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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/>.
*
*/
//
// 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)
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