Add conditionals for kinematics, leveling

8 years ago · 6ab54c60b1
8 changed files with 114 additions and 81 deletions
--- a/Marlin/Conditionals_post.h
+++ b/Marlin/Conditionals_post.h
@ -61,12 +61,16 @@
    #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

  /**
@ -132,12 +136,6 @@

  #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)

  /**
@ -657,17 +655,27 @@
    #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)
+  #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
@ -702,4 +710,18 @@
    #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
--- a/Marlin/Marlin.h
+++ b/Marlin/Marlin.h
@ -313,7 +313,7 @@ float code_value_temp_diff();
    extern int delta_grid_spacing[2];
    void adjust_delta(float cartesian[XYZ]);
  #endif
-#elif ENABLED(SCARA)
+#elif IS_SCARA
  extern float delta[ABC];
  extern float axis_scaling[ABC];  // Build size scaling
  void inverse_kinematics(const float cartesian[XYZ]);
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@ -36,12 +36,11 @@

 #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  #include "vector_3.h"
-  #if ENABLED(AUTO_BED_LEVELING_GRID)
-    #include "qr_solve.h"
-  #endif
-#endif // AUTO_BED_LEVELING_FEATURE
+#endif

-#if ENABLED(MESH_BED_LEVELING)
+#if ENABLED(AUTO_BED_LEVELING_LINEAR)
+  #include "qr_solve.h"
+#elif ENABLED(MESH_BED_LEVELING)
  #include "mesh_bed_leveling.h"
 #endif

@ -497,7 +496,12 @@ static uint8_t target_extruder;

 #endif

-#if ENABLED(SCARA)
+#if IS_SCARA
+  // Float constants for SCARA calculations
+  const float L1 = SCARA_LINKAGE_1, L2 = SCARA_LINKAGE_2,
+              L1_2 = sq(float(L1)), L1_2_2 = 2.0 * L1_2,
+              L2_2 = sq(float(L2));
+
  float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND,
        delta[ABC],
        axis_scaling[ABC] = { 1, 1, 1 },    // Build size scaling, default to 1
@ -651,7 +655,7 @@ inline void sync_plan_position() {
 }
 inline void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_AXIS]); }

-#if ENABLED(DELTA) || ENABLED(SCARA)
+#if IS_KINEMATIC
  inline void sync_plan_position_delta() {
    #if ENABLED(DEBUG_LEVELING_FEATURE)
      if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position_delta", current_position);
@ -2161,7 +2165,7 @@ static void clean_up_after_endstop_or_probe_move() {
    // Prevent stepper_inactive_time from running out and EXTRUDER_RUNOUT_PREVENT from extruding
    refresh_cmd_timeout();

-    #if ENABLED(AUTO_BED_LEVELING_FEATURE)
+    #if ENABLED(AUTO_BED_LEVELING_LINEAR)
      planner.bed_level_matrix.set_to_identity();
    #endif

@ -2272,7 +2276,7 @@ static void clean_up_after_endstop_or_probe_move() {

 #if ENABLED(AUTO_BED_LEVELING_FEATURE)

-  #if DISABLED(DELTA)
+  #if ENABLED(AUTO_BED_LEVELING_LINEAR)

    /**
     * Get the stepper positions, apply the rotation matrix
@ -2302,9 +2306,7 @@ static void clean_up_after_endstop_or_probe_move() {
      return pos;
    }

-  #endif // !DELTA
-
-  #if ENABLED(DELTA)
+  #elif ENABLED(AUTO_BED_LEVELING_NONLINEAR)

    /**
     * All DELTA leveling in the Marlin uses NONLINEAR_BED_LEVELING
@ -2870,7 +2872,7 @@ inline void gcode_G4() {
    SERIAL_ECHOPGM("Machine Type: ");
    #if ENABLED(DELTA)
      SERIAL_ECHOLNPGM("Delta");
-    #elif ENABLED(SCARA)
+    #elif IS_SCARA
      SERIAL_ECHOLNPGM("SCARA");
    #elif ENABLED(COREXY) || ENABLED(COREXZ) || ENABLED(COREYZ)
      SERIAL_ECHOLNPGM("Core");
@ -2947,11 +2949,12 @@ inline void gcode_G28() {
  stepper.synchronize();

  // For auto bed leveling, clear the level matrix
-  #if ENABLED(AUTO_BED_LEVELING_FEATURE)
+  #if ENABLED(AUTO_BED_LEVELING_LINEAR)
    planner.bed_level_matrix.set_to_identity();
-    #if ENABLED(DELTA)
-      reset_bed_level();
  #endif
+
+  #if ENABLED(AUTO_BED_LEVELING_NONLINEAR)
+    reset_bed_level();
  #endif

  // Always home with tool 0 active
@ -3533,7 +3536,7 @@ inline void gcode_G28() {

    #if ENABLED(AUTO_BED_LEVELING_GRID)

-      #if DISABLED(DELTA)
+      #if ENABLED(AUTO_BED_LEVELING_LINEAR)
        bool do_topography_map = verbose_level > 2 || code_seen('T');
      #endif

@ -3544,7 +3547,7 @@ inline void gcode_G28() {

      int auto_bed_leveling_grid_points = AUTO_BED_LEVELING_GRID_POINTS;

-      #if DISABLED(DELTA)
+      #if ENABLED(AUTO_BED_LEVELING_LINEAR)
        if (code_seen('P')) auto_bed_leveling_grid_points = code_value_int();
        if (auto_bed_leveling_grid_points < 2) {
          SERIAL_PROTOCOLLNPGM("?Number of probed (P)oints is implausible (2 minimum).");
@ -3594,17 +3597,19 @@ inline void gcode_G28() {

    if (!dryrun) {

+      #if ENABLED(AUTO_BED_LEVELING_LINEAR)
        // Reset the bed_level_matrix because leveling
        // needs to be done without leveling enabled.
        planner.bed_level_matrix.set_to_identity();
+      #endif

      //
      // Re-orient the current position without leveling
      // based on where the steppers are positioned.
      //
-      #if ENABLED(DELTA) || ENABLED(SCARA)
+      #if IS_KINEMATIC

-        #if ENABLED(DELTA)
+        #if ENABLED(AUTO_BED_LEVELING_NONLINEAR)
          reset_bed_level();
        #endif

@ -3639,12 +3644,14 @@ inline void gcode_G28() {
      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)
+      #if ENABLED(AUTO_BED_LEVELING_NONLINEAR)
        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
+
+      #elif ENABLED(AUTO_BED_LEVELING_LINEAR)
+
        /**
         * solve the plane equation ax + by + d = z
         * A is the matrix with rows [x y 1] for all the probed points
@ -3660,7 +3667,8 @@ inline void gcode_G28() {
               eqnBVector[abl2],     // "B" vector of Z points
               mean = 0.0;
        int8_t indexIntoAB[auto_bed_leveling_grid_points][auto_bed_leveling_grid_points];
-      #endif // !DELTA
+
+      #endif // AUTO_BED_LEVELING_LINEAR

      int probePointCounter = 0;
      bool zig = auto_bed_leveling_grid_points & 1; //always end at [RIGHT_PROBE_BED_POSITION, BACK_PROBE_BED_POSITION]
@ -3694,16 +3702,19 @@ inline void gcode_G28() {

          float measured_z = probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);

-          #if DISABLED(DELTA)
-            mean += measured_z;
+          #if ENABLED(AUTO_BED_LEVELING_LINEAR)

+            mean += measured_z;
            eqnBVector[probePointCounter] = measured_z;
            eqnAMatrix[probePointCounter + 0 * abl2] = xProbe;
            eqnAMatrix[probePointCounter + 1 * abl2] = yProbe;
            eqnAMatrix[probePointCounter + 2 * abl2] = 1;
            indexIntoAB[xCount][yCount] = probePointCounter;
-          #else
+
+          #elif ENABLED(AUTO_BED_LEVELING_NONLINEAR)
+
            bed_level[xCount][yCount] = measured_z + zoffset;
+
          #endif

          probePointCounter++;
@ -3713,7 +3724,7 @@ inline void gcode_G28() {
        } //xProbe
      } //yProbe

-    #else // !AUTO_BED_LEVELING_GRID
+    #elif ENABLED(AUTO_BED_LEVELING_3POINT)

      #if ENABLED(DEBUG_LEVELING_FEATURE)
        if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> 3-point Leveling");
@ -3759,12 +3770,12 @@ inline void gcode_G28() {

    // Calculate leveling, print reports, correct the position
    #if ENABLED(AUTO_BED_LEVELING_GRID)
-      #if ENABLED(DELTA)
+      #if ENABLED(AUTO_BED_LEVELING_NONLINEAR)

        if (!dryrun) extrapolate_unprobed_bed_level();
        print_bed_level();

-      #else // !DELTA
+      #elif ENABLED(AUTO_BED_LEVELING_LINEAR)

        // solve lsq problem
        double plane_equation_coefficients[3];
@ -3860,11 +3871,11 @@ inline void gcode_G28() {
          }
        } //do_topography_map

-      #endif //!DELTA
+      #endif // AUTO_BED_LEVELING_LINEAR

    #endif // AUTO_BED_LEVELING_GRID

-    #if DISABLED(DELTA)
+    #if ENABLED(AUTO_BED_LEVELING_LINEAR)

      if (verbose_level > 0)
        planner.bed_level_matrix.debug("\n\nBed Level Correction Matrix:");
@ -4358,10 +4369,10 @@ inline void gcode_M42() {
    if (verbose_level > 2)
      SERIAL_PROTOCOLLNPGM("Positioning the probe...");

-    #if ENABLED(DELTA)
+    #if ENABLED(AUTO_BED_LEVELING_NONLINEAR)
      // we don't do bed level correction in M48 because we want the raw data when we probe
      reset_bed_level();
-    #elif ENABLED(AUTO_BED_LEVELING_FEATURE)
+    #elif ENABLED(AUTO_BED_LEVELING_LINEAR)
      // we don't do bed level correction in M48 because we want the raw data when we probe
      planner.bed_level_matrix.set_to_identity();
    #endif
@ -6361,7 +6372,7 @@ inline void gcode_M503() {
      lastpos[i] = destination[i] = current_position[i];

    // Define runplan for move axes
-    #if ENABLED(DELTA)
+    #if IS_KINEMATIC
      #define RUNPLAN(RATE_MM_S) inverse_kinematics(destination); \
                                 planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], RATE_MM_S, active_extruder);
    #else
@ -6482,7 +6493,7 @@ inline void gcode_M503() {
    destination[E_AXIS] = lastpos[E_AXIS];
    planner.set_e_position_mm(current_position[E_AXIS]);

-    #if ENABLED(DELTA)
+    #if IS_KINEMATIC
      // Move XYZ to starting position, then E
      inverse_kinematics(lastpos);
      planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], FILAMENT_CHANGE_XY_FEEDRATE, active_extruder);
@ -6925,7 +6936,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
           * Z software endstop. But this is technically correct (and
           * there is no viable alternative).
           */
-          #if ENABLED(AUTO_BED_LEVELING_FEATURE)
+          #if ENABLED(AUTO_BED_LEVELING_LINEAR)
            // Offset extruder, make sure to apply the bed level rotation matrix
            vector_3 tmp_offset_vec = vector_3(hotend_offset[X_AXIS][tmp_extruder],
                                               hotend_offset[Y_AXIS][tmp_extruder],
@ -7961,7 +7972,7 @@ void ok_to_send() {
                             stepper.get_axis_position_mm(C_AXIS));
  }

-  #if ENABLED(AUTO_BED_LEVELING_FEATURE)
+  #if ENABLED(AUTO_BED_LEVELING_NONLINEAR)

    // Adjust print surface height by linear interpolation over the bed_level array.
    void adjust_delta(float cartesian[XYZ]) {
@ -8001,7 +8012,7 @@ void ok_to_send() {
      SERIAL_ECHOPGM(" offset="); SERIAL_ECHOLN(offset);
      */
    }
-  #endif // AUTO_BED_LEVELING_FEATURE
+  #endif // AUTO_BED_LEVELING_NONLINEAR

 #endif // DELTA

@ -8076,7 +8087,7 @@ void mesh_line_to_destination(float fr_mm_s, uint8_t x_splits = 0xff, uint8_t y_
 }
 #endif  // MESH_BED_LEVELING

-#if ENABLED(DELTA) || ENABLED(SCARA)
+#if IS_KINEMATIC

  inline bool prepare_kinematic_move_to(float target[NUM_AXIS]) {
    float difference[NUM_AXIS];
@ -8103,7 +8114,7 @@ void mesh_line_to_destination(float fr_mm_s, uint8_t x_splits = 0xff, uint8_t y_

      inverse_kinematics(target);

-      #if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_FEATURE)
+      #if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_NONLINEAR)
        if (!bed_leveling_in_progress) adjust_delta(target);
      #endif

@ -8115,7 +8126,7 @@ void mesh_line_to_destination(float fr_mm_s, uint8_t x_splits = 0xff, uint8_t y_
    return true;
  }

-#endif // DELTA || SCARA
+#endif // IS_KINEMATIC

 #if ENABLED(DUAL_X_CARRIAGE)

@ -8161,7 +8172,7 @@ void mesh_line_to_destination(float fr_mm_s, uint8_t x_splits = 0xff, uint8_t y_

 #endif // DUAL_X_CARRIAGE

-#if DISABLED(DELTA) && DISABLED(SCARA)
+#if !IS_KINEMATIC

  inline bool prepare_move_to_destination_cartesian() {
    // Do not use feedrate_percentage for E or Z only moves
@ -8181,7 +8192,7 @@ void mesh_line_to_destination(float fr_mm_s, uint8_t x_splits = 0xff, uint8_t y_
    return true;
  }

-#endif // !DELTA && !SCARA
+#endif // !IS_KINEMATIC

 #if ENABLED(PREVENT_COLD_EXTRUSION)

@ -8220,7 +8231,7 @@ void prepare_move_to_destination() {
    prevent_dangerous_extrude(current_position[E_AXIS], destination[E_AXIS]);
  #endif

-  #if ENABLED(DELTA) || ENABLED(SCARA)
+  #if IS_KINEMATIC
    if (!prepare_kinematic_move_to(destination)) return;
  #else
    #if ENABLED(DUAL_X_CARRIAGE)
@ -8356,9 +8367,9 @@ void prepare_move_to_destination() {

      clamp_to_software_endstops(arc_target);

-      #if ENABLED(DELTA) || ENABLED(SCARA)
+      #if IS_KINEMATIC
        inverse_kinematics(arc_target);
-        #if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_FEATURE)
+        #if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_NONLINEAR)
          adjust_delta(arc_target);
        #endif
        planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], arc_target[E_AXIS], fr_mm_s, active_extruder);
@ -8368,9 +8379,9 @@ void prepare_move_to_destination() {
    }

    // Ensure last segment arrives at target location.
-    #if ENABLED(DELTA) || ENABLED(SCARA)
+    #if IS_KINEMATIC
      inverse_kinematics(target);
-      #if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_FEATURE)
+      #if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_NONLINEAR)
        adjust_delta(target);
      #endif
      planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], fr_mm_s, active_extruder);
--- a/Marlin/configuration_store.cpp
+++ b/Marlin/configuration_store.cpp
@ -330,7 +330,7 @@ void Config_StoreSettings()  {
  #endif
  EEPROM_WRITE(lcd_contrast);

-  #if ENABLED(SCARA)
+  #if IS_SCARA
    EEPROM_WRITE(axis_scaling); // 3 floats
  #else
    dummy = 1.0f;
@ -520,7 +520,7 @@ void Config_RetrieveSettings() {
    #endif
    EEPROM_READ(lcd_contrast);

-    #if ENABLED(SCARA)
+    #if IS_SCARA
      EEPROM_READ(axis_scaling);  // 3 floats
    #else
      EEPROM_READ(dummy);
@ -584,7 +584,7 @@ void Config_ResetDefault() {
    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
@ -716,7 +716,7 @@ void Config_PrintSettings(bool forReplay) {

  CONFIG_ECHO_START;

-  #if ENABLED(SCARA)
+  #if IS_SCARA
    if (!forReplay) {
      SERIAL_ECHOLNPGM("Scaling factors:");
      CONFIG_ECHO_START;
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@ -98,7 +98,7 @@ float Planner::min_feedrate_mm_s,
      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

@ -138,7 +138,7 @@ void Planner::init() {
  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
 }
@ -521,7 +521,7 @@ void Planner::check_axes_activity() {
  #endif
 }

-#if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)
+#if PLANNER_LEVELING

  void Planner::apply_leveling(
    #if ENABLED(MESH_BED_LEVELING)
@ -551,7 +551,7 @@ void Planner::check_axes_activity() {
    #endif
  }

-#endif
+#endif // PLANNER_LEVELING

 /**
 * Planner::buffer_line
@ -1193,7 +1193,7 @@ void Planner::reset_acceleration_rates() {
 // 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
--- a/Marlin/planner_bezier.cpp
+++ b/Marlin/planner_bezier.cpp
@ -188,7 +188,7 @@ void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS]
    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);
--- a/Marlin/qr_solve.cpp
+++ b/Marlin/qr_solve.cpp
@ -22,7 +22,7 @@

 #include "qr_solve.h"

-#if ENABLED(AUTO_BED_LEVELING_GRID)
+#if ENABLED(AUTO_BED_LEVELING_LINEAR)

 #include <stdlib.h>
 #include <math.h>
--- a/Marlin/ultralcd.cpp
+++ b/Marlin/ultralcd.cpp
@ -1418,7 +1418,7 @@ void kill_screen(const char* lcd_msg) {
   *
   */

-  #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
@ -1823,7 +1823,7 @@ void kill_screen(const char* lcd_msg) {
    #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