From a4a7ca10ca3802d1e68f92d410fc9793af184d8a Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Sun, 9 Oct 2016 15:19:39 -0500
Subject: [PATCH] Make USE_DELTA_IK_INTERPOLATION compatible with ABL

---
 Marlin/Marlin_main.cpp | 23 +++++++++++++++++++++--
 Marlin/SanityCheck.h   |  4 ++--
 2 files changed, 23 insertions(+), 4 deletions(-)

diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 9be4fd9b1a..36177c619f 100755
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -456,6 +456,18 @@ static uint8_t target_extruder;
   #define XY_PROBE_FEEDRATE_MM_S PLANNER_XY_FEEDRATE()
 #endif
 
+#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
+  #define ADJUST_DELTA(V) \
+    if (planner.abl_enabled) { \
+      const float zadj = bilinear_z_offset(V); \
+      delta[A_AXIS] += zadj; \
+      delta[B_AXIS] += zadj; \
+      delta[C_AXIS] += zadj; \
+    }
+#elif IS_KINEMATIC
+  #define ADJUST_DELTA(V) NOOP
+#endif
+
 #if ENABLED(Z_DUAL_ENDSTOPS)
   float z_endstop_adj = 0;
 #endif
@@ -8758,7 +8770,10 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
       #define DELTA_NEXT(ADDEND) LOOP_XYZ(i) DELTA_VAR[i] += ADDEND;
 
       // Get the starting delta if interpolation is possible
-      if (segments >= 2) DELTA_IK();
+      if (segments >= 2) {
+        DELTA_IK();
+        ADJUST_DELTA(DELTA_VAR); // Adjust Z if bed leveling is enabled
+      }
 
       // Loop using decrement
       for (uint16_t s = segments + 1; --s;) {
@@ -8775,6 +8790,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
 
           // Get the exact delta for the move after this
           DELTA_IK();
+          ADJUST_DELTA(DELTA_VAR); // Adjust Z if bed leveling is enabled
 
           // Move to the interpolated delta position first
           planner.buffer_line(
@@ -8795,6 +8811,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
           DELTA_NEXT(segment_distance[i]);
           DELTA_VAR[E_AXIS] += segment_distance[E_AXIS];
           DELTA_IK();
+          ADJUST_DELTA(DELTA_VAR); // Adjust Z if bed leveling is enabled
         }
 
         // Move to the non-interpolated position
@@ -8808,7 +8825,9 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
       // For non-interpolated delta calculate every segment
       for (uint16_t s = segments + 1; --s;) {
         DELTA_NEXT(segment_distance[i]);
-        planner.buffer_line_kinematic(DELTA_VAR, _feedrate_mm_s, active_extruder);
+        DELTA_IK();
+        ADJUST_DELTA(DELTA_VAR);
+        planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], DELTA_VAR[E_AXIS], _feedrate_mm_s, active_extruder);
       }
 
     #endif
diff --git a/Marlin/SanityCheck.h b/Marlin/SanityCheck.h
index 0eca5743d3..cb3c8599a1 100644
--- a/Marlin/SanityCheck.h
+++ b/Marlin/SanityCheck.h
@@ -518,8 +518,8 @@
  */
 #if HAS_ABL
 
-  #if ENABLED(USE_RAW_KINEMATICS) || ENABLED(USE_DELTA_IK_INTERPOLATION)
-    #error "USE_RAW_KINEMATICS and USE_DELTA_IK_INTERPOLATION are not compatible with AUTO_BED_LEVELING"
+  #if ENABLED(USE_RAW_KINEMATICS)
+    #error "USE_RAW_KINEMATICS is not compatible with AUTO_BED_LEVELING"
   #endif
 
   /**