Encapsulate probe as singleton class (#16751)

Marlin/src/MarlinCore.cpp

@@ -977,7 +977,7 @@ void setup() {
   #endif
 
   #if HAS_Z_SERVO_PROBE
-    servo_probe_init();
+    probe.servo_probe_init();
   #endif
 
   #if HAS_PHOTOGRAPH

Marlin/src/core/utility.cpp

@@ -83,42 +83,42 @@ void safe_delay(millis_t ms) {
     #if HAS_BED_PROBE
 
       #if !HAS_PROBE_XY_OFFSET
-        SERIAL_ECHOPAIR("Probe Offset X0 Y0 Z", probe_offset.z, " (");
+        SERIAL_ECHOPAIR("Probe Offset X0 Y0 Z", probe.offset.z, " (");
       #else
-        SERIAL_ECHOPAIR_P(PSTR("Probe Offset X"), probe_offset.x, SP_Y_STR, probe_offset.y, SP_Z_STR, probe_offset.z);
-        if (probe_offset.x > 0)
+        SERIAL_ECHOPAIR_P(PSTR("Probe Offset X"), probe.offset_xy.x, SP_Y_STR, probe.offset_xy.y, SP_Z_STR, probe.offset.z);
+        if (probe.offset_xy.x > 0)
           SERIAL_ECHOPGM(" (Right");
-        else if (probe_offset.x < 0)
+        else if (probe.offset_xy.x < 0)
           SERIAL_ECHOPGM(" (Left");
-        else if (probe_offset.y != 0)
+        else if (probe.offset_xy.y != 0)
           SERIAL_ECHOPGM(" (Middle");
         else
           SERIAL_ECHOPGM(" (Aligned With");
 
-        if (probe_offset.y > 0) {
+        if (probe.offset_xy.y > 0) {
           #if IS_SCARA
             SERIAL_ECHOPGM("-Distal");
           #else
             SERIAL_ECHOPGM("-Back");
           #endif
         }
-        else if (probe_offset.y < 0) {
+        else if (probe.offset_xy.y < 0) {
           #if IS_SCARA
             SERIAL_ECHOPGM("-Proximal");
           #else
             SERIAL_ECHOPGM("-Front");
           #endif
         }
-        else if (probe_offset.x != 0)
+        else if (probe.offset_xy.x != 0)
           SERIAL_ECHOPGM("-Center");
 
         SERIAL_ECHOPGM(" & ");
 
       #endif
 
-      if (probe_offset.z < 0)
+      if (probe.offset.z < 0)
         SERIAL_ECHOPGM("Below");
-      else if (probe_offset.z > 0)
+      else if (probe.offset.z > 0)
         SERIAL_ECHOPGM("Above");
       else
         SERIAL_ECHOPGM("Same Z as");

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

@@ -173,10 +173,10 @@
       serialprintPGM(csv ? PSTR("CSV:\n") : PSTR("LCD:\n"));
     }
 
-    // Add XY probe offset from extruder because probe_at_point() subtracts them when
+    // Add XY probe offset from extruder because probe.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 xy_int8_t curr = closest_indexes(xy_pos_t(current_position) + probe_offset_xy);
+    const xy_int8_t curr = closest_indexes(xy_pos_t(current_position) + probe.offset_xy);
 
     if (!lcd) SERIAL_EOL();
     for (int8_t j = GRID_MAX_POINTS_Y - 1; j >= 0; j--) {

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

@@ -450,7 +450,7 @@
               SERIAL_ECHO(g29_pos.y);
               SERIAL_ECHOLNPGM(").\n");
             }
-            const xy_pos_t near = g29_pos + probe_offset_xy;
+            const xy_pos_t near = g29_pos + probe.offset_xy;
             probe_entire_mesh(near, parser.seen('T'), parser.seen('E'), parser.seen('U'));
 
             report_current_position();
@@ -480,8 +480,8 @@
                 #if IS_KINEMATIC
                   X_HOME_POS, Y_HOME_POS
                 #else
-                  probe_offset_xy.x > 0 ? X_BED_SIZE : 0,
-                  probe_offset_xy.y < 0 ? Y_BED_SIZE : 0
+                  probe.offset_xy.x > 0 ? X_BED_SIZE : 0,
+                  probe.offset_xy.y < 0 ? Y_BED_SIZE : 0
                 #endif
               );
             }
@@ -742,7 +742,7 @@
      * This attempts to fill in locations closest to the nozzle's start location first.
      */
     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) {
-      DEPLOY_PROBE(); // Deploy before ui.capture() to allow for PAUSE_BEFORE_DEPLOY_STOW
+      probe.deploy(); // Deploy before ui.capture() to allow for PAUSE_BEFORE_DEPLOY_STOW
 
       #if HAS_LCD_MENU
         ui.capture();
@@ -768,7 +768,7 @@
             ui.wait_for_release();
             ui.quick_feedback();
             ui.release();
-            STOW_PROBE(); // Release UI before stow to allow for PAUSE_BEFORE_DEPLOY_STOW
+            probe.stow(); // Release UI before stow to allow for PAUSE_BEFORE_DEPLOY_STOW
             return restore_ubl_active_state_and_leave();
           }
         #endif
@@ -778,7 +778,7 @@
           : find_closest_mesh_point_of_type(INVALID, near, true);
 
         if (best.pos.x >= 0) {    // mesh point found and is reachable by probe
-          const float measured_z = probe_at_point(
+          const float measured_z = probe.probe_at_point(
                         best.meshpos(),
                         stow_probe ? PROBE_PT_STOW : PROBE_PT_RAISE, g29_verbose_level
                       );
@@ -794,20 +794,20 @@
       #if HAS_LCD_MENU
         ui.release();
       #endif
-      STOW_PROBE(); // Release UI during stow to allow for PAUSE_BEFORE_DEPLOY_STOW
+      probe.stow(); // Release UI during stow to allow for PAUSE_BEFORE_DEPLOY_STOW
       #if HAS_LCD_MENU
         ui.capture();
       #endif
 
       #ifdef Z_AFTER_PROBING
-        move_z_after_probing();
+        probe.move_z_after_probing();
       #endif
 
       restore_ubl_active_state_and_leave();
 
       do_blocking_move_to_xy(
-        constrain(near.x - probe_offset_xy.x, MESH_MIN_X, MESH_MAX_X),
-        constrain(near.y - probe_offset_xy.y, MESH_MIN_Y, MESH_MAX_Y)
+        constrain(near.x - probe.offset_xy.x, MESH_MIN_X, MESH_MAX_X),
+        constrain(near.y - probe.offset_xy.y, MESH_MIN_Y, MESH_MAX_Y)
       );
     }
 
@@ -907,7 +907,7 @@
       ui.return_to_status();
 
       mesh_index_pair location;
-      xy_int8_t &lpos = location.pos;
+      const xy_int8_t &lpos = location.pos;
       do {
         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.
@@ -1006,7 +1006,7 @@
       #endif
 
       MeshFlags done_flags{0};
-      xy_int8_t &lpos = location.pos;
+      const xy_int8_t &lpos = location.pos;
       do {
         location = find_closest_mesh_point_of_type(SET_IN_BITMAP, pos, false, &done_flags);
 
@@ -1294,7 +1294,7 @@
     closest.distance = -99999.9f;
 
     // Get the reference position, either nozzle or probe
-    const xy_pos_t ref = probe_relative ? pos + probe_offset_xy : pos;
+    const xy_pos_t ref = probe_relative ? pos + probe.offset_xy : pos;
 
     float best_so_far = 99999.99f;
 
@@ -1393,13 +1393,13 @@
     #include "../../../libs/vector_3.h"
 
     void unified_bed_leveling::tilt_mesh_based_on_probed_grid(const bool do_3_pt_leveling) {
-      const float x_min = probe_min_x(), x_max = probe_max_x(),
-                  y_min = probe_min_y(), y_max = probe_max_y(),
+      const float x_min = probe.min_x(), x_max = probe.max_x(),
+                  y_min = probe.min_y(), y_max = probe.max_y(),
                   dx = (x_max - x_min) / (g29_grid_size - 1),
                   dy = (y_max - y_min) / (g29_grid_size - 1);
 
       xy_float_t points[3];
-      get_three_probe_points(points);
+      probe.get_three_points(points);
 
       float measured_z;
       bool abort_flag = false;
@@ -1417,7 +1417,7 @@
           ui.status_printf_P(0, PSTR(S_FMT " 1/3"), GET_TEXT(MSG_LCD_TILTING_MESH));
         #endif
 
-        measured_z = probe_at_point(points[0], PROBE_PT_RAISE, g29_verbose_level);
+        measured_z = probe.probe_at_point(points[0], PROBE_PT_RAISE, g29_verbose_level);
         if (isnan(measured_z))
           abort_flag = true;
         else {
@@ -1438,7 +1438,7 @@
             ui.status_printf_P(0, PSTR(S_FMT " 2/3"), GET_TEXT(MSG_LCD_TILTING_MESH));
           #endif
 
-          measured_z = probe_at_point(points[1], PROBE_PT_RAISE, g29_verbose_level);
+          measured_z = probe.probe_at_point(points[1], PROBE_PT_RAISE, g29_verbose_level);
           #ifdef VALIDATE_MESH_TILT
             z2 = measured_z;
           #endif
@@ -1460,7 +1460,7 @@
             ui.status_printf_P(0, PSTR(S_FMT " 3/3"), GET_TEXT(MSG_LCD_TILTING_MESH));
           #endif
 
-          measured_z = probe_at_point(points[2], PROBE_PT_STOW, g29_verbose_level);
+          measured_z = probe.probe_at_point(points[2], PROBE_PT_STOW, g29_verbose_level);
           #ifdef VALIDATE_MESH_TILT
             z3 = measured_z;
           #endif
@@ -1476,9 +1476,9 @@
           }
         }
 
-        STOW_PROBE();
+        probe.stow();
         #ifdef Z_AFTER_PROBING
-          move_z_after_probing();
+          probe.move_z_after_probing();
         #endif
 
         if (abort_flag) {
@@ -1504,7 +1504,7 @@
                 ui.status_printf_P(0, PSTR(S_FMT " %i/%i"), GET_TEXT(MSG_LCD_TILTING_MESH), point_num, total_points);
               #endif
 
-              measured_z = probe_at_point(rpos, parser.seen('E') ? PROBE_PT_STOW : PROBE_PT_RAISE, g29_verbose_level); // TODO: Needs error handling
+              measured_z = probe.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);
 
@@ -1523,7 +1523,7 @@
                 }
               #endif
 
-              measured_z -= get_z_correction(rpos) /* + probe_offset.z */ ;
+              measured_z -= get_z_correction(rpos) /* + probe.offset.z */ ;
 
               if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR_F("   final >>>---> ", measured_z, 7);
 
@@ -1540,9 +1540,9 @@
           zig_zag ^= true;
         }
       }
-      STOW_PROBE();
+      probe.stow();
       #ifdef Z_AFTER_PROBING
-        move_z_after_probing();
+        probe.move_z_after_probing();
       #endif
 
       if (abort_flag || finish_incremental_LSF(&lsf_results)) {
@@ -1728,7 +1728,7 @@
       adjust_mesh_to_mean(g29_c_flag, g29_constant);
 
       #if HAS_BED_PROBE
-        SERIAL_ECHOLNPAIR_F("Probe Offset M851 Z", probe_offset.z, 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/gcode/bedlevel/G42.cpp

@@ -27,7 +27,7 @@
 #include "../gcode.h"
 #include "../../MarlinCore.h" // for IsRunning()
 #include "../../module/motion.h"
-#include "../../module/probe.h" // for probe_offset
+#include "../../module/probe.h" // for probe.offset
 #include "../../feature/bedlevel/bedlevel.h"
 
 /**
@@ -53,8 +53,8 @@ void GcodeSuite::G42() {
 
     #if HAS_PROBE_XY_OFFSET
       if (parser.boolval('P')) {
-        if (hasI) destination.x -= probe_offset_xy.x;
-        if (hasJ) destination.y -= probe_offset_xy.y;
+        if (hasI) destination.x -= probe.offset_xy.x;
+        if (hasJ) destination.y -= probe.offset_xy.y;
       }
     #endif
 

Marlin/src/gcode/bedlevel/M420.cpp

@@ -64,8 +64,8 @@ void GcodeSuite::M420() {
 
   #if ENABLED(MARLIN_DEV_MODE)
     if (parser.intval('S') == 2) {
-      const float x_min = probe_min_x(), x_max = probe_max_x(),
-                  y_min = probe_min_y(), y_max = probe_max_y();
+      const float x_min = probe.min_x(), x_max = probe.max_x(),
+                  y_min = probe.min_y(), y_max = probe.max_y();
       #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
         bilinear_start.set(x_min, y_min);
         bilinear_grid_spacing.set((x_max - x_min) / (GRID_MAX_POINTS_X - 1),

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

@@ -269,7 +269,7 @@ G29_TYPE GcodeSuite::G29() {
     #endif
 
     vector_3 points[3];
-    get_three_probe_points(points);
+    probe.get_three_points(points);
 
   #endif // AUTO_BED_LEVELING_3POINT
 
@@ -392,8 +392,8 @@ G29_TYPE GcodeSuite::G29() {
 
       xy_probe_feedrate_mm_s = MMM_TO_MMS(parser.linearval('S', XY_PROBE_SPEED));
 
-      const float x_min = probe_min_x(), x_max = probe_max_x(),
-                  y_min = probe_min_y(), y_max = probe_max_y();
+      const float x_min = probe.min_x(), x_max = probe.max_x(),
+                  y_min = probe.min_y(), y_max = probe.max_y();
 
       if (parser.seen('H')) {
         const int16_t size = (int16_t)parser.value_linear_units();
@@ -452,7 +452,7 @@ G29_TYPE GcodeSuite::G29() {
 
     #if HAS_BED_PROBE
       // Deploy the probe. Probe will raise if needed.
-      if (DEPLOY_PROBE()) {
+      if (probe.deploy()) {
         set_bed_leveling_enabled(abl_should_enable);
         G29_RETURN(false);
       }
@@ -712,7 +712,7 @@ G29_TYPE GcodeSuite::G29() {
             ui.status_printf_P(0, PSTR(S_FMT " %i/%i"), GET_TEXT(MSG_PROBING_MESH), int(pt_index), int(GRID_MAX_POINTS));
           #endif
 
-          measured_z = faux ? 0.001f * random(-100, 101) : probe_at_point(probePos, raise_after, verbose_level);
+          measured_z = faux ? 0.001f * random(-100, 101) : probe.probe_at_point(probePos, raise_after, verbose_level);
 
           if (isnan(measured_z)) {
             set_bed_leveling_enabled(abl_should_enable);
@@ -764,7 +764,7 @@ G29_TYPE GcodeSuite::G29() {
 
         // Retain the last probe position
         probePos = points[i];
-        measured_z = faux ? 0.001 * random(-100, 101) : probe_at_point(probePos, raise_after, verbose_level);
+        measured_z = faux ? 0.001 * random(-100, 101) : probe.probe_at_point(probePos, raise_after, verbose_level);
         if (isnan(measured_z)) {
           set_bed_leveling_enabled(abl_should_enable);
           break;
@@ -788,7 +788,7 @@ G29_TYPE GcodeSuite::G29() {
     #endif
 
     // Stow the probe. No raise for FIX_MOUNTED_PROBE.
-    if (STOW_PROBE()) {
+    if (probe.stow()) {
       set_bed_leveling_enabled(abl_should_enable);
       measured_z = NAN;
     }
@@ -923,8 +923,8 @@ G29_TYPE GcodeSuite::G29() {
         planner.force_unapply_leveling(converted); // use conversion machinery
 
         // Use the last measured distance to the bed, if possible
-        if ( NEAR(current_position.x, probePos.x - probe_offset_xy.x)
-          && NEAR(current_position.y, probePos.y - probe_offset_xy.y)
+        if ( NEAR(current_position.x, probePos.x - probe.offset_xy.x)
+          && NEAR(current_position.y, probePos.y - probe.offset_xy.y)
         ) {
           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);
@@ -964,7 +964,7 @@ G29_TYPE GcodeSuite::G29() {
     sync_plan_position();
 
   #if HAS_BED_PROBE && defined(Z_AFTER_PROBING)
-    move_z_after_probing();
+    probe.move_z_after_probing();
   #endif
 
   #ifdef Z_PROBE_END_SCRIPT

Marlin/src/gcode/calibrate/G28.cpp

@@ -133,7 +133,7 @@
     destination.set(safe_homing_xy, current_position.z);
 
     #if HOMING_Z_WITH_PROBE
-      destination -= probe_offset_xy;
+      destination -= probe.offset_xy;
     #endif
 
     if (position_is_reachable(destination)) {
@@ -416,7 +416,7 @@ void GcodeSuite::G28(const bool always_home_all) {
         #endif
 
         #if HOMING_Z_WITH_PROBE && defined(Z_AFTER_PROBING)
-          move_z_after_probing();
+          probe.move_z_after_probing();
         #endif
 
       } // doZ

Marlin/src/gcode/calibrate/G33.cpp

@@ -100,7 +100,7 @@ void ac_cleanup(
     do_blocking_move_to_z(delta_clip_start_height);
   #endif
   #if HAS_BED_PROBE
-    STOW_PROBE();
+    probe.stow();
   #endif
   restore_feedrate_and_scaling();
   #if HOTENDS > 1
@@ -190,7 +190,7 @@ static float std_dev_points(float z_pt[NPP + 1], const bool _0p_cal, const bool
  */
 static float calibration_probe(const xy_pos_t &xy, const bool stow) {
   #if HAS_BED_PROBE
-    return probe_at_point(xy, stow ? PROBE_PT_STOW : PROBE_PT_RAISE, 0, true);
+    return probe.probe_at_point(xy, stow ? PROBE_PT_STOW : PROBE_PT_RAISE, 0, true);
   #else
     UNUSED(stow);
     return lcd_probe_pt(xy);

Marlin/src/gcode/calibrate/G34_M422.cpp

@@ -133,8 +133,8 @@ void GcodeSuite::G34() {
 
   do { // break out on error
 
-    #if NUM_Z_STEPPER_DRIVERS == 4
-      SERIAL_ECHOLNPGM("Quad Z Stepper Leveling not Yet Supported");
+    #if NUM_Z_STEPPER_DRIVERS >= 4
+      SERIAL_ECHOLNPGM("Alignment not supported for over 3 steppers");
       break;
     #endif
 
@@ -240,7 +240,7 @@ void GcodeSuite::G34() {
         if (iteration == 0 || i > 0) do_blocking_move_to_z(z_probe);
 
         // Probe a Z height for each stepper.
-        const float z_probed_height = probe_at_point(z_stepper_align_pos[iprobe], raise_after, 0, true);
+        const float z_probed_height = probe.probe_at_point(z_stepper_align_pos[iprobe], raise_after, 0, true);
         if (isnan(z_probed_height)) {
           SERIAL_ECHOLNPGM("Probing failed.");
           err_break = true;
@@ -314,7 +314,7 @@ void GcodeSuite::G34() {
 
         #if DISABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
           // Optimize one iteration's correction based on the first measurements
-          if (z_align_abs > 0.0f) amplification = iteration == 1 ? _MIN(last_z_align_move[zstepper] / z_align_abs, 2.0f) : z_auto_align_amplification;
+          if (z_align_abs) amplification = (iteration == 1) ? _MIN(last_z_align_move[zstepper] / z_align_abs, 2.0f) : z_auto_align_amplification;
         #endif
 
         // Check for less accuracy compared to last move
@@ -379,9 +379,9 @@ void GcodeSuite::G34() {
     // After this operation the z position needs correction
     set_axis_is_not_at_home(Z_AXIS);
 
-    // Stow the probe, as the last call to probe_at_point(...) left
+    // Stow the probe, as the last call to probe.probe_at_point(...) left
     // the probe deployed if it was successful.
-    STOW_PROBE();
+    probe.stow();
 
     // Home Z after the alignment procedure
     process_subcommands_now_P(PSTR("G28 Z"));

Marlin/src/gcode/calibrate/G76_M871.cpp

@@ -113,8 +113,8 @@ void GcodeSuite::G76() {
     }
     // Ensure probe position is reachable
     destination.set(
-      temp_comp.measure_point_x - probe_offset.x,
-      temp_comp.measure_point_y - probe_offset.y
+      temp_comp.measure_point_x - probe.offset_xy.x,
+      temp_comp.measure_point_y - probe.offset_xy.y
     );
     if (!position_is_reachable_by_probe(destination)) {
       SERIAL_ECHOLNPGM("!Probe position unreachable - aborting.");
@@ -209,9 +209,9 @@ void GcodeSuite::G76() {
 
       // Do a single probe
       remember_feedrate_scaling_off();
-      const float measured_z = probe_at_point(
-        destination.x + probe_offset.x,
-        destination.y + probe_offset.y,
+      const float measured_z = probe.probe_at_point(
+        destination.x + probe.offset_xy.x,
+        destination.y + probe.offset_xy.y,
         PROBE_PT_NONE
       );
       restore_feedrate_and_scaling();
@@ -318,9 +318,9 @@ void GcodeSuite::G76() {
 
       // Do a single probe
       remember_feedrate_scaling_off();
-      const float measured_z = probe_at_point(
-        destination.x + probe_offset.x,
-        destination.y + probe_offset.y,
+      const float measured_z = probe.probe_at_point(
+        destination.x + probe.offset_xy.x,
+        destination.y + probe.offset_xy.y,
         PROBE_PT_NONE
       );
       restore_feedrate_and_scaling();

Marlin/src/gcode/calibrate/M48.cpp

@@ -80,8 +80,8 @@ void GcodeSuite::M48() {
   xy_float_t next_pos = current_position;
 
   const xy_pos_t probe_pos = {
-    parser.linearval('X', next_pos.x + probe_offset_xy.x),
-    parser.linearval('Y', next_pos.y + probe_offset_xy.y)
+    parser.linearval('X', next_pos.x + probe.offset_xy.x),
+    parser.linearval('Y', next_pos.y + probe.offset_xy.y)
   };
 
   if (!position_is_reachable_by_probe(probe_pos)) {
@@ -120,7 +120,7 @@ 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(probe_pos, raise_after, verbose_level);
+  const float t = probe.probe_at_point(probe_pos, raise_after, verbose_level);
   bool probing_good = !isnan(t);
 
   if (probing_good) {
@@ -169,7 +169,7 @@ 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.
 
-          const xy_pos_t noz_pos = probe_pos - probe_offset_xy;
+          const xy_pos_t noz_pos = probe_pos - probe.offset_xy;
           next_pos.set(noz_pos.x + cos(RADIANS(angle)) * radius,
                        noz_pos.y + sin(RADIANS(angle)) * radius);
 
@@ -194,7 +194,7 @@ void GcodeSuite::M48() {
       } // n_legs
 
       // Probe a single point
-      sample_set[n] = probe_at_point(probe_pos, raise_after, 0);
+      sample_set[n] = probe.probe_at_point(probe_pos, raise_after, 0);
 
       // Break the loop if the probe fails
       probing_good = !isnan(sample_set[n]);
@@ -238,7 +238,7 @@ void GcodeSuite::M48() {
     } // n_samples loop
   }
 
-  STOW_PROBE();
+  probe.stow();
 
   if (probing_good) {
     SERIAL_ECHOLNPGM("Finished!");

Marlin/src/gcode/config/M304.cpp

@@ -27,6 +27,13 @@
 #include "../gcode.h"
 #include "../../module/temperature.h"
 
+/**
+ * M304 - Set and/or Report the current Bed PID values
+ *
+ *  P<pval> - Set the P value
+ *  I<ival> - Set the I value
+ *  D<dval> - Set the D value
+ */
 void GcodeSuite::M304() {
   if (parser.seen('P')) thermalManager.temp_bed.pid.Kp = parser.value_float();
   if (parser.seen('I')) thermalManager.temp_bed.pid.Ki = scalePID_i(parser.value_float());

Marlin/src/gcode/motion/M290.cpp

@@ -46,9 +46,9 @@
         && active_extruder == 0
       #endif
     ) {
-      probe_offset.z += offs;
+      probe.offset.z += offs;
       SERIAL_ECHO_START();
-      SERIAL_ECHOLNPAIR(MSG_PROBE_OFFSET MSG_Z ": ", probe_offset.z);
+      SERIAL_ECHOLNPAIR(MSG_PROBE_OFFSET MSG_Z ": ", probe.offset.z);
     }
     else {
       #if ENABLED(BABYSTEP_HOTEND_Z_OFFSET)
@@ -98,7 +98,7 @@ void GcodeSuite::M290() {
     SERIAL_ECHO_START();
 
     #if ENABLED(BABYSTEP_ZPROBE_OFFSET)
-      SERIAL_ECHOLNPAIR(MSG_PROBE_OFFSET " " MSG_Z, probe_offset.z);
+      SERIAL_ECHOLNPAIR(MSG_PROBE_OFFSET " " MSG_Z, probe.offset.z);
     #endif
 
     #if ENABLED(BABYSTEP_HOTEND_Z_OFFSET)

Marlin/src/gcode/probe/G30.cpp

@@ -40,8 +40,8 @@
  */
 void GcodeSuite::G30() {
 
-  const xy_pos_t pos = { parser.linearval('X', current_position.x + probe_offset_xy.x),
-                         parser.linearval('Y', current_position.y + probe_offset_xy.y) };
+  const xy_pos_t pos = { parser.linearval('X', current_position.x + probe.offset_xy.x),
+                         parser.linearval('Y', current_position.y + probe.offset_xy.y) };
 
   if (!position_is_reachable_by_probe(pos)) return;
 
@@ -53,14 +53,14 @@ 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(pos, raise_after, 1);
+  const float measured_z = probe.probe_at_point(pos, raise_after, 1);
   if (!isnan(measured_z))
     SERIAL_ECHOLNPAIR("Bed X: ", FIXFLOAT(pos.x), " Y: ", FIXFLOAT(pos.y), " Z: ", FIXFLOAT(measured_z));
 
   restore_feedrate_and_scaling();
 
   #ifdef Z_AFTER_PROBING
-    if (raise_after == PROBE_PT_STOW) move_z_after_probing();
+    if (raise_after == PROBE_PT_STOW) probe.move_z_after_probing();
   #endif
 
   report_current_position();

Marlin/src/gcode/probe/G31_G32.cpp

@@ -30,11 +30,11 @@
 /**
  * G31: Deploy the Z probe
  */
-void GcodeSuite::G31() { DEPLOY_PROBE(); }
+void GcodeSuite::G31() { probe.deploy(); }
 
 /**
  * G32: Stow the Z probe
  */
-void GcodeSuite::G32() { STOW_PROBE(); }
+void GcodeSuite::G32() { probe.stow(); }
 
 #endif // Z_PROBE_SLED

Marlin/src/gcode/probe/M401_M402.cpp

@@ -32,7 +32,7 @@
  * M401: Deploy and activate the Z probe
  */
 void GcodeSuite::M401() {
-  DEPLOY_PROBE();
+  probe.deploy();
   report_current_position();
 }
 
@@ -40,9 +40,9 @@ void GcodeSuite::M401() {
  * M402: Deactivate and stow the Z probe
  */
 void GcodeSuite::M402() {
-  STOW_PROBE();
+  probe.stow();
   #ifdef Z_AFTER_PROBING
-    move_z_after_probing();
+    probe.move_z_after_probing();
   #endif
   report_current_position();
 }

Marlin/src/gcode/probe/M851.cpp

@@ -39,17 +39,17 @@ void GcodeSuite::M851() {
   if (!parser.seen("XYZ")) {
     SERIAL_ECHOLNPAIR_P(
       #if HAS_PROBE_XY_OFFSET
-        PSTR(MSG_PROBE_OFFSET " X"), probe_offset.x, SP_Y_STR, probe_offset.y, SP_Z_STR
+        PSTR(MSG_PROBE_OFFSET " X"), probe.offset_xy.x, SP_Y_STR, probe.offset_xy.y, SP_Z_STR
       #else
         PSTR(MSG_PROBE_OFFSET " X0 Y0 Z")
       #endif
-      , probe_offset.z
+      , probe.offset.z
     );
     return;
   }
 
   // Start with current offsets and modify
-  xyz_pos_t offs = probe_offset;
+  xyz_pos_t offs = probe.offset;
 
   // Assume no errors
   bool ok = true;
@@ -93,7 +93,7 @@ void GcodeSuite::M851() {
   }
 
   // Save the new offsets
-  if (ok) probe_offset = offs;
+  if (ok) probe.offset = offs;
 }
 
 #endif // HAS_BED_PROBE

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

@@ -453,7 +453,7 @@ const struct DGUS_VP_Variable ListOfVP[] PROGMEM = {
     VPHELPER(VP_SD_AbortPrintConfirmed, nullptr, DGUSScreenVariableHandler::DGUSLCD_SD_ReallyAbort, nullptr),
     VPHELPER(VP_SD_Print_Setting, nullptr, DGUSScreenVariableHandler::DGUSLCD_SD_PrintTune, nullptr),
     #if HAS_BED_PROBE
-      VPHELPER(VP_SD_Print_ProbeOffsetZ, &probe_offset.z, DGUSScreenVariableHandler::HandleProbeOffsetZChanged, &DGUSScreenVariableHandler::DGUSLCD_SendFloatAsIntValueToDisplay<2>),
+      VPHELPER(VP_SD_Print_ProbeOffsetZ, &probe.offset.z, DGUSScreenVariableHandler::HandleProbeOffsetZChanged, &DGUSScreenVariableHandler::DGUSLCD_SendFloatAsIntValueToDisplay<2>),
       #if ENABLED(BABYSTEPPING)
         VPHELPER(VP_SD_Print_LiveAdjustZ, nullptr, DGUSScreenVariableHandler::HandleLiveAdjustZ, nullptr),
       #endif

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

@@ -453,7 +453,7 @@ const struct DGUS_VP_Variable ListOfVP[] PROGMEM = {
     VPHELPER(VP_SD_AbortPrintConfirmed, nullptr, DGUSScreenVariableHandler::DGUSLCD_SD_ReallyAbort, nullptr),
     VPHELPER(VP_SD_Print_Setting, nullptr, DGUSScreenVariableHandler::DGUSLCD_SD_PrintTune, nullptr),
     #if HAS_BED_PROBE
-      VPHELPER(VP_SD_Print_ProbeOffsetZ, &probe_offset.z, DGUSScreenVariableHandler::HandleProbeOffsetZChanged, &DGUSScreenVariableHandler::DGUSLCD_SendFloatAsIntValueToDisplay<2>),
+      VPHELPER(VP_SD_Print_ProbeOffsetZ, &probe.offset.z, DGUSScreenVariableHandler::HandleProbeOffsetZChanged, &DGUSScreenVariableHandler::DGUSLCD_SendFloatAsIntValueToDisplay<2>),
       #if ENABLED(BABYSTEPPING)
         VPHELPER(VP_SD_Print_LiveAdjustZ, nullptr, DGUSScreenVariableHandler::HandleLiveAdjustZ, nullptr),
       #endif

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

@@ -285,7 +285,7 @@ const struct DGUS_VP_Variable ListOfVP[] PROGMEM = {
     VPHELPER(VP_SD_AbortPrintConfirmed, nullptr, DGUSScreenVariableHandler::DGUSLCD_SD_ReallyAbort, nullptr),
     VPHELPER(VP_SD_Print_Setting, nullptr, DGUSScreenVariableHandler::DGUSLCD_SD_PrintTune, nullptr),
     #if HAS_BED_PROBE
-      VPHELPER(VP_SD_Print_ProbeOffsetZ, &probe_offset.z, DGUSScreenVariableHandler::HandleProbeOffsetZChanged, &DGUSScreenVariableHandler::DGUSLCD_SendFloatAsIntValueToDisplay<2>),
+      VPHELPER(VP_SD_Print_ProbeOffsetZ, &probe.offset.z, DGUSScreenVariableHandler::HandleProbeOffsetZChanged, &DGUSScreenVariableHandler::DGUSLCD_SendFloatAsIntValueToDisplay<2>),
       #if ENABLED(BABYSTEPPING)
         VPHELPER(VP_SD_Print_LiveAdjustZ, nullptr, DGUSScreenVariableHandler::HandleLiveAdjustZ, nullptr),
       #endif

Marlin/src/lcd/extensible_ui/ui_api.cpp

@@ -733,7 +733,7 @@ namespace ExtUI {
           #if EXTRUDERS > 1
             && (linked_nozzles || active_extruder == 0)
           #endif
-        ) probe_offset.z += mm;
+        ) probe.offset.z += mm;
       #else
         UNUSED(mm);
       #endif
@@ -771,7 +771,7 @@ namespace ExtUI {
 
   float getZOffset_mm() {
     #if HAS_BED_PROBE
-      return probe_offset.z;
+      return probe.offset.z;
     #elif ENABLED(BABYSTEP_DISPLAY_TOTAL)
       return (planner.steps_to_mm[Z_AXIS] * babystep.axis_total[BS_TODO_AXIS(Z_AXIS)]);
     #else
@@ -782,7 +782,7 @@ 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 = value;
+        probe.offset.z = value;
     #elif ENABLED(BABYSTEP_DISPLAY_TOTAL)
       babystep.add_mm(Z_AXIS, (value - getZOffset_mm()));
     #else

Marlin/src/lcd/menu/menu.cpp

@@ -406,7 +406,7 @@ 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 + diff,
+                  new_probe_offset = probe.offset.z + diff,
                   new_offs =
                     #if ENABLED(BABYSTEP_HOTEND_Z_OFFSET)
                       do_probe ? new_probe_offset : hotend_offset[active_extruder].z - diff
@@ -418,7 +418,7 @@ void scroll_screen(const uint8_t limit, const bool is_menu) {
 
         babystep.add_steps(Z_AXIS, babystep_increment);
 
-        if (do_probe) probe_offset.z = new_offs;
+        if (do_probe) probe.offset.z = new_offs;
         #if ENABLED(BABYSTEP_HOTEND_Z_OFFSET)
           else hotend_offset[active_extruder].z = new_offs;
         #endif
@@ -432,10 +432,10 @@ void scroll_screen(const uint8_t limit, const bool is_menu) {
           MenuEditItemBase::draw_edit_screen(GET_TEXT(MSG_HOTEND_OFFSET_Z), LCD_Z_OFFSET_FUNC(hotend_offset[active_extruder].z));
         else
       #endif
-          MenuEditItemBase::draw_edit_screen(GET_TEXT(MSG_ZPROBE_ZOFFSET), LCD_Z_OFFSET_FUNC(probe_offset.z));
+          MenuEditItemBase::draw_edit_screen(GET_TEXT(MSG_ZPROBE_ZOFFSET), LCD_Z_OFFSET_FUNC(probe.offset.z));
 
       #if ENABLED(BABYSTEP_ZPROBE_GFX_OVERLAY)
-        if (do_probe) _lcd_zoffset_overlay_gfx(probe_offset.z);
+        if (do_probe) _lcd_zoffset_overlay_gfx(probe.offset.z);
       #endif
     }
   }

Marlin/src/lcd/menu/menu_advanced.cpp

@@ -497,9 +497,11 @@ void menu_cancelobject();
     void menu_probe_offsets() {
       START_MENU();
       BACK_ITEM(MSG_ADVANCED_SETTINGS);
-      EDIT_ITEM(float51sign, MSG_ZPROBE_XOFFSET, &probe_offset.x, -(X_BED_SIZE), X_BED_SIZE);
-      EDIT_ITEM(float51sign, MSG_ZPROBE_YOFFSET, &probe_offset.y, -(Y_BED_SIZE), Y_BED_SIZE);
-      EDIT_ITEM(LCD_Z_OFFSET_TYPE, MSG_ZPROBE_ZOFFSET, &probe_offset.z, Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX);
+      #if HAS_PROBE_XY_OFFSET
+        EDIT_ITEM(float51sign, MSG_ZPROBE_XOFFSET, &probe.offset.x, -(X_BED_SIZE), X_BED_SIZE);
+        EDIT_ITEM(float51sign, MSG_ZPROBE_YOFFSET, &probe.offset.y, -(Y_BED_SIZE), Y_BED_SIZE);
+      #endif
+      EDIT_ITEM(LCD_Z_OFFSET_TYPE, MSG_ZPROBE_ZOFFSET, &probe.offset.z, Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX);
       END_MENU();
     }
   #endif

Marlin/src/lcd/menu/menu_bed_leveling.cpp

@@ -279,7 +279,7 @@ void menu_bed_leveling() {
   #if ENABLED(BABYSTEP_ZPROBE_OFFSET)
     SUBMENU(MSG_ZPROBE_ZOFFSET, lcd_babystep_zoffset);
   #elif HAS_BED_PROBE
-    EDIT_ITEM(LCD_Z_OFFSET_TYPE, MSG_ZPROBE_ZOFFSET, &probe_offset.z, Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX);
+    EDIT_ITEM(LCD_Z_OFFSET_TYPE, 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

@@ -317,14 +317,11 @@ void menu_configuration() {
   #if ENABLED(BABYSTEP_ZPROBE_OFFSET)
     SUBMENU(MSG_ZPROBE_ZOFFSET, lcd_babystep_zoffset);
   #elif HAS_BED_PROBE
-    EDIT_ITEM(LCD_Z_OFFSET_TYPE, MSG_ZPROBE_ZOFFSET, &probe_offset.z, Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX);
+    EDIT_ITEM(LCD_Z_OFFSET_TYPE, MSG_ZPROBE_ZOFFSET, &probe.offset.z, Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX);
   #endif
 
   const bool busy = printer_busy();
   if (!busy) {
-    //
-    // Delta Calibration
-    //
     #if EITHER(DELTA_CALIBRATION_MENU, DELTA_AUTO_CALIBRATION)
       SUBMENU(MSG_DELTA_CALIBRATE, menu_delta_calibrate);
     #endif

Marlin/src/module/configuration_store.cpp

@@ -587,12 +587,12 @@ void MarlinSettings::postprocess() {
       #if HAS_FILAMENT_SENSOR
         const bool &runout_sensor_enabled = runout.enabled;
       #else
-        const bool runout_sensor_enabled = true;
+        constexpr bool runout_sensor_enabled = true;
       #endif
       #if HAS_FILAMENT_SENSOR && defined(FILAMENT_RUNOUT_DISTANCE_MM)
         const float &runout_distance_mm = runout.runout_distance();
       #else
-        const float runout_distance_mm = 0;
+        constexpr float runout_distance_mm = 0;
       #endif
       _FIELD_TEST(runout_sensor_enabled);
       EEPROM_WRITE(runout_sensor_enabled);
@@ -643,7 +643,12 @@ void MarlinSettings::postprocess() {
     //
     {
       _FIELD_TEST(probe_offset);
-      EEPROM_WRITE(probe_offset);
+      #if HAS_BED_PROBE
+        const xyz_pos_t &zpo = probe.offset;
+      #else
+        constexpr xyz_pos_t zpo{0};
+      #endif
+      EEPROM_WRITE(zpo);
     }
 
     //
@@ -1458,7 +1463,7 @@ void MarlinSettings::postprocess() {
       //
       {
         #if HAS_FILAMENT_SENSOR
-          bool &runout_sensor_enabled = runout.enabled;
+          const bool &runout_sensor_enabled = runout.enabled;
         #else
           bool runout_sensor_enabled;
         #endif
@@ -1515,7 +1520,7 @@ void MarlinSettings::postprocess() {
       {
         _FIELD_TEST(probe_offset);
         #if HAS_BED_PROBE
-          xyz_pos_t &zpo = probe_offset;
+          const xyz_pos_t &zpo = probe.offset;
         #else
           xyz_pos_t zpo;
         #endif
@@ -1609,7 +1614,7 @@ void MarlinSettings::postprocess() {
       {
         _FIELD_TEST(bltouch_last_written_mode);
         #if ENABLED(BLTOUCH)
-          bool &bltouch_last_written_mode = bltouch.last_written_mode;
+          const bool &bltouch_last_written_mode = bltouch.last_written_mode;
         #else
           bool bltouch_last_written_mode;
         #endif
@@ -2120,14 +2125,14 @@ void MarlinSettings::postprocess() {
       //
       {
         #if ENABLED(BACKLASH_GCODE)
-          xyz_float_t &backlash_distance_mm = backlash.distance_mm;
-          uint8_t &backlash_correction = backlash.correction;
+          const xyz_float_t &backlash_distance_mm = backlash.distance_mm;
+          const uint8_t &backlash_correction = backlash.correction;
         #else
           float backlash_distance_mm[XYZ];
           uint8_t backlash_correction;
         #endif
         #if ENABLED(BACKLASH_GCODE) && defined(BACKLASH_SMOOTHING_MM)
-          float &backlash_smoothing_mm = backlash.smoothing_mm;
+          const float &backlash_smoothing_mm = backlash.smoothing_mm;
         #else
           float backlash_smoothing_mm;
         #endif
@@ -2461,10 +2466,10 @@ void MarlinSettings::reset() {
     constexpr float dpo[] = NOZZLE_TO_PROBE_OFFSET;
     static_assert(COUNT(dpo) == 3, "NOZZLE_TO_PROBE_OFFSET must contain offsets for X, Y, and Z.");
     #if HAS_PROBE_XY_OFFSET
-      LOOP_XYZ(a) probe_offset[a] = dpo[a];
+      LOOP_XYZ(a) probe.offset[a] = dpo[a];
     #else
-      probe_offset.x = probe_offset.y = 0;
-      probe_offset.z = dpo[Z_AXIS];
+      probe.offset.x = probe.offset.y = 0;
+      probe.offset.z = dpo[Z_AXIS];
     #endif
   #endif
 
@@ -3216,13 +3221,13 @@ void MarlinSettings::reset() {
       CONFIG_ECHO_START();
       SERIAL_ECHOLNPAIR_P(
         #if HAS_PROBE_XY_OFFSET
-          PSTR("  M851 X"), LINEAR_UNIT(probe_offset_xy.x),
-                  SP_Y_STR, LINEAR_UNIT(probe_offset_xy.y),
+          PSTR("  M851 X"), LINEAR_UNIT(probe.offset_xy.x),
+                  SP_Y_STR, LINEAR_UNIT(probe.offset_xy.y),
                   SP_Z_STR
         #else
           PSTR("  M851 X0 Y0 Z")
         #endif
-        , LINEAR_UNIT(probe_offset.z)
+        , LINEAR_UNIT(probe.offset.z)
       );
     #endif
 

Marlin/src/module/delta.cpp

@@ -95,7 +95,7 @@ void recalc_delta_settings() {
   float delta_calibration_radius() {
     return calibration_radius_factor * (
       #if HAS_BED_PROBE
-        FLOOR((DELTA_PRINTABLE_RADIUS) - _MAX(HYPOT(probe_offset_xy.x, probe_offset_xy.y), MIN_PROBE_EDGE))
+        FLOOR((DELTA_PRINTABLE_RADIUS) - _MAX(HYPOT(probe.offset_xy.x, probe.offset_xy.y), MIN_PROBE_EDGE))
       #else
         DELTA_PRINTABLE_RADIUS
       #endif
@@ -251,7 +251,7 @@ void home_delta() {
   // Move all carriages together linearly until an endstop is hit.
   current_position.z = (delta_height + 10
     #if HAS_BED_PROBE
-      - probe_offset.z
+      - probe.offset.z
     #endif
   );
   line_to_current_position(homing_feedrate(Z_AXIS));

Marlin/src/module/motion.cpp

@@ -280,7 +280,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
         , true
       #endif
     );
-    xyze_pos_t &cartes = pos;
+    const xyze_pos_t &cartes = pos;
   #endif
   if (axis == ALL_AXES)
     current_position = cartes;
@@ -547,7 +547,7 @@ void restore_feedrate_and_scaling() {
       soft_endstop.min[axis] = base_min_pos(axis);
       soft_endstop.max[axis] = (axis == Z_AXIS ? delta_height
       #if HAS_BED_PROBE
-        - probe_offset.z
+        - probe.offset.z
       #endif
       : base_max_pos(axis));
 
@@ -1281,7 +1281,7 @@ void do_homing_move(const AxisEnum axis, const float distance, const feedRate_t
   #if HOMING_Z_WITH_PROBE && HAS_HEATED_BED && ENABLED(WAIT_FOR_BED_HEATER)
     // Wait for bed to heat back up between probing points
     if (axis == Z_AXIS && distance < 0 && thermalManager.isHeatingBed()) {
-      serialprintPGM(msg_wait_for_bed_heating);
+      serialprintPGM(probe.msg_wait_for_bed_heating);
       #if HAS_DISPLAY
         LCD_MESSAGEPGM(MSG_BED_HEATING);
       #endif
@@ -1307,7 +1307,7 @@ void do_homing_move(const AxisEnum axis, const float distance, const feedRate_t
   if (is_home_dir) {
 
     #if HOMING_Z_WITH_PROBE && QUIET_PROBING
-      if (axis == Z_AXIS) probing_pause(true);
+      if (axis == Z_AXIS) probe.set_probing_paused(true);
     #endif
 
     // Disable stealthChop if used. Enable diag1 pin on driver.
@@ -1347,7 +1347,7 @@ void do_homing_move(const AxisEnum axis, const float distance, const feedRate_t
   if (is_home_dir) {
 
     #if HOMING_Z_WITH_PROBE && QUIET_PROBING
-      if (axis == Z_AXIS) probing_pause(false);
+      if (axis == Z_AXIS) probe.set_probing_paused(false);
     #endif
 
     endstops.validate_homing_move();
@@ -1397,7 +1397,7 @@ void set_axis_is_at_home(const AxisEnum axis) {
   #elif ENABLED(DELTA)
     current_position[axis] = (axis == Z_AXIS ? delta_height
     #if HAS_BED_PROBE
-      - probe_offset.z
+      - probe.offset.z
     #endif
     : base_home_pos(axis));
   #else
@@ -1411,9 +1411,9 @@ void set_axis_is_at_home(const AxisEnum axis) {
     if (axis == Z_AXIS) {
       #if HOMING_Z_WITH_PROBE
 
-        current_position.z -= probe_offset.z;
+        current_position.z -= probe.offset.z;
 
-        if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("*** Z HOMED WITH PROBE (Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) ***\n> probe_offset.z = ", probe_offset.z);
+        if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("*** Z HOMED WITH PROBE (Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) ***\n> probe.offset.z = ", probe.offset.z);
 
       #else
 
@@ -1509,7 +1509,7 @@ void homeaxis(const AxisEnum axis) {
 
   // Homing Z towards the bed? Deploy the Z probe or endstop.
   #if HOMING_Z_WITH_PROBE
-    if (axis == Z_AXIS && DEPLOY_PROBE()) return;
+    if (axis == Z_AXIS && probe.deploy()) return;
   #endif
 
   // Set flags for X, Y, Z motor locking
@@ -1751,7 +1751,7 @@ void homeaxis(const AxisEnum axis) {
 
   // Put away the Z probe
   #if HOMING_Z_WITH_PROBE
-    if (axis == Z_AXIS && STOW_PROBE()) return;
+    if (axis == Z_AXIS && probe.stow()) return;
   #endif
 
   #if DISABLED(DELTA) && defined(HOMING_BACKOFF_MM)

Marlin/src/module/motion.h

@@ -329,7 +329,7 @@ void homeaxis(const AxisEnum axis);
       // Return true if the both nozzle and the probe can reach the given point.
       // Note: This won't work on SCARA since the probe offset rotates with the arm.
       inline bool position_is_reachable_by_probe(const float &rx, const float &ry) {
-        return position_is_reachable(rx - probe_offset.x, ry - probe_offset.y)
+        return position_is_reachable(rx - probe.offset_xy.x, ry - probe.offset_xy.y)
                && position_is_reachable(rx, ry, ABS(MIN_PROBE_EDGE));
       }
 
@@ -369,9 +369,9 @@ void homeaxis(const AxisEnum axis);
      *          nozzle must be be able to reach +10,-10.
      */
     inline bool position_is_reachable_by_probe(const float &rx, const float &ry) {
-      return position_is_reachable(rx - probe_offset_xy.x, ry - probe_offset_xy.y)
-          && WITHIN(rx, probe_min_x() - slop, probe_max_x() + slop)
-          && WITHIN(ry, probe_min_y() - slop, probe_max_y() + slop);
+      return position_is_reachable(rx - probe.offset_xy.x, ry - probe.offset_xy.y)
+          && WITHIN(rx, probe.min_x() - slop, probe.max_x() + slop)
+          && WITHIN(ry, probe.min_y() - slop, probe.max_y() + slop);
     }
 
   #endif // HAS_BED_PROBE

Marlin/src/module/planner.cpp

@@ -2779,7 +2779,7 @@ void Planner::set_max_acceleration(const uint8_t axis, float targetValue) {
       const xyze_float_t &max_acc_edit_scaled = max_accel_edit;
     #else
       constexpr xyze_float_t max_accel_edit = DEFAULT_MAX_ACCELERATION;
-      const xyze_float_t max_acc_edit_scaled = max_accel_edit * 2;
+      constexpr xyze_float_t max_acc_edit_scaled = max_accel_edit * 2;
     #endif
     limit_and_warn(targetValue, axis, PSTR("Acceleration"), max_acc_edit_scaled);
   #endif
@@ -2796,7 +2796,7 @@ void Planner::set_max_feedrate(const uint8_t axis, float targetValue) {
       const xyze_float_t &max_fr_edit_scaled = max_fr_edit;
     #else
       constexpr xyze_float_t max_fr_edit = DEFAULT_MAX_FEEDRATE;
-      const xyze_float_t max_fr_edit_scaled = max_fr_edit * 2;
+      constexpr xyze_float_t max_fr_edit_scaled = max_fr_edit * 2;
     #endif
     limit_and_warn(targetValue, axis, PSTR("Feedrate"), max_fr_edit_scaled);
   #endif

Marlin/src/module/probe.cpp

@@ -21,7 +21,7 @@
  */
 
 /**
- * probe.cpp
+ * module/probe.cpp
  */
 
 #include "../inc/MarlinConfig.h"
@@ -84,14 +84,14 @@
 #define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
 #include "../core/debug_out.h"
 
+Probe probe;
 
-xyz_pos_t probe_offset; // Initialized by settings.load()
+xyz_pos_t Probe::offset; // Initialized by settings.load()
 
 #if HAS_PROBE_XY_OFFSET
-  xyz_pos_t &probe_offset_xy = probe_offset;
+  const xyz_pos_t &Probe::offset_xy = probe.offset;
 #endif
 
-
 #if ENABLED(Z_PROBE_SLED)
 
   #ifndef SLED_DOCKING_OFFSET
@@ -104,7 +104,7 @@ xyz_pos_t probe_offset; // Initialized by settings.load()
    * stow[in]     If false, move to MAX_X and engage the solenoid
    *              If true, move to MAX_X and release the solenoid
    */
-  static void dock_sled(bool stow) {
+  static void dock_sled(const bool stow) {
     if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("dock_sled(", stow, ")");
 
     // Dock sled a bit closer to ensure proper capturing
@@ -118,7 +118,7 @@ xyz_pos_t probe_offset; // Initialized by settings.load()
 #elif ENABLED(TOUCH_MI_PROBE)
 
   // Move to the magnet to unlock the probe
-  void run_deploy_moves_script() {
+  inline void run_deploy_moves_script() {
     #ifndef TOUCH_MI_DEPLOY_XPOS
       #define TOUCH_MI_DEPLOY_XPOS X_MIN_POS
     #elif TOUCH_MI_DEPLOY_XPOS > X_MAX_BED
@@ -153,7 +153,7 @@ xyz_pos_t probe_offset; // Initialized by settings.load()
   }
 
   // Move down to the bed to stow the probe
-  void run_stow_moves_script() {
+  inline void run_stow_moves_script() {
     const xyz_pos_t oldpos = current_position;
     endstops.enable_z_probe(false);
     do_blocking_move_to_z(TOUCH_MI_RETRACT_Z, MMM_TO_MMS(HOMING_FEEDRATE_Z));
@@ -162,7 +162,7 @@ xyz_pos_t probe_offset; // Initialized by settings.load()
 
 #elif ENABLED(Z_PROBE_ALLEN_KEY)
 
-  void run_deploy_moves_script() {
+  inline void run_deploy_moves_script() {
     #ifdef Z_PROBE_ALLEN_KEY_DEPLOY_1
       #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE
         #define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE 0.0
@@ -200,7 +200,7 @@ xyz_pos_t probe_offset; // Initialized by settings.load()
     #endif
   }
 
-  void run_stow_moves_script() {
+  inline void run_stow_moves_script() {
     #ifdef Z_PROBE_ALLEN_KEY_STOW_1
       #ifndef Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE
         #define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE 0.0
@@ -241,7 +241,8 @@ xyz_pos_t probe_offset; // Initialized by settings.load()
 #endif // Z_PROBE_ALLEN_KEY
 
 #if QUIET_PROBING
-  void probing_pause(const bool p) {
+
+  void Probe::set_probing_paused(const bool p) {
     #if ENABLED(PROBING_HEATERS_OFF)
       thermalManager.pause(p);
     #endif
@@ -262,16 +263,17 @@ xyz_pos_t probe_offset; // Initialized by settings.load()
       #endif
     );
   }
+
 #endif // QUIET_PROBING
 
 /**
  * Raise Z to a minimum height to make room for a probe to move
  */
-inline void do_probe_raise(const float z_raise) {
-  if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("do_probe_raise(", z_raise, ")");
+void Probe::do_z_raise(const float z_raise) {
+  if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Probe::move_z(", z_raise, ")");
 
   float z_dest = z_raise;
-  if (probe_offset.z < 0) z_dest -= probe_offset.z;
+  if (offset.z < 0) z_dest -= offset.z;
 
   NOMORE(z_dest, Z_MAX_POS);
 
@@ -351,11 +353,15 @@ FORCE_INLINE void probe_specific_action(const bool deploy) {
   #endif
 }
 
-// returns false for ok and true for failure
-bool set_probe_deployed(const bool deploy) {
+/**
+ * Attempt to deploy or stow the probe
+ *
+ * Return TRUE if the probe could not be deployed/stowed
+ */
+bool Probe::set_deployed(const bool deploy) {
 
   if (DEBUGGING(LEVELING)) {
-    DEBUG_POS("set_probe_deployed", current_position);
+    DEBUG_POS("Probe::set_deployed", current_position);
     DEBUG_ECHOLNPAIR("deploy: ", deploy);
   }
 
@@ -378,7 +384,7 @@ bool set_probe_deployed(const bool deploy) {
   #endif
 
   if (deploy_stow_condition && unknown_condition)
-    do_probe_raise(_MAX(Z_CLEARANCE_BETWEEN_PROBES, Z_CLEARANCE_DEPLOY_PROBE));
+    do_z_raise(_MAX(Z_CLEARANCE_BETWEEN_PROBES, Z_CLEARANCE_DEPLOY_PROBE));
 
   #if EITHER(Z_PROBE_SLED, Z_PROBE_ALLEN_KEY)
     if (axis_unhomed_error(
@@ -433,7 +439,7 @@ bool set_probe_deployed(const bool deploy) {
 
 #ifdef Z_AFTER_PROBING
   // After probing move to a preferred Z position
-  void move_z_after_probing() {
+  void Probe::move_z_after_probing() {
     if (current_position.z != Z_AFTER_PROBING) {
       do_blocking_move_to_z(Z_AFTER_PROBING);
       current_position.z = Z_AFTER_PROBING;
@@ -450,11 +456,11 @@ bool set_probe_deployed(const bool deploy) {
  */
 
 #if HAS_HEATED_BED && ENABLED(WAIT_FOR_BED_HEATER)
-  const char msg_wait_for_bed_heating[25] PROGMEM = "Wait for bed heating...\n";
+  PGM_P Probe::msg_wait_for_bed_heating[25] PROGMEM = "Wait for bed heating...\n";
 #endif
 
-static bool do_probe_move(const float z, const feedRate_t fr_mm_s) {
-  if (DEBUGGING(LEVELING)) DEBUG_POS(">>> do_probe_move", current_position);
+bool Probe::move_to_z(const float z, const feedRate_t fr_mm_s) {
+  if (DEBUGGING(LEVELING)) DEBUG_POS(">>> Probe::move_to_z", current_position);
 
   #if HAS_HEATED_BED && ENABLED(WAIT_FOR_BED_HEATER)
     // Wait for bed to heat back up between probing points
@@ -482,7 +488,7 @@ static bool do_probe_move(const float z, const feedRate_t fr_mm_s) {
   #endif
 
   #if QUIET_PROBING
-    probing_pause(true);
+    set_probing_paused(true);
   #endif
 
   // Move down until the probe is triggered
@@ -504,7 +510,7 @@ static bool do_probe_move(const float z, const feedRate_t fr_mm_s) {
   ;
 
   #if QUIET_PROBING
-    probing_pause(false);
+    set_probing_paused(false);
   #endif
 
   // Re-enable stealthChop if used. Disable diag1 pin on driver.
@@ -530,7 +536,7 @@ static bool do_probe_move(const float z, const feedRate_t fr_mm_s) {
   // Tell the planner where we actually are
   sync_plan_position();
 
-  if (DEBUGGING(LEVELING)) DEBUG_POS("<<< do_probe_move", current_position);
+  if (DEBUGGING(LEVELING)) DEBUG_POS("<<< Probe::move_to_z", current_position);
 
   return !probe_triggered;
 }
@@ -543,19 +549,19 @@ static bool do_probe_move(const float z, const feedRate_t fr_mm_s) {
  *
  * @return The Z position of the bed at the current XY or NAN on error.
  */
-static float run_z_probe() {
+float Probe::run_z_probe() {
 
-  if (DEBUGGING(LEVELING)) DEBUG_POS(">>> run_z_probe", current_position);
+  if (DEBUGGING(LEVELING)) DEBUG_POS(">>> Probe::run_z_probe", current_position);
 
   // 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) ? -probe_offset.z + Z_PROBE_LOW_POINT : -10.0;
+  const float z_probe_low_point = TEST(axis_known_position, 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
 
     // Do a first probe at the fast speed
-    if (do_probe_move(z_probe_low_point, MMM_TO_MMS(Z_PROBE_SPEED_FAST))) {
+    if (move_to_z(z_probe_low_point, MMM_TO_MMS(Z_PROBE_SPEED_FAST))) {
       if (DEBUGGING(LEVELING)) {
         DEBUG_ECHOLNPGM("FAST Probe fail!");
         DEBUG_POS("<<< run_z_probe", current_position);
@@ -574,10 +580,10 @@ static float run_z_probe() {
 
     // If the nozzle is well over the travel height then
     // move down quickly before doing the slow probe
-    const float z = Z_CLEARANCE_DEPLOY_PROBE + 5.0 + (probe_offset.z < 0 ? -probe_offset.z : 0);
+    const float z = Z_CLEARANCE_DEPLOY_PROBE + 5.0 + (offset.z < 0 ? -offset.z : 0);
     if (current_position.z > z) {
       // Probe down fast. If the probe never triggered, raise for probe clearance
-      if (!do_probe_move(z, MMM_TO_MMS(Z_PROBE_SPEED_FAST)))
+      if (!move_to_z(z, MMM_TO_MMS(Z_PROBE_SPEED_FAST)))
         do_blocking_move_to_z(current_position.z + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
     }
   #endif
@@ -587,7 +593,7 @@ static float run_z_probe() {
   #endif
 
   #if TOTAL_PROBING > 2
-    float probes_total = 0;
+    float probes_z_sum = 0;
     for (
       #if EXTRA_PROBING
         uint8_t p = 0; p < TOTAL_PROBING; p++
@@ -598,7 +604,7 @@ static float run_z_probe() {
   #endif
     {
       // Probe downward slowly to find the bed
-      if (do_probe_move(z_probe_low_point, MMM_TO_MMS(Z_PROBE_SPEED_SLOW))) {
+      if (move_to_z(z_probe_low_point, MMM_TO_MMS(Z_PROBE_SPEED_SLOW))) {
         if (DEBUGGING(LEVELING)) {
           DEBUG_ECHOLNPGM("SLOW Probe fail!");
           DEBUG_POS("<<< run_z_probe", current_position);
@@ -622,7 +628,7 @@ static float run_z_probe() {
           }
         }
       #elif TOTAL_PROBING > 2
-        probes_total += z;
+        probes_z_sum += z;
       #else
         UNUSED(z);
       #endif
@@ -653,11 +659,11 @@ static float run_z_probe() {
 
       // Return the average value of all remaining probes.
       for (uint8_t i = min_avg_idx; i <= max_avg_idx; i++)
-        probes_total += probes[i];
+        probes_z_sum += probes[i];
 
     #endif
 
-    const float measured_z = probes_total * RECIPROCAL(MULTIPLE_PROBING);
+    const float measured_z = probes_z_sum * RECIPROCAL(MULTIPLE_PROBING);
 
   #elif TOTAL_PROBING == 2
 
@@ -689,10 +695,10 @@ static float run_z_probe() {
  *   - Raise to the BETWEEN height
  * - Return the probed Z position
  */
-float probe_at_point(const float &rx, const float &ry, const ProbePtRaise raise_after/*=PROBE_PT_NONE*/, const uint8_t verbose_level/*=0*/, const bool probe_relative/*=true*/) {
+float Probe::probe_at_point(const float &rx, const float &ry, const ProbePtRaise raise_after/*=PROBE_PT_NONE*/, const uint8_t verbose_level/*=0*/, const bool probe_relative/*=true*/) {
   if (DEBUGGING(LEVELING)) {
     DEBUG_ECHOLNPAIR(
-      ">>> probe_at_point(", LOGICAL_X_POSITION(rx), ", ", LOGICAL_Y_POSITION(ry),
+      ">>> Probe::probe_at_point(", LOGICAL_X_POSITION(rx), ", ", LOGICAL_Y_POSITION(ry),
       ", ", raise_after == PROBE_PT_RAISE ? "raise" : raise_after == PROBE_PT_STOW ? "stow" : "none",
       ", ", int(verbose_level),
       ", ", probe_relative ? "probe" : "nozzle", "_relative)"
@@ -702,9 +708,12 @@ float probe_at_point(const float &rx, const float &ry, const ProbePtRaise raise_
 
   // TODO: Adapt for SCARA, where the offset rotates
   xyz_pos_t npos = { rx, ry };
-  if (probe_relative) {
-    if (!position_is_reachable_by_probe(npos)) return NAN;  // The given position is in terms of the probe
-    npos -= probe_offset_xy;                                // Get the nozzle position
+  if (probe_relative) {                                     // The given position is in terms of the probe
+    if (!position_is_reachable_by_probe(npos)) {
+      if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Position Not Reachable");
+      return NAN;
+    }
+    npos -= offset_xy;                                      // Get the nozzle position
   }
   else if (!position_is_reachable(npos)) return NAN;        // The given position is in terms of the nozzle
 
@@ -724,38 +733,38 @@ float probe_at_point(const float &rx, const float &ry, const ProbePtRaise raise_
   do_blocking_move_to(npos);
 
   float measured_z = NAN;
-  if (!DEPLOY_PROBE()) {
-    measured_z = run_z_probe() + probe_offset.z;
+  if (!deploy()) {
+    measured_z = run_z_probe() + offset.z;
 
     const bool big_raise = raise_after == PROBE_PT_BIG_RAISE;
     if (big_raise || raise_after == PROBE_PT_RAISE)
       do_blocking_move_to_z(current_position.z + (big_raise ? 25 : Z_CLEARANCE_BETWEEN_PROBES), MMM_TO_MMS(Z_PROBE_SPEED_FAST));
     else if (raise_after == PROBE_PT_STOW)
-      if (STOW_PROBE()) measured_z = NAN;
+      if (stow()) measured_z = NAN;
   }
 
   if (verbose_level > 2) {
     SERIAL_ECHOPAIR_F("Bed X: ", LOGICAL_X_POSITION(rx), 3);
-    SERIAL_ECHOPAIR_F(" Y: ", LOGICAL_Y_POSITION(ry), 3);
-    SERIAL_ECHOLNPAIR_F(" Z: ", measured_z, 3);
+    SERIAL_ECHOPAIR_F(   " Y: ", LOGICAL_Y_POSITION(ry), 3);
+    SERIAL_ECHOLNPAIR_F( " Z: ", measured_z, 3);
   }
 
   feedrate_mm_s = old_feedrate_mm_s;
 
   if (isnan(measured_z)) {
-    STOW_PROBE();
+    stow();
     LCD_MESSAGEPGM(MSG_LCD_PROBING_FAILED);
     SERIAL_ERROR_MSG(MSG_ERR_PROBING_FAILED);
   }
 
-  if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("<<< probe_at_point");
+  if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("<<< Probe::probe_at_point");
 
   return measured_z;
 }
 
 #if HAS_Z_SERVO_PROBE
 
-  void servo_probe_init() {
+  void Probe::servo_probe_init() {
     /**
      * Set position of Z Servo Endstop
      *

Marlin/src/module/probe.h

@@ -22,132 +22,150 @@
 #pragma once
 
 /**
- * probe.h - Move, deploy, enable, etc.
+ * module/probe.h - Move, deploy, enable, etc.
  */
 
 #include "../inc/MarlinConfig.h"
 
 #if HAS_BED_PROBE
-
-  extern xyz_pos_t probe_offset;
-
-  #if HAS_PROBE_XY_OFFSET
-    extern xyz_pos_t &probe_offset_xy;
-  #else
-    constexpr xy_pos_t probe_offset_xy{0};
-  #endif
-
-  bool set_probe_deployed(const bool deploy);
-  #ifdef Z_AFTER_PROBING
-    void move_z_after_probing();
-  #endif
-  enum ProbePtRaise : unsigned char {
-    PROBE_PT_NONE,  // No raise or stow after run_z_probe
-    PROBE_PT_STOW,  // Do a complete stow after run_z_probe
-    PROBE_PT_RAISE, // Raise to "between" clearance after run_z_probe
+  enum ProbePtRaise : uint8_t {
+    PROBE_PT_NONE,      // No raise or stow after run_z_probe
+    PROBE_PT_STOW,      // Do a complete stow after run_z_probe
+    PROBE_PT_RAISE,     // Raise to "between" clearance after run_z_probe
     PROBE_PT_BIG_RAISE  // Raise to big clearance after run_z_probe
   };
-  float probe_at_point(const float &rx, const float &ry, const ProbePtRaise raise_after=PROBE_PT_NONE, const uint8_t verbose_level=0, const bool probe_relative=true);
-  inline float probe_at_point(const xy_pos_t &pos, const ProbePtRaise raise_after=PROBE_PT_NONE, const uint8_t verbose_level=0, const bool probe_relative=true) {
-    return probe_at_point(pos.x, pos.y, raise_after, verbose_level, probe_relative);
-  }
-  #define DEPLOY_PROBE() set_probe_deployed(true)
-  #define STOW_PROBE() set_probe_deployed(false)
-  #if HAS_HEATED_BED && ENABLED(WAIT_FOR_BED_HEATER)
-    extern const char msg_wait_for_bed_heating[25];
-  #endif
+#endif
 
-#else
+class Probe {
+public:
 
-  constexpr xyz_pos_t probe_offset{0};
-  constexpr xy_pos_t probe_offset_xy{0};
+  #if HAS_BED_PROBE
 
-  #define DEPLOY_PROBE()
-  #define STOW_PROBE()
+    static xyz_pos_t offset;
 
-#endif
+    // Use offset_xy for read only access
+    // More optimal the XY offset is known to always be zero.
+    #if HAS_PROBE_XY_OFFSET
+      static const xyz_pos_t &offset_xy;
+    #else
+      static constexpr xy_pos_t offset_xy{0};
+    #endif
 
-#if HAS_BED_PROBE || HAS_LEVELING
-  #if IS_KINEMATIC
-    constexpr float printable_radius = (
-      #if ENABLED(DELTA)
-        DELTA_PRINTABLE_RADIUS
-      #elif IS_SCARA
-        SCARA_PRINTABLE_RADIUS
-      #endif
-    );
-
-    inline float probe_radius() {
-      return printable_radius - _MAX(MIN_PROBE_EDGE, HYPOT(probe_offset_xy.x, probe_offset_xy.y));
+    static bool set_deployed(const bool deploy);
+
+    #ifdef Z_AFTER_PROBING
+      static void move_z_after_probing();
+    #endif
+    static float probe_at_point(const float &rx, const float &ry, const ProbePtRaise raise_after=PROBE_PT_NONE, const uint8_t verbose_level=0, const bool probe_relative=true);
+    static inline float probe_at_point(const xy_pos_t &pos, const ProbePtRaise raise_after=PROBE_PT_NONE, const uint8_t verbose_level=0, const bool probe_relative=true) {
+      return probe_at_point(pos.x, pos.y, raise_after, verbose_level, probe_relative);
     }
+    #if HAS_HEATED_BED && ENABLED(WAIT_FOR_BED_HEATER)
+      static PGM_P msg_wait_for_bed_heating[25];
+    #endif
+
+  #else
+
+    static constexpr xyz_pos_t offset{0};
+    static constexpr xy_pos_t offset_xy{0};
+
+    static bool set_deployed(const bool) { return false; }
+
   #endif
 
-  inline float probe_min_x() {
-    return (
-      #if IS_KINEMATIC
-        (X_CENTER) - probe_radius()
-      #else
-        _MAX((X_MIN_BED) + (MIN_PROBE_EDGE_LEFT), (X_MIN_POS) + probe_offset_xy.x)
-      #endif
-    );
-  }
-  inline float probe_max_x() {
-    return (
-      #if IS_KINEMATIC
-        (X_CENTER) + probe_radius()
-      #else
-        _MIN((X_MAX_BED) - (MIN_PROBE_EDGE_RIGHT), (X_MAX_POS) + probe_offset_xy.x)
-      #endif
-    );
-  }
-  inline float probe_min_y() {
-    return (
-      #if IS_KINEMATIC
-        (Y_CENTER) - probe_radius()
-      #else
-        _MAX((Y_MIN_BED) + (MIN_PROBE_EDGE_FRONT), (Y_MIN_POS) + probe_offset_xy.y)
-      #endif
-    );
-  }
-  inline float probe_max_y() {
-    return (
-      #if IS_KINEMATIC
-        (Y_CENTER) + probe_radius()
-      #else
-        _MIN((Y_MAX_BED) - (MIN_PROBE_EDGE_BACK), (Y_MAX_POS) + probe_offset_xy.y)
-      #endif
-    );
-  }
-
-  #if NEEDS_THREE_PROBE_POINTS
-    // Retrieve three points to probe the bed. Any type exposing set(X,Y) may be used.
-    template <typename T>
-    inline void get_three_probe_points(T points[3]) {
-      #if ENABLED(HAS_FIXED_3POINT)
-        points[0].set(PROBE_PT_1_X, PROBE_PT_1_Y);
-        points[1].set(PROBE_PT_2_X, PROBE_PT_2_Y);
-        points[2].set(PROBE_PT_3_X, PROBE_PT_3_Y);
-      #else
+  static inline bool deploy() { return set_deployed(true); }
+  static inline bool stow() { return set_deployed(false); }
+
+  #if HAS_BED_PROBE || HAS_LEVELING
+    #if IS_KINEMATIC
+      static constexpr float printable_radius = (
+        #if ENABLED(DELTA)
+          DELTA_PRINTABLE_RADIUS
+        #elif IS_SCARA
+          SCARA_PRINTABLE_RADIUS
+        #endif
+      );
+
+      static inline float probe_radius() {
+        return printable_radius - _MAX(MIN_PROBE_EDGE, HYPOT(offset_xy.x, offset_xy.y));
+      }
+    #endif
+
+    static inline float min_x() {
+      return (
         #if IS_KINEMATIC
-          constexpr float SIN0 = 0.0, SIN120 = 0.866025, SIN240 = -0.866025,
-                          COS0 = 1.0, COS120 = -0.5    , COS240 = -0.5;
-          points[0].set((X_CENTER) + probe_radius() * COS0,   (Y_CENTER) + probe_radius() * SIN0);
-          points[1].set((X_CENTER) + probe_radius() * COS120, (Y_CENTER) + probe_radius() * SIN120);
-          points[2].set((X_CENTER) + probe_radius() * COS240, (Y_CENTER) + probe_radius() * SIN240);
+          (X_CENTER) - probe_radius()
         #else
-          points[0].set(probe_min_x(), probe_min_y());
-          points[1].set(probe_max_x(), probe_min_y());
-          points[2].set((probe_max_x() - probe_min_x()) / 2, probe_max_y());
+          _MAX((X_MIN_BED) + (MIN_PROBE_EDGE_LEFT), (X_MIN_POS) + offset_xy.x)
         #endif
-      #endif
+      );
     }
+    static inline float max_x() {
+      return (
+        #if IS_KINEMATIC
+          (X_CENTER) + probe_radius()
+        #else
+          _MIN((X_MAX_BED) - (MIN_PROBE_EDGE_RIGHT), (X_MAX_POS) + offset_xy.x)
+        #endif
+      );
+    }
+    static inline float min_y() {
+      return (
+        #if IS_KINEMATIC
+          (Y_CENTER) - probe_radius()
+        #else
+          _MAX((Y_MIN_BED) + (MIN_PROBE_EDGE_FRONT), (Y_MIN_POS) + offset_xy.y)
+        #endif
+      );
+    }
+    static inline float max_y() {
+      return (
+        #if IS_KINEMATIC
+          (Y_CENTER) + probe_radius()
+        #else
+          _MIN((Y_MAX_BED) - (MIN_PROBE_EDGE_BACK), (Y_MAX_POS) + offset_xy.y)
+        #endif
+      );
+    }
+
+    #if NEEDS_THREE_PROBE_POINTS
+      // Retrieve three points to probe the bed. Any type exposing set(X,Y) may be used.
+      template <typename T>
+      static inline void get_three_points(T points[3]) {
+        #if ENABLED(HAS_FIXED_3POINT)
+          points[0].set(PROBE_PT_1_X, PROBE_PT_1_Y);
+          points[1].set(PROBE_PT_2_X, PROBE_PT_2_Y);
+          points[2].set(PROBE_PT_3_X, PROBE_PT_3_Y);
+        #else
+          #if IS_KINEMATIC
+            constexpr float SIN0 = 0.0, SIN120 = 0.866025, SIN240 = -0.866025,
+                            COS0 = 1.0, COS120 = -0.5    , COS240 = -0.5;
+            points[0].set((X_CENTER) + probe_radius() * COS0,   (Y_CENTER) + probe_radius() * SIN0);
+            points[1].set((X_CENTER) + probe_radius() * COS120, (Y_CENTER) + probe_radius() * SIN120);
+            points[2].set((X_CENTER) + probe_radius() * COS240, (Y_CENTER) + probe_radius() * SIN240);
+          #else
+            points[0].set(min_x(), min_y());
+            points[1].set(max_x(), min_y());
+            points[2].set((max_x() - min_x()) / 2, max_y());
+          #endif
+        #endif
+      }
+    #endif
+
+  #endif // HAS_BED_PROBE
+
+  #if HAS_Z_SERVO_PROBE
+    static void servo_probe_init();
   #endif
-#endif
 
-#if HAS_Z_SERVO_PROBE
-  void servo_probe_init();
-#endif
+  #if QUIET_PROBING
+    static void set_probing_paused(const bool p);
+  #endif
 
-#if QUIET_PROBING
-  void probing_pause(const bool p);
-#endif
+private:
+  static bool move_to_z(const float z, const feedRate_t fr_mm_s);
+  static void do_z_raise(const float z_raise);
+  static float run_z_probe();
+};
+
+extern Probe probe;