Adjust axis homed / trusted methods (#20323)

Marlin/src/gcode/calibrate/G28.cpp

 
     #endif
 
-    const float z_homing_height =
-      ENABLED(UNKNOWN_Z_NO_RAISE) && !TEST(axis_known_position, Z_AXIS)
-        ? 0
-        : (parser.seenval('R') ? parser.value_linear_units() : Z_HOMING_HEIGHT);
+    const float z_homing_height = TERN1(UNKNOWN_Z_NO_RAISE, axis_is_trusted(Z_AXIS))
+                                  ? (parser.seenval('R') ? parser.value_linear_units() : Z_HOMING_HEIGHT)
+                                  : 0;
 
     if (z_homing_height && (doX || doY || TERN0(Z_SAFE_HOMING, doZ))) {
       // Raise Z before homing any other axes and z is not already high enough (never lower z)
       if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Raise Z (before homing) by ", z_homing_height);
-      do_z_clearance(z_homing_height, true, DISABLED(UNKNOWN_Z_NO_RAISE));
+      do_z_clearance(z_homing_height, axis_is_trusted(Z_AXIS), DISABLED(UNKNOWN_Z_NO_RAISE));
     }
 
     #if ENABLED(QUICK_HOME)

Marlin/src/gcode/calibrate/G34.cpp

 void GcodeSuite::G34() {
 
   // Home before the alignment procedure
-  if (!all_axes_known()) home_all_axes();
+  if (!all_axes_trusted()) home_all_axes();
 
   SET_SOFT_ENDSTOP_LOOSE(true);
   TEMPORARY_BED_LEVELING_STATE(false);

Marlin/src/gcode/calibrate/G34_M422.cpp

       );
 
       // Home before the alignment procedure
-      if (!all_axes_known()) home_all_axes();
+      if (!all_axes_trusted()) home_all_axes();
 
       // Move the Z coordinate realm towards the positive - dirty trick
       current_position.z += z_probe * 0.5f;

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

 
   #if ENABLED(HOME_BEFORE_FILAMENT_CHANGE)
     // If needed, home before parking for filament change
-    if (!all_axes_known()) home_all_axes();
+    if (!all_axes_trusted()) home_all_axes();
   #endif
 
   #if HAS_MULTI_EXTRUDER

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

 void GcodeSuite::M701() {
   xyz_pos_t park_point = NOZZLE_PARK_POINT;
 
-  #if ENABLED(NO_MOTION_BEFORE_HOMING)
-    // Don't raise Z if the machine isn't homed
-    if (axes_should_home()) park_point.z = 0;
-  #endif
+  // Don't raise Z if the machine isn't homed
+  if (TERN0(NO_MOTION_BEFORE_HOMING, axes_should_home())) park_point.z = 0;
 
   #if ENABLED(MIXING_EXTRUDER)
     const int8_t target_e_stepper = get_target_e_stepper_from_command();
 void GcodeSuite::M702() {
   xyz_pos_t park_point = NOZZLE_PARK_POINT;
 
-  #if ENABLED(NO_MOTION_BEFORE_HOMING)
-    // Don't raise Z if the machine isn't homed
-    if (axes_should_home()) park_point.z = 0;
-  #endif
+  // Don't raise Z if the machine isn't homed
+  if (TERN0(NO_MOTION_BEFORE_HOMING, axes_should_home())) park_point.z = 0;
 
   #if ENABLED(MIXING_EXTRUDER)
     const uint8_t old_mixing_tool = mixer.get_current_vtool();

Marlin/src/lcd/HD44780/marlinui_HD44780.cpp

   lcd_put_wchar('X' + uint8_t(axis));
   if (blink)
     lcd_put_u8str(value);
-  else {
-    if (!TEST(axis_homed, axis))
-      while (const char c = *value++) lcd_put_wchar(c <= '.' ? c : '?');
-    else {
-      #if NONE(HOME_AFTER_DEACTIVATE, DISABLE_REDUCED_ACCURACY_WARNING)
-        if (!TEST(axis_known_position, axis))
-          lcd_put_u8str_P(axis == Z_AXIS ? PSTR("       ") : PSTR("    "));
-        else
-      #endif
-          lcd_put_u8str(value);
-    }
-  }
+  else if (axis_should_home(axis))
+    while (const char c = *value++) lcd_put_wchar(c <= '.' ? c : '?');
+  else if (NONE(HOME_AFTER_DEACTIVATE, DISABLE_REDUCED_ACCURACY_WARNING) && !axis_is_trusted(axis))
+    lcd_put_u8str_P(axis == Z_AXIS ? PSTR("       ") : PSTR("    "));
+  else
+    lcd_put_u8str(value);
 }
 
 FORCE_INLINE void _draw_heater_status(const heater_id_t heater_id, const char prefix, const bool blink) {

Marlin/src/lcd/TFTGLCD/marlinui_TFTGLCD.cpp

   lcd.write('X' + uint8_t(axis));
   if (blink)
     lcd.print(value);
-  else {
-    if (!TEST(axis_homed, axis))
-      while (const char c = *value++) lcd.write(c <= '.' ? c : '?');
-    else {
-      #if NONE(HOME_AFTER_DEACTIVATE, DISABLE_REDUCED_ACCURACY_WARNING)
-        if (!TEST(axis_known_position, axis))
-          lcd_put_u8str_P(axis == Z_AXIS ? PSTR("       ") : PSTR("    "));
-        else
-      #endif
-          lcd_put_u8str(value);
-    }
-  }
+  else if (axis_should_home(axis))
+    while (const char c = *value++) lcd.write(c <= '.' ? c : '?');
+  else if (NONE(HOME_AFTER_DEACTIVATE, DISABLE_REDUCED_ACCURACY_WARNING) && !axis_is_trusted(axis))
+    lcd_put_u8str_P(axis == Z_AXIS ? PSTR("       ") : PSTR("    "));
+  else
+    lcd_put_u8str(value);
 }
 
 FORCE_INLINE void _draw_heater_status(const heater_id_t heater_id, const char *prefix, const bool blink) {

Marlin/src/lcd/dogm/status_screen_DOGM.cpp

 
   if (blink)
     lcd_put_u8str(value);
-  else {
-    if (!TEST(axis_homed, axis))
-      while (const char c = *value++) lcd_put_wchar(c <= '.' ? c : '?');
-    else {
-      #if NONE(HOME_AFTER_DEACTIVATE, DISABLE_REDUCED_ACCURACY_WARNING)
-        if (!TEST(axis_known_position, axis))
-          lcd_put_u8str_P(axis == Z_AXIS ? PSTR("       ") : PSTR("    "));
-        else
-      #endif
-          lcd_put_u8str(value);
-    }
-  }
+  else if (axis_should_home(axis))
+    while (const char c = *value++) lcd_put_wchar(c <= '.' ? c : '?');
+  else if (NONE(HOME_AFTER_DEACTIVATE, DISABLE_REDUCED_ACCURACY_WARNING) && !axis_is_trusted(axis))
+    lcd_put_u8str_P(axis == Z_AXIS ? PSTR("       ") : PSTR("    "));
+  else
+    lcd_put_u8str(value);
 }
 
 /**

Marlin/src/lcd/dogm/status_screen_lite_ST7920.cpp

   #endif
 }
 
-void ST7920_Lite_Status_Screen::draw_position(const xyze_pos_t &pos, const bool position_known) {
+void ST7920_Lite_Status_Screen::draw_position(const xyze_pos_t &pos, const bool position_trusted) {
   char str[7];
   set_ddram_address(DDRAM_LINE_4);
   begin_data();
 
   // If position is unknown, flash the labels.
-  const unsigned char alt_label = position_known ? 0 : (ui.get_blink() ? ' ' : 0);
+  const unsigned char alt_label = position_trusted ? 0 : (ui.get_blink() ? ' ' : 0);
 
   if (TERN1(LCD_SHOW_E_TOTAL, !printingIsActive())) {
     write_byte(alt_label ? alt_label : 'X');
       }
     }
 
-    if (countdown == 0 && (forceUpdate || position_changed()
-      || TERN(DISABLE_REDUCED_ACCURACY_WARNING, 0, blink_changed())
-    )) draw_position(current_position, TERN(DISABLE_REDUCED_ACCURACY_WARNING, 1, all_axes_known()));
+    if (countdown == 0 && (forceUpdate || position_changed() || TERN(DISABLE_REDUCED_ACCURACY_WARNING, 0, blink_changed())))
+      draw_position(current_position, TERN(DISABLE_REDUCED_ACCURACY_WARNING, 1, all_axes_trusted()));
   #endif
 }
 
 
     UNUSED(forceUpdate);
 
-  #endif // LCD_SET_PROGRESS_MANUALLY || SDSUPPORT
+  #endif
 }
 
 void ST7920_Lite_Status_Screen::update(const bool forceUpdate) {

Marlin/src/lcd/dwin/e3v2/dwin.cpp

       last_zoffset = dwin_zoffset;
       dwin_zoffset = HMI_ValueStruct.offset_value / 100.0f;
       #if EITHER(BABYSTEP_ZPROBE_OFFSET, JUST_BABYSTEP)
-        if ( (ENABLED(BABYSTEP_WITHOUT_HOMING) || all_axes_known()) && (ENABLED(BABYSTEP_ALWAYS_AVAILABLE) || printer_busy()) )
-          babystep.add_mm(Z_AXIS, dwin_zoffset - last_zoffset);
+        if (BABYSTEP_ALLOWED()) babystep.add_mm(Z_AXIS, dwin_zoffset - last_zoffset);
       #endif
       DWIN_Draw_Signed_Float(font8x16, Select_Color, 2, 2, 202, MBASE(zoff_line), HMI_ValueStruct.offset_value);
       DWIN_UpdateLCD();

Marlin/src/lcd/extui/ui_api.cpp

   bool canMove(const axis_t axis) {
     switch (axis) {
       #if IS_KINEMATIC || ENABLED(NO_MOTION_BEFORE_HOMING)
-        case X: return TEST(axis_homed, X_AXIS);
-        case Y: return TEST(axis_homed, Y_AXIS);
-        case Z: return TEST(axis_homed, Z_AXIS);
+        case X: return axis_should_home(X_AXIS);
+        case Y: return axis_should_home(Y_AXIS);
+        case Z: return axis_should_home(Z_AXIS);
       #else
         case X: case Y: case Z: return true;
       #endif
 
   bool commandsInQueue() { return (planner.movesplanned() || queue.has_commands_queued()); }
 
-  bool isAxisPositionKnown(const axis_t axis) { return TEST(axis_known_position, axis); }
-  bool isAxisPositionKnown(const extruder_t) { return TEST(axis_known_position, E_AXIS); }
-  bool isPositionKnown() { return all_axes_known(); }
+  bool isAxisPositionKnown(const axis_t axis) { return axis_is_trusted((AxisEnum)axis); }
+  bool isAxisPositionKnown(const extruder_t) { return axis_is_trusted(E_AXIS); }
+  bool isPositionKnown() { return all_axes_trusted(); }
   bool isMachineHomed() { return all_axes_homed(); }
 
   PGM_P getFirmwareName_str() {

Marlin/src/lcd/menu/menu.cpp

           doubleclick_expire_ms = millis() + DOUBLECLICK_MAX_INTERVAL;
       }
       else if (screen == status_screen && currentScreen == menu_main && PENDING(millis(), doubleclick_expire_ms)) {
-        if ( (ENABLED(BABYSTEP_WITHOUT_HOMING) || all_axes_known())
-          && (ENABLED(BABYSTEP_ALWAYS_AVAILABLE) || printer_busy()) )
+        if (BABYSTEP_ALLOWED())
           screen = TERN(BABYSTEP_ZPROBE_OFFSET, lcd_babystep_zoffset, lcd_babystep_z);
         else {
           #if ENABLED(MOVE_Z_WHEN_IDLE)

Marlin/src/lcd/menu/menu_bed_corners.cpp

 
 void _lcd_level_bed_corners() {
   ui.defer_status_screen();
-  if (!all_axes_known()) {
+  if (!all_axes_trusted()) {
     set_all_unhomed();
     queue.inject_P(G28_STR);
   }

Marlin/src/lcd/menu/menu_bed_leveling.cpp

  *    Save Settings       (Req: EEPROM_SETTINGS)
  */
 void menu_bed_leveling() {
-  const bool is_homed = all_axes_known(),
+  const bool is_homed = all_axes_trusted(),
              is_valid = leveling_is_valid();
 
   START_MENU();

Marlin/src/lcd/menu/menu_configuration.cpp

   void menu_tool_offsets() {
 
     auto _recalc_offsets = []{
-      if (active_extruder && all_axes_known()) {  // For the 2nd extruder re-home so the next tool-change gets the new offsets.
+      if (active_extruder && all_axes_trusted()) {  // For the 2nd extruder re-home so the next tool-change gets the new offsets.
         queue.inject_P(G28_STR); // In future, we can babystep the 2nd extruder (if active), making homing unnecessary.
         active_extruder = 0;
       }

Marlin/src/lcd/menu/menu_ubl.cpp

  */
 void _ubl_goto_map_screen() {
   if (planner.movesplanned()) return;     // The ACTION_ITEM will do nothing
-  if (!all_axes_known()) {
+  if (!all_axes_trusted()) {
     set_all_unhomed();
     queue.inject_P(G28_STR);
   }

Marlin/src/lcd/tft/ui_320x240.cpp

   tft.set_background(COLOR_BACKGROUND);
   tft.add_rectangle(0, 0, 312, 24, COLOR_AXIS_HOMED);
 
-  uint16_t color;
-  uint16_t offset;
-  bool is_homed;
-
   tft.add_text( 10, 3, COLOR_AXIS_HOMED , "X");
   tft.add_text(127, 3, COLOR_AXIS_HOMED , "Y");
   tft.add_text(219, 3, COLOR_AXIS_HOMED , "Z");
 
-  is_homed = TEST(axis_homed, X_AXIS);
-  tft_string.set(blink & !is_homed ? "?" : ftostr4sign(LOGICAL_X_POSITION(current_position.x)));
-  tft.add_text( 68 - tft_string.width(), 3, is_homed ? COLOR_AXIS_HOMED : COLOR_AXIS_NOT_HOMED, tft_string);
+  bool not_homed = axis_should_home(X_AXIS);
+  tft_string.set(blink && not_homed ? "?" : ftostr4sign(LOGICAL_X_POSITION(current_position.x)));
+  tft.add_text( 68 - tft_string.width(), 3, not_homed ? COLOR_AXIS_NOT_HOMED : COLOR_AXIS_HOMED, tft_string);
 
-  is_homed = TEST(axis_homed, Y_AXIS);
-  tft_string.set(blink & !is_homed ? "?" : ftostr4sign(LOGICAL_Y_POSITION(current_position.y)));
-  tft.add_text(185 - tft_string.width(), 3, is_homed ? COLOR_AXIS_HOMED : COLOR_AXIS_NOT_HOMED, tft_string);
+  not_homed = axis_should_home(Y_AXIS);
+  tft_string.set(blink && not_homed ? "?" : ftostr4sign(LOGICAL_Y_POSITION(current_position.y)));
+  tft.add_text(185 - tft_string.width(), 3, not_homed ? COLOR_AXIS_NOT_HOMED : COLOR_AXIS_HOMED, tft_string);
 
-  is_homed = TEST(axis_homed, Z_AXIS);
-  if (blink & !is_homed) {
+  not_homed = axis_should_home(Z_AXIS);
+  uint16_t offset = 25;
+  if (blink && not_homed)
     tft_string.set("?");
-    offset = 25; // ".00"
-  }
   else {
     const float z = LOGICAL_Z_POSITION(current_position.z);
     tft_string.set(ftostr52sp((int16_t)z));
     tft_string.rtrim();
-    offset = tft_string.width();
+    offset += tft_string.width();
 
     tft_string.set(ftostr52sp(z));
-    offset += 25 - tft_string.width();
+    offset -= tft_string.width();
   }
-  tft.add_text(301 - tft_string.width() - offset, 3, is_homed ? COLOR_AXIS_HOMED : COLOR_AXIS_NOT_HOMED, tft_string);
+  tft.add_text(301 - tft_string.width() - offset, 3, not_homed ? COLOR_AXIS_NOT_HOMED : COLOR_AXIS_HOMED, tft_string);
 
   // feed rate
   tft.canvas(70, 136, 80, 32);
   tft.set_background(COLOR_BACKGROUND);
-  color = feedrate_percentage == 100 ? COLOR_RATE_100 : COLOR_RATE_ALTERED;
+  uint16_t color = feedrate_percentage == 100 ? COLOR_RATE_100 : COLOR_RATE_ALTERED;
   tft.add_image(0, 0, imgFeedRate, color);
   tft_string.set(i16tostr3rj(feedrate_percentage));
   tft_string.add('%');

Marlin/src/lcd/tft/ui_480x320.cpp

   tft.set_background(COLOR_BACKGROUND);
   tft.add_rectangle(0, 0, TFT_WIDTH - 8, 34, COLOR_AXIS_HOMED);
 
-  uint16_t color;
-  uint16_t offset;
-  bool is_homed;
-
   tft.add_text( 16, 3, COLOR_AXIS_HOMED , "X");
   tft.add_text(192, 3, COLOR_AXIS_HOMED , "Y");
   tft.add_text(330, 3, COLOR_AXIS_HOMED , "Z");
 
-  is_homed = TEST(axis_homed, X_AXIS);
-  tft_string.set(blink & !is_homed ? "?" : ftostr4sign(LOGICAL_X_POSITION(current_position.x)));
-  tft.add_text(102 - tft_string.width(), 3, is_homed ? COLOR_AXIS_HOMED : COLOR_AXIS_NOT_HOMED, tft_string);
+  bool not_homed = axis_should_home(X_AXIS);
+  tft_string.set(blink && not_homed ? "?" : ftostr4sign(LOGICAL_X_POSITION(current_position.x)));
+  tft.add_text(102 - tft_string.width(), 3, not_homed ? COLOR_AXIS_NOT_HOMED : COLOR_AXIS_HOMED, tft_string);
 
-  is_homed = TEST(axis_homed, Y_AXIS);
-  tft_string.set(blink & !is_homed ? "?" : ftostr4sign(LOGICAL_Y_POSITION(current_position.y)));
-  tft.add_text(280 - tft_string.width(), 3, is_homed ? COLOR_AXIS_HOMED : COLOR_AXIS_NOT_HOMED, tft_string);
+  not_homed = axis_should_home(Y_AXIS);
+  tft_string.set(blink && not_homed ? "?" : ftostr4sign(LOGICAL_Y_POSITION(current_position.y)));
+  tft.add_text(280 - tft_string.width(), 3, not_homed ? COLOR_AXIS_NOT_HOMED : COLOR_AXIS_HOMED, tft_string);
 
-  is_homed = TEST(axis_homed, Z_AXIS);
-  if (blink & !is_homed) {
+  uint16_t offset = 32;
+  not_homed = axis_should_home(Z_AXIS);
+  if (blink && not_homed)
     tft_string.set("?");
-    offset = 32; // ".00"
-  }
   else {
     const float z = LOGICAL_Z_POSITION(current_position.z);
     tft_string.set(ftostr52sp((int16_t)z));
     tft_string.rtrim();
-    offset = tft_string.width();
+    offset += tft_string.width();
 
     tft_string.set(ftostr52sp(z));
-    offset += 32 - tft_string.width();
+    offset -= tft_string.width();
   }
-  tft.add_text(455 - tft_string.width() - offset, 3, is_homed ? COLOR_AXIS_HOMED : COLOR_AXIS_NOT_HOMED, tft_string);
+  tft.add_text(455 - tft_string.width() - offset, 3, not_homed ? COLOR_AXIS_NOT_HOMED : COLOR_AXIS_HOMED, tft_string);
   TERN_(TOUCH_SCREEN, touch.add_control(MOVE_AXIS, 4, 132, TFT_WIDTH - 8, 34));
 
   // feed rate
   tft.canvas(96, 180, 100, 32);
   tft.set_background(COLOR_BACKGROUND);
-  color = feedrate_percentage == 100 ? COLOR_RATE_100 : COLOR_RATE_ALTERED;
+  uint16_t color = feedrate_percentage == 100 ? COLOR_RATE_100 : COLOR_RATE_ALTERED;
   tft.add_image(0, 0, imgFeedRate, color);
   tft_string.set(i16tostr3rj(feedrate_percentage));
   tft_string.add('%');

Marlin/src/module/motion.cpp

  *   Flags that each linear axis was homed.
  *   XYZ on cartesian, ABC on delta, ABZ on SCARA.
  *
- * axis_known_position
- *   Flags that the position is known in each linear axis. Set when homed.
+ * axis_trusted
+ *   Flags that the position is trusted in each linear axis. Set when homed.
  *   Cleared whenever a stepper powers off, potentially losing its position.
  */
-uint8_t axis_homed, axis_known_position; // = 0
+uint8_t axis_homed, axis_trusted; // = 0
 
 // Relative Mode. Enable with G91, disable with G90.
 bool relative_mode; // = false;
   do_blocking_move_to(raw.x, raw.y, z, fr_mm_s);
 }
 
-void do_z_clearance(const float &zclear, const bool z_known/*=true*/, const bool raise_on_unknown/*=true*/, const bool lower_allowed/*=false*/) {
-  const bool rel = raise_on_unknown && !z_known;
+void do_z_clearance(const float &zclear, const bool z_trusted/*=true*/, const bool raise_on_untrusted/*=true*/, const bool lower_allowed/*=false*/) {
+  const bool rel = raise_on_untrusted && !z_trusted;
   float zdest = zclear + (rel ? current_position.z : 0.0f);
   if (!lower_allowed) NOLESS(zdest, current_position.z);
   do_blocking_move_to_z(_MIN(zdest, Z_MAX_POS), MMM_TO_MMS(TERN(HAS_BED_PROBE, Z_PROBE_SPEED_FAST, HOMING_FEEDRATE_Z)));
         constexpr xy_pos_t offs{0};
       #endif
 
-      if (TERN1(IS_SCARA, TEST(axis_homed, X_AXIS) && TEST(axis_homed, Y_AXIS))) {
+      if (TERN1(IS_SCARA, axis_was_homed(X_AXIS) && axis_was_homed(Y_AXIS))) {
         const float dist_2 = HYPOT2(target.x - offs.x, target.y - offs.y);
         if (dist_2 > delta_max_radius_2)
           target *= float(delta_max_radius / SQRT(dist_2)); // 200 / 300 = 0.66
 
     #else
 
-      if (TEST(axis_homed, X_AXIS)) {
+      if (axis_was_homed(X_AXIS)) {
         #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_X)
           NOLESS(target.x, soft_endstop.min.x);
         #endif
         #endif
       }
 
-      if (TEST(axis_homed, Y_AXIS)) {
+      if (axis_was_homed(Y_AXIS)) {
         #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_Y)
           NOLESS(target.y, soft_endstop.min.y);
         #endif
 
     #endif
 
-    if (TEST(axis_homed, Z_AXIS)) {
+    if (axis_was_homed(Z_AXIS)) {
       #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_Z)
         NOLESS(target.z, soft_endstop.min.z);
       #endif
 }
 
 uint8_t axes_should_home(uint8_t axis_bits/*=0x07*/) {
+  #define SHOULD_HOME(A) TERN(HOME_AFTER_DEACTIVATE, axis_is_trusted, axis_was_homed)(A)
   // Clear test bits that are trusted
-  if (TEST(axis_bits, X_AXIS) && TEST(axis_homed, X_AXIS)) CBI(axis_bits, X_AXIS);
-  if (TEST(axis_bits, Y_AXIS) && TEST(axis_homed, Y_AXIS)) CBI(axis_bits, Y_AXIS);
-  if (TEST(axis_bits, Z_AXIS) && TEST(axis_homed, Z_AXIS)) CBI(axis_bits, Z_AXIS);
+  if (TEST(axis_bits, X_AXIS) && SHOULD_HOME(X_AXIS)) CBI(axis_bits, X_AXIS);
+  if (TEST(axis_bits, Y_AXIS) && SHOULD_HOME(Y_AXIS)) CBI(axis_bits, Y_AXIS);
+  if (TEST(axis_bits, Z_AXIS) && SHOULD_HOME(Z_AXIS)) CBI(axis_bits, Z_AXIS);
   return axis_bits;
 }
 
  *
  * DELTA should wait until all homing is done before setting the XYZ
  * current_position to home, because homing is a single operation.
- * In the case where the axis positions are already known and previously
+ * In the case where the axis positions are trusted and previously
  * homed, DELTA could home to X or Y individually by moving either one
  * to the center. However, homing Z always homes XY and Z.
  *
 void set_axis_is_at_home(const AxisEnum axis) {
   if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR(">>> set_axis_is_at_home(", axis_codes[axis], ")");
 
-  SBI(axis_known_position, axis);
-  SBI(axis_homed, axis);
+  set_axis_trusted(axis);
+  set_axis_homed(axis);
 
   #if ENABLED(DUAL_X_CARRIAGE)
     if (axis == X_AXIS && (active_extruder == 1 || dual_x_carriage_mode == DXC_DUPLICATION_MODE)) {
 void set_axis_never_homed(const AxisEnum axis) {
   if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR(">>> set_axis_never_homed(", axis_codes[axis], ")");
 
-  CBI(axis_known_position, axis);
-  CBI(axis_homed, axis);
+  set_axis_untrusted(axis);
+  set_axis_unhomed(axis);
 
   if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("<<< set_axis_never_homed(", axis_codes[axis], ")");
 

Marlin/src/module/motion.h

   #include "scara.h"
 #endif
 
-// Axis homed and known-position states
-extern uint8_t axis_homed, axis_known_position;
-constexpr uint8_t xyz_bits = _BV(X_AXIS) | _BV(Y_AXIS) | _BV(Z_AXIS);
-FORCE_INLINE bool no_axes_homed() { return !axis_homed; }
-FORCE_INLINE bool all_axes_homed() { return (axis_homed & xyz_bits) == xyz_bits; }
-FORCE_INLINE bool all_axes_known() { return (axis_known_position & xyz_bits) == xyz_bits; }
-FORCE_INLINE void set_all_homed() { axis_homed = axis_known_position = xyz_bits; }
-FORCE_INLINE void set_all_unhomed() { axis_homed = axis_known_position = 0; }
-
-FORCE_INLINE bool homing_needed() {
-  return !TERN(HOME_AFTER_DEACTIVATE, all_axes_known, all_axes_homed)();
-}
-
 // Error margin to work around float imprecision
 constexpr float fslop = 0.0001;
 
 void remember_feedrate_scaling_off();
 void restore_feedrate_and_scaling();
 
-void do_z_clearance(const float &zclear, const bool z_known=true, const bool raise_on_unknown=true, const bool lower_allowed=false);
+void do_z_clearance(const float &zclear, const bool z_trusted=true, const bool raise_on_untrusted=true, const bool lower_allowed=false);
+
+/**
+ * Homing and Trusted Axes
+ */
+constexpr uint8_t xyz_bits = _BV(X_AXIS) | _BV(Y_AXIS) | _BV(Z_AXIS);
+extern uint8_t axis_homed, axis_trusted;
 
-//
-// Homing
-//
 void homeaxis(const AxisEnum axis);
 void set_axis_is_at_home(const AxisEnum axis);
 void set_axis_never_homed(const AxisEnum axis);
 uint8_t axes_should_home(uint8_t axis_bits=0x07);
 bool homing_needed_error(uint8_t axis_bits=0x07);
 
+FORCE_INLINE bool axis_was_homed(const AxisEnum axis)     { return TEST(axis_homed, axis); }
+FORCE_INLINE bool axis_is_trusted(const AxisEnum axis)    { return TEST(axis_trusted, axis); }
+FORCE_INLINE bool axis_should_home(const AxisEnum axis)   { return (axes_should_home() & _BV(axis)) != 0; }
+FORCE_INLINE bool no_axes_homed()                         { return !axis_homed; }
+FORCE_INLINE bool all_axes_homed()                        { return xyz_bits == (axis_homed & xyz_bits); }
+FORCE_INLINE bool homing_needed()                         { return !all_axes_homed(); }
+FORCE_INLINE bool all_axes_trusted()                      { return xyz_bits == (axis_trusted & xyz_bits); }
+FORCE_INLINE void set_axis_homed(const AxisEnum axis)     { SBI(axis_homed, axis); }
+FORCE_INLINE void set_axis_unhomed(const AxisEnum axis)   { CBI(axis_homed, axis); }
+FORCE_INLINE void set_axis_trusted(const AxisEnum axis)   { SBI(axis_trusted, axis); }
+FORCE_INLINE void set_axis_untrusted(const AxisEnum axis) { CBI(axis_trusted, axis); }
+FORCE_INLINE void set_all_homed()                         { axis_homed = axis_trusted = xyz_bits; }
+FORCE_INLINE void set_all_unhomed()                       { axis_homed = axis_trusted = 0; }
+
 #if ENABLED(NO_MOTION_BEFORE_HOMING)
   #define MOTION_CONDITIONS (IsRunning() && !homing_needed_error())
 #else
   #define MOTION_CONDITIONS IsRunning()
 #endif
 
+#define BABYSTEP_ALLOWED() ((ENABLED(BABYSTEP_WITHOUT_HOMING) || all_axes_trusted()) && (ENABLED(BABYSTEP_ALWAYS_AVAILABLE) || printer_busy()))
+
 /**
  * Workspace offsets
  */

Marlin/src/module/probe.cpp

 
   // For beds that fall when Z is powered off only raise for trusted Z
   #if ENABLED(UNKNOWN_Z_NO_RAISE)
-    const bool unknown_condition = TEST(axis_known_position, Z_AXIS);
+    const bool unknown_condition = axis_is_trusted(Z_AXIS);
   #else
     constexpr float unknown_condition = true;
   #endif
 
   // Stop the probe before it goes too low to prevent damage.
   // If Z isn't known then probe to -10mm.
-  const float z_probe_low_point = TEST(axis_known_position, Z_AXIS) ? -offset.z + Z_PROBE_LOW_POINT : -10.0;
+  const float z_probe_low_point = axis_is_trusted(Z_AXIS) ? -offset.z + Z_PROBE_LOW_POINT : -10.0;
 
   // Double-probing does a fast probe followed by a slow probe
   #if TOTAL_PROBING == 2

Marlin/src/module/stepper/indirection.h

 #endif
 
 #define  ENABLE_AXIS_X() if (SHOULD_ENABLE(x))  {  ENABLE_STEPPER_X();  ENABLE_STEPPER_X2(); AFTER_CHANGE(x, true); }
-#define DISABLE_AXIS_X() if (SHOULD_DISABLE(x)) { DISABLE_STEPPER_X(); DISABLE_STEPPER_X2(); AFTER_CHANGE(x, false); FORGET_AXIS(X_AXIS); }
+#define DISABLE_AXIS_X() if (SHOULD_DISABLE(x)) { DISABLE_STEPPER_X(); DISABLE_STEPPER_X2(); AFTER_CHANGE(x, false); set_axis_untrusted(X_AXIS); }
 #define  ENABLE_AXIS_Y() if (SHOULD_ENABLE(y))  {  ENABLE_STEPPER_Y();  ENABLE_STEPPER_Y2(); AFTER_CHANGE(y, true); }
-#define DISABLE_AXIS_Y() if (SHOULD_DISABLE(y)) { DISABLE_STEPPER_Y(); DISABLE_STEPPER_Y2(); AFTER_CHANGE(y, false); FORGET_AXIS(Y_AXIS); }
+#define DISABLE_AXIS_Y() if (SHOULD_DISABLE(y)) { DISABLE_STEPPER_Y(); DISABLE_STEPPER_Y2(); AFTER_CHANGE(y, false); set_axis_untrusted(Y_AXIS); }
 #define  ENABLE_AXIS_Z() if (SHOULD_ENABLE(z))  {  ENABLE_STEPPER_Z();  ENABLE_STEPPER_Z2();  ENABLE_STEPPER_Z3();  ENABLE_STEPPER_Z4(); AFTER_CHANGE(z, true); }
-#define DISABLE_AXIS_Z() if (SHOULD_DISABLE(z)) { DISABLE_STEPPER_Z(); DISABLE_STEPPER_Z2(); DISABLE_STEPPER_Z3(); DISABLE_STEPPER_Z4(); AFTER_CHANGE(z, false); FORGET_AXIS(Z_AXIS); Z_RESET(); }
-
-#define FORGET_AXIS(A) TERN(HOME_AFTER_DEACTIVATE, set_axis_never_homed(A), CBI(axis_known_position, A))
+#define DISABLE_AXIS_Z() if (SHOULD_DISABLE(z)) { DISABLE_STEPPER_Z(); DISABLE_STEPPER_Z2(); DISABLE_STEPPER_Z3(); DISABLE_STEPPER_Z4(); AFTER_CHANGE(z, false); set_axis_untrusted(Z_AXIS); Z_RESET(); }
 
 #ifdef Z_AFTER_DEACTIVATE
   #define Z_RESET() do{ current_position.z = Z_AFTER_DEACTIVATE; sync_plan_position(); }while(0)