add command M666 for adjusting delta printer endstop position

Marlin/ConfigurationStore.cpp

@@ -37,7 +37,7 @@ void _EEPROM_readData(int &pos, uint8_t* value, uint8_t size)
 // the default values are used whenever there is a change to the data, to prevent
 // wrong data being written to the variables.
 // ALSO:  always make sure the variables in the Store and retrieve sections are in the same order.
-#define EEPROM_VERSION "V08"
+#define EEPROM_VERSION "V09"
 
 #ifdef EEPROM_SETTINGS
 void Config_StoreSettings() 
@@ -57,6 +57,9 @@ void Config_StoreSettings()
   EEPROM_WRITE_VAR(i,max_z_jerk);
   EEPROM_WRITE_VAR(i,max_e_jerk);
   EEPROM_WRITE_VAR(i,add_homeing);
+  #ifdef DELTA
+  EEPROM_WRITE_VAR(i,endstop_adj);
+  #endif
   #ifndef ULTIPANEL
   int plaPreheatHotendTemp = PLA_PREHEAT_HOTEND_TEMP, plaPreheatHPBTemp = PLA_PREHEAT_HPB_TEMP, plaPreheatFanSpeed = PLA_PREHEAT_FAN_SPEED;
   int absPreheatHotendTemp = ABS_PREHEAT_HOTEND_TEMP, absPreheatHPBTemp = ABS_PREHEAT_HPB_TEMP, absPreheatFanSpeed = ABS_PREHEAT_FAN_SPEED;
@@ -145,6 +148,15 @@ void Config_PrintSettings()
     SERIAL_ECHOPAIR(" Y" ,add_homeing[1] );
     SERIAL_ECHOPAIR(" Z" ,add_homeing[2] );
     SERIAL_ECHOLN("");
+#ifdef DELTA
+    SERIAL_ECHO_START;
+    SERIAL_ECHOLNPGM("Endstop adjustement (mm):");
+    SERIAL_ECHO_START;
+    SERIAL_ECHOPAIR("  M666 X",endstop_adj[0] );
+    SERIAL_ECHOPAIR(" Y" ,endstop_adj[1] );
+    SERIAL_ECHOPAIR(" Z" ,endstop_adj[2] );
+    SERIAL_ECHOLN("");
+#endif
 #ifdef PIDTEMP
     SERIAL_ECHO_START;
     SERIAL_ECHOLNPGM("PID settings:");
@@ -185,6 +197,9 @@ void Config_RetrieveSettings()
         EEPROM_READ_VAR(i,max_z_jerk);
         EEPROM_READ_VAR(i,max_e_jerk);
         EEPROM_READ_VAR(i,add_homeing);
+        #ifdef DELTA
+        EEPROM_READ_VAR(i,endstop_adj);
+        #endif
         #ifndef ULTIPANEL
         int plaPreheatHotendTemp, plaPreheatHPBTemp, plaPreheatFanSpeed;
         int absPreheatHotendTemp, absPreheatHPBTemp, absPreheatFanSpeed;
@@ -244,6 +259,9 @@ void Config_ResetDefault()
     max_z_jerk=DEFAULT_ZJERK;
     max_e_jerk=DEFAULT_EJERK;
     add_homeing[0] = add_homeing[1] = add_homeing[2] = 0;
+#ifdef DELTA
+    endstop_adj[0] = endstop_adj[1] = endstop_adj[2] = 0;
+#endif
 #ifdef ULTIPANEL
     plaPreheatHotendTemp = PLA_PREHEAT_HOTEND_TEMP;
     plaPreheatHPBTemp = PLA_PREHEAT_HPB_TEMP;

Marlin/Marlin.h

@@ -191,6 +191,9 @@ extern int feedmultiply;
 extern int extrudemultiply; // Sets extrude multiply factor (in percent)
 extern float current_position[NUM_AXIS] ;
 extern float add_homeing[3];
+#ifdef DELTA
+extern float endstop_adj[3];
+#endif
 extern float min_pos[3];
 extern float max_pos[3];
 extern int fanSpeed;

Marlin/Marlin_main.cpp

@@ -139,6 +139,7 @@
 // M503 - print the current settings (from memory not from eeprom)
 // M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
 // M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
+// M666 - set delta endstop adjustemnt
 // M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
 // M907 - Set digital trimpot motor current using axis codes.
 // M908 - Control digital trimpot directly.
@@ -167,6 +168,9 @@ int saved_feedmultiply;
 int extrudemultiply=100; //100->1 200->2
 float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
 float add_homeing[3]={0,0,0};
+#ifdef DELTA
+float endstop_adj[3]={0,0,0};
+#endif
 float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
 float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
 
@@ -794,7 +798,15 @@ static void homeaxis(int axis) {
 #endif
     plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
     st_synchronize();
-
+#ifdef DELTA
+    // retrace by the amount specified in endstop_adj
+    if (endstop_adj[axis] * axis_home_dir < 0) {
+      plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+      destination[axis] = endstop_adj[axis];
+      plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
+      st_synchronize();
+    }
+#endif
     axis_is_at_home(axis);
     destination[axis] = current_position[axis];
     feedrate = 0.0;
@@ -1658,6 +1670,14 @@ void process_commands()
         if(code_seen(axis_codes[i])) add_homeing[i] = code_value();
       }
       break;
+    #ifdef DELTA
+    case 666: // M666 set delta endstop adjustemnt
+      for(int8_t i=0; i < 3; i++)
+      {
+        if(code_seen(axis_codes[i])) endstop_adj[i] = code_value();
+      }
+      break;
+    #endif
     #ifdef FWRETRACT
     case 207: //M207 - set retract length S[positive mm] F[feedrate mm/sec] Z[additional zlift/hop]
     {