Embed G26/G29 in ubl class, with enhancements

Marlin/G26_Mesh_Validation_Tool.cpp

@@ -135,54 +135,44 @@
   float code_value_axis_units(const AxisEnum axis);
   bool code_value_bool();
   bool code_has_value();
-  void lcd_init();
-  void lcd_setstatuspgm(const char* const message, const uint8_t level);
   void sync_plan_position_e();
   void chirp_at_user();
 
   // Private functions
 
-  void un_retract_filament(float where[XYZE]);
-  void retract_filament(float where[XYZE]);
-  bool look_for_lines_to_connect();
-  bool parse_G26_parameters();
-  void move_to(const float&, const float&, const float&, const float&) ;
-  void print_line_from_here_to_there(const float&, const float&, const float&, const float&, const float&, const float&);
-  bool turn_on_heaters();
-  bool prime_nozzle();
-
   static uint16_t circle_flags[16], horizontal_mesh_line_flags[16], vertical_mesh_line_flags[16];
   float g26_e_axis_feedrate = 0.020,
-        random_deviation = 0.0,
-        layer_height = LAYER_HEIGHT;
+        random_deviation = 0.0;
 
   static bool g26_retracted = false; // Track the retracted state of the nozzle so mismatched
                                      // retracts/recovers won't result in a bad state.
 
   float valid_trig_angle(float);
-  mesh_index_pair find_closest_circle_to_print(const float&, const float&);
 
-  static float extrusion_multiplier = EXTRUSION_MULTIPLIER,
-               retraction_multiplier = RETRACTION_MULTIPLIER,
-               nozzle = NOZZLE,
-               filament_diameter = FILAMENT,
-               prime_length = PRIME_LENGTH,
-               x_pos, y_pos,
-               ooze_amount = OOZE_AMOUNT;
+  float unified_bed_leveling::g26_extrusion_multiplier,
+        unified_bed_leveling::g26_retraction_multiplier,
+        unified_bed_leveling::g26_nozzle,
+        unified_bed_leveling::g26_filament_diameter,
+        unified_bed_leveling::g26_layer_height,
+        unified_bed_leveling::g26_prime_length,
+        unified_bed_leveling::g26_x_pos,
+        unified_bed_leveling::g26_y_pos,
+        unified_bed_leveling::g26_ooze_amount;
 
-  static int16_t bed_temp = BED_TEMP,
-                 hotend_temp = HOTEND_TEMP;
+  int16_t unified_bed_leveling::g26_bed_temp,
+          unified_bed_leveling::g26_hotend_temp;
 
-  static int8_t prime_flag = 0;
+  int8_t unified_bed_leveling::g26_prime_flag;
 
-  static bool continue_with_closest, keep_heaters_on;
+  bool unified_bed_leveling::g26_continue_with_closest,
+       unified_bed_leveling::g26_keep_heaters_on;
 
-  static int16_t g26_repeats;
+  int16_t unified_bed_leveling::g26_repeats;
 
-  void G26_line_to_destination(const float &feed_rate) {
+  void unified_bed_leveling::G26_line_to_destination(const float &feed_rate) {
     const float save_feedrate = feedrate_mm_s;
     feedrate_mm_s = feed_rate;      // use specified feed rate
-    prepare_move_to_destination();  // will ultimately call ubl_line_to_destination_cartesian or ubl_prepare_linear_move_to for UBL_DELTA
+    prepare_move_to_destination();  // will ultimately call ubl.line_to_destination_cartesian or ubl.prepare_linear_move_to for UBL_DELTA
     feedrate_mm_s = save_feedrate;  // restore global feed rate
   }
 
@@ -216,7 +206,7 @@
    * Used to interactively edit UBL's Mesh by placing the
    * nozzle in a problem area and doing a G29 P4 R command.
    */
-  void gcode_G26() {
+  void unified_bed_leveling::G26() {
     SERIAL_ECHOLNPGM("G26 command started.  Waiting for heater(s).");
     float tmp, start_angle, end_angle;
     int   i, xi, yi;
@@ -237,7 +227,7 @@
     current_position[E_AXIS] = 0.0;
     sync_plan_position_e();
 
-    if (prime_flag && prime_nozzle()) goto LEAVE;
+    if (g26_prime_flag && prime_nozzle()) goto LEAVE;
 
     /**
      *  Bed is preheated
@@ -255,11 +245,11 @@
 
     // Move nozzle to the specified height for the first layer
     set_destination_to_current();
-    destination[Z_AXIS] = layer_height;
+    destination[Z_AXIS] = g26_layer_height;
     move_to(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], 0.0);
-    move_to(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], ooze_amount);
+    move_to(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], g26_ooze_amount);
 
-    ubl.has_control_of_lcd_panel = true;
+    has_control_of_lcd_panel = true;
     //debug_current_and_destination(PSTR("Starting G26 Mesh Validation Pattern."));
 
     /**
@@ -273,13 +263,13 @@
     }
 
     do {
-      location = continue_with_closest
+      location = g26_continue_with_closest
         ? find_closest_circle_to_print(current_position[X_AXIS], current_position[Y_AXIS])
-        : find_closest_circle_to_print(x_pos, y_pos); // Find the closest Mesh Intersection to where we are now.
+        : find_closest_circle_to_print(g26_x_pos, g26_y_pos); // Find the closest Mesh Intersection to where we are now.
 
       if (location.x_index >= 0 && location.y_index >= 0) {
-        const float circle_x = pgm_read_float(&ubl.mesh_index_to_xpos[location.x_index]),
-                    circle_y = pgm_read_float(&ubl.mesh_index_to_ypos[location.y_index]);
+        const float circle_x = mesh_index_to_xpos(location.x_index),
+                    circle_y = mesh_index_to_ypos(location.y_index);
 
         // If this mesh location is outside the printable_radius, skip it.
 
@@ -288,7 +278,7 @@
         xi = location.x_index;  // Just to shrink the next few lines and make them easier to understand
         yi = location.y_index;
 
-        if (ubl.g26_debug_flag) {
+        if (g26_debug_flag) {
           SERIAL_ECHOPAIR("   Doing circle at: (xi=", xi);
           SERIAL_ECHOPAIR(", yi=", yi);
           SERIAL_CHAR(')');
@@ -344,7 +334,7 @@
             ye = constrain(ye, Y_MIN_POS + 1, Y_MAX_POS - 1);
           #endif
 
-          //if (ubl.g26_debug_flag) {
+          //if (g26_debug_flag) {
           //  char ccc, *cptr, seg_msg[50], seg_num[10];
           //  strcpy(seg_msg, "   segment: ");
           //  strcpy(seg_num, "    \n");
@@ -355,7 +345,7 @@
           //  debug_current_and_destination(seg_msg);
           //}
 
-          print_line_from_here_to_there(LOGICAL_X_POSITION(x), LOGICAL_Y_POSITION(y), layer_height, LOGICAL_X_POSITION(xe), LOGICAL_Y_POSITION(ye), layer_height);
+          print_line_from_here_to_there(LOGICAL_X_POSITION(x), LOGICAL_Y_POSITION(y), g26_layer_height, LOGICAL_X_POSITION(xe), LOGICAL_Y_POSITION(ye), g26_layer_height);
 
         }
         if (look_for_lines_to_connect())
@@ -374,16 +364,16 @@
     move_to(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], 0); // Raise the nozzle
     //debug_current_and_destination(PSTR("done doing Z-Raise."));
 
-    destination[X_AXIS] = x_pos;                                               // Move back to the starting position
-    destination[Y_AXIS] = y_pos;
+    destination[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
 
     move_to(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], 0); // Move back to the starting position
     //debug_current_and_destination(PSTR("done doing X/Y move."));
 
-    ubl.has_control_of_lcd_panel = false;     // Give back control of the LCD Panel!
+    has_control_of_lcd_panel = false;     // Give back control of the LCD Panel!
 
-    if (!keep_heaters_on) {
+    if (!g26_keep_heaters_on) {
       #if HAS_TEMP_BED
         thermalManager.setTargetBed(0);
       #endif
@@ -391,14 +381,13 @@
     }
   }
 
-
   float valid_trig_angle(float d) {
     while (d > 360.0) d -= 360.0;
     while (d < 0.0) d += 360.0;
     return d;
   }
 
-  mesh_index_pair find_closest_circle_to_print(const float &X, const float &Y) {
+  mesh_index_pair unified_bed_leveling::find_closest_circle_to_print(const float &X, const float &Y) {
     float closest = 99999.99;
     mesh_index_pair return_val;
 
@@ -407,8 +396,8 @@
     for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
       for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
         if (!is_bit_set(circle_flags, i, j)) {
-          const float mx = pgm_read_float(&ubl.mesh_index_to_xpos[i]),  // We found a circle that needs to be printed
-                      my = pgm_read_float(&ubl.mesh_index_to_ypos[j]);
+          const float mx = mesh_index_to_xpos(i),  // We found a circle that needs to be printed
+                      my = mesh_index_to_ypos(j);
 
           // Get the distance to this intersection
           float f = HYPOT(X - mx, Y - my);
@@ -417,7 +406,7 @@
           // 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(x_pos - mx, y_pos - my) / 15.0;
+          f += HYPOT(g26_x_pos - mx, g26_y_pos - my) / 15.0;
 
           // Add in the specified amount of Random Noise to our search
           if (random_deviation > 1.0)
@@ -436,7 +425,7 @@
     return return_val;
   }
 
-  bool look_for_lines_to_connect() {
+  bool unified_bed_leveling::look_for_lines_to_connect() {
     float sx, sy, ex, ey;
 
     for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
@@ -454,16 +443,16 @@
               // We found two circles that need a horizontal line to connect them
               // Print it!
               //
-              sx = pgm_read_float(&ubl.mesh_index_to_xpos[  i  ]) + (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // right edge
-              ex = pgm_read_float(&ubl.mesh_index_to_xpos[i + 1]) - (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // left edge
+              sx = mesh_index_to_xpos(  i  ) + (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // right edge
+              ex = mesh_index_to_xpos(i + 1) - (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // left edge
 
               sx = constrain(sx, X_MIN_POS + 1, X_MAX_POS - 1);
-              sy = ey = constrain(pgm_read_float(&ubl.mesh_index_to_ypos[j]), Y_MIN_POS + 1, Y_MAX_POS - 1);
+              sy = ey = constrain(mesh_index_to_ypos(j), Y_MIN_POS + 1, Y_MAX_POS - 1);
               ex = constrain(ex, X_MIN_POS + 1, X_MAX_POS - 1);
 
               if (position_is_reachable_raw_xy(sx, sy) && position_is_reachable_raw_xy(ex, ey)) {
 
-                if (ubl.g26_debug_flag) {
+                if (g26_debug_flag) {
                   SERIAL_ECHOPAIR(" Connecting with horizontal line (sx=", sx);
                   SERIAL_ECHOPAIR(", sy=", sy);
                   SERIAL_ECHOPAIR(") -> (ex=", ex);
@@ -473,7 +462,7 @@
                   //debug_current_and_destination(PSTR("Connecting horizontal line."));
                 }
 
-                print_line_from_here_to_there(LOGICAL_X_POSITION(sx), LOGICAL_Y_POSITION(sy), layer_height, LOGICAL_X_POSITION(ex), LOGICAL_Y_POSITION(ey), layer_height);
+                print_line_from_here_to_there(LOGICAL_X_POSITION(sx), LOGICAL_Y_POSITION(sy), g26_layer_height, LOGICAL_X_POSITION(ex), LOGICAL_Y_POSITION(ey), g26_layer_height);
               }
               bit_set(horizontal_mesh_line_flags, i, j);   // Mark it as done so we don't do it again, even if we skipped it
             }
@@ -488,16 +477,16 @@
                 // We found two circles that need a vertical line to connect them
                 // Print it!
                 //
-                sy = pgm_read_float(&ubl.mesh_index_to_ypos[  j  ]) + (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // top edge
-                ey = pgm_read_float(&ubl.mesh_index_to_ypos[j + 1]) - (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // bottom edge
+                sy = mesh_index_to_ypos(  j  ) + (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // top edge
+                ey = mesh_index_to_ypos(j + 1) - (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // bottom edge
 
-                sx = ex = constrain(pgm_read_float(&ubl.mesh_index_to_xpos[i]), X_MIN_POS + 1, X_MAX_POS - 1);
+                sx = ex = constrain(mesh_index_to_xpos(i), X_MIN_POS + 1, X_MAX_POS - 1);
                 sy = constrain(sy, Y_MIN_POS + 1, Y_MAX_POS - 1);
                 ey = constrain(ey, Y_MIN_POS + 1, Y_MAX_POS - 1);
 
                 if (position_is_reachable_raw_xy(sx, sy) && position_is_reachable_raw_xy(ex, ey)) {
 
-                  if (ubl.g26_debug_flag) {
+                  if (g26_debug_flag) {
                     SERIAL_ECHOPAIR(" Connecting with vertical line (sx=", sx);
                     SERIAL_ECHOPAIR(", sy=", sy);
                     SERIAL_ECHOPAIR(") -> (ex=", ex);
@@ -506,7 +495,7 @@
                     SERIAL_EOL;
                     debug_current_and_destination(PSTR("Connecting vertical line."));
                   }
-                  print_line_from_here_to_there(LOGICAL_X_POSITION(sx), LOGICAL_Y_POSITION(sy), layer_height, LOGICAL_X_POSITION(ex), LOGICAL_Y_POSITION(ey), layer_height);
+                  print_line_from_here_to_there(LOGICAL_X_POSITION(sx), LOGICAL_Y_POSITION(sy), g26_layer_height, LOGICAL_X_POSITION(ex), LOGICAL_Y_POSITION(ey), g26_layer_height);
                 }
                 bit_set(vertical_mesh_line_flags, i, j);   // Mark it as done so we don't do it again, even if skipped
               }
@@ -518,7 +507,7 @@
     return false;
   }
 
-  void move_to(const float &x, const float &y, const float &z, const float &e_delta) {
+  void unified_bed_leveling::move_to(const float &x, const float &y, const float &z, const float &e_delta) {
     float feed_value;
     static float last_z = -999.99;
 
@@ -540,10 +529,10 @@
     }
 
     // Check if X or Y is involved in the movement.
-    // Yes: a 'normal' movement. No: a retract() or un_retract()
+    // Yes: a 'normal' movement. No: a retract() or recover()
     feed_value = has_xy_component ? PLANNER_XY_FEEDRATE() / 10.0 : planner.max_feedrate_mm_s[E_AXIS] / 1.5;
 
-    if (ubl.g26_debug_flag) SERIAL_ECHOLNPAIR("in move_to() feed_value for XY:", feed_value);
+    if (g26_debug_flag) SERIAL_ECHOLNPAIR("in move_to() feed_value for XY:", feed_value);
 
     destination[X_AXIS] = x;
     destination[Y_AXIS] = y;
@@ -556,16 +545,16 @@
 
   }
 
-  void retract_filament(float where[XYZE]) {
+  void unified_bed_leveling::retract_filament(float where[XYZE]) {
     if (!g26_retracted) { // Only retract if we are not already retracted!
       g26_retracted = true;
-      move_to(where[X_AXIS], where[Y_AXIS], where[Z_AXIS], -1.0 * retraction_multiplier);
+      move_to(where[X_AXIS], where[Y_AXIS], where[Z_AXIS], -1.0 * g26_retraction_multiplier);
     }
   }
 
-  void un_retract_filament(float where[XYZE]) {
+  void unified_bed_leveling::recover_filament(float where[XYZE]) {
     if (g26_retracted) { // Only un-retract if we are retracted.
-      move_to(where[X_AXIS], where[Y_AXIS], where[Z_AXIS], 1.2 * retraction_multiplier);
+      move_to(where[X_AXIS], where[Y_AXIS], where[Z_AXIS], 1.2 * g26_retraction_multiplier);
       g26_retracted = false;
     }
   }
@@ -585,7 +574,7 @@
    * 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) {
+  void unified_bed_leveling::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
@@ -613,9 +602,9 @@
 
     move_to(sx, sy, sz, 0.0); // Get to the starting point with no extrusion / un-Z bump
 
-    const float e_pos_delta = line_length * g26_e_axis_feedrate * extrusion_multiplier;
+    const float e_pos_delta = line_length * g26_e_axis_feedrate * g26_extrusion_multiplier;
 
-    un_retract_filament(destination);
+    recover_filament(destination);
     move_to(ex, ey, ez, e_pos_delta);  // Get to the ending point with an appropriate amount of extrusion
   }
 
@@ -624,33 +613,33 @@
    * parameters it made sense to turn them into static globals and get
    * this code out of sight of the main routine.
    */
-  bool parse_G26_parameters() {
-
-    extrusion_multiplier  = EXTRUSION_MULTIPLIER;
-    retraction_multiplier = RETRACTION_MULTIPLIER;
-    nozzle                = NOZZLE;
-    filament_diameter     = FILAMENT;
-    layer_height          = LAYER_HEIGHT;
-    prime_length          = PRIME_LENGTH;
-    bed_temp              = BED_TEMP;
-    hotend_temp           = HOTEND_TEMP;
-    prime_flag            = 0;
-
-    ooze_amount           = code_seen('O') && code_has_value() ? code_value_linear_units() : OOZE_AMOUNT;
-    keep_heaters_on       = code_seen('K') && code_value_bool();
-    continue_with_closest = code_seen('C') && code_value_bool();
+  bool unified_bed_leveling::parse_G26_parameters() {
+
+    g26_extrusion_multiplier  = EXTRUSION_MULTIPLIER;
+    g26_retraction_multiplier = RETRACTION_MULTIPLIER;
+    g26_nozzle                = NOZZLE;
+    g26_filament_diameter     = FILAMENT;
+    g26_layer_height          = LAYER_HEIGHT;
+    g26_prime_length          = PRIME_LENGTH;
+    g26_bed_temp              = BED_TEMP;
+    g26_hotend_temp           = HOTEND_TEMP;
+    g26_prime_flag            = 0;
+
+    g26_ooze_amount           = code_seen('O') && code_has_value() ? code_value_linear_units() : OOZE_AMOUNT;
+    g26_keep_heaters_on       = code_seen('K') && code_value_bool();
+    g26_continue_with_closest = code_seen('C') && code_value_bool();
 
     if (code_seen('B')) {
-      bed_temp = code_value_temp_abs();
-      if (!WITHIN(bed_temp, 15, 140)) {
+      g26_bed_temp = code_value_temp_abs();
+      if (!WITHIN(g26_bed_temp, 15, 140)) {
         SERIAL_PROTOCOLLNPGM("?Specified bed temperature not plausible.");
         return UBL_ERR;
       }
     }
 
     if (code_seen('L')) {
-      layer_height = code_value_linear_units();
-      if (!WITHIN(layer_height, 0.0, 2.0)) {
+      g26_layer_height = code_value_linear_units();
+      if (!WITHIN(g26_layer_height, 0.0, 2.0)) {
         SERIAL_PROTOCOLLNPGM("?Specified layer height not plausible.");
         return UBL_ERR;
       }
@@ -658,8 +647,8 @@
 
     if (code_seen('Q')) {
       if (code_has_value()) {
-        retraction_multiplier = code_value_float();
-        if (!WITHIN(retraction_multiplier, 0.05, 15.0)) {
+        g26_retraction_multiplier = code_value_float();
+        if (!WITHIN(g26_retraction_multiplier, 0.05, 15.0)) {
           SERIAL_PROTOCOLLNPGM("?Specified Retraction Multiplier not plausible.");
           return UBL_ERR;
         }
@@ -671,8 +660,8 @@
     }
 
     if (code_seen('S')) {
-      nozzle = code_value_float();
-      if (!WITHIN(nozzle, 0.1, 1.0)) {
+      g26_nozzle = code_value_float();
+      if (!WITHIN(g26_nozzle, 0.1, 1.0)) {
         SERIAL_PROTOCOLLNPGM("?Specified nozzle size not plausible.");
         return UBL_ERR;
       }
@@ -680,11 +669,11 @@
 
     if (code_seen('P')) {
       if (!code_has_value())
-        prime_flag = -1;
+        g26_prime_flag = -1;
       else {
-        prime_flag++;
-        prime_length = code_value_linear_units();
-        if (!WITHIN(prime_length, 0.0, 25.0)) {
+        g26_prime_flag++;
+        g26_prime_length = code_value_linear_units();
+        if (!WITHIN(g26_prime_length, 0.0, 25.0)) {
           SERIAL_PROTOCOLLNPGM("?Specified prime length not plausible.");
           return UBL_ERR;
         }
@@ -692,21 +681,21 @@
     }
 
     if (code_seen('F')) {
-      filament_diameter = code_value_linear_units();
-      if (!WITHIN(filament_diameter, 1.0, 4.0)) {
+      g26_filament_diameter = code_value_linear_units();
+      if (!WITHIN(g26_filament_diameter, 1.0, 4.0)) {
         SERIAL_PROTOCOLLNPGM("?Specified filament size not plausible.");
         return UBL_ERR;
       }
     }
-    extrusion_multiplier *= sq(1.75) / sq(filament_diameter);         // If we aren't using 1.75mm filament, we need to
+    g26_extrusion_multiplier *= sq(1.75) / sq(g26_filament_diameter);         // If we aren't using 1.75mm filament, we need to
                                                                       // scale up or down the length needed to get the
                                                                       // same volume of filament
 
-    extrusion_multiplier *= filament_diameter * sq(nozzle) / sq(0.3); // Scale up by nozzle size
+    g26_extrusion_multiplier *= g26_filament_diameter * sq(g26_nozzle) / sq(0.3); // Scale up by nozzle size
 
     if (code_seen('H')) {
-      hotend_temp = code_value_temp_abs();
-      if (!WITHIN(hotend_temp, 165, 280)) {
+      g26_hotend_temp = code_value_temp_abs();
+      if (!WITHIN(g26_hotend_temp, 165, 280)) {
         SERIAL_PROTOCOLLNPGM("?Specified nozzle temperature not plausible.");
         return UBL_ERR;
       }
@@ -723,9 +712,9 @@
       return UBL_ERR;
     }
 
-    x_pos = code_seen('X') ? code_value_linear_units() : current_position[X_AXIS];
-    y_pos = code_seen('Y') ? code_value_linear_units() : current_position[Y_AXIS];
-    if (!position_is_reachable_xy(x_pos, y_pos)) {
+    g26_x_pos = code_seen('X') ? code_value_linear_units() : current_position[X_AXIS];
+    g26_y_pos = code_seen('Y') ? code_value_linear_units() : current_position[Y_AXIS];
+    if (!position_is_reachable_xy(g26_x_pos, g26_y_pos)) {
       SERIAL_PROTOCOLLNPGM("?Specified X,Y coordinate out of bounds.");
       return UBL_ERR;
     }
@@ -733,12 +722,12 @@
     /**
      * Wait until all parameters are verified before altering the state!
      */
-    ubl.state.active = !code_seen('D');
+    state.active = !code_seen('D');
 
     return UBL_OK;
   }
 
-  bool exit_from_g26() {
+  bool unified_bed_leveling::exit_from_g26() {
     lcd_reset_alert_level();
     lcd_setstatuspgm(PSTR("Leaving G26"));
     while (ubl_lcd_clicked()) idle();
@@ -749,18 +738,18 @@
    * Turn on the bed and nozzle heat and
    * wait for them to get up to temperature.
    */
-  bool turn_on_heaters() {
+  bool unified_bed_leveling::turn_on_heaters() {
     millis_t next;
     #if HAS_TEMP_BED
       #if ENABLED(ULTRA_LCD)
-        if (bed_temp > 25) {
+        if (g26_bed_temp > 25) {
           lcd_setstatuspgm(PSTR("G26 Heating Bed."), 99);
           lcd_quick_feedback();
       #endif
-          ubl.has_control_of_lcd_panel = true;
-          thermalManager.setTargetBed(bed_temp);
+          has_control_of_lcd_panel = true;
+          thermalManager.setTargetBed(g26_bed_temp);
           next = millis() + 5000UL;
-          while (abs(thermalManager.degBed() - bed_temp) > 3) {
+          while (abs(thermalManager.degBed() - g26_bed_temp) > 3) {
             if (ubl_lcd_clicked()) return exit_from_g26();
             if (PENDING(millis(), next)) {
               next = millis() + 5000UL;
@@ -776,8 +765,8 @@
     #endif
 
     // Start heating the nozzle and wait for it to reach temperature.
-    thermalManager.setTargetHotend(hotend_temp, 0);
-    while (abs(thermalManager.degHotend(0) - hotend_temp) > 3) {
+    thermalManager.setTargetHotend(g26_hotend_temp, 0);
+    while (abs(thermalManager.degHotend(0) - g26_hotend_temp) > 3) {
       if (ubl_lcd_clicked()) return exit_from_g26();
       if (PENDING(millis(), next)) {
         next = millis() + 5000UL;
@@ -798,19 +787,19 @@
   /**
    * Prime the nozzle if needed. Return true on error.
    */
-  bool prime_nozzle() {
+  bool unified_bed_leveling::prime_nozzle() {
     float Total_Prime = 0.0;
 
-    if (prime_flag == -1) {  // The user wants to control how much filament gets purged
+    if (g26_prime_flag == -1) {  // The user wants to control how much filament gets purged
 
-      ubl.has_control_of_lcd_panel = true;
+      has_control_of_lcd_panel = true;
 
       lcd_setstatuspgm(PSTR("User-Controlled Prime"), 99);
       chirp_at_user();
 
       set_destination_to_current();
 
-      un_retract_filament(destination); // Make sure G26 doesn't think the filament is retracted().
+      recover_filament(destination); // Make sure G26 doesn't think the filament is retracted().
 
       while (!ubl_lcd_clicked()) {
         chirp_at_user();
@@ -838,7 +827,7 @@
         lcd_quick_feedback();
       #endif
 
-      ubl.has_control_of_lcd_panel = false;
+      has_control_of_lcd_panel = false;
 
     }
     else {
@@ -847,7 +836,7 @@
         lcd_quick_feedback();
       #endif
       set_destination_to_current();
-      destination[E_AXIS] += prime_length;
+      destination[E_AXIS] += g26_prime_length;
       G26_line_to_destination(planner.max_feedrate_mm_s[E_AXIS] / 15.0);
       stepper.synchronize();
       set_destination_to_current();

Marlin/Marlin_main.cpp

@@ -3416,8 +3416,8 @@ inline void gcode_G7(
       return;
     }
 
-    destination[X_AXIS] = hasI ? pgm_read_float(&ubl.mesh_index_to_xpos[ix]) : current_position[X_AXIS];
-    destination[Y_AXIS] = hasJ ? pgm_read_float(&ubl.mesh_index_to_ypos[iy]) : current_position[Y_AXIS];
+    destination[X_AXIS] = hasI ? ubl.mesh_index_to_xpos(ix) : current_position[X_AXIS];
+    destination[Y_AXIS] = hasJ ? ubl.mesh_index_to_ypos(iy) : current_position[Y_AXIS];
     destination[Z_AXIS] = current_position[Z_AXIS]; //todo: perhaps add Z-move support?
     destination[E_AXIS] = current_position[E_AXIS];
 
@@ -8704,7 +8704,7 @@ void quickstop_stepper() {
     const bool hasZ = code_seen('Z'), hasQ = !hasZ && code_seen('Q');
 
     if (hasC) {
-      const mesh_index_pair location = find_closest_mesh_point_of_type(REAL, current_position[X_AXIS], current_position[Y_AXIS], USE_NOZZLE_AS_REFERENCE, NULL, false);
+      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, NULL, false);
       ix = location.x_index;
       iy = location.y_index;
     }
@@ -11467,7 +11467,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
     #if ENABLED(AUTO_BED_LEVELING_UBL)
       const float fr_scaled = MMS_SCALED(feedrate_mm_s);
       if (ubl.state.active) {
-        ubl_line_to_destination_cartesian(fr_scaled, active_extruder);
+        ubl.line_to_destination_cartesian(fr_scaled, active_extruder);
         return true;
       }
       else
@@ -11612,14 +11612,14 @@ void prepare_move_to_destination() {
   if (
     #if IS_KINEMATIC
       #if UBL_DELTA
-        ubl_prepare_linear_move_to(destination, feedrate_mm_s)
+        ubl.prepare_linear_move_to(destination, feedrate_mm_s)
       #else
         prepare_kinematic_move_to(destination)
       #endif
     #elif ENABLED(DUAL_X_CARRIAGE)
       prepare_move_to_destination_dualx()
     #elif UBL_DELTA // will work for CARTESIAN too (smaller segments follow mesh more closely)
-      ubl_prepare_linear_move_to(destination, feedrate_mm_s)
+      ubl.prepare_linear_move_to(destination, feedrate_mm_s)
     #else
       prepare_move_to_destination_cartesian()
     #endif

Marlin/fastio.h

@@ -58,7 +58,7 @@
 #endif
 
 #ifndef _BV
-  #define _BV(PIN) (1 << PIN)
+  #define _BV(PIN) (1UL << PIN)
 #endif
 
 /**

Marlin/ubl.cpp

@@ -69,8 +69,8 @@
 
   // 15 is the maximum nubmer of grid points supported + 1 safety margin for now,
   // until determinism prevails
-  constexpr float unified_bed_leveling::mesh_index_to_xpos[16],
-                  unified_bed_leveling::mesh_index_to_ypos[16];
+  constexpr float unified_bed_leveling::_mesh_index_to_xpos[16],
+                  unified_bed_leveling::_mesh_index_to_ypos[16];
 
   bool unified_bed_leveling::g26_debug_flag = false,
        unified_bed_leveling::has_control_of_lcd_panel = false;
@@ -117,8 +117,8 @@
       SERIAL_EOL;
     }
 
-    const float current_xi = ubl.get_cell_index_x(current_position[X_AXIS] + (MESH_X_DIST) / 2.0),
-                current_yi = ubl.get_cell_index_y(current_position[Y_AXIS] + (MESH_Y_DIST) / 2.0);
+    const float current_xi = get_cell_index_x(current_position[X_AXIS] + (MESH_X_DIST) / 2.0),
+                current_yi = get_cell_index_y(current_position[Y_AXIS] + (MESH_Y_DIST) / 2.0);
 
     for (int8_t j = GRID_MAX_POINTS_Y - 1; j >= 0; j--) {
       for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {

Marlin/ubl.h

@@ -53,30 +53,16 @@
   // ubl_motion.cpp
 
   void debug_current_and_destination(const char * const title);
-  void ubl_line_to_destination_cartesian(const float&, uint8_t);
-  bool ubl_prepare_linear_move_to(const float ltarget[XYZE], const float &feedrate );
 
   // ubl_G29.cpp
 
   enum MeshPointType { INVALID, REAL, SET_IN_BITMAP };
 
-  void dump(char * const str, const float &f);
-  void probe_entire_mesh(const float&, const float&, const bool, const bool, const bool);
-  float measure_business_card_thickness(float&);
-  mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType, const float&, const float&, const bool, unsigned int[16], bool);
-  void shift_mesh_height();
-  void fine_tune_mesh(const float&, const float&, const bool);
-  bool g29_parameter_parsing();
-  void g29_eeprom_dump();
-  void g29_compare_current_mesh_to_stored_mesh();
-
   // External references
 
   char *ftostr43sign(const float&, char);
   bool ubl_lcd_clicked();
   void home_all_axes();
-  void gcode_G26();
-  void gcode_G29();
 
   extern uint8_t ubl_cnt;
 
@@ -101,26 +87,81 @@
 
       static float last_specified_z;
 
+      static int    g29_verbose_level,
+                    g29_phase_value,
+                    g29_repetition_cnt,
+                    g29_storage_slot,
+                    g29_map_type,
+                    g29_grid_size;
+      static bool   g29_c_flag, g29_x_flag, g29_y_flag;
+      static float  g29_x_pos, g29_y_pos,
+                    g29_card_thickness,
+                    g29_constant;
+
+      #if ENABLED(UBL_G26_MESH_VALIDATION)
+        static float   g26_extrusion_multiplier,
+                       g26_retraction_multiplier,
+                       g26_nozzle,
+                       g26_filament_diameter,
+                       g26_prime_length,
+                       g26_x_pos, g26_y_pos,
+                       g26_ooze_amount,
+                       g26_layer_height;
+        static int16_t g26_bed_temp,
+                       g26_hotend_temp,
+                       g26_repeats;
+        static int8_t  g26_prime_flag;
+        static bool    g26_continue_with_closest, g26_keep_heaters_on;
+      #endif
+
+      static float measure_point_with_encoder();
+      static float measure_business_card_thickness(float&);
+      static bool g29_parameter_parsing();
+      static void find_mean_mesh_height();
+      static void shift_mesh_height();
+      static void probe_entire_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map, const bool stow_probe, bool do_furthest);
+      static void manually_probe_remaining_mesh(const float&, const float&, const float&, const float&, const bool);
+      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 void g29_what_command();
+      static void g29_eeprom_dump();
+      static void g29_compare_current_mesh_to_stored_mesh();
+      static void fine_tune_mesh(const float &lx, const float &ly, 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 void smart_fill_mesh();
+
+      #if ENABLED(UBL_G26_MESH_VALIDATION)
+        static bool exit_from_g26();
+        static bool parse_G26_parameters();
+        static void G26_line_to_destination(const float &feed_rate);
+        static mesh_index_pair find_closest_circle_to_print(const float&, const float&);
+        static bool look_for_lines_to_connect();
+        static bool turn_on_heaters();
+        static bool prime_nozzle();
+        static void retract_filament(float where[XYZE]);
+        static void recover_filament(float where[XYZE]);
+        static void print_line_from_here_to_there(const float&, const float&, const float&, const float&, const float&, const float&);
+        static void move_to(const float&, const float&, const float&, const float&);
+      #endif
+
     public:
 
-      void echo_name();
-      void report_state();
-      void find_mean_mesh_height();
-      void shift_mesh_height();
-      void probe_entire_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map, const bool stow_probe, bool do_furthest);
-      void tilt_mesh_based_on_3pts(const float &z1, const float &z2, const float &z3);
-      void tilt_mesh_based_on_probed_grid(const bool do_ubl_mesh_map);
-      void save_ubl_active_state_and_disable();
-      void restore_ubl_active_state_and_leave();
-      void g29_what_command();
-      void g29_eeprom_dump();
-      void g29_compare_current_mesh_to_stored_mesh();
-      void fine_tune_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map);
-      void smart_fill_mesh();
-      void display_map(const int);
-      void reset();
-      void invalidate();
-      bool sanity_check();
+      static void echo_name();
+      static void report_state();
+      static void save_ubl_active_state_and_disable();
+      static void restore_ubl_active_state_and_leave();
+      static void display_map(const int);
+      static mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType, const float&, const float&, const bool, unsigned int[16], bool);
+      static void reset();
+      static void invalidate();
+      static bool sanity_check();
+
+      static void G29() _O0;                          // O0 for no optimization
+      static void smart_fill_wlsf(const float &) _O2; // O2 gives smaller code than Os on A2560
+
+      #if ENABLED(UBL_G26_MESH_VALIDATION)
+        static void G26();
+      #endif
 
       static ubl_state state;
 
@@ -128,7 +169,7 @@
 
       // 15 is the maximum nubmer of grid points supported + 1 safety margin for now,
       // until determinism prevails
-      constexpr static float mesh_index_to_xpos[16] PROGMEM = {
+      constexpr static float _mesh_index_to_xpos[16] PROGMEM = {
                                 UBL_MESH_MIN_X +  0 * (MESH_X_DIST), UBL_MESH_MIN_X +  1 * (MESH_X_DIST),
                                 UBL_MESH_MIN_X +  2 * (MESH_X_DIST), UBL_MESH_MIN_X +  3 * (MESH_X_DIST),
                                 UBL_MESH_MIN_X +  4 * (MESH_X_DIST), UBL_MESH_MIN_X +  5 * (MESH_X_DIST),
@@ -139,7 +180,7 @@
                                 UBL_MESH_MIN_X + 14 * (MESH_X_DIST), UBL_MESH_MIN_X + 15 * (MESH_X_DIST)
                               };
 
-      constexpr static float mesh_index_to_ypos[16] PROGMEM = {
+      constexpr static float _mesh_index_to_ypos[16] PROGMEM = {
                                 UBL_MESH_MIN_Y +  0 * (MESH_Y_DIST), UBL_MESH_MIN_Y +  1 * (MESH_Y_DIST),
                                 UBL_MESH_MIN_Y +  2 * (MESH_Y_DIST), UBL_MESH_MIN_Y +  3 * (MESH_Y_DIST),
                                 UBL_MESH_MIN_Y +  4 * (MESH_Y_DIST), UBL_MESH_MIN_Y +  5 * (MESH_Y_DIST),
@@ -156,16 +197,16 @@
 
       unified_bed_leveling();
 
-      FORCE_INLINE void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; }
+      FORCE_INLINE static void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; }
 
-      int8_t get_cell_index_x(const float &x) {
+      static int8_t get_cell_index_x(const float &x) {
         const int8_t cx = (x - (UBL_MESH_MIN_X)) * (1.0 / (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.
-      int8_t get_cell_index_y(const float &y) {
+      static int8_t get_cell_index_y(const float &y) {
         const int8_t cy = (y - (UBL_MESH_MIN_Y)) * (1.0 / (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
@@ -173,12 +214,12 @@
                                                             // that is OK because something else should be keeping that from
                                                             // happening and should not be worried about at this level.
 
-      int8_t find_closest_x_index(const float &x) {
+      static int8_t find_closest_x_index(const float &x) {
         const int8_t px = (x - (UBL_MESH_MIN_X) + (MESH_X_DIST) * 0.5) * (1.0 / (MESH_X_DIST));
         return WITHIN(px, 0, GRID_MAX_POINTS_X - 1) ? px : -1;
       }
 
-      int8_t find_closest_y_index(const float &y) {
+      static int8_t find_closest_y_index(const float &y) {
         const int8_t py = (y - (UBL_MESH_MIN_Y) + (MESH_Y_DIST) * 0.5) * (1.0 / (MESH_Y_DIST));
         return WITHIN(py, 0, GRID_MAX_POINTS_Y - 1) ? py : -1;
       }
@@ -198,7 +239,7 @@
        *  It is fairly expensive with its 4 floating point additions and 2 floating point
        *  multiplications.
        */
-      FORCE_INLINE float calc_z0(const float &a0, const float &a1, const float &z1, const float &a2, const float &z2) {
+      FORCE_INLINE static float calc_z0(const float &a0, const float &a1, const float &z1, const float &a2, const float &z2) {
         return z1 + (z2 - z1) * (a0 - a1) / (a2 - a1);
       }
 
@@ -206,7 +247,7 @@
        * z_correction_for_x_on_horizontal_mesh_line is an optimization for
        * the rare occasion when a point lies exactly on a Mesh line (denoted by index yi).
        */
-      inline float z_correction_for_x_on_horizontal_mesh_line(const float &lx0, const int x1_i, const int yi) {
+      inline static float z_correction_for_x_on_horizontal_mesh_line(const float &lx0, const int x1_i, const int yi) {
         if (!WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(yi, 0, GRID_MAX_POINTS_Y - 1)) {
           serialprintPGM( !WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1) ? PSTR("x1l_i") : PSTR("yi") );
           SERIAL_ECHOPAIR(" out of bounds in z_correction_for_x_on_horizontal_mesh_line(lx0=", lx0);
@@ -217,7 +258,7 @@
           return NAN;
         }
 
-        const float xratio = (RAW_X_POSITION(lx0) - pgm_read_float(&mesh_index_to_xpos[x1_i])) * (1.0 / (MESH_X_DIST)),
+        const float xratio = (RAW_X_POSITION(lx0) - mesh_index_to_xpos(x1_i)) * (1.0 / (MESH_X_DIST)),
                     z1 = z_values[x1_i][yi];
 
         return z1 + xratio * (z_values[x1_i + 1][yi] - z1);
@@ -226,7 +267,7 @@
       //
       // See comments above for z_correction_for_x_on_horizontal_mesh_line
       //
-      inline float z_correction_for_y_on_vertical_mesh_line(const float &ly0, const int xi, const int y1_i) {
+      inline static float z_correction_for_y_on_vertical_mesh_line(const float &ly0, const int xi, const int y1_i) {
         if (!WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(y1_i, 0, GRID_MAX_POINTS_Y - 1)) {
           serialprintPGM( !WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) ? PSTR("xi") : PSTR("yl_i") );
           SERIAL_ECHOPAIR(" out of bounds in z_correction_for_y_on_vertical_mesh_line(ly0=", ly0);
@@ -237,7 +278,7 @@
           return NAN;
         }
 
-        const float yratio = (RAW_Y_POSITION(ly0) - pgm_read_float(&mesh_index_to_ypos[y1_i])) * (1.0 / (MESH_Y_DIST)),
+        const float yratio = (RAW_Y_POSITION(ly0) - mesh_index_to_ypos(y1_i)) * (1.0 / (MESH_Y_DIST)),
                     z1 = z_values[xi][y1_i];
 
         return z1 + yratio * (z_values[xi][y1_i + 1] - z1);
@@ -249,7 +290,7 @@
        * Z-Height at both ends. Then it does a linear interpolation of these heights based
        * on the Y position within the cell.
        */
-      float get_z_correction(const float &lx0, const float &ly0) {
+      static float get_z_correction(const float &lx0, const float &ly0) {
         const int8_t cx = get_cell_index_x(RAW_X_POSITION(lx0)),
                      cy = get_cell_index_y(RAW_Y_POSITION(ly0));
 
@@ -268,16 +309,16 @@
         }
 
         const float z1 = calc_z0(RAW_X_POSITION(lx0),
-                                 pgm_read_float(&mesh_index_to_xpos[cx]), z_values[cx][cy],
-                                 pgm_read_float(&mesh_index_to_xpos[cx + 1]), z_values[cx + 1][cy]);
+                                 mesh_index_to_xpos(cx), z_values[cx][cy],
+                                 mesh_index_to_xpos(cx + 1), z_values[cx + 1][cy]);
 
         const float z2 = calc_z0(RAW_X_POSITION(lx0),
-                                 pgm_read_float(&mesh_index_to_xpos[cx]), z_values[cx][cy + 1],
-                                 pgm_read_float(&mesh_index_to_xpos[cx + 1]), z_values[cx + 1][cy + 1]);
+                                 mesh_index_to_xpos(cx), z_values[cx][cy + 1],
+                                 mesh_index_to_xpos(cx + 1), z_values[cx + 1][cy + 1]);
 
         float z0 = calc_z0(RAW_Y_POSITION(ly0),
-                           pgm_read_float(&mesh_index_to_ypos[cy]), z1,
-                           pgm_read_float(&mesh_index_to_ypos[cy + 1]), z2);
+                           mesh_index_to_ypos(cy), z1,
+                           mesh_index_to_ypos(cy + 1), z2);
 
         #if ENABLED(DEBUG_LEVELING_FEATURE)
           if (DEBUGGING(MESH_ADJUST)) {
@@ -324,7 +365,7 @@
        *  Returns 0.0 if Z is past the specified 'Fade Height'.
        */
       #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
-        inline float fade_scaling_factor_for_z(const float &lz) {
+        static inline float fade_scaling_factor_for_z(const float &lz) {
           if (planner.z_fade_height == 0.0) return 1.0;
           static float fade_scaling_factor = 1.0;
           const float rz = RAW_Z_POSITION(lz);
@@ -338,14 +379,24 @@
           return fade_scaling_factor;
         }
       #else
-        inline float fade_scaling_factor_for_z(const float &lz) {
-          return 1.0;
-        }
+        FORCE_INLINE static float fade_scaling_factor_for_z(const float &lz) { return 1.0; }
       #endif
 
+      FORCE_INLINE static float mesh_index_to_xpos(const uint8_t i) { return pgm_read_float(&_mesh_index_to_xpos[i]); }
+      FORCE_INLINE static float mesh_index_to_ypos(const uint8_t i) { return pgm_read_float(&_mesh_index_to_ypos[i]); }
+
+      static bool prepare_linear_move_to(const float ltarget[XYZE], const float &feedrate);
+      static void line_to_destination_cartesian(const float &fr, uint8_t e);
+
   }; // class unified_bed_leveling
 
   extern unified_bed_leveling ubl;
 
+  #if ENABLED(UBL_G26_MESH_VALIDATION)
+    FORCE_INLINE void gcode_G26() { ubl.G26(); }
+  #endif
+
+  FORCE_INLINE void gcode_G29() { ubl.G29(); }
+
 #endif // AUTO_BED_LEVELING_UBL
 #endif // UNIFIED_BED_LEVELING_H

Marlin/ubl_motion.cpp

@@ -85,7 +85,7 @@
 
   }
 
-  void ubl_line_to_destination_cartesian(const float &feed_rate, uint8_t extruder) {
+  void unified_bed_leveling::line_to_destination_cartesian(const float &feed_rate, uint8_t extruder) {
     /**
      * Much of the nozzle movement will be within the same cell. So we will do as little computation
      * as possible to determine if this is the case. If this move is within the same cell, we will
@@ -104,19 +104,19 @@
                   destination[E_AXIS]
                 };
 
-    const int cell_start_xi = ubl.get_cell_index_x(RAW_X_POSITION(start[X_AXIS])),
-              cell_start_yi = ubl.get_cell_index_y(RAW_Y_POSITION(start[Y_AXIS])),
-              cell_dest_xi  = ubl.get_cell_index_x(RAW_X_POSITION(end[X_AXIS])),
-              cell_dest_yi  = ubl.get_cell_index_y(RAW_Y_POSITION(end[Y_AXIS]));
+    const int cell_start_xi = get_cell_index_x(RAW_X_POSITION(start[X_AXIS])),
+              cell_start_yi = get_cell_index_y(RAW_Y_POSITION(start[Y_AXIS])),
+              cell_dest_xi  = get_cell_index_x(RAW_X_POSITION(end[X_AXIS])),
+              cell_dest_yi  = get_cell_index_y(RAW_Y_POSITION(end[Y_AXIS]));
 
-    if (ubl.g26_debug_flag) {
-      SERIAL_ECHOPAIR(" ubl_line_to_destination(xe=", end[X_AXIS]);
+    if (g26_debug_flag) {
+      SERIAL_ECHOPAIR(" ubl.line_to_destination(xe=", end[X_AXIS]);
       SERIAL_ECHOPAIR(", ye=", end[Y_AXIS]);
       SERIAL_ECHOPAIR(", ze=", end[Z_AXIS]);
       SERIAL_ECHOPAIR(", ee=", end[E_AXIS]);
       SERIAL_CHAR(')');
       SERIAL_EOL;
-      debug_current_and_destination(PSTR("Start of ubl_line_to_destination()"));
+      debug_current_and_destination(PSTR("Start of ubl.line_to_destination()"));
     }
 
     if (cell_start_xi == cell_dest_xi && cell_start_yi == cell_dest_yi) { // if the whole move is within the same cell,
@@ -132,11 +132,11 @@
         // Note: There is no Z Correction in this case. We are off the grid and don't know what
         // a reasonable correction would be.
 
-        planner._buffer_line(end[X_AXIS], end[Y_AXIS], end[Z_AXIS] + ubl.state.z_offset, end[E_AXIS], feed_rate, extruder);
+        planner._buffer_line(end[X_AXIS], end[Y_AXIS], end[Z_AXIS] + state.z_offset, end[E_AXIS], feed_rate, extruder);
         set_current_to_destination();
 
-        if (ubl.g26_debug_flag)
-          debug_current_and_destination(PSTR("out of bounds in ubl_line_to_destination()"));
+        if (g26_debug_flag)
+          debug_current_and_destination(PSTR("out of bounds in ubl.line_to_destination()"));
 
         return;
       }
@@ -152,20 +152,20 @@
        * to create a 1-over number for us. That will allow us to do a floating point multiply instead of a floating point divide.
        */
 
-      const float xratio = (RAW_X_POSITION(end[X_AXIS]) - pgm_read_float(&ubl.mesh_index_to_xpos[cell_dest_xi])) * (1.0 / (MESH_X_DIST)),
-                  z1 = ubl.z_values[cell_dest_xi    ][cell_dest_yi    ] + xratio *
-                      (ubl.z_values[cell_dest_xi + 1][cell_dest_yi    ] - ubl.z_values[cell_dest_xi][cell_dest_yi    ]),
-                  z2 = ubl.z_values[cell_dest_xi    ][cell_dest_yi + 1] + xratio *
-                      (ubl.z_values[cell_dest_xi + 1][cell_dest_yi + 1] - ubl.z_values[cell_dest_xi][cell_dest_yi + 1]);
+      const float xratio = (RAW_X_POSITION(end[X_AXIS]) - mesh_index_to_xpos(cell_dest_xi)) * (1.0 / (MESH_X_DIST)),
+                  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]);
 
       // we are done with the fractional X distance into the cell. Now with the two Z-Heights we have calculated, we
       // are going to apply the Y-Distance into the cell to interpolate the final Z correction.
 
-      const float yratio = (RAW_Y_POSITION(end[Y_AXIS]) - pgm_read_float(&ubl.mesh_index_to_ypos[cell_dest_yi])) * (1.0 / (MESH_Y_DIST));
+      const float yratio = (RAW_Y_POSITION(end[Y_AXIS]) - mesh_index_to_ypos(cell_dest_yi)) * (1.0 / (MESH_Y_DIST));
 
       float z0 = z1 + (z2 - z1) * yratio;
 
-      z0 *= ubl.fade_scaling_factor_for_z(end[Z_AXIS]);
+      z0 *= fade_scaling_factor_for_z(end[Z_AXIS]);
 
       /**
        * If part of the Mesh is undefined, it will show up as NAN
@@ -176,10 +176,10 @@
        */
       if (isnan(z0)) z0 = 0.0;
 
-      planner._buffer_line(end[X_AXIS], end[Y_AXIS], end[Z_AXIS] + z0 + ubl.state.z_offset, end[E_AXIS], feed_rate, extruder);
+      planner._buffer_line(end[X_AXIS], end[Y_AXIS], end[Z_AXIS] + z0 + state.z_offset, end[E_AXIS], feed_rate, extruder);
 
-      if (ubl.g26_debug_flag)
-        debug_current_and_destination(PSTR("FINAL_MOVE in ubl_line_to_destination()"));
+      if (g26_debug_flag)
+        debug_current_and_destination(PSTR("FINAL_MOVE in ubl.line_to_destination()"));
 
       set_current_to_destination();
       return;
@@ -240,7 +240,7 @@
       current_yi += down_flag;  // Line is heading down, we just want to go to the bottom
       while (current_yi != cell_dest_yi + down_flag) {
         current_yi += dyi;
-        const float next_mesh_line_y = LOGICAL_Y_POSITION(pgm_read_float(&ubl.mesh_index_to_ypos[current_yi]));
+        const float next_mesh_line_y = LOGICAL_Y_POSITION(mesh_index_to_ypos(current_yi));
 
         /**
          * if the slope of the line is infinite, we won't do the calculations
@@ -249,9 +249,9 @@
          */
         const float x = inf_m_flag ? start[X_AXIS] : (next_mesh_line_y - c) / m;
 
-        float z0 = ubl.z_correction_for_x_on_horizontal_mesh_line(x, current_xi, current_yi);
+        float z0 = z_correction_for_x_on_horizontal_mesh_line(x, current_xi, current_yi);
 
-        z0 *= ubl.fade_scaling_factor_for_z(end[Z_AXIS]);
+        z0 *= fade_scaling_factor_for_z(end[Z_AXIS]);
 
         /**
          * If part of the Mesh is undefined, it will show up as NAN
@@ -262,7 +262,7 @@
          */
         if (isnan(z0)) z0 = 0.0;
 
-        const float y = LOGICAL_Y_POSITION(pgm_read_float(&ubl.mesh_index_to_ypos[current_yi]));
+        const float y = LOGICAL_Y_POSITION(mesh_index_to_ypos(current_yi));
 
         /**
          * Without this check, it is possible for the algorithm to generate a zero length move in the case
@@ -281,12 +281,12 @@
             z_position = end[Z_AXIS];
           }
 
-          planner._buffer_line(x, y, z_position + z0 + ubl.state.z_offset, e_position, feed_rate, extruder);
+          planner._buffer_line(x, y, z_position + z0 + state.z_offset, e_position, feed_rate, extruder);
         } //else printf("FIRST MOVE PRUNED  ");
       }
 
-      if (ubl.g26_debug_flag)
-        debug_current_and_destination(PSTR("vertical move done in ubl_line_to_destination()"));
+      if (g26_debug_flag)
+        debug_current_and_destination(PSTR("vertical move done in ubl.line_to_destination()"));
 
       //
       // Check if we are at the final destination. Usually, we won't be, but if it is on a Y Mesh Line, we are done.
@@ -311,12 +311,12 @@
                                 // edge of this cell for the first move.
       while (current_xi != cell_dest_xi + left_flag) {
         current_xi += dxi;
-        const float next_mesh_line_x = LOGICAL_X_POSITION(pgm_read_float(&ubl.mesh_index_to_xpos[current_xi])),
+        const float next_mesh_line_x = LOGICAL_X_POSITION(mesh_index_to_xpos(current_xi)),
                     y = m * next_mesh_line_x + c;   // Calculate Y at the next X mesh line
 
-        float z0 = ubl.z_correction_for_y_on_vertical_mesh_line(y, current_xi, current_yi);
+        float z0 = z_correction_for_y_on_vertical_mesh_line(y, current_xi, current_yi);
 
-        z0 *= ubl.fade_scaling_factor_for_z(end[Z_AXIS]);
+        z0 *= fade_scaling_factor_for_z(end[Z_AXIS]);
 
         /**
          * If part of the Mesh is undefined, it will show up as NAN
@@ -327,7 +327,7 @@
          */
         if (isnan(z0)) z0 = 0.0;
 
-        const float x = LOGICAL_X_POSITION(pgm_read_float(&ubl.mesh_index_to_xpos[current_xi]));
+        const float x = LOGICAL_X_POSITION(mesh_index_to_xpos(current_xi));
 
         /**
          * Without this check, it is possible for the algorithm to generate a zero length move in the case
@@ -346,12 +346,12 @@
             z_position = end[Z_AXIS];
           }
 
-          planner._buffer_line(x, y, z_position + z0 + ubl.state.z_offset, e_position, feed_rate, extruder);
+          planner._buffer_line(x, y, z_position + z0 + state.z_offset, e_position, feed_rate, extruder);
         } //else printf("FIRST MOVE PRUNED  ");
       }
 
-      if (ubl.g26_debug_flag)
-        debug_current_and_destination(PSTR("horizontal move done in ubl_line_to_destination()"));
+      if (g26_debug_flag)
+        debug_current_and_destination(PSTR("horizontal move done in ubl.line_to_destination()"));
 
       if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS])
         goto FINAL_MOVE;
@@ -377,8 +377,8 @@
 
     while (xi_cnt > 0 || yi_cnt > 0) {
 
-      const float next_mesh_line_x = LOGICAL_X_POSITION(pgm_read_float(&ubl.mesh_index_to_xpos[current_xi + dxi])),
-                  next_mesh_line_y = LOGICAL_Y_POSITION(pgm_read_float(&ubl.mesh_index_to_ypos[current_yi + dyi])),
+      const float next_mesh_line_x = LOGICAL_X_POSITION(mesh_index_to_xpos(current_xi + dxi)),
+                  next_mesh_line_y = LOGICAL_Y_POSITION(mesh_index_to_ypos(current_yi + dyi)),
                   y = m * next_mesh_line_x + c,   // Calculate Y at the next X mesh line
                   x = (next_mesh_line_y - c) / m; // Calculate X at the next Y mesh line
                                                   // (No need to worry about m being zero.
@@ -387,9 +387,9 @@
 
       if (left_flag == (x > next_mesh_line_x)) { // Check if we hit the Y line first
         // Yes!  Crossing a Y Mesh Line next
-        float z0 = ubl.z_correction_for_x_on_horizontal_mesh_line(x, current_xi - left_flag, current_yi + dyi);
+        float z0 = z_correction_for_x_on_horizontal_mesh_line(x, current_xi - left_flag, current_yi + dyi);
 
-        z0 *= ubl.fade_scaling_factor_for_z(end[Z_AXIS]);
+        z0 *= fade_scaling_factor_for_z(end[Z_AXIS]);
 
         /**
          * If part of the Mesh is undefined, it will show up as NAN
@@ -409,15 +409,15 @@
           e_position = end[E_AXIS];
           z_position = end[Z_AXIS];
         }
-        planner._buffer_line(x, next_mesh_line_y, z_position + z0 + ubl.state.z_offset, e_position, feed_rate, extruder);
+        planner._buffer_line(x, next_mesh_line_y, z_position + z0 + state.z_offset, e_position, feed_rate, extruder);
         current_yi += dyi;
         yi_cnt--;
       }
       else {
         // Yes!  Crossing a X Mesh Line next
-        float z0 = ubl.z_correction_for_y_on_vertical_mesh_line(y, current_xi + dxi, current_yi - down_flag);
+        float z0 = z_correction_for_y_on_vertical_mesh_line(y, current_xi + dxi, current_yi - down_flag);
 
-        z0 *= ubl.fade_scaling_factor_for_z(end[Z_AXIS]);
+        z0 *= fade_scaling_factor_for_z(end[Z_AXIS]);
 
         /**
          * If part of the Mesh is undefined, it will show up as NAN
@@ -438,7 +438,7 @@
           z_position = end[Z_AXIS];
         }
 
-        planner._buffer_line(next_mesh_line_x, y, z_position + z0 + ubl.state.z_offset, e_position, feed_rate, extruder);
+        planner._buffer_line(next_mesh_line_x, y, z_position + z0 + state.z_offset, e_position, feed_rate, extruder);
         current_xi += dxi;
         xi_cnt--;
       }
@@ -446,8 +446,8 @@
       if (xi_cnt < 0 || yi_cnt < 0) break; // we've gone too far, so exit the loop and move on to FINAL_MOVE
     }
 
-    if (ubl.g26_debug_flag)
-      debug_current_and_destination(PSTR("generic move done in ubl_line_to_destination()"));
+    if (g26_debug_flag)
+      debug_current_and_destination(PSTR("generic move done in ubl.line_to_destination()"));
 
     if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS])
       goto FINAL_MOVE;
@@ -502,7 +502,7 @@
      * Returns true if the caller did NOT update current_position, otherwise false.
      */
 
-    static bool ubl_prepare_linear_move_to(const float ltarget[XYZE], const float &feedrate) {
+    static bool unified_bed_leveling::prepare_linear_move_to(const float ltarget[XYZE], const float &feedrate) {
 
       if (!position_is_reachable_xy(ltarget[X_AXIS], ltarget[Y_AXIS]))  // fail if moving outside reachable boundary
         return true; // did not move, so current_position still accurate
@@ -554,9 +554,9 @@
 
       // Only compute leveling per segment if ubl active and target below z_fade_height.
 
-      if (!ubl.state.active || above_fade_height) {   // no mesh leveling
+      if (!state.active || above_fade_height) {   // no mesh leveling
 
-        const float z_offset = ubl.state.active ? ubl.state.z_offset : 0.0;
+        const float z_offset = state.active ? state.z_offset : 0.0;
 
         float seg_dest[XYZE];                   // per-segment destination,
         COPY_XYZE(seg_dest, current_position);  // starting from current position
@@ -579,7 +579,7 @@
       // Otherwise perform per-segment leveling
 
       #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
-        const float fade_scaling_factor = ubl.fade_scaling_factor_for_z(ltarget[Z_AXIS]);
+        const float fade_scaling_factor = fade_scaling_factor_for_z(ltarget[Z_AXIS]);
       #endif
 
       float seg_dest[XYZE];  // per-segment destination, initialize to first segment
@@ -591,7 +591,7 @@
       float rx = RAW_X_POSITION(seg_dest[X_AXIS]),  // assume raw vs logical coordinates shifted but not scaled.
             ry = RAW_Y_POSITION(seg_dest[Y_AXIS]);
 
-      do {  // for each mesh cell encountered during the move
+      for(;;) {  // for each mesh cell encountered during the move
 
         // Compute mesh cell invariants that remain constant for all segments within cell.
         // Note for cell index, if point is outside the mesh grid (in MESH_INSET perimeter)
@@ -606,19 +606,19 @@
         cell_xi = constrain(cell_xi, 0, (GRID_MAX_POINTS_X) - 1);
         cell_yi = constrain(cell_yi, 0, (GRID_MAX_POINTS_Y) - 1);
 
-        const float x0 = pgm_read_float(&(ubl.mesh_index_to_xpos[cell_xi  ])),  // 64 byte table lookup avoids mul+add
-                    y0 = pgm_read_float(&(ubl.mesh_index_to_ypos[cell_yi  ])),  // 64 byte table lookup avoids mul+add
-                    x1 = pgm_read_float(&(ubl.mesh_index_to_xpos[cell_xi+1])),  // 64 byte table lookup avoids mul+add
-                    y1 = pgm_read_float(&(ubl.mesh_index_to_ypos[cell_yi+1]));  // 64 byte table lookup avoids mul+add
+        const float x0 = pgm_read_float(&(mesh_index_to_xpos[cell_xi  ])),  // 64 byte table lookup avoids mul+add
+                    y0 = pgm_read_float(&(mesh_index_to_ypos[cell_yi  ])),  // 64 byte table lookup avoids mul+add
+                    x1 = pgm_read_float(&(mesh_index_to_xpos[cell_xi+1])),  // 64 byte table lookup avoids mul+add
+                    y1 = pgm_read_float(&(mesh_index_to_ypos[cell_yi+1]));  // 64 byte table lookup avoids mul+add
 
         float cx = rx - x0,   // cell-relative x
               cy = ry - y0,   // cell-relative y
-              z_x0y0 = ubl.z_values[cell_xi  ][cell_yi  ],  // z at lower left corner
-              z_x1y0 = ubl.z_values[cell_xi+1][cell_yi  ],  // z at upper left corner
-              z_x0y1 = ubl.z_values[cell_xi  ][cell_yi+1],  // z at lower right corner
-              z_x1y1 = ubl.z_values[cell_xi+1][cell_yi+1];  // z at upper right corner
+              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
 
-        if (isnan(z_x0y0)) z_x0y0 = 0;              // ideally activating ubl.state.active (G29 A)
+        if (isnan(z_x0y0)) z_x0y0 = 0;              // ideally activating state.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
@@ -642,7 +642,7 @@
         const float z_sxy0 = z_xmy0 * dx_seg,                                     // per-segment adjustment to z_cxy0
                     z_sxym = (z_xmy1 - z_xmy0) * (1.0 / (MESH_Y_DIST)) * dx_seg;  // per-segment adjustment to z_cxym
 
-        do {  // for all segments within this mesh cell
+        for(;;) {  // for all segments within this mesh cell
 
           float z_cxcy = z_cxy0 + z_cxym * cy;      // interpolated mesh z height along cx at cy
 
@@ -650,7 +650,7 @@
             z_cxcy *= fade_scaling_factor;          // apply fade factor to interpolated mesh height
           #endif
 
-          z_cxcy += ubl.state.z_offset;             // add fixed mesh offset from G29 Z
+          z_cxcy += state.z_offset;             // add fixed mesh offset from G29 Z
 
           if (--segments == 0) {                    // if this is last segment, use ltarget for exact
             COPY_XYZE(seg_dest, ltarget);
@@ -681,9 +681,9 @@
           z_cxy0 += z_sxy0;   // adjust z_cxy0 by per-segment z_sxy0
           z_cxym += z_sxym;   // adjust z_cxym by per-segment z_sxym
 
-        } while (true);   // per-segment loop exits by break after last segment within cell, or by return on final segment
-      } while (true);   // per-cell loop
-    }                 // end of function
+        } // segment loop
+      } // cell loop
+    }
 
   #endif // UBL_DELTA