1 files changed, 105 insertions, 0 deletions
diff --git a/Marlin/src/gcode/calibrate/M666.cpp b/Marlin/src/gcode/calibrate/M666.cpp
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+++ b/Marlin/src/gcode/calibrate/M666.cpp
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+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../../inc/MarlinConfig.h"
+
+#if ENABLED(DELTA) || HAS_EXTRA_ENDSTOPS
+
+#include "../gcode.h"
+
+#if ENABLED(DELTA)
+
+  #include "../../module/delta.h"
+  #include "../../module/motion.h"
+
+  #define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
+  #include "../../core/debug_out.h"
+
+  /**
+   * M666: Set delta endstop adjustment
+   */
+  void GcodeSuite::M666() {
+    DEBUG_SECTION(log_M666, "M666", DEBUGGING(LEVELING));
+    LOOP_XYZ(i) {
+      if (parser.seen(XYZ_CHAR(i))) {
+        const float v = parser.value_linear_units();
+        if (v * Z_HOME_DIR <= 0) delta_endstop_adj[i] = v;
+        if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("delta_endstop_adj[", XYZ_CHAR(i), "] = ", delta_endstop_adj[i]);
+      }
+    }
+  }
+
+#elif HAS_EXTRA_ENDSTOPS
+
+  #include "../../module/endstops.h"
+
+  /**
+   * M666: Set Dual Endstops offsets for X, Y, and/or Z.
+   *       With no parameters report current offsets.
+   *
+   * For Triple / Quad Z Endstops:
+   *   Set Z2 Only: M666 S2 Z<offset>
+   *   Set Z3 Only: M666 S3 Z<offset>
+   *   Set Z4 Only: M666 S4 Z<offset>
+   *       Set All: M666 Z<offset>
+   */
+  void GcodeSuite::M666() {
+    #if ENABLED(X_DUAL_ENDSTOPS)
+      if (parser.seenval('X')) endstops.x2_endstop_adj = parser.value_linear_units();
+    #endif
+    #if ENABLED(Y_DUAL_ENDSTOPS)
+      if (parser.seenval('Y')) endstops.y2_endstop_adj = parser.value_linear_units();
+    #endif
+    #if ENABLED(Z_MULTI_ENDSTOPS)
+      if (parser.seenval('Z')) {
+        #if NUM_Z_STEPPER_DRIVERS >= 3
+          const float z_adj = parser.value_linear_units();
+          const int ind = parser.intval('S');
+          if (!ind || ind == 2) endstops.z2_endstop_adj = z_adj;
+          if (!ind || ind == 3) endstops.z3_endstop_adj = z_adj;
+          #if NUM_Z_STEPPER_DRIVERS >= 4
+            if (!ind || ind == 4) endstops.z4_endstop_adj = z_adj;
+          #endif
+        #else
+          endstops.z2_endstop_adj = parser.value_linear_units();
+        #endif
+      }
+    #endif
+    if (!parser.seen("XYZ")) {
+      SERIAL_ECHOPGM("Dual Endstop Adjustment (mm): ");
+      #if ENABLED(X_DUAL_ENDSTOPS)
+        SERIAL_ECHOPAIR(" X2:", endstops.x2_endstop_adj);
+      #endif
+      #if ENABLED(Y_DUAL_ENDSTOPS)
+        SERIAL_ECHOPAIR(" Y2:", endstops.y2_endstop_adj);
+      #endif
+      #if ENABLED(Z_MULTI_ENDSTOPS)
+        #define _ECHO_ZADJ(N) SERIAL_ECHOPAIR(" Z" STRINGIFY(N) ":", endstops.z##N##_endstop_adj);
+        REPEAT_S(2, INCREMENT(NUM_Z_STEPPER_DRIVERS), _ECHO_ZADJ)
+      #endif
+      SERIAL_EOL();
+    }
+  }
+
+#endif // HAS_EXTRA_ENDSTOPS
+
+#endif // DELTA || HAS_EXTRA_ENDSTOPS