Add UBL support for G2/G3 and G5 (#10648)

Marlin/src/gcode/motion/G2_G3.cpp

@@ -199,6 +199,10 @@ void plan_arc(
       ADJUST_DELTA(raw);
       planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], raw[Z_AXIS], raw[E_AXIS], HYPOT(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB) * inverse_secs, active_extruder);
       oldA = delta[A_AXIS]; oldB = delta[B_AXIS];
+    #elif HAS_UBL_AND_CURVES
+      float pos[XYZ] = { raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS] };
+      planner.apply_leveling(pos);
+      planner.buffer_segment(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], raw[E_AXIS], fr_mm_s, active_extruder);
     #else
       planner.buffer_line_kinematic(raw, fr_mm_s, active_extruder);
     #endif
@@ -211,6 +215,10 @@ void plan_arc(
     const float diff2 = HYPOT2(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB);
     if (diff2)
       planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], cart[Z_AXIS], cart[E_AXIS], SQRT(diff2) * inverse_secs, active_extruder);
+  #elif HAS_UBL_AND_CURVES
+    float pos[XYZ] = { cart[X_AXIS], cart[Y_AXIS], cart[Z_AXIS] };
+    planner.apply_leveling(pos);
+    planner.buffer_segment(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], cart[E_AXIS], fr_mm_s, active_extruder);
   #else
     planner.buffer_line_kinematic(cart, fr_mm_s, active_extruder);
   #endif

Marlin/src/inc/Conditionals_post.h

@@ -1058,6 +1058,7 @@
 #define HAS_MESH       (ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(AUTO_BED_LEVELING_UBL) || ENABLED(MESH_BED_LEVELING))
 #define PLANNER_LEVELING      (OLDSCHOOL_ABL || ENABLED(MESH_BED_LEVELING) || UBL_SEGMENTED || ENABLED(SKEW_CORRECTION))
 #define HAS_PROBING_PROCEDURE (HAS_ABL || ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST))
+#define HAS_UBL_AND_CURVES (ENABLED(AUTO_BED_LEVELING_UBL) && !PLANNER_LEVELING && (ENABLED(ARC_SUPPORT) || ENABLED(BEZIER_CURVE_SUPPORT)))
 
 #if ENABLED(AUTO_BED_LEVELING_UBL)
   #undef LCD_BED_LEVELING

Marlin/src/module/planner.cpp

@@ -1190,7 +1190,7 @@ void Planner::check_axes_activity() {
   }
 #endif
 
-#if PLANNER_LEVELING
+#if PLANNER_LEVELING || HAS_UBL_AND_CURVES
   /**
    * rx, ry, rz - Cartesian positions in mm
    *              Leveled XYZ on completion
@@ -1242,6 +1242,10 @@ void Planner::check_axes_activity() {
     #endif
   }
 
+#endif
+
+#if PLANNER_LEVELING
+
   void Planner::unapply_leveling(float raw[XYZ]) {
 
     if (leveling_active) {

Marlin/src/module/planner.h

@@ -404,20 +404,25 @@ class Planner {
 
     #endif // SKEW_CORRECTION
 
-    #if PLANNER_LEVELING
+    #if PLANNER_LEVELING || HAS_UBL_AND_CURVES
-
-      #define ARG_X float rx
-      #define ARG_Y float ry
-      #define ARG_Z float rz
 
       /**
        * Apply leveling to transform a cartesian position
        * as it will be given to the planner and steppers.
        */
       static void apply_leveling(float &rx, float &ry, float &rz);
-      static void apply_leveling(float (&raw)[XYZ]) { apply_leveling(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS]); }
+      FORCE_INLINE static void apply_leveling(float (&raw)[XYZ]) { apply_leveling(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS]); }
+
+      #if PLANNER_LEVELING
+
+        #define ARG_X float rx
+        #define ARG_Y float ry
+        #define ARG_Z float rz
+
         static void unapply_leveling(float raw[XYZ]);
 
+      #endif
+
     #else
 
       #define ARG_X const float &rx

Marlin/src/module/planner_bezier.cpp

@@ -190,7 +190,14 @@ void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS]
     bez_target[Z_AXIS] = interp(position[Z_AXIS], target[Z_AXIS], t);
     bez_target[E_AXIS] = interp(position[E_AXIS], target[E_AXIS], t);
     clamp_to_software_endstops(bez_target);
+
+    #if HAS_UBL_AND_CURVES
+      float pos[XYZ] = { bez_target[X_AXIS], bez_target[Y_AXIS], bez_target[Z_AXIS] };
+      planner.apply_leveling(pos);
+      planner.buffer_segment(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], bez_target[E_AXIS], fr_mm_s, active_extruder);
+    #else
       planner.buffer_line_kinematic(bez_target, fr_mm_s, extruder);
+    #endif
   }
 }