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217 lines
6.8 KiB
217 lines
6.8 KiB
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*
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*/
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#include "../../inc/MarlinConfig.h"
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#if HAS_LEVELING
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#include "bedlevel.h"
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#include "../../module/planner.h"
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#if EITHER(MESH_BED_LEVELING, PROBE_MANUALLY)
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#include "../../module/motion.h"
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#endif
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#if ENABLED(PROBE_MANUALLY)
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bool g29_in_progress = false;
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#endif
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#if ENABLED(LCD_BED_LEVELING)
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#include "../../lcd/marlinui.h"
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#endif
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#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
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#include "../../core/debug_out.h"
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#if ENABLED(EXTENSIBLE_UI)
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#include "../../lcd/extui/ui_api.h"
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#endif
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bool leveling_is_valid() {
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return TERN1(HAS_MESH, bedlevel.mesh_is_valid());
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}
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/**
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* Turn bed leveling on or off, correcting the current position.
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*
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* Disable: Current position = physical position
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* Enable: Current position = "unleveled" physical position
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*/
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void set_bed_leveling_enabled(const bool enable/*=true*/) {
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const bool can_change = TERN1(AUTO_BED_LEVELING_BILINEAR, !enable || leveling_is_valid());
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if (can_change && enable != planner.leveling_active) {
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auto _report_leveling = []{
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if (DEBUGGING(LEVELING)) {
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if (planner.leveling_active)
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DEBUG_POS("Leveling ON", current_position);
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else
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DEBUG_POS("Leveling OFF", current_position);
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}
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};
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_report_leveling();
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planner.synchronize();
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// Get the corrected leveled / unleveled position
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planner.apply_modifiers(current_position, true); // Physical position with all modifiers
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planner.leveling_active ^= true; // Toggle leveling between apply and unapply
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planner.unapply_modifiers(current_position, true); // Logical position with modifiers removed
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sync_plan_position();
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_report_leveling();
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}
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}
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TemporaryBedLevelingState::TemporaryBedLevelingState(const bool enable) : saved(planner.leveling_active) {
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set_bed_leveling_enabled(enable);
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}
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#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
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void set_z_fade_height(const_float_t zfh, const bool do_report/*=true*/) {
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if (planner.z_fade_height == zfh) return;
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const bool leveling_was_active = planner.leveling_active;
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set_bed_leveling_enabled(false);
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planner.set_z_fade_height(zfh);
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if (leveling_was_active) {
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const xyz_pos_t oldpos = current_position;
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set_bed_leveling_enabled(true);
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if (do_report && oldpos != current_position)
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report_current_position();
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}
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}
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#endif // ENABLE_LEVELING_FADE_HEIGHT
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/**
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* Reset calibration results to zero.
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*/
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void reset_bed_level() {
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("reset_bed_level");
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IF_DISABLED(AUTO_BED_LEVELING_UBL, set_bed_leveling_enabled(false));
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TERN_(HAS_MESH, bedlevel.reset());
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TERN_(ABL_PLANAR, planner.bed_level_matrix.set_to_identity());
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}
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#if EITHER(AUTO_BED_LEVELING_BILINEAR, MESH_BED_LEVELING)
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/**
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* Enable to produce output in JSON format suitable
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* for SCAD or JavaScript mesh visualizers.
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*
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* Visualize meshes in OpenSCAD using the included script.
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*
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* buildroot/shared/scripts/MarlinMesh.scad
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*/
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//#define SCAD_MESH_OUTPUT
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/**
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* Print calibration results for plotting or manual frame adjustment.
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*/
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void print_2d_array(const uint8_t sx, const uint8_t sy, const uint8_t precision, const float *values) {
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#ifndef SCAD_MESH_OUTPUT
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LOOP_L_N(x, sx) {
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serial_spaces(precision + (x < 10 ? 3 : 2));
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SERIAL_ECHO(x);
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}
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SERIAL_EOL();
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#endif
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#ifdef SCAD_MESH_OUTPUT
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SERIAL_ECHOLNPGM("measured_z = ["); // open 2D array
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#endif
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LOOP_L_N(y, sy) {
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#ifdef SCAD_MESH_OUTPUT
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SERIAL_ECHOPGM(" ["); // open sub-array
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#else
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if (y < 10) SERIAL_CHAR(' ');
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SERIAL_ECHO(y);
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#endif
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LOOP_L_N(x, sx) {
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SERIAL_CHAR(' ');
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const float offset = values[x * sy + y];
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if (!isnan(offset)) {
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if (offset >= 0) SERIAL_CHAR('+');
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SERIAL_ECHO_F(offset, int(precision));
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}
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else {
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#ifdef SCAD_MESH_OUTPUT
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for (uint8_t i = 3; i < precision + 3; i++)
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SERIAL_CHAR(' ');
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SERIAL_ECHOPGM("NAN");
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#else
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LOOP_L_N(i, precision + 3)
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SERIAL_CHAR(i ? '=' : ' ');
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#endif
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}
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#ifdef SCAD_MESH_OUTPUT
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if (x < sx - 1) SERIAL_CHAR(',');
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#endif
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}
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#ifdef SCAD_MESH_OUTPUT
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SERIAL_ECHOPGM(" ]"); // close sub-array
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if (y < sy - 1) SERIAL_CHAR(',');
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#endif
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SERIAL_EOL();
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}
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#ifdef SCAD_MESH_OUTPUT
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SERIAL_ECHOPGM("];"); // close 2D array
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#endif
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SERIAL_EOL();
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}
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#endif // AUTO_BED_LEVELING_BILINEAR || MESH_BED_LEVELING
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#if EITHER(MESH_BED_LEVELING, PROBE_MANUALLY)
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void _manual_goto_xy(const xy_pos_t &pos) {
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// Get the resting Z position for after the XY move
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#ifdef MANUAL_PROBE_START_Z
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constexpr float finalz = _MAX(0, MANUAL_PROBE_START_Z); // If a MANUAL_PROBE_START_Z value is set, always respect it
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#else
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#warning "It's recommended to set some MANUAL_PROBE_START_Z value for manual leveling."
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#endif
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#if Z_CLEARANCE_BETWEEN_MANUAL_PROBES > 0 // A probe/obstacle clearance exists so there is a raise:
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#ifndef MANUAL_PROBE_START_Z
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const float finalz = current_position.z; // - Use the current Z for starting-Z if no MANUAL_PROBE_START_Z was provided
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#endif
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do_blocking_move_to_xy_z(pos, Z_CLEARANCE_BETWEEN_MANUAL_PROBES); // - Raise Z, then move to the new XY
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do_blocking_move_to_z(finalz); // - Lower down to the starting Z height, ready for adjustment!
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#elif defined(MANUAL_PROBE_START_Z) // A starting-Z was provided, but there's no raise:
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do_blocking_move_to_xy_z(pos, finalz); // - Move in XY then down to the starting Z height, ready for adjustment!
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#else // Zero raise and no starting Z height either:
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do_blocking_move_to_xy(pos); // - Move over with no raise, ready for adjustment!
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#endif
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TERN_(LCD_BED_LEVELING, ui.wait_for_move = false);
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}
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#endif // MESH_BED_LEVELING || PROBE_MANUALLY
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#endif // HAS_LEVELING
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