Merge pull request #4789 from thinkyhead/rc_better_leveling_etc

Various cleanups ahead of more…

Marlin/Conditionals_post.h

     #define NORMAL_AXIS X_AXIS
   #endif
 
+  #define IS_SCARA (ENABLED(MORGAN_SCARA) || ENABLED(MAKERARM_SCARA))
+  #define IS_KINEMATIC (ENABLED(DELTA) || IS_SCARA)
+  #define IS_CARTESIAN !IS_KINEMATIC
+
   /**
-   * SCARA
+   * SCARA cannot use SLOWDOWN and requires QUICKHOME
    */
-  #if ENABLED(SCARA)
+  #if IS_SCARA
     #undef SLOWDOWN
-    #define QUICK_HOME //SCARA needs Quickhome
+    #define QUICK_HOME
   #endif
 
   /**
 
   #define HOMING_Z_WITH_PROBE (HAS_BED_PROBE && Z_HOME_DIR < 0 && ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN))
 
-  // Boundaries for probing based on set limits
-  #define MIN_PROBE_X (max(X_MIN_POS, X_MIN_POS + X_PROBE_OFFSET_FROM_EXTRUDER))
-  #define MAX_PROBE_X (min(X_MAX_POS, X_MAX_POS + X_PROBE_OFFSET_FROM_EXTRUDER))
-  #define MIN_PROBE_Y (max(Y_MIN_POS, Y_MIN_POS + Y_PROBE_OFFSET_FROM_EXTRUDER))
-  #define MAX_PROBE_Y (min(Y_MAX_POS, Y_MAX_POS + Y_PROBE_OFFSET_FROM_EXTRUDER))
-
   #define HAS_Z_SERVO_ENDSTOP (defined(Z_ENDSTOP_SERVO_NR) && Z_ENDSTOP_SERVO_NR >= 0)
 
   /**
     #ifndef DELTA_DIAGONAL_ROD_TRIM_TOWER_3
       #define DELTA_DIAGONAL_ROD_TRIM_TOWER_3 0.0
     #endif
-    #if ENABLED(AUTO_BED_LEVELING_GRID)
-      #define DELTA_BED_LEVELING_GRID
-    #endif
   #endif
 
   /**
-   * When not using other bed leveling...
+   * Specify the exact style of auto bed leveling
+   *
+   *  3POINT    - 3 Point Probing with the least-squares solution.
+   *  LINEAR    - Grid Probing with the least-squares solution.
+   *  NONLINEAR - Grid Probing with a mesh solution. Best for large beds.
    */
-  #if ENABLED(AUTO_BED_LEVELING_FEATURE) && DISABLED(AUTO_BED_LEVELING_GRID) && DISABLED(DELTA_BED_LEVELING_GRID)
-    #define AUTO_BED_LEVELING_3POINT
+  #if ENABLED(AUTO_BED_LEVELING_FEATURE)
+    #if DISABLED(AUTO_BED_LEVELING_GRID)
+      #define AUTO_BED_LEVELING_LINEAR
+      #define AUTO_BED_LEVELING_3POINT
+    #elif IS_KINEMATIC
+      #define AUTO_BED_LEVELING_NONLINEAR
+    #else
+      #define AUTO_BED_LEVELING_LINEAR
+    #endif
   #endif
 
+  #define PLANNER_LEVELING (ENABLED(MESH_BED_LEVELING) || ENABLED(AUTO_BED_LEVELING_LINEAR))
+
   /**
    * Buzzer/Speaker
    */
     #define Z_PROBE_TRAVEL_HEIGHT Z_HOMING_HEIGHT
   #endif
 
+  #if IS_KINEMATIC
+    // Check for this in the code instead
+    #define MIN_PROBE_X X_MIN_POS
+    #define MAX_PROBE_X X_MAX_POS
+    #define MIN_PROBE_Y Y_MIN_POS
+    #define MAX_PROBE_Y Y_MAX_POS
+  #else
+    // Boundaries for probing based on set limits
+    #define MIN_PROBE_X (max(X_MIN_POS, X_MIN_POS + X_PROBE_OFFSET_FROM_EXTRUDER))
+    #define MAX_PROBE_X (min(X_MAX_POS, X_MAX_POS + X_PROBE_OFFSET_FROM_EXTRUDER))
+    #define MIN_PROBE_Y (max(Y_MIN_POS, Y_MIN_POS + Y_PROBE_OFFSET_FROM_EXTRUDER))
+    #define MAX_PROBE_Y (min(Y_MAX_POS, Y_MAX_POS + Y_PROBE_OFFSET_FROM_EXTRUDER))
+  #endif
+
 #endif // CONDITIONALS_POST_H

Marlin/Configuration_adv.h

 
 // @section extruder
 
-//  extruder run-out prevention.
-//if the machine is idle, and the temperature over MINTEMP, every couple of SECONDS some filament is extruded
+// Extruder runout prevention.
+// If the machine is idle and the temperature over MINTEMP
+// then extrude some filament every couple of SECONDS.
 //#define EXTRUDER_RUNOUT_PREVENT
-#define EXTRUDER_RUNOUT_MINTEMP 190
-#define EXTRUDER_RUNOUT_SECONDS 30
-#define EXTRUDER_RUNOUT_ESTEPS 14   // mm filament
-#define EXTRUDER_RUNOUT_SPEED 1500  // extrusion speed
-#define EXTRUDER_RUNOUT_EXTRUDE 100
+#if ENABLED(EXTRUDER_RUNOUT_PREVENT)
+  #define EXTRUDER_RUNOUT_MINTEMP 190
+  #define EXTRUDER_RUNOUT_SECONDS 30
+  #define EXTRUDER_RUNOUT_SPEED 1500  // mm/m
+  #define EXTRUDER_RUNOUT_EXTRUDE 5   // mm
+#endif
 
 // @section temperature
 

Marlin/Marlin.h

 void FlushSerialRequestResend();
 void ok_to_send();
 
-void reset_bed_level();
 void kill(const char*);
 
 void quickstop_stepper();
 extern bool axis_homed[XYZ]; // axis[n].is_homed
 extern volatile bool wait_for_heatup;
 
+#if ENABLED(EMERGENCY_PARSER) && DISABLED(ULTIPANEL)
+  extern volatile bool wait_for_user;
+#endif
+
 extern float current_position[NUM_AXIS];
 extern float position_shift[XYZ];
 extern float home_offset[XYZ];
 float code_value_temp_abs();
 float code_value_temp_diff();
 
-#if ENABLED(DELTA)
+#if IS_KINEMATIC
   extern float delta[ABC];
-  extern float endstop_adj[ABC]; // axis[n].endstop_adj
-  extern float delta_radius;
-  extern float delta_diagonal_rod;
-  extern float delta_segments_per_second;
-  extern float delta_diagonal_rod_trim_tower_1;
-  extern float delta_diagonal_rod_trim_tower_2;
-  extern float delta_diagonal_rod_trim_tower_3;
   void inverse_kinematics(const float cartesian[XYZ]);
+#endif
+
+#if ENABLED(DELTA)
+  extern float delta[ABC],
+               endstop_adj[ABC],
+               delta_radius,
+               delta_diagonal_rod,
+               delta_segments_per_second,
+               delta_diagonal_rod_trim_tower_1,
+               delta_diagonal_rod_trim_tower_2,
+               delta_diagonal_rod_trim_tower_3;
   void recalc_delta_settings(float radius, float diagonal_rod);
-  #if ENABLED(AUTO_BED_LEVELING_FEATURE)
-    extern int delta_grid_spacing[2];
-    void adjust_delta(float cartesian[XYZ]);
-  #endif
-#elif ENABLED(SCARA)
-  extern float delta[ABC];
+#elif IS_SCARA
   extern float axis_scaling[ABC];  // Build size scaling
-  void inverse_kinematics(const float cartesian[XYZ]);
-  void forward_kinematics_SCARA(float f_scara[ABC]);
+  void forward_kinematics_SCARA(const float &a, const float &b);
+#endif
+
+#if ENABLED(AUTO_BED_LEVELING_NONLINEAR)
+  extern int nonlinear_grid_spacing[2];
+  void adjust_delta(float cartesian[XYZ]);
 #endif
 
 #if ENABLED(Z_DUAL_ENDSTOPS)

Marlin/MarlinSerial.cpp

           switch (state) {
             case state_M108:
               wait_for_heatup = false;
+              #if DISABLED(ULTIPANEL)
+                wait_for_user = false;
+              #endif
               break;
             case state_M112:
               kill(PSTR(MSG_KILLED));

Marlin/SanityCheck.h

   #error Please replace "const int dropsegments" with "#define MIN_STEPS_PER_SEGMENT" (and increase by 1) in Configuration_adv.h.
 #elif defined(PREVENT_DANGEROUS_EXTRUDE)
   #error "PREVENT_DANGEROUS_EXTRUDE is now PREVENT_COLD_EXTRUSION. Please update your configuration."
+#elif defined(SCARA)
+  #error "SCARA is now MORGAN_SCARA. Please update your configuration."
 #endif
 
 /**
 #if ENABLED(LCD_PROGRESS_BAR)
   #if DISABLED(SDSUPPORT)
     #error "LCD_PROGRESS_BAR requires SDSUPPORT."
-  #endif
-  #if ENABLED(DOGLCD)
+  #elif ENABLED(DOGLCD)
     #error "LCD_PROGRESS_BAR does not apply to graphical displays."
-  #endif
-  #if ENABLED(FILAMENT_LCD_DISPLAY)
+  #elif ENABLED(FILAMENT_LCD_DISPLAY)
     #error "LCD_PROGRESS_BAR and FILAMENT_LCD_DISPLAY are not fully compatible. Comment out this line to use both."
   #endif
 #endif
 /**
  * Don't set more than one kinematic type
  */
-#if (ENABLED(DELTA) && (ENABLED(SCARA) || ENABLED(COREXY) || ENABLED(COREXZ) || ENABLED(COREYZ))) \
- || (ENABLED(SCARA) && (ENABLED(COREXY) || ENABLED(COREXZ) || ENABLED(COREYZ))) \
- || (ENABLED(COREXY) && (ENABLED(COREXZ) || ENABLED(COREYZ))) \
- || (ENABLED(COREXZ) && ENABLED(COREYZ))
-  #error "Please enable only one of DELTA, SCARA, COREXY, COREXZ, or COREYZ."
+#define COUNT_KIN_1 0
+#if ENABLED(DELTA)
+  #define COUNT_KIN_2 INCREMENT(COUNT_KIN_1)
+#else
+  #define COUNT_KIN_2 COUNT_KIN_1
+#endif
+#if ENABLED(MORGAN_SCARA)
+  #define COUNT_KIN_3 INCREMENT(COUNT_KIN_2)
+#else
+  #define COUNT_KIN_3 COUNT_KIN_2
+#endif
+#if ENABLED(MAKERARM_SCARA)
+  #define COUNT_KIN_4 INCREMENT(COUNT_KIN_3)
+#else
+  #define COUNT_KIN_4 COUNT_KIN_3
+#endif
+#if ENABLED(COREXY)
+  #define COUNT_KIN_5 INCREMENT(COUNT_KIN_4)
+#else
+  #define COUNT_KIN_5 COUNT_KIN_4
+#endif
+#if ENABLED(COREXZ)
+  #define COUNT_KIN_6 INCREMENT(COUNT_KIN_5)
+#else
+  #define COUNT_KIN_6 COUNT_KIN_5
+#endif
+#if ENABLED(COREYZ)
+  #define COUNT_KIN_7 INCREMENT(COUNT_KIN_6)
+#else
+  #define COUNT_KIN_7 COUNT_KIN_6
+#endif
+#if COUNT_KIN_7 > 1
+  #error "Please enable only one of DELTA, MORGAN_SCARA, MAKERARM_SCARA, COREXY, COREXZ, or COREYZ."
 #endif
 
 /**
   #elif ENABLED(DELTA)
     #error "Z_DUAL_ENDSTOPS is not compatible with DELTA."
   #endif
-#elif DISABLED(SCARA)
+#elif !IS_SCARA
   #if X_HOME_DIR < 0 && DISABLED(USE_XMIN_PLUG)
     #error "Enable USE_XMIN_PLUG when homing X to MIN."
   #elif X_HOME_DIR > 0 && DISABLED(USE_XMAX_PLUG)
     #error "I2C_SLAVE_ADDRESS can't be over 127. (Only 7 bits allowed.)"
   #endif
 #endif
+
+/**
+ * Make sure only one display is enabled
+ *
+ * Note: BQ_LCD_SMART_CONTROLLER => REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER
+ *       REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER => REPRAP_DISCOUNT_SMART_CONTROLLER
+ *       SAV_3DGLCD => U8GLIB_SH1106 => ULTIMAKERCONTROLLER
+ *       miniVIKI => ULTIMAKERCONTROLLER
+ *       VIKI2 => ULTIMAKERCONTROLLER
+ *       ELB_FULL_GRAPHIC_CONTROLLER => ULTIMAKERCONTROLLER
+ *       PANEL_ONE => ULTIMAKERCONTROLLER
+ */
+#define COUNT_LCD_1 0
+#if ENABLED(ULTIMAKERCONTROLLER) \
+    && DISABLED(SAV_3DGLCD) && DISABLED(miniVIKI) && DISABLED(VIKI2) \
+    && DISABLED(ELB_FULL_GRAPHIC_CONTROLLER) && DISABLED(PANEL_ONE)
+  #define COUNT_LCD_2 INCREMENT(COUNT_LCD_1)
+#else
+  #define COUNT_LCD_2 COUNT_LCD_1
+#endif
+#if ENABLED(REPRAP_DISCOUNT_SMART_CONTROLLER) && DISABLED(REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER)
+  #define COUNT_LCD_3 INCREMENT(COUNT_LCD_2)
+#else
+  #define COUNT_LCD_3 COUNT_LCD_2
+#endif
+#if ENABLED(REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER) && DISABLED(BQ_LCD_SMART_CONTROLLER)
+  #define COUNT_LCD_4 INCREMENT(COUNT_LCD_3)
+#else
+  #define COUNT_LCD_4 COUNT_LCD_3
+#endif
+#if ENABLED(CARTESIO_UI)
+  #define COUNT_LCD_5 INCREMENT(COUNT_LCD_4)
+#else
+  #define COUNT_LCD_5 COUNT_LCD_4
+#endif
+#if ENABLED(PANEL_ONE)
+  #define COUNT_LCD_6 INCREMENT(COUNT_LCD_5)
+#else
+  #define COUNT_LCD_6 COUNT_LCD_5
+#endif
+#if ENABLED(MAKRPANEL)
+  #define COUNT_LCD_7 INCREMENT(COUNT_LCD_6)
+#else
+  #define COUNT_LCD_7 COUNT_LCD_6
+#endif
+#if ENABLED(REPRAPWORLD_GRAPHICAL_LCD)
+  #define COUNT_LCD_8 INCREMENT(COUNT_LCD_7)
+#else
+  #define COUNT_LCD_8 COUNT_LCD_7
+#endif
+#if ENABLED(VIKI2)
+  #define COUNT_LCD_9 INCREMENT(COUNT_LCD_8)
+#else
+  #define COUNT_LCD_9 COUNT_LCD_8
+#endif
+#if ENABLED(miniVIKI)
+  #define COUNT_LCD_10 INCREMENT(COUNT_LCD_9)
+#else
+  #define COUNT_LCD_10 COUNT_LCD_9
+#endif
+#if ENABLED(ELB_FULL_GRAPHIC_CONTROLLER)
+  #define COUNT_LCD_11 INCREMENT(COUNT_LCD_10)
+#else
+  #define COUNT_LCD_11 COUNT_LCD_10
+#endif
+#if ENABLED(G3D_PANEL)
+  #define COUNT_LCD_12 INCREMENT(COUNT_LCD_11)
+#else
+  #define COUNT_LCD_12 COUNT_LCD_11
+#endif
+#if ENABLED(MINIPANEL)
+  #define COUNT_LCD_13 INCREMENT(COUNT_LCD_12)
+#else
+  #define COUNT_LCD_13 COUNT_LCD_12
+#endif
+#if ENABLED(REPRAPWORLD_KEYPAD)
+  #define COUNT_LCD_14 INCREMENT(COUNT_LCD_13)
+#else
+  #define COUNT_LCD_14 COUNT_LCD_13
+#endif
+#if ENABLED(RIGIDBOT_PANEL)
+  #define COUNT_LCD_15 INCREMENT(COUNT_LCD_14)
+#else
+  #define COUNT_LCD_15 COUNT_LCD_14
+#endif
+#if ENABLED(RA_CONTROL_PANEL)
+  #define COUNT_LCD_16 INCREMENT(COUNT_LCD_15)
+#else
+  #define COUNT_LCD_16 COUNT_LCD_15
+#endif
+#if ENABLED(LCD_I2C_SAINSMART_YWROBOT)
+  #define COUNT_LCD_17 INCREMENT(COUNT_LCD_16)
+#else
+  #define COUNT_LCD_17 COUNT_LCD_16
+#endif
+#if ENABLED(LCM1602)
+  #define COUNT_LCD_18 INCREMENT(COUNT_LCD_17)
+#else
+  #define COUNT_LCD_18 COUNT_LCD_17
+#endif
+#if ENABLED(LCD_I2C_PANELOLU2)
+  #define COUNT_LCD_19 INCREMENT(COUNT_LCD_18)
+#else
+  #define COUNT_LCD_19 COUNT_LCD_18
+#endif
+#if ENABLED(LCD_I2C_VIKI)
+  #define COUNT_LCD_20 INCREMENT(COUNT_LCD_19)
+#else
+  #define COUNT_LCD_20 COUNT_LCD_19
+#endif
+#if ENABLED(U8GLIB_SSD1306)
+  #define COUNT_LCD_21 INCREMENT(COUNT_LCD_20)
+#else
+  #define COUNT_LCD_21 COUNT_LCD_20
+#endif
+#if ENABLED(SAV_3DLCD)
+  #define COUNT_LCD_22 INCREMENT(COUNT_LCD_21)
+#else
+  #define COUNT_LCD_22 COUNT_LCD_21
+#endif
+#if ENABLED(BQ_LCD_SMART_CONTROLLER)
+  #define COUNT_LCD_23 INCREMENT(COUNT_LCD_22)
+#else
+  #define COUNT_LCD_23 COUNT_LCD_22
+#endif
+#if ENABLED(SAV_3DGLCD)
+  #define COUNT_LCD_24 INCREMENT(COUNT_LCD_23)
+#else
+  #define COUNT_LCD_24 COUNT_LCD_23
+#endif
+#if COUNT_LCD_24 > 1
+  #error "Please select no more than one LCD controller option."
+#endif

Marlin/configuration_store.cpp

   #endif
   EEPROM_WRITE(lcd_contrast);
 
-  #if ENABLED(SCARA)
+  #if IS_SCARA
     EEPROM_WRITE(axis_scaling); // 3 floats
   #else
     dummy = 1.0f;
     #endif
     EEPROM_READ(lcd_contrast);
 
-    #if ENABLED(SCARA)
+    #if IS_SCARA
       EEPROM_READ(axis_scaling);  // 3 floats
     #else
       EEPROM_READ(dummy);
     planner.axis_steps_per_mm[i] = tmp1[i];
     planner.max_feedrate_mm_s[i] = tmp2[i];
     planner.max_acceleration_mm_per_s2[i] = tmp3[i];
-    #if ENABLED(SCARA)
+    #if IS_SCARA
       if (i < COUNT(axis_scaling))
         axis_scaling[i] = 1;
     #endif
 
   CONFIG_ECHO_START;
 
-  #if ENABLED(SCARA)
+  #if IS_SCARA
     if (!forReplay) {
       SERIAL_ECHOLNPGM("Scaling factors:");
       CONFIG_ECHO_START;

Marlin/enum.h

   E_AXIS  = 3,
   X_HEAD  = 4,
   Y_HEAD  = 5,
-  Z_HEAD  = 6
+  Z_HEAD  = 6,
+  ALL_AXES = 100
 };
 
 #define LOOP_XYZ(VAR)  for (uint8_t VAR=X_AXIS; VAR<=Z_AXIS; VAR++)

Marlin/example_configurations/Cartesio/Configuration_adv.h

 
 // @section extruder
 
-//  extruder run-out prevention.
-//if the machine is idle, and the temperature over MINTEMP, every couple of SECONDS some filament is extruded
+// Extruder runout prevention.
+// If the machine is idle and the temperature over MINTEMP
+// then extrude some filament every couple of SECONDS.
 //#define EXTRUDER_RUNOUT_PREVENT
-#define EXTRUDER_RUNOUT_MINTEMP 190
-#define EXTRUDER_RUNOUT_SECONDS 30
-#define EXTRUDER_RUNOUT_ESTEPS 14   // mm filament
-#define EXTRUDER_RUNOUT_SPEED 1500  // extrusion speed
-#define EXTRUDER_RUNOUT_EXTRUDE 100
+#if ENABLED(EXTRUDER_RUNOUT_PREVENT)
+  #define EXTRUDER_RUNOUT_MINTEMP 190
+  #define EXTRUDER_RUNOUT_SECONDS 30
+  #define EXTRUDER_RUNOUT_SPEED 1500  // mm/m
+  #define EXTRUDER_RUNOUT_EXTRUDE 5   // mm
+#endif
 
 // @section temperature
 

Marlin/example_configurations/Felix/Configuration_adv.h

 
 // @section extruder
 
-//  extruder run-out prevention.
-//if the machine is idle, and the temperature over MINTEMP, every couple of SECONDS some filament is extruded
+// Extruder runout prevention.
+// If the machine is idle and the temperature over MINTEMP
+// then extrude some filament every couple of SECONDS.
 //#define EXTRUDER_RUNOUT_PREVENT
-#define EXTRUDER_RUNOUT_MINTEMP 190
-#define EXTRUDER_RUNOUT_SECONDS 30
-#define EXTRUDER_RUNOUT_ESTEPS 14   // mm filament
-#define EXTRUDER_RUNOUT_SPEED 1500  // extrusion speed
-#define EXTRUDER_RUNOUT_EXTRUDE 100
+#if ENABLED(EXTRUDER_RUNOUT_PREVENT)
+  #define EXTRUDER_RUNOUT_MINTEMP 190
+  #define EXTRUDER_RUNOUT_SECONDS 30
+  #define EXTRUDER_RUNOUT_SPEED 1500  // mm/m
+  #define EXTRUDER_RUNOUT_EXTRUDE 5   // mm
+#endif
 
 // @section temperature
 

Marlin/example_configurations/Hephestos/Configuration_adv.h

 
 // @section extruder
 
-//  extruder run-out prevention.
-//if the machine is idle, and the temperature over MINTEMP, every couple of SECONDS some filament is extruded
+// Extruder runout prevention.
+// If the machine is idle and the temperature over MINTEMP
+// then extrude some filament every couple of SECONDS.
 //#define EXTRUDER_RUNOUT_PREVENT
-#define EXTRUDER_RUNOUT_MINTEMP 190
-#define EXTRUDER_RUNOUT_SECONDS 30
-#define EXTRUDER_RUNOUT_ESTEPS 14   // mm filament
-#define EXTRUDER_RUNOUT_SPEED 1500  // extrusion speed
-#define EXTRUDER_RUNOUT_EXTRUDE 100
+#if ENABLED(EXTRUDER_RUNOUT_PREVENT)
+  #define EXTRUDER_RUNOUT_MINTEMP 190
+  #define EXTRUDER_RUNOUT_SECONDS 30
+  #define EXTRUDER_RUNOUT_SPEED 1500  // mm/m
+  #define EXTRUDER_RUNOUT_EXTRUDE 5   // mm
+#endif
 
 // @section temperature
 

Marlin/example_configurations/Hephestos_2/Configuration_adv.h

 
 // @section extruder
 
-//  extruder run-out prevention.
-//if the machine is idle, and the temperature over MINTEMP, every couple of SECONDS some filament is extruded
+// Extruder runout prevention.
+// If the machine is idle and the temperature over MINTEMP
+// then extrude some filament every couple of SECONDS.
 //#define EXTRUDER_RUNOUT_PREVENT
-#define EXTRUDER_RUNOUT_MINTEMP 190
-#define EXTRUDER_RUNOUT_SECONDS 30
-#define EXTRUDER_RUNOUT_ESTEPS 14   // mm filament
-#define EXTRUDER_RUNOUT_SPEED 1500  // extrusion speed
-#define EXTRUDER_RUNOUT_EXTRUDE 100
+#if ENABLED(EXTRUDER_RUNOUT_PREVENT)
+  #define EXTRUDER_RUNOUT_MINTEMP 190
+  #define EXTRUDER_RUNOUT_SECONDS 30
+  #define EXTRUDER_RUNOUT_SPEED 1500  // mm/m
+  #define EXTRUDER_RUNOUT_EXTRUDE 5   // mm
+#endif
 
 // @section temperature
 

Marlin/example_configurations/K8200/Configuration_adv.h

 
 // @section extruder
 
-//  extruder run-out prevention.
-//if the machine is idle, and the temperature over MINTEMP, every couple of SECONDS some filament is extruded
+// Extruder runout prevention.
+// If the machine is idle and the temperature over MINTEMP
+// then extrude some filament every couple of SECONDS.
 //#define EXTRUDER_RUNOUT_PREVENT
-#define EXTRUDER_RUNOUT_MINTEMP 190
-#define EXTRUDER_RUNOUT_SECONDS 30
-#define EXTRUDER_RUNOUT_ESTEPS 14   // mm filament
-#define EXTRUDER_RUNOUT_SPEED 1500  // extrusion speed
-#define EXTRUDER_RUNOUT_EXTRUDE 100
+#if ENABLED(EXTRUDER_RUNOUT_PREVENT)
+  #define EXTRUDER_RUNOUT_MINTEMP 190
+  #define EXTRUDER_RUNOUT_SECONDS 30
+  #define EXTRUDER_RUNOUT_SPEED 1500  // mm/m
+  #define EXTRUDER_RUNOUT_EXTRUDE 5   // mm
+#endif
 
 // @section temperature
 

Marlin/example_configurations/K8400/Configuration_adv.h

 
 // @section extruder
 
-//  extruder run-out prevention.
-//if the machine is idle, and the temperature over MINTEMP, every couple of SECONDS some filament is extruded
+// Extruder runout prevention.
+// If the machine is idle and the temperature over MINTEMP
+// then extrude some filament every couple of SECONDS.
 //#define EXTRUDER_RUNOUT_PREVENT
-#define EXTRUDER_RUNOUT_MINTEMP 190
-#define EXTRUDER_RUNOUT_SECONDS 30
-#define EXTRUDER_RUNOUT_ESTEPS 14   // mm filament
-#define EXTRUDER_RUNOUT_SPEED 1500  // extrusion speed
-#define EXTRUDER_RUNOUT_EXTRUDE 100
+#if ENABLED(EXTRUDER_RUNOUT_PREVENT)
+  #define EXTRUDER_RUNOUT_MINTEMP 190
+  #define EXTRUDER_RUNOUT_SECONDS 30
+  #define EXTRUDER_RUNOUT_SPEED 1500  // mm/m
+  #define EXTRUDER_RUNOUT_EXTRUDE 5   // mm
+#endif
 
 // @section temperature
 

Marlin/example_configurations/RigidBot/Configuration_adv.h

 
 // @section extruder
 
-//  extruder run-out prevention.
-//if the machine is idle, and the temperature over MINTEMP, every couple of SECONDS some filament is extruded
+// Extruder runout prevention.
+// If the machine is idle and the temperature over MINTEMP
+// then extrude some filament every couple of SECONDS.
 //#define EXTRUDER_RUNOUT_PREVENT
-#define EXTRUDER_RUNOUT_MINTEMP 190
-#define EXTRUDER_RUNOUT_SECONDS 30
-#define EXTRUDER_RUNOUT_ESTEPS 14   // mm filament
-#define EXTRUDER_RUNOUT_SPEED 1500  // extrusion speed
-#define EXTRUDER_RUNOUT_EXTRUDE 100
+#if ENABLED(EXTRUDER_RUNOUT_PREVENT)
+  #define EXTRUDER_RUNOUT_MINTEMP 190
+  #define EXTRUDER_RUNOUT_SECONDS 30
+  #define EXTRUDER_RUNOUT_SPEED 1500  // mm/m
+  #define EXTRUDER_RUNOUT_EXTRUDE 5   // mm
+#endif
 
 // @section temperature
 

Marlin/example_configurations/SCARA/Configuration.h

 //
 
 //===========================================================================
-//========================= SCARA Settings ==================================
+//============================= SCARA Printer ===============================
 //===========================================================================
-// SCARA-mode for Marlin has been developed by QHARLEY in ZA in 2012/2013. Implemented
+// MORGAN_SCARA for Marlin was developed by QHARLEY in ZA in 2012/2013. Implemented
 // and slightly reworked by JCERNY in 06/2014 with the goal to bring it into Master-Branch
 // QHARLEYS Autobedlevelling has not been ported, because Marlin has now Bed-levelling
 // You might need Z-Min endstop on SCARA-Printer to use this feature. Actually untested!
-// Uncomment to use Morgan scara mode
-#define SCARA
-#define SCARA_SEGMENTS_PER_SECOND 200 // If movement is choppy try lowering this value
-// Length of inner support arm
-#define Linkage_1 150 //mm      Preprocessor cannot handle decimal point...
-// Length of outer support arm     Measure arm lengths precisely and enter
-#define Linkage_2 150 //mm
-
-// SCARA tower offset (position of Tower relative to bed zero position)
-// This needs to be reasonably accurate as it defines the printbed position in the SCARA space.
-#define SCARA_offset_x 100 //mm
-#define SCARA_offset_y -56 //mm
-#define SCARA_RAD2DEG 57.2957795  // to convert RAD to degrees
-
-#define THETA_HOMING_OFFSET 0  //calculatated from Calibration Guide and command M360 / M114 see picture in http://reprap.harleystudio.co.za/?page_id=1073
-#define PSI_HOMING_OFFSET   0  //calculatated from Calibration Guide and command M364 / M114 see picture in http://reprap.harleystudio.co.za/?page_id=1073
-
-//some helper variables to make kinematics faster
-#define L1_2 sq(Linkage_1) // do not change
-#define L2_2 sq(Linkage_2) // do not change
+
+// Specify the specific SCARA model
+#define MORGAN_SCARA
+//#define MAKERARM_SCARA
+
+#if ENABLED(MORGAN_SCARA) || ENABLED(MAKERARM_SCARA)
+  //#define DEBUG_SCARA_KINEMATICS
+
+  #define SCARA_SEGMENTS_PER_SECOND 200 // If movement is choppy try lowering this value
+  // Length of inner support arm
+  #define SCARA_LINKAGE_1 150 //mm      Preprocessor cannot handle decimal point...
+  // Length of outer support arm     Measure arm lengths precisely and enter
+  #define SCARA_LINKAGE_2 150 //mm
+
+  // SCARA tower offset (position of Tower relative to bed zero position)
+  // This needs to be reasonably accurate as it defines the printbed position in the SCARA space.
+  #define SCARA_OFFSET_X 100 //mm
+  #define SCARA_OFFSET_Y -56 //mm
+
+  #define THETA_HOMING_OFFSET 0  //calculatated from Calibration Guide and command M360 / M114 see picture in http://reprap.harleystudio.co.za/?page_id=1073
+  #define PSI_HOMING_OFFSET   0  //calculatated from Calibration Guide and command M364 / M114 see picture in http://reprap.harleystudio.co.za/?page_id=1073
+#endif
 
 //===========================================================================
-//========================= SCARA Settings end ==============================
+//==================== END ==== SCARA Printer ==== END ======================
 //===========================================================================
 
 // @section info

Marlin/example_configurations/SCARA/Configuration_adv.h

 
 // @section extruder
 
-//  extruder run-out prevention.
-//if the machine is idle, and the temperature over MINTEMP, every couple of SECONDS some filament is extruded
+// Extruder runout prevention.
+// If the machine is idle and the temperature over MINTEMP
+// then extrude some filament every couple of SECONDS.
 //#define EXTRUDER_RUNOUT_PREVENT
-#define EXTRUDER_RUNOUT_MINTEMP 180
-#define EXTRUDER_RUNOUT_SECONDS 30
-#define EXTRUDER_RUNOUT_ESTEPS 14   // mm filament
-#define EXTRUDER_RUNOUT_SPEED 180   // extrusion speed
-#define EXTRUDER_RUNOUT_EXTRUDE 100
+#if ENABLED(EXTRUDER_RUNOUT_PREVENT)
+  #define EXTRUDER_RUNOUT_MINTEMP 190
+  #define EXTRUDER_RUNOUT_SECONDS 30
+  #define EXTRUDER_RUNOUT_SPEED 180  // mm/m
+  #define EXTRUDER_RUNOUT_EXTRUDE 5  // mm
+#endif
 
 // @section temperature
 

Marlin/example_configurations/TAZ4/Configuration_adv.h

 
 // @section extruder
 
-//  extruder run-out prevention.
-//if the machine is idle, and the temperature over MINTEMP, every couple of SECONDS some filament is extruded
+// Extruder runout prevention.
+// If the machine is idle and the temperature over MINTEMP
+// then extrude some filament every couple of SECONDS.
 //#define EXTRUDER_RUNOUT_PREVENT
-#define EXTRUDER_RUNOUT_MINTEMP 190
-#define EXTRUDER_RUNOUT_SECONDS 30
-#define EXTRUDER_RUNOUT_ESTEPS 14   // mm filament
-#define EXTRUDER_RUNOUT_SPEED 1500  // extrusion speed
-#define EXTRUDER_RUNOUT_EXTRUDE 100
+#if ENABLED(EXTRUDER_RUNOUT_PREVENT)
+  #define EXTRUDER_RUNOUT_MINTEMP 190
+  #define EXTRUDER_RUNOUT_SECONDS 30
+  #define EXTRUDER_RUNOUT_SPEED 1500  // mm/m
+  #define EXTRUDER_RUNOUT_EXTRUDE 5   // mm
+#endif
 
 // @section temperature
 

Marlin/example_configurations/WITBOX/Configuration_adv.h

 
 // @section extruder
 
-//  extruder run-out prevention.
-//if the machine is idle, and the temperature over MINTEMP, every couple of SECONDS some filament is extruded
+// Extruder runout prevention.
+// If the machine is idle and the temperature over MINTEMP
+// then extrude some filament every couple of SECONDS.
 //#define EXTRUDER_RUNOUT_PREVENT
-#define EXTRUDER_RUNOUT_MINTEMP 190
-#define EXTRUDER_RUNOUT_SECONDS 30
-#define EXTRUDER_RUNOUT_ESTEPS 14   // mm filament
-#define EXTRUDER_RUNOUT_SPEED 1500  // extrusion speed
-#define EXTRUDER_RUNOUT_EXTRUDE 100
+#if ENABLED(EXTRUDER_RUNOUT_PREVENT)
+  #define EXTRUDER_RUNOUT_MINTEMP 190
+  #define EXTRUDER_RUNOUT_SECONDS 30
+  #define EXTRUDER_RUNOUT_SPEED 1500  // mm/m
+  #define EXTRUDER_RUNOUT_EXTRUDE 5   // mm
+#endif
 
 // @section temperature
 

Marlin/example_configurations/delta/biv2.5/Configuration_adv.h

 
 // @section extruder
 
-//  extruder run-out prevention.
-//if the machine is idle, and the temperature over MINTEMP, every couple of SECONDS some filament is extruded
+// Extruder runout prevention.
+// If the machine is idle and the temperature over MINTEMP
+// then extrude some filament every couple of SECONDS.
 //#define EXTRUDER_RUNOUT_PREVENT
-#define EXTRUDER_RUNOUT_MINTEMP 190
-#define EXTRUDER_RUNOUT_SECONDS 30
-#define EXTRUDER_RUNOUT_ESTEPS 14   // mm filament
-#define EXTRUDER_RUNOUT_SPEED 1500  // extrusion speed
-#define EXTRUDER_RUNOUT_EXTRUDE 100
+#if ENABLED(EXTRUDER_RUNOUT_PREVENT)
+  #define EXTRUDER_RUNOUT_MINTEMP 190
+  #define EXTRUDER_RUNOUT_SECONDS 30
+  #define EXTRUDER_RUNOUT_SPEED 1500  // mm/m
+  #define EXTRUDER_RUNOUT_EXTRUDE 5   // mm
+#endif
 
 // @section temperature
 

Marlin/example_configurations/delta/generic/Configuration_adv.h

 
 // @section extruder
 
-//  extruder run-out prevention.
-//if the machine is idle, and the temperature over MINTEMP, every couple of SECONDS some filament is extruded
+// Extruder runout prevention.
+// If the machine is idle and the temperature over MINTEMP
+// then extrude some filament every couple of SECONDS.
 //#define EXTRUDER_RUNOUT_PREVENT
-#define EXTRUDER_RUNOUT_MINTEMP 190
-#define EXTRUDER_RUNOUT_SECONDS 30
-#define EXTRUDER_RUNOUT_ESTEPS 14   // mm filament
-#define EXTRUDER_RUNOUT_SPEED 1500  // extrusion speed
-#define EXTRUDER_RUNOUT_EXTRUDE 100
+#if ENABLED(EXTRUDER_RUNOUT_PREVENT)
+  #define EXTRUDER_RUNOUT_MINTEMP 190
+  #define EXTRUDER_RUNOUT_SECONDS 30
+  #define EXTRUDER_RUNOUT_SPEED 1500  // mm/m
+  #define EXTRUDER_RUNOUT_EXTRUDE 5   // mm
+#endif
 
 // @section temperature
 

Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h

 
 // @section extruder
 
-//  extruder run-out prevention.
-//if the machine is idle, and the temperature over MINTEMP, every couple of SECONDS some filament is extruded
+// Extruder runout prevention.
+// If the machine is idle and the temperature over MINTEMP
+// then extrude some filament every couple of SECONDS.
 //#define EXTRUDER_RUNOUT_PREVENT
-#define EXTRUDER_RUNOUT_MINTEMP 190
-#define EXTRUDER_RUNOUT_SECONDS 30
-#define EXTRUDER_RUNOUT_ESTEPS 14   // mm filament
-#define EXTRUDER_RUNOUT_SPEED 1500  // extrusion speed
-#define EXTRUDER_RUNOUT_EXTRUDE 100
+#if ENABLED(EXTRUDER_RUNOUT_PREVENT)
+  #define EXTRUDER_RUNOUT_MINTEMP 190
+  #define EXTRUDER_RUNOUT_SECONDS 30
+  #define EXTRUDER_RUNOUT_SPEED 1500  // mm/m
+  #define EXTRUDER_RUNOUT_EXTRUDE 5   // mm
+#endif
 
 // @section temperature
 

Marlin/example_configurations/delta/kossel_pro/Configuration_adv.h

 
 // @section extruder
 
-//  extruder run-out prevention.
-//if the machine is idle, and the temperature over MINTEMP, every couple of SECONDS some filament is extruded
+// Extruder runout prevention.
+// If the machine is idle and the temperature over MINTEMP
+// then extrude some filament every couple of SECONDS.
 //#define EXTRUDER_RUNOUT_PREVENT
-#define EXTRUDER_RUNOUT_MINTEMP 190
-#define EXTRUDER_RUNOUT_SECONDS 30
-#define EXTRUDER_RUNOUT_ESTEPS 14   // mm filament
-#define EXTRUDER_RUNOUT_SPEED 1500  // extrusion speed
-#define EXTRUDER_RUNOUT_EXTRUDE 100
+#if ENABLED(EXTRUDER_RUNOUT_PREVENT)
+  #define EXTRUDER_RUNOUT_MINTEMP 190
+  #define EXTRUDER_RUNOUT_SECONDS 30
+  #define EXTRUDER_RUNOUT_SPEED 1500  // mm/m
+  #define EXTRUDER_RUNOUT_EXTRUDE 5   // mm
+#endif
 
 // @section temperature
 

Marlin/example_configurations/delta/kossel_xl/Configuration_adv.h

 
 // @section extruder
 
-//  extruder run-out prevention.
-//if the machine is idle, and the temperature over MINTEMP, every couple of SECONDS some filament is extruded
+// Extruder runout prevention.
+// If the machine is idle and the temperature over MINTEMP
+// then extrude some filament every couple of SECONDS.
 //#define EXTRUDER_RUNOUT_PREVENT
-#define EXTRUDER_RUNOUT_MINTEMP 190
-#define EXTRUDER_RUNOUT_SECONDS 30
-#define EXTRUDER_RUNOUT_ESTEPS 14   // mm filament
-#define EXTRUDER_RUNOUT_SPEED 1500  // extrusion speed
-#define EXTRUDER_RUNOUT_EXTRUDE 100
+#if ENABLED(EXTRUDER_RUNOUT_PREVENT)
+  #define EXTRUDER_RUNOUT_MINTEMP 190
+  #define EXTRUDER_RUNOUT_SECONDS 30
+  #define EXTRUDER_RUNOUT_SPEED 1500  // mm/m
+  #define EXTRUDER_RUNOUT_EXTRUDE 5   // mm
+#endif
 
 // @section temperature
 

Marlin/example_configurations/makibox/Configuration_adv.h

 
 // @section extruder
 
-//  extruder run-out prevention.
-//if the machine is idle, and the temperature over MINTEMP, every couple of SECONDS some filament is extruded
+// Extruder runout prevention.
+// If the machine is idle and the temperature over MINTEMP
+// then extrude some filament every couple of SECONDS.
 //#define EXTRUDER_RUNOUT_PREVENT
-#define EXTRUDER_RUNOUT_MINTEMP 190
-#define EXTRUDER_RUNOUT_SECONDS 30
-#define EXTRUDER_RUNOUT_ESTEPS 14   // mm filament
-#define EXTRUDER_RUNOUT_SPEED 1500  // extrusion speed
-#define EXTRUDER_RUNOUT_EXTRUDE 100
+#if ENABLED(EXTRUDER_RUNOUT_PREVENT)
+  #define EXTRUDER_RUNOUT_MINTEMP 190
+  #define EXTRUDER_RUNOUT_SECONDS 30
+  #define EXTRUDER_RUNOUT_SPEED 1500  // mm/m
+  #define EXTRUDER_RUNOUT_EXTRUDE 5   // mm
+#endif
 
 // @section temperature
 

Marlin/example_configurations/tvrrug/Round2/Configuration_adv.h

 
 // @section extruder
 
-//  extruder run-out prevention.
-//if the machine is idle, and the temperature over MINTEMP, every couple of SECONDS some filament is extruded
+// Extruder runout prevention.
+// If the machine is idle and the temperature over MINTEMP
+// then extrude some filament every couple of SECONDS.
 //#define EXTRUDER_RUNOUT_PREVENT
-#define EXTRUDER_RUNOUT_MINTEMP 190
-#define EXTRUDER_RUNOUT_SECONDS 30
-#define EXTRUDER_RUNOUT_ESTEPS 14   // mm filament
-#define EXTRUDER_RUNOUT_SPEED 1500  // extrusion speed
-#define EXTRUDER_RUNOUT_EXTRUDE 100
+#if ENABLED(EXTRUDER_RUNOUT_PREVENT)
+  #define EXTRUDER_RUNOUT_MINTEMP 190
+  #define EXTRUDER_RUNOUT_SECONDS 30
+  #define EXTRUDER_RUNOUT_SPEED 1500  // mm/m
+  #define EXTRUDER_RUNOUT_EXTRUDE 5   // mm
+#endif
 
 // @section temperature
 

Marlin/language.h

 #define MSG_ENDSTOP_OPEN                    "open"
 #define MSG_HOTEND_OFFSET                   "Hotend offsets:"
 #define MSG_DUPLICATION_MODE                "Duplication mode: "
-#define MSG_SOFT_ENDSTOPS                   "Soft endstops"
-#define MSG_SOFT_MIN                        "Min"
-#define MSG_SOFT_MAX                        "Max"
+#define MSG_SOFT_ENDSTOPS                   "Soft endstops: "
+#define MSG_SOFT_MIN                        "  Min: "
+#define MSG_SOFT_MAX                        "  Max: "
 
 #define MSG_SD_CANT_OPEN_SUBDIR             "Cannot open subdir "
 #define MSG_SD_INIT_FAIL                    "SD init fail"

Marlin/language_en.h

 #ifndef MSG_ERR_MINTEMP_BED
   #define MSG_ERR_MINTEMP_BED                 "Err: MINTEMP BED"
 #endif
+#ifndef MSG_ERR_Z_HOMING
+  #define MSG_ERR_Z_HOMING                    "G28 Z Forbidden"
+#endif
 #ifndef MSG_HALTED
   #define MSG_HALTED                          "PRINTER HALTED"
 #endif

Marlin/macros.h

 #endif
 #define RADIANS(d) ((d)*M_PI/180.0)
 #define DEGREES(r) ((r)*180.0/M_PI)
-#define HYPOT(x,y) sqrt(sq(x)+sq(y))
+#define HYPOT2(x,y) (sq(x)+sq(y))
+#define HYPOT(x,y) sqrt(HYPOT2(x,y))
 
 // Macros to contrain values
 #define NOLESS(v,n) do{ if (v < n) v = n; }while(0)
 #define MAX3(a, b, c)    max(max(a, b), c)
 #define MAX4(a, b, c, d) max(max(max(a, b), c), d)
 
+#define UNEAR_ZERO(x) ((x) < 0.000001)
+#define NEAR_ZERO(x) ((x) > -0.000001 && (x) < 0.000001)
+#define NEAR(x,y) NEAR_ZERO((x)-(y))
+
 #endif //__MACROS_H

Marlin/planner.cpp

       Planner::max_e_jerk,
       Planner::min_travel_feedrate_mm_s;
 
-#if ENABLED(AUTO_BED_LEVELING_FEATURE)
+#if ENABLED(AUTO_BED_LEVELING_LINEAR)
   matrix_3x3 Planner::bed_level_matrix; // Transform to compensate for bed level
 #endif
 
   memset(position, 0, sizeof(position)); // clear position
   LOOP_XYZE(i) previous_speed[i] = 0.0;
   previous_nominal_speed = 0.0;
-  #if ENABLED(AUTO_BED_LEVELING_FEATURE)
+  #if ENABLED(AUTO_BED_LEVELING_LINEAR)
     bed_level_matrix.set_to_identity();
   #endif
 }
   #endif
 }
 
-#if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)
+#if PLANNER_LEVELING
 
-  void Planner::apply_leveling(
+  void Planner::apply_leveling(float &lx, float &ly, float &lz) {
     #if ENABLED(MESH_BED_LEVELING)
-      const float &x, const float &y
-    #else
-      float &x, float &y
+
+      if (mbl.active())
+        lz += mbl.get_z(RAW_X_POSITION(lx), RAW_Y_POSITION(ly));
+
+    #elif ENABLED(AUTO_BED_LEVELING_LINEAR)
+
+      float dx = RAW_X_POSITION(lx) - (X_TILT_FULCRUM),
+            dy = RAW_Y_POSITION(ly) - (Y_TILT_FULCRUM),
+            dz = RAW_Z_POSITION(lz);
+
+      apply_rotation_xyz(bed_level_matrix, dx, dy, dz);
+
+      lx = LOGICAL_X_POSITION(dx + X_TILT_FULCRUM);
+      ly = LOGICAL_Y_POSITION(dy + Y_TILT_FULCRUM);
+      lz = LOGICAL_Z_POSITION(dz);
+
     #endif
-    , float &z
-  ) {
+  }
+
+  void Planner::unapply_leveling(float &lx, float &ly, float &lz) {
     #if ENABLED(MESH_BED_LEVELING)
 
       if (mbl.active())
-        z += mbl.get_z(RAW_X_POSITION(x), RAW_Y_POSITION(y));
+        lz -= mbl.get_z(RAW_X_POSITION(lx), RAW_Y_POSITION(ly));
+
+    #elif ENABLED(AUTO_BED_LEVELING_LINEAR)
 
-    #elif ENABLED(AUTO_BED_LEVELING_FEATURE)
+      matrix_3x3 inverse = matrix_3x3::transpose(bed_level_matrix);
 
-      float tx = RAW_X_POSITION(x) - (X_TILT_FULCRUM),
-            ty = RAW_Y_POSITION(y) - (Y_TILT_FULCRUM),
-            tz = RAW_Z_POSITION(z);
+      float dx = lx - (X_TILT_FULCRUM), dy = ly - (Y_TILT_FULCRUM), dz = lz;
 
-      apply_rotation_xyz(bed_level_matrix, tx, ty, tz);
+      apply_rotation_xyz(inverse, dx, dy, dz);
 
-      x = LOGICAL_X_POSITION(tx + X_TILT_FULCRUM);
-      y = LOGICAL_Y_POSITION(ty + Y_TILT_FULCRUM);
-      z = LOGICAL_Z_POSITION(tz);
+      lx = LOGICAL_X_POSITION(dx + X_TILT_FULCRUM);
+      ly = LOGICAL_Y_POSITION(dy + Y_TILT_FULCRUM);
+      lz = LOGICAL_Z_POSITION(dz);
 
     #endif
   }
 
-#endif
+#endif // PLANNER_LEVELING
 
 /**
  * Planner::buffer_line
  *  fr_mm_s   - (target) speed of the move
  *  extruder  - target extruder
  */
-
-void Planner::buffer_line(
-  #if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)
-    float x, float y, float z
-  #else
-    const float& x, const float& y, const float& z
-  #endif
-  , const float& e, float fr_mm_s, const uint8_t extruder
-) {
+void Planner::buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, float fr_mm_s, const uint8_t extruder) {
   // Calculate the buffer head after we push this byte
   int next_buffer_head = next_block_index(block_buffer_head);
 
   // Rest here until there is room in the buffer.
   while (block_buffer_tail == next_buffer_head) idle();
 
-  #if ENABLED(MESH_BED_LEVELING) || ENABLED(AUTO_BED_LEVELING_FEATURE)
-    apply_leveling(x, y, z);
+  #if PLANNER_LEVELING
+    apply_leveling(lx, ly, lz);
   #endif
 
   // The target position of the tool in absolute steps
   // Calculate target position in absolute steps
   //this should be done after the wait, because otherwise a M92 code within the gcode disrupts this calculation somehow
   long target[NUM_AXIS] = {
-    lround(x * axis_steps_per_mm[X_AXIS]),
-    lround(y * axis_steps_per_mm[Y_AXIS]),
-    lround(z * axis_steps_per_mm[Z_AXIS]),
+    lround(lx * axis_steps_per_mm[X_AXIS]),
+    lround(ly * axis_steps_per_mm[Y_AXIS]),
+    lround(lz * axis_steps_per_mm[Z_AXIS]),
     lround(e * axis_steps_per_mm[E_AXIS])
   };
 
 
   /*
   SERIAL_ECHO_START;
-  SERIAL_ECHOPAIR("Planner X:", x);
-  SERIAL_ECHOPAIR(" (", dx);
-  SERIAL_ECHOPAIR(") Y:", y);
+  SERIAL_ECHOPGM("Planner ", x);
+  #if IS_KINEMATIC
+    SERIAL_ECHOPAIR("A:", x);
+    SERIAL_ECHOPAIR(" (", dx);
+    SERIAL_ECHOPAIR(") B:", y);
+  #else
+    SERIAL_ECHOPAIR("X:", x);
+    SERIAL_ECHOPAIR(" (", dx);
+    SERIAL_ECHOPAIR(") Y:", y);
+  #endif
   SERIAL_ECHOPAIR(" (", dy);
-  SERIAL_ECHOPAIR(") Z:", z);
+  #elif ENABLED(DELTA)
+    SERIAL_ECHOPAIR(") C:", z);
+  #else
+    SERIAL_ECHOPAIR(") Z:", z);
+  #endif
   SERIAL_ECHOPAIR(" (", dz);
   SERIAL_ECHOLNPGM(")");
   //*/
   // For a mixing extruder, get a magnified step_event_count for each
   #if ENABLED(MIXING_EXTRUDER)
     for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
-      block->mix_event_count[i] = (mixing_factor[i] < 0.0001) ? 0 : block->step_event_count / mixing_factor[i];
+      block->mix_event_count[i] = UNEAR_ZERO(mixing_factor[i]) ? 0 : block->step_event_count / mixing_factor[i];
   #endif
 
   #if FAN_COUNT > 0
       block->advance_rate = acc_dist ? advance / (float)acc_dist : 0;
     }
     /**
-      SERIAL_ECHO_START;
+     SERIAL_ECHO_START;
      SERIAL_ECHOPGM("advance :");
      SERIAL_ECHO(block->advance/256.0);
      SERIAL_ECHOPGM("advance rate :");
  *
  * On CORE machines stepper ABC will be translated from the given XYZ.
  */
-void Planner::set_position_mm(
-  #if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)
-    float x, float y, float z
-  #else
-    const float& x, const float& y, const float& z
-  #endif
-  , const float& e
-) {
+void Planner::set_position_mm(ARG_X, ARG_Y, ARG_Z, const float &e) {
 
-  #if ENABLED(MESH_BED_LEVELING) || ENABLED(AUTO_BED_LEVELING_FEATURE)
-    apply_leveling(x, y, z);
+  #if PLANNER_LEVELING
+    apply_leveling(lx, ly, lz);
   #endif
 
-  long nx = position[X_AXIS] = lround(x * axis_steps_per_mm[X_AXIS]),
-       ny = position[Y_AXIS] = lround(y * axis_steps_per_mm[Y_AXIS]),
-       nz = position[Z_AXIS] = lround(z * axis_steps_per_mm[Z_AXIS]),
+  long nx = position[X_AXIS] = lround(lx * axis_steps_per_mm[X_AXIS]),
+       ny = position[Y_AXIS] = lround(ly * axis_steps_per_mm[Y_AXIS]),
+       nz = position[Z_AXIS] = lround(lz * axis_steps_per_mm[Z_AXIS]),
        ne = position[E_AXIS] = lround(e * axis_steps_per_mm[E_AXIS]);
   stepper.set_position(nx, ny, nz, ne);
   previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
 // Recalculate position, steps_to_mm if axis_steps_per_mm changes!
 void Planner::refresh_positioning() {
   LOOP_XYZE(i) steps_to_mm[i] = 1.0 / axis_steps_per_mm[i];
-  #if ENABLED(DELTA) || ENABLED(SCARA)
+  #if IS_KINEMATIC
     inverse_kinematics(current_position);
     set_position_mm(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
   #else

Marlin/planner.h

     static bool is_full() { return (block_buffer_tail == BLOCK_MOD(block_buffer_head + 1)); }
 
     #if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)
+      #define ARG_X float lx
+      #define ARG_Y float ly
+      #define ARG_Z float lz
+    #else
+      #define ARG_X const float &lx
+      #define ARG_Y const float &ly
+      #define ARG_Z const float &lz
+    #endif
 
-      #if ENABLED(MESH_BED_LEVELING)
-        static void apply_leveling(const float &x, const float &y, float &z);
-      #else
-        static void apply_leveling(float &x, float &y, float &z);
-      #endif
+    #if PLANNER_LEVELING
 
       /**
-       * Add a new linear movement to the buffer.
-       *
-       *  x,y,z,e   - target position in mm
-       *  fr_mm_s   - (target) speed of the move (mm/s)
-       *  extruder  - target extruder
+       * Apply leveling to transform a cartesian position
+       * as it will be given to the planner and steppers.
        */
-      static void buffer_line(float x, float y, float z, const float& e, float fr_mm_s, const uint8_t extruder);
+      static void apply_leveling(float &lx, float &ly, float &lz);
+      static void unapply_leveling(float &lx, float &ly, float &lz);
 
-      /**
-       * Set the planner.position and individual stepper positions.
-       * Used by G92, G28, G29, and other procedures.
-       *
-       * Multiplies by axis_steps_per_mm[] and does necessary conversion
-       * for COREXY / COREXZ / COREYZ to set the corresponding stepper positions.
-       *
-       * Clears previous speed values.
-       */
-      static void set_position_mm(float x, float y, float z, const float& e);
-
-    #else
+    #endif
 
-      static void buffer_line(const float& x, const float& y, const float& z, const float& e, float fr_mm_s, const uint8_t extruder);
-      static void set_position_mm(const float& x, const float& y, const float& z, const float& e);
+    /**
+     * Add a new linear movement to the buffer.
+     *
+     *  x,y,z,e   - target position in mm
+     *  fr_mm_s   - (target) speed of the move (mm/s)
+     *  extruder  - target extruder
+     */
+    static void buffer_line(ARG_X, ARG_Y, ARG_Z, const float& e, float fr_mm_s, const uint8_t extruder);
 
-    #endif // AUTO_BED_LEVELING_FEATURE || MESH_BED_LEVELING
+    /**
+     * Set the planner.position and individual stepper positions.
+     * Used by G92, G28, G29, and other procedures.
+     *
+     * Multiplies by axis_steps_per_mm[] and does necessary conversion
+     * for COREXY / COREXZ / COREYZ to set the corresponding stepper positions.
+     *
+     * Clears previous speed values.
+     */
+    static void set_position_mm(ARG_X, ARG_Y, ARG_Z, const float& e);
 
     /**
      * Set the E position (mm) of the planner (and the E stepper)

Marlin/planner_bezier.cpp

     bez_target[E_AXIS] = interp(position[E_AXIS], target[E_AXIS], t);
     clamp_to_software_endstops(bez_target);
 
-    #if ENABLED(DELTA) || ENABLED(SCARA)
+    #if IS_KINEMATIC
       inverse_kinematics(bez_target);
       #if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_FEATURE)
         adjust_delta(bez_target);

Marlin/qr_solve.cpp

 
 #include "qr_solve.h"
 
-#if ENABLED(AUTO_BED_LEVELING_GRID)
+#if ENABLED(AUTO_BED_LEVELING_LINEAR)
 
 #include <stdlib.h>
 #include <math.h>

Marlin/stepper.h

       static bool performing_homing;
     #endif
 
+    //
+    // Positions of stepper motors, in step units
+    //
+    static volatile long count_position[NUM_AXIS];
+
   private:
 
     static unsigned char last_direction_bits;        // The next stepping-bits to be output
     #endif
 
     //
-    // Positions of stepper motors, in step units
-    //
-    static volatile long count_position[NUM_AXIS];
-
-    //
     // Current direction of stepper motors (+1 or -1)
     //
     static volatile signed char count_direction[NUM_AXIS];
     static float get_axis_position_mm(AxisEnum axis);
 
     //
+    // SCARA AB axes are in degrees, not mm
+    //
+    #if IS_SCARA
+      static FORCE_INLINE float get_axis_position_degrees(AxisEnum axis) { return get_axis_position_mm(axis); }
+    #endif
+
+    //
     // The stepper subsystem goes to sleep when it runs out of things to execute. Call this
     // to notify the subsystem that it is time to go to work.
     //

Marlin/ultralcd.cpp

    *
    */
 
-  #if ENABLED(DELTA) || ENABLED(SCARA)
+  #if IS_KINEMATIC
     #define _MOVE_XYZ_ALLOWED (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS])
   #else
     #define _MOVE_XYZ_ALLOWED true
     #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
       MENU_ITEM_EDIT(bool, MSG_ENDSTOP_ABORT, &stepper.abort_on_endstop_hit);
     #endif
-    #if ENABLED(SCARA)
+    #if IS_SCARA
       MENU_ITEM_EDIT(float74, MSG_XSCALE, &axis_scaling[X_AXIS], 0.5, 2);
       MENU_ITEM_EDIT(float74, MSG_YSCALE, &axis_scaling[Y_AXIS], 0.5, 2);
     #endif