1 files changed, 150 insertions, 0 deletions
diff --git a/Marlin/src/lcd/menu/menu_delta_calibrate.cpp b/Marlin/src/lcd/menu/menu_delta_calibrate.cpp
new file mode 100644
index 0000000..a86ae74
--- /dev/null
+++ b/Marlin/src/lcd/menu/menu_delta_calibrate.cpp
@@ -0,0 +1,150 @@
+/**
+ * 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/>.
+ *
+ */
+
+//
+// Delta Calibrate Menu
+//
+
+#include "../../inc/MarlinConfigPre.h"
+
+#if HAS_LCD_MENU && EITHER(DELTA_CALIBRATION_MENU, DELTA_AUTO_CALIBRATION)
+
+#include "menu_item.h"
+#include "../../module/delta.h"
+#include "../../module/motion.h"
+
+#if HAS_LEVELING
+  #include "../../feature/bedlevel/bedlevel.h"
+#endif
+
+#if ENABLED(EXTENSIBLE_UI)
+  #include "../../lcd/extui/ui_api.h"
+#endif
+
+void _man_probe_pt(const xy_pos_t &xy) {
+  if (!ui.wait_for_move) {
+    ui.wait_for_move = true;
+    do_blocking_move_to_xy_z(xy, Z_CLEARANCE_BETWEEN_PROBES);
+    ui.wait_for_move = false;
+    ui.synchronize();
+    ui.manual_move.menu_scale = _MAX(PROBE_MANUALLY_STEP, MIN_STEPS_PER_SEGMENT / float(DEFAULT_XYZ_STEPS_PER_UNIT));
+    ui.goto_screen(lcd_move_z);
+  }
+}
+
+#if ENABLED(DELTA_AUTO_CALIBRATION)
+
+  #include "../../MarlinCore.h" // for wait_for_user_response()
+  #include "../../gcode/gcode.h"
+
+  #if ENABLED(HOST_PROMPT_SUPPORT)
+    #include "../../feature/host_actions.h" // for host_prompt_do
+  #endif
+
+  float lcd_probe_pt(const xy_pos_t &xy) {
+    _man_probe_pt(xy);
+    ui.defer_status_screen();
+    TERN_(HOST_PROMPT_SUPPORT, host_prompt_do(PROMPT_USER_CONTINUE, PSTR("Delta Calibration in progress"), CONTINUE_STR));
+    TERN_(EXTENSIBLE_UI, ExtUI::onUserConfirmRequired_P(PSTR("Delta Calibration in progress")));
+    wait_for_user_response();
+    ui.goto_previous_screen_no_defer();
+    return current_position.z;
+  }
+
+#endif
+
+#if ENABLED(DELTA_CALIBRATION_MENU)
+
+  #include "../../gcode/queue.h"
+
+  void _lcd_calibrate_homing() {
+    _lcd_draw_homing();
+    if (all_axes_homed()) ui.goto_previous_screen();
+  }
+
+  void _lcd_delta_calibrate_home() {
+    queue.inject_P(G28_STR);
+    ui.goto_screen(_lcd_calibrate_homing);
+  }
+
+  void _goto_tower_a(const float &a) {
+    xy_pos_t tower_vec = { cos(RADIANS(a)), sin(RADIANS(a)) };
+    _man_probe_pt(tower_vec * delta_calibration_radius());
+  }
+  void _goto_tower_x() { _goto_tower_a(210); }
+  void _goto_tower_y() { _goto_tower_a(330); }
+  void _goto_tower_z() { _goto_tower_a( 90); }
+  void _goto_center()  { xy_pos_t ctr{0}; _man_probe_pt(ctr); }
+
+#endif
+
+void lcd_delta_settings() {
+  auto _recalc_delta_settings = []{
+    TERN_(HAS_LEVELING, reset_bed_level()); // After changing kinematics bed-level data is no longer valid
+    recalc_delta_settings();
+  };
+  START_MENU();
+  BACK_ITEM(MSG_DELTA_CALIBRATE);
+  EDIT_ITEM(float52sign, MSG_DELTA_HEIGHT, &delta_height, delta_height - 10, delta_height + 10, _recalc_delta_settings);
+  #define EDIT_ENDSTOP_ADJ(LABEL,N) EDIT_ITEM_P(float43, PSTR(LABEL), &delta_endstop_adj.N, -5, 5, _recalc_delta_settings)
+  EDIT_ENDSTOP_ADJ("Ex", a);
+  EDIT_ENDSTOP_ADJ("Ey", b);
+  EDIT_ENDSTOP_ADJ("Ez", c);
+  EDIT_ITEM(float52sign, MSG_DELTA_RADIUS, &delta_radius, delta_radius - 5, delta_radius + 5, _recalc_delta_settings);
+  #define EDIT_ANGLE_TRIM(LABEL,N) EDIT_ITEM_P(float43, PSTR(LABEL), &delta_tower_angle_trim.N, -5, 5, _recalc_delta_settings)
+  EDIT_ANGLE_TRIM("Tx", a);
+  EDIT_ANGLE_TRIM("Ty", b);
+  EDIT_ANGLE_TRIM("Tz", c);
+  EDIT_ITEM(float52sign, MSG_DELTA_DIAG_ROD, &delta_diagonal_rod, delta_diagonal_rod - 5, delta_diagonal_rod + 5, _recalc_delta_settings);
+  END_MENU();
+}
+
+void menu_delta_calibrate() {
+  TERN_(DELTA_CALIBRATION_MENU, const bool all_homed = all_axes_homed()); // Acquire ahead of loop
+
+  START_MENU();
+  BACK_ITEM(MSG_MAIN);
+
+  #if ENABLED(DELTA_AUTO_CALIBRATION)
+    GCODES_ITEM(MSG_DELTA_AUTO_CALIBRATE, PSTR("G33"));
+    #if ENABLED(EEPROM_SETTINGS)
+      ACTION_ITEM(MSG_STORE_EEPROM, ui.store_settings);
+      ACTION_ITEM(MSG_LOAD_EEPROM, ui.load_settings);
+    #endif
+  #endif
+
+  SUBMENU(MSG_DELTA_SETTINGS, lcd_delta_settings);
+
+  #if ENABLED(DELTA_CALIBRATION_MENU)
+    SUBMENU(MSG_AUTO_HOME, _lcd_delta_calibrate_home);
+    if (all_homed) {
+      SUBMENU(MSG_DELTA_CALIBRATE_X, _goto_tower_x);
+      SUBMENU(MSG_DELTA_CALIBRATE_Y, _goto_tower_y);
+      SUBMENU(MSG_DELTA_CALIBRATE_Z, _goto_tower_z);
+      SUBMENU(MSG_DELTA_CALIBRATE_CENTER, _goto_center);
+    }
+  #endif
+
+  END_MENU();
+}
+
+#endif // HAS_LCD_MENU && (DELTA_CALIBRATION_MENU || DELTA_AUTO_CALIBRATION)