From a46d47178c442ad94fc72f7b9320d67439c15dd3 Mon Sep 17 00:00:00 2001
From: Bob Kuhn <bob.kuhn@att.net>
Date: Sun, 6 Feb 2022 08:35:18 -0600
Subject: [PATCH] =?UTF-8?q?=F0=9F=90=9B=20Fix=20init=20of=20delta=20safe?=
 =?UTF-8?q?=20height=20(for=20G29,=20G33,=20etc.)=20(#23622)?=
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---
 Marlin/src/MarlinCore.cpp    | 4 ++++
 Marlin/src/module/delta.cpp  | 7 +++++++
 Marlin/src/module/delta.h    | 2 ++
 Marlin/src/module/motion.cpp | 2 +-
 4 files changed, 14 insertions(+), 1 deletion(-)

diff --git a/Marlin/src/MarlinCore.cpp b/Marlin/src/MarlinCore.cpp
index e34c0d6c3c10..302e94494e1a 100644
--- a/Marlin/src/MarlinCore.cpp
+++ b/Marlin/src/MarlinCore.cpp
@@ -1339,6 +1339,10 @@ void setup() {
 
   SETUP_RUN(endstops.init());         // Init endstops and pullups
 
+  #if ENABLED(DELTA) && !HAS_SOFTWARE_ENDSTOPS
+    SETUP_RUN(refresh_delta_clip_start_height()); // Init safe delta height without soft endstops
+  #endif
+
   SETUP_RUN(stepper.init());          // Init stepper. This enables interrupts!
 
   #if HAS_SERVOS
diff --git a/Marlin/src/module/delta.cpp b/Marlin/src/module/delta.cpp
index 2a4efb47da73..cd40175da4d2 100644
--- a/Marlin/src/module/delta.cpp
+++ b/Marlin/src/module/delta.cpp
@@ -63,6 +63,13 @@ abc_float_t delta_diagonal_rod_trim;
 
 float delta_safe_distance_from_top();
 
+void refresh_delta_clip_start_height() {
+  delta_clip_start_height = TERN(HAS_SOFTWARE_ENDSTOPS,
+    soft_endstop.max.z,
+    DIFF_TERN(HAS_BED_PROBE, delta_height, probe.offset.z)
+  ) - delta_safe_distance_from_top();
+}
+
 /**
  * Recalculate factors used for delta kinematics whenever
  * settings have been changed (e.g., by M665).
diff --git a/Marlin/src/module/delta.h b/Marlin/src/module/delta.h
index f1e43c7e4c9d..7cd42805c90a 100644
--- a/Marlin/src/module/delta.h
+++ b/Marlin/src/module/delta.h
@@ -82,6 +82,8 @@ void inverse_kinematics(const xyz_pos_t &raw);
  */
 float delta_safe_distance_from_top();
 
+void refresh_delta_clip_start_height();
+
 /**
  * Delta Forward Kinematics
  *
diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
index 51f0681a150e..4b0c6aba7d35 100644
--- a/Marlin/src/module/motion.cpp
+++ b/Marlin/src/module/motion.cpp
@@ -743,7 +743,7 @@ void restore_feedrate_and_scaling() {
           delta_max_radius_2 = sq(delta_max_radius);
           break;
         case Z_AXIS:
-          delta_clip_start_height = soft_endstop.max[axis] - delta_safe_distance_from_top();
+          refresh_delta_clip_start_height();
         default: break;
       }