Merge pull request #7448 from thinkyhead/bf1_delta_fixes

Prevent damage if DELTA_HEIGHT is set badly

Marlin/Marlin_main.cpp

@@ -1409,6 +1409,9 @@ bool get_target_extruder_from_command(const uint16_t code) {
           soft_endstop_max[axis] = base_max_pos(axis) + offs;
         }
       }
+    #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;
     #else
       soft_endstop_min[axis] = base_min_pos(axis) + offs;
       soft_endstop_max[axis] = base_max_pos(axis) + offs;
@@ -1806,13 +1809,9 @@ static void clean_up_after_endstop_or_probe_move() {
       }
     #endif
 
-    float z_dest = LOGICAL_Z_POSITION(z_raise);
+    float z_dest = z_raise;
     if (zprobe_zoffset < 0) z_dest -= zprobe_zoffset;
 
-    #if ENABLED(DELTA)
-      z_dest -= home_offset[Z_AXIS]; // Account for delta height adjustment
-    #endif
-
     if (z_dest > current_position[Z_AXIS])
       do_blocking_move_to_z(z_dest);
   }
@@ -2106,7 +2105,7 @@ static void clean_up_after_endstop_or_probe_move() {
       safe_delay(BLTOUCH_DELAY);
     }
 
-    void set_bltouch_deployed(const bool deploy) {
+    bool set_bltouch_deployed(const bool deploy) {
       if (deploy && TEST_BLTOUCH()) {      // If BL-Touch says it's triggered
         bltouch_command(BLTOUCH_RESET);    //  try to reset it.
         bltouch_command(BLTOUCH_DEPLOY);   // Also needs to deploy and stow to
@@ -2118,6 +2117,7 @@ static void clean_up_after_endstop_or_probe_move() {
           SERIAL_ERROR_START();
           SERIAL_ERRORLNPGM(MSG_STOP_BLTOUCH);
           stop();                          // punt!
+          return true;
         }
       }
 
@@ -2130,6 +2130,8 @@ static void clean_up_after_endstop_or_probe_move() {
           SERIAL_EOL();
         }
       #endif
+
+      return false;
     }
 
   #endif // BLTOUCH
@@ -2149,23 +2151,7 @@ static void clean_up_after_endstop_or_probe_move() {
     // Make room for probe
     do_probe_raise(_Z_CLEARANCE_DEPLOY_PROBE);
 
-    // When deploying make sure BLTOUCH is not already triggered
+    #if ENABLED(Z_PROBE_SLED) || ENABLED(Z_PROBE_ALLEN_KEY)
-    #if ENABLED(BLTOUCH)
-      if (deploy && TEST_BLTOUCH()) {      // If BL-Touch says it's triggered
-        bltouch_command(BLTOUCH_RESET);    // try to reset it.
-        bltouch_command(BLTOUCH_DEPLOY);   // Also needs to deploy and stow to
-        bltouch_command(BLTOUCH_STOW);     // clear the triggered condition.
-        safe_delay(1500);                  // wait for internal self test to complete
-                                           //   measured completion time was 0.65 seconds
-                                           //   after reset, deploy & stow sequence
-        if (TEST_BLTOUCH()) {              // If it still claims to be triggered...
-          SERIAL_ERROR_START();
-          SERIAL_ERRORLNPGM(MSG_STOP_BLTOUCH);
-          stop();                          // punt!
-          return true;
-        }
-      }
-    #elif ENABLED(Z_PROBE_SLED) || ENABLED(Z_PROBE_ALLEN_KEY)
       #if ENABLED(Z_PROBE_SLED)
         #define _AUE_ARGS true, false, false
       #else
@@ -2236,14 +2222,21 @@ static void clean_up_after_endstop_or_probe_move() {
     return false;
   }
 
-  static void do_probe_move(float z, float fr_mm_m) {
+  /**
+   * @brief Used by run_z_probe to do a single Z probe move.
+   *
+   * @param  z        Z destination
+   * @param  fr_mm_s  Feedrate in mm/s
+   * @return true to indicate an error
+   */
+  static bool do_probe_move(const float z, const float fr_mm_m) {
     #if ENABLED(DEBUG_LEVELING_FEATURE)
       if (DEBUGGING(LEVELING)) DEBUG_POS(">>> do_probe_move", current_position);
     #endif
 
     // Deploy BLTouch at the start of any probe
     #if ENABLED(BLTOUCH)
-      set_bltouch_deployed(true);
+      if (set_bltouch_deployed(true)) return true;
     #endif
 
     #if QUIET_PROBING
@@ -2251,15 +2244,24 @@ static void clean_up_after_endstop_or_probe_move() {
     #endif
 
     // Move down until probe triggered
-    do_blocking_move_to_z(LOGICAL_Z_POSITION(z), MMM_TO_MMS(fr_mm_m));
+    do_blocking_move_to_z(z, MMM_TO_MMS(fr_mm_m));
+
+    // Check to see if the probe was triggered
+    const bool probe_triggered = TEST(Endstops::endstop_hit_bits,
+      #if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
+        Z_MIN
+      #else
+        Z_MIN_PROBE
+      #endif
+    );
 
     #if QUIET_PROBING
       probing_pause(false);
     #endif
 
-    // Retract BLTouch immediately after a probe
+    // Retract BLTouch immediately after a probe if it was triggered
     #if ENABLED(BLTOUCH)
-      set_bltouch_deployed(false);
+      if (probe_triggered && set_bltouch_deployed(false)) return true;
     #endif
 
     // Clear endstop flags
@@ -2274,11 +2276,18 @@ static void clean_up_after_endstop_or_probe_move() {
     #if ENABLED(DEBUG_LEVELING_FEATURE)
       if (DEBUGGING(LEVELING)) DEBUG_POS("<<< do_probe_move", current_position);
     #endif
+
+    return !probe_triggered;
   }
 
-  // Do a single Z probe and return with current_position[Z_AXIS]
+  /**
-  // at the height where the probe triggered.
+   * @details Used by probe_pt to do a single Z probe.
-  static float run_z_probe() {
+   *          Leaves current_position[Z_AXIS] at the height where the probe triggered.
+   *
+   * @param  short_move Flag for a shorter probe move towards the bed
+   * @return The raw Z position where the probe was triggered
+   */
+  static float run_z_probe(const bool short_move=true) {
 
     #if ENABLED(DEBUG_LEVELING_FEATURE)
       if (DEBUGGING(LEVELING)) DEBUG_POS(">>> run_z_probe", current_position);
@@ -2290,34 +2299,33 @@ static void clean_up_after_endstop_or_probe_move() {
     #if ENABLED(PROBE_DOUBLE_TOUCH)
 
       // Do a first probe at the fast speed
-      do_probe_move(-(Z_MAX_LENGTH) - 10, Z_PROBE_SPEED_FAST);
+      if (do_probe_move(-10, Z_PROBE_SPEED_FAST)) return NAN;
 
       #if ENABLED(DEBUG_LEVELING_FEATURE)
         float first_probe_z = current_position[Z_AXIS];
         if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("1st Probe Z:", first_probe_z);
       #endif
 
-      // move up by the bump distance
+      // move up to make clearance for the probe
-      do_blocking_move_to_z(current_position[Z_AXIS] + home_bump_mm(Z_AXIS), MMM_TO_MMS(Z_PROBE_SPEED_FAST));
+      do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
 
     #else
 
       // If the nozzle is above the travel height then
       // move down quickly before doing the slow probe
-      float z = LOGICAL_Z_POSITION(Z_CLEARANCE_BETWEEN_PROBES);
+      float z = Z_CLEARANCE_DEPLOY_PROBE;
       if (zprobe_zoffset < 0) z -= zprobe_zoffset;
 
-      #if ENABLED(DELTA)
+      if (z < current_position[Z_AXIS]) {
-        z -= home_offset[Z_AXIS]; // Account for delta height adjustment
-      #endif
-
-      if (z < current_position[Z_AXIS])
-        do_blocking_move_to_z(z, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
 
+        // If we don't make it to the z position (i.e. the probe triggered), move up to make clearance for the probe
+        if (!do_probe_move(z, Z_PROBE_SPEED_FAST))
+          do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
+      }
     #endif
 
     // move down slowly to find bed
-    do_probe_move(-(Z_MAX_LENGTH) - 10, Z_PROBE_SPEED_SLOW);
+    if (do_probe_move(-10 + (short_move ? 0 : -(Z_MAX_LENGTH)), Z_PROBE_SPEED_SLOW)) return NAN;
 
     #if ENABLED(DEBUG_LEVELING_FEATURE)
       if (DEBUGGING(LEVELING)) DEBUG_POS("<<< run_z_probe", current_position);
@@ -2330,6 +2338,7 @@ static void clean_up_after_endstop_or_probe_move() {
         SERIAL_ECHOLNPAIR(" Discrepancy:", first_probe_z - current_position[Z_AXIS]);
       }
     #endif
+
     return RAW_CURRENT_POSITION(Z) + zprobe_zoffset
       #if ENABLED(DELTA)
         + home_offset[Z_AXIS] // Account for delta height adjustment
@@ -2372,22 +2381,31 @@ static void clean_up_after_endstop_or_probe_move() {
         do_blocking_move_to_z(delta_clip_start_height);
     #endif
 
-    // Ensure a minimum height before moving the probe
+    #if HAS_SOFTWARE_ENDSTOPS
-    do_probe_raise(Z_CLEARANCE_BETWEEN_PROBES);
+      // Store the status of the soft endstops and disable if we're probing a non-printable location
+      static bool enable_soft_endstops = soft_endstops_enabled;
+      if (!printable) soft_endstops_enabled = false;
+    #endif
 
     feedrate_mm_s = XY_PROBE_FEEDRATE_MM_S;
 
     // Move the probe to the given XY
     do_blocking_move_to_xy(nx, ny);
 
-    if (DEPLOY_PROBE()) return NAN;
+    float measured_z = NAN;
-
+    if (!DEPLOY_PROBE()) {
-    const float measured_z = run_z_probe();
+      measured_z = run_z_probe(printable);
 
       if (!stow)
-      do_probe_raise(Z_CLEARANCE_BETWEEN_PROBES);
+        do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
       else
-      if (STOW_PROBE()) return NAN;
+        if (STOW_PROBE()) measured_z = NAN;
+    }
+
+    #if HAS_SOFTWARE_ENDSTOPS
+      // Restore the soft endstop status
+      soft_endstops_enabled = enable_soft_endstops;
+    #endif
 
     if (verbose_level > 2) {
       SERIAL_PROTOCOLPGM("Bed X: ");
@@ -2405,6 +2423,12 @@ static void clean_up_after_endstop_or_probe_move() {
 
     feedrate_mm_s = old_feedrate_mm_s;
 
+    if (isnan(measured_z)) {
+      LCD_MESSAGEPGM(MSG_ERR_PROBING_FAILED);
+      SERIAL_ERROR_START();
+      SERIAL_ERRORLNPGM(MSG_ERR_PROBING_FAILED);
+    }
+
     return measured_z;
   }
 
@@ -3753,7 +3777,7 @@ inline void gcode_G4() {
    * A delta can only safely home all axes at the same time
    * This is like quick_home_xy() but for 3 towers.
    */
-  inline void home_delta() {
+  inline bool home_delta() {
     #if ENABLED(DEBUG_LEVELING_FEATURE)
       if (DEBUGGING(LEVELING)) DEBUG_POS(">>> home_delta", current_position);
     #endif
@@ -3762,10 +3786,21 @@ inline void gcode_G4() {
     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] = (Z_MAX_LENGTH + 10);
+    current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (DELTA_HEIGHT + home_offset[Z_AXIS] + 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.
+    if (!(Endstops::endstop_hit_bits & (_BV(X_MAX) | _BV(Y_MAX) | _BV(Z_MAX)))) {
+      LCD_MESSAGEPGM(MSG_ERR_HOMING_FAILED);
+      SERIAL_ERROR_START();
+      SERIAL_ERRORLNPGM(MSG_ERR_HOMING_FAILED);
+      return false;
+    }
+
     endstops.hit_on_purpose(); // clear endstop hit flags
 
     // At least one carriage has reached the top.
@@ -3785,6 +3820,8 @@ inline void gcode_G4() {
     #if ENABLED(DEBUG_LEVELING_FEATURE)
       if (DEBUGGING(LEVELING)) DEBUG_POS("<<< home_delta", current_position);
     #endif
+
+    return true;
   }
 
 #endif // DELTA
@@ -4641,10 +4678,6 @@ void home_all_axes() { gcode_G28(true); }
         SYNC_PLAN_POSITION_KINEMATIC();
       }
 
-      if (!faux) setup_for_endstop_or_probe_move();
-
-      //xProbe = yProbe = measured_z = 0;
-
       #if HAS_BED_PROBE
         // Deploy the probe. Probe will raise if needed.
         if (DEPLOY_PROBE()) {
@@ -4653,6 +4686,8 @@ void home_all_axes() { gcode_G28(true); }
         }
       #endif
 
+      if (!faux) setup_for_endstop_or_probe_move();
+
       #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
 
         #if ENABLED(PROBE_MANUALLY)
@@ -4865,7 +4900,7 @@ void home_all_axes() { gcode_G28(true); }
       #endif // AUTO_BED_LEVELING_3POINT
 
     #else // !PROBE_MANUALLY
-
+    {
       const bool stow_probe_after_each = parser.boolval('E');
 
       #if ABL_GRID
@@ -4873,7 +4908,7 @@ void home_all_axes() { gcode_G28(true); }
         bool zig = PR_OUTER_END & 1;  // Always end at RIGHT and BACK_PROBE_BED_POSITION
 
         // Outer loop is Y with PROBE_Y_FIRST disabled
-        for (uint8_t PR_OUTER_VAR = 0; PR_OUTER_VAR < PR_OUTER_END; PR_OUTER_VAR++) {
+        for (uint8_t PR_OUTER_VAR = 0; PR_OUTER_VAR < PR_OUTER_END && !isnan(measured_z); PR_OUTER_VAR++) {
 
           int8_t inStart, inStop, inInc;
 
@@ -4912,7 +4947,7 @@ void home_all_axes() { gcode_G28(true); }
 
             if (isnan(measured_z)) {
               planner.abl_enabled = abl_should_enable;
-              return;
+              break;
             }
 
             #if ENABLED(AUTO_BED_LEVELING_LINEAR)
@@ -4948,12 +4983,12 @@ void home_all_axes() { gcode_G28(true); }
           measured_z = faux ? 0.001 * random(-100, 101) : probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
           if (isnan(measured_z)) {
             planner.abl_enabled = abl_should_enable;
-            return;
+            break;
           }
           points[i].z = measured_z;
         }
 
-        if (!dryrun) {
+        if (!dryrun && !isnan(measured_z)) {
           vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal();
           if (planeNormal.z < 0) {
             planeNormal.x *= -1;
@@ -4971,9 +5006,9 @@ void home_all_axes() { gcode_G28(true); }
       // Raise to _Z_CLEARANCE_DEPLOY_PROBE. Stow the probe.
       if (STOW_PROBE()) {
         planner.abl_enabled = abl_should_enable;
-        return;
+        measured_z = NAN;
+      }
     }
-
     #endif // !PROBE_MANUALLY
 
     //
@@ -4986,9 +5021,6 @@ void home_all_axes() { gcode_G28(true); }
     // return or loop before this point.
     //
 
-    // Restore state after probing
-    if (!faux) clean_up_after_endstop_or_probe_move();
-
     #if ENABLED(DEBUG_LEVELING_FEATURE)
       if (DEBUGGING(LEVELING)) DEBUG_POS("> probing complete", current_position);
     #endif
@@ -5001,6 +5033,7 @@ void home_all_axes() { gcode_G28(true); }
     #endif
 
     // Calculate leveling, print reports, correct the position
+    if (!isnan(measured_z)) {
       #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
 
         if (!dryrun) extrapolate_unprobed_bed_level();
@@ -5193,6 +5226,13 @@ void home_all_axes() { gcode_G28(true); }
         stepper.synchronize();
       #endif
 
+      // Auto Bed Leveling is complete! Enable if possible.
+      planner.abl_enabled = dryrun ? abl_should_enable : true;
+    } // !isnan(measured_z)
+
+    // Restore state after probing
+    if (!faux) clean_up_after_endstop_or_probe_move();
+
     #if ENABLED(DEBUG_LEVELING_FEATURE)
       if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< gcode_G29");
     #endif
@@ -5201,9 +5241,6 @@ void home_all_axes() { gcode_G28(true); }
 
     KEEPALIVE_STATE(IN_HANDLER);
 
-    // Auto Bed Leveling is complete! Enable if possible.
-    planner.abl_enabled = dryrun ? abl_should_enable : true;
-
     if (planner.abl_enabled)
       SYNC_PLAN_POSITION_KINEMATIC();
   }
@@ -5319,6 +5356,21 @@ void home_all_axes() { gcode_G28(true); }
       }
     }
 
+    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
+    }
+
     inline void gcode_G33() {
 
       const int8_t probe_points = parser.intval('P', DELTA_CALIBRATION_DEFAULT_POINTS);
@@ -5395,14 +5447,19 @@ void home_all_axes() { gcode_G28(true); }
       #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();
-      DEPLOY_PROBE();
       endstops.enable(true);
-      home_delta();
+      if (!home_delta())
+        return;
       endstops.not_homing();
 
       // print settings
@@ -5416,7 +5473,9 @@ void home_all_axes() { gcode_G28(true); }
       print_G33_settings(!_1p_calibration, _7p_calibration && towers_set);
 
       #if DISABLED(PROBE_MANUALLY)
-        home_offset[Z_AXIS] -= probe_pt(dx, dy, stow_after_each, 1, false); // 1st probe to set height
+        const float measured_z = probe_pt(dx, dy, stow_after_each, 1, false); // 1st probe to set height
+        if (isnan(measured_z)) return G33_CLEANUP();
+        home_offset[Z_AXIS] -= measured_z;
       #endif
 
       do {
@@ -5434,6 +5493,7 @@ void home_all_axes() { gcode_G28(true); }
             z_at_pt[0] += lcd_probe_pt(0, 0);
           #else
             z_at_pt[0] += probe_pt(dx, dy, stow_after_each, 1, false);
+            if (isnan(z_at_pt[0])) return G33_CLEANUP();
           #endif
         }
         if (_7p_calibration) { // probe extra center points
@@ -5442,7 +5502,8 @@ void home_all_axes() { gcode_G28(true); }
             #if ENABLED(PROBE_MANUALLY)
               z_at_pt[0] += lcd_probe_pt(cos(a) * r, sin(a) * r);
             #else
-              z_at_pt[0] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1, false);
+              z_at_pt[0] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1);
+              if (isnan(z_at_pt[0])) return G33_CLEANUP();
             #endif
           }
           z_at_pt[0] /= float(_7p_double_circle ? 7 : probe_points);
@@ -5462,7 +5523,8 @@ void home_all_axes() { gcode_G28(true); }
               #if ENABLED(PROBE_MANUALLY)
                 z_at_pt[axis] += lcd_probe_pt(cos(a) * r, sin(a) * r);
               #else
-                z_at_pt[axis] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1, false);
+                z_at_pt[axis] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1);
+                if (isnan(z_at_pt[axis])) return G33_CLEANUP();
               #endif
             }
             zig_zag = !zig_zag;
@@ -5662,14 +5724,7 @@ void home_all_axes() { gcode_G28(true); }
       }
       while ((zero_std_dev < test_precision && zero_std_dev > calibration_precision && iterations < 31) || iterations <= force_iterations);
 
-      #if ENABLED(DELTA_HOME_TO_SAFE_ZONE)
+      G33_CLEANUP();
-        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
     }
 
   #endif // DELTA_AUTO_CALIBRATION
@@ -6980,14 +7035,15 @@ inline void gcode_M42() {
 
     setup_for_endstop_or_probe_move();
 
+    double mean = 0.0, sigma = 0.0, min = 99999.9, max = -99999.9, sample_set[n_samples];
+
     // Move to the first point, deploy, and probe
     const float t = probe_pt(X_probe_location, Y_probe_location, stow_probe_after_each, verbose_level);
-    if (isnan(t)) return;
+    bool probing_good = !isnan(t);
 
+    if (probing_good) {
       randomSeed(millis());
 
-    double mean = 0.0, sigma = 0.0, min = 99999.9, max = -99999.9, sample_set[n_samples];
-
       for (uint8_t n = 0; n < n_samples; n++) {
         if (n_legs) {
           const int dir = (random(0, 10) > 5.0) ? -1 : 1;  // clockwise or counter clockwise
@@ -7060,6 +7116,10 @@ inline void gcode_M42() {
         // Probe a single point
         sample_set[n] = probe_pt(X_probe_location, Y_probe_location, stow_probe_after_each, 0);
 
+        // Break the loop if the probe fails
+        probing_good = !isnan(sample_set[n]);
+        if (!probing_good) break;
+
         /**
          * Get the current mean for the data points we have so far
          */
@@ -7102,12 +7162,13 @@ inline void gcode_M42() {
           }
         }
 
-    } // End of probe loop
+      } // n_samples loop
+    }
 
-    if (STOW_PROBE()) return;
+    STOW_PROBE();
 
-    SERIAL_PROTOCOLPGM("Finished!");
+    if (probing_good) {
-    SERIAL_EOL();
+      SERIAL_PROTOCOLLNPGM("Finished!");
 
       if (verbose_level > 0) {
         SERIAL_PROTOCOLPGM("Mean: ");
@@ -7125,6 +7186,7 @@ inline void gcode_M42() {
       SERIAL_PROTOCOL_F(sigma, 6);
       SERIAL_EOL();
       SERIAL_EOL();
+    }
 
     clean_up_after_endstop_or_probe_move();
 
@@ -11453,19 +11515,22 @@ void ok_to_send() {
   //       DELTA_PRINTABLE_RADIUS from center of bed, but delta
   //       now enforces is_position_reachable for X/Y regardless
   //       of HAS_SOFTWARE_ENDSTOPS, so that enforcement would be
-  //       redundant here.  Probably should #ifdef out the X/Y
+  //       redundant here.
-  //       axis clamps here for delta and just leave the Z clamp.
 
   void clamp_to_software_endstops(float target[XYZ]) {
     if (!soft_endstops_enabled) return;
     #if ENABLED(MIN_SOFTWARE_ENDSTOPS)
+      #if DISABLED(DELTA)
         NOLESS(target[X_AXIS], soft_endstop_min[X_AXIS]);
         NOLESS(target[Y_AXIS], soft_endstop_min[Y_AXIS]);
+      #endif
       NOLESS(target[Z_AXIS], soft_endstop_min[Z_AXIS]);
     #endif
     #if ENABLED(MAX_SOFTWARE_ENDSTOPS)
+      #if DISABLED(DELTA)
         NOMORE(target[X_AXIS], soft_endstop_max[X_AXIS]);
         NOMORE(target[Y_AXIS], soft_endstop_max[Y_AXIS]);
+      #endif
       NOMORE(target[Z_AXIS], soft_endstop_max[Z_AXIS]);
     #endif
   }

Marlin/endstops.cpp

@@ -247,7 +247,7 @@ void Endstops::update() {
   #define _ENDSTOP(AXIS, MINMAX) AXIS ##_## MINMAX
   #define _ENDSTOP_PIN(AXIS, MINMAX) AXIS ##_## MINMAX ##_PIN
   #define _ENDSTOP_INVERTING(AXIS, MINMAX) AXIS ##_## MINMAX ##_ENDSTOP_INVERTING
-  #define _ENDSTOP_HIT(AXIS) SBI(endstop_hit_bits, _ENDSTOP(AXIS, MIN))
+  #define _ENDSTOP_HIT(AXIS, MINMAX) SBI(endstop_hit_bits, _ENDSTOP(AXIS, MINMAX))
 
   // UPDATE_ENDSTOP_BIT: set the current endstop bits for an endstop to its status
   #define UPDATE_ENDSTOP_BIT(AXIS, MINMAX) SET_BIT(current_endstop_bits, _ENDSTOP(AXIS, MINMAX), (READ(_ENDSTOP_PIN(AXIS, MINMAX)) != _ENDSTOP_INVERTING(AXIS, MINMAX)))
@@ -257,7 +257,7 @@ void Endstops::update() {
   #define UPDATE_ENDSTOP(AXIS,MINMAX) do { \
       UPDATE_ENDSTOP_BIT(AXIS, MINMAX); \
       if (TEST_ENDSTOP(_ENDSTOP(AXIS, MINMAX)) && stepper.current_block->steps[_AXIS(AXIS)] > 0) { \
-        _ENDSTOP_HIT(AXIS); \
+        _ENDSTOP_HIT(AXIS, MINMAX); \
         stepper.endstop_triggered(_AXIS(AXIS)); \
       } \
     } while(0)
@@ -267,9 +267,9 @@ void Endstops::update() {
     if (G38_move) {
       UPDATE_ENDSTOP_BIT(Z, MIN_PROBE);
       if (TEST_ENDSTOP(_ENDSTOP(Z, MIN_PROBE))) {
-        if      (stepper.current_block->steps[_AXIS(X)] > 0) { _ENDSTOP_HIT(X); stepper.endstop_triggered(_AXIS(X)); }
+        if      (stepper.current_block->steps[_AXIS(X)] > 0) { _ENDSTOP_HIT(X, MIN); stepper.endstop_triggered(_AXIS(X)); }
-        else if (stepper.current_block->steps[_AXIS(Y)] > 0) { _ENDSTOP_HIT(Y); stepper.endstop_triggered(_AXIS(Y)); }
+        else if (stepper.current_block->steps[_AXIS(Y)] > 0) { _ENDSTOP_HIT(Y, MIN); stepper.endstop_triggered(_AXIS(Y)); }
-        else if (stepper.current_block->steps[_AXIS(Z)] > 0) { _ENDSTOP_HIT(Z); stepper.endstop_triggered(_AXIS(Z)); }
+        else if (stepper.current_block->steps[_AXIS(Z)] > 0) { _ENDSTOP_HIT(Z, MIN); stepper.endstop_triggered(_AXIS(Z)); }
         G38_endstop_hit = true;
       }
     }

Marlin/language_en.h

@@ -717,7 +717,7 @@
   #define MSG_DELTA_CALIBRATE_CENTER          _UxGT("Calibrate Center")
 #endif
 #ifndef MSG_DELTA_SETTINGS
-  #define MSG_DELTA_SETTINGS                  _UxGT("Show Delta Settings")
+  #define MSG_DELTA_SETTINGS                  _UxGT("Delta Settings")
 #endif
 #ifndef MSG_DELTA_AUTO_CALIBRATE
   #define MSG_DELTA_AUTO_CALIBRATE            _UxGT("Auto Calibration")
@@ -725,6 +725,15 @@
 #ifndef MSG_DELTA_HEIGHT_CALIBRATE
   #define MSG_DELTA_HEIGHT_CALIBRATE          _UxGT("Set Delta Height")
 #endif
+#ifndef MSG_DELTA_DIAG_ROG
+  #define MSG_DELTA_DIAG_ROG                  _UxGT("Diag Rod")
+#endif
+#ifndef MSG_DELTA_HEIGHT
+  #define MSG_DELTA_HEIGHT                    _UxGT("Height")
+#endif
+#ifndef MSG_DELTA_RADIUS
+  #define MSG_DELTA_RADIUS                    _UxGT("Radius")
+#endif
 #ifndef MSG_INFO_MENU
   #define MSG_INFO_MENU                       _UxGT("About Printer")
 #endif
@@ -840,6 +849,12 @@
 #ifndef MSG_FILAMENT_CHANGE_NOZZLE
   #define MSG_FILAMENT_CHANGE_NOZZLE          _UxGT("  Nozzle: ")
 #endif
+#ifndef MSG_ERR_HOMING_FAILED
+  #define MSG_ERR_HOMING_FAILED               _UxGT("Homing failed")
+#endif
+#ifndef MSG_ERR_PROBING_FAILED
+  #define MSG_ERR_PROBING_FAILED              _UxGT("Probing failed")
+#endif
 
 //
 // Filament Change screens show up to 3 lines on a 4-line display

Marlin/ultralcd.cpp

@@ -2537,15 +2537,23 @@ 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); }
 
-    void lcd_delta_G33_settings() {
+    static float _delta_height = DELTA_HEIGHT;
+    void _lcd_set_delta_height() {
+      home_offset[Z_AXIS] = _delta_height - DELTA_HEIGHT;
+      update_software_endstops(Z_AXIS);
+    }
+
+    void lcd_delta_settings() {
       START_MENU();
       MENU_BACK(MSG_DELTA_CALIBRATE);
-      float delta_height = DELTA_HEIGHT + home_offset[Z_AXIS], Tz = 0.00;
+      float Tz = 0.00;
-      MENU_ITEM_EDIT(float52, "Height", &delta_height, delta_height, delta_height);
+      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_ITEM_EDIT(float43, "Ex", &endstop_adj[A_AXIS], -5.0, 5.0);
       MENU_ITEM_EDIT(float43, "Ey", &endstop_adj[B_AXIS], -5.0, 5.0);
       MENU_ITEM_EDIT(float43, "Ez", &endstop_adj[C_AXIS], -5.0, 5.0);
-      MENU_ITEM_EDIT(float52, "Radius", &delta_radius, DELTA_RADIUS - 5.0, DELTA_RADIUS + 5.0);
+      MENU_ITEM_EDIT(float52, MSG_DELTA_RADIUS, &delta_radius, DELTA_RADIUS - 5.0, DELTA_RADIUS + 5.0);
       MENU_ITEM_EDIT(float43, "Tx", &delta_tower_angle_trim[A_AXIS], -5.0, 5.0);
       MENU_ITEM_EDIT(float43, "Ty", &delta_tower_angle_trim[B_AXIS], -5.0, 5.0);
       MENU_ITEM_EDIT(float43, "Tz", &Tz, -5.0, 5.0);
@@ -2556,7 +2564,7 @@ void kill_screen(const char* lcd_msg) {
       START_MENU();
       MENU_BACK(MSG_MAIN);
       #if ENABLED(DELTA_AUTO_CALIBRATION)
-        MENU_ITEM(submenu, MSG_DELTA_SETTINGS, lcd_delta_G33_settings);
+        MENU_ITEM(submenu, MSG_DELTA_SETTINGS, lcd_delta_settings);
         MENU_ITEM(gcode, MSG_DELTA_AUTO_CALIBRATE, PSTR("G33"));
         MENU_ITEM(gcode, MSG_DELTA_HEIGHT_CALIBRATE, PSTR("G33 P1"));
         #if ENABLED(EEPROM_SETTINGS)