Add toolprobe_v3 macros for RRF

RRF Implementation/CalibrateActiveTool.g

@@ -0,0 +1,146 @@
+; /macros/toolprobe_v3/CalibrateActiveTool.g
+;
+; Calibrate the currently selected tool's G10 offsets against the located HRP
+; tool probe. Uses native G1 H4 throughout.
+;
+; Preconditions:
+;   - LocateToolProbe.g has run (tp3_located == true)
+;   - A tool is selected (state.currentTool != -1)
+;
+; Result: writes new G10 X/Y/Z offsets for the active tool.
+; Endstops are restored on every exit path.
+
+M98 P"/macros/toolprobe_v3/globals.g"
+M98 P"/macros/toolprobe_v3/state.g"
+
+; Defensive cleanup: in case a previous abort left endstops swapped
+M98 P"/macros/toolprobe_v3/_lib/RestoreEndstops.g"
+
+if !move.axes[0].homed || !move.axes[1].homed || !move.axes[2].homed
+  abort "CalibrateActiveTool: home all axes first."
+
+if state.currentTool == -1
+  abort "CalibrateActiveTool: select a tool first."
+
+if !global.tp3_located
+  abort "CalibrateActiveTool: run LocateToolProbe.g first."
+
+; Reset babystepping so the staleness check and the calibration both see a
+; clean Z reference (and so the per-print Z hand-tuning doesn't bias offsets).
+M290 R0 S0
+
+M98 P"/macros/toolprobe_v3/_lib/Status.g" S{"toolprobe_v3: calibrating T" ^ state.currentTool}
+
+; Snapshot current offsets so we apply a CORRECTION (not absolute)
+var baseX = tools[state.currentTool].offsets[0]
+var baseY = tools[state.currentTool].offsets[1]
+var baseZ = tools[state.currentTool].offsets[2]
+
+; --- Travel near the probe at safe Z ---
+; Done BEFORE the staleness check so the Z-frame reading happens at the same
+; XY where RefreshProbeZPlane / LocateToolProbe captured it. Otherwise mesh
+; height variation between the macro entry XY and the probe XY shows up as a
+; false-positive workspace shift.
+M98 P"/macros/toolprobe_v3/_lib/MoveToProbeXY.g"
+
+; --- Staleness check (advisory only) ---
+; Approximate workspace Z offset from observable values. Different RRF versions
+; report userPosition slightly differently when a tool is selected, so this
+; comparison is informational and DOES NOT abort. If you ran autoz/G92 Z/G30
+; since LocateToolProbe and DIDN'T refresh, the calibration will be off by the
+; frame delta — the warning below tells you when this is likely.
+var currentZFrame = move.axes[2].machinePosition - move.axes[2].userPosition + tools[state.currentTool].offsets[2]
+if global.tp3_probeZPlaneFrame > -9998
+  if abs(var.currentZFrame - global.tp3_probeZPlaneFrame) > 0.5
+    echo "WARNING: workspace Z reference may have shifted since probeZPlane was measured."
+    echo "  Captured frame: " ^ global.tp3_probeZPlaneFrame ^ "  Current frame: " ^ var.currentZFrame
+    echo "  If you ran autoz/G92 Z/G30 since LocateToolProbe, T-1 and run RefreshProbeZPlane.g first."
+    echo "  Otherwise this may be benign (RRF version reports userPosition differently with tool active)."
+    echo "  Proceeding with calibration — verify Z offset afterward."
+
+; --- Discover where the tool tip actually touches the probe ---
+; The H4 trigger is physical, so this stops at first contact regardless of how
+; far off the existing G10 Z is. Used to set the XY engagement depth so the
+; subsequent X/Y scans always engage the dome correctly, even when the tool
+; starts well above (or below) the probe due to a rough initial G10 Z.
+M98 P"/macros/toolprobe_v3/_lib/Status.g" S"toolprobe_v3: discovering tool tip Z"
+
+M98 P"/macros/toolprobe_v3/_lib/Probe_IsTriggered.g"
+if global.tp3_probeTriggered
+  M98 P"/macros/toolprobe_v3/_lib/RestoreEndstops.g"
+  abort "CalibrateActiveTool: probe already triggered at travel Z. Lift tp3_travelZ or check probe."
+
+M98 P"/macros/toolprobe_v3/_lib/UseProbeAsEndstop.g" A2
+
+G91
+G1 H4 Z{-global.tp3_toolDiscoveryPlunge} F{global.tp3_fZFast}
+G90
+M400
+
+M98 P"/macros/toolprobe_v3/_lib/Probe_IsTriggered.g"
+if !global.tp3_probeTriggered
+  M98 P"/macros/toolprobe_v3/_lib/UseProbeAsEndstop.g" A2 R1
+  G1 Z{global.tp3_travelZ} F{global.tp3_fZFast}
+  echo "CalibrateActiveTool: tool tip plunge of " ^ global.tp3_toolDiscoveryPlunge ^ "mm did not contact probe."
+  echo "Tool may be much shorter than expected, seed XY may be off, or probe is offline."
+  echo "Increase tp3_toolDiscoveryPlunge if the tool is very short."
+  abort "CalibrateActiveTool: tool tip plunge did not contact probe"
+
+var roughTipZ = move.axes[2].userPosition
+
+M98 P"/macros/toolprobe_v3/_lib/UseProbeAsEndstop.g" A2 R1
+
+; Lift back to safe travel
+G1 Z{global.tp3_travelZ} F{global.tp3_fZFast}
+
+M98 P"/macros/toolprobe_v3/_lib/Status.g" S{"tool tip touched probe at userZ=" ^ var.roughTipZ ^ "; XY engagement Z=" ^ (var.roughTipZ + global.tp3_toolNudgeZOffset)}
+
+; XY engagement Z relative to the discovered tip touch position.
+; toolNudgeZOffset is intentionally shallow (small negative) — tool tips are
+; smaller and more fragile than the bare carriage feature used in LocateToolProbe.
+var zEngage = var.roughTipZ + global.tp3_toolNudgeZOffset
+
+; --- Bracket X around expected center ---
+M98 P"/macros/toolprobe_v3/_lib/BracketAxis.g" A0 C{global.tp3_probeX} R{global.tp3_edgeStart} Z{var.zEngage}
+var cx = global.tp3_lastCenter
+var xSpan = global.tp3_lastSpan
+
+; Move to refined X over expected Y before bracketing Y
+G1 Z{global.tp3_travelZ} F{global.tp3_fZFast}
+G1 X{var.cx} Y{global.tp3_probeY} F{global.tp3_fXYTravel}
+
+; --- Bracket Y around expected center ---
+M98 P"/macros/toolprobe_v3/_lib/BracketAxis.g" A1 C{global.tp3_probeY} R{global.tp3_edgeStart} Z{var.zEngage}
+var cy = global.tp3_lastCenter
+var ySpan = global.tp3_lastSpan
+
+; Span sanity (looser than LocateToolProbe; we already trust the located center)
+if abs(var.xSpan - var.ySpan) > global.tp3_spanMatchTol
+  M98 P"/macros/toolprobe_v3/_lib/RestoreEndstops.g"
+  abort "CalibrateActiveTool: span asymmetry. X=" ^ var.xSpan ^ " Y=" ^ var.ySpan
+
+; --- Z touch at refined center ---
+G1 Z{global.tp3_travelZ} F{global.tp3_fZFast}
+G1 X{var.cx} Y{var.cy} F{global.tp3_fXYTravel}
+G1 Z{global.tp3_workcellZ} F{global.tp3_fZFast}
+
+M98 P"/macros/toolprobe_v3/_lib/TouchZNative.g"
+var cz = global.tp3_lastZ
+
+; --- Apply correction to existing offsets ---
+var corrX = global.tp3_probeX - var.cx
+var corrY = global.tp3_probeY - var.cy
+var corrZ = global.tp3_probeZPlane - var.cz
+
+var newX = var.baseX + var.corrX
+var newY = var.baseY + var.corrY
+var newZ = var.baseZ + var.corrZ
+
+G10 P{state.currentTool} X{var.newX} Y{var.newY} Z{var.newZ}
+
+; --- Lift, restore, report ---
+G1 Z{global.tp3_travelZ} F{global.tp3_fZFast}
+M98 P"/macros/toolprobe_v3/_lib/RestoreEndstops.g"
+
+M98 P"/macros/toolprobe_v3/_lib/Status.g" S{"T" ^ state.currentTool ^ " offsets X=" ^ var.newX ^ " Y=" ^ var.newY ^ " Z=" ^ var.newZ}
+M98 P"/macros/toolprobe_v3/_lib/Status.g" S{"T" ^ state.currentTool ^ " delta X=" ^ var.corrX ^ " Y=" ^ var.corrY ^ " Z=" ^ var.corrZ}

RRF Implementation/CalibrateToolRange.g

@@ -0,0 +1,45 @@
+; /macros/toolprobe_v3/CalibrateToolRange.g
+;
+; Iterate a range of tools and calibrate each via CalibrateActiveTool.g.
+;
+; Params:
+;   start = first tool index (default 0)
+;   end   = last tool index  (default 0)
+;
+; Preconditions:
+;   - LocateToolProbe.g has run (tp3_located == true)
+;
+; Endstops are restored after each tool and at the end (and CalibrateActiveTool
+; itself restores on every exit, so a failure on one tool does not leave the
+; machine in a bad state).
+
+M98 P"/macros/toolprobe_v3/globals.g"
+M98 P"/macros/toolprobe_v3/state.g"
+M98 P"/macros/toolprobe_v3/_lib/RestoreEndstops.g"
+
+if !global.tp3_located
+  abort "CalibrateToolRange: run LocateToolProbe.g first."
+
+var start = exists(param.start) ? floor(param.start) : 0
+var end   = exists(param.end)   ? floor(param.end)   : 0
+
+if var.start > var.end
+  abort "CalibrateToolRange: start (" ^ var.start ^ ") > end (" ^ var.end ^ ")"
+
+M98 P"/macros/toolprobe_v3/_lib/Status.g" S{"toolprobe_v3: calibrating tools T" ^ var.start ^ ".." ^ var.end}
+
+while var.start <= var.end
+  if var.start >= #tools
+    M98 P"/macros/toolprobe_v3/_lib/Status.g" S{"T" ^ var.start ^ " not defined, skipping"}
+  else
+    T{var.start}
+    if state.currentTool != var.start
+      M98 P"/macros/toolprobe_v3/_lib/Status.g" S{"T" ^ var.start ^ " select failed, skipping"}
+    else
+      M98 P"/macros/toolprobe_v3/CalibrateActiveTool.g"
+
+  set var.start = var.start + 1
+
+T-1
+M98 P"/macros/toolprobe_v3/_lib/RestoreEndstops.g"
+M98 P"/macros/toolprobe_v3/_lib/Status.g" S"toolprobe_v3: tool range calibration complete"

RRF Implementation/LocateToolProbe.g

@@ -0,0 +1,118 @@
+; /macros/toolprobe_v3/LocateToolProbe.g
+;
+; Locate the fixed (HRP) tool probe XY center and Z plane in the machine frame.
+; Uses native G1 H4 probing throughout, with deterministic span / repeatability
+; validation borrowed from the v2 design.
+;
+; Preconditions:
+;   - All axes homed
+;   - T-1 (no tool selected)
+;
+; Result globals (machine frame, T-1):
+;   global.tp3_probeX, global.tp3_probeY, global.tp3_probeZPlane, global.tp3_located = true
+;
+; Endstops are restored on every exit path (success or abort).
+
+M98 P"/macros/toolprobe_v3/globals.g"
+M98 P"/macros/toolprobe_v3/state.g"
+M98 P"/macros/toolprobe_v3/_lib/EnsureSafeStart.g"
+
+; Reset babystepping so the captured Z frame is on the unbiased reference
+M290 R0 S0
+
+M98 P"/macros/toolprobe_v3/_lib/Status.g" S"toolprobe_v3: locating fixed probe"
+
+; --- Travel to seed XY ---
+M98 P"/macros/toolprobe_v3/_lib/MoveToProbeXY.g"
+
+; --- Discover the probe top via Z plunge ---
+M98 P"/macros/toolprobe_v3/_lib/DiscoverProbeZ.g"
+; Engage tp3_locateEngagementDepth mm BELOW the discovered touch (carriage
+; geometry knob — see UserConfig.g 'CARRIAGE GEOMETRY' section).
+var zEngage = global.tp3_discoveredEngageZ - global.tp3_locateEngagementDepth
+
+; ============================================================================
+; PASS 1: bracket around the seed
+; ============================================================================
+M98 P"/macros/toolprobe_v3/_lib/Status.g" S"toolprobe_v3: pass 1 (coarse)"
+
+M98 P"/macros/toolprobe_v3/_lib/BracketAxis.g" A0 C{global.tp3_probeX} R{global.tp3_edgeStart} Z{var.zEngage}
+var cx1 = global.tp3_lastCenter
+var xSpan = global.tp3_lastSpan
+
+; Move to refined X over seed Y before Y bracket
+G1 Z{global.tp3_travelZ} F{global.tp3_fZFast}
+G1 X{var.cx1} Y{global.tp3_probeY} F{global.tp3_fXYTravel}
+
+M98 P"/macros/toolprobe_v3/_lib/BracketAxis.g" A1 C{global.tp3_probeY} R{global.tp3_edgeStart} Z{var.zEngage}
+var cy1 = global.tp3_lastCenter
+var ySpan = global.tp3_lastSpan
+
+; --- Span validation ---
+if var.xSpan < global.tp3_spanMin || var.xSpan > global.tp3_spanMax
+  M98 P"/macros/toolprobe_v3/_lib/RestoreEndstops.g"
+  abort "LocateToolProbe: X span out of range: " ^ var.xSpan
+
+if var.ySpan < global.tp3_spanMin || var.ySpan > global.tp3_spanMax
+  M98 P"/macros/toolprobe_v3/_lib/RestoreEndstops.g"
+  abort "LocateToolProbe: Y span out of range: " ^ var.ySpan
+
+if abs(var.xSpan - var.ySpan) > global.tp3_spanMatchTol
+  M98 P"/macros/toolprobe_v3/_lib/RestoreEndstops.g"
+  abort "LocateToolProbe: span asymmetry. X=" ^ var.xSpan ^ " Y=" ^ var.ySpan
+
+; ============================================================================
+; PASS 2: refine around the discovered center
+; ============================================================================
+M98 P"/macros/toolprobe_v3/_lib/Status.g" S"toolprobe_v3: pass 2 (refine)"
+
+var rx = (var.xSpan / 2) + global.tp3_refineMargin
+var ry = (var.ySpan / 2) + global.tp3_refineMargin
+
+G1 Z{global.tp3_travelZ} F{global.tp3_fZFast}
+G1 X{var.cx1} Y{var.cy1} F{global.tp3_fXYTravel}
+
+M98 P"/macros/toolprobe_v3/_lib/BracketAxis.g" A0 C{var.cx1} R{var.rx} Z{var.zEngage}
+var cx2 = global.tp3_lastCenter
+
+G1 Z{global.tp3_travelZ} F{global.tp3_fZFast}
+G1 X{var.cx2} Y{var.cy1} F{global.tp3_fXYTravel}
+
+M98 P"/macros/toolprobe_v3/_lib/BracketAxis.g" A1 C{var.cy1} R{var.ry} Z{var.zEngage}
+var cy2 = global.tp3_lastCenter
+
+; --- Center repeatability check ---
+var dxc = abs(var.cx2 - var.cx1)
+var dyc = abs(var.cy2 - var.cy1)
+if var.dxc > global.tp3_centerRepeatTol || var.dyc > global.tp3_centerRepeatTol
+  M98 P"/macros/toolprobe_v3/_lib/RestoreEndstops.g"
+  abort "LocateToolProbe: center not repeatable. Δx=" ^ var.dxc ^ " Δy=" ^ var.dyc
+
+; ============================================================================
+; FINAL Z TOUCH at refined center
+; ============================================================================
+M98 P"/macros/toolprobe_v3/_lib/Status.g" S"toolprobe_v3: final Z touch"
+
+G1 Z{global.tp3_travelZ} F{global.tp3_fZFast}
+G1 X{var.cx2} Y{var.cy2} F{global.tp3_fXYTravel}
+G1 Z{global.tp3_workcellZ} F{global.tp3_fZFast}
+
+M98 P"/macros/toolprobe_v3/_lib/TouchZNative.g"
+var cz = global.tp3_lastZ
+
+; --- Save located probe ---
+; Capture the workspace Z offset that was active when probeZPlane was measured.
+; CalibrateActiveTool uses this to detect "autoz happened since locate" and
+; demand a RefreshProbeZPlane.g run before producing wrong Z calibrations.
+; With T-1 active, workplace Z offset = machinePosition - userPosition.
+set global.tp3_probeX = var.cx2
+set global.tp3_probeY = var.cy2
+set global.tp3_probeZPlane = var.cz
+set global.tp3_probeZPlaneFrame = move.axes[2].machinePosition - move.axes[2].userPosition
+set global.tp3_located = true
+
+; --- Lift, restore, report ---
+G1 Z{global.tp3_travelZ} F{global.tp3_fZFast}
+M98 P"/macros/toolprobe_v3/_lib/RestoreEndstops.g"
+
+M98 P"/macros/toolprobe_v3/_lib/Status.g" S{"toolprobe_v3: located X=" ^ global.tp3_probeX ^ " Y=" ^ global.tp3_probeY ^ " Z=" ^ global.tp3_probeZPlane}

RRF Implementation/RefreshProbeZPlane.g

@@ -0,0 +1,55 @@
+; /macros/toolprobe_v3/RefreshProbeZPlane.g
+;
+; Re-measure the located probe's Z plane in the CURRENT user frame. Run this
+; after any operation that changes the workplace Z offset (autoz, manual G92 Z,
+; G30 to set Z, etc.) so subsequent CalibrateActiveTool runs have a Z reference
+; in the new frame.
+;
+; XY are unaffected by autoz (autoz only does G92 Z), so tp3_probeX/probeY are
+; preserved.
+;
+; Preconditions:
+;   - All axes homed
+;   - T-1 (no tool selected)
+;   - LocateToolProbe.g has been run (tp3_located == true)
+;
+; Recommended order of operations:
+;   1. T-1
+;   2. M98 P"/macros/toolprobe_v3/LocateToolProbe.g"
+;   3. (autoz / klicky calibration here)
+;   4. T-1
+;   5. M98 P"/macros/toolprobe_v3/RefreshProbeZPlane.g"
+;   6. T0  (or any tool)
+;   7. M98 P"/macros/toolprobe_v3/CalibrateActiveTool.g"
+
+M98 P"/macros/toolprobe_v3/globals.g"
+M98 P"/macros/toolprobe_v3/state.g"
+M98 P"/macros/toolprobe_v3/_lib/EnsureSafeStart.g"
+
+if !global.tp3_located
+  abort "RefreshProbeZPlane: run LocateToolProbe.g first."
+
+; Reset babystepping so the captured Z frame is on the unbiased reference
+M290 R0 S0
+
+M98 P"/macros/toolprobe_v3/_lib/Status.g" S"toolprobe_v3: refreshing probe Z plane in current user frame"
+
+; --- Travel to the located XY at safe Z, then drop near probe ---
+G90
+G1 Z{global.tp3_travelZ} F{global.tp3_fZFast}
+G1 X{global.tp3_probeX} Y{global.tp3_probeY} F{global.tp3_fXYTravel}
+G1 Z{global.tp3_workcellZ} F{global.tp3_fZFast}
+
+; --- Precision Z touch (slow plunge with backoff) ---
+M98 P"/macros/toolprobe_v3/_lib/TouchZNative.g"
+
+; --- Update probeZPlane and the captured workspace frame ---
+; With T-1 active, workplace Z offset = machinePosition - userPosition.
+set global.tp3_probeZPlane = global.tp3_lastZ
+set global.tp3_probeZPlaneFrame = move.axes[2].machinePosition - move.axes[2].userPosition
+
+; --- Lift, restore, report ---
+G1 Z{global.tp3_travelZ} F{global.tp3_fZFast}
+M98 P"/macros/toolprobe_v3/_lib/RestoreEndstops.g"
+
+M98 P"/macros/toolprobe_v3/_lib/Status.g" S{"toolprobe_v3: probeZPlane=" ^ global.tp3_probeZPlane ^ " (workspace Z offset=" ^ global.tp3_probeZPlaneFrame ^ ")"}