diff --git a/Marlin/src/gcode/calibrate/G33.cpp b/Marlin/src/gcode/calibrate/G33.cpp index 5149a0939..35f63e6a2 100644 --- a/Marlin/src/gcode/calibrate/G33.cpp +++ b/Marlin/src/gcode/calibrate/G33.cpp @@ -69,7 +69,7 @@ static void print_signed_float(const char * const prefix, const float &f) { } static void print_G33_settings(const bool end_stops, const bool tower_angles) { - SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]); + SERIAL_PROTOCOLPAIR(".Height:", delta_height); if (end_stops) { print_signed_float(PSTR("Ex"), delta_endstop_adj[A_AXIS]); print_signed_float(PSTR("Ey"), delta_endstop_adj[B_AXIS]); @@ -317,7 +317,7 @@ static float probe_G33_points(float z_at_pt[NPP + 1], const int8_t probe_points, 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; + delta_height -= z_temp; LOOP_XYZ(axis) delta_endstop_adj[axis] -= z_temp; recalc_delta_settings(delta_radius, delta_diagonal_rod, delta_tower_angle_trim); @@ -337,7 +337,7 @@ static float probe_G33_points(float z_at_pt[NPP + 1], const int8_t probe_points, 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; + delta_height -= 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) { @@ -446,7 +446,7 @@ void GcodeSuite::G33() { delta_endstop_adj[C_AXIS] }, dr_old = delta_radius, - zh_old = home_offset[Z_AXIS], + zh_old = delta_height, ta_old[ABC] = { delta_tower_angle_trim[A_AXIS], delta_tower_angle_trim[B_AXIS], @@ -525,7 +525,7 @@ void GcodeSuite::G33() { if (zero_std_dev < zero_std_dev_min) { COPY(e_old, delta_endstop_adj); dr_old = delta_radius; - zh_old = home_offset[Z_AXIS]; + zh_old = delta_height; COPY(ta_old, delta_tower_angle_trim); } @@ -609,7 +609,7 @@ void GcodeSuite::G33() { 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; + delta_height = zh_old; COPY(delta_tower_angle_trim, ta_old); } @@ -623,7 +623,7 @@ void GcodeSuite::G33() { // 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; + delta_height -= z_temp; LOOP_XYZ(axis) delta_endstop_adj[axis] -= z_temp; } recalc_delta_settings(delta_radius, delta_diagonal_rod, delta_tower_angle_trim); diff --git a/Marlin/src/gcode/calibrate/M665.cpp b/Marlin/src/gcode/calibrate/M665.cpp index 151399f6d..fa2614bea 100644 --- a/Marlin/src/gcode/calibrate/M665.cpp +++ b/Marlin/src/gcode/calibrate/M665.cpp @@ -45,7 +45,7 @@ */ void GcodeSuite::M665() { if (parser.seen('H')) { - home_offset[Z_AXIS] = parser.value_linear_units() - DELTA_HEIGHT; + delta_height = parser.value_linear_units(); update_software_endstops(Z_AXIS); } if (parser.seen('L')) delta_diagonal_rod = parser.value_linear_units(); diff --git a/Marlin/src/inc/Conditionals_post.h b/Marlin/src/inc/Conditionals_post.h index 34c662e66..c74e395d3 100644 --- a/Marlin/src/inc/Conditionals_post.h +++ b/Marlin/src/inc/Conditionals_post.h @@ -1082,7 +1082,7 @@ // Updated G92 behavior shifts the workspace #define HAS_POSITION_SHIFT DISABLED(NO_WORKSPACE_OFFSETS) // The home offset also shifts the coordinate space -#define HAS_HOME_OFFSET (DISABLED(NO_WORKSPACE_OFFSETS) || ENABLED(DELTA)) +#define HAS_HOME_OFFSET (DISABLED(NO_WORKSPACE_OFFSETS) && DISABLED(DELTA)) // Either offset yields extra calculations on all moves #define HAS_WORKSPACE_OFFSET (HAS_POSITION_SHIFT || HAS_HOME_OFFSET) // M206 doesn't apply to DELTA diff --git a/Marlin/src/lcd/ultralcd.cpp b/Marlin/src/lcd/ultralcd.cpp index 510dd8bd4..f11c7a315 100644 --- a/Marlin/src/lcd/ultralcd.cpp +++ b/Marlin/src/lcd/ultralcd.cpp @@ -2743,9 +2743,7 @@ void kill_screen(const char* lcd_msg) { void _goto_tower_z() { _man_probe_pt(cos(RADIANS( 90)) * delta_calibration_radius, sin(RADIANS( 90)) * delta_calibration_radius); } void _goto_center() { _man_probe_pt(0,0); } - static float _delta_height = DELTA_HEIGHT; void _lcd_set_delta_height() { - home_offset[Z_AXIS] = _delta_height - DELTA_HEIGHT; update_software_endstops(Z_AXIS); } @@ -2753,8 +2751,7 @@ void kill_screen(const char* lcd_msg) { START_MENU(); MENU_BACK(MSG_DELTA_CALIBRATE); MENU_ITEM_EDIT(float52, MSG_DELTA_DIAG_ROG, &delta_diagonal_rod, DELTA_DIAGONAL_ROD - 5.0, DELTA_DIAGONAL_ROD + 5.0); - _delta_height = DELTA_HEIGHT + home_offset[Z_AXIS]; - MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float52, MSG_DELTA_HEIGHT, &_delta_height, _delta_height - 10.0, _delta_height + 10.0, _lcd_set_delta_height); + MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float52, MSG_DELTA_HEIGHT, &delta_height, delta_height - 10.0, delta_height + 10.0, _lcd_set_delta_height); MENU_ITEM_EDIT(float43, "Ex", &delta_endstop_adj[A_AXIS], -5.0, 5.0); MENU_ITEM_EDIT(float43, "Ey", &delta_endstop_adj[B_AXIS], -5.0, 5.0); MENU_ITEM_EDIT(float43, "Ez", &delta_endstop_adj[C_AXIS], -5.0, 5.0); diff --git a/Marlin/src/module/configuration_store.cpp b/Marlin/src/module/configuration_store.cpp index c7b99a91c..60a5da4da 100644 --- a/Marlin/src/module/configuration_store.cpp +++ b/Marlin/src/module/configuration_store.cpp @@ -36,7 +36,7 @@ * */ -#define EEPROM_VERSION "V44" +#define EEPROM_VERSION "V45" // Change EEPROM version if these are changed: #define EEPROM_OFFSET 100 @@ -91,15 +91,16 @@ * 324 G29 A planner.leveling_active (bool) * 325 G29 S ubl.storage_slot (int8_t) * - * DELTA: 40 bytes - * 352 M666 XYZ delta_endstop_adj (float x3) - * 364 M665 R delta_radius (float) - * 368 M665 L delta_diagonal_rod (float) - * 372 M665 S delta_segments_per_second (float) - * 376 M665 B delta_calibration_radius (float) - * 380 M665 X delta_tower_angle_trim[A] (float) - * 384 M665 Y delta_tower_angle_trim[B] (float) - * 388 M665 Z delta_tower_angle_trim[C] (float) + * DELTA: 44 bytes + * 352 M666 H delta_height (float) + * 364 M666 XYZ delta_endstop_adj (float x3) + * 368 M665 R delta_radius (float) + * 372 M665 L delta_diagonal_rod (float) + * 376 M665 S delta_segments_per_second (float) + * 380 M665 B delta_calibration_radius (float) + * 384 M665 X delta_tower_angle_trim[A] (float) + * 388 M665 Y delta_tower_angle_trim[B] (float) + * 392 M665 Z delta_tower_angle_trim[C] (float) * * [XYZ]_DUAL_ENDSTOPS: 12 bytes * 352 M666 X endstops.x_endstop_adj (float) @@ -107,65 +108,65 @@ * 360 M666 Z endstops.z_endstop_adj (float) * * ULTIPANEL: 6 bytes - * 392 M145 S0 H lcd_preheat_hotend_temp (int x2) - * 396 M145 S0 B lcd_preheat_bed_temp (int x2) - * 400 M145 S0 F lcd_preheat_fan_speed (int x2) + * 396 M145 S0 H lcd_preheat_hotend_temp (int x2) + * 400 M145 S0 B lcd_preheat_bed_temp (int x2) + * 404 M145 S0 F lcd_preheat_fan_speed (int x2) * * PIDTEMP: 82 bytes - * 404 M301 E0 PIDC Kp[0], Ki[0], Kd[0], Kc[0] (float x4) - * 420 M301 E1 PIDC Kp[1], Ki[1], Kd[1], Kc[1] (float x4) - * 436 M301 E2 PIDC Kp[2], Ki[2], Kd[2], Kc[2] (float x4) - * 452 M301 E3 PIDC Kp[3], Ki[3], Kd[3], Kc[3] (float x4) - * 468 M301 E4 PIDC Kp[3], Ki[3], Kd[3], Kc[3] (float x4) - * 484 M301 L lpq_len (int) + * 408 M301 E0 PIDC Kp[0], Ki[0], Kd[0], Kc[0] (float x4) + * 428 M301 E1 PIDC Kp[1], Ki[1], Kd[1], Kc[1] (float x4) + * 440 M301 E2 PIDC Kp[2], Ki[2], Kd[2], Kc[2] (float x4) + * 456 M301 E3 PIDC Kp[3], Ki[3], Kd[3], Kc[3] (float x4) + * 472 M301 E4 PIDC Kp[3], Ki[3], Kd[3], Kc[3] (float x4) + * 488 M301 L lpq_len (int) * * PIDTEMPBED: 12 bytes - * 486 M304 PID thermalManager.bedKp, .bedKi, .bedKd (float x3) + * 490 M304 PID thermalManager.bedKp, .bedKi, .bedKd (float x3) * * DOGLCD: 2 bytes - * 498 M250 C lcd_contrast (uint16_t) + * 502 M250 C lcd_contrast (uint16_t) * * FWRETRACT: 33 bytes - * 500 M209 S autoretract_enabled (bool) - * 501 M207 S retract_length (float) - * 505 M207 F retract_feedrate_mm_s (float) - * 509 M207 Z retract_zlift (float) - * 513 M208 S retract_recover_length (float) - * 517 M208 F retract_recover_feedrate_mm_s (float) - * 521 M207 W swap_retract_length (float) - * 525 M208 W swap_retract_recover_length (float) - * 529 M208 R swap_retract_recover_feedrate_mm_s (float) + * 504 M209 S autoretract_enabled (bool) + * 505 M207 S retract_length (float) + * 509 M207 F retract_feedrate_mm_s (float) + * 513 M207 Z retract_zlift (float) + * 517 M208 S retract_recover_length (float) + * 521 M208 F retract_recover_feedrate_mm_s (float) + * 525 M207 W swap_retract_length (float) + * 529 M208 W swap_retract_recover_length (float) + * 533 M208 R swap_retract_recover_feedrate_mm_s (float) * * Volumetric Extrusion: 21 bytes - * 533 M200 D volumetric_enabled (bool) - * 534 M200 T D filament_size (float x5) (T0..3) + * 537 M200 D volumetric_enabled (bool) + * 538 M200 T D filament_size (float x5) (T0..3) * * HAVE_TMC2130: 22 bytes - * 554 M906 X Stepper X current (uint16_t) - * 556 M906 Y Stepper Y current (uint16_t) - * 558 M906 Z Stepper Z current (uint16_t) - * 560 M906 X2 Stepper X2 current (uint16_t) - * 562 M906 Y2 Stepper Y2 current (uint16_t) - * 564 M906 Z2 Stepper Z2 current (uint16_t) - * 566 M906 E0 Stepper E0 current (uint16_t) - * 568 M906 E1 Stepper E1 current (uint16_t) - * 570 M906 E2 Stepper E2 current (uint16_t) - * 572 M906 E3 Stepper E3 current (uint16_t) - * 574 M906 E4 Stepper E4 current (uint16_t) + * 558 M906 X Stepper X current (uint16_t) + * 560 M906 Y Stepper Y current (uint16_t) + * 562 M906 Z Stepper Z current (uint16_t) + * 564 M906 X2 Stepper X2 current (uint16_t) + * 566 M906 Y2 Stepper Y2 current (uint16_t) + * 568 M906 Z2 Stepper Z2 current (uint16_t) + * 570 M906 E0 Stepper E0 current (uint16_t) + * 572 M906 E1 Stepper E1 current (uint16_t) + * 574 M906 E2 Stepper E2 current (uint16_t) + * 576 M906 E3 Stepper E3 current (uint16_t) + * 578 M906 E4 Stepper E4 current (uint16_t) * * LIN_ADVANCE: 8 bytes - * 576 M900 K extruder_advance_k (float) - * 580 M900 WHD advance_ed_ratio (float) + * 580 M900 K extruder_advance_k (float) + * 584 M900 WHD advance_ed_ratio (float) * * HAS_MOTOR_CURRENT_PWM: - * 584 M907 X Stepper XY current (uint32_t) - * 588 M907 Z Stepper Z current (uint32_t) - * 592 M907 E Stepper E current (uint32_t) + * 588 M907 X Stepper XY current (uint32_t) + * 592 M907 Z Stepper Z current (uint32_t) + * 596 M907 E Stepper E current (uint32_t) * * CNC_COORDINATE_SYSTEMS 108 bytes - * 596 G54-G59.3 coordinate_system (float x 27) + * 600 G54-G59.3 coordinate_system (float x 27) * - * 704 Minimum end-point + * 708 Minimum end-point * 2025 (704 + 36 + 9 + 288 + 988) Maximum end-point * * ======================================================================== @@ -325,15 +326,7 @@ void MarlinSettings::postprocess() { #if !HAS_HOME_OFFSET const float home_offset[XYZ] = { 0 }; #endif - #if ENABLED(DELTA) - dummy = 0.0; - EEPROM_WRITE(dummy); - EEPROM_WRITE(dummy); - dummy = DELTA_HEIGHT + home_offset[Z_AXIS]; - EEPROM_WRITE(dummy); - #else - EEPROM_WRITE(home_offset); - #endif + EEPROM_WRITE(home_offset); #if HOTENDS > 1 // Skip hotend 0 which must be 0 @@ -436,6 +429,7 @@ void MarlinSettings::postprocess() { // 10 floats for DELTA / [XYZ]_DUAL_ENDSTOPS #if ENABLED(DELTA) + EEPROM_WRITE(delta_height); // 1 float EEPROM_WRITE(delta_endstop_adj); // 3 floats EEPROM_WRITE(delta_radius); // 1 float EEPROM_WRITE(delta_diagonal_rod); // 1 float @@ -756,12 +750,6 @@ void MarlinSettings::postprocess() { #endif EEPROM_READ(home_offset); - #if ENABLED(DELTA) - home_offset[X_AXIS] = 0.0; - home_offset[Y_AXIS] = 0.0; - home_offset[Z_AXIS] -= DELTA_HEIGHT; - #endif - // // Hotend Offsets, if any // @@ -867,6 +855,7 @@ void MarlinSettings::postprocess() { // #if ENABLED(DELTA) + EEPROM_READ(delta_height); // 1 float EEPROM_READ(delta_endstop_adj); // 3 floats EEPROM_READ(delta_radius); // 1 float EEPROM_READ(delta_diagonal_rod); // 1 float @@ -1333,13 +1322,13 @@ void MarlinSettings::reset() { #if ENABLED(DELTA) const float adj[ABC] = DELTA_ENDSTOP_ADJ, dta[ABC] = DELTA_TOWER_ANGLE_TRIM; + delta_height = DELTA_HEIGHT; COPY(delta_endstop_adj, adj); delta_radius = DELTA_RADIUS; delta_diagonal_rod = DELTA_DIAGONAL_ROD; delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND; delta_calibration_radius = DELTA_CALIBRATION_RADIUS; COPY(delta_tower_angle_trim, dta); - home_offset[Z_AXIS] = 0; #elif ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS) @@ -1763,7 +1752,7 @@ void MarlinSettings::reset() { CONFIG_ECHO_START; SERIAL_ECHOPAIR(" M665 L", LINEAR_UNIT(delta_diagonal_rod)); SERIAL_ECHOPAIR(" R", LINEAR_UNIT(delta_radius)); - SERIAL_ECHOPAIR(" H", LINEAR_UNIT(DELTA_HEIGHT + home_offset[Z_AXIS])); + SERIAL_ECHOPAIR(" H", LINEAR_UNIT(delta_height)); SERIAL_ECHOPAIR(" S", delta_segments_per_second); SERIAL_ECHOPAIR(" B", LINEAR_UNIT(delta_calibration_radius)); SERIAL_ECHOPAIR(" X", LINEAR_UNIT(delta_tower_angle_trim[A_AXIS])); diff --git a/Marlin/src/module/delta.cpp b/Marlin/src/module/delta.cpp index a7d13759b..77f91927d 100644 --- a/Marlin/src/module/delta.cpp +++ b/Marlin/src/module/delta.cpp @@ -38,7 +38,8 @@ #include "../Marlin.h" // Initialized by settings.load() -float delta_endstop_adj[ABC] = { 0 }, +float delta_height, + delta_endstop_adj[ABC] = { 0 }, delta_radius, delta_diagonal_rod, delta_segments_per_second, @@ -224,14 +225,13 @@ bool home_delta() { sync_plan_position(); // Move all carriages together linearly until an endstop is hit. - current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (DELTA_HEIGHT + home_offset[Z_AXIS] + 10); + current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (delta_height + 10); feedrate_mm_s = homing_feedrate(X_AXIS); line_to_current_position(); stepper.synchronize(); // If an endstop was not hit, then damage can occur if homing is continued. - // This can occur if the delta height (DELTA_HEIGHT + home_offset[Z_AXIS]) is - // not set correctly. + // This can occur if the delta height not set correctly. if (!(Endstops::endstop_hit_bits & (_BV(X_MAX) | _BV(Y_MAX) | _BV(Z_MAX)))) { LCD_MESSAGEPGM(MSG_ERR_HOMING_FAILED); SERIAL_ERROR_START(); diff --git a/Marlin/src/module/delta.h b/Marlin/src/module/delta.h index 1210dacd2..0c705a0ed 100644 --- a/Marlin/src/module/delta.h +++ b/Marlin/src/module/delta.h @@ -27,7 +27,8 @@ #ifndef __DELTA_H__ #define __DELTA_H__ -extern float delta_endstop_adj[ABC], +extern float delta_height, + delta_endstop_adj[ABC], delta_radius, delta_diagonal_rod, delta_segments_per_second, diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp index eca9ca19e..1177addf3 100644 --- a/Marlin/src/module/motion.cpp +++ b/Marlin/src/module/motion.cpp @@ -972,6 +972,8 @@ void set_axis_is_at_home(const AxisEnum axis) { #if ENABLED(MORGAN_SCARA) scara_set_axis_is_at_home(axis); + #elif ENABLED(DELTA) + current_position[axis] = (axis == Z_AXIS ? delta_height : base_home_pos(axis)); #else current_position[axis] = base_home_pos(axis); #endif @@ -1253,8 +1255,8 @@ void homeaxis(const AxisEnum axis) { } } #elif ENABLED(DELTA) - soft_endstop_min[axis] = base_min_pos(axis) + (axis == Z_AXIS ? 0 : offs); - soft_endstop_max[axis] = base_max_pos(axis) + offs; + soft_endstop_min[axis] = base_min_pos(axis) + offs; + soft_endstop_max[axis] = (axis == Z_AXIS ? delta_height : base_max_pos(axis)) + offs; #else soft_endstop_min[axis] = base_min_pos(axis) + offs; soft_endstop_max[axis] = base_max_pos(axis) + offs; diff --git a/Marlin/src/module/probe.cpp b/Marlin/src/module/probe.cpp index a75f1ef70..918e89e90 100644 --- a/Marlin/src/module/probe.cpp +++ b/Marlin/src/module/probe.cpp @@ -564,11 +564,7 @@ static float run_z_probe(const bool short_move=true) { } #endif - return current_position[Z_AXIS] + zprobe_zoffset - #if ENABLED(DELTA) - + home_offset[Z_AXIS] // Account for delta height adjustment - #endif - ; + return current_position[Z_AXIS] + zprobe_zoffset; } /** @@ -686,7 +682,7 @@ void refresh_zprobe_zoffset(const bool no_babystep/*=false*/) { #endif #if ENABLED(DELTA) // correct the delta_height - home_offset[Z_AXIS] -= diff; + delta_height -= diff; #endif }