAdjustAxis_steps(-steps, X, link); screen_data.NudgeNozzleScreen.rel.x -= steps; break;
+    case  3: steps = mmToWholeSteps(inc, X); smartAdjustAxis_steps( steps, X, link); screen_data.NudgeNozzleScreen.rel.x += steps; break;
+    case  4: steps = mmToWholeSteps(inc, Y); smartAdjustAxis_steps(-steps, Y, link); screen_data.NudgeNozzleScreen.rel.y -= steps; break;
+    case  5: steps = mmToWholeSteps(inc, Y); smartAdjustAxis_steps( steps, Y, link); screen_data.NudgeNozzleScreen.rel.y += steps; break;
+    case  6: steps = mmToWholeSteps(inc, Z); smartAdjustAxis_steps(-steps, Z, link); screen_data.NudgeNozzleScreen.rel.z -= steps; break;
+    case  7: steps = mmToWholeSteps(inc, Z); smartAdjustAxis_steps( steps, Z, link); screen_data.NudgeNozzleScreen.rel.z += steps; break;
     #if EXTRUDERS > 1
       case  8: screen_data.NudgeNozzleScreen.link_nozzles = !link; break;
     #endif

Marlin/src/lcd/extensible_ui/lib/lulzbot/screens/screen_data.h

@@ -65,7 +65,7 @@ union screen_data_t {
 #if ENABLED(BABYSTEPPING)
   struct {
     struct base_numeric_adjustment_t placeholder;
-    int16_t rel[XYZ];
+    xyz_int_t rel;
     #if EXTRUDERS > 1
       bool link_nozzles;
     #endif

Marlin/src/lcd/extensible_ui/ui_api.cpp

@@ -204,33 +204,29 @@ namespace ExtUI {
      * The axis will continue to jog until this function is
      * called with all zeros.
      */
-    void jog(float dx, float dy, float dz) {
+    void jog(const xyz_float_t &dir) {
       // The "destination" variable is used as a scratchpad in
       // Marlin by GCODE routines, but should remain untouched
       // during manual jogging, allowing us to reuse the space
       // for our direction vector.
-      destination[X] = dx;
-      destination[Y] = dy;
-      destination[Z] = dz;
-      flags.jogging = !NEAR_ZERO(dx) || !NEAR_ZERO(dy) || !NEAR_ZERO(dz);
+      destination = dir;
+      flags.jogging = !NEAR_ZERO(dir.x) || !NEAR_ZERO(dir.y) || !NEAR_ZERO(dir.z);
     }
 
     // Called by the polling routine in "joystick.cpp"
-    void _joystick_update(float (&norm_jog)[XYZ]) {
+    void _joystick_update(xyz_float_t &norm_jog) {
       if (flags.jogging) {
         #define OUT_OF_RANGE(VALUE) (VALUE < -1.0f || VALUE > 1.0f)
 
-        if (OUT_OF_RANGE(destination[X_AXIS]) || OUT_OF_RANGE(destination[Y_AXIS]) || OUT_OF_RANGE(destination[Z_AXIS])) {
-          // If destination[] on any axis is out of range, it
+        if (OUT_OF_RANGE(destination.x) || OUT_OF_RANGE(destination.y) || OUT_OF_RANGE(destination.z)) {
+          // If destination on any axis is out of range, it
           // probably means the UI forgot to stop jogging and
-          // ran GCODE that wrote a position to destination[].
+          // ran GCODE that wrote a position to destination.
           // To prevent a disaster, stop jogging.
           flags.jogging = false;
           return;
         }
-        norm_jog[X_AXIS] = destination[X_AXIS];
-        norm_jog[Y_AXIS] = destination[Y_AXIS];
-        norm_jog[Z_AXIS] = destination[Z_AXIS];
+        norm_jog = destination;
       }
     }
   #endif
@@ -328,18 +324,16 @@ namespace ExtUI {
   float getAxisPosition_mm(const extruder_t extruder) {
     const extruder_t old_tool = getActiveTool();
     setActiveTool(extruder, true);
-    const float pos = (
+    const float epos = (
       #if ENABLED(JOYSTICK)
-        flags.jogging ? destination[E_AXIS] :
+        flags.jogging ? destination.e :
       #endif
-      current_position[E_AXIS]
+      current_position.e
     );
     setActiveTool(old_tool, true);
-    return pos;
+    return epos;
   }
 
-  constexpr feedRate_t manual_feedrate_mm_m[XYZE] = MANUAL_FEEDRATE;
-
   void setAxisPosition_mm(const float position, const axis_t axis) {
     // Start with no limits to movement
     float min = current_position[axis] - 1000,
@@ -350,26 +344,26 @@ namespace ExtUI {
       if (soft_endstops_enabled) switch (axis) {
         case X_AXIS:
           #if ENABLED(MIN_SOFTWARE_ENDSTOP_X)
-            min = soft_endstop[X_AXIS].min;
+            min = soft_endstop.min.x;
           #endif
           #if ENABLED(MAX_SOFTWARE_ENDSTOP_X)
-            max = soft_endstop[X_AXIS].max;
+            max = soft_endstop.max.x;
           #endif
           break;
         case Y_AXIS:
           #if ENABLED(MIN_SOFTWARE_ENDSTOP_Y)
-            min = soft_endstop[Y_AXIS].min;
+            min = soft_endstop.min.y;
           #endif
           #if ENABLED(MAX_SOFTWARE_ENDSTOP_Y)
-            max = soft_endstop[Y_AXIS].max;
+            max = soft_endstop.max.y;
           #endif
           break;
         case Z_AXIS:
           #if ENABLED(MIN_SOFTWARE_ENDSTOP_Z)
-            min = soft_endstop[Z_AXIS].min;
+            min = soft_endstop.min.z;
           #endif
           #if ENABLED(MAX_SOFTWARE_ENDSTOP_Z)
-            max = soft_endstop[Z_AXIS].max;
+            max = soft_endstop.max.z;
           #endif
         default: break;
       }
@@ -391,8 +385,8 @@ namespace ExtUI {
   void setAxisPosition_mm(const float position, const extruder_t extruder) {
     setActiveTool(extruder, true);
 
-    current_position[E_AXIS] = position;
-    line_to_current_position(MMM_TO_MMS(manual_feedrate_mm_m[E_AXIS]));
+    current_position.e = position;
+    line_to_current_position(MMM_TO_MMS(manual_feedrate_mm_m.e));
   }
 
   void setActiveTool(const extruder_t extruder, bool no_move) {
@@ -652,7 +646,7 @@ namespace ExtUI {
     }
 
     float getAxisMaxJerk_mm_s(const extruder_t) {
-      return planner.max_jerk[E_AXIS];
+      return planner.max_jerk.e;
     }
 
     void setAxisMaxJerk_mm_s(const float value, const axis_t axis) {
@@ -660,7 +654,7 @@ namespace ExtUI {
     }
 
     void setAxisMaxJerk_mm_s(const float value, const extruder_t) {
-      planner.max_jerk[E_AXIS] = value;
+      planner.max_jerk.e = value;
     }
   #endif
 
@@ -710,7 +704,7 @@ namespace ExtUI {
           #if EXTRUDERS > 1
             && (linked_nozzles || active_extruder == 0)
           #endif
-        ) probe_offset[Z_AXIS] += mm;
+        ) probe_offset.z += mm;
       #else
         UNUSED(mm);
       #endif
@@ -724,7 +718,7 @@ namespace ExtUI {
         if (!linked_nozzles) {
           HOTEND_LOOP()
             if (e != active_extruder)
-              hotend_offset[axis][e] += mm;
+              hotend_offset[e][axis] += mm;
 
           normalizeNozzleOffset(X);
           normalizeNozzleOffset(Y);
@@ -748,7 +742,7 @@ namespace ExtUI {
 
   float getZOffset_mm() {
     #if HAS_BED_PROBE
-      return probe_offset[Z_AXIS];
+      return probe_offset.z;
     #elif ENABLED(BABYSTEP_DISPLAY_TOTAL)
       return babystep.axis_total[BS_TOTAL_AXIS(Z_AXIS) + 1];
     #else
@@ -759,7 +753,7 @@ namespace ExtUI {
   void setZOffset_mm(const float value) {
     #if HAS_BED_PROBE
       if (WITHIN(value, Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX))
-        probe_offset[Z_AXIS] = value;
+        probe_offset.z = value;
     #elif ENABLED(BABYSTEP_DISPLAY_TOTAL)
       babystep.add_mm(Z_AXIS, (value - babystep.axis_total[BS_TOTAL_AXIS(Z_AXIS) + 1]));
     #else
@@ -771,12 +765,12 @@ namespace ExtUI {
 
     float getNozzleOffset_mm(const axis_t axis, const extruder_t extruder) {
       if (extruder - E0 >= HOTENDS) return 0;
-      return hotend_offset[axis][extruder - E0];
+      return hotend_offset[extruder - E0][axis];
     }
 
     void setNozzleOffset_mm(const float value, const axis_t axis, const extruder_t extruder) {
       if (extruder - E0 >= HOTENDS) return;
-      hotend_offset[axis][extruder - E0] = value;
+      hotend_offset[extruder - E0][axis] = value;
     }
 
     /**
@@ -785,8 +779,8 @@ namespace ExtUI {
      * user to edit the offset the first nozzle).
      */
     void normalizeNozzleOffset(const axis_t axis) {
-      const float offs = hotend_offset[axis][0];
-      HOTEND_LOOP() hotend_offset[axis][e] -= offs;
+      const float offs = hotend_offset[0][axis];
+      HOTEND_LOOP() hotend_offset[e][axis] -= offs;
     }
 
   #endif // HAS_HOTEND_OFFSET
@@ -820,10 +814,10 @@ namespace ExtUI {
     bool getMeshValid() { return leveling_is_valid(); }
     #if HAS_MESH
       bed_mesh_t& getMeshArray() { return Z_VALUES_ARR; }
-      float getMeshPoint(const uint8_t xpos, const uint8_t ypos) { return Z_VALUES(xpos,ypos); }
-      void setMeshPoint(const uint8_t xpos, const uint8_t ypos, const float zoff) {
-        if (WITHIN(xpos, 0, GRID_MAX_POINTS_X) && WITHIN(ypos, 0, GRID_MAX_POINTS_Y)) {
-          Z_VALUES(xpos, ypos) = zoff;
+      float getMeshPoint(const xy_uint8_t &pos) { return Z_VALUES(pos.x, pos.y); }
+      void setMeshPoint(const xy_uint8_t &pos, const float zoff) {
+        if (WITHIN(pos.x, 0, GRID_MAX_POINTS_X) && WITHIN(pos.y, 0, GRID_MAX_POINTS_Y)) {
+          Z_VALUES(pos.x, pos.y) = zoff;
           #if ENABLED(ABL_BILINEAR_SUBDIVISION)
             bed_level_virt_interpolate();
           #endif

Marlin/src/lcd/extensible_ui/ui_api.h

@@ -81,8 +81,8 @@ namespace ExtUI {
   void enableHeater(const extruder_t);
 
   #if ENABLED(JOYSTICK)
-    void jog(float dx, float dy, float dz);
-    void _joystick_update(float (&norm_jog)[XYZ]);
+    void jog(const xyz_float_t &dir);
+    void _joystick_update(xyz_float_t &norm_jog);
   #endif
 
   /**
@@ -135,9 +135,10 @@ namespace ExtUI {
     bool getMeshValid();
     #if HAS_MESH
       bed_mesh_t& getMeshArray();
-      float getMeshPoint(const uint8_t xpos, const uint8_t ypos);
-      void setMeshPoint(const uint8_t xpos, const uint8_t ypos, const float zval);
+      float getMeshPoint(const xy_uint8_t &pos);
+      void setMeshPoint(const xy_uint8_t &pos, const float zval);
       void onMeshUpdate(const uint8_t xpos, const uint8_t ypos, const float zval);
+      inline void onMeshUpdate(const xy_uint8_t &pos, const float zval) { setMeshPoint(pos, zval); }
     #endif
   #endif
 

Marlin/src/lcd/menu/menu.cpp

@@ -379,8 +379,8 @@ void scroll_screen(const uint8_t limit, const bool is_menu) {
 #if HAS_LINE_TO_Z
 
   void line_to_z(const float &z) {
-    current_position[Z_AXIS] = z;
-    planner.buffer_line(current_position, MMM_TO_MMS(manual_feedrate_mm_m[Z_AXIS]), active_extruder);
+    current_position.z = z;
+    line_to_current_position(MMM_TO_MMS(manual_feedrate_mm_m.z));
   }
 
 #endif
@@ -402,10 +402,10 @@ void scroll_screen(const uint8_t limit, const bool is_menu) {
       ui.encoderPosition = 0;
 
       const float diff = planner.steps_to_mm[Z_AXIS] * babystep_increment,
-                  new_probe_offset = probe_offset[Z_AXIS] + diff,
+                  new_probe_offset = probe_offset.z + diff,
                   new_offs =
                     #if ENABLED(BABYSTEP_HOTEND_Z_OFFSET)
-                      do_probe ? new_probe_offset : hotend_offset[Z_AXIS][active_extruder] - diff
+                      do_probe ? new_probe_offset : hotend_offset[active_extruder].z - diff
                     #else
                       new_probe_offset
                     #endif
@@ -414,9 +414,9 @@ void scroll_screen(const uint8_t limit, const bool is_menu) {
 
         babystep.add_steps(Z_AXIS, babystep_increment);
 
-        if (do_probe) probe_offset[Z_AXIS] = new_offs;
+        if (do_probe) probe_offset.z = new_offs;
         #if ENABLED(BABYSTEP_HOTEND_Z_OFFSET)
-          else hotend_offset[Z_AXIS][active_extruder] = new_offs;
+          else hotend_offset[active_extruder].z = new_offs;
         #endif
 
         ui.refresh(LCDVIEW_CALL_REDRAW_NEXT);
@@ -425,13 +425,13 @@ void scroll_screen(const uint8_t limit, const bool is_menu) {
     if (ui.should_draw()) {
       #if ENABLED(BABYSTEP_HOTEND_Z_OFFSET)
         if (!do_probe)
-          draw_edit_screen(PSTR(MSG_Z_OFFSET), ftostr43sign(hotend_offset[Z_AXIS][active_extruder]));
+          draw_edit_screen(PSTR(MSG_Z_OFFSET), ftostr43sign(hotend_offset[active_extruder].z));
         else
       #endif
-          draw_edit_screen(PSTR(MSG_ZPROBE_ZOFFSET), ftostr43sign(probe_offset[Z_AXIS]));
+          draw_edit_screen(PSTR(MSG_ZPROBE_ZOFFSET), ftostr43sign(probe_offset.z));
 
       #if ENABLED(BABYSTEP_ZPROBE_GFX_OVERLAY)
-        if (do_probe) _lcd_zoffset_overlay_gfx(probe_offset[Z_AXIS]);
+        if (do_probe) _lcd_zoffset_overlay_gfx(probe_offset.z);
       #endif
     }
   }

Marlin/src/lcd/menu/menu_advanced.cpp

@@ -55,7 +55,7 @@ void menu_backlash();
 
   #include "../../feature/dac/stepper_dac.h"
 
-  uint8_t driverPercent[XYZE];
+  xyze_uint8_t driverPercent;
   inline void dac_driver_getValues() { LOOP_XYZE(i) driverPercent[i] = dac_current_get_percent((AxisEnum)i); }
   static void dac_driver_commit() { dac_current_set_percents(driverPercent); }
 
@@ -552,7 +552,7 @@ void menu_backlash();
       #if ENABLED(DELTA)
         EDIT_JERK(C);
       #else
-        MENU_MULTIPLIER_ITEM_EDIT(float52sign, MSG_VC_JERK, &planner.max_jerk[C_AXIS], 0.1f, 990);
+        MENU_MULTIPLIER_ITEM_EDIT(float52sign, MSG_VC_JERK, &planner.max_jerk.c, 0.1f, 990);
       #endif
       #if !BOTH(JUNCTION_DEVIATION, LIN_ADVANCE)
         EDIT_JERK(E);

Marlin/src/lcd/menu/menu_bed_corners.cpp

@@ -58,26 +58,24 @@ static inline void _lcd_goto_next_corner() {
   line_to_z(LEVEL_CORNERS_Z_HOP);
   switch (bed_corner) {
     case 0:
-      current_position[X_AXIS] = X_MIN_BED + LEVEL_CORNERS_INSET;
-      current_position[Y_AXIS] = Y_MIN_BED + LEVEL_CORNERS_INSET;
+      current_position.set(X_MIN_BED + LEVEL_CORNERS_INSET, Y_MIN_BED + LEVEL_CORNERS_INSET);
       break;
     case 1:
-      current_position[X_AXIS] = X_MAX_BED - (LEVEL_CORNERS_INSET);
+      current_position.x = X_MAX_BED - (LEVEL_CORNERS_INSET);
       break;
     case 2:
-      current_position[Y_AXIS] = Y_MAX_BED - (LEVEL_CORNERS_INSET);
+      current_position.y = Y_MAX_BED - (LEVEL_CORNERS_INSET);
       break;
     case 3:
-      current_position[X_AXIS] = X_MIN_BED + LEVEL_CORNERS_INSET;
+      current_position.x = X_MIN_BED + LEVEL_CORNERS_INSET;
       break;
     #if ENABLED(LEVEL_CENTER_TOO)
       case 4:
-        current_position[X_AXIS] = X_CENTER;
-        current_position[Y_AXIS] = Y_CENTER;
+        current_position.set(X_CENTER, Y_CENTER);
         break;
     #endif
   }
-  planner.buffer_line(current_position, MMM_TO_MMS(manual_feedrate_mm_m[X_AXIS]), active_extruder);
+  line_to_current_position(MMM_TO_MMS(manual_feedrate_mm_m.x));
   line_to_z(LEVEL_CORNERS_HEIGHT);
   if (++bed_corner > 3
     #if ENABLED(LEVEL_CENTER_TOO)

Marlin/src/lcd/menu/menu_bed_leveling.cpp

@@ -121,7 +121,7 @@
     // Encoder knob or keypad buttons adjust the Z position
     //
     if (ui.encoderPosition) {
-      const float z = current_position[Z_AXIS] + float(int16_t(ui.encoderPosition)) * (MESH_EDIT_Z_STEP);
+      const float z = current_position.z + float(int16_t(ui.encoderPosition)) * (MESH_EDIT_Z_STEP);
       line_to_z(constrain(z, -(LCD_PROBE_Z_RANGE) * 0.5f, (LCD_PROBE_Z_RANGE) * 0.5f));
       ui.refresh(LCDVIEW_CALL_REDRAW_NEXT);
       ui.encoderPosition = 0;
@@ -131,7 +131,7 @@
     // Draw on first display, then only on Z change
     //
     if (ui.should_draw()) {
-      const float v = current_position[Z_AXIS];
+      const float v = current_position.z;
       draw_edit_screen(PSTR(MSG_MOVE_Z), ftostr43sign(v + (v < 0 ? -0.0001f : 0.0001f), '+'));
     }
   }
@@ -279,7 +279,7 @@ void menu_bed_leveling() {
   #if ENABLED(BABYSTEP_ZPROBE_OFFSET)
     MENU_ITEM(submenu, MSG_ZPROBE_ZOFFSET, lcd_babystep_zoffset);
   #elif HAS_BED_PROBE
-    MENU_ITEM_EDIT(float52, MSG_ZPROBE_ZOFFSET, &probe_offset[Z_AXIS], Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX);
+    MENU_ITEM_EDIT(float52, MSG_ZPROBE_ZOFFSET, &probe_offset.z, Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX);
   #endif
 
   #if ENABLED(LEVEL_BED_CORNERS)

Marlin/src/lcd/menu/menu_configuration.cpp

@@ -145,12 +145,12 @@ static void lcd_factory_settings() {
     START_MENU();
     MENU_BACK(MSG_CONFIGURATION);
     #if ENABLED(DUAL_X_CARRIAGE)
-      MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float51, MSG_X_OFFSET, &hotend_offset[X_AXIS][1], float(X2_HOME_POS - 25), float(X2_HOME_POS + 25), _recalc_offsets);
+      MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float51, MSG_X_OFFSET, &hotend_offset[1].x, float(X2_HOME_POS - 25), float(X2_HOME_POS + 25), _recalc_offsets);
     #else
-      MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float52sign, MSG_X_OFFSET, &hotend_offset[X_AXIS][1], -99.0, 99.0, _recalc_offsets);
+      MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float52sign, MSG_X_OFFSET, &hotend_offset[1].x, -99.0, 99.0, _recalc_offsets);
     #endif
-    MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float52sign, MSG_Y_OFFSET, &hotend_offset[Y_AXIS][1], -99.0, 99.0, _recalc_offsets);
-    MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float52sign, MSG_Z_OFFSET, &hotend_offset[Z_AXIS][1], Z_PROBE_LOW_POINT, 10.0, _recalc_offsets);
+    MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float52sign, MSG_Y_OFFSET, &hotend_offset[1].y, -99.0, 99.0, _recalc_offsets);
+    MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float52sign, MSG_Z_OFFSET, &hotend_offset[1].z, Z_PROBE_LOW_POINT, 10.0, _recalc_offsets);
     #if ENABLED(EEPROM_SETTINGS)
       MENU_ITEM(function, MSG_STORE_EEPROM, lcd_store_settings);
     #endif
@@ -347,7 +347,7 @@ void menu_configuration() {
   #if ENABLED(BABYSTEP_ZPROBE_OFFSET)
     MENU_ITEM(submenu, MSG_ZPROBE_ZOFFSET, lcd_babystep_zoffset);
   #elif HAS_BED_PROBE
-    MENU_ITEM_EDIT(float52, MSG_ZPROBE_ZOFFSET, &probe_offset[Z_AXIS], Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX);
+    MENU_ITEM_EDIT(float52, MSG_ZPROBE_ZOFFSET, &probe_offset.z, Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX);
   #endif
 
   const bool busy = printer_busy();

Marlin/src/lcd/menu/menu_delta_calibrate.cpp

@@ -40,8 +40,8 @@
   #include "../../lcd/extensible_ui/ui_api.h"
 #endif
 
-void _man_probe_pt(const float &rx, const float &ry) {
-  do_blocking_move_to(rx, ry, Z_CLEARANCE_BETWEEN_PROBES);
+void _man_probe_pt(const xy_pos_t &xy) {
+  do_blocking_move_to(xy, Z_CLEARANCE_BETWEEN_PROBES);
   ui.synchronize();
   move_menu_scale = _MAX(PROBE_MANUALLY_STEP, MIN_STEPS_PER_SEGMENT / float(DEFAULT_XYZ_STEPS_PER_UNIT));
   ui.goto_screen(lcd_move_z);
@@ -51,8 +51,8 @@ void _man_probe_pt(const float &rx, const float &ry) {
 
   #include "../../gcode/gcode.h"
 
-  float lcd_probe_pt(const float &rx, const float &ry) {
-    _man_probe_pt(rx, ry);
+  float lcd_probe_pt(const xy_pos_t &xy) {
+    _man_probe_pt(xy);
     KEEPALIVE_STATE(PAUSED_FOR_USER);
     ui.defer_status_screen();
     wait_for_user = true;
@@ -64,7 +64,7 @@ void _man_probe_pt(const float &rx, const float &ry) {
     #endif
     while (wait_for_user) idle();
     ui.goto_previous_screen_no_defer();
-    return current_position[Z_AXIS];
+    return current_position.z;
   }
 
 #endif
@@ -83,10 +83,14 @@ void _man_probe_pt(const float &rx, const float &ry) {
     ui.goto_screen(_lcd_calibrate_homing);
   }
 
-  void _goto_tower_x() { _man_probe_pt(cos(RADIANS(210)) * delta_calibration_radius, sin(RADIANS(210)) * delta_calibration_radius); }
-  void _goto_tower_y() { _man_probe_pt(cos(RADIANS(330)) * delta_calibration_radius, sin(RADIANS(330)) * delta_calibration_radius); }
-  void _goto_tower_z() { _man_probe_pt(cos(RADIANS( 90)) * delta_calibration_radius, sin(RADIANS( 90)) * delta_calibration_radius); }
-  void _goto_center()  { _man_probe_pt(0,0); }
+  void _goto_tower_a(const float &a) {
+    xy_pos_t tower_vec = { cos(RADIANS(a)), sin(RADIANS(a)) };
+    _man_probe_pt(tower_vec * delta_calibration_radius);
+  }
+  void _goto_tower_x() { _goto_tower_a(210); }
+  void _goto_tower_y() { _goto_tower_a(330); }
+  void _goto_tower_z() { _goto_tower_a( 90); }
+  void _goto_center()  { xy_pos_t ctr{0}; _man_probe_pt(ctr); }
 
 #endif
 
@@ -101,15 +105,15 @@ void lcd_delta_settings() {
   START_MENU();
   MENU_BACK(MSG_DELTA_CALIBRATE);
   MENU_ITEM_EDIT_CALLBACK(float52sign, MSG_DELTA_HEIGHT, &delta_height, delta_height - 10, delta_height + 10, _recalc_delta_settings);
-  #define EDIT_ENDSTOP_ADJ(LABEL,N) MENU_ITEM_EDIT_CALLBACK(float43, LABEL, &delta_endstop_adj[_AXIS(N)], -5, 5, _recalc_delta_settings)
-  EDIT_ENDSTOP_ADJ("Ex",A);
-  EDIT_ENDSTOP_ADJ("Ey",B);
-  EDIT_ENDSTOP_ADJ("Ez",C);
+  #define EDIT_ENDSTOP_ADJ(LABEL,N) MENU_ITEM_EDIT_CALLBACK(float43, LABEL, &delta_endstop_adj.N, -5, 5, _recalc_delta_settings)
+  EDIT_ENDSTOP_ADJ("Ex",a);
+  EDIT_ENDSTOP_ADJ("Ey",b);
+  EDIT_ENDSTOP_ADJ("Ez",c);
   MENU_ITEM_EDIT_CALLBACK(float52sign, MSG_DELTA_RADIUS, &delta_radius, delta_radius - 5, delta_radius + 5, _recalc_delta_settings);
-  #define EDIT_ANGLE_TRIM(LABEL,N) MENU_ITEM_EDIT_CALLBACK(float43, LABEL, &delta_tower_angle_trim[_AXIS(N)], -5, 5, _recalc_delta_settings)
-  EDIT_ANGLE_TRIM("Tx",A);
-  EDIT_ANGLE_TRIM("Ty",B);
-  EDIT_ANGLE_TRIM("Tz",C);
+  #define EDIT_ANGLE_TRIM(LABEL,N) MENU_ITEM_EDIT_CALLBACK(float43, LABEL, &delta_tower_angle_trim.N, -5, 5, _recalc_delta_settings)
+  EDIT_ANGLE_TRIM("Tx",a);
+  EDIT_ANGLE_TRIM("Ty",b);
+  EDIT_ANGLE_TRIM("Tz",c);
   MENU_ITEM_EDIT_CALLBACK(float52sign, MSG_DELTA_DIAG_ROD, &delta_diagonal_rod, delta_diagonal_rod - 5, delta_diagonal_rod + 5, _recalc_delta_settings);
   END_MENU();
 }

Marlin/src/lcd/menu/menu_motion.cpp

@@ -92,26 +92,26 @@ static void _lcd_move_xyz(PGM_P name, AxisEnum axis) {
       if (soft_endstops_enabled) switch (axis) {
         case X_AXIS:
           #if ENABLED(MIN_SOFTWARE_ENDSTOP_X)
-            min = soft_endstop[X_AXIS].min;
+            min = soft_endstop.min.x;
           #endif
           #if ENABLED(MAX_SOFTWARE_ENDSTOP_X)
-            max = soft_endstop[X_AXIS].max;
+            max = soft_endstop.max.x;
           #endif
           break;
         case Y_AXIS:
           #if ENABLED(MIN_SOFTWARE_ENDSTOP_Y)
-            min = soft_endstop[Y_AXIS].min;
+            min = soft_endstop.min.y;
           #endif
           #if ENABLED(MAX_SOFTWARE_ENDSTOP_Y)
-            max = soft_endstop[Y_AXIS].max;
+            max = soft_endstop.max.y;
           #endif
           break;
         case Z_AXIS:
           #if ENABLED(MIN_SOFTWARE_ENDSTOP_Z)
-            min = soft_endstop[Z_AXIS].min;
+            min = soft_endstop.min.z;
           #endif
           #if ENABLED(MAX_SOFTWARE_ENDSTOP_Z)
-            max = soft_endstop[Z_AXIS].max;
+            max = soft_endstop.max.z;
           #endif
         default: break;
       }
@@ -173,7 +173,7 @@ void lcd_move_z() { _lcd_move_xyz(PSTR(MSG_MOVE_Z), Z_AXIS); }
         #if IS_KINEMATIC
           manual_move_offset += diff;
         #else
-          current_position[E_AXIS] += diff;
+          current_position.e += diff;
         #endif
         manual_move_to_current(E_AXIS
           #if E_MANUAL > 1
@@ -207,7 +207,7 @@ void lcd_move_z() { _lcd_move_xyz(PSTR(MSG_MOVE_Z), Z_AXIS); }
         }
       #endif // E_MANUAL > 1
 
-      draw_edit_screen(pos_label, ftostr41sign(current_position[E_AXIS]
+      draw_edit_screen(pos_label, ftostr41sign(current_position.e
         #if IS_KINEMATIC
           + manual_move_offset
         #endif
@@ -267,7 +267,7 @@ void _menu_move_distance(const AxisEnum axis, const screenFunc_t func, const int
       case Z_AXIS: STATIC_ITEM(MSG_MOVE_Z, SS_CENTER|SS_INVERT); break;
       default:
         #if ENABLED(MANUAL_E_MOVES_RELATIVE)
-          manual_move_e_origin = current_position[E_AXIS];
+          manual_move_e_origin = current_position.e;
         #endif
         STATIC_ITEM(MSG_MOVE_E, SS_CENTER|SS_INVERT);
         break;
@@ -345,7 +345,7 @@ void menu_move() {
   ) {
     if (
       #if ENABLED(DELTA)
-        current_position[Z_AXIS] <= delta_clip_start_height
+        current_position.z <= delta_clip_start_height
       #else
         true
       #endif

Marlin/src/lcd/menu/menu_ubl.cpp

@@ -432,18 +432,16 @@ void _lcd_ubl_map_lcd_edit_cmd() {
 void ubl_map_move_to_xy() {
   const feedRate_t fr_mm_s = MMM_TO_MMS(XY_PROBE_SPEED);
 
-  set_destination_from_current(); // sync destination at the start
+  destination = current_position;          // sync destination at the start
 
   #if ENABLED(DELTA)
-    if (current_position[Z_AXIS] > delta_clip_start_height) {
-      destination[Z_AXIS] = delta_clip_start_height;
+    if (current_position.z > delta_clip_start_height) {
+      destination.z = delta_clip_start_height;
       prepare_internal_move_to_destination(fr_mm_s);
     }
   #endif
 
-  destination[X_AXIS] = pgm_read_float(&ubl._mesh_index_to_xpos[x_plot]);
-  destination[Y_AXIS] = pgm_read_float(&ubl._mesh_index_to_ypos[y_plot]);
-
+  destination.set(ubl.mesh_index_to_xpos(x_plot), ubl.mesh_index_to_ypos(y_plot));
   prepare_internal_move_to_destination(fr_mm_s);
 }
 
@@ -491,9 +489,8 @@ void _lcd_ubl_output_map_lcd() {
     if (y_plot < 0) y_plot = GRID_MAX_POINTS_Y - 1;
 
     #if IS_KINEMATIC
-      const float x = pgm_read_float(&ubl._mesh_index_to_xpos[x_plot]),
-                  y = pgm_read_float(&ubl._mesh_index_to_ypos[y_plot]);
-      if (position_is_reachable(x, y)) break; // Found a valid point
+      const xy_pos_t xy = { ubl.mesh_index_to_xpos(x_plot), ubl.mesh_index_to_ypos(y_plot) };
+      if (position_is_reachable(xy)) break; // Found a valid point
       x_plot += (step_scaler < 0) ? -1 : 1;
     #endif