1 files changed, 66 insertions, 0 deletions
diff --git a/Marlin/src/gcode/probe/G30.cpp b/Marlin/src/gcode/probe/G30.cpp
new file mode 100644
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+++ b/Marlin/src/gcode/probe/G30.cpp
@@ -0,0 +1,66 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../../inc/MarlinConfig.h"
+
+#if HAS_BED_PROBE
+
+#include "../gcode.h"
+#include "../../module/motion.h"
+#include "../../module/probe.h"
+#include "../../feature/bedlevel/bedlevel.h"
+
+/**
+ * G30: Do a single Z probe at the current XY
+ *
+ * Parameters:
+ *
+ *   X   Probe X position (default current X)
+ *   Y   Probe Y position (default current Y)
+ *   E   Engage the probe for each probe (default 1)
+ */
+void GcodeSuite::G30() {
+
+  const xy_pos_t pos = { parser.linearval('X', current_position.x + probe.offset_xy.x),
+                         parser.linearval('Y', current_position.y + probe.offset_xy.y) };
+
+  if (!probe.can_reach(pos)) return;
+
+  // Disable leveling so the planner won't mess with us
+  TERN_(HAS_LEVELING, set_bed_leveling_enabled(false));
+
+  remember_feedrate_scaling_off();
+
+  const ProbePtRaise raise_after = parser.boolval('E', true) ? PROBE_PT_STOW : PROBE_PT_NONE;
+  const float measured_z = probe.probe_at_point(pos, raise_after, 1);
+  if (!isnan(measured_z))
+    SERIAL_ECHOLNPAIR("Bed X: ", pos.x, " Y: ", pos.y, " Z: ", measured_z);
+
+  restore_feedrate_and_scaling();
+
+  if (raise_after == PROBE_PT_STOW)
+    probe.move_z_after_probing();
+
+  report_current_position();
+}
+
+#endif // HAS_BED_PROBE