FT_MOTION: Disable FT-MOTION for homing and probing for Biqu Microprobe

Marlin/Configuration.h

@@ -1507,7 +1507,7 @@
  * For information about this sensor https://github.com/bigtreetech/MicroProbe
  *
  * Also requires PROBE_ENABLE_DISABLE
- * With FT_MOTION requires ENDSTOP_INTERRUPTS_FEATURE
+ * 
  */
 //#define BIQU_MICROPROBE_V1  // Triggers HIGH
 //#define BIQU_MICROPROBE_V2  // Triggers LOW

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

@@ -297,6 +297,21 @@ G29_parameters_t unified_bed_leveling::param;
 
 void unified_bed_leveling::G29() {
 
+  #if ENABLED(FT_MOTION) && ANY(BIQU_MICROPROBE_V1, BIQU_MICROPROBE_V2)
+      // Disable Fixed-Time Motion for probing
+    struct OnExit {
+      bool isactive;
+      OnExit() {
+        isactive = ftMotion.cfg.active;
+        ftMotion.cfg.active = false;
+      }
+      ~OnExit() {
+        ftMotion.cfg.active = isactive;
+        ftMotion.init();
+      }
+    } on_exit;
+  #endif
+
   bool probe_deployed = false;
   if (G29_parse_parameters()) return; // Abort on parameter error
 

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

@@ -59,6 +59,10 @@
 #define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
 #include "../../../core/debug_out.h"
 
+#if ENABLED(FT_MOTION)
+  #include "../../../module/ft_motion.h"
+#endif
+
 #if ABL_USES_GRID
   #if ENABLED(PROBE_Y_FIRST)
     #define PR_OUTER_VAR  abl.meshCount.x
@@ -230,6 +234,21 @@ class G29_State {
  */
 G29_TYPE GcodeSuite::G29() {
 
+  #if ENABLED(FT_MOTION) && ANY(BIQU_MICROPROBE_V1, BIQU_MICROPROBE_V2)
+      // Disable Fixed-Time Motion for probing
+    struct OnExit {
+      bool isactive;
+      OnExit() {
+        isactive = ftMotion.cfg.active;
+        ftMotion.cfg.active = false;
+      }
+      ~OnExit() {
+        ftMotion.cfg.active = isactive;
+        ftMotion.init();
+      }
+    } on_exit;
+  #endif
+
   DEBUG_SECTION(log_G29, "G29", DEBUGGING(LEVELING));
 
   // Leveling state is persistent when done manually with multiple G29 commands

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

@@ -45,6 +45,10 @@
 #define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
 #include "../../../core/debug_out.h"
 
+#if ENABLED(FT_MOTION)
+  #include "../../module/ft_motion.h"
+#endif
+
 // Save 130 bytes with non-duplication of PSTR
 inline void echo_not_entered(const char c) { SERIAL_CHAR(c); SERIAL_ECHOLNPGM(" not entered."); }
 
@@ -63,6 +67,21 @@ inline void echo_not_entered(const char c) { SERIAL_CHAR(c); SERIAL_ECHOLNPGM("
  */
 void GcodeSuite::G29() {
 
+  #if ENABLED(FT_MOTION) && ANY(BIQU_MICROPROBE_V1, BIQU_MICROPROBE_V2)
+      // Disable Fixed-Time Motion for probing
+    struct OnExit {
+      bool isactive;
+      OnExit() {
+        isactive = ftMotion.cfg.active;
+        ftMotion.cfg.active = false;
+      }
+      ~OnExit() {
+        ftMotion.cfg.active = isactive;
+        ftMotion.init();
+      }
+    } on_exit;
+  #endif
+
   DEBUG_SECTION(log_G29, "G29", true);
 
   // G29 Q is also available if debugging

Marlin/src/gcode/calibrate/G28.cpp

@@ -52,6 +52,10 @@
   #include "../../feature/bltouch.h"
 #endif
 
+#if ENABLED(FT_MOTION)
+  #include "../../module/ft_motion.h"
+#endif
+
 #include "../../lcd/marlinui.h"
 
 #if ENABLED(EXTENSIBLE_UI)
@@ -129,6 +133,22 @@
 #if ENABLED(Z_SAFE_HOMING)
 
   inline void home_z_safely() {
+
+    #if ENABLED(FT_MOTION) && ANY(BIQU_MICROPROBE_V1, BIQU_MICROPROBE_V2)
+            // Disable Fixed-Time Motion for probing
+      struct OnExit {
+        bool isactive;
+        OnExit() {
+          isactive = ftMotion.cfg.active;
+          ftMotion.cfg.active = false;
+        }
+        ~OnExit() {
+          ftMotion.cfg.active = isactive;
+          ftMotion.init();
+        }
+      } on_exit;
+    #endif
+
     DEBUG_SECTION(log_G28, "home_z_safely", DEBUGGING(LEVELING));
 
     // Disallow Z homing if X or Y homing is needed
@@ -218,6 +238,22 @@
  *  Z   Home to the Z endstop
  */
 void GcodeSuite::G28() {
+
+  #if ENABLED(FT_MOTION) && ANY(BIQU_MICROPROBE_V1, BIQU_MICROPROBE_V2)
+      // Disable Fixed-Time Motion for probing
+    struct OnExit {
+      bool isactive;
+      OnExit() {
+        isactive = ftMotion.cfg.active;
+        ftMotion.cfg.active = false;
+      }
+      ~OnExit() {
+        ftMotion.cfg.active = isactive;
+        ftMotion.init();
+      }
+    } on_exit;
+  #endif
+
   DEBUG_SECTION(log_G28, "G28", DEBUGGING(LEVELING));
   if (DEBUGGING(LEVELING)) log_machine_info();
 

Marlin/src/gcode/probe/G30.cpp

@@ -34,6 +34,10 @@
   #include "../../feature/probe_temp_comp.h"
 #endif
 
+#if ENABLED(FT_MOTION) && ANY(BIQU_MICROPROBE_V1, BIQU_MICROPROBE_V2)
+  #include "../../module/ft_motion.h"
+#endif
+
 #if ANY(DWIN_CREALITY_LCD_JYERSUI, EXTENSIBLE_UI)
   #define VERBOSE_SINGLE_PROBE
 #endif
@@ -50,6 +54,21 @@
  */
 void GcodeSuite::G30() {
 
+  #if ENABLED(FT_MOTION) && ANY(BIQU_MICROPROBE_V1, BIQU_MICROPROBE_V2)
+        // Disable Fixed-Time Motion for probing
+    struct OnExit {
+      bool isactive;
+      OnExit() {
+        isactive = ftMotion.cfg.active;
+        ftMotion.cfg.active = false;
+      }
+      ~OnExit() {
+        ftMotion.cfg.active = isactive;
+        ftMotion.init();
+      }
+    } on_exit;
+  #endif
+
   xy_pos_t probepos = current_position;
 
   const bool seenX = parser.seenval('X');

Marlin/src/inc/SanityCheck.h

@@ -1403,10 +1403,6 @@ static_assert(NUM_SERVOS <= NUM_SERVO_PLUGS, "NUM_SERVOS (or some servo index) i
       #error "BIQU MicroProbe requires a PROBE_ENABLE_PIN."
     #endif
 
-    #if ENABLED(FT_MOTION) && DISABLED(ENDSTOP_INTERRUPTS_FEATURE)
-      #error "BIQU Microprobe requires ENDSTOP_INTERRUPTS_FEATURE with FT_MOTION."
-    #endif
-
     #if ENABLED(BIQU_MICROPROBE_V1)
       #if ENABLED(INVERTED_PROBE_STATE)
         #if Z_MIN_PROBE_ENDSTOP_HIT_STATE != LOW

Marlin/src/module/ft_motion.cpp

@@ -382,8 +382,6 @@ void FTMotion::reset() {
   steps.reset();
   interpIdx = 0;
 
-  stepper.axis_did_move.reset();
-
   #if HAS_FTM_SHAPING
     TERN_(HAS_X_AXIS, ZERO(shaping.x.d_zi));
     TERN_(HAS_Y_AXIS, ZERO(shaping.y.d_zi));