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];
+  #endif
+#endif
+
+#if HAS_HOME_OFFSET && HAS_POSITION_SHIFT
+  extern float workspace_offset[XYZ];
+  #define WORKSPACE_OFFSET(AXIS) workspace_offset[AXIS]
+#elif HAS_HOME_OFFSET
+  #define WORKSPACE_OFFSET(AXIS) home_offset[AXIS]
+#elif HAS_POSITION_SHIFT
+  #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_POSITION(POS, AXIS) (POS)
+  #define LOGICAL_X_POSITION(POS)   (POS)
-  #define RAW_POSITION(POS, AXIS)     (POS)
+  #define LOGICAL_Y_POSITION(POS)   (POS)
+  #define RAW_X_POSITION(POS)       (POS)
+  #define RAW_Y_POSITION(POS)       (POS)
 #endif
 
-#define LOGICAL_X_POSITION(POS)     LOGICAL_POSITION(POS, X_AXIS)
-#define LOGICAL_Y_POSITION(POS)     LOGICAL_POSITION(POS, Y_AXIS)
 #define LOGICAL_Z_POSITION(POS)     LOGICAL_POSITION(POS, Z_AXIS)
-#define RAW_X_POSITION(POS)         RAW_POSITION(POS, X_AXIS)
-#define RAW_Y_POSITION(POS)         RAW_POSITION(POS, Y_AXIS)
 #define RAW_Z_POSITION(POS)         RAW_POSITION(POS, Z_AXIS)
-#define RAW_CURRENT_POSITION(AXIS)  RAW_POSITION(current_position[AXIS], 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)
@@ -1143,7 +1167,7 @@ void MarlinSettings::reset() {
 
   /**
    * M503 - Report current settings in RAM
-   *   
+   *
    * Unless specifically disabled, M503 is available even without EEPROM
    */
   void MarlinSettings::report(bool forReplay) {
@@ -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/auto_calibrate/Configuration.h

@@ -0,0 +1,1743 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 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 <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * Configuration.h
+ *
+ * Basic settings such as:
+ *
+ * - Type of electronics
+ * - Type of temperature sensor
+ * - Printer geometry
+ * - Endstop configuration
+ * - LCD controller
+ * - Extra features
+ *
+ * Advanced settings can be found in Configuration_adv.h
+ *
+ */
+#ifndef CONFIGURATION_H
+#define CONFIGURATION_H
+
+/**
+ *
+ *  ***********************************
+ *  **  ATTENTION TO ALL DEVELOPERS  **
+ *  ***********************************
+ *
+ * You must increment this version number for every significant change such as,
+ * but not limited to: ADD, DELETE RENAME OR REPURPOSE any directive/option.
+ *
+ * Note: Update also Version.h !
+ */
+#define CONFIGURATION_H_VERSION 010100
+
+//===========================================================================
+//============================= Getting Started =============================
+//===========================================================================
+
+/**
+ * Here are some standard links for getting your machine calibrated:
+ *
+ * http://reprap.org/wiki/Calibration
+ * http://youtu.be/wAL9d7FgInk
+ * http://calculator.josefprusa.cz
+ * http://reprap.org/wiki/Triffid_Hunter%27s_Calibration_Guide
+ * http://www.thingiverse.com/thing:5573
+ * https://sites.google.com/site/repraplogphase/calibration-of-your-reprap
+ * http://www.thingiverse.com/thing:298812
+ */
+
+//===========================================================================
+//============================= DELTA Printer ===============================
+//===========================================================================
+// For Delta printers start with one of the configuration files in the
+// example_configurations/delta directory and customize for your machine.
+//
+
+//===========================================================================
+//============================= SCARA Printer ===============================
+//===========================================================================
+// For a Scara printer replace the configuration files with the files in the
+// example_configurations/SCARA directory.
+//
+
+// @section info
+
+// User-specified version info of this build to display in [Pronterface, etc] terminal window during
+// startup. Implementation of an idea by Prof Braino to inform user that any changes made to this
+// build by the user have been successfully uploaded into firmware.
+#define STRING_CONFIG_H_AUTHOR "(LVD, FLSUN-AC)" // Who made the changes.
+#define SHOW_BOOTSCREEN
+#define STRING_SPLASH_LINE1 SHORT_BUILD_VERSION // will be shown during bootup in line 1
+#define STRING_SPLASH_LINE2 WEBSITE_URL         // will be shown during bootup in line 2
+
+//
+// *** VENDORS PLEASE READ *****************************************************
+//
+// Marlin now allow you to have a vendor boot image to be displayed on machine
+// start. When SHOW_CUSTOM_BOOTSCREEN is defined Marlin will first show your
+// custom boot image and then the default Marlin boot image is shown.
+//
+// We suggest for you to take advantage of this new feature and keep the Marlin
+// boot image unmodified. For an example have a look at the bq Hephestos 2
+// example configuration folder.
+//
+//#define SHOW_CUSTOM_BOOTSCREEN
+// @section machine
+
+/**
+ * Select which serial port on the board will be used for communication with the host.
+ * This allows the connection of wireless adapters (for instance) to non-default port pins.
+ * Serial port 0 is always used by the Arduino bootloader regardless of this setting.
+ *
+ * :[0, 1, 2, 3, 4, 5, 6, 7]
+ */
+#define SERIAL_PORT 0
+
+/**
+ * This setting determines the communication speed of the printer.
+ *
+ * 250000 works in most cases, but you might try a lower speed if
+ * you commonly experience drop-outs during host printing.
+ *
+ * :[2400, 9600, 19200, 38400, 57600, 115200, 250000]
+ */
+#define BAUDRATE 250000
+
+// Enable the Bluetooth serial interface on AT90USB devices
+//#define BLUETOOTH
+
+// The following define selects which electronics board you have.
+// Please choose the name from boards.h that matches your setup
+#ifndef MOTHERBOARD
+  #define MOTHERBOARD BOARD_RAMPS_13_EFB
+#endif
+
+// Optional custom name for your RepStrap or other custom machine
+// Displayed in the LCD "Ready" message
+#define CUSTOM_MACHINE_NAME "FLSUN Kossel"
+
+// Define this to set a unique identifier for this printer, (Used by some programs to differentiate between machines)
+// You can use an online service to generate a random UUID. (eg http://www.uuidgenerator.net/version4)
+//#define MACHINE_UUID "00000000-0000-0000-0000-000000000000"
+
+// This defines the number of extruders
+// :[1, 2, 3, 4, 5]
+#define EXTRUDERS 1
+
+// Enable if your E steppers or extruder gear ratios are not identical
+//#define DISTINCT_E_FACTORS
+
+// For Cyclops or any "multi-extruder" that shares a single nozzle.
+//#define SINGLENOZZLE
+
+// A dual extruder that uses a single stepper motor
+// Don't forget to set SSDE_SERVO_ANGLES and HOTEND_OFFSET_X/Y/Z
+//#define SWITCHING_EXTRUDER
+#if ENABLED(SWITCHING_EXTRUDER)
+  #define SWITCHING_EXTRUDER_SERVO_NR 0
+  #define SWITCHING_EXTRUDER_SERVO_ANGLES { 0, 90 } // Angles for E0, E1
+  //#define HOTEND_OFFSET_Z {0.0, 0.0}
+#endif
+
+/**
+ * "Mixing Extruder"
+ *   - Adds a new code, M165, to set the current mix factors.
+ *   - Extends the stepping routines to move multiple steppers in proportion to the mix.
+ *   - Optional support for Repetier Host M163, M164, and virtual extruder.
+ *   - This implementation supports only a single extruder.
+ *   - Enable DIRECT_MIXING_IN_G1 for Pia Taubert's reference implementation
+ */
+//#define MIXING_EXTRUDER
+#if ENABLED(MIXING_EXTRUDER)
+  #define MIXING_STEPPERS 2        // Number of steppers in your mixing extruder
+  #define MIXING_VIRTUAL_TOOLS 16  // Use the Virtual Tool method with M163 and M164
+  //#define DIRECT_MIXING_IN_G1    // Allow ABCDHI mix factors in G1 movement commands
+#endif
+
+// Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing).
+// The offset has to be X=0, Y=0 for the extruder 0 hotend (default extruder).
+// For the other hotends it is their distance from the extruder 0 hotend.
+//#define HOTEND_OFFSET_X {0.0, 20.00} // (in mm) for each extruder, offset of the hotend on the X axis
+//#define HOTEND_OFFSET_Y {0.0, 5.00}  // (in mm) for each extruder, offset of the hotend on the Y axis
+
+/**
+ * Select your power supply here. Use 0 if you haven't connected the PS_ON_PIN
+ *
+ * 0 = No Power Switch
+ * 1 = ATX
+ * 2 = X-Box 360 203Watts (the blue wire connected to PS_ON and the red wire to VCC)
+ *
+ * :{ 0:'No power switch', 1:'ATX', 2:'X-Box 360' }
+ */
+#define POWER_SUPPLY 0
+
+#if POWER_SUPPLY > 0
+  // Enable this option to leave the PSU off at startup.
+  // Power to steppers and heaters will need to be turned on with M80.
+  //#define PS_DEFAULT_OFF
+#endif
+
+// @section temperature
+
+//===========================================================================
+//============================= Thermal Settings ============================
+//===========================================================================
+
+/**
+ * --NORMAL IS 4.7kohm PULLUP!-- 1kohm pullup can be used on hotend sensor, using correct resistor and table
+ *
+ * Temperature sensors available:
+ *
+ *    -3 : thermocouple with MAX31855 (only for sensor 0)
+ *    -2 : thermocouple with MAX6675 (only for sensor 0)
+ *    -1 : thermocouple with AD595
+ *     0 : not used
+ *     1 : 100k thermistor - best choice for EPCOS 100k (4.7k pullup)
+ *     2 : 200k thermistor - ATC Semitec 204GT-2 (4.7k pullup)
+ *     3 : Mendel-parts thermistor (4.7k pullup)
+ *     4 : 10k thermistor !! do not use it for a hotend. It gives bad resolution at high temp. !!
+ *     5 : 100K thermistor - ATC Semitec 104GT-2 (Used in ParCan & J-Head) (4.7k pullup)
+ *     6 : 100k EPCOS - Not as accurate as table 1 (created using a fluke thermocouple) (4.7k pullup)
+ *     7 : 100k Honeywell thermistor 135-104LAG-J01 (4.7k pullup)
+ *    71 : 100k Honeywell thermistor 135-104LAF-J01 (4.7k pullup)
+ *     8 : 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup)
+ *     9 : 100k GE Sensing AL03006-58.2K-97-G1 (4.7k pullup)
+ *    10 : 100k RS thermistor 198-961 (4.7k pullup)
+ *    11 : 100k beta 3950 1% thermistor (4.7k pullup)
+ *    12 : 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup) (calibrated for Makibox hot bed)
+ *    13 : 100k Hisens 3950  1% up to 300°C for hotend "Simple ONE " & "Hotend "All In ONE"
+ *    20 : the PT100 circuit found in the Ultimainboard V2.x
+ *    60 : 100k Maker's Tool Works Kapton Bed Thermistor beta=3950
+ *    66 : 4.7M High Temperature thermistor from Dyze Design
+ *    70 : the 100K thermistor found in the bq Hephestos 2
+ *    75 : 100k Generic Silicon Heat Pad with NTC 100K MGB18-104F39050L32 thermistor
+ *
+ *       1k ohm pullup tables - This is atypical, and requires changing out the 4.7k pullup for 1k.
+ *                              (but gives greater accuracy and more stable PID)
+ *    51 : 100k thermistor - EPCOS (1k pullup)
+ *    52 : 200k thermistor - ATC Semitec 204GT-2 (1k pullup)
+ *    55 : 100k thermistor - ATC Semitec 104GT-2 (Used in ParCan & J-Head) (1k pullup)
+ *
+ *  1047 : Pt1000 with 4k7 pullup
+ *  1010 : Pt1000 with 1k pullup (non standard)
+ *   147 : Pt100 with 4k7 pullup
+ *   110 : Pt100 with 1k pullup (non standard)
+ *
+ *         Use these for Testing or Development purposes. NEVER for production machine.
+ *   998 : Dummy Table that ALWAYS reads 25°C or the temperature defined below.
+ *   999 : Dummy Table that ALWAYS reads 100°C or the temperature defined below.
+ *
+ * :{ '0': "Not used", '1':"100k / 4.7k - EPCOS", '2':"200k / 4.7k - ATC Semitec 204GT-2", '3':"Mendel-parts / 4.7k", '4':"10k !! do not use for a hotend. Bad resolution at high temp. !!", '5':"100K / 4.7k - ATC Semitec 104GT-2 (Used in ParCan & J-Head)", '6':"100k / 4.7k EPCOS - Not as accurate as Table 1", '7':"100k / 4.7k Honeywell 135-104LAG-J01", '8':"100k / 4.7k 0603 SMD Vishay NTCS0603E3104FXT", '9':"100k / 4.7k GE Sensing AL03006-58.2K-97-G1", '10':"100k / 4.7k RS 198-961", '11':"100k / 4.7k beta 3950 1%", '12':"100k / 4.7k 0603 SMD Vishay NTCS0603E3104FXT (calibrated for Makibox hot bed)", '13':"100k Hisens 3950  1% up to 300°C for hotend 'Simple ONE ' & hotend 'All In ONE'", '20':"PT100 (Ultimainboard V2.x)", '51':"100k / 1k - EPCOS", '52':"200k / 1k - ATC Semitec 204GT-2", '55':"100k / 1k - ATC Semitec 104GT-2 (Used in ParCan & J-Head)", '60':"100k Maker's Tool Works Kapton Bed Thermistor beta=3950", '66':"Dyze Design 4.7M High Temperature thermistor", '70':"the 100K thermistor found in the bq Hephestos 2", '71':"100k / 4.7k Honeywell 135-104LAF-J01", '147':"Pt100 / 4.7k", '1047':"Pt1000 / 4.7k", '110':"Pt100 / 1k (non-standard)", '1010':"Pt1000 / 1k (non standard)", '-3':"Thermocouple + MAX31855 (only for sensor 0)", '-2':"Thermocouple + MAX6675 (only for sensor 0)", '-1':"Thermocouple + AD595",'998':"Dummy 1", '999':"Dummy 2" }
+ */
+#define TEMP_SENSOR_0 5
+#define TEMP_SENSOR_1 0
+#define TEMP_SENSOR_2 0
+#define TEMP_SENSOR_3 0
+#define TEMP_SENSOR_4 0
+#define TEMP_SENSOR_BED 5
+
+// Dummy thermistor constant temperature readings, for use with 998 and 999
+#define DUMMY_THERMISTOR_998_VALUE 25
+#define DUMMY_THERMISTOR_999_VALUE 100
+
+// Use temp sensor 1 as a redundant sensor with sensor 0. If the readings
+// from the two sensors differ too much the print will be aborted.
+//#define TEMP_SENSOR_1_AS_REDUNDANT
+#define MAX_REDUNDANT_TEMP_SENSOR_DIFF 5
+
+// Extruder temperature must be close to target for this long before M109 returns success
+#define TEMP_RESIDENCY_TIME 10  // (seconds)
+#define TEMP_HYSTERESIS 3       // (degC) range of +/- temperatures considered "close" to the target one
+#define TEMP_WINDOW     1       // (degC) Window around target to start the residency timer x degC early.
+
+// Bed temperature must be close to target for this long before M190 returns success
+#define TEMP_BED_RESIDENCY_TIME 1   // (seconds)
+#define TEMP_BED_HYSTERESIS 3       // (degC) range of +/- temperatures considered "close" to the target one
+#define TEMP_BED_WINDOW     1       // (degC) Window around target to start the residency timer x degC early.
+
+// The minimal temperature defines the temperature below which the heater will not be enabled It is used
+// to check that the wiring to the thermistor is not broken.
+// Otherwise this would lead to the heater being powered on all the time.
+#define HEATER_0_MINTEMP 5
+#define HEATER_1_MINTEMP 5
+#define HEATER_2_MINTEMP 5
+#define HEATER_3_MINTEMP 5
+#define HEATER_4_MINTEMP 5
+#define BED_MINTEMP 5
+
+// When temperature exceeds max temp, your heater will be switched off.
+// This feature exists to protect your hotend from overheating accidentally, but *NOT* from thermistor short/failure!
+// You should use MINTEMP for thermistor short/failure protection.
+#define HEATER_0_MAXTEMP 250
+#define HEATER_1_MAXTEMP 250
+#define HEATER_2_MAXTEMP 250
+#define HEATER_3_MAXTEMP 250
+#define HEATER_4_MAXTEMP 250
+#define BED_MAXTEMP 115
+
+//===========================================================================
+//============================= PID Settings ================================
+//===========================================================================
+// PID Tuning Guide here: http://reprap.org/wiki/PID_Tuning
+
+// Comment the following line to disable PID and enable bang-bang.
+#define PIDTEMP
+#define BANG_MAX 255 // limits current to nozzle while in bang-bang mode; 255=full current
+#define PID_MAX BANG_MAX // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current
+#if ENABLED(PIDTEMP)
+  #define PID_AUTOTUNE_MENU // Add PID Autotune to the LCD "Temperature" menu to run M303 and apply the result.
+  //#define PID_DEBUG // Sends debug data to the serial port.
+  //#define PID_OPENLOOP 1 // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX
+  //#define SLOW_PWM_HEATERS // PWM with very low frequency (roughly 0.125Hz=8s) and minimum state time of approximately 1s useful for heaters driven by a relay
+  //#define PID_PARAMS_PER_HOTEND // Uses separate PID parameters for each extruder (useful for mismatched extruders)
+                                  // Set/get with gcode: M301 E[extruder number, 0-2]
+  #define PID_FUNCTIONAL_RANGE 10 // If the temperature difference between the target temperature and the actual temperature
+                                  // is more than PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max.
+  #define K1 0.95 //smoothing factor within the PID
+
+  // If you are using a pre-configured hotend then you can use one of the value sets by uncommenting it
+  // Ultimaker
+  //#define  DEFAULT_Kp 22.2
+  //#define  DEFAULT_Ki 1.08
+  //#define  DEFAULT_Kd 114
+
+  // MakerGear
+  //#define  DEFAULT_Kp 7.0
+  //#define  DEFAULT_Ki 0.1
+  //#define  DEFAULT_Kd 12
+
+  // Mendel Parts V9 on 12V
+  //#define  DEFAULT_Kp 63.0
+  //#define  DEFAULT_Ki 2.25
+  //#define  DEFAULT_Kd 440
+
+  //E3D with 30MM fan
+  #define  DEFAULT_Kp 24.77
+  #define  DEFAULT_Ki 1.84
+  #define  DEFAULT_Kd 83.61
+
+#endif // PIDTEMP
+
+//===========================================================================
+//============================= PID > Bed Temperature Control ===============
+//===========================================================================
+// Select PID or bang-bang with PIDTEMPBED. If bang-bang, BED_LIMIT_SWITCHING will enable hysteresis
+//
+// Uncomment this to enable PID on the bed. It uses the same frequency PWM as the extruder.
+// If your PID_dT is the default, and correct for your hardware/configuration, that means 7.689Hz,
+// which is fine for driving a square wave into a resistive load and does not significantly impact you FET heating.
+// This also works fine on a Fotek SSR-10DA Solid State Relay into a 250W heater.
+// If your configuration is significantly different than this and you don't understand the issues involved, you probably
+// shouldn't use bed PID until someone else verifies your hardware works.
+// If this is enabled, find your own PID constants below.
+//#define PIDTEMPBED
+
+//#define BED_LIMIT_SWITCHING
+
+// This sets the max power delivered to the bed, and replaces the HEATER_BED_DUTY_CYCLE_DIVIDER option.
+// all forms of bed control obey this (PID, bang-bang, bang-bang with hysteresis)
+// setting this to anything other than 255 enables a form of PWM to the bed just like HEATER_BED_DUTY_CYCLE_DIVIDER did,
+// so you shouldn't use it unless you are OK with PWM on your bed.  (see the comment on enabling PIDTEMPBED)
+#define MAX_BED_POWER 255 // limits duty cycle to bed; 255=full current
+
+#if ENABLED(PIDTEMPBED)
+
+  //#define PID_BED_DEBUG // Sends debug data to the serial port.
+
+  //120V 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
+  //from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, aggressive factor of .15 (vs .1, 1, 10)
+  //#define  DEFAULT_bedKp 10.00
+  //#define  DEFAULT_bedKi .023
+  //#define  DEFAULT_bedKd 305.4
+
+  //120V 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
+  //from pidautotune
+  //#define  DEFAULT_bedKp 97.1
+  //#define  DEFAULT_bedKi 1.41
+  //#define  DEFAULT_bedKd 1675.16
+
+  //D-force
+  #define  DEFAULT_bedKp 22.97
+  #define  DEFAULT_bedKi 3.76
+  #define  DEFAULT_bedKd 29.2
+
+  // FIND YOUR OWN: "M303 E-1 C8 S90" to run autotune on the bed at 90 degreesC for 8 cycles.
+#endif // PIDTEMPBED
+
+// @section extruder
+
+// This option prevents extrusion if the temperature is below EXTRUDE_MINTEMP.
+// It also enables the M302 command to set the minimum extrusion temperature
+// or to allow moving the extruder regardless of the hotend temperature.
+// *** IT IS HIGHLY RECOMMENDED TO LEAVE THIS OPTION ENABLED! ***
+#define PREVENT_COLD_EXTRUSION
+#define EXTRUDE_MINTEMP 170
+
+// This option prevents a single extrusion longer than EXTRUDE_MAXLENGTH.
+// Note that for Bowden Extruders a too-small value here may prevent loading.
+#define PREVENT_LENGTHY_EXTRUDE
+#define EXTRUDE_MAXLENGTH 300
+
+//===========================================================================
+//======================== Thermal Runaway Protection =======================
+//===========================================================================
+
+/**
+ * Thermal Protection protects your printer from damage and fire if a
+ * thermistor falls out or temperature sensors fail in any way.
+ *
+ * The issue: If a thermistor falls out or a temperature sensor fails,
+ * Marlin can no longer sense the actual temperature. Since a disconnected
+ * thermistor reads as a low temperature, the firmware will keep the heater on.
+ *
+ * If you get "Thermal Runaway" or "Heating failed" errors the
+ * details can be tuned in Configuration_adv.h
+ */
+
+#define THERMAL_PROTECTION_HOTENDS // Enable thermal protection for all extruders
+#define THERMAL_PROTECTION_BED     // Enable thermal protection for the heated bed
+
+//===========================================================================
+//============================= Mechanical Settings =========================
+//===========================================================================
+
+// @section machine
+
+// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
+// either in the usual order or reversed
+//#define COREXY
+//#define COREXZ
+//#define COREYZ
+//#define COREYX
+//#define COREZX
+//#define COREZY
+
+//===========================================================================
+//============================== Delta Settings =============================
+//===========================================================================
+// Enable DELTA kinematics and most of the default configuration for Deltas
+#define DELTA
+
+#if ENABLED(DELTA)
+
+  // Make delta curves from many straight lines (linear interpolation).
+  // This is a trade-off between visible corners (not enough segments)
+  // and processor overload (too many expensive sqrt calls).
+  #define DELTA_SEGMENTS_PER_SECOND 160
+
+  // NOTE NB all values for DELTA_* values MUST be floating point, so always have a decimal point in them
+
+  // Center-to-center distance of the holes in the diagonal push rods.
+  #define DELTA_DIAGONAL_ROD 218.0 // mm
+
+  // Horizontal offset from middle of printer to smooth rod center.
+  //#define DELTA_SMOOTH_ROD_OFFSET 150.0 // mm
+
+  // Horizontal offset of the universal joints on the end effector.
+  //#define DELTA_EFFECTOR_OFFSET 24.0 // mm
+
+  // Horizontal offset of the universal joints on the carriages.
+  //#define DELTA_CARRIAGE_OFFSET 22.0 // mm
+
+  // Horizontal distance bridged by diagonal push rods when effector is centered.
+  #define DELTA_RADIUS 100.59 //mm // get this value from auto calibrate
+
+  // height from z=0.00 to home position
+  #define DELTA_HEIGHT 298.95 // get this value from auto calibrate
+
+  // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
+  #define DELTA_PRINTABLE_RADIUS 90.0
+
+  // Delta calibration menu
+  // uncomment to add three points calibration menu option.
+  // 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
+
+  #define DELTA_ENDSTOP_ADJ { -0.05, -0.00, -0.02 } // get these from auto calibrate
+
+  // Trim adjustments for individual towers
+  #define DELTA_RADIUS_TRIM_TOWER_1 0.0
+  #define DELTA_RADIUS_TRIM_TOWER_2 0.0
+  #define DELTA_RADIUS_TRIM_TOWER_3 0.0
+  #define DELTA_DIAGONAL_ROD_TRIM_TOWER_1 0.0
+  #define DELTA_DIAGONAL_ROD_TRIM_TOWER_2 0.0
+  #define DELTA_DIAGONAL_ROD_TRIM_TOWER_3 0.0
+  #define DELTA_TOWER_ANGLE_TRIM_1 0.0
+  #define DELTA_TOWER_ANGLE_TRIM_2 0.0
+  #define DELTA_TOWER_ANGLE_TRIM_3 0.0
+
+#endif
+
+//===========================================================================
+//============================== Endstop Settings ===========================
+//===========================================================================
+
+// @section homing
+
+// Specify here all the endstop connectors that are connected to any endstop or probe.
+// Almost all printers will be using one per axis. Probes will use one or more of the
+// extra connectors. Leave undefined any used for non-endstop and non-probe purposes.
+//#define USE_XMIN_PLUG
+//#define USE_YMIN_PLUG
+#define USE_ZMIN_PLUG
+#define USE_XMAX_PLUG
+#define USE_YMAX_PLUG
+#define USE_ZMAX_PLUG
+
+// coarse Endstop Settings
+#define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors
+
+#if DISABLED(ENDSTOPPULLUPS)
+  // fine endstop settings: Individual pullups. will be ignored if ENDSTOPPULLUPS is defined
+  //#define ENDSTOPPULLUP_XMAX
+  //#define ENDSTOPPULLUP_YMAX
+  //#define ENDSTOPPULLUP_ZMAX
+  //#define ENDSTOPPULLUP_XMIN
+  //#define ENDSTOPPULLUP_YMIN
+  //#define ENDSTOPPULLUP_ZMIN
+  //#define ENDSTOPPULLUP_ZMIN_PROBE
+#endif
+
+// Mechanical endstop with COM to ground and NC to Signal uses "false" here (most common setup).
+#define X_MIN_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
+#define Y_MIN_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
+#define Z_MIN_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop.
+#define X_MAX_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
+#define Y_MAX_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
+#define Z_MAX_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
+#define Z_MIN_PROBE_ENDSTOP_INVERTING true // set to true to invert the logic of the probe.
+
+// Enable this feature if all enabled endstop pins are interrupt-capable.
+// This will remove the need to poll the interrupt pins, saving many CPU cycles.
+//#define ENDSTOP_INTERRUPTS_FEATURE
+
+//=============================================================================
+//============================== Movement Settings ============================
+//=============================================================================
+// @section motion
+
+// delta speeds must be the same on xyz
+/**
+ * Default Settings
+ *
+ * These settings can be reset by M502
+ *
+ * You can set distinct factors for each E stepper, if needed.
+ * If fewer factors are given, the last will apply to the rest.
+ *
+ * Note that if EEPROM is enabled, saved values will override these.
+ */
+
+/**
+ * Default Axis Steps Per Unit (steps/mm)
+ * Override with M92
+ *                                      X, Y, Z, E0 [, E1[, E2[, E3]]]
+ */
+#define DEFAULT_AXIS_STEPS_PER_UNIT   { 100, 100, 100, 100 }  // default steps per unit for Kossel (GT2, 20 tooth)
+
+/**
+ * Default Max Feed Rate (mm/s)
+ * Override with M203
+ *                                      X, Y, Z, E0 [, E1[, E2[, E3]]]
+ */
+#define DEFAULT_MAX_FEEDRATE          { 200, 200, 200, 25 }
+
+/**
+ * Default Max Acceleration (change/s) change = mm/s
+ * (Maximum start speed for accelerated moves)
+ * Override with M201
+ *                                      X, Y, Z, E0 [, E1[, E2[, E3]]]
+ */
+#define DEFAULT_MAX_ACCELERATION      { 4000, 4000, 4000, 4000 }
+
+/**
+ * Default Acceleration (change/s) change = mm/s
+ * Override with M204
+ *
+ *   M204 P    Acceleration
+ *   M204 R    Retract Acceleration
+ *   M204 T    Travel Acceleration
+ */
+#define DEFAULT_ACCELERATION          3000    // X, Y, Z and E acceleration for printing moves
+#define DEFAULT_RETRACT_ACCELERATION  3000    // E acceleration for retracts
+#define DEFAULT_TRAVEL_ACCELERATION   3000    // X, Y, Z acceleration for travel (non printing) moves
+
+/**
+ * Default Jerk (mm/s)
+ * Override with M205 X Y Z E
+ *
+ * "Jerk" specifies the minimum speed change that requires acceleration.
+ * When changing speed and direction, if the difference is less than the
+ * value set here, it may happen instantaneously.
+ */
+#define DEFAULT_XJERK                 20.0
+#define DEFAULT_YJERK                 DEFAULT_XJERK
+#define DEFAULT_ZJERK                 DEFAULT_YJERK // Must be same as XY for delta
+#define DEFAULT_EJERK                  5.0
+
+
+/**
+ * ===========================================================================
+ * ============================= Z Probe Options =============================
+ * ===========================================================================
+ *    @section probes
+ *
+ *
+ *   Probe Type
+ *   Probes are sensors/switches that are activated / deactivated before/after use.
+ *
+ *   Allen Key Probes, Servo Probes, Z-Sled Probes, FIX_MOUNTED_PROBE, etc.
+ *   You must activate one of these to use Auto Bed Leveling below.
+ *
+ *   Use M851 to set the Z probe vertical offset from the nozzle. Store with M500.
+ */
+
+/**
+ *   The "Manual Probe" provides a means to do "Auto" Bed Leveling without a probe.
+ *   Use G29 repeatedly, adjusting the Z height at each point with movement commands
+ *   or (with LCD_BED_LEVELING) the LCD controller.
+ */
+//#define PROBE_MANUALLY
+
+/**
+ *   A Fix-Mounted Probe either doesn't deploy or needs manual deployment.
+ *   For example an inductive probe, or a setup that uses the nozzle to probe.
+ *   An inductive probe must be deactivated to go below
+ *   its trigger-point if hardware endstops are active.
+ */
+#define FIX_MOUNTED_PROBE
+
+/**
+ *   Z Servo Probe, such as an endstop switch on a rotating arm.
+ *   NUM_SERVOS also needs to be set.  This is found later in this file.  Set it to
+ *   1 + the number of other servos in your system.
+ */
+//#define Z_ENDSTOP_SERVO_NR 0   // Defaults to SERVO 0 connector.
+//#define Z_SERVO_ANGLES {70,0}  // Z Servo Deploy and Stow angles
+
+ /**
+ *   The BLTouch probe emulates a servo probe.
+ *   If using a BLTouch then NUM_SERVOS, Z_ENDSTOP_SERVO_NR and Z_SERVO_ANGLES
+ *   are setup for you in the background and you shouldn't need to set/modify/enable them
+ *   with the possible exception of Z_ENDSTOP_SERVO_NR.
+ */
+//#define BLTOUCH
+//#define BLTOUCH_DELAY 375 // (ms) Enable and increase if needed
+
+/**
+ *   BLTouch WARNING  -  ONLY APPLIES TO VERSIONS OF MARLIN BEFORE 15 FEB 2017
+ *   Unless using interrupt endstops, there is a MINIMUM feedrate for Marlin to reliably
+ *   sense the BLTouch.  If the feedrate is too slow then G28 & G29 can sometimes result
+ *   in the print head being driven into the bed until manual intervention.
+ *   The minimum feedrate calculation is:
+ *
+ *     feedrate minimum =  24000 / DEFAULT_AXIS_STEPS_PER_UNIT
+ *        where feedrate is in "mm/minute" or "inches/minute" depending on the units used
+ *        in DEFAULT_AXIS_STEPS_PER_UNIT
+ *
+ *   This applies to the HOMING_FEEDRATE_Z and Z_PROBE_SPEED_FAST.  If PROBE_DOUBLE_TOUCH
+ *   is enabled then it also applies to Z_PROBE_SPEED_SLOW.
+ */
+
+// Enable if you have a Z probe mounted on a sled like those designed by Charles Bell.
+//#define Z_PROBE_SLED
+//#define SLED_DOCKING_OFFSET 5  // The extra distance the X axis must travel to pickup the sled. 0 should be fine but you can push it further if you'd like.
+
+/**
+ *   Z Probe to nozzle (X,Y) offset, relative to (0, 0).
+ *   X and Y offsets must be integers.
+ *
+ *   In the following example the X and Y offsets are both positive:
+ *   #define X_PROBE_OFFSET_FROM_EXTRUDER 10
+ *   #define Y_PROBE_OFFSET_FROM_EXTRUDER 10
+ *
+ *      +-- BACK ---+
+ *      |           |
+ *    L |    (+) P  | R <-- probe (20,20)
+ *    E |           | I
+ *    F | (-) N (+) | G <-- nozzle (10,10)
+ *    T |           | H
+ *      |    (-)    | T
+ *      |           |
+ *      O-- FRONT --+
+ *    (0,0)
+ */
+#define X_PROBE_OFFSET_FROM_EXTRUDER 0     // X offset: -left  +right  [of the nozzle]
+#define Y_PROBE_OFFSET_FROM_EXTRUDER 0   // Y offset: -front +behind [the nozzle]
+#define Z_PROBE_OFFSET_FROM_EXTRUDER 0.25  // Z offset: -below +above  [the nozzle]
+
+// X and Y axis travel speed (mm/m) between probes
+#define XY_PROBE_SPEED 5000
+
+// Speed for the first approach when double-probing (with PROBE_DOUBLE_TOUCH)
+#define Z_PROBE_SPEED_FAST HOMING_FEEDRATE_Z
+
+// Speed for the "accurate" probe of each point
+#define Z_PROBE_SPEED_SLOW (Z_PROBE_SPEED_FAST / 4)
+
+// Use double touch for probing
+//#define PROBE_DOUBLE_TOUCH
+
+/**
+ * Allen key retractable z-probe as seen on many Kossel delta printers - http://reprap.org/wiki/Kossel#Automatic_bed_leveling_probe
+ * Deploys by touching z-axis belt. Retracts by pushing the probe down. Uses Z_MIN_PIN.
+ */
+//#define Z_PROBE_ALLEN_KEY
+
+#if ENABLED(Z_PROBE_ALLEN_KEY)
+  // 2 or 3 sets of coordinates for deploying and retracting the spring loaded touch probe on G29,
+  // if servo actuated touch probe is not defined. Uncomment as appropriate for your printer/probe.
+
+  // Kossel Mini
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_1_X 30.0
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_1_Y DELTA_PRINTABLE_RADIUS
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_1_Z 100.0
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE XY_PROBE_SPEED
+
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_2_X 0.0
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_2_Y DELTA_PRINTABLE_RADIUS
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_2_Z 100.0
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE (XY_PROBE_SPEED/10)
+
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_3_X Z_PROBE_ALLEN_KEY_DEPLOY_2_X * 0.75
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_3_Y Z_PROBE_ALLEN_KEY_DEPLOY_2_Y * 0.75
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_3_Z Z_PROBE_ALLEN_KEY_DEPLOY_2_Z
+  #define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE XY_PROBE_SPEED
+
+  #define Z_PROBE_ALLEN_KEY_STOW_DEPTH 20
+  // Move the probe into position
+  #define Z_PROBE_ALLEN_KEY_STOW_1_X -64.0
+  #define Z_PROBE_ALLEN_KEY_STOW_1_Y 56.0
+  #define Z_PROBE_ALLEN_KEY_STOW_1_Z 23.0
+  #define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE XY_PROBE_SPEED
+  // Move the nozzle down further to push the probe into retracted position.
+  #define Z_PROBE_ALLEN_KEY_STOW_2_X  Z_PROBE_ALLEN_KEY_STOW_1_X
+  #define Z_PROBE_ALLEN_KEY_STOW_2_Y  Z_PROBE_ALLEN_KEY_STOW_1_Y
+  #define Z_PROBE_ALLEN_KEY_STOW_2_Z  (Z_PROBE_ALLEN_KEY_STOW_1_Z-Z_PROBE_ALLEN_KEY_STOW_DEPTH)
+  #define Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE (XY_PROBE_SPEED/10)
+  // Raise things back up slightly so we don't bump into anything
+  #define Z_PROBE_ALLEN_KEY_STOW_3_X  Z_PROBE_ALLEN_KEY_STOW_2_X
+  #define Z_PROBE_ALLEN_KEY_STOW_3_Y  Z_PROBE_ALLEN_KEY_STOW_2_Y
+  #define Z_PROBE_ALLEN_KEY_STOW_3_Z  (Z_PROBE_ALLEN_KEY_STOW_1_Z+Z_PROBE_ALLEN_KEY_STOW_DEPTH)
+  #define Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE (XY_PROBE_SPEED/2)
+
+  #define Z_PROBE_ALLEN_KEY_STOW_4_X 0.0
+  #define Z_PROBE_ALLEN_KEY_STOW_4_Y 0.0
+  #define Z_PROBE_ALLEN_KEY_STOW_4_Z Z_PROBE_ALLEN_KEY_STOW_3_Z
+  #define Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE XY_PROBE_SPEED
+
+#endif // Z_PROBE_ALLEN_KEY
+
+/**
+ *
+ *   *** PLEASE READ ALL INSTRUCTIONS BELOW FOR SAFETY! ***
+ *
+ *   - RAMPS 1.3/1.4 boards may be able to use the 5V, GND, and Aux4->D32 pin.
+ *   - Use 5V for powered (usu. inductive) sensors.
+ *   - Otherwise connect:
+ *     - normally-closed switches to GND and D32.
+ *     - normally-open switches to 5V and D32.
+ *
+ *   Normally-closed switches are advised and are the default.
+ *
+ *
+ *   PIN OPTIONS\SETUP FOR Z PROBES
+ *
+ *
+ *   WARNING:
+ *   Setting the wrong pin may have unexpected and potentially disastrous consequences.
+ *   Use with caution and do your homework.
+ *
+ *
+ *   All Z PROBE pin options are configured by defining (or not defining)
+ *   the following five items:
+ *       Z_MIN_PROBE_ENDSTOP – defined below
+ *       Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN – defined below
+ *       Z_MIN_PIN - defined in the pins_YOUR_BOARD.h file
+ *       Z_MIN_PROBE_PIN - defined in the pins_YOUR_BOARD.h file
+ *
+ *   If you're using a probe then you need to tell Marlin which pin to use as
+ *   the Z MIN ENDSTOP.  Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN determines if the
+ *   Z_MIN_PIN or if the Z_MIN_PROBE_PIN is used.
+ *
+ *   The pin selected for the probe is ONLY checked during probing operations.
+ *   If you want to use the Z_MIN_PIN as an endstop AND you want to have a Z PROBE
+ *   then you’ll need to use the Z_MIN_PROBE_PIN option.
+ *
+ *   Z_MIN_PROBE_ENDSTOP also needs to be enabled if you want to use Z_MIN_PROBE_PIN.
+ *
+ *   The settings needed to use the Z_MIN_PROBE_PIN are:
+ *       1. select the type of probe you're using
+ *       2. define Z_MIN_PROBE_PIN in your pins_YOUR_BOARD.h file
+ *       3. disable Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN
+ *       4. enable Z_MIN_PROBE_ENDSTOP
+ *   NOTE – if Z_MIN_PIN is defined then it’ll be checked during all moves in the
+ *          negative Z direction.
+ *
+ *   The settings needed to use the Z_MIN_PIN are:
+ *       1. select the type of probe you're using
+ *       2. enable Z_MIN _PIN in your pins_YOUR_BOARD.h file
+ *       3. enable Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN
+ *       4. disable Z_MIN_PROBE_ENDSTOP
+ *   NOTES – if Z_MIN_PROBE_PIN is defined in the pins_YOUR_BOARD.h file then it’ll be
+ *          ignored by Marlin
+ */
+
+//#define Z_MIN_PROBE_ENDSTOP // A3K leave disabled!
+#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
+
+/**
+ * Z probes require clearance when deploying, stowing, and moving between
+ * probe points to avoid hitting the bed and other hardware.
+ * Servo-mounted probes require extra space for the arm to rotate.
+ * Inductive probes need space to keep from triggering early.
+ *
+ * Use these settings to specify the distance (mm) to raise the probe (or
+ * lower the bed). The values set here apply over and above any (negative)
+ * probe Z Offset set with Z_PROBE_OFFSET_FROM_EXTRUDER, M851, or the LCD.
+ * Only integer values >= 1 are valid here.
+ *
+ * Example: `M851 Z-5` with a CLEARANCE of 4  =>  9mm from bed to nozzle.
+ *     But: `M851 Z+1` with a CLEARANCE of 2  =>  2mm from bed to nozzle.
+ */
+#define Z_CLEARANCE_DEPLOY_PROBE   10 // Z Clearance for Deploy/Stow
+#define Z_CLEARANCE_BETWEEN_PROBES  3 // Z Clearance between probe points
+
+// For M851 give a range for adjusting the Z probe offset
+#define Z_PROBE_OFFSET_RANGE_MIN -20
+#define Z_PROBE_OFFSET_RANGE_MAX 20
+
+// For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
+// :{ 0:'Low', 1:'High' }
+#define X_ENABLE_ON 0
+#define Y_ENABLE_ON 0
+#define Z_ENABLE_ON 0
+#define E_ENABLE_ON 0 // For all extruders
+
+// Disables axis stepper immediately when it's not being used.
+// WARNING: When motors turn off there is a chance of losing position accuracy!
+#define DISABLE_X false
+#define DISABLE_Y false
+#define DISABLE_Z false
+// Warn on display about possibly reduced accuracy
+//#define DISABLE_REDUCED_ACCURACY_WARNING
+
+// @section extruder
+
+#define DISABLE_E false // For all extruders
+#define DISABLE_INACTIVE_EXTRUDER true //disable only inactive extruders and keep active extruder enabled
+
+// @section machine
+
+// Invert the stepper direction. Change (or reverse the motor connector) if an axis goes the wrong way.
+#define INVERT_X_DIR true // DELTA does not invert
+#define INVERT_Y_DIR true
+#define INVERT_Z_DIR true
+
+// Enable this option for Toshiba steppers
+//#define CONFIG_STEPPERS_TOSHIBA
+
+// @section extruder
+
+// For direct drive extruder v9 set to true, for geared extruder set to false.
+#define INVERT_E0_DIR false
+#define INVERT_E1_DIR false
+#define INVERT_E2_DIR false
+#define INVERT_E3_DIR false
+#define INVERT_E4_DIR false
+
+// @section homing
+
+#define Z_HOMING_HEIGHT 15   // (in mm) Minimal z height before homing (G28) for Z clearance above the bed, clamps, ...
+                             // Be sure you have this distance over your Z_MAX_POS in case.
+
+// Direction of endstops when homing; 1=MAX, -1=MIN
+// :[-1,1]
+#define X_HOME_DIR 1  // deltas always home to max
+#define Y_HOME_DIR 1
+#define Z_HOME_DIR 1
+
+// @section machine
+
+// Travel limits after homing (units are in mm)
+#define X_MIN_POS -(DELTA_PRINTABLE_RADIUS)
+#define Y_MIN_POS -(DELTA_PRINTABLE_RADIUS)
+#define Z_MIN_POS 0
+#define X_MAX_POS DELTA_PRINTABLE_RADIUS
+#define Y_MAX_POS DELTA_PRINTABLE_RADIUS
+#define Z_MAX_POS MANUAL_Z_HOME_POS
+
+// If enabled, axes won't move below MIN_POS in response to movement commands.
+//#define MIN_SOFTWARE_ENDSTOPS
+// If enabled, axes won't move above MAX_POS in response to movement commands.
+#define MAX_SOFTWARE_ENDSTOPS
+
+/**
+ * Filament Runout Sensor
+ * A mechanical or opto endstop is used to check for the presence of filament.
+ *
+ * RAMPS-based boards use SERVO3_PIN.
+ * For other boards you may need to define FIL_RUNOUT_PIN.
+ * By default the firmware assumes HIGH = has filament, LOW = ran out
+ */
+//#define FILAMENT_RUNOUT_SENSOR
+#if ENABLED(FILAMENT_RUNOUT_SENSOR)
+  #define FIL_RUNOUT_INVERTING false // set to true to invert the logic of the sensor.
+  #define ENDSTOPPULLUP_FIL_RUNOUT // Uncomment to use internal pullup for filament runout pins if the sensor is defined.
+  #define FILAMENT_RUNOUT_SCRIPT "M600"
+#endif
+
+//===========================================================================
+//=============================== Bed Leveling ==============================
+//===========================================================================
+// @section bedlevel
+
+/**
+ * Choose one of the options below to enable G29 Bed Leveling. The parameters
+ * and behavior of G29 will change depending on your selection.
+ *
+ *  If using a Probe for Z Homing, enable Z_SAFE_HOMING also!
+ *
+ * - AUTO_BED_LEVELING_3POINT
+ *   Probe 3 arbitrary points on the bed (that aren't collinear)
+ *   You specify the XY coordinates of all 3 points.
+ *   The result is a single tilted plane. Best for a flat bed.
+ *
+ * - AUTO_BED_LEVELING_LINEAR
+ *   Probe several points in a grid.
+ *   You specify the rectangle and the density of sample points.
+ *   The result is a single tilted plane. Best for a flat bed.
+ *
+ * - AUTO_BED_LEVELING_BILINEAR
+ *   Probe several points in a grid.
+ *   You specify the rectangle and the density of sample points.
+ *   The result is a mesh, best for large or uneven beds.
+ *
+ * - AUTO_BED_LEVELING_UBL (Unified Bed Leveling)
+ *   A comprehensive bed leveling system combining the features and benefits
+ *   of other systems. UBL also includes integrated Mesh Generation, Mesh
+ *   Validation and Mesh Editing systems. Currently, UBL is only checked out
+ *   for Cartesian Printers. That said, it was primarily designed to correct
+ *   poor quality Delta Printers. If you feel adventurous and have a Delta,
+ *   please post an issue if something doesn't work correctly. Initially,
+ *   you will need to set a reduced bed size so you have a rectangular area
+ *   to test on.
+ *
+ * - MESH_BED_LEVELING
+ *   Probe a grid manually
+ *   The result is a mesh, suitable for large or uneven beds. (See BILINEAR.)
+ *   For machines without a probe, Mesh Bed Leveling provides a method to perform
+ *   leveling in steps so you can manually adjust the Z height at each grid-point.
+ *   With an LCD controller the process is guided step-by-step.
+ */
+//#define AUTO_BED_LEVELING_3POINT
+//#define AUTO_BED_LEVELING_LINEAR
+#define AUTO_BED_LEVELING_BILINEAR
+//#define AUTO_BED_LEVELING_UBL
+//#define MESH_BED_LEVELING
+
+/**
+ * Enable detailed logging of G28, G29, M48, etc.
+ * Turn on with the command 'M111 S32'.
+ * NOTE: Requires a lot of PROGMEM!
+ */
+//#define DEBUG_LEVELING_FEATURE
+
+#if ENABLED(MESH_BED_LEVELING) || ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(AUTO_BED_LEVELING_UBL)
+  // Gradually reduce leveling correction until a set height is reached,
+  // at which point movement will be level to the machine's XY plane.
+  // The height can be set with M420 Z<height>
+  //#define ENABLE_LEVELING_FADE_HEIGHT
+#endif
+
+#if ENABLED(AUTO_BED_LEVELING_LINEAR) || ENABLED(AUTO_BED_LEVELING_BILINEAR)
+
+  // Set the number of grid points per dimension.
+  #define GRID_MAX_POINTS_X 9
+  #define GRID_MAX_POINTS_Y GRID_MAX_POINTS_X
+
+  // Set the boundaries for probing (where the probe can reach).
+  #define DELTA_PROBEABLE_RADIUS (DELTA_PRINTABLE_RADIUS - 15)
+  #define LEFT_PROBE_BED_POSITION -(DELTA_PROBEABLE_RADIUS)
+  #define RIGHT_PROBE_BED_POSITION DELTA_PROBEABLE_RADIUS
+  #define FRONT_PROBE_BED_POSITION -(DELTA_PROBEABLE_RADIUS)
+  #define BACK_PROBE_BED_POSITION DELTA_PROBEABLE_RADIUS
+
+  // The Z probe minimum outer margin (to validate G29 parameters).
+  #define MIN_PROBE_EDGE 10
+
+  // Probe along the Y axis, advancing X after each column
+  //#define PROBE_Y_FIRST
+
+  #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
+
+    //
+    // Experimental Subdivision of the grid by Catmull-Rom method.
+    // Synthesizes intermediate points to produce a more detailed mesh.
+    //
+    //#define ABL_BILINEAR_SUBDIVISION
+    #if ENABLED(ABL_BILINEAR_SUBDIVISION)
+      // Number of subdivisions between probe points
+      #define BILINEAR_SUBDIVISIONS 3
+    #endif
+
+  #endif
+
+#elif ENABLED(AUTO_BED_LEVELING_3POINT)
+
+  // 3 arbitrary points to probe.
+  // A simple cross-product is used to estimate the plane of the bed.
+  #define ABL_PROBE_PT_1_X 15
+  #define ABL_PROBE_PT_1_Y 180
+  #define ABL_PROBE_PT_2_X 15
+  #define ABL_PROBE_PT_2_Y 20
+  #define ABL_PROBE_PT_3_X 170
+  #define ABL_PROBE_PT_3_Y 20
+
+#elif ENABLED(AUTO_BED_LEVELING_UBL)
+
+  //===========================================================================
+  //========================= Unified Bed Leveling ============================
+  //===========================================================================
+
+  #define UBL_MESH_INSET 1          // Mesh inset margin on print area
+  #define GRID_MAX_POINTS_X 10      // Don't use more than 15 points per axis, implementation limited.
+  #define GRID_MAX_POINTS_Y GRID_MAX_POINTS_X
+  #define UBL_PROBE_PT_1_X 39       // These set the probe locations for when UBL does a 3-Point leveling
+  #define UBL_PROBE_PT_1_Y 180      // of the mesh.
+  #define UBL_PROBE_PT_2_X 39
+  #define UBL_PROBE_PT_2_Y 20
+  #define UBL_PROBE_PT_3_X 180
+  #define UBL_PROBE_PT_3_Y 20
+  //#define UBL_G26_MESH_EDITING    // Enable G26 mesh editing
+
+#elif ENABLED(MESH_BED_LEVELING)
+
+  //===========================================================================
+  //=================================== Mesh ==================================
+  //===========================================================================
+
+  #define MESH_INSET 10          // Mesh inset margin on print area
+  #define GRID_MAX_POINTS_X 3    // Don't use more than 7 points per axis, implementation limited.
+  #define GRID_MAX_POINTS_Y GRID_MAX_POINTS_X
+
+  //#define MESH_G28_REST_ORIGIN // After homing all axes ('G28' or 'G28 XYZ') rest Z at Z_MIN_POS
+
+#endif // BED_LEVELING
+
+/**
+ * Use the LCD controller for bed leveling
+ * Requires MESH_BED_LEVELING or PROBE_MANUALLY
+ */
+//#define LCD_BED_LEVELING
+
+#if ENABLED(LCD_BED_LEVELING)
+  #define MBL_Z_STEP 0.025    // Step size while manually probing Z axis.
+  #define LCD_PROBE_Z_RANGE 4 // Z Range centered on Z_MIN_POS for LCD Z adjustment
+#endif
+
+/**
+ * Commands to execute at the end of G29 probing.
+ * Useful to retract or move the Z probe out of the way.
+ */
+//#define Z_PROBE_END_SCRIPT "G1 Z10 F12000\nG1 X15 Y330\nG1 Z0.5\nG1 Z10"
+
+
+// @section homing
+
+// The center of the bed is at (X=0, Y=0)
+#define BED_CENTER_AT_0_0
+
+// Manually set the home position. Leave these undefined for automatic settings.
+// 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 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.
+//
+// With this feature enabled:
+//
+// - Allow Z homing only after X and Y homing AND stepper drivers still enabled.
+// - If stepper drivers time out, it will need X and Y homing again before Z homing.
+// - Move the Z probe (or nozzle) to a defined XY point before Z Homing when homing all axes (G28).
+// - Prevent Z homing when the Z probe is outside bed area.
+//#define Z_SAFE_HOMING
+
+#if ENABLED(Z_SAFE_HOMING)
+  #define Z_SAFE_HOMING_X_POINT ((X_MIN_POS + X_MAX_POS) / 2)    // X point for Z homing when homing all axis (G28).
+  #define Z_SAFE_HOMING_Y_POINT ((Y_MIN_POS + Y_MAX_POS) / 2)    // Y point for Z homing when homing all axis (G28).
+#endif
+
+// Delta only homes to Z
+#define HOMING_FEEDRATE_Z  (100*60)
+
+//=============================================================================
+//============================= Additional Features ===========================
+//=============================================================================
+
+// @section extras
+
+//
+// EEPROM
+//
+// The microcontroller can store settings in the EEPROM, e.g. max velocity...
+// M500 - stores parameters in EEPROM
+// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
+// M502 - reverts to the default "factory settings".  You still need to store them in EEPROM afterwards if you want to.
+//define this to enable EEPROM support
+#define EEPROM_SETTINGS
+
+#if ENABLED(EEPROM_SETTINGS)
+  // To disable EEPROM Serial responses and decrease program space by ~1700 byte: comment this out:
+  #define EEPROM_CHITCHAT // Please keep turned on if you can.
+#endif
+
+//
+// Host Keepalive
+//
+// When enabled Marlin will send a busy status message to the host
+// every couple of seconds when it can't accept commands.
+//
+#define HOST_KEEPALIVE_FEATURE        // Disable this if your host doesn't like keepalive messages
+#define DEFAULT_KEEPALIVE_INTERVAL 5  // Number of seconds between "busy" messages. Set with M113.
+
+//
+// M100 Free Memory Watcher
+//
+//#define M100_FREE_MEMORY_WATCHER // uncomment to add the M100 Free Memory Watcher for debug purpose
+
+//
+// G20/G21 Inch mode support
+//
+//#define INCH_MODE_SUPPORT
+
+//
+// M149 Set temperature units support
+//
+//#define TEMPERATURE_UNITS_SUPPORT
+
+// @section temperature
+
+// Preheat Constants
+#define PREHEAT_1_TEMP_HOTEND 185
+#define PREHEAT_1_TEMP_BED     70
+#define PREHEAT_1_FAN_SPEED     0 // Value from 0 to 255
+
+#define PREHEAT_2_TEMP_HOTEND 240
+#define PREHEAT_2_TEMP_BED    100
+#define PREHEAT_2_FAN_SPEED     0 // Value from 0 to 255
+
+//
+// Nozzle Park -- EXPERIMENTAL
+//
+// When enabled allows the user to define a special XYZ position, inside the
+// machine's topology, to park the nozzle when idle or when receiving the G27
+// command.
+//
+// The "P" paramenter controls what is the action applied to the Z axis:
+//    P0: (Default) If current Z-pos is lower than Z-park then the nozzle will
+//        be raised to reach Z-park height.
+//
+//    P1: No matter the current Z-pos, the nozzle will be raised/lowered to
+//        reach Z-park height.
+//
+//    P2: The nozzle height will be raised by Z-park amount but never going over
+//        the machine's limit of Z_MAX_POS.
+//
+//#define NOZZLE_PARK_FEATURE
+
+#if ENABLED(NOZZLE_PARK_FEATURE)
+  // Specify a park position as { X, Y, Z }
+  #define NOZZLE_PARK_POINT { (X_MIN_POS + 10), (Y_MAX_POS - 10), 20 }
+#endif
+
+//
+// Clean Nozzle Feature -- EXPERIMENTAL
+//
+// When enabled allows the user to send G12 to start the nozzle cleaning
+// process, the G-Code accepts two parameters:
+//   "P" for pattern selection
+//   "S" for defining the number of strokes/repetitions
+//
+// Available list of patterns:
+//   P0: This is the default pattern, this process requires a sponge type
+//       material at a fixed bed location. S defines "strokes" i.e.
+//       back-and-forth movements between the starting and end points.
+//
+//   P1: This starts a zig-zag pattern between (X0, Y0) and (X1, Y1), "T"
+//       defines the number of zig-zag triangles to be done. "S" defines the
+//       number of strokes aka one back-and-forth movement. Zig-zags will
+//       be performed in whichever dimension is smallest. As an example,
+//       sending "G12 P1 S1 T3" will execute:
+//
+//          --
+//         |  (X0, Y1) |     /\        /\        /\     | (X1, Y1)
+//         |           |    /  \      /  \      /  \    |
+//       A |           |   /    \    /    \    /    \   |
+//         |           |  /      \  /      \  /      \  |
+//         |  (X0, Y0) | /        \/        \/        \ | (X1, Y0)
+//          --         +--------------------------------+
+//                       |________|_________|_________|
+//                           T1        T2        T3
+//
+//   P2: This starts a circular pattern with circle with middle in
+//       NOZZLE_CLEAN_CIRCLE_MIDDLE radius of R and stroke count of S.
+//       Before starting the circle nozzle goes to NOZZLE_CLEAN_START_POINT.
+//
+// Caveats: End point Z should use the same value as Start point Z.
+//
+// Attention: This is an EXPERIMENTAL feature, in the future the G-code arguments
+// may change to add new functionality like different wipe patterns.
+//
+//#define NOZZLE_CLEAN_FEATURE
+
+#if ENABLED(NOZZLE_CLEAN_FEATURE)
+  // Default number of pattern repetitions
+  #define NOZZLE_CLEAN_STROKES  12
+
+  // Default number of triangles
+  #define NOZZLE_CLEAN_TRIANGLES  3
+
+  // Specify positions as { X, Y, Z }
+  #define NOZZLE_CLEAN_START_POINT { 30, 30, (Z_MIN_POS + 1)}
+  #define NOZZLE_CLEAN_END_POINT   {100, 60, (Z_MIN_POS + 1)}
+
+  // Circular pattern radius
+  #define NOZZLE_CLEAN_CIRCLE_RADIUS 6.5
+  // Circular pattern circle fragments number
+  #define NOZZLE_CLEAN_CIRCLE_FN 10
+  // Middle point of circle
+  #define NOZZLE_CLEAN_CIRCLE_MIDDLE NOZZLE_CLEAN_START_POINT
+
+  // Moves the nozzle to the initial position
+  #define NOZZLE_CLEAN_GOBACK
+#endif
+
+//
+// Print job timer
+//
+// Enable this option to automatically start and stop the
+// print job timer when M104/M109/M190 commands are received.
+// M104 (extruder without wait) - high temp = none, low temp = stop timer
+// M109 (extruder with wait) - high temp = start timer, low temp = stop timer
+// M190 (bed with wait) - high temp = start timer, low temp = none
+//
+// In all cases the timer can be started and stopped using
+// the following commands:
+//
+// - M75  - Start the print job timer
+// - M76  - Pause the print job timer
+// - M77  - Stop the print job timer
+#define PRINTJOB_TIMER_AUTOSTART
+
+//
+// Print Counter
+//
+// When enabled Marlin will keep track of some print statistical data such as:
+//  - Total print jobs
+//  - Total successful print jobs
+//  - Total failed print jobs
+//  - Total time printing
+//
+// This information can be viewed by the M78 command.
+#define PRINTCOUNTER
+
+//=============================================================================
+//============================= LCD and SD support ============================
+//=============================================================================
+
+// @section lcd
+
+//
+// LCD LANGUAGE
+//
+// Here you may choose the language used by Marlin on the LCD menus, the following
+// list of languages are available:
+//    en, an, bg, ca, cn, cz, de, el, el-gr, es, eu, fi, fr, gl, hr, it,
+//    kana, kana_utf8, nl, pl, pt, pt_utf8, pt-br, pt-br_utf8, ru, tr, uk, test
+//
+// :{ 'en':'English', 'an':'Aragonese', 'bg':'Bulgarian', 'ca':'Catalan', 'cn':'Chinese', 'cz':'Czech', 'de':'German', 'el':'Greek', 'el-gr':'Greek (Greece)', 'es':'Spanish', 'eu':'Basque-Euskera', 'fi':'Finnish', 'fr':'French', 'gl':'Galician', 'hr':'Croatian', 'it':'Italian', 'kana':'Japanese', 'kana_utf8':'Japanese (UTF8)', 'nl':'Dutch', 'pl':'Polish', 'pt':'Portuguese', 'pt-br':'Portuguese (Brazilian)', 'pt-br_utf8':'Portuguese (Brazilian UTF8)', 'pt_utf8':'Portuguese (UTF8)', 'ru':'Russian', 'tr':'Turkish', 'uk':'Ukrainian', 'test':'TEST' }
+//
+#define LCD_LANGUAGE en
+
+//
+// LCD Character Set
+//
+// Note: This option is NOT applicable to Graphical Displays.
+//
+// All character-based LCD's provide ASCII plus one of these
+// language extensions:
+//
+//  - JAPANESE ... the most common
+//  - WESTERN  ... with more accented characters
+//  - CYRILLIC ... for the Russian language
+//
+// To determine the language extension installed on your controller:
+//
+//  - Compile and upload with LCD_LANGUAGE set to 'test'
+//  - Click the controller to view the LCD menu
+//  - The LCD will display Japanese, Western, or Cyrillic text
+//
+// See https://github.com/MarlinFirmware/Marlin/wiki/LCD-Language
+//
+// :['JAPANESE', 'WESTERN', 'CYRILLIC']
+//
+#define DISPLAY_CHARSET_HD44780 WESTERN
+
+//
+// LCD TYPE
+//
+// You may choose ULTRA_LCD if you have character based LCD with 16x2, 16x4, 20x2,
+// 20x4 char/lines or DOGLCD for the full graphics display with 128x64 pixels
+// (ST7565R family). (This option will be set automatically for certain displays.)
+//
+// IMPORTANT NOTE: The U8glib library is required for Full Graphic Display!
+//                 https://github.com/olikraus/U8glib_Arduino
+//
+//#define ULTRA_LCD   // Character based
+//#define DOGLCD      // Full graphics display
+
+//
+// SD CARD
+//
+// SD Card support is disabled by default. If your controller has an SD slot,
+// you must uncomment the following option or it won't work.
+//
+#define SDSUPPORT
+
+//
+// SD CARD: SPI SPEED
+//
+// Uncomment ONE of the following items to use a slower SPI transfer
+// speed. This is usually required if you're getting volume init errors.
+//
+//#define SPI_SPEED SPI_HALF_SPEED
+//#define SPI_SPEED SPI_QUARTER_SPEED
+//#define SPI_SPEED SPI_EIGHTH_SPEED
+
+//
+// SD CARD: ENABLE CRC
+//
+// Use CRC checks and retries on the SD communication.
+//
+#define SD_CHECK_AND_RETRY
+
+//
+// ENCODER SETTINGS
+//
+// This option overrides the default number of encoder pulses needed to
+// produce one step. Should be increased for high-resolution encoders.
+//
+//#define ENCODER_PULSES_PER_STEP 1
+
+//
+// Use this option to override the number of step signals required to
+// move between next/prev menu items.
+//
+//#define ENCODER_STEPS_PER_MENU_ITEM 5
+
+/**
+ * Encoder Direction Options
+ *
+ * Test your encoder's behavior first with both options disabled.
+ *
+ *  Reversed Value Edit and Menu Nav? Enable REVERSE_ENCODER_DIRECTION.
+ *  Reversed Menu Navigation only?    Enable REVERSE_MENU_DIRECTION.
+ *  Reversed Value Editing only?      Enable BOTH options.
+ */
+
+//
+// This option reverses the encoder direction everywhere
+//
+//  Set this option if CLOCKWISE causes values to DECREASE
+//
+//#define REVERSE_ENCODER_DIRECTION
+
+//
+// This option reverses the encoder direction for navigating LCD menus.
+//
+//  If CLOCKWISE normally moves DOWN this makes it go UP.
+//  If CLOCKWISE normally moves UP this makes it go DOWN.
+//
+//#define REVERSE_MENU_DIRECTION
+
+//
+// Individual Axis Homing
+//
+// Add individual axis homing items (Home X, Home Y, and Home Z) to the LCD menu.
+//
+// INDIVIDUAL_AXIS_HOMING_MENU is incompatible with DELTA kinematics.
+//#define INDIVIDUAL_AXIS_HOMING_MENU
+
+//
+// SPEAKER/BUZZER
+//
+// If you have a speaker that can produce tones, enable it here.
+// By default Marlin assumes you have a buzzer with a fixed frequency.
+//
+//#define SPEAKER
+
+//
+// The duration and frequency for the UI feedback sound.
+// Set these to 0 to disable audio feedback in the LCD menus.
+//
+// Note: Test audio output with the G-Code:
+//  M300 S<frequency Hz> P<duration ms>
+//
+//#define LCD_FEEDBACK_FREQUENCY_DURATION_MS 100
+//#define LCD_FEEDBACK_FREQUENCY_HZ 1000
+
+//
+// CONTROLLER TYPE: Standard
+//
+// Marlin supports a wide variety of controllers.
+// Enable one of the following options to specify your controller.
+//
+
+//
+// ULTIMAKER Controller.
+//
+//#define ULTIMAKERCONTROLLER
+
+//
+// ULTIPANEL as seen on Thingiverse.
+//
+//#define ULTIPANEL
+
+//
+// Cartesio UI
+// http://mauk.cc/webshop/cartesio-shop/electronics/user-interface
+//
+//#define CARTESIO_UI
+
+//
+// PanelOne from T3P3 (via RAMPS 1.4 AUX2/AUX3)
+// http://reprap.org/wiki/PanelOne
+//
+//#define PANEL_ONE
+
+//
+// MaKr3d Makr-Panel with graphic controller and SD support.
+// http://reprap.org/wiki/MaKr3d_MaKrPanel
+//
+//#define MAKRPANEL
+
+//
+// ReprapWorld Graphical LCD
+// https://reprapworld.com/?products_details&products_id/1218
+//
+//#define REPRAPWORLD_GRAPHICAL_LCD
+
+//
+// Activate one of these if you have a Panucatt Devices
+// Viki 2.0 or mini Viki with Graphic LCD
+// http://panucatt.com
+//
+//#define VIKI2
+//#define miniVIKI
+
+//
+// Adafruit ST7565 Full Graphic Controller.
+// https://github.com/eboston/Adafruit-ST7565-Full-Graphic-Controller/
+//
+//#define ELB_FULL_GRAPHIC_CONTROLLER
+
+//
+// RepRapDiscount Smart Controller.
+// http://reprap.org/wiki/RepRapDiscount_Smart_Controller
+//
+// Note: Usually sold with a white PCB.
+//
+#define REPRAP_DISCOUNT_SMART_CONTROLLER
+
+//
+// GADGETS3D G3D LCD/SD Controller
+// http://reprap.org/wiki/RAMPS_1.3/1.4_GADGETS3D_Shield_with_Panel
+//
+// Note: Usually sold with a blue PCB.
+//
+//#define G3D_PANEL
+
+//
+// RepRapDiscount FULL GRAPHIC Smart Controller
+// http://reprap.org/wiki/RepRapDiscount_Full_Graphic_Smart_Controller
+//
+//#define REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER
+
+//
+// MakerLab Mini Panel with graphic
+// controller and SD support - http://reprap.org/wiki/Mini_panel
+//
+//#define MINIPANEL
+
+//
+// RepRapWorld REPRAPWORLD_KEYPAD v1.1
+// http://reprapworld.com/?products_details&products_id=202&cPath=1591_1626
+//
+// REPRAPWORLD_KEYPAD_MOVE_STEP sets how much should the robot move when a key
+// is pressed, a value of 10.0 means 10mm per click.
+//
+//#define REPRAPWORLD_KEYPAD
+//#define REPRAPWORLD_KEYPAD_MOVE_STEP 1.0
+
+//
+// RigidBot Panel V1.0
+// http://www.inventapart.com/
+//
+//#define RIGIDBOT_PANEL
+
+//
+// BQ LCD Smart Controller shipped by
+// default with the BQ Hephestos 2 and Witbox 2.
+//
+//#define BQ_LCD_SMART_CONTROLLER
+
+//
+// CONTROLLER TYPE: I2C
+//
+// Note: These controllers require the installation of Arduino's LiquidCrystal_I2C
+// library. For more info: https://github.com/kiyoshigawa/LiquidCrystal_I2C
+//
+
+//
+// Elefu RA Board Control Panel
+// http://www.elefu.com/index.php?route=product/product&product_id=53
+//
+//#define RA_CONTROL_PANEL
+
+//
+// Sainsmart YW Robot (LCM1602) LCD Display
+//
+//#define LCD_I2C_SAINSMART_YWROBOT
+
+//
+// Generic LCM1602 LCD adapter
+//
+//#define LCM1602
+
+//
+// PANELOLU2 LCD with status LEDs,
+// separate encoder and click inputs.
+//
+// Note: This controller requires Arduino's LiquidTWI2 library v1.2.3 or later.
+// For more info: https://github.com/lincomatic/LiquidTWI2
+//
+// Note: The PANELOLU2 encoder click input can either be directly connected to
+// a pin (if BTN_ENC defined to != -1) or read through I2C (when BTN_ENC == -1).
+//
+//#define LCD_I2C_PANELOLU2
+
+//
+// Panucatt VIKI LCD with status LEDs,
+// integrated click & L/R/U/D buttons, separate encoder inputs.
+//
+//#define LCD_I2C_VIKI
+
+//
+// SSD1306 OLED full graphics generic display
+//
+//#define U8GLIB_SSD1306
+
+//
+// SAV OLEd LCD module support using either SSD1306 or SH1106 based LCD modules
+//
+//#define SAV_3DGLCD
+#if ENABLED(SAV_3DGLCD)
+  //#define U8GLIB_SSD1306
+  #define U8GLIB_SH1106
+#endif
+
+//
+// CONTROLLER TYPE: Shift register panels
+//
+// 2 wire Non-latching LCD SR from https://goo.gl/aJJ4sH
+// LCD configuration: http://reprap.org/wiki/SAV_3D_LCD
+//
+//#define SAV_3DLCD
+
+//
+// TinyBoy2 128x64 OLED / Encoder Panel
+//
+//#define OLED_PANEL_TINYBOY2
+
+//=============================================================================
+//=============================== Extra Features ==============================
+//=============================================================================
+
+// @section extras
+
+// Increase the FAN PWM frequency. Removes the PWM noise but increases heating in the FET/Arduino
+//#define FAST_PWM_FAN
+
+// Use software PWM to drive the fan, as for the heaters. This uses a very low frequency
+// which is not as annoying as with the hardware PWM. On the other hand, if this frequency
+// is too low, you should also increment SOFT_PWM_SCALE.
+//#define FAN_SOFT_PWM
+
+// Incrementing this by 1 will double the software PWM frequency,
+// affecting heaters, and the fan if FAN_SOFT_PWM is enabled.
+// However, control resolution will be halved for each increment;
+// at zero value, there are 128 effective control positions.
+#define SOFT_PWM_SCALE 0
+
+// If SOFT_PWM_SCALE is set to a value higher than 0, dithering can
+// be used to mitigate the associated resolution loss. If enabled,
+// some of the PWM cycles are stretched so on average the desired
+// duty cycle is attained.
+//#define SOFT_PWM_DITHER
+
+// Temperature status LEDs that display the hotend and bed temperature.
+// If all hotends, bed temperature, and target temperature are under 54C
+// then the BLUE led is on. Otherwise the RED led is on. (1C hysteresis)
+//#define TEMP_STAT_LEDS
+
+// M240  Triggers a camera by emulating a Canon RC-1 Remote
+// Data from: http://www.doc-diy.net/photo/rc-1_hacked/
+//#define PHOTOGRAPH_PIN     23
+
+// SkeinForge sends the wrong arc g-codes when using Arc Point as fillet procedure
+//#define SF_ARC_FIX
+
+// Support for the BariCUDA Paste Extruder.
+//#define BARICUDA
+
+//define BlinkM/CyzRgb Support
+//#define BLINKM
+
+/**
+ * RGB LED / LED Strip Control
+ *
+ * Enable support for an RGB LED connected to 5V digital pins, or
+ * an RGB Strip connected to MOSFETs controlled by digital pins.
+ *
+ * Adds the M150 command to set the LED (or LED strip) color. 
+ * If pins are PWM capable (e.g., 4, 5, 6, 11) then a range of
+ * luminance values can be set from 0 to 255.
+ *
+ * *** CAUTION ***
+ *  LED Strips require a MOFSET Chip between PWM lines and LEDs,
+ *  as the Arduino cannot handle the current the LEDs will require.
+ *  Failure to follow this precaution can destroy your Arduino!
+ * *** CAUTION ***
+ *
+ */
+//#define RGB_LED
+//#define RGBW_LED
+#if ENABLED(RGB_LED) || ENABLED(RGBW_LED)
+  #define RGB_LED_R_PIN 34
+  #define RGB_LED_G_PIN 43
+  #define RGB_LED_B_PIN 35
+  #define RGB_LED_W_PIN -1
+#endif
+
+/**
+ * Printer Event LEDs
+ *
+ * During printing, the LEDs will reflect the printer status:
+ *
+ *  - Gradually change from blue to violet as the heated bed gets to target temp
+ *  - Gradually change from violet to red as the hotend gets to temperature
+ *  - Change to white to illuminate work surface
+ *  - Change to green once print has finished
+ *  - Turn off after the print has finished and the user has pushed a button
+ */
+#if ENABLED(BLINKM) || ENABLED(RGB_LED) || ENABLED(RGBW_LED)
+  #define PRINTER_EVENT_LEDS
+#endif
+
+/*********************************************************************\
+* R/C SERVO support
+* Sponsored by TrinityLabs, Reworked by codexmas
+**********************************************************************/
+
+// Number of servos
+//
+// If you select a configuration below, this will receive a default value and does not need to be set manually
+// set it manually if you have more servos than extruders and wish to manually control some
+// leaving it undefined or defining as 0 will disable the servo subsystem
+// If unsure, leave commented / disabled
+//
+//#define NUM_SERVOS 3 // Servo index starts with 0 for M280 command
+
+// Delay (in milliseconds) before the next move will start, to give the servo time to reach its target angle.
+// 300ms is a good value but you can try less delay.
+// If the servo can't reach the requested position, increase it.
+#define SERVO_DELAY 300
+
+// Servo deactivation
+//
+// With this option servos are powered only during movement, then turned off to prevent jitter.
+//#define DEACTIVATE_SERVOS_AFTER_MOVE
+
+/**
+ * Filament Width Sensor
+ *
+ * Measures the filament width in real-time and adjusts
+ * flow rate to compensate for any irregularities.
+ *
+ * Also allows the measured filament diameter to set the
+ * extrusion rate, so the slicer only has to specify the
+ * volume.
+ *
+ * Only a single extruder is supported at this time.
+ *
+ *  34 RAMPS_14    : Analog input 5 on the AUX2 connector
+ *  81 PRINTRBOARD : Analog input 2 on the Exp1 connector (version B,C,D,E)
+ * 301 RAMBO       : Analog input 3
+ *
+ * Note: May require analog pins to be defined for other boards.
+ */
+//#define FILAMENT_WIDTH_SENSOR
+
+#define DEFAULT_NOMINAL_FILAMENT_DIA 1.75   // (mm) Diameter of the filament generally used (3.0 or 1.75mm), also used in the slicer. Used to validate sensor reading.
+
+#if ENABLED(FILAMENT_WIDTH_SENSOR)
+  #define FILAMENT_SENSOR_EXTRUDER_NUM 0    // Index of the extruder that has the filament sensor (0,1,2,3)
+  #define MEASUREMENT_DELAY_CM        14    // (cm) The distance from the filament sensor to the melting chamber
+
+  #define MEASURED_UPPER_LIMIT         3.30 // (mm) Upper limit used to validate sensor reading
+  #define MEASURED_LOWER_LIMIT         1.90 // (mm) Lower limit used to validate sensor reading
+  #define MAX_MEASUREMENT_DELAY       20    // (bytes) Buffer size for stored measurements (1 byte per cm). Must be larger than MEASUREMENT_DELAY_CM.
+
+  #define DEFAULT_MEASURED_FILAMENT_DIA DEFAULT_NOMINAL_FILAMENT_DIA // Set measured to nominal initially
+
+  // Display filament width on the LCD status line. Status messages will expire after 5 seconds.
+  //#define FILAMENT_LCD_DISPLAY
+#endif
+
+#endif // CONFIGURATION_H

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

@@ -0,0 +1,1137 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 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 <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * Configuration_adv.h
+ *
+ * Advanced settings.
+ * Only change these if you know exactly what you're doing.
+ * Some of these settings can damage your printer if improperly set!
+ *
+ * Basic settings can be found in Configuration.h
+ *
+ */
+#ifndef CONFIGURATION_ADV_H
+#define CONFIGURATION_ADV_H
+
+/**
+ *
+ *  ***********************************
+ *  **  ATTENTION TO ALL DEVELOPERS  **
+ *  ***********************************
+ *
+ * You must increment this version number for every significant change such as,
+ * but not limited to: ADD, DELETE RENAME OR REPURPOSE any directive/option.
+ *
+ * Note: Update also Version.h !
+ */
+#define CONFIGURATION_ADV_H_VERSION 010100
+
+// @section temperature
+
+//===========================================================================
+//=============================Thermal Settings  ============================
+//===========================================================================
+
+#if DISABLED(PIDTEMPBED)
+  #define BED_CHECK_INTERVAL 5000 // ms between checks in bang-bang control
+  #if ENABLED(BED_LIMIT_SWITCHING)
+    #define BED_HYSTERESIS 2 // Only disable heating if T>target+BED_HYSTERESIS and enable heating if T>target-BED_HYSTERESIS
+  #endif
+#endif
+
+/**
+ * Thermal Protection protects your printer from damage and fire if a
+ * thermistor falls out or temperature sensors fail in any way.
+ *
+ * The issue: If a thermistor falls out or a temperature sensor fails,
+ * Marlin can no longer sense the actual temperature. Since a disconnected
+ * thermistor reads as a low temperature, the firmware will keep the heater on.
+ *
+ * The solution: Once the temperature reaches the target, start observing.
+ * If the temperature stays too far below the target (hysteresis) for too long (period),
+ * the firmware will halt the machine as a safety precaution.
+ *
+ * If you get false positives for "Thermal Runaway" increase THERMAL_PROTECTION_HYSTERESIS and/or THERMAL_PROTECTION_PERIOD
+ */
+#if ENABLED(THERMAL_PROTECTION_HOTENDS)
+  #define THERMAL_PROTECTION_PERIOD 40        // Seconds
+  #define THERMAL_PROTECTION_HYSTERESIS 4     // Degrees Celsius
+
+  /**
+   * Whenever an M104 or M109 increases the target temperature the firmware will wait for the
+   * WATCH_TEMP_PERIOD to expire, and if the temperature hasn't increased by WATCH_TEMP_INCREASE
+   * degrees, the machine is halted, requiring a hard reset. This test restarts with any M104/M109,
+   * but only if the current temperature is far enough below the target for a reliable test.
+   *
+   * If you get false positives for "Heating failed" increase WATCH_TEMP_PERIOD and/or decrease WATCH_TEMP_INCREASE
+   * WATCH_TEMP_INCREASE should not be below 2.
+   */
+  #define WATCH_TEMP_PERIOD 20                // Seconds
+  #define WATCH_TEMP_INCREASE 2               // Degrees Celsius
+#endif
+
+/**
+ * Thermal Protection parameters for the bed are just as above for hotends.
+ */
+#if ENABLED(THERMAL_PROTECTION_BED)
+  #define THERMAL_PROTECTION_BED_PERIOD 20    // Seconds
+  #define THERMAL_PROTECTION_BED_HYSTERESIS 2 // Degrees Celsius
+
+  /**
+   * Whenever an M140 or M190 increases the target temperature the firmware will wait for the
+   * WATCH_BED_TEMP_PERIOD to expire, and if the temperature hasn't increased by WATCH_BED_TEMP_INCREASE
+   * degrees, the machine is halted, requiring a hard reset. This test restarts with any M140/M190,
+   * but only if the current temperature is far enough below the target for a reliable test.
+   *
+   * If you get too many "Heating failed" errors, increase WATCH_BED_TEMP_PERIOD and/or decrease
+   * WATCH_BED_TEMP_INCREASE. (WATCH_BED_TEMP_INCREASE should not be below 2.)
+   */
+  #define WATCH_BED_TEMP_PERIOD 60                // Seconds
+  #define WATCH_BED_TEMP_INCREASE 2               // Degrees Celsius
+#endif
+
+#if ENABLED(PIDTEMP)
+  // this adds an experimental additional term to the heating power, proportional to the extrusion speed.
+  // if Kc is chosen well, the additional required power due to increased melting should be compensated.
+  //#define PID_EXTRUSION_SCALING
+  #if ENABLED(PID_EXTRUSION_SCALING)
+    #define DEFAULT_Kc (100) //heating power=Kc*(e_speed)
+    #define LPQ_MAX_LEN 50
+  #endif
+#endif
+
+/**
+ * Automatic Temperature:
+ * The hotend target temperature is calculated by all the buffered lines of gcode.
+ * The maximum buffered steps/sec of the extruder motor is called "se".
+ * Start autotemp mode with M109 S<mintemp> B<maxtemp> F<factor>
+ * The target temperature is set to mintemp+factor*se[steps/sec] and is limited by
+ * mintemp and maxtemp. Turn this off by executing M109 without F*
+ * Also, if the temperature is set to a value below mintemp, it will not be changed by autotemp.
+ * On an Ultimaker, some initial testing worked with M109 S215 B260 F1 in the start.gcode
+ */
+#define AUTOTEMP
+#if ENABLED(AUTOTEMP)
+  #define AUTOTEMP_OLDWEIGHT 0.98
+#endif
+
+//Show Temperature ADC value
+//The M105 command return, besides traditional information, the ADC value read from temperature sensors.
+//#define SHOW_TEMP_ADC_VALUES
+
+/**
+ * High Temperature Thermistor Support
+ *
+ * Thermistors able to support high temperature tend to have a hard time getting
+ * good readings at room and lower temperatures. This means HEATER_X_RAW_LO_TEMP
+ * will probably be caught when the heating element first turns on during the
+ * preheating process, which will trigger a min_temp_error as a safety measure
+ * and force stop everything.
+ * To circumvent this limitation, we allow for a preheat time (during which,
+ * min_temp_error won't be triggered) and add a min_temp buffer to handle
+ * aberrant readings.
+ *
+ * If you want to enable this feature for your hotend thermistor(s)
+ * uncomment and set values > 0 in the constants below
+ */
+
+// The number of consecutive low temperature errors that can occur
+// before a min_temp_error is triggered. (Shouldn't be more than 10.)
+//#define MAX_CONSECUTIVE_LOW_TEMPERATURE_ERROR_ALLOWED 0
+
+// The number of milliseconds a hotend will preheat before starting to check
+// the temperature. This value should NOT be set to the time it takes the
+// hot end to reach the target temperature, but the time it takes to reach
+// the minimum temperature your thermistor can read. The lower the better/safer.
+// This shouldn't need to be more than 30 seconds (30000)
+//#define MILLISECONDS_PREHEAT_TIME 0
+
+// @section extruder
+
+// Extruder runout prevention.
+// If the machine is idle and the temperature over MINTEMP
+// then extrude some filament every couple of SECONDS.
+//#define EXTRUDER_RUNOUT_PREVENT
+#if ENABLED(EXTRUDER_RUNOUT_PREVENT)
+  #define EXTRUDER_RUNOUT_MINTEMP 190
+  #define EXTRUDER_RUNOUT_SECONDS 30
+  #define EXTRUDER_RUNOUT_SPEED 1500  // mm/m
+  #define EXTRUDER_RUNOUT_EXTRUDE 5   // mm
+#endif
+
+// @section temperature
+
+//These defines help to calibrate the AD595 sensor in case you get wrong temperature measurements.
+//The measured temperature is defined as "actualTemp = (measuredTemp * TEMP_SENSOR_AD595_GAIN) + TEMP_SENSOR_AD595_OFFSET"
+#define TEMP_SENSOR_AD595_OFFSET 0.0
+#define TEMP_SENSOR_AD595_GAIN   1.0
+
+//This is for controlling a fan to cool down the stepper drivers
+//it will turn on when any driver is enabled
+//and turn off after the set amount of seconds from last driver being disabled again
+#define CONTROLLERFAN_PIN -1 //Pin used for the fan to cool controller (-1 to disable)
+#define CONTROLLERFAN_SECS 60 //How many seconds, after all motors were disabled, the fan should run
+#define CONTROLLERFAN_SPEED 255  // == full speed
+
+// When first starting the main fan, run it at full speed for the
+// given number of milliseconds.  This gets the fan spinning reliably
+// before setting a PWM value. (Does not work with software PWM for fan on Sanguinololu)
+//#define FAN_KICKSTART_TIME 100
+
+// This defines the minimal speed for the main fan, run in PWM mode
+// to enable uncomment and set minimal PWM speed for reliable running (1-255)
+// if fan speed is [1 - (FAN_MIN_PWM-1)] it is set to FAN_MIN_PWM
+//#define FAN_MIN_PWM 50
+
+// @section extruder
+
+/**
+ * Extruder cooling fans
+ *
+ * Extruder auto fans automatically turn on when their extruders'
+ * temperatures go above EXTRUDER_AUTO_FAN_TEMPERATURE.
+ *
+ * Your board's pins file specifies the recommended pins. Override those here
+ * or set to -1 to disable completely.
+ *
+ * Multiple extruders can be assigned to the same pin in which case
+ * the fan will turn on when any selected extruder is above the threshold.
+ */
+#define E0_AUTO_FAN_PIN -1
+#define E1_AUTO_FAN_PIN -1
+#define E2_AUTO_FAN_PIN -1
+#define E3_AUTO_FAN_PIN -1
+#define E4_AUTO_FAN_PIN -1
+#define EXTRUDER_AUTO_FAN_TEMPERATURE 50
+#define EXTRUDER_AUTO_FAN_SPEED   255  // == full speed
+
+// Define a pin to turn case light on/off
+//#define CASE_LIGHT_PIN 4
+#if PIN_EXISTS(CASE_LIGHT)
+  #define INVERT_CASE_LIGHT false   // Set to true if HIGH is the OFF state (active low)
+  //#define CASE_LIGHT_DEFAULT_ON   // Uncomment to set default state to on
+  //#define MENU_ITEM_CASE_LIGHT    // Uncomment to have a Case Light On / Off entry in main menu
+#endif
+
+//===========================================================================
+//============================ Mechanical Settings ==========================
+//===========================================================================
+
+// @section homing
+
+// If you want endstops to stay on (by default) even when not homing
+// enable this option. Override at any time with M120, M121.
+//#define ENDSTOPS_ALWAYS_ON_DEFAULT
+
+// @section extras
+
+//#define Z_LATE_ENABLE // Enable Z the last moment. Needed if your Z driver overheats.
+
+// Dual X Steppers
+// Uncomment this option to drive two X axis motors.
+// The next unused E driver will be assigned to the second X stepper.
+//#define X_DUAL_STEPPER_DRIVERS
+#if ENABLED(X_DUAL_STEPPER_DRIVERS)
+  // Set true if the two X motors need to rotate in opposite directions
+  #define INVERT_X2_VS_X_DIR true
+#endif
+
+// Dual Y Steppers
+// Uncomment this option to drive two Y axis motors.
+// The next unused E driver will be assigned to the second Y stepper.
+//#define Y_DUAL_STEPPER_DRIVERS
+#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
+  // Set true if the two Y motors need to rotate in opposite directions
+  #define INVERT_Y2_VS_Y_DIR true
+#endif
+
+// A single Z stepper driver is usually used to drive 2 stepper motors.
+// Uncomment this option to use a separate stepper driver for each Z axis motor.
+// The next unused E driver will be assigned to the second Z stepper.
+//#define Z_DUAL_STEPPER_DRIVERS
+
+#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
+
+  // Z_DUAL_ENDSTOPS is a feature to enable the use of 2 endstops for both Z steppers - Let's call them Z stepper and Z2 stepper.
+  // That way the machine is capable to align the bed during home, since both Z steppers are homed.
+  // There is also an implementation of M666 (software endstops adjustment) to this feature.
+  // After Z homing, this adjustment is applied to just one of the steppers in order to align the bed.
+  // One just need to home the Z axis and measure the distance difference between both Z axis and apply the math: Z adjust = Z - Z2.
+  // If the Z stepper axis is closer to the bed, the measure Z > Z2 (yes, it is.. think about it) and the Z adjust would be positive.
+  // Play a little bit with small adjustments (0.5mm) and check the behaviour.
+  // The M119 (endstops report) will start reporting the Z2 Endstop as well.
+
+  //#define Z_DUAL_ENDSTOPS
+
+  #if ENABLED(Z_DUAL_ENDSTOPS)
+    #define Z2_USE_ENDSTOP _XMAX_
+    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0  // use M666 command to determine/test this value
+  #endif
+
+#endif // Z_DUAL_STEPPER_DRIVERS
+
+// Enable this for dual x-carriage printers.
+// A dual x-carriage design has the advantage that the inactive extruder can be parked which
+// prevents hot-end ooze contaminating the print. It also reduces the weight of each x-carriage
+// allowing faster printing speeds. Connect your X2 stepper to the first unused E plug.
+//#define DUAL_X_CARRIAGE
+#if ENABLED(DUAL_X_CARRIAGE)
+  // Configuration for second X-carriage
+  // Note: the first x-carriage is defined as the x-carriage which homes to the minimum endstop;
+  // the second x-carriage always homes to the maximum endstop.
+  #define X2_MIN_POS 80     // set minimum to ensure second x-carriage doesn't hit the parked first X-carriage
+  #define X2_MAX_POS 353    // set maximum to the distance between toolheads when both heads are homed
+  #define X2_HOME_DIR 1     // the second X-carriage always homes to the maximum endstop position
+  #define X2_HOME_POS X2_MAX_POS // default home position is the maximum carriage position
+      // However: In this mode the HOTEND_OFFSET_X value for the second extruder provides a software
+      // override for X2_HOME_POS. This also allow recalibration of the distance between the two endstops
+      // without modifying the firmware (through the "M218 T1 X???" command).
+      // Remember: you should set the second extruder x-offset to 0 in your slicer.
+
+  // There are a few selectable movement modes for dual x-carriages using M605 S<mode>
+  //    Mode 0 (DXC_FULL_CONTROL_MODE): Full control. The slicer has full control over both x-carriages and can achieve optimal travel results
+  //                                    as long as it supports dual x-carriages. (M605 S0)
+  //    Mode 1 (DXC_AUTO_PARK_MODE)   : Auto-park mode. The firmware will automatically park and unpark the x-carriages on tool changes so
+  //                                    that additional slicer support is not required. (M605 S1)
+  //    Mode 2 (DXC_DUPLICATION_MODE) : Duplication mode. The firmware will transparently make the second x-carriage and extruder copy all
+  //                                    actions of the first x-carriage. This allows the printer to print 2 arbitrary items at
+  //                                    once. (2nd extruder x offset and temp offset are set using: M605 S2 [Xnnn] [Rmmm])
+
+  // This is the default power-up mode which can be later using M605.
+  #define DEFAULT_DUAL_X_CARRIAGE_MODE DXC_FULL_CONTROL_MODE
+
+  // Default settings in "Auto-park Mode"
+  #define TOOLCHANGE_PARK_ZLIFT   0.2      // the distance to raise Z axis when parking an extruder
+  #define TOOLCHANGE_UNPARK_ZLIFT 1        // the distance to raise Z axis when unparking an extruder
+
+  // Default x offset in duplication mode (typically set to half print bed width)
+  #define DEFAULT_DUPLICATION_X_OFFSET 100
+
+#endif //DUAL_X_CARRIAGE
+
+// @section homing
+
+//homing hits the endstop, then retracts by this distance, before it tries to slowly bump again:
+#define X_HOME_BUMP_MM 5
+#define Y_HOME_BUMP_MM 5
+#define Z_HOME_BUMP_MM 5 // deltas need the same for all three axes
+#define HOMING_BUMP_DIVISOR {10, 10, 10}  // Re-Bump Speed Divisor (Divides the Homing Feedrate)
+//#define QUICK_HOME  //if this is defined, if both x and y are to be homed, a diagonal move will be performed initially.
+
+// When G28 is called, this option will make Y home before X
+//#define HOME_Y_BEFORE_X
+
+// @section machine
+
+#define AXIS_RELATIVE_MODES {false, false, false, false}
+
+// Allow duplication mode with a basic dual-nozzle extruder
+//#define DUAL_NOZZLE_DUPLICATION_MODE
+
+// By default pololu step drivers require an active high signal. However, some high power drivers require an active low signal as step.
+#define INVERT_X_STEP_PIN false
+#define INVERT_Y_STEP_PIN false
+#define INVERT_Z_STEP_PIN false
+#define INVERT_E_STEP_PIN false
+
+// Default stepper release if idle. Set to 0 to deactivate.
+// Steppers will shut down DEFAULT_STEPPER_DEACTIVE_TIME seconds after the last move when DISABLE_INACTIVE_? is true.
+// Time can be set by M18 and M84.
+#define DEFAULT_STEPPER_DEACTIVE_TIME 60
+#define DISABLE_INACTIVE_X true
+#define DISABLE_INACTIVE_Y true
+#define DISABLE_INACTIVE_Z true  // set to false if the nozzle will fall down on your printed part when print has finished.
+#define DISABLE_INACTIVE_E true
+
+#define DEFAULT_MINIMUMFEEDRATE       0.0     // minimum feedrate
+#define DEFAULT_MINTRAVELFEEDRATE     0.0
+
+// @section lcd
+
+#if ENABLED(ULTIPANEL)
+  #define MANUAL_FEEDRATE_XYZ 50*60
+  #define MANUAL_FEEDRATE { MANUAL_FEEDRATE_XYZ, MANUAL_FEEDRATE_XYZ, MANUAL_FEEDRATE_XYZ, 60 } // Feedrates for manual moves along X, Y, Z, E from panel
+  #define ULTIPANEL_FEEDMULTIPLY  // Comment to disable setting feedrate multiplier via encoder
+#endif
+
+// @section extras
+
+// minimum time in microseconds that a movement needs to take if the buffer is emptied.
+#define DEFAULT_MINSEGMENTTIME        20000
+
+// If defined the movements slow down when the look ahead buffer is only half full
+// (don't use SLOWDOWN with DELTA because DELTA generates hundreds of segments per second)
+//#define SLOWDOWN
+
+// Frequency limit
+// See nophead's blog for more info
+// Not working O
+//#define XY_FREQUENCY_LIMIT  15
+
+// Minimum planner junction speed. Sets the default minimum speed the planner plans for at the end
+// of the buffer and all stops. This should not be much greater than zero and should only be changed
+// if unwanted behavior is observed on a user's machine when running at very slow speeds.
+#define MINIMUM_PLANNER_SPEED 0.05// (mm/sec)
+
+// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
+#define MICROSTEP_MODES {16,16,16,16,16} // [1,2,4,8,16]
+
+/**
+ *  @section  stepper motor current
+ *
+ *  Some boards have a means of setting the stepper motor current via firmware.
+ *
+ *  The power on motor currents are set by:
+ *    PWM_MOTOR_CURRENT - used by MINIRAMBO & ULTIMAIN_2
+ *                         known compatible chips: A4982
+ *    DIGIPOT_MOTOR_CURRENT - used by BQ_ZUM_MEGA_3D, RAMBO & SCOOVO_X9H
+ *                         known compatible chips: AD5206
+ *    DAC_MOTOR_CURRENT_DEFAULT - used by PRINTRBOARD_REVF & RIGIDBOARD_V2
+ *                         known compatible chips: MCP4728
+ *    DIGIPOT_I2C_MOTOR_CURRENTS - used by 5DPRINT, AZTEEG_X3_PRO, MIGHTYBOARD_REVE
+ *                         known compatible chips: MCP4451, MCP4018
+ *
+ *  Motor currents can also be set by M907 - M910 and by the LCD.
+ *    M907 - applies to all.
+ *    M908 - BQ_ZUM_MEGA_3D, RAMBO, PRINTRBOARD_REVF, RIGIDBOARD_V2 & SCOOVO_X9H
+ *    M909, M910 & LCD - only PRINTRBOARD_REVF & RIGIDBOARD_V2
+ */
+//#define PWM_MOTOR_CURRENT {1300, 1300, 1250} // Values in milliamps
+#define DIGIPOT_MOTOR_CURRENT {135,135,135,135,135} // Values 0-255 (RAMBO 135 = ~0.75A, 185 = ~1A)
+//#define DAC_MOTOR_CURRENT_DEFAULT { 70, 80, 90, 80 } // Default drive percent - X, Y, Z, E axis
+
+// Uncomment to enable an I2C based DIGIPOT like on the Azteeg X3 Pro
+//#define DIGIPOT_I2C
+//#define DIGIPOT_MCP4018
+#define DIGIPOT_I2C_NUM_CHANNELS 8 // 5DPRINT: 4     AZTEEG_X3_PRO: 8
+// 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===========================
+//===========================================================================
+
+#define ENCODER_RATE_MULTIPLIER         // If defined, certain menu edit operations automatically multiply the steps when the encoder is moved quickly
+#define ENCODER_10X_STEPS_PER_SEC 75    // If the encoder steps per sec exceeds this value, multiply steps moved x10 to quickly advance the value
+#define ENCODER_100X_STEPS_PER_SEC 160  // If the encoder steps per sec exceeds this value, multiply steps moved x100 to really quickly advance the value
+
+//#define CHDK 4        //Pin for triggering CHDK to take a picture see how to use it here http://captain-slow.dk/2014/03/09/3d-printing-timelapses/
+#define CHDK_DELAY 50 //How long in ms the pin should stay HIGH before going LOW again
+
+// @section lcd
+
+// Include a page of printer information in the LCD Main Menu
+//#define LCD_INFO_MENU
+
+// On the Info Screen, display XY with one decimal place when possible
+//#define LCD_DECIMAL_SMALL_XY
+
+// The timeout (in ms) to return to the status screen from sub-menus
+//#define LCD_TIMEOUT_TO_STATUS 15000
+
+#if ENABLED(SDSUPPORT)
+
+  // Some RAMPS and other boards don't detect when an SD card is inserted. You can work
+  // around this by connecting a push button or single throw switch to the pin defined
+  // as SD_DETECT_PIN in your board's pins definitions.
+  // This setting should be disabled unless you are using a push button, pulling the pin to ground.
+  // Note: This is always disabled for ULTIPANEL (except ELB_FULL_GRAPHIC_CONTROLLER).
+  #define SD_DETECT_INVERTED
+
+  #define SD_FINISHED_STEPPERRELEASE true  //if sd support and the file is finished: disable steppers?
+  #define SD_FINISHED_RELEASECOMMAND "M84 X Y Z E" // You might want to keep the z enabled so your bed stays in place.
+
+  #define SDCARD_RATHERRECENTFIRST  //reverse file order of sd card menu display. Its sorted practically after the file system block order.
+  // if a file is deleted, it frees a block. hence, the order is not purely chronological. To still have auto0.g accessible, there is again the option to do that.
+  // using:
+  //#define MENU_ADDAUTOSTART
+
+  /**
+   * Sort SD file listings in alphabetical order.
+   *
+   * With this option enabled, items on SD cards will be sorted
+   * by name for easier navigation.
+   *
+   * By default...
+   *
+   *  - Use the slowest -but safest- method for sorting.
+   *  - Folders are sorted to the top.
+   *  - The sort key is statically allocated.
+   *  - No added G-code (M34) support.
+   *  - 40 item sorting limit. (Items after the first 40 are unsorted.)
+   *
+   * SD sorting uses static allocation (as set by SDSORT_LIMIT), allowing the
+   * compiler to calculate the worst-case usage and throw an error if the SRAM
+   * limit is exceeded.
+   *
+   *  - SDSORT_USES_RAM provides faster sorting via a static directory buffer.
+   *  - SDSORT_USES_STACK does the same, but uses a local stack-based buffer.
+   *  - SDSORT_CACHE_NAMES will retain the sorted file listing in RAM. (Expensive!)
+   *  - SDSORT_DYNAMIC_RAM only uses RAM when the SD menu is visible. (Use with caution!)
+   */
+  //#define SDCARD_SORT_ALPHA
+
+  // SD Card Sorting options
+  #if ENABLED(SDCARD_SORT_ALPHA)
+    #define SDSORT_LIMIT       40     // Maximum number of sorted items (10-256).
+    #define FOLDER_SORTING     -1     // -1=above  0=none  1=below
+    #define SDSORT_GCODE       false  // Allow turning sorting on/off with LCD and M34 g-code.
+    #define SDSORT_USES_RAM    false  // Pre-allocate a static array for faster pre-sorting.
+    #define SDSORT_USES_STACK  false  // Prefer the stack for pre-sorting to give back some SRAM. (Negated by next 2 options.)
+    #define SDSORT_CACHE_NAMES false  // Keep sorted items in RAM longer for speedy performance. Most expensive option.
+    #define SDSORT_DYNAMIC_RAM false  // Use dynamic allocation (within SD menus). Least expensive option. Set SDSORT_LIMIT before use!
+  #endif
+
+  // Show a progress bar on HD44780 LCDs for SD printing
+  //#define LCD_PROGRESS_BAR
+
+  #if ENABLED(LCD_PROGRESS_BAR)
+    // Amount of time (ms) to show the bar
+    #define PROGRESS_BAR_BAR_TIME 2000
+    // Amount of time (ms) to show the status message
+    #define PROGRESS_BAR_MSG_TIME 3000
+    // Amount of time (ms) to retain the status message (0=forever)
+    #define PROGRESS_MSG_EXPIRE   0
+    // Enable this to show messages for MSG_TIME then hide them
+    //#define PROGRESS_MSG_ONCE
+    // Add a menu item to test the progress bar:
+    //#define LCD_PROGRESS_BAR_TEST
+  #endif
+
+  // This allows hosts to request long names for files and folders with M33
+  //#define LONG_FILENAME_HOST_SUPPORT
+
+  // This option allows you to abort SD printing when any endstop is triggered.
+  // This feature must be enabled with "M540 S1" or from the LCD menu.
+  // To have any effect, endstops must be enabled during SD printing.
+  //#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
+
+#endif // SDSUPPORT
+
+/**
+ * Additional options for Graphical Displays
+ *
+ * Use the optimizations here to improve printing performance,
+ * which can be adversely affected by graphical display drawing,
+ * especially when doing several short moves, and when printing
+ * on DELTA and SCARA machines.
+ *
+ * Some of these options may result in the display lagging behind
+ * controller events, as there is a trade-off between reliable
+ * printing performance versus fast display updates.
+ */
+#if ENABLED(DOGLCD)
+  // Enable to save many cycles by drawing a hollow frame on the Info Screen
+  #define XYZ_HOLLOW_FRAME
+
+  // Enable to save many cycles by drawing a hollow frame on Menu Screens
+  #define MENU_HOLLOW_FRAME
+
+  // A bigger font is available for edit items. Costs 3120 bytes of PROGMEM.
+  // Western only. Not available for Cyrillic, Kana, Turkish, Greek, or Chinese.
+  //#define USE_BIG_EDIT_FONT
+
+  // A smaller font may be used on the Info Screen. Costs 2300 bytes of PROGMEM.
+  // Western only. Not available for Cyrillic, Kana, Turkish, Greek, or Chinese.
+  //#define USE_SMALL_INFOFONT
+
+  // Enable this option and reduce the value to optimize screen updates.
+  // The normal delay is 10µs. Use the lowest value that still gives a reliable display.
+  //#define DOGM_SPI_DELAY_US 5
+#endif // DOGLCD
+
+// @section safety
+
+// The hardware watchdog should reset the microcontroller disabling all outputs,
+// in case the firmware gets stuck and doesn't do temperature regulation.
+#define USE_WATCHDOG
+
+#if ENABLED(USE_WATCHDOG)
+  // If you have a watchdog reboot in an ArduinoMega2560 then the device will hang forever, as a watchdog reset will leave the watchdog on.
+  // The "WATCHDOG_RESET_MANUAL" goes around this by not using the hardware reset.
+  //  However, THIS FEATURE IS UNSAFE!, as it will only work if interrupts are disabled. And the code could hang in an interrupt routine with interrupts disabled.
+  //#define WATCHDOG_RESET_MANUAL
+#endif
+
+// @section lcd
+
+/**
+ * Babystepping enables movement of the axes by tiny increments without changing
+ * the current position values. This feature is used primarily to adjust the Z
+ * axis in the first layer of a print in real-time.
+ *
+ * Warning: Does not respect endstops!
+ */
+//#define BABYSTEPPING
+#if ENABLED(BABYSTEPPING)
+  //#define BABYSTEP_XY            // Also enable X/Y Babystepping. Not supported on DELTA!
+  #define BABYSTEP_INVERT_Z false  // Change if Z babysteps should go the other way
+  #define BABYSTEP_MULTIPLICATOR 1 // Babysteps are very small. Increase for faster motion.
+  //#define BABYSTEP_ZPROBE_OFFSET // Enable to combine M851 and Babystepping
+  //#define DOUBLECLICK_FOR_Z_BABYSTEPPING // Double-click on the Status Screen for Z Babystepping.
+  #define DOUBLECLICK_MAX_INTERVAL 1250 // Maximum interval between clicks, in milliseconds.
+                                        // Note: Extra time may be added to mitigate controller latency.
+#endif
+
+// @section extruder
+
+// extruder advance constant (s2/mm3)
+//
+// advance (steps) = STEPS_PER_CUBIC_MM_E * EXTRUDER_ADVANCE_K * cubic mm per second ^ 2
+//
+// Hooke's law says:    force = k * distance
+// Bernoulli's principle says:  v ^ 2 / 2 + g . h + pressure / density = constant
+// so: v ^ 2 is proportional to number of steps we advance the extruder
+//#define ADVANCE
+
+#if ENABLED(ADVANCE)
+  #define EXTRUDER_ADVANCE_K .0
+  #define D_FILAMENT 2.85
+#endif
+
+/**
+ * Implementation of linear pressure control
+ *
+ * Assumption: advance = k * (delta velocity)
+ * K=0 means advance disabled.
+ * See Marlin documentation for calibration instructions.
+ */
+//#define LIN_ADVANCE
+
+#if ENABLED(LIN_ADVANCE)
+  #define LIN_ADVANCE_K 75
+
+  /**
+   * Some Slicers produce Gcode with randomly jumping extrusion widths occasionally.
+   * For example within a 0.4mm perimeter it may produce a single segment of 0.05mm width.
+   * While this is harmless for normal printing (the fluid nature of the filament will
+   * close this very, very tiny gap), it throws off the LIN_ADVANCE pressure adaption.
+   *
+   * For this case LIN_ADVANCE_E_D_RATIO can be used to set the extrusion:distance ratio
+   * to a fixed value. Note that using a fixed ratio will lead to wrong nozzle pressures
+   * if the slicer is using variable widths or layer heights within one print!
+   *
+   * This option sets the default E:D ratio at startup. Use `M905` to override this value.
+   *
+   * Example: `M905 W0.4 H0.2 D1.75`, where:
+   *   - W is the extrusion width in mm
+   *   - H is the layer height in mm
+   *   - D is the filament diameter in mm
+   *
+   * Set to 0 to auto-detect the ratio based on given Gcode G1 print moves.
+   *
+   * Slic3r (including Prusa Slic3r) produces Gcode compatible with the automatic mode.
+   * Cura (as of this writing) may produce Gcode incompatible with the automatic mode.
+   */
+  #define LIN_ADVANCE_E_D_RATIO 0 // The calculated ratio (or 0) according to the formula W * H / ((D / 2) ^ 2 * PI)
+                                  // Example: 0.4 * 0.2 / ((1.75 / 2) ^ 2 * PI) = 0.033260135
+#endif
+
+// @section leveling
+
+// Default mesh area is an area with an inset margin on the print area.
+// Below are the macros that are used to define the borders for the mesh area,
+// made available here for specialized needs, ie dual extruder setup.
+#if ENABLED(MESH_BED_LEVELING)
+  #define MESH_MIN_X (X_MIN_POS + MESH_INSET)
+  #define MESH_MAX_X (X_MAX_POS - (MESH_INSET))
+  #define MESH_MIN_Y (Y_MIN_POS + MESH_INSET)
+  #define MESH_MAX_Y (Y_MAX_POS - (MESH_INSET))
+#elif ENABLED(AUTO_BED_LEVELING_UBL)
+  #define UBL_MESH_MIN_X (X_MIN_POS + UBL_MESH_INSET)
+  #define UBL_MESH_MAX_X (X_MAX_POS - (UBL_MESH_INSET))
+  #define UBL_MESH_MIN_Y (Y_MIN_POS + UBL_MESH_INSET)
+  #define UBL_MESH_MAX_Y (Y_MAX_POS - (UBL_MESH_INSET))
+#endif
+
+// @section extras
+
+// Arc interpretation settings:
+#define ARC_SUPPORT  // Disabling this saves ~2738 bytes
+#define MM_PER_ARC_SEGMENT 1
+#define N_ARC_CORRECTION 25
+
+// Support for G5 with XYZE destination and IJPQ offsets. Requires ~2666 bytes.
+//#define BEZIER_CURVE_SUPPORT
+
+// G38.2 and G38.3 Probe Target
+// 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)
+#endif
+
+// Moves (or segments) with fewer steps than this will be joined with the next move
+#define MIN_STEPS_PER_SEGMENT 6
+
+// The minimum pulse width (in µs) for stepping a stepper.
+// Set this if you find stepping unreliable, or if using a very fast CPU.
+#define MINIMUM_STEPPER_PULSE 0 // (µs) The smallest stepper pulse allowed
+
+// @section temperature
+
+// Control heater 0 and heater 1 in parallel.
+//#define HEATERS_PARALLEL
+
+//===========================================================================
+//================================= Buffers =================================
+//===========================================================================
+
+// @section hidden
+
+// The number of linear motions that can be in the plan at any give time.
+// THE BLOCK_BUFFER_SIZE NEEDS TO BE A POWER OF 2, i.g. 8,16,32 because shifts and ors are used to do the ring-buffering.
+#if ENABLED(SDSUPPORT)
+  #define BLOCK_BUFFER_SIZE 16 // SD,LCD,Buttons take more memory, block buffer needs to be smaller
+#else
+  #define BLOCK_BUFFER_SIZE 16 // maximize block buffer
+#endif
+
+// @section serial
+
+// The ASCII buffer for serial input
+#define MAX_CMD_SIZE 96
+#define BUFSIZE 4
+
+// Transfer Buffer Size
+// To save 386 bytes of PROGMEM (and TX_BUFFER_SIZE+3 bytes of RAM) set to 0.
+// To buffer a simple "ok" you need 4 bytes.
+// For ADVANCED_OK (M105) you need 32 bytes.
+// For debug-echo: 128 bytes for the optimal speed.
+// Other output doesn't need to be that speedy.
+// :[0, 2, 4, 8, 16, 32, 64, 128, 256]
+#define TX_BUFFER_SIZE 0
+
+// Enable an emergency-command parser to intercept certain commands as they
+// enter the serial receive buffer, so they cannot be blocked.
+// Currently handles M108, M112, M410
+// Does not work on boards using AT90USB (USBCON) processors!
+//#define EMERGENCY_PARSER
+
+// Bad Serial-connections can miss a received command by sending an 'ok'
+// Therefore some clients abort after 30 seconds in a timeout.
+// Some other clients start sending commands while receiving a 'wait'.
+// This "wait" is only sent when the buffer is empty. 1 second is a good value here.
+//#define NO_TIMEOUTS 1000 // Milliseconds
+
+// Some clients will have this feature soon. This could make the NO_TIMEOUTS unnecessary.
+//#define ADVANCED_OK
+
+// @section fwretract
+
+// Firmware based and LCD controlled retract
+// M207 and M208 can be used to define parameters for the retraction.
+// The retraction can be called by the slicer using G10 and G11
+// until then, intended retractions can be detected by moves that only extrude and the direction.
+// the moves are than replaced by the firmware controlled ones.
+
+//#define FWRETRACT  //ONLY PARTIALLY TESTED
+#if ENABLED(FWRETRACT)
+  #define MIN_RETRACT 0.1                //minimum extruded mm to accept a automatic gcode retraction attempt
+  #define RETRACT_LENGTH 3               //default retract length (positive mm)
+  #define RETRACT_LENGTH_SWAP 13         //default swap retract length (positive mm), for extruder change
+  #define RETRACT_FEEDRATE 45            //default feedrate for retracting (mm/s)
+  #define RETRACT_ZLIFT 0                //default retract Z-lift
+  #define RETRACT_RECOVER_LENGTH 0       //default additional recover length (mm, added to retract length when recovering)
+  #define RETRACT_RECOVER_LENGTH_SWAP 0  //default additional swap recover length (mm, added to retract length when recovering from extruder change)
+  #define RETRACT_RECOVER_FEEDRATE 8     //default feedrate for recovering from retraction (mm/s)
+#endif
+
+/**
+ * Filament Change
+ * Experimental filament change support.
+ * Adds the GCode M600 for initiating filament change.
+ *
+ * Requires an LCD display.
+ * This feature is required for the default FILAMENT_RUNOUT_SCRIPT.
+ */
+//#define FILAMENT_CHANGE_FEATURE
+#if ENABLED(FILAMENT_CHANGE_FEATURE)
+  #define FILAMENT_CHANGE_X_POS 3             // X position of hotend
+  #define FILAMENT_CHANGE_Y_POS 3             // Y position of hotend
+  #define FILAMENT_CHANGE_Z_ADD 10            // Z addition of hotend (lift)
+  #define FILAMENT_CHANGE_XY_FEEDRATE 100     // X and Y axes feedrate in mm/s (also used for delta printers Z axis)
+  #define FILAMENT_CHANGE_Z_FEEDRATE 5        // Z axis feedrate in mm/s (not used for delta printers)
+  #define FILAMENT_CHANGE_RETRACT_FEEDRATE 60 // Initial retract feedrate in mm/s
+  #define FILAMENT_CHANGE_RETRACT_LENGTH 2    // Initial retract in mm
+                                              // It is a short retract used immediately after print interrupt before move to filament exchange position
+  #define FILAMENT_CHANGE_UNLOAD_FEEDRATE 10  // Unload filament feedrate in mm/s - filament unloading can be fast
+  #define FILAMENT_CHANGE_UNLOAD_LENGTH 100   // Unload filament length from hotend in mm
+                                              // Longer length for bowden printers to unload filament from whole bowden tube,
+                                              // shorter length for printers without bowden to unload filament from extruder only,
+                                              // 0 to disable unloading for manual unloading
+  #define FILAMENT_CHANGE_LOAD_FEEDRATE 6     // Load filament feedrate in mm/s - filament loading into the bowden tube can be fast
+  #define FILAMENT_CHANGE_LOAD_LENGTH 0       // Load filament length over hotend in mm
+                                              // Longer length for bowden printers to fast load filament into whole bowden tube over the hotend,
+                                              // Short or zero length for printers without bowden where loading is not used
+  #define FILAMENT_CHANGE_EXTRUDE_FEEDRATE 3  // Extrude filament feedrate in mm/s - must be slower than load feedrate
+  #define FILAMENT_CHANGE_EXTRUDE_LENGTH 50   // Extrude filament length in mm after filament is loaded over the hotend,
+                                              // 0 to disable for manual extrusion
+                                              // Filament can be extruded repeatedly from the filament exchange menu to fill the hotend,
+                                              // or until outcoming filament color is not clear for filament color change
+  #define FILAMENT_CHANGE_NOZZLE_TIMEOUT 45   // Turn off nozzle if user doesn't change filament within this time limit in seconds
+  #define FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS 5 // Number of alert beeps before printer goes quiet
+  #define FILAMENT_CHANGE_NO_STEPPER_TIMEOUT  // Enable to have stepper motors hold position during filament change
+                                              // even if it takes longer than DEFAULT_STEPPER_DEACTIVE_TIME.
+  //#define PARK_HEAD_ON_PAUSE                // Go to filament change position on pause, return to print position on resume
+#endif
+
+// @section tmc
+
+/**
+ * Enable this section if you have TMC26X motor drivers.
+ * You will need to import the TMC26XStepper library into the Arduino IDE for this
+ * (https://github.com/trinamic/TMC26XStepper.git)
+ */
+//#define HAVE_TMCDRIVER
+
+#if ENABLED(HAVE_TMCDRIVER)
+
+  //#define X_IS_TMC
+  //#define X2_IS_TMC
+  //#define Y_IS_TMC
+  //#define Y2_IS_TMC
+  //#define Z_IS_TMC
+  //#define Z2_IS_TMC
+  //#define E0_IS_TMC
+  //#define E1_IS_TMC
+  //#define E2_IS_TMC
+  //#define E3_IS_TMC
+  //#define E4_IS_TMC
+
+  #define X_MAX_CURRENT     1000 // in mA
+  #define X_SENSE_RESISTOR    91 // in mOhms
+  #define X_MICROSTEPS        16 // number of microsteps
+
+  #define X2_MAX_CURRENT    1000
+  #define X2_SENSE_RESISTOR   91
+  #define X2_MICROSTEPS       16
+
+  #define Y_MAX_CURRENT     1000
+  #define Y_SENSE_RESISTOR    91
+  #define Y_MICROSTEPS        16
+
+  #define Y2_MAX_CURRENT    1000
+  #define Y2_SENSE_RESISTOR   91
+  #define Y2_MICROSTEPS       16
+
+  #define Z_MAX_CURRENT     1000
+  #define Z_SENSE_RESISTOR    91
+  #define Z_MICROSTEPS        16
+
+  #define Z2_MAX_CURRENT    1000
+  #define Z2_SENSE_RESISTOR   91
+  #define Z2_MICROSTEPS       16
+
+  #define E0_MAX_CURRENT    1000
+  #define E0_SENSE_RESISTOR   91
+  #define E0_MICROSTEPS       16
+
+  #define E1_MAX_CURRENT    1000
+  #define E1_SENSE_RESISTOR   91
+  #define E1_MICROSTEPS       16
+
+  #define E2_MAX_CURRENT    1000
+  #define E2_SENSE_RESISTOR   91
+  #define E2_MICROSTEPS       16
+
+  #define E3_MAX_CURRENT    1000
+  #define E3_SENSE_RESISTOR   91
+  #define E3_MICROSTEPS       16
+
+  #define E4_MAX_CURRENT    1000
+  #define E4_SENSE_RESISTOR   91
+  #define E4_MICROSTEPS       16
+
+#endif
+
+// @section TMC2130
+
+/**
+ * Enable this for SilentStepStick Trinamic TMC2130 SPI-configurable stepper drivers.
+ *
+ * You'll also need the TMC2130Stepper Arduino library
+ * (https://github.com/teemuatlut/TMC2130Stepper).
+ *
+ * To use TMC2130 stepper drivers in SPI mode connect your SPI2130 pins to
+ * the hardware SPI interface on your board and define the required CS pins
+ * in your `pins_MYBOARD.h` file. (e.g., RAMPS 1.4 uses AUX3 pins `X_CS_PIN 53`, `Y_CS_PIN 49`, etc.).
+ */
+//#define HAVE_TMC2130
+
+#if ENABLED(HAVE_TMC2130)
+  #define STEALTHCHOP
+
+  /**
+   * Let Marlin automatically control stepper current.
+   * This is still an experimental feature.
+   * Increase current every 5s by CURRENT_STEP until stepper temperature prewarn gets triggered,
+   * then decrease current by CURRENT_STEP until temperature prewarn is cleared.
+   * Adjusting starts from X/Y/Z/E_MAX_CURRENT but will not increase over AUTO_ADJUST_MAX
+   */
+  //#define AUTOMATIC_CURRENT_CONTROL
+  #define CURRENT_STEP          50  // [mA]
+  #define AUTO_ADJUST_MAX     1300  // [mA], 1300mA_rms = 1840mA_peak
+
+  // CHOOSE YOUR MOTORS HERE, THIS IS MANDATORY
+  //#define X_IS_TMC2130
+  //#define X2_IS_TMC2130
+  //#define Y_IS_TMC2130
+  //#define Y2_IS_TMC2130
+  //#define Z_IS_TMC2130
+  //#define Z2_IS_TMC2130
+  //#define E0_IS_TMC2130
+  //#define E1_IS_TMC2130
+  //#define E2_IS_TMC2130
+  //#define E3_IS_TMC2130
+  //#define E4_IS_TMC2130
+
+  /**
+   * Stepper driver settings
+   */
+
+  #define R_SENSE           0.11  // R_sense resistor for SilentStepStick2130
+  #define HOLD_MULTIPLIER    0.5  // Scales down the holding current from run current
+  #define INTERPOLATE          1  // Interpolate X/Y/Z_MICROSTEPS to 256
+
+  #define X_MAX_CURRENT     1000  // rms current in mA
+  #define X_MICROSTEPS        16  // FULLSTEP..256
+  #define X_CHIP_SELECT       40  // Pin
+
+  #define Y_MAX_CURRENT     1000
+  #define Y_MICROSTEPS        16
+  #define Y_CHIP_SELECT       42
+
+  #define Z_MAX_CURRENT     1000
+  #define Z_MICROSTEPS        16
+  #define Z_CHIP_SELECT       65
+
+  //#define X2_MAX_CURRENT  1000
+  //#define X2_MICROSTEPS     16
+  //#define X2_CHIP_SELECT    -1
+
+  //#define Y2_MAX_CURRENT  1000
+  //#define Y2_MICROSTEPS     16
+  //#define Y2_CHIP_SELECT    -1
+
+  //#define Z2_MAX_CURRENT  1000
+  //#define Z2_MICROSTEPS     16
+  //#define Z2_CHIP_SELECT    -1
+
+  //#define E0_MAX_CURRENT  1000
+  //#define E0_MICROSTEPS     16
+  //#define E0_CHIP_SELECT    -1
+
+  //#define E1_MAX_CURRENT  1000
+  //#define E1_MICROSTEPS     16
+  //#define E1_CHIP_SELECT    -1
+
+  //#define E2_MAX_CURRENT  1000
+  //#define E2_MICROSTEPS     16
+  //#define E2_CHIP_SELECT    -1
+
+  //#define E3_MAX_CURRENT  1000
+  //#define E3_MICROSTEPS     16
+  //#define E3_CHIP_SELECT    -1
+
+  /**
+   * You can set your own advanced settings by filling in predefined functions.
+   * A list of available functions can be found on the library github page
+   * https://github.com/teemuatlut/TMC2130Stepper
+   *
+   * Example:
+   * #define TMC2130_ADV() { \
+   *   stepperX.diag0_temp_prewarn(1); \
+   *   stepperX.interpolate(0); \
+   * }
+   */
+  #define  TMC2130_ADV() {  }
+
+#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)
+ */
+
+//#define HAVE_L6470DRIVER
+#if ENABLED(HAVE_L6470DRIVER)
+
+  //#define X_IS_L6470
+  //#define X2_IS_L6470
+  //#define Y_IS_L6470
+  //#define Y2_IS_L6470
+  //#define Z_IS_L6470
+  //#define Z2_IS_L6470
+  //#define E0_IS_L6470
+  //#define E1_IS_L6470
+  //#define E2_IS_L6470
+  //#define E3_IS_L6470
+  //#define E4_IS_L6470
+
+  #define X_MICROSTEPS      16 // number of microsteps
+  #define X_K_VAL           50 // 0 - 255, Higher values, are higher power. Be careful not to go too high
+  #define X_OVERCURRENT   2000 // maxc current in mA. If the current goes over this value, the driver will switch off
+  #define X_STALLCURRENT  1500 // current in mA where the driver will detect a stall
+
+  #define X2_MICROSTEPS     16
+  #define X2_K_VAL          50
+  #define X2_OVERCURRENT  2000
+  #define X2_STALLCURRENT 1500
+
+  #define Y_MICROSTEPS      16
+  #define Y_K_VAL           50
+  #define Y_OVERCURRENT   2000
+  #define Y_STALLCURRENT  1500
+
+  #define Y2_MICROSTEPS     16
+  #define Y2_K_VAL          50
+  #define Y2_OVERCURRENT  2000
+  #define Y2_STALLCURRENT 1500
+
+  #define Z_MICROSTEPS      16
+  #define Z_K_VAL           50
+  #define Z_OVERCURRENT   2000
+  #define Z_STALLCURRENT  1500
+
+  #define Z2_MICROSTEPS     16
+  #define Z2_K_VAL          50
+  #define Z2_OVERCURRENT  2000
+  #define Z2_STALLCURRENT 1500
+
+  #define E0_MICROSTEPS     16
+  #define E0_K_VAL          50
+  #define E0_OVERCURRENT  2000
+  #define E0_STALLCURRENT 1500
+
+  #define E1_MICROSTEPS     16
+  #define E1_K_VAL          50
+  #define E1_OVERCURRENT  2000
+  #define E1_STALLCURRENT 1500
+
+  #define E2_MICROSTEPS     16
+  #define E2_K_VAL          50
+  #define E2_OVERCURRENT  2000
+  #define E2_STALLCURRENT 1500
+
+  #define E3_MICROSTEPS     16
+  #define E3_K_VAL          50
+  #define E3_OVERCURRENT  2000
+  #define E3_STALLCURRENT 1500
+
+  #define E4_MICROSTEPS     16
+  #define E4_K_VAL          50
+  #define E4_OVERCURRENT  2000
+  #define E4_STALLCURRENT 1500
+
+#endif
+
+/**
+ * TWI/I2C BUS
+ *
+ * This feature is an EXPERIMENTAL feature so it shall not be used on production
+ * machines. Enabling this will allow you to send and receive I2C data from slave
+ * devices on the bus.
+ *
+ * ; Example #1
+ * ; This macro send the string "Marlin" to the slave device with address 0x63 (99)
+ * ; It uses multiple M260 commands with one B<base 10> arg
+ * M260 A99  ; Target slave address
+ * M260 B77  ; M
+ * M260 B97  ; a
+ * M260 B114 ; r
+ * M260 B108 ; l
+ * M260 B105 ; i
+ * M260 B110 ; n
+ * M260 S1   ; Send the current buffer
+ *
+ * ; Example #2
+ * ; Request 6 bytes from slave device with address 0x63 (99)
+ * M261 A99 B5
+ *
+ * ; Example #3
+ * ; Example serial output of a M261 request
+ * echo:i2c-reply: from:99 bytes:5 data:hello
+ */
+
+// @section i2cbus
+
+//#define EXPERIMENTAL_I2CBUS
+#define I2C_SLAVE_ADDRESS  0 // Set a value from 8 to 127 to act as a slave
+
+/**
+ * M43 - display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
+ */
+//#define PINS_DEBUGGING
+
+/**
+ * Auto-report temperatures with M155 S<seconds>
+ */
+//#define AUTO_REPORT_TEMPERATURES
+
+/**
+ * Include capabilities in M115 output
+ */
+//#define EXTENDED_CAPABILITIES_REPORT
+
+/**
+ * Volumetric extrusion default state
+ * Activate to make volumetric extrusion the default method,
+ * with DEFAULT_NOMINAL_FILAMENT_DIA as the default diameter.
+ *
+ * M200 D0 to disable, M200 Dn to set a new diameter.
+ */
+//#define VOLUMETRIC_DEFAULT_ON
+
+/**
+ * Enable this option for a leaner build of Marlin that removes all
+ * workspace offsets, simplifying coordinate transformations, leveling, etc.
+ *
+ *  - M206 and M428 are disabled.
+ *  - G92 will revert to its behavior from Marlin 1.0.
+ */
+//#define NO_WORKSPACE_OFFSETS
+
+#endif // CONFIGURATION_ADV_H

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