/**
 * 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/>.
 *
 */

#include "../../inc/MarlinConfigPre.h"

#if ENABLED(ULTIPANEL)

#include "menu.h"

#include "../ultralcd.h"
#include "../../module/planner.h"
#include "../../module/motion.h"
#include "../../module/probe.h"
#include "../../module/printcounter.h"
#include "../../gcode/gcode.h"
#include "../../gcode/queue.h"
#include "../../module/configuration_store.h"
#include "../../module/tool_change.h"
#include "../../Marlin.h"

#include <stdarg.h>

#if ENABLED(SDSUPPORT)
  #include "../../sd/cardreader.h"
#endif

#if HAS_LEVELING
  #include "../../feature/bedlevel/bedlevel.h"
#endif

////////////////////////////////////////////
///////////// Global Variables /////////////
////////////////////////////////////////////

// Buttons
volatile uint8_t buttons;
#if ENABLED(REPRAPWORLD_KEYPAD)
  volatile uint8_t buttons_reprapworld_keypad;
#endif

// Menu Navigation
int8_t encoderTopLine;
typedef struct {
  screenFunc_t menu_function;
  uint32_t encoder_position;
} menuPosition;
menuPosition screen_history[6];
uint8_t screen_history_depth = 0;
bool screen_changed, defer_return_to_status;

// Value Editing
PGM_P editLabel;
void *editValue;
int32_t minEditValue, maxEditValue;
screenFunc_t callbackFunc;
bool liveEdit;

bool no_reentry = false;

// Initialized by settings.load()
int16_t lcd_preheat_hotend_temp[2], lcd_preheat_bed_temp[2];
uint8_t lcd_preheat_fan_speed[2];

////////////////////////////////////////////
//////// Menu Navigation & History /////////
////////////////////////////////////////////

void lcd_status_screen();

void lcd_return_to_status() { lcd_goto_screen(lcd_status_screen); }

void lcd_save_previous_screen() {
  if (screen_history_depth < COUNT(screen_history)) {
    screen_history[screen_history_depth].menu_function = currentScreen;
    screen_history[screen_history_depth].encoder_position = encoderPosition;
    ++screen_history_depth;
  }
}

void lcd_goto_previous_menu() {
  if (screen_history_depth > 0) {
    --screen_history_depth;
    lcd_goto_screen(
      screen_history[screen_history_depth].menu_function,
      screen_history[screen_history_depth].encoder_position
    );
  }
  else
    lcd_return_to_status();
}

void lcd_goto_previous_menu_no_defer() {
  defer_return_to_status = false;
  lcd_goto_previous_menu();
}

////////////////////////////////////////////
/////////////// Menu Actions ///////////////
////////////////////////////////////////////

void _menu_action_back() { lcd_goto_previous_menu(); }
void menu_action_submenu(screenFunc_t func) { lcd_save_previous_screen(); lcd_goto_screen(func); }
void menu_action_gcode(PGM_P pgcode) { enqueue_and_echo_commands_P(pgcode); }
void menu_action_function(screenFunc_t func) { (*func)(); }

#if ENABLED(SDSUPPORT)

  void menu_action_sdfile(CardReader &theCard) {
    #if ENABLED(SD_REPRINT_LAST_SELECTED_FILE)
      last_sdfile_encoderPosition = encoderPosition;  // Save which file was selected for later use
    #endif
    card.openAndPrintFile(theCard.filename);
    lcd_return_to_status();
    lcd_reset_status();
  }

  void menu_action_sddirectory(CardReader &theCard) {
    card.chdir(theCard.filename);
    encoderTopLine = 0;
    encoderPosition = 2 * ENCODER_STEPS_PER_MENU_ITEM;
    screen_changed = true;
    #if HAS_GRAPHICAL_LCD
      drawing_screen = false;
    #endif
    lcd_refresh();
  }

#endif // SDSUPPORT

////////////////////////////////////////////
/////////// Menu Editing Actions ///////////
////////////////////////////////////////////

/**
 * Functions for editing single values
 *
 * The "DEFINE_MENU_EDIT_TYPE" macro generates the functions needed to edit a numerical value.
 *
 * For example, DEFINE_MENU_EDIT_TYPE(int16_t, int3, itostr3, 1) expands into these functions:
 *
 *   bool _menu_edit_int3();
 *   void menu_edit_int3(); // edit int16_t (interactively)
 *   void menu_edit_callback_int3(); // edit int16_t (interactively) with callback on completion
 *   void _menu_action_setting_edit_int3(PGM_P const pstr, int16_t * const ptr, const int16_t minValue, const int16_t maxValue);
 *   void menu_action_setting_edit_int3(PGM_P const pstr, int16_t * const ptr, const int16_t minValue, const int16_t maxValue);
 *   void menu_action_setting_edit_callback_int3(PGM_P const pstr, int16_t * const ptr, const int16_t minValue, const int16_t maxValue, const screenFunc_t callback, const bool live); // edit int16_t with callback
 *
 * You can then use one of the menu macros to present the edit interface:
 *   MENU_ITEM_EDIT(int3, MSG_SPEED, &feedrate_percentage, 10, 999)
 *
 * This expands into a more primitive menu item:
 *   MENU_ITEM(setting_edit_int3, MSG_SPEED, PSTR(MSG_SPEED), &feedrate_percentage, 10, 999)
 *
 * ...which calls:
 *       menu_action_setting_edit_int3(PSTR(MSG_SPEED), &feedrate_percentage, 10, 999)
 */
#define DEFINE_MENU_EDIT_TYPE(TYPE, NAME, STRFUNC, SCALE) \
  bool _menu_edit_ ## NAME() { \
    ENCODER_DIRECTION_NORMAL(); \
    if ((int32_t)encoderPosition < 0) encoderPosition = 0; \
    if ((int32_t)encoderPosition > maxEditValue) encoderPosition = maxEditValue; \
    if (lcdDrawUpdate) \
      lcd_implementation_drawedit(editLabel, STRFUNC(((TYPE)((int32_t)encoderPosition + minEditValue)) * (1.0f / SCALE))); \
    if (lcd_clicked || (liveEdit && lcdDrawUpdate)) { \
      TYPE value = ((TYPE)((int32_t)encoderPosition + minEditValue)) * (1.0f / SCALE); \
      if (editValue != NULL) *((TYPE*)editValue) = value; \
      if (callbackFunc && (liveEdit || lcd_clicked)) (*callbackFunc)(); \
      if (lcd_clicked) lcd_goto_previous_menu(); \
    } \
    return use_click(); \
  } \
  void menu_edit_ ## NAME() { _menu_edit_ ## NAME(); } \
  void _menu_action_setting_edit_ ## NAME(PGM_P const pstr, TYPE* const ptr, const TYPE minValue, const TYPE maxValue) { \
    lcd_save_previous_screen(); \
    lcd_refresh(); \
    \
    editLabel = pstr; \
    editValue = ptr; \
    minEditValue = minValue * SCALE; \
    maxEditValue = maxValue * SCALE - minEditValue; \
    encoderPosition = (*ptr) * SCALE - minEditValue; \
  } \
  void menu_action_setting_edit_callback_ ## NAME(PGM_P const pstr, TYPE * const ptr, const TYPE minValue, const TYPE maxValue, const screenFunc_t callback/*=NULL*/, const bool live/*=false*/) { \
    _menu_action_setting_edit_ ## NAME(pstr, ptr, minValue, maxValue); \
    currentScreen = menu_edit_ ## NAME; \
    callbackFunc = callback; \
    liveEdit = live; \
  } \
  typedef void NAME##_void

DEFINE_MENU_EDIT_TYPE(int16_t, int3, itostr3, 1);
DEFINE_MENU_EDIT_TYPE(int16_t, int4, itostr4sign, 1);
DEFINE_MENU_EDIT_TYPE(uint8_t, int8, i8tostr3, 1);
DEFINE_MENU_EDIT_TYPE(float, float3, ftostr3, 1);
DEFINE_MENU_EDIT_TYPE(float, float52, ftostr52, 100);
DEFINE_MENU_EDIT_TYPE(float, float43, ftostr43sign, 1000);
DEFINE_MENU_EDIT_TYPE(float, float5, ftostr5rj, 0.01f);
DEFINE_MENU_EDIT_TYPE(float, float51, ftostr51sign, 10);
DEFINE_MENU_EDIT_TYPE(float, float52sign, ftostr52sign, 100);
DEFINE_MENU_EDIT_TYPE(float, float62, ftostr62rj, 100);
DEFINE_MENU_EDIT_TYPE(uint32_t, long5, ftostr5rj, 0.01f);

void menu_action_setting_edit_bool(PGM_P pstr, bool* ptr) { UNUSED(pstr); *ptr ^= true; lcd_refresh(); }
void menu_action_setting_edit_callback_bool(PGM_P pstr, bool* ptr, screenFunc_t callback) {
  menu_action_setting_edit_bool(pstr, ptr);
  (*callback)();
}

////////////////////////////////////////////
///////////////// Menu Tree ////////////////
////////////////////////////////////////////

#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
  float lcd_z_fade_height;
  void _lcd_set_z_fade_height() { set_z_fade_height(lcd_z_fade_height); }
#endif

bool printer_busy() { return planner.movesplanned() || IS_SD_PRINTING(); }

#if HAS_CHARACTER_LCD && (ENABLED(LCD_PROGRESS_BAR) || ENABLED(LCD_PROGRESS_BAR_TEST) || ENABLED(AUTO_BED_LEVELING_UBL))
  void lcd_set_custom_characters(
    #if ENABLED(LCD_PROGRESS_BAR) || ENABLED(SHOW_BOOTSCREEN)
      const uint8_t screen_charset=CHARSET_INFO
    #endif
  );
#endif

/**
 * General function to go directly to a screen
 */
void lcd_goto_screen(screenFunc_t screen, const uint32_t encoder/*=0*/) {
  if (currentScreen != screen) {

    #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
      // Shadow for editing the fade height
      lcd_z_fade_height = planner.z_fade_height;
    #endif

    #if ENABLED(DOUBLECLICK_FOR_Z_BABYSTEPPING) && ENABLED(BABYSTEPPING)
      static millis_t doubleclick_expire_ms = 0;
      // Going to menu_main from status screen? Remember first click time.
      // Going back to status screen within a very short time? Go to Z babystepping.
      if (screen == menu_main) {
        if (currentScreen == lcd_status_screen)
          doubleclick_expire_ms = millis() + DOUBLECLICK_MAX_INTERVAL;
      }
      else if (screen == lcd_status_screen && currentScreen == menu_main && PENDING(millis(), doubleclick_expire_ms)) {
        if (printer_busy()) {
          screen =
            #if ENABLED(BABYSTEP_ZPROBE_OFFSET)
              lcd_babystep_zoffset
            #else
              lcd_babystep_z
            #endif
          ;
        }
        #if ENABLED(MOVE_Z_WHEN_IDLE)
          else {
            move_menu_scale = MOVE_Z_IDLE_MULTIPLICATOR;
            screen = lcd_move_z;
          }
        #endif
      }
    #endif

    currentScreen = screen;
    encoderPosition = encoder;
    if (screen == lcd_status_screen) {
      defer_return_to_status = false;
      #if ENABLED(AUTO_BED_LEVELING_UBL)
        ubl.lcd_map_control = false;
      #endif
      screen_history_depth = 0;
    }
    lcd_implementation_clear();
    // Re-initialize custom characters that may be re-used
    #if HAS_CHARACTER_LCD && ENABLED(AUTO_BED_LEVELING_UBL)
      if (!ubl.lcd_map_control) {
        lcd_set_custom_characters(
          #if ENABLED(LCD_PROGRESS_BAR)
            screen == lcd_status_screen ? CHARSET_INFO : CHARSET_MENU
          #endif
        );
      }
    #elif ENABLED(LCD_PROGRESS_BAR)
      lcd_set_custom_characters(screen == lcd_status_screen ? CHARSET_INFO : CHARSET_MENU);
    #endif
    lcdDrawUpdate = LCDVIEW_CALL_REDRAW_NEXT;
    screen_changed = true;
    #if HAS_GRAPHICAL_LCD
      drawing_screen = false;
    #endif
  }
}

////////////////////////////////////////////
///////////// Manual Movement //////////////
////////////////////////////////////////////

//
// Display the synchronize screen until moves are
// finished, and don't return to the caller until
// done. ** This blocks the command queue! **
//
static PGM_P sync_message;

void _lcd_synchronize() {
  if (lcdDrawUpdate) lcd_implementation_drawmenu_static(LCD_HEIGHT >= 4 ? 1 : 0, sync_message);
  if (no_reentry) return;
  // Make this the current handler till all moves are done
  no_reentry = true;
  const screenFunc_t old_screen = currentScreen;
  lcd_goto_screen(_lcd_synchronize);
  planner.synchronize(); // idle() is called until moves complete
  no_reentry = false;
  lcd_goto_screen(old_screen);
}

// Display the synchronize screen with a custom message
// ** This blocks the command queue! **
void lcd_synchronize(PGM_P const msg/*=NULL*/) {
  static const char moving[] PROGMEM = MSG_MOVING;
  sync_message = msg ? msg : moving;
  _lcd_synchronize();
}

/**
 * Scrolling for menus and other line-based screens
 *
 *   encoderLine is the position based on the encoder
 *   encoderTopLine is the top menu line to display
 *   _lcdLineNr is the index of the LCD line (e.g., 0-3)
 *   _menuLineNr is the menu item to draw and process
 *   _thisItemNr is the index of each MENU_ITEM or STATIC_ITEM
 *   screen_items is the total number of items in the menu (after one call)
 */
int8_t encoderLine, screen_items;
void scroll_screen(const uint8_t limit, const bool is_menu) {
  ENCODER_DIRECTION_MENUS();
  ENCODER_RATE_MULTIPLY(false);
  if (encoderPosition > 0x8000) encoderPosition = 0;
  if (first_page) {
    encoderLine = encoderPosition / (ENCODER_STEPS_PER_MENU_ITEM);
    screen_changed = false;
  }
  if (screen_items > 0 && encoderLine >= screen_items - limit) {
    encoderLine = MAX(0, screen_items - limit);
    encoderPosition = encoderLine * (ENCODER_STEPS_PER_MENU_ITEM);
  }
  if (is_menu) {
    NOMORE(encoderTopLine, encoderLine);
    if (encoderLine >= encoderTopLine + LCD_HEIGHT)
      encoderTopLine = encoderLine - LCD_HEIGHT + 1;
  }
  else
    encoderTopLine = encoderLine;
}

void lcd_completion_feedback(const bool good/*=true*/) {
  if (good) {
    lcd_buzz(100, 659);
    lcd_buzz(100, 698);
  }
  else lcd_buzz(20, 440);
}

inline void line_to_current_z() {
  planner.buffer_line(current_position, MMM_TO_MMS(manual_feedrate_mm_m[Z_AXIS]), active_extruder);
}

void line_to_z(const float &z) {
  current_position[Z_AXIS] = z;
  line_to_current_z();
}

#if ENABLED(CUSTOM_USER_MENUS)

  #ifdef USER_SCRIPT_DONE
    #define _DONE_SCRIPT "\n" USER_SCRIPT_DONE
  #else
    #define _DONE_SCRIPT ""
  #endif

  void _lcd_user_gcode(PGM_P const cmd) {
    enqueue_and_echo_commands_P(cmd);
    #if ENABLED(USER_SCRIPT_AUDIBLE_FEEDBACK)
      lcd_completion_feedback();
    #endif
    #if ENABLED(USER_SCRIPT_RETURN)
      lcd_return_to_status();
    #endif
  }

  #if defined(USER_DESC_1) && defined(USER_GCODE_1)
    void lcd_user_gcode_1() { _lcd_user_gcode(PSTR(USER_GCODE_1 _DONE_SCRIPT)); }
  #endif
  #if defined(USER_DESC_2) && defined(USER_GCODE_2)
    void lcd_user_gcode_2() { _lcd_user_gcode(PSTR(USER_GCODE_2 _DONE_SCRIPT)); }
  #endif
  #if defined(USER_DESC_3) && defined(USER_GCODE_3)
    void lcd_user_gcode_3() { _lcd_user_gcode(PSTR(USER_GCODE_3 _DONE_SCRIPT)); }
  #endif
  #if defined(USER_DESC_4) && defined(USER_GCODE_4)
    void lcd_user_gcode_4() { _lcd_user_gcode(PSTR(USER_GCODE_4 _DONE_SCRIPT)); }
  #endif
  #if defined(USER_DESC_5) && defined(USER_GCODE_5)
    void lcd_user_gcode_5() { _lcd_user_gcode(PSTR(USER_GCODE_5 _DONE_SCRIPT)); }
  #endif

  void _menu_user() {
    START_MENU();
    MENU_BACK(MSG_MAIN);
    #if defined(USER_DESC_1) && defined(USER_GCODE_1)
      MENU_ITEM(function, USER_DESC_1, lcd_user_gcode_1);
    #endif
    #if defined(USER_DESC_2) && defined(USER_GCODE_2)
      MENU_ITEM(function, USER_DESC_2, lcd_user_gcode_2);
    #endif
    #if defined(USER_DESC_3) && defined(USER_GCODE_3)
      MENU_ITEM(function, USER_DESC_3, lcd_user_gcode_3);
    #endif
    #if defined(USER_DESC_4) && defined(USER_GCODE_4)
      MENU_ITEM(function, USER_DESC_4, lcd_user_gcode_4);
    #endif
    #if defined(USER_DESC_5) && defined(USER_GCODE_5)
      MENU_ITEM(function, USER_DESC_5, lcd_user_gcode_5);
    #endif
    END_MENU();
  }

#endif

#if ENABLED(BABYSTEP_ZPROBE_OFFSET)

  void lcd_babystep_zoffset() {
    if (use_click()) { return lcd_goto_previous_menu_no_defer(); }
    defer_return_to_status = true;
    #if ENABLED(BABYSTEP_HOTEND_Z_OFFSET)
      const bool do_probe = (active_extruder == 0);
    #else
      constexpr bool do_probe = true;
    #endif
    ENCODER_DIRECTION_NORMAL();
    if (encoderPosition) {
      const int16_t babystep_increment = (int32_t)encoderPosition * (BABYSTEP_MULTIPLICATOR);
      encoderPosition = 0;

      const float diff = planner.steps_to_mm[Z_AXIS] * babystep_increment,
                  new_probe_offset = zprobe_zoffset + diff,
                  new_offs =
                    #if ENABLED(BABYSTEP_HOTEND_Z_OFFSET)
                      do_probe ? new_probe_offset : hotend_offset[Z_AXIS][active_extruder] - diff
                    #else
                      new_probe_offset
                    #endif
                  ;
      if (WITHIN(new_offs, Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX)) {

        thermalManager.babystep_axis(Z_AXIS, babystep_increment);

        if (do_probe) zprobe_zoffset = new_offs;
        #if ENABLED(BABYSTEP_HOTEND_Z_OFFSET)
          else hotend_offset[Z_AXIS][active_extruder] = new_offs;
        #endif

        lcdDrawUpdate = LCDVIEW_CALL_REDRAW_NEXT;
      }
    }
    if (lcdDrawUpdate) {
      #if ENABLED(BABYSTEP_HOTEND_Z_OFFSET)
        if (!do_probe)
          lcd_implementation_drawedit(PSTR(MSG_IDEX_Z_OFFSET), ftostr43sign(hotend_offset[Z_AXIS][active_extruder]));
        else
      #endif
          lcd_implementation_drawedit(PSTR(MSG_ZPROBE_ZOFFSET), ftostr43sign(zprobe_zoffset));

      #if ENABLED(BABYSTEP_ZPROBE_GFX_OVERLAY)
        if (do_probe) _lcd_zoffset_overlay_gfx(zprobe_zoffset);
      #endif
    }
  }

#endif // BABYSTEP_ZPROBE_OFFSET

/**
 * Watch temperature callbacks
 */
#if HAS_TEMP_HOTEND
  #if WATCH_HOTENDS
    #define _WATCH_FUNC(N) thermalManager.start_watching_heater(N)
  #else
    #define _WATCH_FUNC(N) NOOP
  #endif
  void watch_temp_callback_E0() { _WATCH_FUNC(0); }
  #if HOTENDS > 1
    void watch_temp_callback_E1() { _WATCH_FUNC(1); }
    #if HOTENDS > 2
      void watch_temp_callback_E2() { _WATCH_FUNC(2); }
      #if HOTENDS > 3
        void watch_temp_callback_E3() { _WATCH_FUNC(3); }
        #if HOTENDS > 4
          void watch_temp_callback_E4() { _WATCH_FUNC(4); }
          #if HOTENDS > 5
            void watch_temp_callback_E5() { _WATCH_FUNC(5); }
          #endif // HOTENDS > 5
        #endif // HOTENDS > 4
      #endif // HOTENDS > 3
    #endif // HOTENDS > 2
  #endif // HOTENDS > 1
#endif // HAS_TEMP_HOTEND

void watch_temp_callback_bed() {
  #if WATCH_THE_BED
    thermalManager.start_watching_bed();
  #endif
}

#if ENABLED(AUTO_BED_LEVELING_UBL) || ENABLED(PID_AUTOTUNE_MENU) || ENABLED(ADVANCED_PAUSE_FEATURE)

  void lcd_enqueue_command(const char * const cmd) {
    no_reentry = true;
    enqueue_and_echo_command_now(cmd);
    no_reentry = false;
  }

  void lcd_enqueue_commands_P(PGM_P const cmd) {
    no_reentry = true;
    enqueue_and_echo_commands_now_P(cmd);
    no_reentry = false;
  }

#endif

#if ENABLED(EEPROM_SETTINGS)
  void lcd_store_settings()   { lcd_completion_feedback(settings.save()); }
  void lcd_load_settings()    { lcd_completion_feedback(settings.load()); }
#endif

void _lcd_draw_homing() {
  constexpr uint8_t line = (LCD_HEIGHT - 1) / 2;
  if (lcdDrawUpdate) lcd_implementation_drawmenu_static(line, PSTR(MSG_LEVEL_BED_HOMING));
  lcdDrawUpdate = LCDVIEW_CALL_NO_REDRAW;
}

#if ENABLED(LCD_BED_LEVELING) || (HAS_LEVELING && DISABLED(SLIM_LCD_MENUS))
  void _lcd_toggle_bed_leveling() { set_bed_leveling_enabled(!planner.leveling_active); }
#endif

#if ENABLED(DELTA_CALIBRATION_MENU) || ENABLED(DELTA_AUTO_CALIBRATION)

  void _man_probe_pt(const float &rx, const float &ry) {
    do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
    do_blocking_move_to_xy(rx, ry);

    lcd_synchronize();
    move_menu_scale = MAX(PROBE_MANUALLY_STEP, MIN_STEPS_PER_SEGMENT / float(DEFAULT_XYZ_STEPS_PER_UNIT));
    lcd_goto_screen(lcd_move_z);
  }

#endif // DELTA_CALIBRATION_MENU || DELTA_AUTO_CALIBRATION

#if ENABLED(DELTA_AUTO_CALIBRATION)

  float lcd_probe_pt(const float &rx, const float &ry) {
    _man_probe_pt(rx, ry);
    KEEPALIVE_STATE(PAUSED_FOR_USER);
    defer_return_to_status = true;
    wait_for_user = true;
    while (wait_for_user) idle();
    KEEPALIVE_STATE(IN_HANDLER);
    lcd_goto_previous_menu_no_defer();
    return current_position[Z_AXIS];
  }

#endif // DELTA_AUTO_CALIBRATION

#if ENABLED(DELTA_CALIBRATION_MENU)

  void _lcd_calibrate_homing() {
    _lcd_draw_homing();
    if (all_axes_homed()) lcd_goto_previous_menu();
  }

  void _lcd_delta_calibrate_home() {
    enqueue_and_echo_commands_P(PSTR("G28"));
    lcd_goto_screen(_lcd_calibrate_homing);
  }

  void _goto_tower_x() { _man_probe_pt(cos(RADIANS(210)) * delta_calibration_radius, sin(RADIANS(210)) * delta_calibration_radius); }
  void _goto_tower_y() { _man_probe_pt(cos(RADIANS(330)) * delta_calibration_radius, sin(RADIANS(330)) * delta_calibration_radius); }
  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); }

#endif // DELTA_CALIBRATION_MENU

#if ENABLED(DELTA_CALIBRATION_MENU) || ENABLED(DELTA_AUTO_CALIBRATION)

  void _recalc_delta_settings() {
    #if HAS_LEVELING
      reset_bed_level(); // After changing kinematics bed-level data is no longer valid
    #endif
    recalc_delta_settings();
  }

  void lcd_delta_settings() {
    START_MENU();
    MENU_BACK(MSG_DELTA_CALIBRATE);
    MENU_ITEM_EDIT_CALLBACK(float52sign, MSG_DELTA_HEIGHT, &delta_height, delta_height - 10, delta_height + 10, _recalc_delta_settings);
    MENU_ITEM_EDIT_CALLBACK(float43, "Ex", &delta_endstop_adj[A_AXIS], -5, 5, _recalc_delta_settings);
    MENU_ITEM_EDIT_CALLBACK(float43, "Ey", &delta_endstop_adj[B_AXIS], -5, 5, _recalc_delta_settings);
    MENU_ITEM_EDIT_CALLBACK(float43, "Ez", &delta_endstop_adj[C_AXIS], -5, 5, _recalc_delta_settings);
    MENU_ITEM_EDIT_CALLBACK(float52sign, MSG_DELTA_RADIUS, &delta_radius, delta_radius - 5, delta_radius + 5, _recalc_delta_settings);
    MENU_ITEM_EDIT_CALLBACK(float43, "Tx", &delta_tower_angle_trim[A_AXIS], -5, 5, _recalc_delta_settings);
    MENU_ITEM_EDIT_CALLBACK(float43, "Ty", &delta_tower_angle_trim[B_AXIS], -5, 5, _recalc_delta_settings);
    MENU_ITEM_EDIT_CALLBACK(float43, "Tz", &delta_tower_angle_trim[C_AXIS], -5, 5, _recalc_delta_settings);
    MENU_ITEM_EDIT_CALLBACK(float52sign, MSG_DELTA_DIAG_ROD, &delta_diagonal_rod, delta_diagonal_rod - 5, delta_diagonal_rod + 5, _recalc_delta_settings);
    END_MENU();
  }

  void menu_delta_calibrate() {
    START_MENU();
    MENU_BACK(MSG_MAIN);
    #if ENABLED(DELTA_AUTO_CALIBRATION)
      MENU_ITEM(gcode, MSG_DELTA_AUTO_CALIBRATE, PSTR("G33"));
      MENU_ITEM(gcode, MSG_DELTA_HEIGHT_CALIBRATE, PSTR("G33 S P1"));
      MENU_ITEM(gcode, MSG_DELTA_Z_OFFSET_CALIBRATE, PSTR("G33 P-1"));
      #if ENABLED(EEPROM_SETTINGS)
        MENU_ITEM(function, MSG_STORE_EEPROM, lcd_store_settings);
        MENU_ITEM(function, MSG_LOAD_EEPROM, lcd_load_settings);
      #endif
    #endif
    MENU_ITEM(submenu, MSG_DELTA_SETTINGS, lcd_delta_settings);
    #if ENABLED(DELTA_CALIBRATION_MENU)
      MENU_ITEM(submenu, MSG_AUTO_HOME, _lcd_delta_calibrate_home);
      if (all_axes_homed()) {
        MENU_ITEM(submenu, MSG_DELTA_CALIBRATE_X, _goto_tower_x);
        MENU_ITEM(submenu, MSG_DELTA_CALIBRATE_Y, _goto_tower_y);
        MENU_ITEM(submenu, MSG_DELTA_CALIBRATE_Z, _goto_tower_z);
        MENU_ITEM(submenu, MSG_DELTA_CALIBRATE_CENTER, _goto_center);
      }
    #endif
    END_MENU();
  }

#endif // DELTA_CALIBRATION_MENU || DELTA_AUTO_CALIBRATION

#if ENABLED(SDSUPPORT)

  #if !PIN_EXISTS(SD_DETECT)
    void lcd_sd_refresh() {
      card.initsd();
      encoderTopLine = 0;
    }
  #endif

  void lcd_sd_updir() {
    encoderPosition = card.updir() ? ENCODER_STEPS_PER_MENU_ITEM : 0;
    encoderTopLine = 0;
    screen_changed = true;
    lcd_refresh();
  }

  /**
   *
   * "Print from SD" submenu
   *
   */

  #if ENABLED(SD_REPRINT_LAST_SELECTED_FILE)
    uint32_t last_sdfile_encoderPosition = 0xFFFF;

    void lcd_reselect_last_file() {
      if (last_sdfile_encoderPosition == 0xFFFF) return;
      #if HAS_GRAPHICAL_LCD
        // Some of this is a hack to force the screen update to work.
        // TODO: Fix the real issue that causes this!
        lcdDrawUpdate = LCDVIEW_CALL_REDRAW_NEXT;
        lcd_synchronize();
        safe_delay(50);
        lcd_synchronize();
        lcdDrawUpdate = LCDVIEW_CALL_REDRAW_NEXT;
        drawing_screen = screen_changed = true;
      #endif

      lcd_goto_screen(menu_sdcard, last_sdfile_encoderPosition);
      defer_return_to_status = true;
      last_sdfile_encoderPosition = 0xFFFF;

      #if HAS_GRAPHICAL_LCD
        lcd_update();
      #endif
    }
  #endif

  void menu_sdcard() {
    ENCODER_DIRECTION_MENUS();

    const uint16_t fileCnt = card.get_num_Files();

    START_MENU();
    MENU_BACK(MSG_MAIN);
    card.getWorkDirName();
    if (card.filename[0] == '/') {
      #if !PIN_EXISTS(SD_DETECT)
        MENU_ITEM(function, LCD_STR_REFRESH MSG_REFRESH, lcd_sd_refresh);
      #endif
    }
    else {
      MENU_ITEM(function, LCD_STR_FOLDER "..", lcd_sd_updir);
    }

    for (uint16_t i = 0; i < fileCnt; i++) {
      if (_menuLineNr == _thisItemNr) {
        const uint16_t nr =
          #if ENABLED(SDCARD_RATHERRECENTFIRST) && DISABLED(SDCARD_SORT_ALPHA)
            fileCnt - 1 -
          #endif
        i;

        #if ENABLED(SDCARD_SORT_ALPHA)
          card.getfilename_sorted(nr);
        #else
          card.getfilename(nr);
        #endif

        if (card.filenameIsDir)
          MENU_ITEM(sddirectory, MSG_CARD_MENU, card);
        else
          MENU_ITEM(sdfile, MSG_CARD_MENU, card);
      }
      else {
        MENU_ITEM_DUMMY();
      }
    }
    END_MENU();
  }

#endif // SDSUPPORT

#endif // ULTIPANEL