Merge pull request #6187 from thinkyhead/rc_flsun_delta_autocal

Delta: DELTA_HEIGHT, G33 Auto-Calibrate, drop M206/M428, add M665 H

.travis.yml

@@ -388,9 +388,9 @@ script:
   - opt_enable AUTO_BED_LEVELING_BILINEAR Z_PROBE_ALLEN_KEY
   - build_marlin
   #
-  # Delta Config (Mini Kossel)
+  # Delta Config (FLSUN AC because it's complex)
   #
-  - use_example_configs delta/kossel_mini
+  - use_example_configs delta/FLSUN/auto_calibrate
   - build_marlin
   #
   # Makibox Config  need to check board type for Teensy++ 2.0

Marlin/Conditionals_post.h

@@ -721,6 +721,14 @@
     #ifndef DELTA_TOWER_ANGLE_TRIM_3
       #define DELTA_TOWER_ANGLE_TRIM_3 0.0
     #endif
+    #if ENABLED(DELTA_AUTO_CALIBRATION)
+      #ifndef H_FACTOR
+        #define H_FACTOR 1.00
+      #endif
+      #ifndef R_FACTOR
+        #define R_FACTOR -2.25
+      #endif
+    #endif
   #endif
 
   /**
@@ -797,6 +805,15 @@
     #define HAS_FOLDER_SORTING (FOLDER_SORTING || ENABLED(SDSORT_GCODE))
   #endif
 
+  // 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))
+  // Either offset yields extra calculations on all moves
+  #define HAS_WORKSPACE_OFFSET (HAS_POSITION_SHIFT || HAS_HOME_OFFSET)
+  // M206 doesn't apply to DELTA
+  #define HAS_M206_COMMAND (HAS_HOME_OFFSET && DISABLED(DELTA))
+
   // LCD timeout to status screen default is 15s
   #ifndef LCD_TIMEOUT_TO_STATUS
     #define LCD_TIMEOUT_TO_STATUS 15000

Marlin/Configuration.h

@@ -695,7 +695,6 @@
 //#define Z_MIN_PROBE_ENDSTOP
 #define Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN
 
-
 // Enable Z Probe Repeatability test to see how accurate your probe is
 //#define Z_MIN_PROBE_REPEATABILITY_TEST
 

Marlin/Configuration_adv.h

@@ -677,7 +677,7 @@
 //#define BEZIER_CURVE_SUPPORT
 
 // G38.2 and G38.3 Probe Target
-// ENABLE PROBE_DOUBLE_TOUCH if you want G38 to double touch
+// Enable PROBE_DOUBLE_TOUCH if you want G38 to double touch
 //#define G38_PROBE_TARGET
 #if ENABLED(G38_PROBE_TARGET)
   #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)
@@ -971,14 +971,14 @@
 
 #endif // ENABLED(HAVE_TMC2130)
 
+// @section L6470
+
 /**
  * Enable this section if you have L6470 motor drivers.
  * You need to import the L6470 library into the Arduino IDE for this.
  * (https://github.com/ameyer/Arduino-L6470)
  */
 
-// @section l6470
-
 //#define HAVE_L6470DRIVER
 #if ENABLED(HAVE_L6470DRIVER)
 

Marlin/Marlin.h

@@ -228,32 +228,52 @@ extern volatile bool wait_for_heatup;
 extern float current_position[NUM_AXIS];
 
 // Workspace offsets
-#if DISABLED(NO_WORKSPACE_OFFSETS)
+#if HAS_WORKSPACE_OFFSET
-  extern float position_shift[XYZ],
+  #if HAS_HOME_OFFSET
-               home_offset[XYZ],
+    extern float home_offset[XYZ];
-               workspace_offset[XYZ];
+  #endif
-  #define LOGICAL_POSITION(POS, AXIS) ((POS) + workspace_offset[AXIS])
+  #if HAS_POSITION_SHIFT
-  #define RAW_POSITION(POS, AXIS)     ((POS) - workspace_offset[AXIS])
+    extern float position_shift[XYZ];
-#else
+  #endif
-  #define LOGICAL_POSITION(POS, AXIS) (POS)
-  #define RAW_POSITION(POS, AXIS)     (POS)
 #endif
 
-#define LOGICAL_X_POSITION(POS)     LOGICAL_POSITION(POS, X_AXIS)
+#if HAS_HOME_OFFSET && HAS_POSITION_SHIFT
-#define LOGICAL_Y_POSITION(POS)     LOGICAL_POSITION(POS, Y_AXIS)
+  extern float workspace_offset[XYZ];
-#define LOGICAL_Z_POSITION(POS)     LOGICAL_POSITION(POS, Z_AXIS)
+  #define WORKSPACE_OFFSET(AXIS) workspace_offset[AXIS]
-#define RAW_X_POSITION(POS)         RAW_POSITION(POS, X_AXIS)
+#elif HAS_HOME_OFFSET
-#define RAW_Y_POSITION(POS)         RAW_POSITION(POS, Y_AXIS)
+  #define WORKSPACE_OFFSET(AXIS) home_offset[AXIS]
-#define RAW_Z_POSITION(POS)         RAW_POSITION(POS, Z_AXIS)
+#elif HAS_POSITION_SHIFT
-#define RAW_CURRENT_POSITION(AXIS)  RAW_POSITION(current_position[AXIS], AXIS)
+  #define WORKSPACE_OFFSET(AXIS) position_shift[AXIS]
+#else
+  #define WORKSPACE_OFFSET(AXIS) 0
+#endif
 
+#define LOGICAL_POSITION(POS, AXIS) ((POS) + WORKSPACE_OFFSET(AXIS))
+#define RAW_POSITION(POS, AXIS)     ((POS) - WORKSPACE_OFFSET(AXIS))
+
+#if HAS_POSITION_SHIFT || DISABLED(DELTA)
+  #define LOGICAL_X_POSITION(POS)   LOGICAL_POSITION(POS, X_AXIS)
+  #define LOGICAL_Y_POSITION(POS)   LOGICAL_POSITION(POS, Y_AXIS)
+  #define RAW_X_POSITION(POS)       RAW_POSITION(POS, X_AXIS)
+  #define RAW_Y_POSITION(POS)       RAW_POSITION(POS, Y_AXIS)
+#else
+  #define LOGICAL_X_POSITION(POS)   (POS)
+  #define LOGICAL_Y_POSITION(POS)   (POS)
+  #define RAW_X_POSITION(POS)       (POS)
+  #define RAW_Y_POSITION(POS)       (POS)
+#endif
+
+#define LOGICAL_Z_POSITION(POS)     LOGICAL_POSITION(POS, Z_AXIS)
+#define RAW_Z_POSITION(POS)         RAW_POSITION(POS, Z_AXIS)
+#define RAW_CURRENT_POSITION(A)     RAW_##A##_POSITION(current_position[A##_AXIS])
+
+// Hotend Offsets
 #if HOTENDS > 1
   extern float hotend_offset[XYZ][HOTENDS];
 #endif
 
 // Software Endstops
-extern float soft_endstop_min[XYZ];
+extern float soft_endstop_min[XYZ], soft_endstop_max[XYZ];
-extern float soft_endstop_max[XYZ];
 
 #if HAS_SOFTWARE_ENDSTOPS
   extern bool soft_endstops_enabled;
@@ -263,7 +283,7 @@ extern float soft_endstop_max[XYZ];
   #define clamp_to_software_endstops(x) NOOP
 #endif
 
-#if DISABLED(NO_WORKSPACE_OFFSETS) || ENABLED(DUAL_X_CARRIAGE) || ENABLED(DELTA)
+#if HAS_WORKSPACE_OFFSET || ENABLED(DUAL_X_CARRIAGE)
   void update_software_endstops(const AxisEnum axis);
 #endif
 

Marlin/Marlin_main.cpp

@@ -61,6 +61,7 @@
  * G30 - Single Z probe, probes bed at X Y location (defaults to current XY location)
  * G31 - Dock sled (Z_PROBE_SLED only)
  * G32 - Undock sled (Z_PROBE_SLED only)
+ * G33 - Delta '4-point' auto calibration iteration
  * G38 - Probe target - similar to G28 except it uses the Z_MIN_PROBE for all three axes
  * G90 - Use Absolute Coordinates
  * G91 - Use Relative Coordinates
@@ -146,7 +147,7 @@
             S<print> T<travel> minimum speeds
             B<minimum segment time>
             X<max X jerk>, Y<max Y jerk>, Z<max Z jerk>, E<max E jerk>
- * M206 - Set additional homing offset.
+ * M206 - Set additional homing offset. (Disabled by NO_WORKSPACE_OFFSETS or DELTA)
  * M207 - Set Retract Length: S<length>, Feedrate: F<units/min>, and Z lift: Z<distance>. (Requires FWRETRACT)
  * M208 - Set Recover (unretract) Additional (!) Length: S<length> and Feedrate: F<units/min>. (Requires FWRETRACT)
  * M209 - Turn Automatic Retract Detection on/off: S<0|1> (For slicers that don't support G10/11). (Requires FWRETRACT)
@@ -179,7 +180,7 @@
  * M410 - Quickstop. Abort all planned moves.
  * M420 - Enable/Disable Leveling (with current values) S1=enable S0=disable (Requires MESH_BED_LEVELING or ABL)
  * M421 - Set a single Z coordinate in the Mesh Leveling grid. X<units> Y<units> Z<units> (Requires MESH_BED_LEVELING or AUTO_BED_LEVELING_UBL)
- * M428 - Set the home_offset based on the current_position. Nearest edge applies.
+ * M428 - Set the home_offset based on the current_position. Nearest edge applies. (Disabled by NO_WORKSPACE_OFFSETS or DELTA)
  * M500 - Store parameters in EEPROM. (Requires EEPROM_SETTINGS)
  * M501 - Restore parameters from EEPROM. (Requires EEPROM_SETTINGS)
  * M502 - Revert to the default "factory settings". ** Does not write them to EEPROM! **
@@ -408,18 +409,20 @@ bool axis_relative_modes[] = AXIS_RELATIVE_MODES,
 float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(DEFAULT_NOMINAL_FILAMENT_DIA),
       volumetric_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(1.0);
 
-#if DISABLED(NO_WORKSPACE_OFFSETS)
+#if HAS_WORKSPACE_OFFSET
-
+  #if HAS_POSITION_SHIFT
-  // The distance that XYZ has been offset by G92. Reset by G28.
+    // The distance that XYZ has been offset by G92. Reset by G28.
-  float position_shift[XYZ] = { 0 };
+    float position_shift[XYZ] = { 0 };
-
+  #endif
-  // This offset is added to the configured home position.
+  #if HAS_HOME_OFFSET
-  // Set by M206, M428, or menu item. Saved to EEPROM.
+    // This offset is added to the configured home position.
-  float home_offset[XYZ] = { 0 };
+    // Set by M206, M428, or menu item. Saved to EEPROM.
-
+    float home_offset[XYZ] = { 0 };
-  // The above two are combined to save on computes
+  #endif
-  float workspace_offset[XYZ] = { 0 };
+  #if HAS_HOME_OFFSET && HAS_POSITION_SHIFT
-
+    // The above two are combined to save on computes
+    float workspace_offset[XYZ] = { 0 };
+  #endif
 #endif
 
 // Software Endstops are based on the configured limits.
@@ -1381,7 +1384,7 @@ bool get_target_extruder_from_command(int code) {
 
 #endif // DUAL_X_CARRIAGE
 
-#if DISABLED(NO_WORKSPACE_OFFSETS) || ENABLED(DUAL_X_CARRIAGE) || ENABLED(DELTA)
+#if HAS_WORKSPACE_OFFSET || ENABLED(DUAL_X_CARRIAGE)
 
   /**
    * Software endstops can be used to monitor the open end of
@@ -1393,7 +1396,18 @@ bool get_target_extruder_from_command(int code) {
    * at the same positions relative to the machine.
    */
   void update_software_endstops(const AxisEnum axis) {
-    const float offs = workspace_offset[axis] = home_offset[axis] + position_shift[axis];
+    const float offs = 0.0
+      #if HAS_HOME_OFFSET
+        + home_offset[axis]
+      #endif
+      #if HAS_POSITION_SHIFT
+        + position_shift[axis]
+      #endif
+    ;
+
+    #if HAS_HOME_OFFSET && HAS_POSITION_SHIFT
+      workspace_offset[axis] = offs;
+    #endif
 
     #if ENABLED(DUAL_X_CARRIAGE)
       if (axis == X_AXIS) {
@@ -1426,8 +1440,10 @@ bool get_target_extruder_from_command(int code) {
     #if ENABLED(DEBUG_LEVELING_FEATURE)
       if (DEBUGGING(LEVELING)) {
         SERIAL_ECHOPAIR("For ", axis_codes[axis]);
-        #if DISABLED(NO_WORKSPACE_OFFSETS)
+        #if HAS_HOME_OFFSET
           SERIAL_ECHOPAIR(" axis:\n home_offset = ", home_offset[axis]);
+        #endif
+        #if HAS_POSITION_SHIFT
           SERIAL_ECHOPAIR("\n position_shift = ", position_shift[axis]);
         #endif
         SERIAL_ECHOPAIR("\n soft_endstop_min = ", soft_endstop_min[axis]);
@@ -1441,9 +1457,9 @@ bool get_target_extruder_from_command(int code) {
     #endif
   }
 
-#endif // NO_WORKSPACE_OFFSETS
+#endif // HAS_WORKSPACE_OFFSET || DUAL_X_CARRIAGE
 
-#if DISABLED(NO_WORKSPACE_OFFSETS)
+#if HAS_M206_COMMAND
   /**
    * Change the home offset for an axis, update the current
    * position and the software endstops to retain the same
@@ -1457,7 +1473,7 @@ bool get_target_extruder_from_command(int code) {
     home_offset[axis] = v;
     update_software_endstops(axis);
   }
-#endif // NO_WORKSPACE_OFFSETS
+#endif // HAS_M206_COMMAND
 
 /**
  * Set an axis' current position to its home position (after homing).
@@ -1488,7 +1504,7 @@ static void set_axis_is_at_home(AxisEnum axis) {
 
   axis_known_position[axis] = axis_homed[axis] = true;
 
-  #if DISABLED(NO_WORKSPACE_OFFSETS)
+  #if HAS_POSITION_SHIFT
     position_shift[axis] = 0;
     update_software_endstops(axis);
   #endif
@@ -1564,7 +1580,7 @@ static void set_axis_is_at_home(AxisEnum axis) {
 
   #if ENABLED(DEBUG_LEVELING_FEATURE)
     if (DEBUGGING(LEVELING)) {
-      #if DISABLED(NO_WORKSPACE_OFFSETS)
+      #if HAS_HOME_OFFSET
         SERIAL_ECHOPAIR("> home_offset[", axis_codes[axis]);
         SERIAL_ECHOLNPAIR("] = ", home_offset[axis]);
       #endif
@@ -2299,7 +2315,7 @@ static void clean_up_after_endstop_or_probe_move() {
       SERIAL_PROTOCOLPGM(" Y: ");
       SERIAL_PROTOCOL_F(y, 3);
       SERIAL_PROTOCOLPGM(" Z: ");
-      SERIAL_PROTOCOL_F(FIXFLOAT(measured_z), 3);
+      SERIAL_PROTOCOL_F(measured_z, 3);
       SERIAL_EOL;
     }
 
@@ -4035,6 +4051,11 @@ inline void gcode_G28() {
    *  L  Set the Left limit of the probing grid
    *  R  Set the Right limit of the probing grid
    *
+   * Parameters with DEBUG_LEVELING_FEATURE only:
+   *
+   *  C  Make a totally fake grid with no actual probing.
+   *     For use in testing when no probing is possible.
+   *
    * Parameters with BILINEAR leveling only:
    *
    *  Z  Supply an additional Z probe offset
@@ -4077,6 +4098,12 @@ inline void gcode_G28() {
       #endif
     #endif
 
+    #if ENABLED(DEBUG_LEVELING_FEATURE) && DISABLED(PROBE_MANUALLY)
+      const bool faux = code_seen('C') && code_value_bool();
+    #else
+      bool constexpr faux = false;
+    #endif
+
     // Don't allow auto-leveling without homing first
     if (axis_unhomed_error(true, true, true)) return;
 
@@ -4292,7 +4319,7 @@ inline void gcode_G28() {
         SYNC_PLAN_POSITION_KINEMATIC();
       }
 
-      setup_for_endstop_or_probe_move();
+      if (!faux) setup_for_endstop_or_probe_move();
 
       //xProbe = yProbe = measured_z = 0;
 
@@ -4550,7 +4577,7 @@ inline void gcode_G28() {
               if (!position_is_reachable(pos, true)) continue;
             #endif
 
-            measured_z = probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
+            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;
@@ -4585,7 +4612,7 @@ inline void gcode_G28() {
           // Retain the last probe position
           xProbe = LOGICAL_X_POSITION(points[i].x);
           yProbe = LOGICAL_Y_POSITION(points[i].y);
-          measured_z = points[i].z = probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
+          measured_z = points[i].z = faux ? 0.001 * random(-100, 101) : probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
         }
 
         if (isnan(measured_z)) {
@@ -4624,7 +4651,7 @@ inline void gcode_G28() {
     //
 
     // Restore state after probing
-    clean_up_after_endstop_or_probe_move();
+    if (!faux) clean_up_after_endstop_or_probe_move();
 
     #if ENABLED(DEBUG_LEVELING_FEATURE)
       if (DEBUGGING(LEVELING)) DEBUG_POS("> probing complete", current_position);
@@ -4890,8 +4917,366 @@ inline void gcode_G28() {
 
   #endif // Z_PROBE_SLED
 
+  #if ENABLED(DELTA_AUTO_CALIBRATION)
+    /**
+     * G33: Delta '4-point' auto calibration iteration
+     *
+     * Usage: G33 <Cn> <Vn>
+     *
+     *  C  (default) = Calibrate endstops, height and delta radius
+     *
+     *  -2, 1-4: n x n probe points, default 3 x 3
+     *
+     *    1: probe center
+     *       set height only - useful when z_offset is changed
+     *    2: probe center and towers
+     *       solve one '4 point' calibration
+     *   -2: probe center and opposite the towers
+     *       solve one '4 point' calibration
+     *    3: probe 3 center points, towers and opposite-towers
+     *       averages between 2 '4 point' calibrations
+     *    4: probe 4 center points, towers, opposite-towers and itermediate points
+     *       averages between 4 '4 point' calibrations
+     *
+     *  V  Verbose level (0-3, default 1)
+     *
+     *    0: Dry-run mode: no calibration
+     *    1: Settings
+     *    2: Setting + probe results
+     *    3: Expert mode: setting + iteration factors (see Configuration_adv.h)
+     *       This prematurely stops the iteration process when factors are found
+     */
+    inline void gcode_G33() {
+
+      stepper.synchronize();
+
+      #if PLANNER_LEVELING
+        set_bed_leveling_enabled(false);
+      #endif
+
+      const int8_t pp = code_seen('C') ? code_value_int() : DELTA_CALIBRATION_DEFAULT_POINTS,
+                   probe_points = (WITHIN(pp, 1, 4) || pp == -2) ? pp : DELTA_CALIBRATION_DEFAULT_POINTS;
+
+      int8_t verbose_level = code_seen('V') ? code_value_byte() : 1;
+
+      #if ENABLED(DELTA_CALIBRATE_EXPERT_MODE)
+        #define _MAX_M33_V 3
+        if (verbose_level == 3 && probe_points == 1) verbose_level--; // needs at least 4 points
+      #else
+        #define _MAX_M33_V 2
+        if (verbose_level > 2)
+          SERIAL_PROTOCOLLNPGM("Enable DELTA_CALIBRATE_EXPERT_MODE in Configuration_adv.h");
+      #endif
+
+      if (!WITHIN(verbose_level, 0, _MAX_M33_V)) verbose_level = 1;
+
+      float zero_std_dev = verbose_level ? 999.0 : 0.0; // 0.0 in dry-run mode : forced end
+
+      gcode_G28();
+
+      float e_old[XYZ],
+            dr_old = delta_radius,
+            zh_old = home_offset[Z_AXIS];
+      COPY(e_old,endstop_adj);
+      #if ENABLED(DELTA_CALIBRATE_EXPERT_MODE)
+        // expert variables
+        float h_f_old = 1.00, r_f_old = 0.00,
+              h_diff_min = 1.00, r_diff_max = 0.10;
+      #endif
+
+      // print settings
+
+      SERIAL_PROTOCOLLNPGM("G33 Auto Calibrate");
+      SERIAL_PROTOCOLPGM("Checking... AC");
+      if (verbose_level == 0) SERIAL_PROTOCOLPGM(" (DRY-RUN)");
+      #if ENABLED(DELTA_CALIBRATE_EXPERT_MODE)
+        if (verbose_level == 3) SERIAL_PROTOCOLPGM(" (EXPERT)");
+      #endif
+      SERIAL_EOL;
+      LCD_MESSAGEPGM("Checking... AC");
+
+      SERIAL_PROTOCOLPAIR("Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
+      if (abs(probe_points) > 1) {
+        SERIAL_PROTOCOLPGM("    Ex:");
+        if (endstop_adj[A_AXIS] >= 0) SERIAL_CHAR('+');
+        SERIAL_PROTOCOL_F(endstop_adj[A_AXIS], 2);
+        SERIAL_PROTOCOLPGM("  Ey:");
+        if (endstop_adj[B_AXIS] >= 0) SERIAL_CHAR('+');
+        SERIAL_PROTOCOL_F(endstop_adj[B_AXIS], 2);
+        SERIAL_PROTOCOLPGM("  Ez:");
+        if (endstop_adj[C_AXIS] >= 0) SERIAL_CHAR('+');
+        SERIAL_PROTOCOL_F(endstop_adj[C_AXIS], 2);
+        SERIAL_PROTOCOLPAIR("    Radius:", delta_radius);
+      }
+      SERIAL_EOL;
+
+      #if ENABLED(Z_PROBE_SLED)
+        DEPLOY_PROBE();
+      #endif
+
+      float test_precision;
+      int8_t iterations = 0;
+
+      do { // start iterations
+
+        setup_for_endstop_or_probe_move();
+
+        test_precision =
+          #if ENABLED(DELTA_CALIBRATE_EXPERT_MODE)
+            // Expert mode : forced end at std_dev < 0.1
+            (verbose_level == 3 && zero_std_dev < 0.1) ? 0.0 :
+          #endif
+          zero_std_dev
+        ;
+
+        float z_at_pt[13] = { 0 };
+
+        iterations++;
+
+        // probe the points
+
+        int16_t center_points = 0;
+
+        if (probe_points != 3) {
+          z_at_pt[0] += probe_pt(0.0, 0.0 , true, 1);
+          center_points = 1;
+        }
+
+        int16_t step_axis = 4;
+        if (probe_points >= 3) {
+          for (int8_t axis = 9; axis > 0; axis -= step_axis) { // uint8_t starts endless loop
+            z_at_pt[0] += probe_pt(
+              0.1 * cos(RADIANS(180 + 30 * axis)) * (DELTA_CALIBRATION_RADIUS),
+              0.1 * sin(RADIANS(180 + 30 * axis)) * (DELTA_CALIBRATION_RADIUS), true, 1);
+          }
+          center_points += 3;
+          z_at_pt[0] /= center_points;
+        }
+
+        float S1 = z_at_pt[0], S2 = sq(S1);
+
+        int16_t N = 1, start = (probe_points == -2) ? 3 : 1;
+        step_axis = (abs(probe_points) == 2) ? 4 : (probe_points == 3) ? 2 : 1;
+
+        if (probe_points != 1) {
+          for (uint8_t axis = start; axis < 13; axis += step_axis)
+            z_at_pt[axis] += probe_pt(
+              cos(RADIANS(180 + 30 * axis)) * (DELTA_CALIBRATION_RADIUS),
+              sin(RADIANS(180 + 30 * axis)) * (DELTA_CALIBRATION_RADIUS), true, 1
+            );
+
+          if (probe_points == 4) step_axis = 2;
+        }
+
+        for (uint8_t axis = start; axis < 13; axis += step_axis) {
+          if (probe_points == 4)
+            z_at_pt[axis] = (z_at_pt[axis] + (z_at_pt[axis + 1] + z_at_pt[(axis + 10) % 12 + 1]) / 2.0) / 2.0;
+
+          S1 += z_at_pt[axis];
+          S2 += sq(z_at_pt[axis]);
+          N++;
+        }
+        zero_std_dev = round(sqrt(S2 / N) * 1000.0) / 1000.0 + 0.00001; // deviation from zero plane
+
+        // Solve matrices
+
+        if (zero_std_dev < test_precision) {
+          COPY(e_old, endstop_adj);
+          dr_old = delta_radius;
+          zh_old = home_offset[Z_AXIS];
+
+          float e_delta[XYZ] = { 0.0 }, r_delta = 0.0;
+
+          #if ENABLED(DELTA_CALIBRATE_EXPERT_MODE)
+            float h_f_new = 0.0, r_f_new = 0.0 , t_f_new = 0.0,
+                  h_diff = 0.00, r_diff = 0.00;
+          #endif
+
+          #define ZP(N,I) ((N) * z_at_pt[I])
+          #define Z1000(I) ZP(1.00, I)
+          #define Z1050(I) ZP(H_FACTOR, I)
+          #define Z0700(I) ZP((H_FACTOR) * 2.0 / 3.00, I)
+          #define Z0350(I) ZP((H_FACTOR) / 3.00, I)
+          #define Z0175(I) ZP((H_FACTOR) / 6.00, I)
+          #define Z2250(I) ZP(R_FACTOR, I)
+          #define Z0750(I) ZP((R_FACTOR) / 3.00, I)
+          #define Z0375(I) ZP((R_FACTOR) / 6.00, I)
+
+          switch (probe_points) {
+            case 1:
+              LOOP_XYZ(i) e_delta[i] = Z1000(0);
+              r_delta = 0.00;
+              break;
+
+            case 2:
+              e_delta[X_AXIS] = Z1050(0) + Z0700(1) - Z0350(5) - Z0350(9);
+              e_delta[Y_AXIS] = Z1050(0) - Z0350(1) + Z0700(5) - Z0350(9);
+              e_delta[Z_AXIS] = Z1050(0) - Z0350(1) - Z0350(5) + Z0700(9);
+              r_delta         = Z2250(0) - Z0750(1) - Z0750(5) - Z0750(9);
+              break;
+
+            case -2:
+              e_delta[X_AXIS] = Z1050(0) - Z0700(7) + Z0350(11) + Z0350(3);
+              e_delta[Y_AXIS] = Z1050(0) + Z0350(7) - Z0700(11) + Z0350(3);
+              e_delta[Z_AXIS] = Z1050(0) + Z0350(7) + Z0350(11) - Z0700(3);
+              r_delta         = Z2250(0) - Z0750(7) - Z0750(11) - Z0750(3);
+              break;
+
+            default:
+              e_delta[X_AXIS] = Z1050(0) + Z0350(1) - Z0175(5) - Z0175(9) - Z0350(7) + Z0175(11) + Z0175(3);
+              e_delta[Y_AXIS] = Z1050(0) - Z0175(1) + Z0350(5) - Z0175(9) + Z0175(7) - Z0350(11) + Z0175(3);
+              e_delta[Z_AXIS] = Z1050(0) - Z0175(1) - Z0175(5) + Z0350(9) + Z0175(7) + Z0175(11) - Z0350(3);
+              r_delta         = Z2250(0) - Z0375(1) - Z0375(5) - Z0375(9) - Z0375(7) - Z0375(11) - Z0375(3);
+              break;
+          }
+
+          #if ENABLED(DELTA_CALIBRATE_EXPERT_MODE)
+            // Calculate h & r factors
+            if (verbose_level == 3) {
+              LOOP_XYZ(axis) h_f_new += e_delta[axis] / 3;
+              r_f_new = r_delta;
+              h_diff = (1.0 / H_FACTOR) * (h_f_old - h_f_new) / h_f_old;
+              if (h_diff < h_diff_min && h_diff > 0.9) h_diff_min = h_diff;
+              if (r_f_old != 0)
+                r_diff = (   0.0301 * sq(R_FACTOR) * R_FACTOR
+                           + 0.311  * sq(R_FACTOR)
+                           + 1.1493 * R_FACTOR
+                           + 1.7952
+                         ) * (r_f_old - r_f_new) / r_f_old;
+              if (r_diff > r_diff_max && r_diff < 0.4444) r_diff_max = r_diff;
+              SERIAL_EOL;
+
+              h_f_old = h_f_new;
+              r_f_old = r_f_new;
+            }
+          #endif // DELTA_CALIBRATE_EXPERT_MODE
+
+          // Adjust delta_height and endstops by the max amount
+          LOOP_XYZ(axis) endstop_adj[axis] += e_delta[axis];
+          delta_radius += r_delta;
+
+          const float z_temp = MAX3(endstop_adj[0], endstop_adj[1], endstop_adj[2]);
+          home_offset[Z_AXIS] -= z_temp;
+          LOOP_XYZ(i) endstop_adj[i] -= z_temp;
+
+          recalc_delta_settings(delta_radius, delta_diagonal_rod);
+        }
+        else { // !iterate
+          // step one back
+          COPY(endstop_adj, e_old);
+          delta_radius = dr_old;
+          home_offset[Z_AXIS] = zh_old;
+
+          recalc_delta_settings(delta_radius, delta_diagonal_rod);
+        }
+
+        // print report
+
+        #if ENABLED(DELTA_CALIBRATE_EXPERT_MODE)
+          if (verbose_level == 3) {
+            const float r_factor =   22.902 * sq(r_diff_max) * r_diff_max
+                                   - 44.988 * sq(r_diff_max)
+                                   + 31.697 * r_diff_max
+                                   - 9.4439;
+            SERIAL_PROTOCOLPAIR("h_factor:", 1.0 / h_diff_min);
+            SERIAL_PROTOCOLPAIR("              r_factor:", r_factor);
+            SERIAL_EOL;
+          }
+        #endif
+        if (verbose_level == 2) {
+          SERIAL_PROTOCOLPGM(".     c:");
+          if (z_at_pt[0] > 0) SERIAL_CHAR('+');
+          SERIAL_PROTOCOL_F(z_at_pt[0], 2);
+          if (probe_points > 1) {
+            SERIAL_PROTOCOLPGM("     x:");
+            if (z_at_pt[1] >= 0) SERIAL_CHAR('+');
+            SERIAL_PROTOCOL_F(z_at_pt[1], 2);
+            SERIAL_PROTOCOLPGM("   y:");
+            if (z_at_pt[5] >= 0) SERIAL_CHAR('+');
+            SERIAL_PROTOCOL_F(z_at_pt[5], 2);
+            SERIAL_PROTOCOLPGM("   z:");
+            if (z_at_pt[9] >= 0) SERIAL_CHAR('+');
+            SERIAL_PROTOCOL_F(z_at_pt[9], 2);
+          }
+          if (probe_points > 0) SERIAL_EOL;
+          if (probe_points > 2 || probe_points == -2) {
+            if (probe_points > 2) SERIAL_PROTOCOLPGM(".            ");
+            SERIAL_PROTOCOLPGM("    yz:");
+            if (z_at_pt[7] >= 0) SERIAL_CHAR('+');
+            SERIAL_PROTOCOL_F(z_at_pt[7], 2);
+            SERIAL_PROTOCOLPGM("  zx:");
+            if (z_at_pt[11] >= 0) SERIAL_CHAR('+');
+            SERIAL_PROTOCOL_F(z_at_pt[11], 2);
+            SERIAL_PROTOCOLPGM("  xy:");
+            if (z_at_pt[3] >= 0) SERIAL_CHAR('+');
+            SERIAL_PROTOCOL_F(z_at_pt[3], 2);
+            SERIAL_EOL;
+          }
+        }
+        if (test_precision != 0.0) {            // !forced end
+          if (zero_std_dev >= test_precision) {
+            SERIAL_PROTOCOLPGM("Calibration OK");
+            SERIAL_PROTOCOLLNPGM("                                   rolling back 1");
+            LCD_MESSAGEPGM("Calibration OK");
+            SERIAL_EOL;
+          }
+          else {                                // !end iterations
+            char mess[15] = "No convergence";
+            if (iterations < 31)
+              sprintf_P(mess, PSTR("Iteration : %02i"), (int)iterations);
+            SERIAL_PROTOCOL(mess);
+            SERIAL_PROTOCOLPGM("                                   std dev:");
+            SERIAL_PROTOCOL_F(zero_std_dev, 3);
+            SERIAL_EOL;
+            lcd_setstatus(mess);
+          }
+          SERIAL_PROTOCOLPAIR("Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
+          if (abs(probe_points) > 1) {
+            SERIAL_PROTOCOLPGM("    Ex:");
+            if (endstop_adj[A_AXIS] >= 0) SERIAL_CHAR('+');
+            SERIAL_PROTOCOL_F(endstop_adj[A_AXIS], 2);
+            SERIAL_PROTOCOLPGM("  Ey:");
+            if (endstop_adj[B_AXIS] >= 0) SERIAL_CHAR('+');
+            SERIAL_PROTOCOL_F(endstop_adj[B_AXIS], 2);
+            SERIAL_PROTOCOLPGM("  Ez:");
+            if (endstop_adj[C_AXIS] >= 0) SERIAL_CHAR('+');
+            SERIAL_PROTOCOL_F(endstop_adj[C_AXIS], 2);
+            SERIAL_PROTOCOLPAIR("    Radius:", delta_radius);
+          }
+          SERIAL_EOL;
+          if (zero_std_dev >= test_precision)
+            SERIAL_PROTOCOLLNPGM("Save with M500");
+        }
+        else {                                  // forced end
+          #if ENABLED(DELTA_CALIBRATE_EXPERT_MODE)
+            if (verbose_level == 3)
+              SERIAL_PROTOCOLLNPGM("Copy to Configuration_adv.h");
+            else
+          #endif
+            {
+              SERIAL_PROTOCOLPGM("End DRY-RUN                                      std dev:");
+              SERIAL_PROTOCOL_F(zero_std_dev, 3);
+              SERIAL_EOL;
+            }
+        }
+
+        clean_up_after_endstop_or_probe_move();
+        stepper.synchronize();
+
+        gcode_G28();
+
+      } while (zero_std_dev < test_precision && iterations < 31);
+
+      #if ENABLED(Z_PROBE_SLED)
+        RETRACT_PROBE();
+      #endif
+    }
+
+  #endif // DELTA_AUTO_CALIBRATION
+
 #endif // HAS_BED_PROBE
 
+
 #if ENABLED(G38_PROBE_TARGET)
 
   static bool G38_run_probe() {
@@ -4996,7 +5381,7 @@ inline void gcode_G92() {
         current_position[i] = code_value_axis_units(i);
         if (i != E_AXIS) didXYZ = true;
       #else
-        #if DISABLED(NO_WORKSPACE_OFFSETS)
+        #if HAS_POSITION_SHIFT
           float p = current_position[i];
         #endif
         float v = code_value_axis_units(i);
@@ -5005,7 +5390,7 @@ inline void gcode_G92() {
 
         if (i != E_AXIS) {
           didXYZ = true;
-          #if DISABLED(NO_WORKSPACE_OFFSETS)
+          #if HAS_POSITION_SHIFT
             position_shift[i] += v - p; // Offset the coordinate space
             update_software_endstops((AxisEnum)i);
           #endif
@@ -5620,7 +6005,7 @@ inline void gcode_M42() {
 
     if (axis_unhomed_error(true, true, true)) return;
 
-    int8_t verbose_level = code_seen('V') ? code_value_byte() : 1;
+    const int8_t verbose_level = code_seen('V') ? code_value_byte() : 1;
     if (!WITHIN(verbose_level, 0, 4)) {
       SERIAL_PROTOCOLLNPGM("?Verbose Level not plausible (0-4).");
       return;
@@ -7012,7 +7397,7 @@ inline void gcode_M205() {
   if (code_seen('E')) planner.max_jerk[E_AXIS] = code_value_axis_units(E_AXIS);
 }
 
-#if DISABLED(NO_WORKSPACE_OFFSETS)
+#if HAS_M206_COMMAND
 
   /**
    * M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
@@ -7031,12 +7416,13 @@ inline void gcode_M205() {
     report_current_position();
   }
 
-#endif // NO_WORKSPACE_OFFSETS
+#endif // HAS_M206_COMMAND
 
 #if ENABLED(DELTA)
   /**
    * M665: Set delta configurations
    *
+   *    H = diagonal rod // AC-version
    *    L = diagonal rod
    *    R = delta radius
    *    S = segments per second
@@ -7045,6 +7431,12 @@ inline void gcode_M205() {
    *    C = Gamma (Tower 3) diagonal rod trim
    */
   inline void gcode_M665() {
+    if (code_seen('H')) {
+      home_offset[Z_AXIS] = code_value_linear_units() - DELTA_HEIGHT;
+      current_position[Z_AXIS] += code_value_linear_units() - DELTA_HEIGHT - home_offset[Z_AXIS];
+      home_offset[Z_AXIS] = code_value_linear_units() - DELTA_HEIGHT;
+      update_software_endstops(Z_AXIS);
+    }
     if (code_seen('L')) delta_diagonal_rod = code_value_linear_units();
     if (code_seen('R')) delta_radius = code_value_linear_units();
     if (code_seen('S')) delta_segments_per_second = code_value_float();
@@ -7903,7 +8295,7 @@ void quickstop_stepper() {
 
 #endif
 
-#if DISABLED(NO_WORKSPACE_OFFSETS)
+#if HAS_M206_COMMAND
 
   /**
    * M428: Set home_offset based on the distance between the
@@ -7945,7 +8337,7 @@ void quickstop_stepper() {
     }
   }
 
-#endif // NO_WORKSPACE_OFFSETS
+#endif // HAS_M206_COMMAND
 
 /**
  * M500: Store settings in EEPROM
@@ -8924,9 +9316,9 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
           // The newly-selected extruder XY is actually at...
           current_position[X_AXIS] += xydiff[X_AXIS];
           current_position[Y_AXIS] += xydiff[Y_AXIS];
-          #if DISABLED(NO_WORKSPACE_OFFSETS) || ENABLED(DUAL_X_CARRIAGE)
+          #if HAS_WORKSPACE_OFFSET || ENABLED(DUAL_X_CARRIAGE)
             for (uint8_t i = X_AXIS; i <= Y_AXIS; i++) {
-              #if DISABLED(NO_WORKSPACE_OFFSETS)
+              #if HAS_POSITION_SHIFT
                 position_shift[i] += xydiff[i];
               #endif
               update_software_endstops((AxisEnum)i);
@@ -9192,6 +9584,15 @@ void process_next_command() {
               break;
 
         #endif // Z_PROBE_SLED
+
+        #if ENABLED(DELTA_AUTO_CALIBRATION)
+
+          case 33: // G33: Delta Auto Calibrate
+            gcode_G33();
+            break;
+
+        #endif // DELTA_AUTO_CALIBRATION
+
       #endif // HAS_BED_PROBE
 
       #if ENABLED(G38_PROBE_TARGET)
@@ -9509,7 +9910,7 @@ void process_next_command() {
         gcode_M205();
         break;
 
-      #if DISABLED(NO_WORKSPACE_OFFSETS)
+      #if HAS_M206_COMMAND
         case 206: // M206: Set home offsets
           gcode_M206();
           break;
@@ -9677,7 +10078,7 @@ void process_next_command() {
           break;
       #endif
 
-      #if DISABLED(NO_WORKSPACE_OFFSETS)
+      #if HAS_M206_COMMAND
         case 428: // M428: Apply current_position to home_offset
           gcode_M428();
           break;
@@ -10198,8 +10599,8 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
    * splitting the move where it crosses mesh borders.
    */
   void mesh_line_to_destination(float fr_mm_s, uint8_t x_splits = 0xff, uint8_t y_splits = 0xff) {
-    int cx1 = mbl.cell_index_x(RAW_CURRENT_POSITION(X_AXIS)),
+    int cx1 = mbl.cell_index_x(RAW_CURRENT_POSITION(X)),
-        cy1 = mbl.cell_index_y(RAW_CURRENT_POSITION(Y_AXIS)),
+        cy1 = mbl.cell_index_y(RAW_CURRENT_POSITION(Y)),
         cx2 = mbl.cell_index_x(RAW_X_POSITION(destination[X_AXIS])),
         cy2 = mbl.cell_index_y(RAW_Y_POSITION(destination[Y_AXIS]));
     NOMORE(cx1, GRID_MAX_POINTS_X - 2);
@@ -11043,6 +11444,9 @@ void disable_all_steppers() {
       #if ENABLED(E3_IS_TMC2130)
         automatic_current_control(stepperE3);
       #endif
+      #if ENABLED(E4_IS_TMC2130)
+        automatic_current_control(stepperE4);
+      #endif
     }
   }
 
@@ -11410,7 +11814,7 @@ void setup() {
   // This also updates variables in the planner, elsewhere
   (void)settings.load();
 
-  #if DISABLED(NO_WORKSPACE_OFFSETS)
+  #if HAS_M206_COMMAND
     // Initialize current position based on home_offset
     COPY(current_position, home_offset);
   #else

Marlin/configuration_store.cpp

@@ -47,7 +47,7 @@
  *  100  Version                                    (char x4)
  *  104  EEPROM Checksum                            (uint16_t)
  *
- *  106            E_STEPPERS (uint8_t)
+ *  106            E_STEPPERS                       (uint8_t)
  *  107  M92 XYZE  planner.axis_steps_per_mm        (float x4 ... x8)
  *  123  M203 XYZE planner.max_feedrate_mm_s        (float x4 ... x8)
  *  139  M201 XYZE planner.max_acceleration_mm_per_s2 (uint32_t x4 ... x8)
@@ -202,7 +202,7 @@ void MarlinSettings::postprocess() {
 
   calculate_volumetric_multipliers();
 
-  #if DISABLED(NO_WORKSPACE_OFFSETS) || ENABLED(DUAL_X_CARRIAGE) || ENABLED(DELTA)
+  #if HAS_HOME_OFFSET || ENABLED(DUAL_X_CARRIAGE)
     // Software endstops depend on home_offset
     LOOP_XYZ(i) update_software_endstops((AxisEnum)i);
   #endif
@@ -299,10 +299,18 @@ void MarlinSettings::postprocess() {
     EEPROM_WRITE(planner.min_travel_feedrate_mm_s);
     EEPROM_WRITE(planner.min_segment_time);
     EEPROM_WRITE(planner.max_jerk);
-    #if ENABLED(NO_WORKSPACE_OFFSETS)
+    #if !HAS_HOME_OFFSET
-      float home_offset[XYZ] = { 0 };
+      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
@@ -488,7 +496,7 @@ void MarlinSettings::postprocess() {
       EEPROM_WRITE(dummy);
     }
 
-    // Save TCM2130 Configuration, and placeholder values
+    // Save TMC2130 Configuration, and placeholder values
     uint16_t val;
     #if ENABLED(HAVE_TMC2130)
       #if ENABLED(X_IS_TMC2130)
@@ -551,6 +559,12 @@ void MarlinSettings::postprocess() {
         val = 0;
       #endif
       EEPROM_WRITE(val);
+      #if ENABLED(E4_IS_TMC2130)
+        val = stepperE4.getCurrent();
+      #else
+        val = 0;
+      #endif
+      EEPROM_WRITE(val);
     #else
       val = 0;
       for (uint8_t q = 0; q < 11; ++q) EEPROM_WRITE(val);
@@ -639,11 +653,17 @@ void MarlinSettings::postprocess() {
       EEPROM_READ(planner.min_segment_time);
       EEPROM_READ(planner.max_jerk);
 
-      #if ENABLED(NO_WORKSPACE_OFFSETS)
+      #if !HAS_HOME_OFFSET
         float home_offset[XYZ];
       #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
+
       #if HOTENDS > 1
         // Skip hotend 0 which must be 0
         for (uint8_t e = 1; e < HOTENDS; e++)
@@ -979,7 +999,7 @@ void MarlinSettings::reset() {
     planner.z_fade_height = 0.0;
   #endif
 
-  #if DISABLED(NO_WORKSPACE_OFFSETS)
+  #if HAS_HOME_OFFSET
     ZERO(home_offset);
   #endif
 
@@ -1019,7 +1039,10 @@ void MarlinSettings::reset() {
     delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND;
     COPY(delta_diagonal_rod_trim, drt);
     COPY(delta_tower_angle_trim, dta);
+    home_offset[Z_AXIS] = 0;
+
   #elif ENABLED(Z_DUAL_ENDSTOPS)
+
     float z_endstop_adj =
       #ifdef Z_DUAL_ENDSTOPS_ADJUSTMENT
         Z_DUAL_ENDSTOPS_ADJUSTMENT
@@ -1027,6 +1050,7 @@ void MarlinSettings::reset() {
         0
       #endif
     ;
+
   #endif
 
   #if ENABLED(ULTIPANEL)
@@ -1231,7 +1255,7 @@ void MarlinSettings::reset() {
     SERIAL_ECHOPAIR(" E", planner.max_jerk[E_AXIS]);
     SERIAL_EOL;
 
-    #if DISABLED(NO_WORKSPACE_OFFSETS)
+    #if HAS_M206_COMMAND
       CONFIG_ECHO_START;
       if (!forReplay) {
         SERIAL_ECHOLNPGM("Home offset (mm)");
@@ -1346,11 +1370,12 @@ void MarlinSettings::reset() {
       SERIAL_EOL;
       CONFIG_ECHO_START;
       if (!forReplay) {
-        SERIAL_ECHOLNPGM("Delta settings: L=diagonal rod, R=radius, S=segments-per-second, ABC=diagonal rod trim, IJK=tower angle trim");
+        SERIAL_ECHOLNPGM("Delta settings: L=diagonal_rod, R=radius, H=height, S=segments_per_second, ABC=diagonal_rod_trim_tower_[123]");
         CONFIG_ECHO_START;
       }
       SERIAL_ECHOPAIR("  M665 L", delta_diagonal_rod);
       SERIAL_ECHOPAIR(" R", delta_radius);
+      SERIAL_ECHOPAIR(" H", DELTA_HEIGHT + home_offset[Z_AXIS]);
       SERIAL_ECHOPAIR(" S", delta_segments_per_second);
       SERIAL_ECHOPAIR(" A", delta_diagonal_rod_trim[A_AXIS]);
       SERIAL_ECHOPAIR(" B", delta_diagonal_rod_trim[B_AXIS]);

Marlin/example_configurations/Cartesio/Configuration.h

@@ -70,8 +70,8 @@
 //===========================================================================
 //============================= DELTA Printer ===============================
 //===========================================================================
-// For a Delta printer replace the configuration files with the files in the
+// For Delta printers start with one of the configuration files in the
-// example_configurations/delta directory.
+// example_configurations/delta directory and customize for your machine.
 //
 
 //===========================================================================

Marlin/example_configurations/Cartesio/Configuration_adv.h

@@ -674,7 +674,7 @@
 //#define BEZIER_CURVE_SUPPORT
 
 // G38.2 and G38.3 Probe Target
-// ENABLE PROBE_DOUBLE_TOUCH if you want G38 to double touch
+// Enable PROBE_DOUBLE_TOUCH if you want G38 to double touch
 //#define G38_PROBE_TARGET
 #if ENABLED(G38_PROBE_TARGET)
   #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)

Marlin/example_configurations/Felix/Configuration.h

@@ -70,8 +70,8 @@
 //===========================================================================
 //============================= DELTA Printer ===============================
 //===========================================================================
-// For a Delta printer replace the configuration files with the files in the
+// For Delta printers start with one of the configuration files in the
-// example_configurations/delta directory.
+// example_configurations/delta directory and customize for your machine.
 //
 
 //===========================================================================

Marlin/example_configurations/Felix/Configuration_adv.h

@@ -674,7 +674,7 @@
 //#define BEZIER_CURVE_SUPPORT
 
 // G38.2 and G38.3 Probe Target
-// ENABLE PROBE_DOUBLE_TOUCH if you want G38 to double touch
+// Enable PROBE_DOUBLE_TOUCH if you want G38 to double touch
 //#define G38_PROBE_TARGET
 #if ENABLED(G38_PROBE_TARGET)
   #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)

Marlin/example_configurations/Felix/DUAL/Configuration.h

@@ -70,8 +70,8 @@
 //===========================================================================
 //============================= DELTA Printer ===============================
 //===========================================================================
-// For a Delta printer replace the configuration files with the files in the
+// For Delta printers start with one of the configuration files in the
-// example_configurations/delta directory.
+// example_configurations/delta directory and customize for your machine.
 //
 
 //===========================================================================

Marlin/example_configurations/Hephestos/Configuration.h

@@ -70,8 +70,8 @@
 //===========================================================================
 //============================= DELTA Printer ===============================
 //===========================================================================
-// For a Delta printer replace the configuration files with the files in the
+// For Delta printers start with one of the configuration files in the
-// example_configurations/delta directory.
+// example_configurations/delta directory and customize for your machine.
 //
 
 //===========================================================================

Marlin/example_configurations/Hephestos/Configuration_adv.h

@@ -674,7 +674,7 @@
 //#define BEZIER_CURVE_SUPPORT
 
 // G38.2 and G38.3 Probe Target
-// ENABLE PROBE_DOUBLE_TOUCH if you want G38 to double touch
+// Enable PROBE_DOUBLE_TOUCH if you want G38 to double touch
 //#define G38_PROBE_TARGET
 #if ENABLED(G38_PROBE_TARGET)
   #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)

Marlin/example_configurations/Hephestos_2/Configuration.h

@@ -70,8 +70,8 @@
 //===========================================================================
 //============================= DELTA Printer ===============================
 //===========================================================================
-// For a Delta printer replace the configuration files with the files in the
+// For Delta printers start with one of the configuration files in the
-// example_configurations/delta directory.
+// example_configurations/delta directory and customize for your machine.
 //
 
 //===========================================================================

Marlin/example_configurations/Hephestos_2/Configuration_adv.h

@@ -658,7 +658,7 @@
 //#define BEZIER_CURVE_SUPPORT
 
 // G38.2 and G38.3 Probe Target
-// ENABLE PROBE_DOUBLE_TOUCH if you want G38 to double touch
+// Enable PROBE_DOUBLE_TOUCH if you want G38 to double touch
 //#define G38_PROBE_TARGET
 #if ENABLED(G38_PROBE_TARGET)
   #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)

Marlin/example_configurations/K8200/Configuration.h

@@ -86,8 +86,8 @@
 //===========================================================================
 //============================= DELTA Printer ===============================
 //===========================================================================
-// For a Delta printer replace the configuration files with the files in the
+// For Delta printers start with one of the configuration files in the
-// example_configurations/delta directory.
+// example_configurations/delta directory and customize for your machine.
 //
 
 //===========================================================================

Marlin/example_configurations/K8200/Configuration_adv.h

@@ -687,7 +687,7 @@
 //#define BEZIER_CURVE_SUPPORT
 
 // G38.2 and G38.3 Probe Target
-// ENABLE PROBE_DOUBLE_TOUCH if you want G38 to double touch
+// Enable PROBE_DOUBLE_TOUCH if you want G38 to double touch
 //#define G38_PROBE_TARGET
 #if ENABLED(G38_PROBE_TARGET)
   #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)

Marlin/example_configurations/K8400/Configuration.h

@@ -70,8 +70,8 @@
 //===========================================================================
 //============================= DELTA Printer ===============================
 //===========================================================================
-// For a Delta printer replace the configuration files with the files in the
+// For Delta printers start with one of the configuration files in the
-// example_configurations/delta directory.
+// example_configurations/delta directory and customize for your machine.
 //
 
 //===========================================================================

Marlin/example_configurations/K8400/Configuration_adv.h

@@ -674,7 +674,7 @@
 //#define BEZIER_CURVE_SUPPORT
 
 // G38.2 and G38.3 Probe Target
-// ENABLE PROBE_DOUBLE_TOUCH if you want G38 to double touch
+// Enable PROBE_DOUBLE_TOUCH if you want G38 to double touch
 //#define G38_PROBE_TARGET
 #if ENABLED(G38_PROBE_TARGET)
   #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)

Marlin/example_configurations/K8400/Dual-head/Configuration.h

@@ -70,8 +70,8 @@
 //===========================================================================
 //============================= DELTA Printer ===============================
 //===========================================================================
-// For a Delta printer replace the configuration files with the files in the
+// For Delta printers start with one of the configuration files in the
-// example_configurations/delta directory.
+// example_configurations/delta directory and customize for your machine.
 //
 
 //===========================================================================

Marlin/example_configurations/RepRapWorld/Megatronics/Configuration.h

@@ -70,8 +70,8 @@
 //===========================================================================
 //============================= DELTA Printer ===============================
 //===========================================================================
-// For a Delta printer replace the configuration files with the files in the
+// For Delta printers start with one of the configuration files in the
-// example_configurations/delta directory.
+// example_configurations/delta directory and customize for your machine.
 //
 
 //===========================================================================

Marlin/example_configurations/RigidBot/Configuration.h

@@ -70,8 +70,8 @@
 //===========================================================================
 //============================= DELTA Printer ===============================
 //===========================================================================
-// For a Delta printer replace the configuration files with the files in the
+// For Delta printers start with one of the configuration files in the
-// example_configurations/delta directory.
+// example_configurations/delta directory and customize for your machine.
 //
 
 //===========================================================================

Marlin/example_configurations/RigidBot/Configuration_adv.h

@@ -674,7 +674,7 @@
 //#define BEZIER_CURVE_SUPPORT
 
 // G38.2 and G38.3 Probe Target
-// ENABLE PROBE_DOUBLE_TOUCH if you want G38 to double touch
+// Enable PROBE_DOUBLE_TOUCH if you want G38 to double touch
 //#define G38_PROBE_TARGET
 #if ENABLED(G38_PROBE_TARGET)
   #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)

Marlin/example_configurations/SCARA/Configuration.h

@@ -70,8 +70,8 @@
 //===========================================================================
 //============================= DELTA Printer ===============================
 //===========================================================================
-// For a Delta printer replace the configuration files with the files in the
+// For Delta printers start with one of the configuration files in the
-// example_configurations/delta directory.
+// example_configurations/delta directory and customize for your machine.
 //
 
 //===========================================================================

Marlin/example_configurations/SCARA/Configuration_adv.h

@@ -674,7 +674,7 @@
 //#define BEZIER_CURVE_SUPPORT
 
 // G38.2 and G38.3 Probe Target
-// ENABLE PROBE_DOUBLE_TOUCH if you want G38 to double touch
+// Enable PROBE_DOUBLE_TOUCH if you want G38 to double touch
 //#define G38_PROBE_TARGET
 #if ENABLED(G38_PROBE_TARGET)
   #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)

Marlin/example_configurations/TAZ4/Configuration.h

@@ -70,8 +70,8 @@
 //===========================================================================
 //============================= DELTA Printer ===============================
 //===========================================================================
-// For a Delta printer replace the configuration files with the files in the
+// For Delta printers start with one of the configuration files in the
-// example_configurations/delta directory.
+// example_configurations/delta directory and customize for your machine.
 //
 
 //===========================================================================

Marlin/example_configurations/TAZ4/Configuration_adv.h

@@ -682,7 +682,7 @@
 //#define BEZIER_CURVE_SUPPORT
 
 // G38.2 and G38.3 Probe Target
-// ENABLE PROBE_DOUBLE_TOUCH if you want G38 to double touch
+// Enable PROBE_DOUBLE_TOUCH if you want G38 to double touch
 //#define G38_PROBE_TARGET
 #if ENABLED(G38_PROBE_TARGET)
   #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)

Marlin/example_configurations/TinyBoy2/Configuration.h

@@ -86,8 +86,8 @@
 //===========================================================================
 //============================= DELTA Printer ===============================
 //===========================================================================
-// For a Delta printer replace the configuration files with the files in the
+// For Delta printers start with one of the configuration files in the
-// example_configurations/delta directory.
+// example_configurations/delta directory and customize for your machine.
 //
 
 //===========================================================================

Marlin/example_configurations/TinyBoy2/Configuration_adv.h

@@ -677,7 +677,7 @@
 //#define BEZIER_CURVE_SUPPORT
 
 // G38.2 and G38.3 Probe Target
-// ENABLE PROBE_DOUBLE_TOUCH if you want G38 to double touch
+// Enable PROBE_DOUBLE_TOUCH if you want G38 to double touch
 //#define G38_PROBE_TARGET
 #if ENABLED(G38_PROBE_TARGET)
   #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)
@@ -971,14 +971,14 @@
 
 #endif // ENABLED(HAVE_TMC2130)
 
+// @section L6470
+
 /**
  * Enable this section if you have L6470 motor drivers.
  * You need to import the L6470 library into the Arduino IDE for this.
  * (https://github.com/ameyer/Arduino-L6470)
  */
 
-// @section l6470
-
 //#define HAVE_L6470DRIVER
 #if ENABLED(HAVE_L6470DRIVER)
 

Marlin/example_configurations/WITBOX/Configuration.h

@@ -70,8 +70,8 @@
 //===========================================================================
 //============================= DELTA Printer ===============================
 //===========================================================================
-// For a Delta printer replace the configuration files with the files in the
+// For Delta printers start with one of the configuration files in the
-// example_configurations/delta directory.
+// example_configurations/delta directory and customize for your machine.
 //
 
 //===========================================================================

Marlin/example_configurations/WITBOX/Configuration_adv.h

@@ -674,7 +674,7 @@
 //#define BEZIER_CURVE_SUPPORT
 
 // G38.2 and G38.3 Probe Target
-// ENABLE PROBE_DOUBLE_TOUCH if you want G38 to double touch
+// Enable PROBE_DOUBLE_TOUCH if you want G38 to double touch
 //#define G38_PROBE_TARGET
 #if ENABLED(G38_PROBE_TARGET)
   #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)

Marlin/example_configurations/adafruit/ST7565/Configuration.h

@@ -70,8 +70,8 @@
 //===========================================================================
 //============================= DELTA Printer ===============================
 //===========================================================================
-// For a Delta printer replace the configuration files with the files in the
+// For Delta printers start with one of the configuration files in the
-// example_configurations/delta directory.
+// example_configurations/delta directory and customize for your machine.
 //
 
 //===========================================================================

Marlin/example_configurations/delta/FLSUN/kossel_mini/Configuration.h

@@ -1,4 +1,4 @@
-/**
+/**
  * Marlin 3D Printer Firmware
  * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
  *
@@ -70,8 +70,8 @@
 //===========================================================================
 //============================= DELTA Printer ===============================
 //===========================================================================
-// For a Delta printer replace the configuration files with the files in the
+// For Delta printers start with one of the configuration files in the
-// example_configurations/delta directory.
+// example_configurations/delta directory and customize for your machine.
 //
 
 //===========================================================================
@@ -463,16 +463,24 @@
   // Horizontal distance bridged by diagonal push rods when effector is centered.
   #define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET-(DELTA_EFFECTOR_OFFSET)-(DELTA_CARRIAGE_OFFSET))
 
+  // height from z=0.00 to home position
+  #define DELTA_HEIGHT 280 // get this value from auto calibrate
+
   // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
   #define DELTA_PRINTABLE_RADIUS 85.0
 
   // Delta calibration menu
   // uncomment to add three points calibration menu option.
   // See http://minow.blogspot.com/index.html#4918805519571907051
-  // If needed, adjust the X, Y, Z calibration coordinates
-  // in ultralcd.cpp@lcd_delta_calibrate_menu()
   //#define DELTA_CALIBRATION_MENU
 
+  // G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
+  //#define DELTA_AUTO_CALIBRATION
+  #if ENABLED(DELTA_AUTO_CALIBRATION)
+    #define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (1-4)
+    #define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 15) // set the radius for the calibration probe points
+  #endif
+
   // After homing move down to a height where XY movement is unconstrained
   //#define DELTA_HOME_TO_SAFE_ZONE
 
@@ -1080,7 +1088,7 @@
 // For DELTA this is the top-center of the Cartesian print volume.
 //#define MANUAL_X_HOME_POS 0
 //#define MANUAL_Y_HOME_POS 0
-#define MANUAL_Z_HOME_POS (286.5 - 6.5) // Distance between the nozzle to printbed after homing
+#define MANUAL_Z_HOME_POS DELTA_HEIGHT // Distance between the nozzle to printbed after homing
 
 // Use "Z Safe Homing" to avoid homing with a Z probe outside the bed area.
 //

Marlin/example_configurations/delta/FLSUN/kossel_mini/Configuration_adv.h

@@ -431,6 +431,25 @@
 // Actual motor currents in Amps, need as many here as DIGIPOT_I2C_NUM_CHANNELS
 #define DIGIPOT_I2C_MOTOR_CURRENTS {1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0}  //  AZTEEG_X3_PRO
 
+//===========================================================================
+//============================== Delta Settings =============================
+//===========================================================================
+
+#if ENABLED(DELTA_AUTO_CALIBRATION)
+  /**
+   * Set the height short (H-10) with M665 Hx.xx.
+   * Set the delta_radius offset (R-5, R-10, R+5, R+10) with M665 Rx.xx.
+   * Run G33 Cx V3 (C2, C-2) with different values for C and R
+   * Take the average for R_FACTOR and maximum for H_FACTOR.
+   * Run the tests with default values!!!
+   */
+  //#define DELTA_CALIBRATE_EXPERT_MODE
+
+  // Remove the comments of the folling 2 lines to overide default values
+  #define H_FACTOR  1.02 //  1.0 < H_FACTOR <  1.11, default  1.00
+  #define R_FACTOR -3.95 // -6.7 < R_FACTOR < -2.25, default -2.25
+#endif
+
 //===========================================================================
 //=============================Additional Features===========================
 //===========================================================================

Marlin/example_configurations/delta/generic/Configuration.h

@@ -1,4 +1,4 @@
-/**
+/**
  * Marlin 3D Printer Firmware
  * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
  *
@@ -70,8 +70,8 @@
 //===========================================================================
 //============================= DELTA Printer ===============================
 //===========================================================================
-// For a Delta printer replace the configuration files with the files in the
+// For Delta printers start with one of the configuration files in the
-// example_configurations/delta directory.
+// example_configurations/delta directory and customize for your machine.
 //
 
 //===========================================================================
@@ -453,6 +453,9 @@
   // Horizontal distance bridged by diagonal push rods when effector is centered.
   #define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET-(DELTA_EFFECTOR_OFFSET)-(DELTA_CARRIAGE_OFFSET))
 
+  // height from z=0.00 to home position
+  #define DELTA_HEIGHT 250 // get this value from auto calibrate
+
   // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
   #define DELTA_PRINTABLE_RADIUS 140.0
 
@@ -460,6 +463,13 @@
   // See http://minow.blogspot.com/index.html#4918805519571907051
   //#define DELTA_CALIBRATION_MENU
 
+  // G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
+  //#define DELTA_AUTO_CALIBRATION
+  #if ENABLED(DELTA_AUTO_CALIBRATION)
+    #define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (1-4)
+    #define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 15) // set the radius for the calibration probe points
+  #endif
+
   // After homing move down to a height where XY movement is unconstrained
   #define DELTA_HOME_TO_SAFE_ZONE
 
@@ -1067,7 +1077,7 @@
 // For DELTA this is the top-center of the Cartesian print volume.
 //#define MANUAL_X_HOME_POS 0
 //#define MANUAL_Y_HOME_POS 0
-#define MANUAL_Z_HOME_POS 250 // Distance between the nozzle to printbed after homing
+#define MANUAL_Z_HOME_POS DELTA_HEIGHT // Distance between the nozzle to printbed after homing
 
 // Use "Z Safe Homing" to avoid homing with a Z probe outside the bed area.
 //

Marlin/example_configurations/delta/generic/Configuration_adv.h

@@ -439,12 +439,13 @@
   /**
    * Set the height short (H-10) with M665 Hx.xx.
    * Set the delta_radius offset (R-5, R-10, R+5, R+10) with M665 Rx.xx.
-   * Run G33 Cx V3 with different values (C2, C-2).
+   * Run G33 Cx V3 (C2, C-2) with different values for C and R
    * Take the average for R_FACTOR and maximum for H_FACTOR.
-   * If R_FACTOR is too low accuracy is reduced. Too high reduces iteration speed.
    * Run the tests with default values!!!
    */
   //#define DELTA_CALIBRATE_EXPERT_MODE
+
+  // Remove the comments of the folling 2 lines to overide default values
   //#define H_FACTOR  1.02 //  1.0 < H_FACTOR <  1.11, default  1.00
   //#define R_FACTOR -3.95 // -6.7 < R_FACTOR < -2.25, default -2.25
 #endif
@@ -694,7 +695,7 @@
 //#define BEZIER_CURVE_SUPPORT
 
 // G38.2 and G38.3 Probe Target
-// ENABLE PROBE_DOUBLE_TOUCH if you want G38 to double touch
+// Enable PROBE_DOUBLE_TOUCH if you want G38 to double touch
 //#define G38_PROBE_TARGET
 #if ENABLED(G38_PROBE_TARGET)
   #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)

Marlin/example_configurations/delta/kossel_mini/Configuration.h

@@ -1,4 +1,4 @@
-/**
+/**
  * Marlin 3D Printer Firmware
  * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
  *
@@ -70,8 +70,8 @@
 //===========================================================================
 //============================= DELTA Printer ===============================
 //===========================================================================
-// For a Delta printer replace the configuration files with the files in the
+// For Delta printers start with one of the configuration files in the
-// example_configurations/delta directory.
+// example_configurations/delta directory and customize for your machine.
 //
 
 //===========================================================================
@@ -453,6 +453,9 @@
   // Horizontal distance bridged by diagonal push rods when effector is centered.
   #define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET-(DELTA_EFFECTOR_OFFSET)-(DELTA_CARRIAGE_OFFSET))
 
+  // height from z=0.00 to home position
+  #define DELTA_HEIGHT 250 // get this value from auto calibrate
+
   // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
   #define DELTA_PRINTABLE_RADIUS 90.0
 
@@ -460,6 +463,13 @@
   // See http://minow.blogspot.com/index.html#4918805519571907051
   //#define DELTA_CALIBRATION_MENU
 
+  // G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
+  //#define DELTA_AUTO_CALIBRATION
+  #if ENABLED(DELTA_AUTO_CALIBRATION)
+    #define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (1-4)
+    #define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 15) // set the radius for the calibration probe points
+  #endif
+
   // After homing move down to a height where XY movement is unconstrained
   #define DELTA_HOME_TO_SAFE_ZONE
 
@@ -1063,7 +1073,7 @@
 // For DELTA this is the top-center of the Cartesian print volume.
 //#define MANUAL_X_HOME_POS 0
 //#define MANUAL_Y_HOME_POS 0
-#define MANUAL_Z_HOME_POS 250 // Distance between the nozzle to printbed after homing
+#define MANUAL_Z_HOME_POS DELTA_HEIGHT // Distance between the nozzle to printbed after homing
 
 // Use "Z Safe Homing" to avoid homing with a Z probe outside the bed area.
 //

Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h

@@ -439,12 +439,13 @@
   /**
    * Set the height short (H-10) with M665 Hx.xx.
    * Set the delta_radius offset (R-5, R-10, R+5, R+10) with M665 Rx.xx.
-   * Run G33 Cx V3 with different values (C2, C-2).
+   * Run G33 Cx V3 (C2, C-2) with different values for C and R
    * Take the average for R_FACTOR and maximum for H_FACTOR.
-   * If R_FACTOR is too low accuracy is reduced. Too high reduces iteration speed.
    * Run the tests with default values!!!
    */
   //#define DELTA_CALIBRATE_EXPERT_MODE
+
+  // Remove the comments of the folling 2 lines to overide default values
   //#define H_FACTOR  1.02 //  1.0 < H_FACTOR <  1.11, default  1.00
   //#define R_FACTOR -3.95 // -6.7 < R_FACTOR < -2.25, default -2.25
 #endif
@@ -694,7 +695,7 @@
 //#define BEZIER_CURVE_SUPPORT
 
 // G38.2 and G38.3 Probe Target
-// ENABLE PROBE_DOUBLE_TOUCH if you want G38 to double touch
+// Enable PROBE_DOUBLE_TOUCH if you want G38 to double touch
 //#define G38_PROBE_TARGET
 #if ENABLED(G38_PROBE_TARGET)
   #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)

Marlin/example_configurations/delta/kossel_pro/Configuration.h

@@ -1,4 +1,4 @@
-/**
+/**
  * Marlin 3D Printer Firmware
  * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
  *
@@ -74,8 +74,8 @@
 //===========================================================================
 //============================= DELTA Printer ===============================
 //===========================================================================
-// For a Delta printer replace the configuration files with the files in the
+// For Delta printers start with one of the configuration files in the
-// example_configurations/delta directory.
+// example_configurations/delta directory and customize for your machine.
 //
 
 //===========================================================================
@@ -440,6 +440,9 @@
   // Horizontal distance bridged by diagonal push rods when effector is centered.
   #define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET-(DELTA_EFFECTOR_OFFSET)-(DELTA_CARRIAGE_OFFSET))
 
+  // height from z=0.00 to home position
+  #define DELTA_HEIGHT 277 // get this value from auto calibrate
+
   // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
   #define DELTA_PRINTABLE_RADIUS 127.0
 
@@ -447,6 +450,13 @@
   // See http://minow.blogspot.com/index.html#4918805519571907051
   //#define DELTA_CALIBRATION_MENU
 
+  // G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
+  //#define DELTA_AUTO_CALIBRATION
+  #if ENABLED(DELTA_AUTO_CALIBRATION)
+    #define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (1-4)
+    #define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 15) // set the radius for the calibration probe points
+  #endif
+
   // After homing move down to a height where XY movement is unconstrained
   #define DELTA_HOME_TO_SAFE_ZONE
 
@@ -1071,7 +1081,7 @@
 // For DELTA this is the top-center of the Cartesian print volume.
 //#define MANUAL_X_HOME_POS 0
 //#define MANUAL_Y_HOME_POS 0
-#define MANUAL_Z_HOME_POS 277 // Distance between the nozzle to printbed after homing
+#define MANUAL_Z_HOME_POS DELTA_HEIGHT // Distance between the nozzle to printbed after homing
 
 // Use "Z Safe Homing" to avoid homing with a Z probe outside the bed area.
 //

Marlin/example_configurations/delta/kossel_pro/Configuration_adv.h

@@ -436,6 +436,26 @@
 // Actual motor currents in Amps, need as many here as DIGIPOT_I2C_NUM_CHANNELS
 #define DIGIPOT_I2C_MOTOR_CURRENTS {1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0}  //  AZTEEG_X3_PRO
 
+//===========================================================================
+//============================== Delta Settings =============================
+//===========================================================================
+
+#if ENABLED(DELTA_AUTO_CALIBRATION)
+  /**
+   * Set the height short (H-10) with M665 Hx.xx.
+   * Set the delta_radius offset (R-5, R-10, R+5, R+10) with M665 Rx.xx.
+   * Run G33 Cx V3 (C2, C-2) with different values for C and R
+   * Take the average for R_FACTOR and maximum for H_FACTOR.
+   * Run the tests with default values!!!
+   */
+  //#define DELTA_CALIBRATE_EXPERT_MODE
+
+  // Remove the comments of the folling 2 lines to overide default values
+  //#define H_FACTOR  1.02 //  1.0 < H_FACTOR <  1.11, default  1.00
+  //#define R_FACTOR -3.95 // -6.7 < R_FACTOR < -2.25, default -2.25
+#endif
+
+
 //===========================================================================
 //=============================Additional Features===========================
 //===========================================================================
@@ -681,7 +701,7 @@
 //#define BEZIER_CURVE_SUPPORT
 
 // G38.2 and G38.3 Probe Target
-// ENABLE PROBE_DOUBLE_TOUCH if you want G38 to double touch
+// Enable PROBE_DOUBLE_TOUCH if you want G38 to double touch
 //#define G38_PROBE_TARGET
 #if ENABLED(G38_PROBE_TARGET)
   #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)

Marlin/example_configurations/delta/kossel_xl/Configuration.h

@@ -1,4 +1,4 @@
-/**
+/**
  * Marlin 3D Printer Firmware
  * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
  *
@@ -70,8 +70,8 @@
 //===========================================================================
 //============================= DELTA Printer ===============================
 //===========================================================================
-// For a Delta printer replace the configuration files with the files in the
+// For Delta printers start with one of the configuration files in the
-// example_configurations/delta directory.
+// example_configurations/delta directory and customize for your machine.
 //
 
 //===========================================================================
@@ -458,6 +458,9 @@
   // Horizontal distance bridged by diagonal push rods when effector is centered.
   #define DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET-(DELTA_EFFECTOR_OFFSET)-(DELTA_CARRIAGE_OFFSET) + 1)
 
+  // height from z=0.00 to home position
+  #define DELTA_HEIGHT 380 // get this value from auto calibrate
+
   // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
   #define DELTA_PRINTABLE_RADIUS 140.0
 
@@ -465,6 +468,13 @@
   // See http://minow.blogspot.com/index.html#4918805519571907051
   //#define DELTA_CALIBRATION_MENU
 
+  // G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
+  //#define DELTA_AUTO_CALIBRATION
+  #if ENABLED(DELTA_AUTO_CALIBRATION)
+    #define DELTA_CALIBRATION_DEFAULT_POINTS 3 // set the default number of probe points : n*n (1-4)
+    #define DELTA_CALIBRATION_RADIUS (DELTA_PRINTABLE_RADIUS - 15) // set the radius for the calibration probe points
+  #endif
+
   // After homing move down to a height where XY movement is unconstrained
   #define DELTA_HOME_TO_SAFE_ZONE
 
@@ -1078,7 +1088,7 @@
 // For DELTA this is the top-center of the Cartesian print volume.
 //#define MANUAL_X_HOME_POS 0
 //#define MANUAL_Y_HOME_POS 0
-#define MANUAL_Z_HOME_POS 381.4 // Distance between the nozzle to printbed after homing
+#define MANUAL_Z_HOME_POS DELTA_HEIGHT // Distance between the nozzle to printbed after homing
 
 // Use "Z Safe Homing" to avoid homing with a Z probe outside the bed area.
 //

Marlin/example_configurations/delta/kossel_xl/Configuration_adv.h

@@ -1,4 +1,4 @@
-/**
+/**
  * Marlin 3D Printer Firmware
  * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
  *
@@ -431,6 +431,25 @@
 // Actual motor currents in Amps, need as many here as DIGIPOT_I2C_NUM_CHANNELS
 #define DIGIPOT_I2C_MOTOR_CURRENTS {1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0}  //  AZTEEG_X3_PRO
 
+//===========================================================================
+//============================== Delta Settings =============================
+//===========================================================================
+
+#if ENABLED(DELTA_AUTO_CALIBRATION)
+  /**
+   * Set the height short (H-10) with M665 Hx.xx.
+   * Set the delta_radius offset (R-5, R-10, R+5, R+10) with M665 Rx.xx.
+   * Run G33 Cx V3 (C2, C-2) with different values for C and R
+   * Take the average for R_FACTOR and maximum for H_FACTOR.
+   * Run the tests with default values!!!
+   */
+  //#define DELTA_CALIBRATE_EXPERT_MODE
+
+  // Remove the comments of the folling 2 lines to overide default values
+  //#define H_FACTOR  1.02 //  1.0 < H_FACTOR <  1.11, default  1.00
+  //#define R_FACTOR -3.95 // -6.7 < R_FACTOR < -2.25, default -2.25
+#endif
+
 //===========================================================================
 //=============================Additional Features===========================
 //===========================================================================
@@ -676,7 +695,7 @@
 //#define BEZIER_CURVE_SUPPORT
 
 // G38.2 and G38.3 Probe Target
-// ENABLE PROBE_DOUBLE_TOUCH if you want G38 to double touch
+// Enable PROBE_DOUBLE_TOUCH if you want G38 to double touch
 //#define G38_PROBE_TARGET
 #if ENABLED(G38_PROBE_TARGET)
   #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)

Marlin/example_configurations/makibox/Configuration.h

@@ -70,8 +70,8 @@
 //===========================================================================
 //============================= DELTA Printer ===============================
 //===========================================================================
-// For a Delta printer replace the configuration files with the files in the
+// For Delta printers start with one of the configuration files in the
-// example_configurations/delta directory.
+// example_configurations/delta directory and customize for your machine.
 //
 
 //===========================================================================

Marlin/example_configurations/makibox/Configuration_adv.h

@@ -674,7 +674,7 @@
 //#define BEZIER_CURVE_SUPPORT
 
 // G38.2 and G38.3 Probe Target
-// ENABLE PROBE_DOUBLE_TOUCH if you want G38 to double touch
+// Enable PROBE_DOUBLE_TOUCH if you want G38 to double touch
 //#define G38_PROBE_TARGET
 #if ENABLED(G38_PROBE_TARGET)
   #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)

Marlin/example_configurations/tvrrug/Round2/Configuration.h

@@ -70,8 +70,8 @@
 //===========================================================================
 //============================= DELTA Printer ===============================
 //===========================================================================
-// For a Delta printer replace the configuration files with the files in the
+// For Delta printers start with one of the configuration files in the
-// example_configurations/delta directory.
+// example_configurations/delta directory and customize for your machine.
 //
 
 //===========================================================================

Marlin/example_configurations/tvrrug/Round2/Configuration_adv.h

@@ -674,7 +674,7 @@
 //#define BEZIER_CURVE_SUPPORT
 
 // G38.2 and G38.3 Probe Target
-// ENABLE PROBE_DOUBLE_TOUCH if you want G38 to double touch
+// Enable PROBE_DOUBLE_TOUCH if you want G38 to double touch
 //#define G38_PROBE_TARGET
 #if ENABLED(G38_PROBE_TARGET)
   #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)

Marlin/example_configurations/wt150/Configuration.h

@@ -70,8 +70,8 @@
 //===========================================================================
 //============================= DELTA Printer ===============================
 //===========================================================================
-// For a Delta printer replace the configuration files with the files in the
+// For Delta printers start with one of the configuration files in the
-// example_configurations/delta directory.
+// example_configurations/delta directory and customize for your machine.
 //
 
 //===========================================================================

Marlin/example_configurations/wt150/Configuration_adv.h

@@ -677,7 +677,7 @@
 //#define BEZIER_CURVE_SUPPORT
 
 // G38.2 and G38.3 Probe Target
-// ENABLE PROBE_DOUBLE_TOUCH if you want G38 to double touch
+// Enable PROBE_DOUBLE_TOUCH if you want G38 to double touch
 //#define G38_PROBE_TARGET
 #if ENABLED(G38_PROBE_TARGET)
   #define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)
@@ -971,14 +971,14 @@
 
 #endif // ENABLED(HAVE_TMC2130)
 
+// @section L6470
+
 /**
  * Enable this section if you have L6470 motor drivers.
  * You need to import the L6470 library into the Arduino IDE for this.
  * (https://github.com/ameyer/Arduino-L6470)
  */
 
-// @section l6470
-
 //#define HAVE_L6470DRIVER
 #if ENABLED(HAVE_L6470DRIVER)
 

Marlin/language_en.h

@@ -498,6 +498,12 @@
 #ifndef MSG_DELTA_CALIBRATE_CENTER
   #define MSG_DELTA_CALIBRATE_CENTER          _UxGT("Calibrate Center")
 #endif
+#ifndef MSG_DELTA_AUTO_CALIBRATE
+  #define MSG_DELTA_AUTO_CALIBRATE            _UxGT("Auto Calibration")
+#endif
+#ifndef MSG_DELTA_HEIGHT_CALIBRATE
+  #define MSG_DELTA_HEIGHT_CALIBRATE          _UxGT("Set Delta Height")
+#endif
 #ifndef MSG_INFO_MENU
   #define MSG_INFO_MENU                       _UxGT("About Printer")
 #endif

Marlin/ultralcd.cpp

@@ -817,7 +817,7 @@ void kill_screen(const char* lcd_msg) {
    *
    */
 
-  #if DISABLED(NO_WORKSPACE_OFFSETS)
+  #if HAS_M206_COMMAND
     /**
      * Set the home offset based on the current_position
      */
@@ -1672,7 +1672,7 @@ void kill_screen(const char* lcd_msg) {
 
     #endif
 
-    #if DISABLED(NO_WORKSPACE_OFFSETS)
+    #if HAS_M206_COMMAND
       //
       // Set Home Offsets
       //
@@ -1770,14 +1770,20 @@ void kill_screen(const char* lcd_msg) {
       lcd_goto_screen(_lcd_calibrate_homing);
     }
 
+    #if ENABLED(DELTA_AUTO_CALIBRATION)
+      #define _DELTA_TOWER_MOVE_RADIUS DELTA_CALIBRATION_RADIUS
+    #else
+      #define _DELTA_TOWER_MOVE_RADIUS DELTA_PRINTABLE_RADIUS
+    #endif
+
     // Move directly to the tower position with uninterpolated moves
     // If we used interpolated moves it would cause this to become re-entrant
     void _goto_tower_pos(const float &a) {
       current_position[Z_AXIS] = max(Z_HOMING_HEIGHT, Z_CLEARANCE_BETWEEN_PROBES) + (DELTA_PRINTABLE_RADIUS) / 5;
       line_to_current(Z_AXIS);
 
-      current_position[X_AXIS] = a < 0 ? X_HOME_POS : sin(a) * -(DELTA_PRINTABLE_RADIUS);
+      current_position[X_AXIS] = a < 0 ? LOGICAL_X_POSITION(X_HOME_POS) : sin(a) * -(_DELTA_TOWER_MOVE_RADIUS);
-      current_position[Y_AXIS] = a < 0 ? Y_HOME_POS : cos(a) *  (DELTA_PRINTABLE_RADIUS);
+      current_position[Y_AXIS] = a < 0 ? LOGICAL_Y_POSITION(Y_HOME_POS) : cos(a) *  (_DELTA_TOWER_MOVE_RADIUS);
       line_to_current(Z_AXIS);
 
       current_position[Z_AXIS] = 4.0;
@@ -1797,6 +1803,10 @@ void kill_screen(const char* lcd_msg) {
     void lcd_delta_calibrate_menu() {
       START_MENU();
       MENU_BACK(MSG_MAIN);
+      #if ENABLED(DELTA_AUTO_CALIBRATION)
+        MENU_ITEM(gcode, MSG_DELTA_AUTO_CALIBRATE, PSTR("G33 C"));
+        MENU_ITEM(gcode, MSG_DELTA_HEIGHT_CALIBRATE, PSTR("G33 C1"));
+      #endif
       MENU_ITEM(submenu, MSG_AUTO_HOME, _lcd_delta_calibrate_home);
       if (axis_homed[Z_AXIS]) {
         MENU_ITEM(submenu, MSG_DELTA_CALIBRATE_X, _goto_tower_x);

buildroot/share/git/firstpush

@@ -1,3 +1,26 @@
 #!/usr/bin/env bash
+#
+# firstpush
+#
+# Push a branch to 'origin' and open the
+# commit log to watch Travis CI progress.
+#
 
-git push --set-upstream origin `git branch | grep \* | sed 's/\* //g'`
+MFINFO=$(mfinfo) || exit
+IFS=' ' read -a INFO <<< "$MFINFO"
+FORK=${INFO[1]}
+REPO=${INFO[2]}
+BRANCH=${INFO[4]}
+
+git push --set-upstream origin $BRANCH
+
+TOOL=$(which gnome-open xdg-open open | awk '{ print $1 }')
+URL="https://github.com/$FORK/$REPO/commits/$BRANCH"
+
+if [ -z "$TOOL" ]; then
+  echo "Can't find a tool to open the URL:"
+  echo $URL
+else
+  echo "Viewing commits on $BRANCH..."
+  "$TOOL" "$URL"
+fi