diff --git a/Marlin/Conditionals_LCD.h b/Marlin/Conditionals_LCD.h
index d479d066c37..71bb11382e1 100644
--- a/Marlin/Conditionals_LCD.h
+++ b/Marlin/Conditionals_LCD.h
@@ -453,13 +453,6 @@
*/
#define HAS_Z_SERVO_ENDSTOP (defined(Z_ENDSTOP_SERVO_NR) && Z_ENDSTOP_SERVO_NR >= 0)
- /**
- * UBL has its own manual probing, so this just causes trouble.
- */
- #if ENABLED(AUTO_BED_LEVELING_UBL)
- #undef PROBE_MANUALLY
- #endif
-
/**
* Set a flag for any enabled probe
*/
diff --git a/Marlin/Conditionals_post.h b/Marlin/Conditionals_post.h
index cbceb619c72..c206b411965 100644
--- a/Marlin/Conditionals_post.h
+++ b/Marlin/Conditionals_post.h
@@ -854,10 +854,23 @@
#define QUIET_PROBING (HAS_BED_PROBE && (ENABLED(PROBING_HEATERS_OFF) || ENABLED(PROBING_FANS_OFF) || DELAY_BEFORE_PROBING > 0))
#define HEATER_IDLE_HANDLER (ENABLED(ADVANCED_PAUSE_FEATURE) || ENABLED(PROBING_HEATERS_OFF))
+ /**
+ * Only constrain Z on DELTA / SCARA machines
+ */
+ #if IS_KINEMATIC
+ #undef MIN_SOFTWARE_ENDSTOP_X
+ #undef MIN_SOFTWARE_ENDSTOP_Y
+ #undef MAX_SOFTWARE_ENDSTOP_X
+ #undef MAX_SOFTWARE_ENDSTOP_Y
+ #endif
+
/**
* Delta radius/rod trimmers/angle trimmers
*/
#if ENABLED(DELTA)
+ #ifndef DELTA_PROBEABLE_RADIUS
+ #define DELTA_PROBEABLE_RADIUS DELTA_PRINTABLE_RADIUS
+ #endif
#ifndef DELTA_CALIBRATION_RADIUS
#define DELTA_CALIBRATION_RADIUS DELTA_PRINTABLE_RADIUS - 10
#endif
@@ -878,7 +891,6 @@
/**
* Set granular options based on the specific type of leveling
*/
-
#define UBL_DELTA (ENABLED(AUTO_BED_LEVELING_UBL) && (ENABLED(DELTA) || ENABLED(UBL_GRANULAR_SEGMENTATION_FOR_CARTESIAN)))
#define ABL_PLANAR (ENABLED(AUTO_BED_LEVELING_LINEAR) || ENABLED(AUTO_BED_LEVELING_3POINT))
#define ABL_GRID (ENABLED(AUTO_BED_LEVELING_LINEAR) || ENABLED(AUTO_BED_LEVELING_BILINEAR))
@@ -977,6 +989,18 @@
#endif
#endif
+ /**
+ * VIKI2, miniVIKI, and AZSMZ_12864 require DOGLCD_SCK and DOGLCD_MOSI to be defined.
+ */
+ #if ENABLED(VIKI2) || ENABLED(miniVIKI) || ENABLED(AZSMZ_12864)
+ #ifndef DOGLCD_SCK
+ #define DOGLCD_SCK SCK_PIN
+ #endif
+ #ifndef DOGLCD_MOSI
+ #define DOGLCD_MOSI MOSI_PIN
+ #endif
+ #endif
+
/**
* Z_HOMING_HEIGHT / Z_CLEARANCE_BETWEEN_PROBES
*/
@@ -1038,11 +1062,6 @@
// Add commands that need sub-codes to this list
#define USE_GCODE_SUBCODES ENABLED(G38_PROBE_TARGET) || ENABLED(CNC_COORDINATE_SYSTEMS)
- // MESH_BED_LEVELING overrides PROBE_MANUALLY
- #if ENABLED(MESH_BED_LEVELING)
- #undef PROBE_MANUALLY
- #endif
-
// Parking Extruder
#if ENABLED(PARKING_EXTRUDER)
#ifndef PARKING_EXTRUDER_GRAB_DISTANCE
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 9e270202b4d..6606a57a750 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -5450,676 +5450,672 @@ void home_all_axes() { gcode_G28(true); }
#endif // HAS_BED_PROBE
-#if PROBE_SELECTED
+#if ENABLED(DELTA_AUTO_CALIBRATION)
- #if ENABLED(DELTA_AUTO_CALIBRATION)
+ constexpr uint8_t _7P_STEP = 1, // 7-point step - to change number of calibration points
+ _4P_STEP = _7P_STEP * 2, // 4-point step
+ NPP = _7P_STEP * 6; // number of calibration points on the radius
+ enum CalEnum { // the 7 main calibration points - add definitions if needed
+ CEN = 0,
+ __A = 1,
+ _AB = __A + _7P_STEP,
+ __B = _AB + _7P_STEP,
+ _BC = __B + _7P_STEP,
+ __C = _BC + _7P_STEP,
+ _CA = __C + _7P_STEP,
+ };
- constexpr uint8_t _7P_STEP = 1, // 7-point step - to change number of calibration points
- _4P_STEP = _7P_STEP * 2, // 4-point step
- NPP = _7P_STEP * 6; // number of calibration points on the radius
- enum CalEnum { // the 7 main calibration points - add definitions if needed
- CEN = 0,
- __A = 1,
- _AB = __A + _7P_STEP,
- __B = _AB + _7P_STEP,
- _BC = __B + _7P_STEP,
- __C = _BC + _7P_STEP,
- _CA = __C + _7P_STEP,
- };
+ #define LOOP_CAL_PT(VAR, S, N) for (uint8_t VAR=S; VAR<=NPP; VAR+=N)
+ #define F_LOOP_CAL_PT(VAR, S, N) for (float VAR=S; VAR<NPP+0.9999; VAR+=N)
+ #define I_LOOP_CAL_PT(VAR, S, N) for (float VAR=S; VAR>CEN+0.9999; VAR-=N)
+ #define LOOP_CAL_ALL(VAR) LOOP_CAL_PT(VAR, CEN, 1)
+ #define LOOP_CAL_RAD(VAR) LOOP_CAL_PT(VAR, __A, _7P_STEP)
+ #define LOOP_CAL_ACT(VAR, _4P, _OP) LOOP_CAL_PT(VAR, _OP ? _AB : __A, _4P ? _4P_STEP : _7P_STEP)
- #define LOOP_CAL_PT(VAR, S, N) for (uint8_t VAR=S; VAR<=NPP; VAR+=N)
- #define F_LOOP_CAL_PT(VAR, S, N) for (float VAR=S; VAR<NPP+0.9999; VAR+=N)
- #define I_LOOP_CAL_PT(VAR, S, N) for (float VAR=S; VAR>CEN+0.9999; VAR-=N)
- #define LOOP_CAL_ALL(VAR) LOOP_CAL_PT(VAR, CEN, 1)
- #define LOOP_CAL_RAD(VAR) LOOP_CAL_PT(VAR, __A, _7P_STEP)
- #define LOOP_CAL_ACT(VAR, _4P, _OP) LOOP_CAL_PT(VAR, _OP ? _AB : __A, _4P ? _4P_STEP : _7P_STEP)
+ static void print_signed_float(const char * const prefix, const float &f) {
+ SERIAL_PROTOCOLPGM(" ");
+ serialprintPGM(prefix);
+ SERIAL_PROTOCOLCHAR(':');
+ if (f >= 0) SERIAL_CHAR('+');
+ SERIAL_PROTOCOL_F(f, 2);
+ }
- static void print_signed_float(const char * const prefix, const float &f) {
- SERIAL_PROTOCOLPGM(" ");
- serialprintPGM(prefix);
- SERIAL_PROTOCOLCHAR(':');
- if (f >= 0) SERIAL_CHAR('+');
- SERIAL_PROTOCOL_F(f, 2);
+ static void print_G33_settings(const bool end_stops, const bool tower_angles) {
+ SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
+ if (end_stops) {
+ print_signed_float(PSTR("Ex"), delta_endstop_adj[A_AXIS]);
+ print_signed_float(PSTR("Ey"), delta_endstop_adj[B_AXIS]);
+ print_signed_float(PSTR("Ez"), delta_endstop_adj[C_AXIS]);
}
-
- static void print_G33_settings(const bool end_stops, const bool tower_angles) {
- SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
- if (end_stops) {
- print_signed_float(PSTR("Ex"), delta_endstop_adj[A_AXIS]);
- print_signed_float(PSTR("Ey"), delta_endstop_adj[B_AXIS]);
- print_signed_float(PSTR("Ez"), delta_endstop_adj[C_AXIS]);
- }
- if (end_stops && tower_angles) {
- SERIAL_PROTOCOLPAIR(" Radius:", delta_radius);
- SERIAL_EOL();
- SERIAL_CHAR('.');
- SERIAL_PROTOCOL_SP(13);
- }
- if (tower_angles) {
- print_signed_float(PSTR("Tx"), delta_tower_angle_trim[A_AXIS]);
- print_signed_float(PSTR("Ty"), delta_tower_angle_trim[B_AXIS]);
- print_signed_float(PSTR("Tz"), delta_tower_angle_trim[C_AXIS]);
- }
- if ((!end_stops && tower_angles) || (end_stops && !tower_angles)) { // XOR
- SERIAL_PROTOCOLPAIR(" Radius:", delta_radius);
- }
+ if (end_stops && tower_angles) {
+ SERIAL_PROTOCOLPAIR(" Radius:", delta_radius);
SERIAL_EOL();
+ SERIAL_CHAR('.');
+ SERIAL_PROTOCOL_SP(13);
}
+ if (tower_angles) {
+ print_signed_float(PSTR("Tx"), delta_tower_angle_trim[A_AXIS]);
+ print_signed_float(PSTR("Ty"), delta_tower_angle_trim[B_AXIS]);
+ print_signed_float(PSTR("Tz"), delta_tower_angle_trim[C_AXIS]);
+ }
+ if ((!end_stops && tower_angles) || (end_stops && !tower_angles)) { // XOR
+ SERIAL_PROTOCOLPAIR(" Radius:", delta_radius);
+ }
+ SERIAL_EOL();
+ }
- static void print_G33_results(const float z_at_pt[NPP + 1], const bool tower_points, const bool opposite_points) {
- SERIAL_PROTOCOLPGM(". ");
- print_signed_float(PSTR("c"), z_at_pt[CEN]);
- if (tower_points) {
- print_signed_float(PSTR(" x"), z_at_pt[__A]);
- print_signed_float(PSTR(" y"), z_at_pt[__B]);
- print_signed_float(PSTR(" z"), z_at_pt[__C]);
- }
- if (tower_points && opposite_points) {
- SERIAL_EOL();
- SERIAL_CHAR('.');
- SERIAL_PROTOCOL_SP(13);
- }
- if (opposite_points) {
- print_signed_float(PSTR("yz"), z_at_pt[_BC]);
- print_signed_float(PSTR("zx"), z_at_pt[_CA]);
- print_signed_float(PSTR("xy"), z_at_pt[_AB]);
- }
+ static void print_G33_results(const float z_at_pt[NPP + 1], const bool tower_points, const bool opposite_points) {
+ SERIAL_PROTOCOLPGM(". ");
+ print_signed_float(PSTR("c"), z_at_pt[CEN]);
+ if (tower_points) {
+ print_signed_float(PSTR(" x"), z_at_pt[__A]);
+ print_signed_float(PSTR(" y"), z_at_pt[__B]);
+ print_signed_float(PSTR(" z"), z_at_pt[__C]);
+ }
+ if (tower_points && opposite_points) {
SERIAL_EOL();
+ SERIAL_CHAR('.');
+ SERIAL_PROTOCOL_SP(13);
}
-
- /**
- * After G33:
- * - Move to the print ceiling (DELTA_HOME_TO_SAFE_ZONE only)
- * - Stow the probe
- * - Restore endstops state
- * - Select the old tool, if needed
- */
- static void G33_cleanup(
- #if HOTENDS > 1
- const uint8_t old_tool_index
- #endif
- ) {
- #if ENABLED(DELTA_HOME_TO_SAFE_ZONE)
- do_blocking_move_to_z(delta_clip_start_height);
- #endif
- STOW_PROBE();
- clean_up_after_endstop_or_probe_move();
- #if HOTENDS > 1
- tool_change(old_tool_index, 0, true);
- #endif
+ if (opposite_points) {
+ print_signed_float(PSTR("yz"), z_at_pt[_BC]);
+ print_signed_float(PSTR("zx"), z_at_pt[_CA]);
+ print_signed_float(PSTR("xy"), z_at_pt[_AB]);
}
+ SERIAL_EOL();
+ }
- static float probe_G33_points(float z_at_pt[NPP + 1], const int8_t probe_points, const bool towers_set, const bool stow_after_each) {
- const bool _0p_calibration = probe_points == 0,
- _1p_calibration = probe_points == 1,
- _4p_calibration = probe_points == 2,
- _4p_opposite_points = _4p_calibration && !towers_set,
- _7p_calibration = probe_points >= 3 || probe_points == 0,
- _7p_no_intermediates = probe_points == 3,
- _7p_1_intermediates = probe_points == 4,
- _7p_2_intermediates = probe_points == 5,
- _7p_4_intermediates = probe_points == 6,
- _7p_6_intermediates = probe_points == 7,
- _7p_8_intermediates = probe_points == 8,
- _7p_11_intermediates = probe_points == 9,
- _7p_14_intermediates = probe_points == 10,
- _7p_intermed_points = probe_points >= 4,
- _7p_6_centre = probe_points >= 5 && probe_points <= 7,
- _7p_9_centre = probe_points >= 8;
+ /**
+ * After G33:
+ * - Move to the print ceiling (DELTA_HOME_TO_SAFE_ZONE only)
+ * - Stow the probe
+ * - Restore endstops state
+ * - Select the old tool, if needed
+ */
+ static void G33_cleanup(
+ #if HOTENDS > 1
+ const uint8_t old_tool_index
+ #endif
+ ) {
+ #if ENABLED(DELTA_HOME_TO_SAFE_ZONE)
+ do_blocking_move_to_z(delta_clip_start_height);
+ #endif
+ STOW_PROBE();
+ clean_up_after_endstop_or_probe_move();
+ #if HOTENDS > 1
+ tool_change(old_tool_index, 0, true);
+ #endif
+ }
- #if DISABLED(PROBE_MANUALLY)
- const float dx = (X_PROBE_OFFSET_FROM_EXTRUDER),
- dy = (Y_PROBE_OFFSET_FROM_EXTRUDER);
- #endif
+ static float probe_G33_points(float z_at_pt[NPP + 1], const int8_t probe_points, const bool towers_set, const bool stow_after_each) {
+ const bool _0p_calibration = probe_points == 0,
+ _1p_calibration = probe_points == 1,
+ _4p_calibration = probe_points == 2,
+ _4p_opposite_points = _4p_calibration && !towers_set,
+ _7p_calibration = probe_points >= 3 || probe_points == 0,
+ _7p_no_intermediates = probe_points == 3,
+ _7p_1_intermediates = probe_points == 4,
+ _7p_2_intermediates = probe_points == 5,
+ _7p_4_intermediates = probe_points == 6,
+ _7p_6_intermediates = probe_points == 7,
+ _7p_8_intermediates = probe_points == 8,
+ _7p_11_intermediates = probe_points == 9,
+ _7p_14_intermediates = probe_points == 10,
+ _7p_intermed_points = probe_points >= 4,
+ _7p_6_centre = probe_points >= 5 && probe_points <= 7,
+ _7p_9_centre = probe_points >= 8;
- LOOP_CAL_ALL(axis) z_at_pt[axis] = 0.0;
+ #if HAS_BED_PROBE
+ const float dx = (X_PROBE_OFFSET_FROM_EXTRUDER),
+ dy = (Y_PROBE_OFFSET_FROM_EXTRUDER);
+ #endif
- if (!_0p_calibration) {
+ LOOP_CAL_ALL(axis) z_at_pt[axis] = 0.0;
- if (!_7p_no_intermediates && !_7p_4_intermediates && !_7p_11_intermediates) { // probe the center
+ if (!_0p_calibration) {
+
+ if (!_7p_no_intermediates && !_7p_4_intermediates && !_7p_11_intermediates) { // probe the center
+ z_at_pt[CEN] +=
+ #if HAS_BED_PROBE
+ probe_pt(dx, dy, stow_after_each, 1, false)
+ #else
+ lcd_probe_pt(0, 0)
+ #endif
+ ;
+ }
+
+ if (_7p_calibration) { // probe extra center points
+ const float start = _7p_9_centre ? _CA + _7P_STEP / 3.0 : _7p_6_centre ? _CA : __C,
+ steps = _7p_9_centre ? _4P_STEP / 3.0 : _7p_6_centre ? _7P_STEP : _4P_STEP;
+ I_LOOP_CAL_PT(axis, start, steps) {
+ const float a = RADIANS(210 + (360 / NPP) * (axis - 1)),
+ r = delta_calibration_radius * 0.1;
z_at_pt[CEN] +=
- #if ENABLED(PROBE_MANUALLY)
- lcd_probe_pt(0, 0)
+ #if HAS_BED_PROBE
+ probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1)
#else
- probe_pt(dx, dy, stow_after_each, 1, false)
+ lcd_probe_pt(cos(a) * r, sin(a) * r)
#endif
;
}
-
- if (_7p_calibration) { // probe extra center points
- const float start = _7p_9_centre ? _CA + _7P_STEP / 3.0 : _7p_6_centre ? _CA : __C,
- steps = _7p_9_centre ? _4P_STEP / 3.0 : _7p_6_centre ? _7P_STEP : _4P_STEP;
- I_LOOP_CAL_PT(axis, start, steps) {
- const float a = RADIANS(210 + (360 / NPP) * (axis - 1)),
- r = delta_calibration_radius * 0.1;
- z_at_pt[CEN] +=
- #if ENABLED(PROBE_MANUALLY)
- lcd_probe_pt(cos(a) * r, sin(a) * r)
- #else
- probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1)
- #endif
- ;
- }
- z_at_pt[CEN] /= float(_7p_2_intermediates ? 7 : probe_points);
- }
-
- if (!_1p_calibration) { // probe the radius
- const CalEnum start = _4p_opposite_points ? _AB : __A;
- const float steps = _7p_14_intermediates ? _7P_STEP / 15.0 : // 15r * 6 + 10c = 100
- _7p_11_intermediates ? _7P_STEP / 12.0 : // 12r * 6 + 9c = 81
- _7p_8_intermediates ? _7P_STEP / 9.0 : // 9r * 6 + 10c = 64
- _7p_6_intermediates ? _7P_STEP / 7.0 : // 7r * 6 + 7c = 49
- _7p_4_intermediates ? _7P_STEP / 5.0 : // 5r * 6 + 6c = 36
- _7p_2_intermediates ? _7P_STEP / 3.0 : // 3r * 6 + 7c = 25
- _7p_1_intermediates ? _7P_STEP / 2.0 : // 2r * 6 + 4c = 16
- _7p_no_intermediates ? _7P_STEP : // 1r * 6 + 3c = 9
- _4P_STEP; // .5r * 6 + 1c = 4
- bool zig_zag = true;
- F_LOOP_CAL_PT(axis, start, _7p_9_centre ? steps * 3 : steps) {
- const int8_t offset = _7p_9_centre ? 1 : 0;
- for (int8_t circle = -offset; circle <= offset; circle++) {
- const float a = RADIANS(210 + (360 / NPP) * (axis - 1)),
- r = delta_calibration_radius * (1 + 0.1 * (zig_zag ? circle : - circle)),
- interpol = fmod(axis, 1);
- const float z_temp =
- #if ENABLED(PROBE_MANUALLY)
- lcd_probe_pt(cos(a) * r, sin(a) * r)
- #else
- probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1)
- #endif
- ;
- // split probe point to neighbouring calibration points
- z_at_pt[uint8_t(round(axis - interpol + NPP - 1)) % NPP + 1] += z_temp * sq(cos(RADIANS(interpol * 90)));
- z_at_pt[uint8_t(round(axis - interpol )) % NPP + 1] += z_temp * sq(sin(RADIANS(interpol * 90)));
- }
- zig_zag = !zig_zag;
- }
- if (_7p_intermed_points)
- LOOP_CAL_RAD(axis)
- z_at_pt[axis] /= _7P_STEP / steps;
- }
-
-
- float S1 = z_at_pt[CEN],
- S2 = sq(z_at_pt[CEN]);
- int16_t N = 1;
- if (!_1p_calibration) { // std dev from zero plane
- LOOP_CAL_ACT(axis, _4p_calibration, _4p_opposite_points) {
- S1 += z_at_pt[axis];
- S2 += sq(z_at_pt[axis]);
- N++;
- }
- return round(SQRT(S2 / N) * 1000.0) / 1000.0 + 0.00001;
- }
+ z_at_pt[CEN] /= float(_7p_2_intermediates ? 7 : probe_points);
}
- return 0.00001;
+ if (!_1p_calibration) { // probe the radius
+ const CalEnum start = _4p_opposite_points ? _AB : __A;
+ const float steps = _7p_14_intermediates ? _7P_STEP / 15.0 : // 15r * 6 + 10c = 100
+ _7p_11_intermediates ? _7P_STEP / 12.0 : // 12r * 6 + 9c = 81
+ _7p_8_intermediates ? _7P_STEP / 9.0 : // 9r * 6 + 10c = 64
+ _7p_6_intermediates ? _7P_STEP / 7.0 : // 7r * 6 + 7c = 49
+ _7p_4_intermediates ? _7P_STEP / 5.0 : // 5r * 6 + 6c = 36
+ _7p_2_intermediates ? _7P_STEP / 3.0 : // 3r * 6 + 7c = 25
+ _7p_1_intermediates ? _7P_STEP / 2.0 : // 2r * 6 + 4c = 16
+ _7p_no_intermediates ? _7P_STEP : // 1r * 6 + 3c = 9
+ _4P_STEP; // .5r * 6 + 1c = 4
+ bool zig_zag = true;
+ F_LOOP_CAL_PT(axis, start, _7p_9_centre ? steps * 3 : steps) {
+ const int8_t offset = _7p_9_centre ? 1 : 0;
+ for (int8_t circle = -offset; circle <= offset; circle++) {
+ const float a = RADIANS(210 + (360 / NPP) * (axis - 1)),
+ r = delta_calibration_radius * (1 + 0.1 * (zig_zag ? circle : - circle)),
+ interpol = fmod(axis, 1);
+ const float z_temp =
+ #if HAS_BED_PROBE
+ probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1)
+ #else
+ lcd_probe_pt(cos(a) * r, sin(a) * r)
+ #endif
+ ;
+ // split probe point to neighbouring calibration points
+ z_at_pt[uint8_t(round(axis - interpol + NPP - 1)) % NPP + 1] += z_temp * sq(cos(RADIANS(interpol * 90)));
+ z_at_pt[uint8_t(round(axis - interpol )) % NPP + 1] += z_temp * sq(sin(RADIANS(interpol * 90)));
+ }
+ zig_zag = !zig_zag;
+ }
+ if (_7p_intermed_points)
+ LOOP_CAL_RAD(axis)
+ z_at_pt[axis] /= _7P_STEP / steps;
+ }
+
+
+ float S1 = z_at_pt[CEN],
+ S2 = sq(z_at_pt[CEN]);
+ int16_t N = 1;
+ if (!_1p_calibration) { // std dev from zero plane
+ LOOP_CAL_ACT(axis, _4p_calibration, _4p_opposite_points) {
+ S1 += z_at_pt[axis];
+ S2 += sq(z_at_pt[axis]);
+ N++;
+ }
+ return round(SQRT(S2 / N) * 1000.0) / 1000.0 + 0.00001;
+ }
}
- #if DISABLED(PROBE_MANUALLY)
+ return 0.00001;
+ }
- static void G33_auto_tune() {
- float z_at_pt[NPP + 1] = { 0.0 },
- z_at_pt_base[NPP + 1] = { 0.0 },
- z_temp, h_fac = 0.0, r_fac = 0.0, a_fac = 0.0, norm = 0.8;
+ #if HAS_BED_PROBE
- #define ZP(N,I) ((N) * z_at_pt[I])
- #define Z06(I) ZP(6, I)
- #define Z03(I) ZP(3, I)
- #define Z02(I) ZP(2, I)
- #define Z01(I) ZP(1, I)
- #define Z32(I) ZP(3/2, I)
+ static void G33_auto_tune() {
+ float z_at_pt[NPP + 1] = { 0.0 },
+ z_at_pt_base[NPP + 1] = { 0.0 },
+ z_temp, h_fac = 0.0, r_fac = 0.0, a_fac = 0.0, norm = 0.8;
- SERIAL_PROTOCOLPGM("AUTO TUNE baseline");
- SERIAL_EOL();
- probe_G33_points(z_at_pt_base, 3, true, false);
- print_G33_results(z_at_pt_base, true, true);
+ #define ZP(N,I) ((N) * z_at_pt[I])
+ #define Z06(I) ZP(6, I)
+ #define Z03(I) ZP(3, I)
+ #define Z02(I) ZP(2, I)
+ #define Z01(I) ZP(1, I)
+ #define Z32(I) ZP(3/2, I)
- LOOP_XYZ(axis) {
- delta_endstop_adj[axis] -= 1.0;
+ SERIAL_PROTOCOLPGM("AUTO TUNE baseline");
+ SERIAL_EOL();
+ probe_G33_points(z_at_pt_base, 3, true, false);
+ print_G33_results(z_at_pt_base, true, true);
- endstops.enable(true);
- if (!home_delta()) return;
- endstops.not_homing();
-
- SERIAL_PROTOCOLPGM("Tuning E");
- SERIAL_CHAR(tolower(axis_codes[axis]));
- SERIAL_EOL();
-
- probe_G33_points(z_at_pt, 3, true, false);
- LOOP_CAL_ALL(axis) z_at_pt[axis] -= z_at_pt_base[axis];
- print_G33_results(z_at_pt, true, true);
- delta_endstop_adj[axis] += 1.0;
- switch (axis) {
- case A_AXIS :
- h_fac += 4.0 / (Z03(CEN) +Z01(__A) +Z32(_CA) +Z32(_AB)); // Offset by X-tower end-stop
- break;
- case B_AXIS :
- h_fac += 4.0 / (Z03(CEN) +Z01(__B) +Z32(_BC) +Z32(_AB)); // Offset by Y-tower end-stop
- break;
- case C_AXIS :
- h_fac += 4.0 / (Z03(CEN) +Z01(__C) +Z32(_BC) +Z32(_CA) ); // Offset by Z-tower end-stop
- break;
- }
- }
- h_fac /= 3.0;
- h_fac *= norm; // Normalize to 1.02 for Kossel mini
-
- for (int8_t zig_zag = -1; zig_zag < 2; zig_zag += 2) {
- delta_radius += 1.0 * zig_zag;
- recalc_delta_settings(delta_radius, delta_diagonal_rod, delta_tower_angle_trim);
-
- endstops.enable(true);
- if (!home_delta()) return;
- endstops.not_homing();
-
- SERIAL_PROTOCOLPGM("Tuning R");
- SERIAL_PROTOCOL(zig_zag == -1 ? "-" : "+");
- SERIAL_EOL();
- probe_G33_points(z_at_pt, 3, true, false);
- LOOP_CAL_ALL(axis) z_at_pt[axis] -= z_at_pt_base[axis];
- print_G33_results(z_at_pt, true, true);
- delta_radius -= 1.0 * zig_zag;
- recalc_delta_settings(delta_radius, delta_diagonal_rod, delta_tower_angle_trim);
- r_fac -= zig_zag * 6.0 / (Z03(__A) +Z03(__B) +Z03(__C) +Z03(_BC) +Z03(_CA) +Z03(_AB)); // Offset by delta radius
- }
- r_fac /= 2.0;
- r_fac *= 3 * norm; // Normalize to 2.25 for Kossel mini
-
- LOOP_XYZ(axis) {
- delta_tower_angle_trim[axis] += 1.0;
- delta_endstop_adj[(axis + 1) % 3] -= 1.0 / 4.5;
- delta_endstop_adj[(axis + 2) % 3] += 1.0 / 4.5;
- z_temp = MAX3(delta_endstop_adj[A_AXIS], delta_endstop_adj[B_AXIS], delta_endstop_adj[C_AXIS]);
- home_offset[Z_AXIS] -= z_temp;
- LOOP_XYZ(axis) delta_endstop_adj[axis] -= z_temp;
- recalc_delta_settings(delta_radius, delta_diagonal_rod, delta_tower_angle_trim);
-
- endstops.enable(true);
- if (!home_delta()) return;
- endstops.not_homing();
-
- SERIAL_PROTOCOLPGM("Tuning T");
- SERIAL_CHAR(tolower(axis_codes[axis]));
- SERIAL_EOL();
-
- probe_G33_points(z_at_pt, 3, true, false);
- LOOP_CAL_ALL(axis) z_at_pt[axis] -= z_at_pt_base[axis];
- print_G33_results(z_at_pt, true, true);
-
- delta_tower_angle_trim[axis] -= 1.0;
- delta_endstop_adj[(axis+1) % 3] += 1.0/4.5;
- delta_endstop_adj[(axis+2) % 3] -= 1.0/4.5;
- z_temp = MAX3(delta_endstop_adj[A_AXIS], delta_endstop_adj[B_AXIS], delta_endstop_adj[C_AXIS]);
- home_offset[Z_AXIS] -= z_temp;
- LOOP_XYZ(axis) delta_endstop_adj[axis] -= z_temp;
- recalc_delta_settings(delta_radius, delta_diagonal_rod, delta_tower_angle_trim);
- switch (axis) {
- case A_AXIS :
- a_fac += 4.0 / ( Z06(__B) -Z06(__C) +Z06(_CA) -Z06(_AB)); // Offset by alpha tower angle
- break;
- case B_AXIS :
- a_fac += 4.0 / (-Z06(__A) +Z06(__C) -Z06(_BC) +Z06(_AB)); // Offset by beta tower angle
- break;
- case C_AXIS :
- a_fac += 4.0 / (Z06(__A) -Z06(__B) +Z06(_BC) -Z06(_CA) ); // Offset by gamma tower angle
- break;
- }
- }
- a_fac /= 3.0;
- a_fac *= norm; // Normalize to 0.83 for Kossel mini
+ LOOP_XYZ(axis) {
+ delta_endstop_adj[axis] -= 1.0;
endstops.enable(true);
if (!home_delta()) return;
endstops.not_homing();
- print_signed_float(PSTR( "H_FACTOR: "), h_fac);
- print_signed_float(PSTR(" R_FACTOR: "), r_fac);
- print_signed_float(PSTR(" A_FACTOR: "), a_fac);
+
+ SERIAL_PROTOCOLPGM("Tuning E");
+ SERIAL_CHAR(tolower(axis_codes[axis]));
SERIAL_EOL();
- SERIAL_PROTOCOLPGM("Copy these values to Configuration.h");
- SERIAL_EOL();
- }
- #endif // !PROBE_MANUALLY
-
- /**
- * G33 - Delta '1-4-7-point' Auto-Calibration
- * Calibrate height, endstops, delta radius, and tower angles.
- *
- * Parameters:
- *
- * Pn Number of probe points:
- * P0 No probe. Normalize only.
- * P1 Probe center and set height only.
- * P2 Probe center and towers. Set height, endstops and delta radius.
- * P3 Probe all positions: center, towers and opposite towers. Set all.
- * P4-P10 Probe all positions + at different itermediate locations and average them.
- *
- * T Don't calibrate tower angle corrections
- *
- * Cn.nn Calibration precision; when omitted calibrates to maximum precision
- *
- * Fn Force to run at least n iterations and takes the best result
- *
- * A Auto tune calibartion factors (set in Configuration.h)
- *
- * Vn Verbose level:
- * V0 Dry-run mode. Report settings and probe results. No calibration.
- * V1 Report settings
- * V2 Report settings and probe results
- *
- * E Engage the probe for each point
- */
- inline void gcode_G33() {
-
- const int8_t probe_points = parser.intval('P', DELTA_CALIBRATION_DEFAULT_POINTS);
- if (!WITHIN(probe_points, 0, 10)) {
- SERIAL_PROTOCOLLNPGM("?(P)oints is implausible (0-10).");
- return;
- }
-
- const int8_t verbose_level = parser.byteval('V', 1);
- if (!WITHIN(verbose_level, 0, 2)) {
- SERIAL_PROTOCOLLNPGM("?(V)erbose level is implausible (0-2).");
- return;
- }
-
- const float calibration_precision = parser.floatval('C');
- if (calibration_precision < 0) {
- SERIAL_PROTOCOLLNPGM("?(C)alibration precision is implausible (>=0).");
- return;
- }
-
- const int8_t force_iterations = parser.intval('F', 0);
- if (!WITHIN(force_iterations, 0, 30)) {
- SERIAL_PROTOCOLLNPGM("?(F)orce iteration is implausible (0-30).");
- return;
- }
-
- const bool towers_set = !parser.boolval('T'),
- auto_tune = parser.boolval('A'),
- stow_after_each = parser.boolval('E'),
- _0p_calibration = probe_points == 0,
- _1p_calibration = probe_points == 1,
- _4p_calibration = probe_points == 2,
- _7p_9_centre = probe_points >= 8,
- _tower_results = (_4p_calibration && towers_set)
- || probe_points >= 3 || probe_points == 0,
- _opposite_results = (_4p_calibration && !towers_set)
- || probe_points >= 3 || probe_points == 0,
- _endstop_results = probe_points != 1,
- _angle_results = (probe_points >= 3 || probe_points == 0) && towers_set;
- const static char save_message[] PROGMEM = "Save with M500 and/or copy to Configuration.h";
- int8_t iterations = 0;
- float test_precision,
- zero_std_dev = (verbose_level ? 999.0 : 0.0), // 0.0 in dry-run mode : forced end
- zero_std_dev_min = zero_std_dev,
- e_old[ABC] = {
- delta_endstop_adj[A_AXIS],
- delta_endstop_adj[B_AXIS],
- delta_endstop_adj[C_AXIS]
- },
- dr_old = delta_radius,
- zh_old = home_offset[Z_AXIS],
- ta_old[ABC] = {
- delta_tower_angle_trim[A_AXIS],
- delta_tower_angle_trim[B_AXIS],
- delta_tower_angle_trim[C_AXIS]
- };
-
- SERIAL_PROTOCOLLNPGM("G33 Auto Calibrate");
-
- if (!_1p_calibration && !_0p_calibration) { // test if the outer radius is reachable
- LOOP_CAL_RAD(axis) {
- const float a = RADIANS(210 + (360 / NPP) * (axis - 1)),
- r = delta_calibration_radius * (1 + (_7p_9_centre ? 0.1 : 0.0));
- if (!position_is_reachable(cos(a) * r, sin(a) * r)) {
- SERIAL_PROTOCOLLNPGM("?(M665 B)ed radius is implausible.");
- return;
- }
+ probe_G33_points(z_at_pt, 3, true, false);
+ LOOP_CAL_ALL(axis) z_at_pt[axis] -= z_at_pt_base[axis];
+ print_G33_results(z_at_pt, true, true);
+ delta_endstop_adj[axis] += 1.0;
+ switch (axis) {
+ case A_AXIS :
+ h_fac += 4.0 / (Z03(CEN) +Z01(__A) +Z32(_CA) +Z32(_AB)); // Offset by X-tower end-stop
+ break;
+ case B_AXIS :
+ h_fac += 4.0 / (Z03(CEN) +Z01(__B) +Z32(_BC) +Z32(_AB)); // Offset by Y-tower end-stop
+ break;
+ case C_AXIS :
+ h_fac += 4.0 / (Z03(CEN) +Z01(__C) +Z32(_BC) +Z32(_CA) ); // Offset by Z-tower end-stop
+ break;
}
}
+ h_fac /= 3.0;
+ h_fac *= norm; // Normalize to 1.02 for Kossel mini
- stepper.synchronize();
- #if HAS_LEVELING
- reset_bed_level(); // After calibration bed-level data is no longer valid
- #endif
-
- #if HOTENDS > 1
- const uint8_t old_tool_index = active_extruder;
- tool_change(0, 0, true);
- #define G33_CLEANUP() G33_cleanup(old_tool_index)
- #else
- #define G33_CLEANUP() G33_cleanup()
- #endif
-
- setup_for_endstop_or_probe_move();
- endstops.enable(true);
- if (!_0p_calibration) {
- if (!home_delta())
- return;
- endstops.not_homing();
- }
-
- if (auto_tune) {
- #if ENABLED(PROBE_MANUALLY)
- SERIAL_PROTOCOLLNPGM("A probe is needed for auto-tune");
- #else
- G33_auto_tune();
- #endif
- G33_CLEANUP();
- return;
- }
-
- // Report settings
-
- const char *checkingac = PSTR("Checking... AC"); // TODO: Make translatable string
- serialprintPGM(checkingac);
- if (verbose_level == 0) SERIAL_PROTOCOLPGM(" (DRY-RUN)");
- SERIAL_EOL();
- lcd_setstatusPGM(checkingac);
-
- print_G33_settings(_endstop_results, _angle_results);
-
- do {
-
- float z_at_pt[NPP + 1] = { 0.0 };
-
- test_precision = zero_std_dev;
-
- iterations++;
-
- // Probe the points
-
- zero_std_dev = probe_G33_points(z_at_pt, probe_points, towers_set, stow_after_each);
-
- // Solve matrices
-
- if ((zero_std_dev < test_precision || iterations <= force_iterations) && zero_std_dev > calibration_precision) {
- if (zero_std_dev < zero_std_dev_min) {
- COPY(e_old, delta_endstop_adj);
- dr_old = delta_radius;
- zh_old = home_offset[Z_AXIS];
- COPY(ta_old, delta_tower_angle_trim);
- }
-
- float e_delta[ABC] = { 0.0 }, r_delta = 0.0, t_delta[ABC] = { 0.0 };
- const float r_diff = delta_radius - delta_calibration_radius,
- h_factor = 1 / 6.0 *
- #ifdef H_FACTOR
- (H_FACTOR), // Set in Configuration.h
- #else
- (1.00 + r_diff * 0.001), // 1.02 for r_diff = 20mm
- #endif
- r_factor = 1 / 6.0 *
- #ifdef R_FACTOR
- -(R_FACTOR), // Set in Configuration.h
- #else
- -(1.75 + 0.005 * r_diff + 0.001 * sq(r_diff)), // 2.25 for r_diff = 20mm
- #endif
- a_factor = 1 / 6.0 *
- #ifdef A_FACTOR
- (A_FACTOR); // Set in Configuration.h
- #else
- (66.66 / delta_calibration_radius); // 0.83 for cal_rd = 80mm
- #endif
-
- #define ZP(N,I) ((N) * z_at_pt[I])
- #define Z6(I) ZP(6, I)
- #define Z4(I) ZP(4, I)
- #define Z2(I) ZP(2, I)
- #define Z1(I) ZP(1, I)
-
- #if ENABLED(PROBE_MANUALLY)
- test_precision = 0.00; // forced end
- #endif
-
- switch (probe_points) {
- case 0:
- test_precision = 0.00; // forced end
- break;
-
- case 1:
- test_precision = 0.00; // forced end
- LOOP_XYZ(axis) e_delta[axis] = Z1(CEN);
- break;
-
- case 2:
- if (towers_set) {
- e_delta[A_AXIS] = (Z6(CEN) +Z4(__A) -Z2(__B) -Z2(__C)) * h_factor;
- e_delta[B_AXIS] = (Z6(CEN) -Z2(__A) +Z4(__B) -Z2(__C)) * h_factor;
- e_delta[C_AXIS] = (Z6(CEN) -Z2(__A) -Z2(__B) +Z4(__C)) * h_factor;
- r_delta = (Z6(CEN) -Z2(__A) -Z2(__B) -Z2(__C)) * r_factor;
- }
- else {
- e_delta[A_AXIS] = (Z6(CEN) -Z4(_BC) +Z2(_CA) +Z2(_AB)) * h_factor;
- e_delta[B_AXIS] = (Z6(CEN) +Z2(_BC) -Z4(_CA) +Z2(_AB)) * h_factor;
- e_delta[C_AXIS] = (Z6(CEN) +Z2(_BC) +Z2(_CA) -Z4(_AB)) * h_factor;
- r_delta = (Z6(CEN) -Z2(_BC) -Z2(_CA) -Z2(_AB)) * r_factor;
- }
- break;
-
- default:
- e_delta[A_AXIS] = (Z6(CEN) +Z2(__A) -Z1(__B) -Z1(__C) -Z2(_BC) +Z1(_CA) +Z1(_AB)) * h_factor;
- e_delta[B_AXIS] = (Z6(CEN) -Z1(__A) +Z2(__B) -Z1(__C) +Z1(_BC) -Z2(_CA) +Z1(_AB)) * h_factor;
- e_delta[C_AXIS] = (Z6(CEN) -Z1(__A) -Z1(__B) +Z2(__C) +Z1(_BC) +Z1(_CA) -Z2(_AB)) * h_factor;
- r_delta = (Z6(CEN) -Z1(__A) -Z1(__B) -Z1(__C) -Z1(_BC) -Z1(_CA) -Z1(_AB)) * r_factor;
-
- if (towers_set) {
- t_delta[A_AXIS] = ( -Z4(__B) +Z4(__C) -Z4(_CA) +Z4(_AB)) * a_factor;
- t_delta[B_AXIS] = ( Z4(__A) -Z4(__C) +Z4(_BC) -Z4(_AB)) * a_factor;
- t_delta[C_AXIS] = (-Z4(__A) +Z4(__B) -Z4(_BC) +Z4(_CA) ) * a_factor;
- e_delta[A_AXIS] += (t_delta[B_AXIS] - t_delta[C_AXIS]) / 4.5;
- e_delta[B_AXIS] += (t_delta[C_AXIS] - t_delta[A_AXIS]) / 4.5;
- e_delta[C_AXIS] += (t_delta[A_AXIS] - t_delta[B_AXIS]) / 4.5;
- }
- break;
- }
-
- LOOP_XYZ(axis) delta_endstop_adj[axis] += e_delta[axis];
- delta_radius += r_delta;
- LOOP_XYZ(axis) delta_tower_angle_trim[axis] += t_delta[axis];
- }
- else if (zero_std_dev >= test_precision) { // step one back
- COPY(delta_endstop_adj, e_old);
- delta_radius = dr_old;
- home_offset[Z_AXIS] = zh_old;
- COPY(delta_tower_angle_trim, ta_old);
- }
-
- if (verbose_level != 0) { // !dry run
- // normalise angles to least squares
- if (_angle_results) {
- float a_sum = 0.0;
- LOOP_XYZ(axis) a_sum += delta_tower_angle_trim[axis];
- LOOP_XYZ(axis) delta_tower_angle_trim[axis] -= a_sum / 3.0;
- }
-
- // adjust delta_height and endstops by the max amount
- const float z_temp = MAX3(delta_endstop_adj[A_AXIS], delta_endstop_adj[B_AXIS], delta_endstop_adj[C_AXIS]);
- home_offset[Z_AXIS] -= z_temp;
- LOOP_XYZ(axis) delta_endstop_adj[axis] -= z_temp;
- }
+ for (int8_t zig_zag = -1; zig_zag < 2; zig_zag += 2) {
+ delta_radius += 1.0 * zig_zag;
recalc_delta_settings(delta_radius, delta_diagonal_rod, delta_tower_angle_trim);
- NOMORE(zero_std_dev_min, zero_std_dev);
- // print report
+ endstops.enable(true);
+ if (!home_delta()) return;
+ endstops.not_homing();
- if (verbose_level != 1)
- print_G33_results(z_at_pt, _tower_results, _opposite_results);
+ SERIAL_PROTOCOLPGM("Tuning R");
+ SERIAL_PROTOCOL(zig_zag == -1 ? "-" : "+");
+ SERIAL_EOL();
+ probe_G33_points(z_at_pt, 3, true, false);
+ LOOP_CAL_ALL(axis) z_at_pt[axis] -= z_at_pt_base[axis];
+ print_G33_results(z_at_pt, true, true);
+ delta_radius -= 1.0 * zig_zag;
+ recalc_delta_settings(delta_radius, delta_diagonal_rod, delta_tower_angle_trim);
+ r_fac -= zig_zag * 6.0 / (Z03(__A) +Z03(__B) +Z03(__C) +Z03(_BC) +Z03(_CA) +Z03(_AB)); // Offset by delta radius
+ }
+ r_fac /= 2.0;
+ r_fac *= 3 * norm; // Normalize to 2.25 for Kossel mini
- if (verbose_level != 0) { // !dry run
- if ((zero_std_dev >= test_precision && iterations > force_iterations) || zero_std_dev <= calibration_precision) { // end iterations
- SERIAL_PROTOCOLPGM("Calibration OK");
- SERIAL_PROTOCOL_SP(32);
- #if DISABLED(PROBE_MANUALLY)
- if (zero_std_dev >= test_precision && !_1p_calibration)
- SERIAL_PROTOCOLPGM("rolling back.");
- else
- #endif
- {
- SERIAL_PROTOCOLPGM("std dev:");
- SERIAL_PROTOCOL_F(zero_std_dev_min, 3);
- }
- SERIAL_EOL();
- char mess[21];
- strcpy_P(mess, PSTR("Calibration sd:"));
- if (zero_std_dev_min < 1)
- sprintf_P(&mess[15], PSTR("0.%03i"), (int)round(zero_std_dev_min * 1000.0));
- else
- sprintf_P(&mess[15], PSTR("%03i.x"), (int)round(zero_std_dev_min));
- lcd_setstatus(mess);
- print_G33_settings(_endstop_results, _angle_results);
- serialprintPGM(save_message);
- SERIAL_EOL();
- }
- else { // !end iterations
- char mess[15];
- if (iterations < 31)
- sprintf_P(mess, PSTR("Iteration : %02i"), (int)iterations);
- else
- strcpy_P(mess, PSTR("No convergence"));
- SERIAL_PROTOCOL(mess);
- SERIAL_PROTOCOL_SP(32);
- SERIAL_PROTOCOLPGM("std dev:");
- SERIAL_PROTOCOL_F(zero_std_dev, 3);
- SERIAL_EOL();
- lcd_setstatus(mess);
- print_G33_settings(_endstop_results, _angle_results);
- }
+ LOOP_XYZ(axis) {
+ delta_tower_angle_trim[axis] += 1.0;
+ delta_endstop_adj[(axis + 1) % 3] -= 1.0 / 4.5;
+ delta_endstop_adj[(axis + 2) % 3] += 1.0 / 4.5;
+ z_temp = MAX3(delta_endstop_adj[A_AXIS], delta_endstop_adj[B_AXIS], delta_endstop_adj[C_AXIS]);
+ home_offset[Z_AXIS] -= z_temp;
+ LOOP_XYZ(axis) delta_endstop_adj[axis] -= z_temp;
+ recalc_delta_settings(delta_radius, delta_diagonal_rod, delta_tower_angle_trim);
+
+ endstops.enable(true);
+ if (!home_delta()) return;
+ endstops.not_homing();
+
+ SERIAL_PROTOCOLPGM("Tuning T");
+ SERIAL_CHAR(tolower(axis_codes[axis]));
+ SERIAL_EOL();
+
+ probe_G33_points(z_at_pt, 3, true, false);
+ LOOP_CAL_ALL(axis) z_at_pt[axis] -= z_at_pt_base[axis];
+ print_G33_results(z_at_pt, true, true);
+
+ delta_tower_angle_trim[axis] -= 1.0;
+ delta_endstop_adj[(axis+1) % 3] += 1.0/4.5;
+ delta_endstop_adj[(axis+2) % 3] -= 1.0/4.5;
+ z_temp = MAX3(delta_endstop_adj[A_AXIS], delta_endstop_adj[B_AXIS], delta_endstop_adj[C_AXIS]);
+ home_offset[Z_AXIS] -= z_temp;
+ LOOP_XYZ(axis) delta_endstop_adj[axis] -= z_temp;
+ recalc_delta_settings(delta_radius, delta_diagonal_rod, delta_tower_angle_trim);
+ switch (axis) {
+ case A_AXIS :
+ a_fac += 4.0 / ( Z06(__B) -Z06(__C) +Z06(_CA) -Z06(_AB)); // Offset by alpha tower angle
+ break;
+ case B_AXIS :
+ a_fac += 4.0 / (-Z06(__A) +Z06(__C) -Z06(_BC) +Z06(_AB)); // Offset by beta tower angle
+ break;
+ case C_AXIS :
+ a_fac += 4.0 / (Z06(__A) -Z06(__B) +Z06(_BC) -Z06(_CA) ); // Offset by gamma tower angle
+ break;
}
- else { // dry run
- const char *enddryrun = PSTR("End DRY-RUN");
- serialprintPGM(enddryrun);
- SERIAL_PROTOCOL_SP(35);
+ }
+ a_fac /= 3.0;
+ a_fac *= norm; // Normalize to 0.83 for Kossel mini
+
+ endstops.enable(true);
+ if (!home_delta()) return;
+ endstops.not_homing();
+ print_signed_float(PSTR( "H_FACTOR: "), h_fac);
+ print_signed_float(PSTR(" R_FACTOR: "), r_fac);
+ print_signed_float(PSTR(" A_FACTOR: "), a_fac);
+ SERIAL_EOL();
+ SERIAL_PROTOCOLPGM("Copy these values to Configuration.h");
+ SERIAL_EOL();
+ }
+
+ #endif // HAS_BED_PROBE
+
+ /**
+ * G33 - Delta '1-4-7-point' Auto-Calibration
+ * Calibrate height, endstops, delta radius, and tower angles.
+ *
+ * Parameters:
+ *
+ * Pn Number of probe points:
+ * P0 No probe. Normalize only.
+ * P1 Probe center and set height only.
+ * P2 Probe center and towers. Set height, endstops and delta radius.
+ * P3 Probe all positions: center, towers and opposite towers. Set all.
+ * P4-P10 Probe all positions + at different itermediate locations and average them.
+ *
+ * T Don't calibrate tower angle corrections
+ *
+ * Cn.nn Calibration precision; when omitted calibrates to maximum precision
+ *
+ * Fn Force to run at least n iterations and takes the best result
+ *
+ * A Auto tune calibartion factors (set in Configuration.h)
+ *
+ * Vn Verbose level:
+ * V0 Dry-run mode. Report settings and probe results. No calibration.
+ * V1 Report settings
+ * V2 Report settings and probe results
+ *
+ * E Engage the probe for each point
+ */
+ inline void gcode_G33() {
+
+ const int8_t probe_points = parser.intval('P', DELTA_CALIBRATION_DEFAULT_POINTS);
+ if (!WITHIN(probe_points, 0, 10)) {
+ SERIAL_PROTOCOLLNPGM("?(P)oints is implausible (0-10).");
+ return;
+ }
+
+ const int8_t verbose_level = parser.byteval('V', 1);
+ if (!WITHIN(verbose_level, 0, 2)) {
+ SERIAL_PROTOCOLLNPGM("?(V)erbose level is implausible (0-2).");
+ return;
+ }
+
+ const float calibration_precision = parser.floatval('C');
+ if (calibration_precision < 0) {
+ SERIAL_PROTOCOLLNPGM("?(C)alibration precision is implausible (>=0).");
+ return;
+ }
+
+ const int8_t force_iterations = parser.intval('F', 0);
+ if (!WITHIN(force_iterations, 0, 30)) {
+ SERIAL_PROTOCOLLNPGM("?(F)orce iteration is implausible (0-30).");
+ return;
+ }
+
+ const bool towers_set = !parser.boolval('T'),
+ auto_tune = parser.boolval('A'),
+ stow_after_each = parser.boolval('E'),
+ _0p_calibration = probe_points == 0,
+ _1p_calibration = probe_points == 1,
+ _4p_calibration = probe_points == 2,
+ _7p_9_centre = probe_points >= 8,
+ _tower_results = (_4p_calibration && towers_set)
+ || probe_points >= 3 || probe_points == 0,
+ _opposite_results = (_4p_calibration && !towers_set)
+ || probe_points >= 3 || probe_points == 0,
+ _endstop_results = probe_points != 1,
+ _angle_results = (probe_points >= 3 || probe_points == 0) && towers_set;
+ const static char save_message[] PROGMEM = "Save with M500 and/or copy to Configuration.h";
+ int8_t iterations = 0;
+ float test_precision,
+ zero_std_dev = (verbose_level ? 999.0 : 0.0), // 0.0 in dry-run mode : forced end
+ zero_std_dev_min = zero_std_dev,
+ e_old[ABC] = {
+ delta_endstop_adj[A_AXIS],
+ delta_endstop_adj[B_AXIS],
+ delta_endstop_adj[C_AXIS]
+ },
+ dr_old = delta_radius,
+ zh_old = home_offset[Z_AXIS],
+ ta_old[ABC] = {
+ delta_tower_angle_trim[A_AXIS],
+ delta_tower_angle_trim[B_AXIS],
+ delta_tower_angle_trim[C_AXIS]
+ };
+
+ SERIAL_PROTOCOLLNPGM("G33 Auto Calibrate");
+
+ if (!_1p_calibration && !_0p_calibration) { // test if the outer radius is reachable
+ LOOP_CAL_RAD(axis) {
+ const float a = RADIANS(210 + (360 / NPP) * (axis - 1)),
+ r = delta_calibration_radius * (1 + (_7p_9_centre ? 0.1 : 0.0));
+ if (!position_is_reachable(cos(a) * r, sin(a) * r)) {
+ SERIAL_PROTOCOLLNPGM("?(M665 B)ed radius is implausible.");
+ return;
+ }
+ }
+ }
+
+ stepper.synchronize();
+ #if HAS_LEVELING
+ reset_bed_level(); // After calibration bed-level data is no longer valid
+ #endif
+
+ #if HOTENDS > 1
+ const uint8_t old_tool_index = active_extruder;
+ tool_change(0, 0, true);
+ #define G33_CLEANUP() G33_cleanup(old_tool_index)
+ #else
+ #define G33_CLEANUP() G33_cleanup()
+ #endif
+
+ setup_for_endstop_or_probe_move();
+ endstops.enable(true);
+ if (!_0p_calibration) {
+ if (!home_delta())
+ return;
+ endstops.not_homing();
+ }
+
+ if (auto_tune) {
+ #if HAS_BED_PROBE
+ G33_auto_tune();
+ #else
+ SERIAL_PROTOCOLLNPGM("A probe is needed for auto-tune");
+ #endif
+ G33_CLEANUP();
+ return;
+ }
+
+ // Report settings
+
+ const char *checkingac = PSTR("Checking... AC"); // TODO: Make translatable string
+ serialprintPGM(checkingac);
+ if (verbose_level == 0) SERIAL_PROTOCOLPGM(" (DRY-RUN)");
+ SERIAL_EOL();
+ lcd_setstatusPGM(checkingac);
+
+ print_G33_settings(_endstop_results, _angle_results);
+
+ do {
+
+ float z_at_pt[NPP + 1] = { 0.0 };
+
+ test_precision = zero_std_dev;
+
+ iterations++;
+
+ // Probe the points
+
+ zero_std_dev = probe_G33_points(z_at_pt, probe_points, towers_set, stow_after_each);
+
+ // Solve matrices
+
+ if ((zero_std_dev < test_precision || iterations <= force_iterations) && zero_std_dev > calibration_precision) {
+ if (zero_std_dev < zero_std_dev_min) {
+ COPY(e_old, delta_endstop_adj);
+ dr_old = delta_radius;
+ zh_old = home_offset[Z_AXIS];
+ COPY(ta_old, delta_tower_angle_trim);
+ }
+
+ float e_delta[ABC] = { 0.0 }, r_delta = 0.0, t_delta[ABC] = { 0.0 };
+ const float r_diff = delta_radius - delta_calibration_radius,
+ h_factor = 1 / 6.0 *
+ #ifdef H_FACTOR
+ (H_FACTOR), // Set in Configuration.h
+ #else
+ (1.00 + r_diff * 0.001), // 1.02 for r_diff = 20mm
+ #endif
+ r_factor = 1 / 6.0 *
+ #ifdef R_FACTOR
+ -(R_FACTOR), // Set in Configuration.h
+ #else
+ -(1.75 + 0.005 * r_diff + 0.001 * sq(r_diff)), // 2.25 for r_diff = 20mm
+ #endif
+ a_factor = 1 / 6.0 *
+ #ifdef A_FACTOR
+ (A_FACTOR); // Set in Configuration.h
+ #else
+ (66.66 / delta_calibration_radius); // 0.83 for cal_rd = 80mm
+ #endif
+
+ #define ZP(N,I) ((N) * z_at_pt[I])
+ #define Z6(I) ZP(6, I)
+ #define Z4(I) ZP(4, I)
+ #define Z2(I) ZP(2, I)
+ #define Z1(I) ZP(1, I)
+
+ #if !HAS_BED_PROBE
+ test_precision = 0.00; // forced end
+ #endif
+
+ switch (probe_points) {
+ case 0:
+ test_precision = 0.00; // forced end
+ break;
+
+ case 1:
+ test_precision = 0.00; // forced end
+ LOOP_XYZ(axis) e_delta[axis] = Z1(CEN);
+ break;
+
+ case 2:
+ if (towers_set) {
+ e_delta[A_AXIS] = (Z6(CEN) +Z4(__A) -Z2(__B) -Z2(__C)) * h_factor;
+ e_delta[B_AXIS] = (Z6(CEN) -Z2(__A) +Z4(__B) -Z2(__C)) * h_factor;
+ e_delta[C_AXIS] = (Z6(CEN) -Z2(__A) -Z2(__B) +Z4(__C)) * h_factor;
+ r_delta = (Z6(CEN) -Z2(__A) -Z2(__B) -Z2(__C)) * r_factor;
+ }
+ else {
+ e_delta[A_AXIS] = (Z6(CEN) -Z4(_BC) +Z2(_CA) +Z2(_AB)) * h_factor;
+ e_delta[B_AXIS] = (Z6(CEN) +Z2(_BC) -Z4(_CA) +Z2(_AB)) * h_factor;
+ e_delta[C_AXIS] = (Z6(CEN) +Z2(_BC) +Z2(_CA) -Z4(_AB)) * h_factor;
+ r_delta = (Z6(CEN) -Z2(_BC) -Z2(_CA) -Z2(_AB)) * r_factor;
+ }
+ break;
+
+ default:
+ e_delta[A_AXIS] = (Z6(CEN) +Z2(__A) -Z1(__B) -Z1(__C) -Z2(_BC) +Z1(_CA) +Z1(_AB)) * h_factor;
+ e_delta[B_AXIS] = (Z6(CEN) -Z1(__A) +Z2(__B) -Z1(__C) +Z1(_BC) -Z2(_CA) +Z1(_AB)) * h_factor;
+ e_delta[C_AXIS] = (Z6(CEN) -Z1(__A) -Z1(__B) +Z2(__C) +Z1(_BC) +Z1(_CA) -Z2(_AB)) * h_factor;
+ r_delta = (Z6(CEN) -Z1(__A) -Z1(__B) -Z1(__C) -Z1(_BC) -Z1(_CA) -Z1(_AB)) * r_factor;
+
+ if (towers_set) {
+ t_delta[A_AXIS] = ( -Z4(__B) +Z4(__C) -Z4(_CA) +Z4(_AB)) * a_factor;
+ t_delta[B_AXIS] = ( Z4(__A) -Z4(__C) +Z4(_BC) -Z4(_AB)) * a_factor;
+ t_delta[C_AXIS] = (-Z4(__A) +Z4(__B) -Z4(_BC) +Z4(_CA) ) * a_factor;
+ e_delta[A_AXIS] += (t_delta[B_AXIS] - t_delta[C_AXIS]) / 4.5;
+ e_delta[B_AXIS] += (t_delta[C_AXIS] - t_delta[A_AXIS]) / 4.5;
+ e_delta[C_AXIS] += (t_delta[A_AXIS] - t_delta[B_AXIS]) / 4.5;
+ }
+ break;
+ }
+
+ LOOP_XYZ(axis) delta_endstop_adj[axis] += e_delta[axis];
+ delta_radius += r_delta;
+ LOOP_XYZ(axis) delta_tower_angle_trim[axis] += t_delta[axis];
+ }
+ else if (zero_std_dev >= test_precision) { // step one back
+ COPY(delta_endstop_adj, e_old);
+ delta_radius = dr_old;
+ home_offset[Z_AXIS] = zh_old;
+ COPY(delta_tower_angle_trim, ta_old);
+ }
+
+ if (verbose_level != 0) { // !dry run
+ // normalise angles to least squares
+ if (_angle_results) {
+ float a_sum = 0.0;
+ LOOP_XYZ(axis) a_sum += delta_tower_angle_trim[axis];
+ LOOP_XYZ(axis) delta_tower_angle_trim[axis] -= a_sum / 3.0;
+ }
+
+ // adjust delta_height and endstops by the max amount
+ const float z_temp = MAX3(delta_endstop_adj[A_AXIS], delta_endstop_adj[B_AXIS], delta_endstop_adj[C_AXIS]);
+ home_offset[Z_AXIS] -= z_temp;
+ LOOP_XYZ(axis) delta_endstop_adj[axis] -= z_temp;
+ }
+ recalc_delta_settings(delta_radius, delta_diagonal_rod, delta_tower_angle_trim);
+ NOMORE(zero_std_dev_min, zero_std_dev);
+
+ // print report
+
+ if (verbose_level != 1)
+ print_G33_results(z_at_pt, _tower_results, _opposite_results);
+
+ if (verbose_level != 0) { // !dry run
+ if ((zero_std_dev >= test_precision && iterations > force_iterations) || zero_std_dev <= calibration_precision) { // end iterations
+ SERIAL_PROTOCOLPGM("Calibration OK");
+ SERIAL_PROTOCOL_SP(32);
+ #if HAS_BED_PROBE
+ if (zero_std_dev >= test_precision && !_1p_calibration)
+ SERIAL_PROTOCOLPGM("rolling back.");
+ else
+ #endif
+ {
+ SERIAL_PROTOCOLPGM("std dev:");
+ SERIAL_PROTOCOL_F(zero_std_dev_min, 3);
+ }
+ SERIAL_EOL();
+ char mess[21];
+ strcpy_P(mess, PSTR("Calibration sd:"));
+ if (zero_std_dev_min < 1)
+ sprintf_P(&mess[15], PSTR("0.%03i"), (int)round(zero_std_dev_min * 1000.0));
+ else
+ sprintf_P(&mess[15], PSTR("%03i.x"), (int)round(zero_std_dev_min));
+ lcd_setstatus(mess);
+ print_G33_settings(_endstop_results, _angle_results);
+ serialprintPGM(save_message);
+ SERIAL_EOL();
+ }
+ else { // !end iterations
+ char mess[15];
+ if (iterations < 31)
+ sprintf_P(mess, PSTR("Iteration : %02i"), (int)iterations);
+ else
+ strcpy_P(mess, PSTR("No convergence"));
+ SERIAL_PROTOCOL(mess);
+ SERIAL_PROTOCOL_SP(32);
SERIAL_PROTOCOLPGM("std dev:");
SERIAL_PROTOCOL_F(zero_std_dev, 3);
SERIAL_EOL();
-
- char mess[21];
- strcpy_P(mess, enddryrun);
- strcpy_P(&mess[11], PSTR(" sd:"));
- if (zero_std_dev < 1)
- sprintf_P(&mess[15], PSTR("0.%03i"), (int)round(zero_std_dev * 1000.0));
- else
- sprintf_P(&mess[15], PSTR("%03i.x"), (int)round(zero_std_dev));
lcd_setstatus(mess);
+ print_G33_settings(_endstop_results, _angle_results);
}
-
- endstops.enable(true);
- if (!home_delta())
- return;
- endstops.not_homing();
-
}
- while (((zero_std_dev < test_precision && iterations < 31) || iterations <= force_iterations) && zero_std_dev > calibration_precision);
+ else { // dry run
+ const char *enddryrun = PSTR("End DRY-RUN");
+ serialprintPGM(enddryrun);
+ SERIAL_PROTOCOL_SP(35);
+ SERIAL_PROTOCOLPGM("std dev:");
+ SERIAL_PROTOCOL_F(zero_std_dev, 3);
+ SERIAL_EOL();
+
+ char mess[21];
+ strcpy_P(mess, enddryrun);
+ strcpy_P(&mess[11], PSTR(" sd:"));
+ if (zero_std_dev < 1)
+ sprintf_P(&mess[15], PSTR("0.%03i"), (int)round(zero_std_dev * 1000.0));
+ else
+ sprintf_P(&mess[15], PSTR("%03i.x"), (int)round(zero_std_dev));
+ lcd_setstatus(mess);
+ }
+
+ endstops.enable(true);
+ if (!home_delta())
+ return;
+ endstops.not_homing();
- G33_CLEANUP();
}
+ while (((zero_std_dev < test_precision && iterations < 31) || iterations <= force_iterations) && zero_std_dev > calibration_precision);
- #endif // DELTA_AUTO_CALIBRATION
+ G33_CLEANUP();
+ }
-#endif // PROBE_SELECTED
+#endif // DELTA_AUTO_CALIBRATION
#if ENABLED(G38_PROBE_TARGET)
diff --git a/Marlin/SanityCheck.h b/Marlin/SanityCheck.h
index 74cb848c099..a920d13fb47 100644
--- a/Marlin/SanityCheck.h
+++ b/Marlin/SanityCheck.h
@@ -567,10 +567,8 @@ static_assert(1 >= 0
#error "You probably want to use Max Endstops for DELTA!"
#elif ENABLED(ENABLE_LEVELING_FADE_HEIGHT) && DISABLED(AUTO_BED_LEVELING_BILINEAR) && !UBL_DELTA
#error "ENABLE_LEVELING_FADE_HEIGHT on DELTA requires AUTO_BED_LEVELING_BILINEAR or AUTO_BED_LEVELING_UBL."
- #elif ENABLED(DELTA_AUTO_CALIBRATION) && !PROBE_SELECTED
- #error "DELTA_AUTO_CALIBRATION requires a probe: PROBE_MANUALLY, FIX_MOUNTED_PROBE, BLTOUCH, SOLENOID_PROBE, Z_PROBE_ALLEN_KEY, Z_PROBE_SLED, Z Servo."
- #elif ENABLED(DELTA_AUTO_CALIBRATION) && ENABLED(PROBE_MANUALLY) && DISABLED(ULTIPANEL)
- #error "DELTA_AUTO_CALIBRATION requires an LCD controller with PROBE_MANUALLY."
+ #elif ENABLED(DELTA_AUTO_CALIBRATION) && !(HAS_BED_PROBE || ENABLED(ULTIPANEL))
+ #error "DELTA_AUTO_CALIBRATION requires either a probe or an LCD Controller."
#elif ABL_GRID
#if (GRID_MAX_POINTS_X & 1) == 0 || (GRID_MAX_POINTS_Y & 1) == 0
#error "DELTA requires GRID_MAX_POINTS_X and GRID_MAX_POINTS_Y to be odd numbers."
@@ -612,7 +610,7 @@ static_assert(1 >= 0
, "Please enable only one probe option: PROBE_MANUALLY, FIX_MOUNTED_PROBE, BLTOUCH, SOLENOID_PROBE, Z_PROBE_ALLEN_KEY, Z_PROBE_SLED, or Z Servo."
);
-#if PROBE_SELECTED
+#if HAS_BED_PROBE
/**
* Z_PROBE_SLED is incompatible with DELTA
@@ -660,14 +658,14 @@ static_assert(1 >= 0
#if !HAS_Z_MIN_PROBE_PIN
#error "Z_MIN_PROBE_ENDSTOP requires the Z_MIN_PROBE_PIN to be defined."
#endif
- #elif DISABLED(PROBE_MANUALLY)
+ #else
#error "You must enable either Z_MIN_PROBE_ENDSTOP or Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN to use a probe."
#endif
/**
* Make sure Z raise values are set
*/
- #if !defined(Z_CLEARANCE_DEPLOY_PROBE)
+ #ifndef Z_CLEARANCE_DEPLOY_PROBE
#error "You must define Z_CLEARANCE_DEPLOY_PROBE in your configuration."
#elif !defined(Z_CLEARANCE_BETWEEN_PROBES)
#error "You must define Z_CLEARANCE_BETWEEN_PROBES in your configuration."
@@ -682,14 +680,14 @@ static_assert(1 >= 0
/**
* Require some kind of probe for bed leveling and probe testing
*/
- #if OLDSCHOOL_ABL
+ #if OLDSCHOOL_ABL && !PROBE_SELECTED
#error "Auto Bed Leveling requires one of these: PROBE_MANUALLY, FIX_MOUNTED_PROBE, BLTOUCH, SOLENOID_PROBE, Z_PROBE_ALLEN_KEY, Z_PROBE_SLED, or a Z Servo."
#endif
-#endif
+ #if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
+ #error "Z_MIN_PROBE_REPEATABILITY_TEST requires a probe: FIX_MOUNTED_PROBE, BLTOUCH, SOLENOID_PROBE, Z_PROBE_ALLEN_KEY, Z_PROBE_SLED, or Z Servo."
+ #endif
-#if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST) && !HAS_BED_PROBE
- #error "Z_MIN_PROBE_REPEATABILITY_TEST requires a probe: FIX_MOUNTED_PROBE, BLTOUCH, SOLENOID_PROBE, Z_PROBE_ALLEN_KEY, Z_PROBE_SLED, or Z Servo."
#endif
/**
@@ -724,6 +722,9 @@ static_assert(1 >= 0
* Unified Bed Leveling
*/
+ // Hide PROBE_MANUALLY from the rest of the code
+ #undef PROBE_MANUALLY
+
#if IS_SCARA
#error "AUTO_BED_LEVELING_UBL does not yet support SCARA printers."
#elif DISABLED(EEPROM_SETTINGS)
@@ -739,7 +740,7 @@ static_assert(1 >= 0
static_assert(WITHIN(UBL_PROBE_PT_3_Y, MIN_PROBE_Y, MAX_PROBE_Y), "UBL_PROBE_PT_3_Y can't be reached by the Z probe.");
#endif
-#elif HAS_ABL
+#elif OLDSCHOOL_ABL
/**
* Auto Bed Leveling
@@ -788,6 +789,9 @@ static_assert(1 >= 0
#elif ENABLED(MESH_BED_LEVELING)
+ // Hide PROBE_MANUALLY from the rest of the code
+ #undef PROBE_MANUALLY
+
/**
* Mesh Bed Leveling
*/
@@ -806,8 +810,8 @@ static_assert(1 >= 0
#if ENABLED(LCD_BED_LEVELING)
#if DISABLED(ULTIPANEL)
#error "LCD_BED_LEVELING requires an LCD controller."
- #elif DISABLED(MESH_BED_LEVELING) && !(HAS_ABL && ENABLED(PROBE_MANUALLY))
- #error "LCD_BED_LEVELING requires MESH_BED_LEVELING or PROBE_MANUALLY with auto bed leveling enabled."
+ #elif !(ENABLED(MESH_BED_LEVELING) || (OLDSCHOOL_ABL && ENABLED(PROBE_MANUALLY)))
+ #error "LCD_BED_LEVELING requires MESH_BED_LEVELING or ABL with PROBE_MANUALLY."
#endif
#endif
diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp
index 2d2605e9670..7eb4ae3511f 100644
--- a/Marlin/ultralcd.cpp
+++ b/Marlin/ultralcd.cpp
@@ -2682,26 +2682,9 @@ void kill_screen(const char* lcd_msg) {
float move_menu_scale;
- #if ENABLED(DELTA_CALIBRATION_MENU)
+ #if ENABLED(DELTA_CALIBRATION_MENU) || (ENABLED(DELTA_AUTO_CALIBRATION) && !HAS_BED_PROBE)
void lcd_move_z();
- void lcd_delta_calibrate_menu();
-
- void _lcd_calibrate_homing() {
- if (lcdDrawUpdate) lcd_implementation_drawmenu_static(LCD_HEIGHT >= 4 ? 1 : 0, PSTR(MSG_LEVEL_BED_HOMING));
- lcdDrawUpdate = LCDVIEW_CALL_REDRAW_NEXT;
- if (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS])
- lcd_goto_previous_menu();
- }
-
- void _lcd_delta_calibrate_home() {
- #if HAS_LEVELING
- reset_bed_level(); // After calibration bed-level data is no longer valid
- #endif
-
- enqueue_and_echo_commands_P(PSTR("G28"));
- lcd_goto_screen(_lcd_calibrate_homing);
- }
void _man_probe_pt(const float rx, const float ry) {
#if HAS_LEVELING
@@ -2719,6 +2702,10 @@ void kill_screen(const char* lcd_msg) {
lcd_goto_screen(lcd_move_z);
}
+ #endif // DELTA_CALIBRATION_MENU || (DELTA_AUTO_CALIBRATION && !HAS_BED_PROBE)
+
+ #if ENABLED(DELTA_AUTO_CALIBRATION) && !HAS_BED_PROBE
+
float lcd_probe_pt(const float &rx, const float &ry) {
_man_probe_pt(rx, ry);
KEEPALIVE_STATE(PAUSED_FOR_USER);
@@ -2730,6 +2717,26 @@ void kill_screen(const char* lcd_msg) {
return current_position[Z_AXIS];
}
+ #endif // DELTA_AUTO_CALIBRATION && !HAS_BED_PROBE
+
+ #if ENABLED(DELTA_CALIBRATION_MENU)
+
+ void _lcd_calibrate_homing() {
+ if (lcdDrawUpdate) lcd_implementation_drawmenu_static(LCD_HEIGHT >= 4 ? 1 : 0, PSTR(MSG_LEVEL_BED_HOMING));
+ lcdDrawUpdate = LCDVIEW_CALL_REDRAW_NEXT;
+ if (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS])
+ lcd_goto_previous_menu();
+ }
+
+ void _lcd_delta_calibrate_home() {
+ #if HAS_LEVELING
+ reset_bed_level(); // After calibration bed-level data is no longer valid
+ #endif
+
+ enqueue_and_echo_commands_P(PSTR("G28"));
+ lcd_goto_screen(_lcd_calibrate_homing);
+ }
+
void _goto_tower_x() { _man_probe_pt(cos(RADIANS(210)) * delta_calibration_radius, sin(RADIANS(210)) * delta_calibration_radius); }
void _goto_tower_y() { _man_probe_pt(cos(RADIANS(330)) * delta_calibration_radius, sin(RADIANS(330)) * delta_calibration_radius); }
void _goto_tower_z() { _man_probe_pt(cos(RADIANS( 90)) * delta_calibration_radius, sin(RADIANS( 90)) * delta_calibration_radius); }
diff --git a/Marlin/ultralcd.h b/Marlin/ultralcd.h
index f32fda27d8d..af74a131c5d 100644
--- a/Marlin/ultralcd.h
+++ b/Marlin/ultralcd.h
@@ -201,7 +201,7 @@ void lcd_reset_status();
float lcd_z_offset_edit();
#endif
-#if ENABLED(DELTA_CALIBRATION_MENU)
+#if ENABLED(DELTA_AUTO_CALIBRATION) && !HAS_BED_PROBE
float lcd_probe_pt(const float &rx, const float &ry);
#endif