From 41b5c48129affe05f438d1814acf2d5371fdc09e Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Fri, 19 Aug 2016 01:00:46 -0500
Subject: [PATCH 01/13] Update software endstops if EEPROM is loaded

---
 Marlin/Marlin.h                | 1 +
 Marlin/Marlin_main.cpp         | 2 +-
 Marlin/configuration_store.cpp | 3 +++
 3 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h
index 28c3250a30..2faeb9f867 100644
--- a/Marlin/Marlin.h
+++ b/Marlin/Marlin.h
@@ -379,6 +379,7 @@ extern uint8_t active_extruder;
   extern float mixing_factor[MIXING_STEPPERS];
 #endif
 
+void update_software_endstops(AxisEnum axis);
 void calculate_volumetric_multipliers();
 
 // Buzzer
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 0a385622bc..af4312071d 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -1470,7 +1470,7 @@ XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
  * the software endstop positions must be refreshed to remain
  * at the same positions relative to the machine.
  */
-static void update_software_endstops(AxisEnum axis) {
+void update_software_endstops(AxisEnum axis) {
   float offs = LOGICAL_POSITION(0, axis);
 
   #if ENABLED(DUAL_X_CARRIAGE)
diff --git a/Marlin/configuration_store.cpp b/Marlin/configuration_store.cpp
index db10bba150..f54cd88a2f 100644
--- a/Marlin/configuration_store.cpp
+++ b/Marlin/configuration_store.cpp
@@ -186,6 +186,9 @@ void Config_Postprocess() {
   #endif
 
   calculate_volumetric_multipliers();
+
+  // Software endstops depend on home_offset
+  LOOP_XYZ(i) update_software_endstops((AxisEnum)i);
 }
 
 #if ENABLED(EEPROM_SETTINGS)

From a1bad589c956374821bf1fffe08ceade46889b3a Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Fri, 19 Aug 2016 01:09:03 -0500
Subject: [PATCH 02/13] Augment debug/homing logging

---
 Marlin/Marlin_main.cpp | 14 +++++++++-----
 1 file changed, 9 insertions(+), 5 deletions(-)

diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index af4312071d..c2ea6653fd 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -1530,7 +1530,7 @@ static void set_home_offset(AxisEnum axis, float v) {
 static void set_axis_is_at_home(AxisEnum axis) {
   #if ENABLED(DEBUG_LEVELING_FEATURE)
     if (DEBUGGING(LEVELING)) {
-      SERIAL_ECHOPAIR(">>> set_axis_is_at_home(", axis);
+      SERIAL_ECHOPAIR(">>> set_axis_is_at_home(", axis_codes[axis]);
       SERIAL_ECHOLNPGM(")");
     }
   #endif
@@ -1606,7 +1606,7 @@ static void set_axis_is_at_home(AxisEnum axis) {
   }
   #if ENABLED(DEBUG_LEVELING_FEATURE)
     if (DEBUGGING(LEVELING)) {
-      SERIAL_ECHOPAIR("<<< set_axis_is_at_home(", axis);
+      SERIAL_ECHOPAIR("<<< set_axis_is_at_home(", axis_codes[axis]);
       SERIAL_ECHOLNPGM(")");
     }
   #endif
@@ -2131,6 +2131,10 @@ static void clean_up_after_endstop_or_probe_move() {
   // at the height where the probe triggered.
   static float run_z_probe() {
 
+    #if ENABLED(DEBUG_LEVELING_FEATURE)
+      if (DEBUGGING(LEVELING)) DEBUG_POS(">>> run_z_probe", current_position);
+    #endif
+
     // Prevent stepper_inactive_time from running out and EXTRUDER_RUNOUT_PREVENT from extruding
     refresh_cmd_timeout();
 
@@ -2158,7 +2162,7 @@ static void clean_up_after_endstop_or_probe_move() {
     SYNC_PLAN_POSITION_KINEMATIC();
 
     #if ENABLED(DEBUG_LEVELING_FEATURE)
-      if (DEBUGGING(LEVELING)) DEBUG_POS("run_z_probe", current_position);
+      if (DEBUGGING(LEVELING)) DEBUG_POS("<<< run_z_probe", current_position);
     #endif
 
     return current_position[Z_AXIS];
@@ -2403,7 +2407,7 @@ static void homeaxis(AxisEnum axis) {
 
   #if ENABLED(DEBUG_LEVELING_FEATURE)
     if (DEBUGGING(LEVELING)) {
-      SERIAL_ECHOPAIR(">>> homeaxis(", axis);
+      SERIAL_ECHOPAIR(">>> homeaxis(", axis_codes[axis]);
       SERIAL_ECHOLNPGM(")");
     }
   #endif
@@ -2514,7 +2518,7 @@ static void homeaxis(AxisEnum axis) {
 
   #if ENABLED(DEBUG_LEVELING_FEATURE)
     if (DEBUGGING(LEVELING)) {
-      SERIAL_ECHOPAIR("<<< homeaxis(", axis);
+      SERIAL_ECHOPAIR("<<< homeaxis(", axis_codes[axis]);
       SERIAL_ECHOLNPGM(")");
     }
   #endif

From 7a4ccd7967e2fe0fb875b940d328d68df6f1f251 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Fri, 19 Aug 2016 01:10:41 -0500
Subject: [PATCH 03/13] Add do_probe_move with Z fixes

---
 Marlin/Marlin_main.cpp | 36 +++++++++++++++++++++++++++---------
 1 file changed, 27 insertions(+), 9 deletions(-)

diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index c2ea6653fd..5cbf48c3a9 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -2127,6 +2127,28 @@ static void clean_up_after_endstop_or_probe_move() {
     return false;
   }
 
+  static void do_probe_move(float z, float fr_mm_m) {
+    #if ENABLED(DEBUG_LEVELING_FEATURE)
+      if (DEBUGGING(LEVELING)) DEBUG_POS(">>> do_probe_move", current_position);
+    #endif
+
+    // Move down until probe triggered
+    do_blocking_move_to_z(LOGICAL_Z_POSITION(z), MMM_TO_MMS(fr_mm_m));
+
+    // Clear endstop flags
+    endstops.hit_on_purpose();
+
+    // Get Z where the steppers were interrupted
+    set_current_from_steppers_for_axis(Z_AXIS);
+
+    // Tell the planner where we actually are
+    SYNC_PLAN_POSITION_KINEMATIC();
+
+    #if ENABLED(DEBUG_LEVELING_FEATURE)
+      if (DEBUGGING(LEVELING)) DEBUG_POS("<<< do_probe_move", current_position);
+    #endif
+  }
+
   // Do a single Z probe and return with current_position[Z_AXIS]
   // at the height where the probe triggered.
   static float run_z_probe() {
@@ -2143,12 +2165,11 @@ static void clean_up_after_endstop_or_probe_move() {
     #endif
 
     #if ENABLED(PROBE_DOUBLE_TOUCH)
-      do_blocking_move_to_z(-(Z_MAX_LENGTH + 10), MMM_TO_MMS(Z_PROBE_SPEED_FAST));
-      endstops.hit_on_purpose();
-      set_current_from_steppers_for_axis(Z_AXIS);
-      SYNC_PLAN_POSITION_KINEMATIC();
 
-      // move up the retract distance
+      // Do a first probe at the fast speed
+      do_probe_move(-(Z_MAX_LENGTH) - 10, Z_PROBE_SPEED_FAST);
+
+      // move up by the bump distance
       do_blocking_move_to_z(current_position[Z_AXIS] + home_bump_mm(Z_AXIS), MMM_TO_MMS(Z_PROBE_SPEED_FAST));
     #else
       // move fast, close to the bed
@@ -2156,10 +2177,7 @@ static void clean_up_after_endstop_or_probe_move() {
     #endif
 
     // move down slowly to find bed
-    do_blocking_move_to_z(current_position[Z_AXIS] -2.0*home_bump_mm(Z_AXIS), MMM_TO_MMS(Z_PROBE_SPEED_SLOW));
-    endstops.hit_on_purpose();
-    set_current_from_steppers_for_axis(Z_AXIS);
-    SYNC_PLAN_POSITION_KINEMATIC();
+    do_probe_move(-10, Z_PROBE_SPEED_SLOW);
 
     #if ENABLED(DEBUG_LEVELING_FEATURE)
       if (DEBUGGING(LEVELING)) DEBUG_POS("<<< run_z_probe", current_position);

From ead333e7dac5997d2f6f4b129964940018ff1161 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Fri, 19 Aug 2016 01:11:41 -0500
Subject: [PATCH 04/13] line_to_axis_pos => do_homing_move

---
 Marlin/Marlin_main.cpp | 28 ++++++++++++++--------------
 1 file changed, 14 insertions(+), 14 deletions(-)

diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 5cbf48c3a9..3505018b3b 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -1638,15 +1638,6 @@ inline void line_to_z(float zPosition) {
   planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate_mm_s, active_extruder);
 }
 
-inline void line_to_axis_pos(AxisEnum axis, float where, float fr_mm_s = 0.0) {
-  float old_feedrate_mm_s = feedrate_mm_s;
-  current_position[axis] = where;
-  feedrate_mm_s = (fr_mm_s != 0.0) ? fr_mm_s : homing_feedrate_mm_s[axis];
-  planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate_mm_s, active_extruder);
-  stepper.synchronize();
-  feedrate_mm_s = old_feedrate_mm_s;
-}
-
 //
 // line_to_destination
 // Move the planner, not necessarily synced with current_position
@@ -2415,6 +2406,15 @@ static void clean_up_after_endstop_or_probe_move() {
  * Home an individual axis
  */
 
+static void do_homing_move(AxisEnum axis, float where, float fr_mm_s = 0.0) {
+  float old_feedrate_mm_s = feedrate_mm_s;
+  current_position[axis] = where;
+  feedrate_mm_s = (fr_mm_s != 0.0) ? fr_mm_s : homing_feedrate_mm_s[axis];
+  planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate_mm_s, active_extruder);
+  stepper.synchronize();
+  feedrate_mm_s = old_feedrate_mm_s;
+}
+
 #define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
 
 static void homeaxis(AxisEnum axis) {
@@ -2456,17 +2456,17 @@ static void homeaxis(AxisEnum axis) {
   #endif
 
   // Move towards the endstop until an endstop is triggered
-  line_to_axis_pos(axis, 1.5 * max_length(axis) * axis_home_dir);
+  do_homing_move(axis, 1.5 * max_length(axis) * axis_home_dir);
 
   // Set the axis position as setup for the move
   current_position[axis] = 0;
   sync_plan_position();
 
   // Move away from the endstop by the axis HOME_BUMP_MM
-  line_to_axis_pos(axis, -home_bump_mm(axis) * axis_home_dir);
+  do_homing_move(axis, -home_bump_mm(axis) * axis_home_dir);
 
   // Move slowly towards the endstop until triggered
-  line_to_axis_pos(axis, 2 * home_bump_mm(axis) * axis_home_dir, get_homing_bump_feedrate(axis));
+  do_homing_move(axis, 2 * home_bump_mm(axis) * axis_home_dir, get_homing_bump_feedrate(axis));
 
   // reset current_position to 0 to reflect hitting endpoint
   current_position[axis] = 0;
@@ -2490,7 +2490,7 @@ static void homeaxis(AxisEnum axis) {
       if (lockZ1) stepper.set_z_lock(true); else stepper.set_z2_lock(true);
 
       // Move to the adjusted endstop height
-      line_to_axis_pos(axis, adj);
+      do_homing_move(axis, adj);
 
       if (lockZ1) stepper.set_z_lock(false); else stepper.set_z2_lock(false);
       stepper.set_homing_flag(false);
@@ -2506,7 +2506,7 @@ static void homeaxis(AxisEnum axis) {
           DEBUG_POS("", current_position);
         }
       #endif
-      line_to_axis_pos(axis, endstop_adj[axis]);
+      do_homing_move(axis, endstop_adj[axis]);
     }
   #endif
 

From 748228cf402a29a91526fa3033581e4f31a648a2 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Fri, 19 Aug 2016 01:12:16 -0500
Subject: [PATCH 05/13] Use named indices for delta_grid_spacing

---
 Marlin/Marlin_main.cpp | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 3505018b3b..2c0fff2f7b 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -3613,8 +3613,8 @@ inline void gcode_G28() {
                 yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (auto_bed_leveling_grid_points - 1);
 
       #if ENABLED(DELTA)
-        delta_grid_spacing[0] = xGridSpacing;
-        delta_grid_spacing[1] = yGridSpacing;
+        delta_grid_spacing[X_AXIS] = xGridSpacing;
+        delta_grid_spacing[Y_AXIS] = yGridSpacing;
         float zoffset = zprobe_zoffset;
         if (code_seen('Z')) zoffset += code_value_axis_units(Z_AXIS);
       #else // !DELTA
@@ -7897,12 +7897,12 @@ void clamp_to_software_endstops(float target[3]) {
 
     // Adjust print surface height by linear interpolation over the bed_level array.
     void adjust_delta(float cartesian[3]) {
-      if (delta_grid_spacing[0] == 0 || delta_grid_spacing[1] == 0) return; // G29 not done!
+      if (delta_grid_spacing[X_AXIS] == 0 || delta_grid_spacing[Y_AXIS] == 0) return; // G29 not done!
 
       int half = (AUTO_BED_LEVELING_GRID_POINTS - 1) / 2;
       float h1 = 0.001 - half, h2 = half - 0.001,
-            grid_x = max(h1, min(h2, RAW_X_POSITION(cartesian[X_AXIS]) / delta_grid_spacing[0])),
-            grid_y = max(h1, min(h2, RAW_Y_POSITION(cartesian[Y_AXIS]) / delta_grid_spacing[1]));
+            grid_x = max(h1, min(h2, RAW_X_POSITION(cartesian[X_AXIS]) / delta_grid_spacing[X_AXIS])),
+            grid_y = max(h1, min(h2, RAW_Y_POSITION(cartesian[Y_AXIS]) / delta_grid_spacing[Y_AXIS]));
       int floor_x = floor(grid_x), floor_y = floor(grid_y);
       float ratio_x = grid_x - floor_x, ratio_y = grid_y - floor_y,
             z1 = bed_level[floor_x + half][floor_y + half],

From 1f776f60342b29b7d72a6f5b4f62ac304331684a Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Fri, 19 Aug 2016 01:12:41 -0500
Subject: [PATCH 06/13] Tweak some code comments

---
 Marlin/Marlin_main.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 2c0fff2f7b..faaa4c90a4 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -2540,7 +2540,7 @@ static void homeaxis(AxisEnum axis) {
       SERIAL_ECHOLNPGM(")");
     }
   #endif
-}
+} // homeaxis()
 
 #if ENABLED(FWRETRACT)
 
@@ -3659,10 +3659,10 @@ inline void gcode_G28() {
           double xProbe = left_probe_bed_position + xGridSpacing * xCount;
 
           #if ENABLED(DELTA)
-            // Avoid probing the corners (outside the round or hexagon print surface) on a delta printer.
+            // Avoid probing outside the round or hexagonal area of a delta printer
             float distance_from_center = HYPOT(xProbe, yProbe);
             if (distance_from_center > DELTA_PROBEABLE_RADIUS) continue;
-          #endif //DELTA
+          #endif
 
           float measured_z = probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
 

From 55355a4fb897537af511a75878c8b2005685ee82 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Fri, 19 Aug 2016 01:14:36 -0500
Subject: [PATCH 07/13] Make probed points more symmetrical

---
 Marlin/Marlin_main.cpp | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index faaa4c90a4..79d937d242 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -3609,8 +3609,8 @@ inline void gcode_G28() {
     #if ENABLED(AUTO_BED_LEVELING_GRID)
 
       // probe at the points of a lattice grid
-      const int xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (auto_bed_leveling_grid_points - 1),
-                yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (auto_bed_leveling_grid_points - 1);
+      const float xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (auto_bed_leveling_grid_points - 1),
+                  yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (auto_bed_leveling_grid_points - 1);
 
       #if ENABLED(DELTA)
         delta_grid_spacing[X_AXIS] = xGridSpacing;
@@ -3639,7 +3639,8 @@ inline void gcode_G28() {
       bool zig = (auto_bed_leveling_grid_points & 1) ? true : false; //always end at [RIGHT_PROBE_BED_POSITION, BACK_PROBE_BED_POSITION]
 
       for (int yCount = 0; yCount < auto_bed_leveling_grid_points; yCount++) {
-        double yProbe = front_probe_bed_position + yGridSpacing * yCount;
+        float yBase = front_probe_bed_position + yGridSpacing * yCount,
+              yProbe = floor(yProbe + (yProbe < 0 ? 0 : 0.5));
         int xStart, xStop, xInc;
 
         if (zig) {
@@ -3656,7 +3657,8 @@ inline void gcode_G28() {
         zig = !zig;
 
         for (int xCount = xStart; xCount != xStop; xCount += xInc) {
-          double xProbe = left_probe_bed_position + xGridSpacing * xCount;
+          float xBase = left_probe_bed_position + xGridSpacing * xCount,
+                xProbe = floor(xProbe + (xProbe < 0 ? 0 : 0.5));
 
           #if ENABLED(DELTA)
             // Avoid probing outside the round or hexagonal area of a delta printer

From 9b1f3f7d120f04475a033a4a63cbc49f613b0b4c Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Fri, 19 Aug 2016 04:31:03 -0500
Subject: [PATCH 08/13] Sanity-check DELTA + AUTO_BED_LEVELING_GRID_POINTS

---
 Marlin/SanityCheck.h | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/Marlin/SanityCheck.h b/Marlin/SanityCheck.h
index fc866b121a..228486ee87 100644
--- a/Marlin/SanityCheck.h
+++ b/Marlin/SanityCheck.h
@@ -191,6 +191,13 @@
   #if DISABLED(USE_XMAX_PLUG) && DISABLED(USE_YMAX_PLUG) && DISABLED(USE_ZMAX_PLUG)
     #error "You probably want to use Max Endstops for DELTA!"
   #endif
+  #if ENABLED(AUTO_BED_LEVELING_GRID)
+    #if (AUTO_BED_LEVELING_GRID_POINTS & 1) == 0
+      #error "DELTA requires an odd value for AUTO_BED_LEVELING_GRID_POINTS."
+    #elif AUTO_BED_LEVELING_GRID_POINTS < 3
+      #error "DELTA requires at least 3 AUTO_BED_LEVELING_GRID_POINTS."
+    #endif
+  #endif
 #endif
 
 /**

From 99b22d5785deec25eb7b876dadec9c91c7767e72 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Fri, 19 Aug 2016 04:31:19 -0500
Subject: [PATCH 09/13] Default AUTO_BED_LEVELING_GRID_POINTS to 3

---
 Marlin/Configuration.h                                          | 2 +-
 Marlin/example_configurations/Cartesio/Configuration.h          | 2 +-
 Marlin/example_configurations/Felix/Configuration.h             | 2 +-
 Marlin/example_configurations/Felix/DUAL/Configuration.h        | 2 +-
 Marlin/example_configurations/Hephestos/Configuration.h         | 2 +-
 Marlin/example_configurations/Hephestos_2/Configuration.h       | 2 +-
 Marlin/example_configurations/K8200/Configuration.h             | 2 +-
 Marlin/example_configurations/K8400/Configuration.h             | 2 +-
 Marlin/example_configurations/K8400/Dual-head/Configuration.h   | 2 +-
 .../RepRapWorld/Megatronics/Configuration.h                     | 2 +-
 Marlin/example_configurations/RigidBot/Configuration.h          | 2 +-
 Marlin/example_configurations/SCARA/Configuration.h             | 2 +-
 Marlin/example_configurations/TAZ4/Configuration.h              | 2 +-
 Marlin/example_configurations/WITBOX/Configuration.h            | 2 +-
 Marlin/example_configurations/adafruit/ST7565/Configuration.h   | 2 +-
 Marlin/example_configurations/makibox/Configuration.h           | 2 +-
 Marlin/example_configurations/tvrrug/Round2/Configuration.h     | 2 +-
 17 files changed, 17 insertions(+), 17 deletions(-)

diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index 9d384c5316..9d87aec637 100644
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -689,7 +689,7 @@
 
     // Set the number of grid points per dimension.
     // You probably don't need more than 3 (squared=9).
-    #define AUTO_BED_LEVELING_GRID_POINTS 2
+    #define AUTO_BED_LEVELING_GRID_POINTS 3
 
   #else  // !AUTO_BED_LEVELING_GRID
 
diff --git a/Marlin/example_configurations/Cartesio/Configuration.h b/Marlin/example_configurations/Cartesio/Configuration.h
index d96335b5fd..cf042af779 100644
--- a/Marlin/example_configurations/Cartesio/Configuration.h
+++ b/Marlin/example_configurations/Cartesio/Configuration.h
@@ -689,7 +689,7 @@
 
     // Set the number of grid points per dimension.
     // You probably don't need more than 3 (squared=9).
-    #define AUTO_BED_LEVELING_GRID_POINTS 2
+    #define AUTO_BED_LEVELING_GRID_POINTS 3
 
   #else  // !AUTO_BED_LEVELING_GRID
 
diff --git a/Marlin/example_configurations/Felix/Configuration.h b/Marlin/example_configurations/Felix/Configuration.h
index 21a9b9097f..5cc35ad365 100644
--- a/Marlin/example_configurations/Felix/Configuration.h
+++ b/Marlin/example_configurations/Felix/Configuration.h
@@ -671,7 +671,7 @@
 
     // Set the number of grid points per dimension.
     // You probably don't need more than 3 (squared=9).
-    #define AUTO_BED_LEVELING_GRID_POINTS 2
+    #define AUTO_BED_LEVELING_GRID_POINTS 3
 
   #else  // !AUTO_BED_LEVELING_GRID
 
diff --git a/Marlin/example_configurations/Felix/DUAL/Configuration.h b/Marlin/example_configurations/Felix/DUAL/Configuration.h
index 86af23be76..bc1f77888f 100644
--- a/Marlin/example_configurations/Felix/DUAL/Configuration.h
+++ b/Marlin/example_configurations/Felix/DUAL/Configuration.h
@@ -669,7 +669,7 @@
 
     // Set the number of grid points per dimension.
     // You probably don't need more than 3 (squared=9).
-    #define AUTO_BED_LEVELING_GRID_POINTS 2
+    #define AUTO_BED_LEVELING_GRID_POINTS 3
 
   #else  // !AUTO_BED_LEVELING_GRID
 
diff --git a/Marlin/example_configurations/Hephestos/Configuration.h b/Marlin/example_configurations/Hephestos/Configuration.h
index 54d23670e6..74b9159492 100644
--- a/Marlin/example_configurations/Hephestos/Configuration.h
+++ b/Marlin/example_configurations/Hephestos/Configuration.h
@@ -681,7 +681,7 @@
 
     // Set the number of grid points per dimension.
     // You probably don't need more than 3 (squared=9).
-    #define AUTO_BED_LEVELING_GRID_POINTS 2
+    #define AUTO_BED_LEVELING_GRID_POINTS 3
 
   #else  // !AUTO_BED_LEVELING_GRID
 
diff --git a/Marlin/example_configurations/Hephestos_2/Configuration.h b/Marlin/example_configurations/Hephestos_2/Configuration.h
index a0a4c288aa..440316a211 100644
--- a/Marlin/example_configurations/Hephestos_2/Configuration.h
+++ b/Marlin/example_configurations/Hephestos_2/Configuration.h
@@ -683,7 +683,7 @@
 
     // Set the number of grid points per dimension.
     // You probably don't need more than 3 (squared=9).
-    #define AUTO_BED_LEVELING_GRID_POINTS 2
+    #define AUTO_BED_LEVELING_GRID_POINTS 3
 
   #else  // !AUTO_BED_LEVELING_GRID
 
diff --git a/Marlin/example_configurations/K8200/Configuration.h b/Marlin/example_configurations/K8200/Configuration.h
index d900176600..3268a52706 100644
--- a/Marlin/example_configurations/K8200/Configuration.h
+++ b/Marlin/example_configurations/K8200/Configuration.h
@@ -706,7 +706,7 @@
 
     // Set the number of grid points per dimension.
     // You probably don't need more than 3 (squared=9).
-    #define AUTO_BED_LEVELING_GRID_POINTS 2
+    #define AUTO_BED_LEVELING_GRID_POINTS 3
 
   #else  // !AUTO_BED_LEVELING_GRID
 
diff --git a/Marlin/example_configurations/K8400/Configuration.h b/Marlin/example_configurations/K8400/Configuration.h
index 5add4d9dd1..70dbcc0639 100644
--- a/Marlin/example_configurations/K8400/Configuration.h
+++ b/Marlin/example_configurations/K8400/Configuration.h
@@ -689,7 +689,7 @@
 
     // Set the number of grid points per dimension.
     // You probably don't need more than 3 (squared=9).
-    #define AUTO_BED_LEVELING_GRID_POINTS 2
+    #define AUTO_BED_LEVELING_GRID_POINTS 3
 
   #else  // !AUTO_BED_LEVELING_GRID
 
diff --git a/Marlin/example_configurations/K8400/Dual-head/Configuration.h b/Marlin/example_configurations/K8400/Dual-head/Configuration.h
index 817401f84f..8985296577 100644
--- a/Marlin/example_configurations/K8400/Dual-head/Configuration.h
+++ b/Marlin/example_configurations/K8400/Dual-head/Configuration.h
@@ -689,7 +689,7 @@
 
     // Set the number of grid points per dimension.
     // You probably don't need more than 3 (squared=9).
-    #define AUTO_BED_LEVELING_GRID_POINTS 2
+    #define AUTO_BED_LEVELING_GRID_POINTS 3
 
   #else  // !AUTO_BED_LEVELING_GRID
 
diff --git a/Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h b/Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h
index 2d9961c6df..684eba95d9 100644
--- a/Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h
+++ b/Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h
@@ -689,7 +689,7 @@
 
     // Set the number of grid points per dimension.
     // You probably don't need more than 3 (squared=9).
-    #define AUTO_BED_LEVELING_GRID_POINTS 2
+    #define AUTO_BED_LEVELING_GRID_POINTS 3
 
   #else  // !AUTO_BED_LEVELING_GRID
 
diff --git a/Marlin/example_configurations/RigidBot/Configuration.h b/Marlin/example_configurations/RigidBot/Configuration.h
index 6ba06b494a..1ff1626410 100644
--- a/Marlin/example_configurations/RigidBot/Configuration.h
+++ b/Marlin/example_configurations/RigidBot/Configuration.h
@@ -686,7 +686,7 @@
 
     // Set the number of grid points per dimension.
     // You probably don't need more than 3 (squared=9).
-    #define AUTO_BED_LEVELING_GRID_POINTS 2
+    #define AUTO_BED_LEVELING_GRID_POINTS 3
 
   #else  // !AUTO_BED_LEVELING_GRID
 
diff --git a/Marlin/example_configurations/SCARA/Configuration.h b/Marlin/example_configurations/SCARA/Configuration.h
index 7e55ee2db0..148c508690 100644
--- a/Marlin/example_configurations/SCARA/Configuration.h
+++ b/Marlin/example_configurations/SCARA/Configuration.h
@@ -697,7 +697,7 @@
 
     // Set the number of grid points per dimension.
     // You probably don't need more than 3 (squared=9).
-    #define AUTO_BED_LEVELING_GRID_POINTS 2
+    #define AUTO_BED_LEVELING_GRID_POINTS 3
 
   #else  // !AUTO_BED_LEVELING_GRID
 
diff --git a/Marlin/example_configurations/TAZ4/Configuration.h b/Marlin/example_configurations/TAZ4/Configuration.h
index 6d4e159532..bd940ba4e3 100644
--- a/Marlin/example_configurations/TAZ4/Configuration.h
+++ b/Marlin/example_configurations/TAZ4/Configuration.h
@@ -710,7 +710,7 @@
 
     // Set the number of grid points per dimension.
     // You probably don't need more than 3 (squared=9).
-    #define AUTO_BED_LEVELING_GRID_POINTS 2
+    #define AUTO_BED_LEVELING_GRID_POINTS 3
 
   #else  // !AUTO_BED_LEVELING_GRID
 
diff --git a/Marlin/example_configurations/WITBOX/Configuration.h b/Marlin/example_configurations/WITBOX/Configuration.h
index 5df007ca7c..61c96d3e11 100644
--- a/Marlin/example_configurations/WITBOX/Configuration.h
+++ b/Marlin/example_configurations/WITBOX/Configuration.h
@@ -681,7 +681,7 @@
 
     // Set the number of grid points per dimension.
     // You probably don't need more than 3 (squared=9).
-    #define AUTO_BED_LEVELING_GRID_POINTS 2
+    #define AUTO_BED_LEVELING_GRID_POINTS 3
 
   #else  // !AUTO_BED_LEVELING_GRID
 
diff --git a/Marlin/example_configurations/adafruit/ST7565/Configuration.h b/Marlin/example_configurations/adafruit/ST7565/Configuration.h
index be2b415ff5..2c5ca20d48 100644
--- a/Marlin/example_configurations/adafruit/ST7565/Configuration.h
+++ b/Marlin/example_configurations/adafruit/ST7565/Configuration.h
@@ -689,7 +689,7 @@
 
     // Set the number of grid points per dimension.
     // You probably don't need more than 3 (squared=9).
-    #define AUTO_BED_LEVELING_GRID_POINTS 2
+    #define AUTO_BED_LEVELING_GRID_POINTS 3
 
   #else  // !AUTO_BED_LEVELING_GRID
 
diff --git a/Marlin/example_configurations/makibox/Configuration.h b/Marlin/example_configurations/makibox/Configuration.h
index cefe40d780..c6f7cf36f1 100644
--- a/Marlin/example_configurations/makibox/Configuration.h
+++ b/Marlin/example_configurations/makibox/Configuration.h
@@ -692,7 +692,7 @@
 
     // Set the number of grid points per dimension.
     // You probably don't need more than 3 (squared=9).
-    #define AUTO_BED_LEVELING_GRID_POINTS 2
+    #define AUTO_BED_LEVELING_GRID_POINTS 3
 
   #else  // !AUTO_BED_LEVELING_GRID
 
diff --git a/Marlin/example_configurations/tvrrug/Round2/Configuration.h b/Marlin/example_configurations/tvrrug/Round2/Configuration.h
index 5d8948da9b..714474aa5e 100644
--- a/Marlin/example_configurations/tvrrug/Round2/Configuration.h
+++ b/Marlin/example_configurations/tvrrug/Round2/Configuration.h
@@ -679,7 +679,7 @@
 
     // Set the number of grid points per dimension.
     // You probably don't need more than 3 (squared=9).
-    #define AUTO_BED_LEVELING_GRID_POINTS 2
+    #define AUTO_BED_LEVELING_GRID_POINTS 3
 
   #else  // !AUTO_BED_LEVELING_GRID
 

From 35a08eeaeb230aba09c97947a56975f959ce0926 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Fri, 19 Aug 2016 01:16:49 -0500
Subject: [PATCH 10/13] Use Z_HOME_DIR over axis_home_dir where we can

---
 Marlin/Marlin_main.cpp | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 79d937d242..3d50936ddb 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -2437,8 +2437,8 @@ static void homeaxis(AxisEnum axis) {
     home_dir(axis);
 
   // Homing Z towards the bed? Deploy the Z probe or endstop.
-  #if HAS_BED_PROBE && DISABLED(Z_MIN_PROBE_ENDSTOP)
-    if (axis == Z_AXIS && axis_home_dir < 0) {
+  #if HAS_BED_PROBE && Z_HOME_DIR < 0 && DISABLED(Z_MIN_PROBE_ENDSTOP)
+    if (axis == Z_AXIS) {
       #if ENABLED(DEBUG_LEVELING_FEATURE)
         if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> ");
       #endif
@@ -2499,7 +2499,7 @@ static void homeaxis(AxisEnum axis) {
 
   #if ENABLED(DELTA)
     // retrace by the amount specified in endstop_adj
-    if (endstop_adj[axis] * axis_home_dir < 0) {
+    if (endstop_adj[axis] * Z_HOME_DIR < 0) {
       #if ENABLED(DEBUG_LEVELING_FEATURE)
         if (DEBUGGING(LEVELING)) {
           SERIAL_ECHOPAIR("> endstop_adj = ", endstop_adj[axis]);
@@ -2525,8 +2525,8 @@ static void homeaxis(AxisEnum axis) {
   axis_homed[axis] = true;
 
   // Put away the Z probe
-  #if HAS_BED_PROBE && DISABLED(Z_MIN_PROBE_ENDSTOP)
-    if (axis == Z_AXIS && axis_home_dir < 0) {
+  #if HAS_BED_PROBE && Z_HOME_DIR < 0 && DISABLED(Z_MIN_PROBE_ENDSTOP)
+    if (axis == Z_AXIS) {
       #if ENABLED(DEBUG_LEVELING_FEATURE)
         if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> ");
       #endif
@@ -3636,7 +3636,7 @@ inline void gcode_G28() {
       #endif // !DELTA
 
       int probePointCounter = 0;
-      bool zig = (auto_bed_leveling_grid_points & 1) ? true : false; //always end at [RIGHT_PROBE_BED_POSITION, BACK_PROBE_BED_POSITION]
+      bool zig = auto_bed_leveling_grid_points & 1; //always end at [RIGHT_PROBE_BED_POSITION, BACK_PROBE_BED_POSITION]
 
       for (int yCount = 0; yCount < auto_bed_leveling_grid_points; yCount++) {
         float yBase = front_probe_bed_position + yGridSpacing * yCount,

From d309a9647d4b7ffb09add4ec486fe23c1682938e Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Fri, 19 Aug 2016 01:17:56 -0500
Subject: [PATCH 11/13] Include probe offset for moving "close to the bed"

---
 Marlin/Marlin_main.cpp | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 3d50936ddb..aa8e5e21c3 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -2162,9 +2162,14 @@ static void clean_up_after_endstop_or_probe_move() {
 
       // move up by the bump distance
       do_blocking_move_to_z(current_position[Z_AXIS] + home_bump_mm(Z_AXIS), MMM_TO_MMS(Z_PROBE_SPEED_FAST));
+
     #else
+
       // move fast, close to the bed
-      do_blocking_move_to_z(home_bump_mm(Z_AXIS), MMM_TO_MMS(Z_PROBE_SPEED_FAST));
+      float z = LOGICAL_Z_POSITION(home_bump_mm(Z_AXIS));
+      if (zprobe_zoffset < 0) z -= zprobe_zoffset;
+      do_blocking_move_to_z(z, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
+
     #endif
 
     // move down slowly to find bed

From 044f800be997ef2ddd1aa279d843562874613889 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Fri, 19 Aug 2016 04:30:09 -0500
Subject: [PATCH 12/13] Use SERIAL_PROTOCOLLNPGM in G28

---
 Marlin/Marlin_main.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index aa8e5e21c3..0c64defb2a 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -3502,7 +3502,7 @@ inline void gcode_G28() {
 
     int verbose_level = code_seen('V') ? code_value_int() : 1;
     if (verbose_level < 0 || verbose_level > 4) {
-      SERIAL_ECHOLNPGM("?(V)erbose Level is implausible (0-4).");
+      SERIAL_PROTOCOLLNPGM("?(V)erbose Level is implausible (0-4).");
       return;
     }
 

From 12d72363cb58d3afed33bb33d690c6aa6c4bc015 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Fri, 19 Aug 2016 05:05:48 -0500
Subject: [PATCH 13/13] Do Delta radius check without sqrt

---
 Marlin/Marlin_main.cpp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 0c64defb2a..3fa9725d50 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -3667,8 +3667,7 @@ inline void gcode_G28() {
 
           #if ENABLED(DELTA)
             // Avoid probing outside the round or hexagonal area of a delta printer
-            float distance_from_center = HYPOT(xProbe, yProbe);
-            if (distance_from_center > DELTA_PROBEABLE_RADIUS) continue;
+            if (sq(xProbe) + sq(yProbe) > sq(DELTA_PROBEABLE_RADIUS)) continue;
           #endif
 
           float measured_z = probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);