Prevent damage if DELTA_HEIGHT is incorrect

8 years ago · f54e0fc90f
4 changed files with 166 additions and 91 deletions
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@ -1409,6 +1409,9 @@ bool get_target_extruder_from_command(const uint16_t code) {
          soft_endstop_max[axis] = base_max_pos(axis) + offs;
        }
      }
+    #elif ENABLED(DELTA)
+      soft_endstop_min[axis] = base_min_pos(axis) + (axis == Z_AXIS ? 0 : offs);
+      soft_endstop_max[axis] = base_max_pos(axis) + offs;
    #else
      soft_endstop_min[axis] = base_min_pos(axis) + offs;
      soft_endstop_max[axis] = base_max_pos(axis) + offs;
@ -1806,13 +1809,9 @@ static void clean_up_after_endstop_or_probe_move() {
      }
    #endif

-    float z_dest = LOGICAL_Z_POSITION(z_raise);
+    float z_dest = z_raise;
    if (zprobe_zoffset < 0) z_dest -= zprobe_zoffset;

-    #if ENABLED(DELTA)
-      z_dest -= home_offset[Z_AXIS]; // Account for delta height adjustment
-    #endif
-
    if (z_dest > current_position[Z_AXIS])
      do_blocking_move_to_z(z_dest);
  }
@ -2106,7 +2105,7 @@ static void clean_up_after_endstop_or_probe_move() {
      safe_delay(BLTOUCH_DELAY);
    }

-    void set_bltouch_deployed(const bool deploy) {
+    bool set_bltouch_deployed(const bool deploy) {
      if (deploy && TEST_BLTOUCH()) {      // If BL-Touch says it's triggered
        bltouch_command(BLTOUCH_RESET);    //  try to reset it.
        bltouch_command(BLTOUCH_DEPLOY);   // Also needs to deploy and stow to
@ -2118,6 +2117,7 @@ static void clean_up_after_endstop_or_probe_move() {
          SERIAL_ERROR_START();
          SERIAL_ERRORLNPGM(MSG_STOP_BLTOUCH);
          stop();                          // punt!
+          return true;
        }
      }

@ -2130,6 +2130,8 @@ static void clean_up_after_endstop_or_probe_move() {
          SERIAL_EOL();
        }
      #endif
+
+      return false;
    }

  #endif // BLTOUCH
@ -2149,23 +2151,7 @@ static void clean_up_after_endstop_or_probe_move() {
    // Make room for probe
    do_probe_raise(_Z_CLEARANCE_DEPLOY_PROBE);

-    // When deploying make sure BLTOUCH is not already triggered
-    #if ENABLED(BLTOUCH)
-      if (deploy && TEST_BLTOUCH()) {      // If BL-Touch says it's triggered
-        bltouch_command(BLTOUCH_RESET);    // try to reset it.
-        bltouch_command(BLTOUCH_DEPLOY);   // Also needs to deploy and stow to
-        bltouch_command(BLTOUCH_STOW);     // clear the triggered condition.
-        safe_delay(1500);                  // wait for internal self test to complete
-                                           //   measured completion time was 0.65 seconds
-                                           //   after reset, deploy & stow sequence
-        if (TEST_BLTOUCH()) {              // If it still claims to be triggered...
-          SERIAL_ERROR_START();
-          SERIAL_ERRORLNPGM(MSG_STOP_BLTOUCH);
-          stop();                          // punt!
-          return true;
-        }
-      }
-    #elif ENABLED(Z_PROBE_SLED) || ENABLED(Z_PROBE_ALLEN_KEY)
+    #if ENABLED(Z_PROBE_SLED) || ENABLED(Z_PROBE_ALLEN_KEY)
      #if ENABLED(Z_PROBE_SLED)
        #define _AUE_ARGS true, false, false
      #else
@ -2236,14 +2222,14 @@ static void clean_up_after_endstop_or_probe_move() {
    return false;
  }

-  static void do_probe_move(float z, float fr_mm_m) {
+  static bool do_probe_move(float z, float fr_mm_m) {
    #if ENABLED(DEBUG_LEVELING_FEATURE)
      if (DEBUGGING(LEVELING)) DEBUG_POS(">>> do_probe_move", current_position);
    #endif

    // Deploy BLTouch at the start of any probe
    #if ENABLED(BLTOUCH)
-      set_bltouch_deployed(true);
+      if (set_bltouch_deployed(true)) return true;
    #endif

    #if QUIET_PROBING
@ -2251,15 +2237,24 @@ static void clean_up_after_endstop_or_probe_move() {
    #endif

    // Move down until probe triggered
-    do_blocking_move_to_z(LOGICAL_Z_POSITION(z), MMM_TO_MMS(fr_mm_m));
+    do_blocking_move_to_z(z, MMM_TO_MMS(fr_mm_m));
+
+    // Check to see if the probe was triggered
+    const bool probe_triggered = TEST(Endstops::endstop_hit_bits,
+      #ifdef Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN
+        Z_MIN
+      #else
+        Z_MIN_PROBE
+      #endif
+    );

    #if QUIET_PROBING
      probing_pause(false);
    #endif

-    // Retract BLTouch immediately after a probe
+    // Retract BLTouch immediately after a probe if it was triggered
    #if ENABLED(BLTOUCH)
-      set_bltouch_deployed(false);
+      if (probe_triggered && set_bltouch_deployed(false)) return true;
    #endif

    // Clear endstop flags
@ -2274,11 +2269,13 @@ static void clean_up_after_endstop_or_probe_move() {
    #if ENABLED(DEBUG_LEVELING_FEATURE)
      if (DEBUGGING(LEVELING)) DEBUG_POS("<<< do_probe_move", current_position);
    #endif
+
+    return !probe_triggered;
  }

  // Do a single Z probe and return with current_position[Z_AXIS]
  // at the height where the probe triggered.
-  static float run_z_probe() {
+  static float run_z_probe(bool printable=true) {

    #if ENABLED(DEBUG_LEVELING_FEATURE)
      if (DEBUGGING(LEVELING)) DEBUG_POS(">>> run_z_probe", current_position);
@ -2290,34 +2287,33 @@ static void clean_up_after_endstop_or_probe_move() {
    #if ENABLED(PROBE_DOUBLE_TOUCH)

      // Do a first probe at the fast speed
-      do_probe_move(-(Z_MAX_LENGTH) - 10, Z_PROBE_SPEED_FAST);
+      if (do_probe_move(-10, Z_PROBE_SPEED_FAST)) return NAN;

      #if ENABLED(DEBUG_LEVELING_FEATURE)
        float first_probe_z = current_position[Z_AXIS];
        if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("1st Probe Z:", first_probe_z);
      #endif

-      // move up by the bump distance
-      do_blocking_move_to_z(current_position[Z_AXIS] + home_bump_mm(Z_AXIS), MMM_TO_MMS(Z_PROBE_SPEED_FAST));
+      // move up to make clearance for the probe
+      do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST));

    #else

      // If the nozzle is above the travel height then
      // move down quickly before doing the slow probe
-      float z = LOGICAL_Z_POSITION(Z_CLEARANCE_BETWEEN_PROBES);
+      float z = Z_CLEARANCE_DEPLOY_PROBE;
      if (zprobe_zoffset < 0) z -= zprobe_zoffset;

-      #if ENABLED(DELTA)
-        z -= home_offset[Z_AXIS]; // Account for delta height adjustment
-      #endif
-
-      if (z < current_position[Z_AXIS])
-        do_blocking_move_to_z(z, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
+      if (z < current_position[Z_AXIS]) {

+        // If we don't make it to the z position (i.e. the probe triggered), move up to make clearance for the probe
+        if (!do_probe_move(z, Z_PROBE_SPEED_FAST))
+          do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
+      }
    #endif

    // move down slowly to find bed
-    do_probe_move(-(Z_MAX_LENGTH) - 10, Z_PROBE_SPEED_SLOW);
+    if (do_probe_move(-10 + (printable ? 0 : -(Z_MAX_LENGTH)), Z_PROBE_SPEED_SLOW)) return NAN;

    #if ENABLED(DEBUG_LEVELING_FEATURE)
      if (DEBUGGING(LEVELING)) DEBUG_POS("<<< run_z_probe", current_position);
@ -2330,6 +2326,7 @@ static void clean_up_after_endstop_or_probe_move() {
        SERIAL_ECHOLNPAIR(" Discrepancy:", first_probe_z - current_position[Z_AXIS]);
      }
    #endif
+
    return RAW_CURRENT_POSITION(Z) + zprobe_zoffset
      #if ENABLED(DELTA)
        + home_offset[Z_AXIS] // Account for delta height adjustment
@ -2371,22 +2368,31 @@ static void clean_up_after_endstop_or_probe_move() {
        do_blocking_move_to_z(delta_clip_start_height);
    #endif

-    // Ensure a minimum height before moving the probe
-    do_probe_raise(Z_CLEARANCE_BETWEEN_PROBES);
+    #if HAS_SOFTWARE_ENDSTOPS
+      // Store the status of the soft endstops and disable if we're probing a non-printable location
+      static bool enable_soft_endstops = soft_endstops_enabled;
+      if (!printable) soft_endstops_enabled = false;
+    #endif

    feedrate_mm_s = XY_PROBE_FEEDRATE_MM_S;

    // Move the probe to the given XY
    do_blocking_move_to_xy(nx, ny);

-    if (DEPLOY_PROBE()) return NAN;
+    float measured_z = NAN;
+    if (!DEPLOY_PROBE()) {
+      measured_z = run_z_probe(printable);

-    const float measured_z = run_z_probe();
+      if (!stow)
+        do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
+      else
+        if (STOW_PROBE()) measured_z = NAN;
+    }

-    if (!stow)
-      do_probe_raise(Z_CLEARANCE_BETWEEN_PROBES);
-    else
-      if (STOW_PROBE()) return NAN;
+    #if HAS_SOFTWARE_ENDSTOPS
+      // Restore the soft endstop status
+      soft_endstops_enabled = enable_soft_endstops;
+    #endif

    if (verbose_level > 2) {
      SERIAL_PROTOCOLPGM("Bed X: ");
@ -3752,7 +3758,7 @@ inline void gcode_G4() {
   * A delta can only safely home all axes at the same time
   * This is like quick_home_xy() but for 3 towers.
   */
-  inline void home_delta() {
+  inline bool home_delta() {
    #if ENABLED(DEBUG_LEVELING_FEATURE)
      if (DEBUGGING(LEVELING)) DEBUG_POS(">>> home_delta", current_position);
    #endif
@ -3761,10 +3767,23 @@ inline void gcode_G4() {
    sync_plan_position();

    // Move all carriages together linearly until an endstop is hit.
-    current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (Z_MAX_LENGTH + 10);
+    current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (DELTA_HEIGHT + home_offset[Z_AXIS] + 10);
    feedrate_mm_s = homing_feedrate(X_AXIS);
    line_to_current_position();
    stepper.synchronize();
+
+    // If an endstop was not hit, then damage can occur if homing is continued.
+    // This can occur if the delta height (DELTA_HEIGHT + home_offset[Z_AXIS]) is
+    // not set correctly.
+    if (!(TEST(Endstops::endstop_hit_bits, X_MAX) ||
+          TEST(Endstops::endstop_hit_bits, Y_MAX) ||
+          TEST(Endstops::endstop_hit_bits, Z_MAX))) {
+      LCD_MESSAGEPGM(MSG_ERR_HOMING_FAILED);
+      SERIAL_ERROR_START();
+      SERIAL_ERRORLNPGM(MSG_ERR_HOMING_FAILED);
+      return false;
+    }
+
    endstops.hit_on_purpose(); // clear endstop hit flags

    // At least one carriage has reached the top.
@ -3784,6 +3803,8 @@ inline void gcode_G4() {
    #if ENABLED(DEBUG_LEVELING_FEATURE)
      if (DEBUGGING(LEVELING)) DEBUG_POS("<<< home_delta", current_position);
    #endif
+
+    return true;
  }

 #endif // DELTA
@ -4105,6 +4126,20 @@ void home_all_axes() { gcode_G28(true); }

 #endif

+#if HAS_BED_PROBE
+
+  static bool nan_error(const float v) {
+    const bool is_nan = isnan(v);
+    if (is_nan) {
+      LCD_MESSAGEPGM(MSG_ERR_PROBING_FAILED);
+      SERIAL_ERROR_START();
+      SERIAL_ERRORLNPGM(MSG_ERR_PROBING_FAILED);
+    }
+    return is_nan;
+  }
+
+#endif // HAS_BED_PROBE
+
 #if ENABLED(MESH_BED_LEVELING)

  // Save 130 bytes with non-duplication of PSTR
@ -4648,7 +4683,7 @@ void home_all_axes() { gcode_G28(true); }
        // Deploy the probe. Probe will raise if needed.
        if (DEPLOY_PROBE()) {
          planner.abl_enabled = abl_should_enable;
-          return;
+          goto FAIL;
        }
      #endif

@ -4864,7 +4899,7 @@ void home_all_axes() { gcode_G28(true); }
      #endif // AUTO_BED_LEVELING_3POINT

    #else // !PROBE_MANUALLY
-
+    {
      const bool stow_probe_after_each = parser.boolval('E');

      #if ABL_GRID
@ -4909,9 +4944,9 @@ void home_all_axes() { gcode_G28(true); }

            measured_z = faux ? 0.001 * random(-100, 101) : probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);

-            if (isnan(measured_z)) {
+            if (nan_error(measured_z)) {
              planner.abl_enabled = abl_should_enable;
-              return;
+              goto FAIL;
            }

            #if ENABLED(AUTO_BED_LEVELING_LINEAR)
@ -4945,9 +4980,9 @@ void home_all_axes() { gcode_G28(true); }
          xProbe = LOGICAL_X_POSITION(points[i].x);
          yProbe = LOGICAL_Y_POSITION(points[i].y);
          measured_z = faux ? 0.001 * random(-100, 101) : probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
-          if (isnan(measured_z)) {
+          if (nan_error(measured_z)) {
            planner.abl_enabled = abl_should_enable;
-            return;
+            goto FAIL;
          }
          points[i].z = measured_z;
        }
@ -4970,9 +5005,9 @@ void home_all_axes() { gcode_G28(true); }
      // Raise to _Z_CLEARANCE_DEPLOY_PROBE. Stow the probe.
      if (STOW_PROBE()) {
        planner.abl_enabled = abl_should_enable;
-        return;
+        goto FAIL;
      }
-
+    }
    #endif // !PROBE_MANUALLY

    //
@ -4985,9 +5020,6 @@ void home_all_axes() { gcode_G28(true); }
    // return or loop before this point.
    //

-    // Restore state after probing
-    if (!faux) clean_up_after_endstop_or_probe_move();
-
    #if ENABLED(DEBUG_LEVELING_FEATURE)
      if (DEBUGGING(LEVELING)) DEBUG_POS("> probing complete", current_position);
    #endif
@ -5192,6 +5224,14 @@ void home_all_axes() { gcode_G28(true); }
      stepper.synchronize();
    #endif

+    // Auto Bed Leveling is complete! Enable if possible.
+    planner.abl_enabled = dryrun ? abl_should_enable : true;
+
+    FAIL:
+
+    // Restore state after probing
+    if (!faux) clean_up_after_endstop_or_probe_move();
+
    #if ENABLED(DEBUG_LEVELING_FEATURE)
      if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< gcode_G29");
    #endif
@ -5200,9 +5240,6 @@ void home_all_axes() { gcode_G28(true); }

    KEEPALIVE_STATE(IN_HANDLER);

-    // Auto Bed Leveling is complete! Enable if possible.
-    planner.abl_enabled = dryrun ? abl_should_enable : true;
-
    if (planner.abl_enabled)
      SYNC_PLAN_POSITION_KINEMATIC();
  }
@ -5235,7 +5272,7 @@ void home_all_axes() { gcode_G28(true); }

    const float measured_z = probe_pt(xpos, ypos, parser.boolval('S', true), 1);

-    if (!isnan(measured_z)) {
+    if (!nan_error(measured_z)) {
      SERIAL_PROTOCOLPAIR("Bed X: ", FIXFLOAT(xpos));
      SERIAL_PROTOCOLPAIR(" Y: ", FIXFLOAT(ypos));
      SERIAL_PROTOCOLLNPAIR(" Z: ", FIXFLOAT(measured_z));
@ -5399,9 +5436,9 @@ void home_all_axes() { gcode_G28(true); }
        tool_change(0, 0, true);
      #endif
      setup_for_endstop_or_probe_move();
-      DEPLOY_PROBE();
      endstops.enable(true);
-      home_delta();
+      if (!home_delta())
+        return;
      endstops.not_homing();

      // print settings
@ -5415,7 +5452,11 @@ void home_all_axes() { gcode_G28(true); }
      print_G33_settings(!_1p_calibration, _7p_calibration && towers_set);

      #if DISABLED(PROBE_MANUALLY)
-        home_offset[Z_AXIS] -= probe_pt(dx, dy, stow_after_each, 1, false); // 1st probe to set height
+        const float measured_z = probe_pt(dx, dy, stow_after_each, 1, false); // 1st probe to set height
+        if (nan_error(measured_z))
+          goto FAIL;
+        else
+          home_offset[Z_AXIS] -= measured_z;
      #endif

      do {
@ -5433,6 +5474,7 @@ void home_all_axes() { gcode_G28(true); }
            z_at_pt[0] += lcd_probe_pt(0, 0);
          #else
            z_at_pt[0] += probe_pt(dx, dy, stow_after_each, 1, false);
+            if (nan_error(z_at_pt[0])) goto FAIL;
          #endif
        }
        if (_7p_calibration) { // probe extra center points
@ -5441,7 +5483,8 @@ void home_all_axes() { gcode_G28(true); }
            #if ENABLED(PROBE_MANUALLY)
              z_at_pt[0] += lcd_probe_pt(cos(a) * r, sin(a) * r);
            #else
-              z_at_pt[0] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1, false);
+              z_at_pt[0] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1);
+              if (nan_error(z_at_pt[0])) goto FAIL;
            #endif
          }
          z_at_pt[0] /= float(_7p_double_circle ? 7 : probe_points);
@ -5461,7 +5504,8 @@ void home_all_axes() { gcode_G28(true); }
              #if ENABLED(PROBE_MANUALLY)
                z_at_pt[axis] += lcd_probe_pt(cos(a) * r, sin(a) * r);
              #else
-                z_at_pt[axis] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1, false);
+                z_at_pt[axis] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1);
+                if (nan_error(z_at_pt[axis])) goto FAIL;
              #endif
            }
            zig_zag = !zig_zag;
@ -5661,6 +5705,8 @@ void home_all_axes() { gcode_G28(true); }
      }
      while ((zero_std_dev < test_precision && zero_std_dev > calibration_precision && iterations < 31) || iterations <= force_iterations);

+      FAIL:
+
      #if ENABLED(DELTA_HOME_TO_SAFE_ZONE)
        do_blocking_move_to_z(delta_clip_start_height);
      #endif
@ -6979,14 +7025,14 @@ inline void gcode_M42() {

    setup_for_endstop_or_probe_move();

+    double mean = 0.0, sigma = 0.0, min = 99999.9, max = -99999.9, sample_set[n_samples];
+
    // Move to the first point, deploy, and probe
    const float t = probe_pt(X_probe_location, Y_probe_location, stow_probe_after_each, verbose_level);
-    if (isnan(t)) return;
+    if (nan_error(t)) goto FAIL;

    randomSeed(millis());

-    double mean = 0.0, sigma = 0.0, min = 99999.9, max = -99999.9, sample_set[n_samples];
-
    for (uint8_t n = 0; n < n_samples; n++) {
      if (n_legs) {
        const int dir = (random(0, 10) > 5.0) ? -1 : 1;  // clockwise or counter clockwise
@ -7058,6 +7104,7 @@ inline void gcode_M42() {

      // Probe a single point
      sample_set[n] = probe_pt(X_probe_location, Y_probe_location, stow_probe_after_each, 0);
+      if (nan_error(sample_set[n])) goto FAIL;

      /**
       * Get the current mean for the data points we have so far
@ -7103,7 +7150,7 @@ inline void gcode_M42() {

    } // End of probe loop

-    if (STOW_PROBE()) return;
+    if (STOW_PROBE()) goto FAIL;

    SERIAL_PROTOCOLPGM("Finished!");
    SERIAL_EOL();
@ -7125,6 +7172,8 @@ inline void gcode_M42() {
    SERIAL_EOL();
    SERIAL_EOL();

+    FAIL:
+
    clean_up_after_endstop_or_probe_move();

    // Re-enable bed level correction if it had been on
@ -11452,19 +11501,22 @@ void ok_to_send() {
  //       DELTA_PRINTABLE_RADIUS from center of bed, but delta
  //       now enforces is_position_reachable for X/Y regardless
  //       of HAS_SOFTWARE_ENDSTOPS, so that enforcement would be
-  //       redundant here.  Probably should #ifdef out the X/Y
-  //       axis clamps here for delta and just leave the Z clamp.
+  //       redundant here.

  void clamp_to_software_endstops(float target[XYZ]) {
    if (!soft_endstops_enabled) return;
    #if ENABLED(MIN_SOFTWARE_ENDSTOPS)
-      NOLESS(target[X_AXIS], soft_endstop_min[X_AXIS]);
-      NOLESS(target[Y_AXIS], soft_endstop_min[Y_AXIS]);
+      #if DISABLED(DELTA)
+        NOLESS(target[X_AXIS], soft_endstop_min[X_AXIS]);
+        NOLESS(target[Y_AXIS], soft_endstop_min[Y_AXIS]);
+      #endif
      NOLESS(target[Z_AXIS], soft_endstop_min[Z_AXIS]);
    #endif
    #if ENABLED(MAX_SOFTWARE_ENDSTOPS)
-      NOMORE(target[X_AXIS], soft_endstop_max[X_AXIS]);
-      NOMORE(target[Y_AXIS], soft_endstop_max[Y_AXIS]);
+      #if DISABLED(DELTA)
+        NOMORE(target[X_AXIS], soft_endstop_max[X_AXIS]);
+        NOMORE(target[Y_AXIS], soft_endstop_max[Y_AXIS]);
+      #endif
      NOMORE(target[Z_AXIS], soft_endstop_max[Z_AXIS]);
    #endif
  }
--- a/Marlin/endstops.cpp
+++ b/Marlin/endstops.cpp
@ -247,7 +247,7 @@ void Endstops::update() {
  #define _ENDSTOP(AXIS, MINMAX) AXIS ##_## MINMAX
  #define _ENDSTOP_PIN(AXIS, MINMAX) AXIS ##_## MINMAX ##_PIN
  #define _ENDSTOP_INVERTING(AXIS, MINMAX) AXIS ##_## MINMAX ##_ENDSTOP_INVERTING
-  #define _ENDSTOP_HIT(AXIS) SBI(endstop_hit_bits, _ENDSTOP(AXIS, MIN))
+  #define _ENDSTOP_HIT(AXIS, MINMAX) SBI(endstop_hit_bits, _ENDSTOP(AXIS, MINMAX))

  // UPDATE_ENDSTOP_BIT: set the current endstop bits for an endstop to its status
  #define UPDATE_ENDSTOP_BIT(AXIS, MINMAX) SET_BIT(current_endstop_bits, _ENDSTOP(AXIS, MINMAX), (READ(_ENDSTOP_PIN(AXIS, MINMAX)) != _ENDSTOP_INVERTING(AXIS, MINMAX)))
@ -257,7 +257,7 @@ void Endstops::update() {
  #define UPDATE_ENDSTOP(AXIS,MINMAX) do { \
      UPDATE_ENDSTOP_BIT(AXIS, MINMAX); \
      if (TEST_ENDSTOP(_ENDSTOP(AXIS, MINMAX)) && stepper.current_block->steps[_AXIS(AXIS)] > 0) { \
-        _ENDSTOP_HIT(AXIS); \
+        _ENDSTOP_HIT(AXIS, MINMAX); \
        stepper.endstop_triggered(_AXIS(AXIS)); \
      } \
    } while(0)
@ -267,9 +267,9 @@ void Endstops::update() {
    if (G38_move) {
      UPDATE_ENDSTOP_BIT(Z, MIN_PROBE);
      if (TEST_ENDSTOP(_ENDSTOP(Z, MIN_PROBE))) {
-        if      (stepper.current_block->steps[_AXIS(X)] > 0) { _ENDSTOP_HIT(X); stepper.endstop_triggered(_AXIS(X)); }
-        else if (stepper.current_block->steps[_AXIS(Y)] > 0) { _ENDSTOP_HIT(Y); stepper.endstop_triggered(_AXIS(Y)); }
-        else if (stepper.current_block->steps[_AXIS(Z)] > 0) { _ENDSTOP_HIT(Z); stepper.endstop_triggered(_AXIS(Z)); }
+        if      (stepper.current_block->steps[_AXIS(X)] > 0) { _ENDSTOP_HIT(X, MIN); stepper.endstop_triggered(_AXIS(X)); }
+        else if (stepper.current_block->steps[_AXIS(Y)] > 0) { _ENDSTOP_HIT(Y, MIN); stepper.endstop_triggered(_AXIS(Y)); }
+        else if (stepper.current_block->steps[_AXIS(Z)] > 0) { _ENDSTOP_HIT(Z, MIN); stepper.endstop_triggered(_AXIS(Z)); }
        G38_endstop_hit = true;
      }
    }
--- a/Marlin/language_en.h
+++ b/Marlin/language_en.h
@ -717,7 +717,7 @@
  #define MSG_DELTA_CALIBRATE_CENTER          _UxGT("Calibrate Center")
 #endif
 #ifndef MSG_DELTA_SETTINGS
-  #define MSG_DELTA_SETTINGS                  _UxGT("Show Delta Settings")
+  #define MSG_DELTA_SETTINGS                  _UxGT("Delta Settings")
 #endif
 #ifndef MSG_DELTA_AUTO_CALIBRATE
  #define MSG_DELTA_AUTO_CALIBRATE            _UxGT("Auto Calibration")
@ -725,6 +725,15 @@
 #ifndef MSG_DELTA_HEIGHT_CALIBRATE
  #define MSG_DELTA_HEIGHT_CALIBRATE          _UxGT("Set Delta Height")
 #endif
+#ifndef MSG_DELTA_DIAG_ROG
+  #define MSG_DELTA_DIAG_ROG                  _UxGT("Diag Rod")
+#endif
+#ifndef MSG_DELTA_HEIGHT
+  #define MSG_DELTA_HEIGHT                    _UxGT("Height")
+#endif
+#ifndef MSG_DELTA_RADIUS
+  #define MSG_DELTA_RADIUS                    _UxGT("Radius")
+#endif
 #ifndef MSG_INFO_MENU
  #define MSG_INFO_MENU                       _UxGT("About Printer")
 #endif
@ -840,6 +849,12 @@
 #ifndef MSG_FILAMENT_CHANGE_NOZZLE
  #define MSG_FILAMENT_CHANGE_NOZZLE          _UxGT("  Nozzle: ")
 #endif
+#ifndef MSG_ERR_HOMING_FAILED
+  #define MSG_ERR_HOMING_FAILED               _UxGT("Homing failed")
+#endif
+#ifndef MSG_ERR_PROBING_FAILED
+  #define MSG_ERR_PROBING_FAILED              _UxGT("Probing failed")
+#endif

 //
 // Filament Change screens show up to 3 lines on a 4-line display
--- a/Marlin/ultralcd.cpp
+++ b/Marlin/ultralcd.cpp
@ -2537,15 +2537,23 @@ void kill_screen(const char* lcd_msg) {
    void _goto_tower_z() { _man_probe_pt(cos(RADIANS( 90)) * delta_calibration_radius, sin(RADIANS( 90)) * delta_calibration_radius); }
    void _goto_center()  { _man_probe_pt(0,0); }

-    void lcd_delta_G33_settings() {
+    static float _delta_height = DELTA_HEIGHT;
+    void _lcd_set_delta_height() {
+      home_offset[Z_AXIS] = _delta_height - DELTA_HEIGHT;
+      update_software_endstops(Z_AXIS);
+    }
+
+    void lcd_delta_settings() {
      START_MENU();
      MENU_BACK(MSG_DELTA_CALIBRATE);
-      float delta_height = DELTA_HEIGHT + home_offset[Z_AXIS], Tz = 0.00;
-      MENU_ITEM_EDIT(float52, "Height", &delta_height, delta_height, delta_height);
+      float Tz = 0.00;
+      MENU_ITEM_EDIT(float52, MSG_DELTA_DIAG_ROG, &delta_diagonal_rod, DELTA_DIAGONAL_ROD - 5.0, DELTA_DIAGONAL_ROD + 5.0);
+      _delta_height = DELTA_HEIGHT + home_offset[Z_AXIS];
+      MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(float52, MSG_DELTA_HEIGHT, &_delta_height, _delta_height - 10.0, _delta_height + 10.0, _lcd_set_delta_height);
      MENU_ITEM_EDIT(float43, "Ex", &endstop_adj[A_AXIS], -5.0, 5.0);
      MENU_ITEM_EDIT(float43, "Ey", &endstop_adj[B_AXIS], -5.0, 5.0);
      MENU_ITEM_EDIT(float43, "Ez", &endstop_adj[C_AXIS], -5.0, 5.0);
-      MENU_ITEM_EDIT(float52, "Radius", &delta_radius, DELTA_RADIUS - 5.0, DELTA_RADIUS + 5.0);
+      MENU_ITEM_EDIT(float52, MSG_DELTA_RADIUS, &delta_radius, DELTA_RADIUS - 5.0, DELTA_RADIUS + 5.0);
      MENU_ITEM_EDIT(float43, "Tx", &delta_tower_angle_trim[A_AXIS], -5.0, 5.0);
      MENU_ITEM_EDIT(float43, "Ty", &delta_tower_angle_trim[B_AXIS], -5.0, 5.0);
      MENU_ITEM_EDIT(float43, "Tz", &Tz, -5.0, 5.0);
@ -2556,7 +2564,7 @@ void kill_screen(const char* lcd_msg) {
      START_MENU();
      MENU_BACK(MSG_MAIN);
      #if ENABLED(DELTA_AUTO_CALIBRATION)
-        MENU_ITEM(submenu, MSG_DELTA_SETTINGS, lcd_delta_G33_settings);
+        MENU_ITEM(submenu, MSG_DELTA_SETTINGS, lcd_delta_settings);
        MENU_ITEM(gcode, MSG_DELTA_AUTO_CALIBRATE, PSTR("G33"));
        MENU_ITEM(gcode, MSG_DELTA_HEIGHT_CALIBRATE, PSTR("G33 P1"));
        #if ENABLED(EEPROM_SETTINGS)