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- /**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <https://www.gnu.org/licenses/>.
- *
- */
-
- #include "../../inc/MarlinConfig.h"
-
- #if ENABLED(DELTA) || HAS_EXTRA_ENDSTOPS
-
- #include "../gcode.h"
-
- #if ENABLED(DELTA)
- #include "../../module/delta.h"
- #include "../../module/motion.h"
- #else
- #include "../../module/endstops.h"
- #endif
-
- #define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
- #include "../../core/debug_out.h"
-
- #if ENABLED(DELTA)
-
- /**
- * M666: Set delta endstop adjustment
- */
- void GcodeSuite::M666() {
- DEBUG_SECTION(log_M666, "M666", DEBUGGING(LEVELING));
- bool is_err = false, is_set = false;
- LOOP_NUM_AXES(i) {
- if (parser.seenval(AXIS_CHAR(i))) {
- is_set = true;
- const float v = parser.value_linear_units();
- if (v > 0)
- is_err = true;
- else {
- delta_endstop_adj[i] = v;
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("delta_endstop_adj[", AS_CHAR(AXIS_CHAR(i)), "] = ", v);
- }
- }
- }
- if (is_err) SERIAL_ECHOLNPGM("?M666 offsets must be <= 0");
- if (!is_set) M666_report();
- }
-
- void GcodeSuite::M666_report(const bool forReplay/*=true*/) {
- report_heading_etc(forReplay, F(STR_ENDSTOP_ADJUSTMENT));
- SERIAL_ECHOLNPGM_P(
- PSTR(" M666 X"), LINEAR_UNIT(delta_endstop_adj.a)
- , SP_Y_STR, LINEAR_UNIT(delta_endstop_adj.b)
- , SP_Z_STR, LINEAR_UNIT(delta_endstop_adj.c)
- );
- }
-
- #else
-
- /**
- * M666: Set Dual Endstops offsets for X, Y, and/or Z.
- * With no parameters report current offsets.
- *
- * For Triple / Quad Z Endstops:
- * Set Z2 Only: M666 S2 Z<offset>
- * Set Z3 Only: M666 S3 Z<offset>
- * Set Z4 Only: M666 S4 Z<offset>
- * Set All: M666 Z<offset>
- */
- void GcodeSuite::M666() {
- if (!parser.seen_any()) return M666_report();
-
- #if ENABLED(X_DUAL_ENDSTOPS)
- if (parser.seenval('X')) endstops.x2_endstop_adj = parser.value_linear_units();
- #endif
- #if ENABLED(Y_DUAL_ENDSTOPS)
- if (parser.seenval('Y')) endstops.y2_endstop_adj = parser.value_linear_units();
- #endif
- #if ENABLED(Z_MULTI_ENDSTOPS)
- if (parser.seenval('Z')) {
- const float z_adj = parser.value_linear_units();
- #if NUM_Z_STEPPERS == 2
- endstops.z2_endstop_adj = z_adj;
- #else
- const int ind = parser.intval('S');
- #define _SET_ZADJ(N) if (!ind || ind == N) endstops.z##N##_endstop_adj = z_adj;
- REPEAT_S(2, INCREMENT(NUM_Z_STEPPERS), _SET_ZADJ)
- #endif
- }
- #endif
- }
-
- void GcodeSuite::M666_report(const bool forReplay/*=true*/) {
- report_heading_etc(forReplay, F(STR_ENDSTOP_ADJUSTMENT));
- SERIAL_ECHOPGM(" M666");
- #if ENABLED(X_DUAL_ENDSTOPS)
- SERIAL_ECHOLNPGM_P(SP_X_STR, LINEAR_UNIT(endstops.x2_endstop_adj));
- #endif
- #if ENABLED(Y_DUAL_ENDSTOPS)
- SERIAL_ECHOLNPGM_P(SP_Y_STR, LINEAR_UNIT(endstops.y2_endstop_adj));
- #endif
- #if ENABLED(Z_MULTI_ENDSTOPS)
- #if NUM_Z_STEPPERS >= 3
- SERIAL_ECHOPGM(" S2 Z", LINEAR_UNIT(endstops.z3_endstop_adj));
- report_echo_start(forReplay);
- SERIAL_ECHOPGM(" M666 S3 Z", LINEAR_UNIT(endstops.z3_endstop_adj));
- #if NUM_Z_STEPPERS >= 4
- report_echo_start(forReplay);
- SERIAL_ECHOPGM(" M666 S4 Z", LINEAR_UNIT(endstops.z4_endstop_adj));
- #endif
- #else
- SERIAL_ECHOLNPGM_P(SP_Z_STR, LINEAR_UNIT(endstops.z2_endstop_adj));
- #endif
- #endif
- }
-
- #endif // HAS_EXTRA_ENDSTOPS
-
- #endif // DELTA || HAS_EXTRA_ENDSTOPS
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