Add G26 mesh leveling routines.

Marlin/src/gcode/bedlevel/G26.cpp

@@ -43,8 +43,10 @@
 #include "../../lcd/ultralcd.h"
 
 #define EXTRUSION_MULTIPLIER 1.0
-#define PRIME_LENGTH 10.0
+#define RETRACTION_LENGTH 1
-#define OOZE_AMOUNT 0.3
+#define UNRETRACTION_LENGTH 1.2
+#define PRIME_LENGTH 5
+#define OOZE_AMOUNT 2.25
 
 #define INTERSECTION_CIRCLE_RADIUS 5
 #define CROSSHAIRS_SIZE 3
@@ -117,8 +119,9 @@
  *                    pliers while holding the LCD Click wheel in a depressed state. If you do not have
  *                    an LCD, you must specify a value if you use P.
  *
- *   Q #  Multiplier  Retraction Multiplier. Normally not needed. Retraction defaults to 1.0mm and
+ *   Q #  Retract     Retraction length. Defaults to 1mm if not specified.
- *                    un-retraction is at 1.2mm   These numbers will be scaled by the specified amount
+ *   Z #  Unretract   Unretraction length. Defaults to 1.2mm if not specified.
+ *                    Note: If Q is specified but Z isn't, Z defaults to Q * 1.2.
  *
  *   R #  Repeat      Prints the number of patterns given as a parameter, starting at the current location.
  *                    If a parameter isn't given, every point will be printed unless G26 is interrupted.
@@ -153,7 +156,8 @@ static bool g26_retracted = false; // Track the retracted state of the nozzle so
                                    // retracts/recovers won't result in a bad state.
 
 float g26_extrusion_multiplier,
-      g26_retraction_multiplier,
+    g26_retraction_length,
+    g26_unretraction_length,
     g26_layer_height,
     g26_prime_length;
 
@@ -169,8 +173,10 @@ int8_t g26_prime_flag;
 /**
    * If the LCD is clicked, cancel, wait for release, return true
    */
-  bool user_canceled() {
+bool user_canceled()
-    if (!ui.button_pressed()) return false; // Return if the button isn't pressed
+{
+  if (!ui.button_pressed())
+    return false; // Return if the button isn't pressed
   ui.set_status_P(GET_TEXT(MSG_G26_CANCELED), 99);
 #if HAS_LCD_MENU
   ui.quick_feedback();
@@ -181,14 +187,17 @@ int8_t g26_prime_flag;
 
 #endif
 
-mesh_index_pair find_closest_circle_to_print(const xy_pos_t &pos) {
+mesh_index_pair find_closest_circle_to_print(const xy_pos_t &pos)
+{
   float closest = 99999.99;
   mesh_index_pair out_point;
 
   out_point.pos = -1;
 
-  GRID_LOOP(i, j) {
+  GRID_LOOP(i, j)
-    if (!circle_flags.marked(i, j)) {
+  {
+    if (!circle_flags.marked(i, j))
+    {
       // We found a circle that needs to be printed
       const xy_pos_t m = {_GET_MESH_X(i), _GET_MESH_Y(j)};
 
@@ -202,9 +211,11 @@ mesh_index_pair find_closest_circle_to_print(const xy_pos_t &pos) {
       f += (g26_xy_pos - m).magnitude() / 15.0f;
 
       // Add the specified amount of Random Noise to our search
-      if (random_deviation > 1.0) f += random(0.0, random_deviation);
+      if (random_deviation > 1.0)
+        f += random(0.0, random_deviation);
 
-      if (f < closest) {
+      if (f < closest)
+      {
         closest = f;             // Found a closer un-printed location
         out_point.pos.set(i, j); // Save its data
         out_point.distance = closest;
@@ -215,7 +226,8 @@ mesh_index_pair find_closest_circle_to_print(const xy_pos_t &pos) {
   return out_point;
 }
 
-void move_to(const float &rx, const float &ry, const float &z, const float &e_delta) {
+void move_to(const float &rx, const float &ry, const float &z, const float &e_delta)
+{
   static float last_z = -999.99;
 
   const xy_pos_t dest = {rx, ry};
@@ -224,7 +236,8 @@ void move_to(const float &rx, const float &ry, const float &z, const float &e_de
 
   destination = current_position;
 
-  if (z != last_z) {
+  if (z != last_z)
+  {
     last_z = destination.z = z;
     const feedRate_t feed_value = planner.settings.max_feedrate_mm_s[Z_AXIS] * 0.5f; // Use half of the Z_AXIS max feed rate
     prepare_internal_move_to_destination(feed_value);
@@ -241,23 +254,28 @@ void move_to(const float &rx, const float &ry, const float &z, const float &e_de
 
 FORCE_INLINE void move_to(const xyz_pos_t &where, const float &de) { move_to(where.x, where.y, where.z, de); }
 
-void retract_filament(const xyz_pos_t &where) {
+void retract_filament(const xyz_pos_t &where)
-  if (!g26_retracted) { // Only retract if we are not already retracted!
+{
+  if (!g26_retracted)
+  { // Only retract if we are not already retracted!
     g26_retracted = true;
-    move_to(where, -1.0f * g26_retraction_multiplier);
+    move_to(where, -1.0 * g26_retraction_length);
   }
 }
 
 // TODO: Parameterize the Z lift with a define
-void retract_lift_move(const xyz_pos_t &s) {
+void retract_lift_move(const xyz_pos_t &s)
+{
   retract_filament(destination);
   move_to(current_position.x, current_position.y, current_position.z + 0.5f, 0.0); // Z lift to minimize scraping
   move_to(s.x, s.y, s.z + 0.5f, 0.0);                                              // Get to the starting point with no extrusion while lifted
 }
 
-void recover_filament(const xyz_pos_t &where) {
+void recover_filament(const xyz_pos_t &where)
-  if (g26_retracted) { // Only un-retract if we are retracted.
+{
-    move_to(where, 1.2f * g26_retraction_multiplier);
+  if (g26_retracted)
+  { // Only un-retract if we are retracted.
+    move_to(where, g26_unretraction_length);
     g26_retracted = false;
   }
 }
@@ -277,7 +295,8 @@ void recover_filament(const xyz_pos_t &where) {
  * segment of a 'circle'. The time this requires is very short and is easily saved by the other
  * cases where the optimization comes into play.
  */
-void print_line_from_here_to_there(const xyz_pos_t &s, const xyz_pos_t &e) {
+void print_line_from_here_to_there(const xyz_pos_t &s, const xyz_pos_t &e)
+{
 
   // Distances to the start / end of the line
   xy_float_t svec = current_position - s, evec = current_position - e;
@@ -292,7 +311,8 @@ void print_line_from_here_to_there(const xyz_pos_t &s, const xyz_pos_t &e) {
     return print_line_from_here_to_there(e, s);
 
   // Decide whether to retract & lift
-  if (dist_start > 2.0) retract_lift_move(s);
+  if (dist_start > 2.0)
+    retract_lift_move(s);
 
   move_to(s, 0.0); // Get to the starting point with no extrusion / un-Z lift
 
@@ -302,21 +322,27 @@ void print_line_from_here_to_there(const xyz_pos_t &s, const xyz_pos_t &e) {
   move_to(e, e_pos_delta); // Get to the ending point with an appropriate amount of extrusion
 }
 
-inline bool look_for_lines_to_connect() {
+inline bool look_for_lines_to_connect()
+{
   xyz_pos_t s, e;
   s.z = e.z = g26_layer_height;
 
-  GRID_LOOP(i, j) {
+  GRID_LOOP(i, j)
+  {
 
 #if HAS_LCD_MENU
-      if (user_canceled()) return true;
+    if (user_canceled())
+      return true;
 #endif
 
-    if (i < (GRID_MAX_POINTS_X)) {  // Can't connect to anything farther to the right than GRID_MAX_POINTS_X.
+    if (i < (GRID_MAX_POINTS_X))
+    { // Can't connect to anything farther to the right than GRID_MAX_POINTS_X.
       // Already a half circle at the edge of the bed.
 
-      if (circle_flags.marked(i, j) && circle_flags.marked(i + 1, j)) {   // Test whether a leftward line can be done
+      if (circle_flags.marked(i, j) && circle_flags.marked(i + 1, j))
-        if (!horizontal_mesh_line_flags.marked(i, j)) {
+      { // Test whether a leftward line can be done
+        if (!horizontal_mesh_line_flags.marked(i, j))
+        {
           // Two circles need a horizontal line to connect them
           s.x = _GET_MESH_X(i) + (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE));     // right edge
           e.x = _GET_MESH_X(i + 1) - (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // left edge
@@ -332,11 +358,14 @@ inline bool look_for_lines_to_connect() {
         }
       }
 
-      if (j < (GRID_MAX_POINTS_Y)) {  // Can't connect to anything further back than GRID_MAX_POINTS_Y.
+      if (j < (GRID_MAX_POINTS_Y))
+      { // Can't connect to anything further back than GRID_MAX_POINTS_Y.
         // Already a half circle at the edge of the bed.
 
-        if (circle_flags.marked(i, j) && circle_flags.marked(i, j + 1)) {   // Test whether a downward line can be done
+        if (circle_flags.marked(i, j) && circle_flags.marked(i, j + 1))
-          if (!vertical_mesh_line_flags.marked(i, j)) {
+        { // Test whether a downward line can be done
+          if (!vertical_mesh_line_flags.marked(i, j))
+          {
             // Two circles that need a vertical line to connect them
             s.y = _GET_MESH_Y(j) + (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE));     // top edge
             e.y = _GET_MESH_Y(j + 1) - (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)); // bottom edge
@@ -361,13 +390,15 @@ inline bool look_for_lines_to_connect() {
  * Turn on the bed and nozzle heat and
  * wait for them to get up to temperature.
  */
-inline bool turn_on_heaters() {
+inline bool turn_on_heaters()
+{
 
   SERIAL_ECHOLNPGM("Waiting for heatup.");
 
 #if HAS_HEATED_BED
 
-    if (g26_bed_temp > 25) {
+  if (g26_bed_temp > 25)
+  {
 #if HAS_SPI_LCD
     ui.set_status_P(GET_TEXT(MSG_G26_HEATING_BED), 99);
     ui.quick_feedback();
@@ -380,10 +411,11 @@ inline bool turn_on_heaters() {
     // Wait for the temperature to stabilize
     if (!thermalManager.wait_for_bed(true
 #if G26_CLICK_CAN_CANCEL
-            , true
+                                     ,
+                                     true
 #endif
-        )
+                                     ))
-      ) return G26_ERR;
+      return G26_ERR;
   }
 
 #endif // HAS_HEATED_BED
@@ -398,10 +430,11 @@ inline bool turn_on_heaters() {
   // Wait for the temperature to stabilize
   if (!thermalManager.wait_for_hotend(active_extruder, true
 #if G26_CLICK_CAN_CANCEL
-        , true
+                                      ,
+                                      true
 #endif
-    )
+                                      ))
-  ) return G26_ERR;
+    return G26_ERR;
 
 #if HAS_SPI_LCD
   ui.reset_status();
@@ -414,7 +447,8 @@ inline bool turn_on_heaters() {
 /**
  * Prime the nozzle if needed. Return true on error.
  */
-inline bool prime_nozzle() {
+inline bool prime_nozzle()
+{
 
   const feedRate_t fr_slow_e = planner.settings.max_feedrate_mm_s[E_AXIS] / 15.0f;
 #if HAS_LCD_MENU && DISABLED(TOUCH_BUTTONS) // ui.button_pressed issue with touchscreen
@@ -422,7 +456,8 @@ inline bool prime_nozzle() {
   float Total_Prime = 0.0;
 #endif
 
-    if (g26_prime_flag == -1) {  // The user wants to control how much filament gets purged
+  if (g26_prime_flag == -1)
+  { // The user wants to control how much filament gets purged
     ui.capture();
     ui.set_status_P(GET_TEXT(MSG_G26_MANUAL_PRIME), 99);
     ui.chirp();
@@ -431,12 +466,14 @@ inline bool prime_nozzle() {
 
     recover_filament(destination); // Make sure G26 doesn't think the filament is retracted().
 
-      while (!ui.button_pressed()) {
+    while (!ui.button_pressed())
+    {
       ui.chirp();
       destination.e += 0.25;
 #if ENABLED(PREVENT_LENGTHY_EXTRUDE)
       Total_Prime += 0.25;
-          if (Total_Prime >= EXTRUDE_MAXLENGTH) {
+      if (Total_Prime >= EXTRUDE_MAXLENGTH)
+      {
         ui.release();
         return G26_ERR;
       }
@@ -497,18 +534,22 @@ inline bool prime_nozzle() {
  *  X  X position
  *  Y  Y position
  */
-void GcodeSuite::G26() {
+void GcodeSuite::G26()
+{
   SERIAL_ECHOLNPGM("G26 starting...");
 
   // Don't allow Mesh Validation without homing first,
   // or if the parameter parsing did not go OK, abort
-  if (axis_unhomed_error()) return;
+  if (axis_unhomed_error())
+    return;
 
   // Change the tool first, if specified
-  if (parser.seenval('T')) tool_change(parser.value_int());
+  if (parser.seenval('T'))
+    tool_change(parser.value_int());
 
   g26_extrusion_multiplier = EXTRUSION_MULTIPLIER;
-  g26_retraction_multiplier   = G26_RETRACT_MULTIPLIER;
+  g26_retraction_length = RETRACTION_LENGTH;
+  g26_unretraction_length = UNRETRACTION_LENGTH;
   g26_layer_height = MESH_TEST_LAYER_HEIGHT;
   g26_prime_length = PRIME_LENGTH;
   g26_bed_temp = MESH_TEST_BED_TEMP;
@@ -523,47 +564,96 @@ void GcodeSuite::G26() {
        g26_keep_heaters_on = parser.boolval('K');
 
 #if HAS_HEATED_BED
-    if (parser.seenval('B')) {
+  if (parser.seenval('B'))
+  {
     g26_bed_temp = parser.value_celsius();
-      if (g26_bed_temp && !WITHIN(g26_bed_temp, 40, (BED_MAXTEMP - 10))) {
+    if (g26_bed_temp && !WITHIN(g26_bed_temp, 40, (BED_MAXTEMP - 10)))
+    {
       SERIAL_ECHOLNPAIR("?Specified bed temperature not plausible (40-", int(BED_MAXTEMP - 10), "C).");
       return;
     }
   }
 #endif
 
-  if (parser.seenval('L')) {
+  if (parser.seenval('L'))
+  {
     g26_layer_height = parser.value_linear_units();
-    if (!WITHIN(g26_layer_height, 0.0, 2.0)) {
+    if (!WITHIN(g26_layer_height, 0.0, 2.0))
+    {
       SERIAL_ECHOLNPGM("?Specified layer height not plausible.");
       return;
     }
   }
 
-  if (parser.seen('Q')) {
+  if (parser.seen('Q'))
-    if (parser.has_value()) {
+  {
-      g26_retraction_multiplier = parser.value_float();
+    if (parser.has_value())
-      if (!WITHIN(g26_retraction_multiplier, 0.05, 15.0)) {
+    {
-        SERIAL_ECHOLNPGM("?Specified Retraction Multiplier not plausible.");
+      g26_retraction_length = parser.value_float();
+      if (!WITHIN(g26_retraction_length, 0.05, 15.0))
+      {
+        SERIAL_ECHOLNPGM("?Specified Retraction length not plausible.");
         return;
       }
     }
-    else {
+    else
-      SERIAL_ECHOLNPGM("?Retraction Multiplier must be specified.");
+    {
+      SERIAL_ECHOLNPGM("?Retraction length must be specified.");
       return;
     }
   }
 
-  if (parser.seenval('S')) {
+  if (parser.seen('Z'))
+  {
+    if (parser.has_value())
+    {
+      g26_unretraction_length = parser.value_float();
+      if (!WITHIN(g26_unretraction_length, 0.05, 15.0))
+      {
+        SERIAL_ECHOLNPGM("?Specified Unretraction length not plausible.");
+        return;
+      }
+    }
+    else
+    {
+      SERIAL_ECHOLNPGM("?Unretraction length must be specified.");
+      return;
+    }
+  }
+
+  if (!parser.seen('Z') && parser.seen('Q'))
+  {
+    // retraction without unretraction specified, use 1.2 multiplier (preserve Gcode spec)
+    g26_unretraction_length = g26_retraction_length * 1.2;
+    SERIAL_ECHOPAIR(" Unretraction amount automatically set to ", g26_unretraction_length);
+    SERIAL_EOL();
+  }
+
+  if (parser.seen('Z') && parser.seen('Q'))
+  {
+    // consider typos or unreasonable retract/unretract ratios
+    float g26_retract_unretract_delta = g26_unretraction_length - g26_retraction_length;
+    if (!WITHIN(g26_retract_unretract_delta, -5, 5))
+    {
+      SERIAL_ECHOLNPGM("?Invalid Retraction/Unretraction ratio. Must be within 5mm.");
+      return;
+    }
+  }
+
+  if (parser.seenval('S'))
+  {
     g26_nozzle = parser.value_float();
-    if (!WITHIN(g26_nozzle, 0.1, 2.0)) {
+    if (!WITHIN(g26_nozzle, 0.1, 2.0))
+    {
       SERIAL_ECHOLNPGM("?Specified nozzle size not plausible.");
       return;
     }
   }
 
-  if (parser.seen('P')) {
+  if (parser.seen('P'))
-    if (!parser.has_value()) {
+  {
+    if (!parser.has_value())
+    {
 #if HAS_LCD_MENU
       g26_prime_flag = -1;
 #else
@@ -571,19 +661,23 @@ void GcodeSuite::G26() {
       return;
 #endif
     }
-    else {
+    else
+    {
       g26_prime_flag++;
       g26_prime_length = parser.value_linear_units();
-      if (!WITHIN(g26_prime_length, 0.0, 25.0)) {
+      if (!WITHIN(g26_prime_length, 0.0, 25.0))
+      {
         SERIAL_ECHOLNPGM("?Specified prime length not plausible.");
         return;
       }
     }
   }
 
-  if (parser.seenval('F')) {
+  if (parser.seenval('F'))
+  {
     g26_filament_diameter = parser.value_linear_units();
-    if (!WITHIN(g26_filament_diameter, 1.0, 4.0)) {
+    if (!WITHIN(g26_filament_diameter, 1.0, 4.0))
+    {
       SERIAL_ECHOLNPGM("?Specified filament size not plausible.");
       return;
     }
@@ -594,15 +688,18 @@ void GcodeSuite::G26() {
 
   g26_extrusion_multiplier *= g26_filament_diameter * sq(g26_nozzle) / sq(0.3); // Scale up by nozzle size
 
-  if (parser.seenval('H')) {
+  if (parser.seenval('H'))
+  {
     g26_hotend_temp = parser.value_celsius();
-    if (!WITHIN(g26_hotend_temp, 165, (HEATER_0_MAXTEMP - 15))) {
+    if (!WITHIN(g26_hotend_temp, 165, (HEATER_0_MAXTEMP - 15)))
+    {
       SERIAL_ECHOLNPGM("?Specified nozzle temperature not plausible.");
       return;
     }
   }
 
-  if (parser.seen('U')) {
+  if (parser.seen('U'))
+  {
     randomSeed(millis());
     // This setting will persist for the next G26
     random_deviation = parser.has_value() ? parser.value_float() : 50.0;
@@ -612,21 +709,24 @@ void GcodeSuite::G26() {
 #if HAS_LCD_MENU
   g26_repeats = parser.intval('R', GRID_MAX_POINTS + 1);
 #else
-    if (!parser.seen('R')) {
+  if (!parser.seen('R'))
+  {
     SERIAL_ECHOLNPGM("?(R)epeat must be specified when not using an LCD.");
     return;
   }
   else
     g26_repeats = parser.has_value() ? parser.value_int() : GRID_MAX_POINTS + 1;
 #endif
-  if (g26_repeats < 1) {
+  if (g26_repeats < 1)
+  {
     SERIAL_ECHOLNPGM("?(R)epeat value not plausible; must be at least 1.");
     return;
   }
 
   g26_xy_pos.set(parser.seenval('X') ? RAW_X_POSITION(parser.value_linear_units()) : current_position.x,
                  parser.seenval('Y') ? RAW_Y_POSITION(parser.value_linear_units()) : current_position.y);
-  if (!position_is_reachable(g26_xy_pos)) {
+  if (!position_is_reachable(g26_xy_pos))
+  {
     SERIAL_ECHOLNPGM("?Specified X,Y coordinate out of bounds.");
     return;
   }
@@ -645,12 +745,14 @@ void GcodeSuite::G26() {
   planner.calculate_volumetric_multipliers();
 #endif
 
-  if (turn_on_heaters() != G26_OK) goto LEAVE;
+  if (turn_on_heaters() != G26_OK)
+    goto LEAVE;
 
   current_position.e = 0.0;
   sync_plan_position_e();
 
-  if (g26_prime_flag && prime_nozzle() != G26_OK) goto LEAVE;
+  if (g26_prime_flag && prime_nozzle() != G26_OK)
+    goto LEAVE;
 
   /**
    *  Bed is preheated
@@ -697,15 +799,18 @@ void GcodeSuite::G26() {
 #endif // !ARC_SUPPORT
 
   mesh_index_pair location;
-  do {
+  do
+  {
     // Find the nearest confluence
     location = find_closest_circle_to_print(g26_continue_with_closest ? xy_pos_t(current_position) : g26_xy_pos);
 
-    if (location.valid()) {
+    if (location.valid())
+    {
       const xy_pos_t circle = _GET_MESH_POS(location.pos);
 
       // If this mesh location is outside the printable radius, skip it.
-      if (!position_is_reachable(circle)) continue;
+      if (!position_is_reachable(circle))
+        continue;
 
       // Determine where to start and end the circle,
       // which is always drawn counter-clockwise.
@@ -724,23 +829,39 @@ void GcodeSuite::G26() {
 
       // Figure out where to start and end the arc - we always print counterclockwise
       float arc_length = ARC_LENGTH(4);
-        if (st.x == 0) {                             // left edge
+      if (st.x == 0)
-          if (!f) { s.x = circle.x; s.y -= INTERSECTION_CIRCLE_RADIUS; }
+      { // left edge
-          if (!b) { e.x = circle.x; e.y += INTERSECTION_CIRCLE_RADIUS; }
+        if (!f)
+        {
+          s.x = circle.x;
+          s.y -= INTERSECTION_CIRCLE_RADIUS;
+        }
+        if (!b)
+        {
+          e.x = circle.x;
+          e.y += INTERSECTION_CIRCLE_RADIUS;
+        }
         arc_length = (f || b) ? ARC_LENGTH(1) : ARC_LENGTH(2);
       }
-        else if (r) {                             // right edge
+      else if (r)
-          if (b) s.set(circle.x - (INTERSECTION_CIRCLE_RADIUS), circle.y);
+      { // right edge
-          else   s.set(circle.x, circle.y + INTERSECTION_CIRCLE_RADIUS);
+        if (b)
-          if (f) e.set(circle.x - (INTERSECTION_CIRCLE_RADIUS), circle.y);
+          s.set(circle.x - (INTERSECTION_CIRCLE_RADIUS), circle.y);
-          else   e.set(circle.x, circle.y - (INTERSECTION_CIRCLE_RADIUS));
+        else
+          s.set(circle.x, circle.y + INTERSECTION_CIRCLE_RADIUS);
+        if (f)
+          e.set(circle.x - (INTERSECTION_CIRCLE_RADIUS), circle.y);
+        else
+          e.set(circle.x, circle.y - (INTERSECTION_CIRCLE_RADIUS));
         arc_length = (f || b) ? ARC_LENGTH(1) : ARC_LENGTH(2);
       }
-        else if (f) {
+      else if (f)
+      {
         e.x -= INTERSECTION_CIRCLE_DIAM;
         arc_length = ARC_LENGTH(2);
       }
-        else if (b) {
+      else if (b)
+      {
         s.x -= INTERSECTION_CIRCLE_DIAM;
         arc_length = ARC_LENGTH(2);
       }
@@ -750,10 +871,10 @@ void GcodeSuite::G26() {
       const float dist_start = HYPOT2(dist.x, dist.y);
       const xyze_pos_t endpoint = {
           e.x, e.y, g26_layer_height,
-          current_position.e + (arc_length * g26_e_axis_feedrate * g26_extrusion_multiplier)
+          current_position.e + (arc_length * g26_e_axis_feedrate * g26_extrusion_multiplier)};
-        };
 
-        if (dist_start > 2.0) {
+      if (dist_start > 2.0)
+      {
         s.z = g26_layer_height + 0.5f;
         retract_lift_move(s);
       }
@@ -770,33 +891,40 @@ void GcodeSuite::G26() {
       destination = current_position;
 
 #if HAS_LCD_MENU
-          if (user_canceled()) goto LEAVE; // Check if the user wants to stop the Mesh Validation
+      if (user_canceled())
+        goto LEAVE; // Check if the user wants to stop the Mesh Validation
 #endif
 
 #else // !ARC_SUPPORT
 
       int8_t start_ind = -2, end_ind = 9; // Assume a full circle (from 5:00 to 5:00)
-        if (st.x == 0) {                    // Left edge? Just right half.
+      if (st.x == 0)
+      {                         // Left edge? Just right half.
         start_ind = f ? 0 : -3; //  03:00 to 12:00 for front-left
         end_ind = b ? 0 : 2;    //  06:00 to 03:00 for back-left
       }
-        else if (r) {                       // Right edge? Just left half.
+      else if (r)
+      {                        // Right edge? Just left half.
         start_ind = b ? 6 : 3; //  12:00 to 09:00 for front-right
         end_ind = f ? 5 : 8;   //  09:00 to 06:00 for back-right
       }
-        else if (f) {                       // Front edge? Just back half.
+      else if (f)
+      {                // Front edge? Just back half.
         start_ind = 0; //  03:00
         end_ind = 5;   //  09:00
       }
-        else if (b) {                       // Back edge? Just front half.
+      else if (b)
+      {                // Back edge? Just front half.
         start_ind = 6; //  09:00
         end_ind = 11;  //  03:00
       }
 
-        for (int8_t ind = start_ind; ind <= end_ind; ind++) {
+      for (int8_t ind = start_ind; ind <= end_ind; ind++)
+      {
 
 #if HAS_LCD_MENU
-            if (user_canceled()) goto LEAVE;          // Check if the user wants to stop the Mesh Validation
+        if (user_canceled())
+          goto LEAVE; // Check if the user wants to stop the Mesh Validation
 #endif
 
         xyz_float_t p = {circle.x + _COS(ind), circle.y + _SIN(ind), g26_layer_height},
@@ -804,7 +932,8 @@ void GcodeSuite::G26() {
 
 #if IS_KINEMATIC
         // Check to make sure this segment is entirely on the bed, skip if not.
-            if (!position_is_reachable(p) || !position_is_reachable(q)) continue;
+        if (!position_is_reachable(p) || !position_is_reachable(q))
+          continue;
 #else
         LIMIT(p.x, X_MIN_POS + 1, X_MAX_POS - 1); // Prevent hitting the endstops
         LIMIT(p.y, Y_MIN_POS + 1, Y_MAX_POS - 1);
@@ -818,7 +947,8 @@ void GcodeSuite::G26() {
 
 #endif // !ARC_SUPPORT
 
-      if (look_for_lines_to_connect()) goto LEAVE;
+      if (look_for_lines_to_connect())
+        goto LEAVE;
     }
 
     SERIAL_FLUSH(); // Prevent host M105 buffer overrun.
@@ -844,7 +974,8 @@ void GcodeSuite::G26() {
   ui.release(); // Give back control of the LCD
 #endif
 
-  if (!g26_keep_heaters_on) {
+  if (!g26_keep_heaters_on)
+  {
 #if HAS_HEATED_BED
     thermalManager.setTargetBed(0);
 #endif