marlin/Marlin/src/gcode/calibrate/G33.cpp

/**
 * 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/MarlinConfig.h"

#if ENABLED(DELTA_AUTO_CALIBRATION)

#include "../gcode.h"
#include "../../module/delta.h"
#include "../../module/probe.h"
#include "../../module/motion.h"
#include "../../module/stepper.h"
#include "../../module/endstops.h"
#include "../../lcd/ultralcd.h"

#if HOTENDS > 1
  #include "../../module/tool_change.h"
#endif

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

constexpr uint8_t _7P_STEP = 1,              // 7-point step - to change number of calibration points
                  _4P_STEP = _7P_STEP * 2,   // 4-point step
                  NPP      = _7P_STEP * 6;   // number of calibration points on the radius
enum CalEnum : char {                               // the 7 main calibration points - add definitions if needed
  CEN      = 0,
  __A      = 1,
  _AB      = __A + _7P_STEP,
  __B      = _AB + _7P_STEP,
  _BC      = __B + _7P_STEP,
  __C      = _BC + _7P_STEP,
  _CA      = __C + _7P_STEP,
};

#define LOOP_CAL_PT(VAR, S, N) for (uint8_t VAR=S; VAR<=NPP; VAR+=N)
#define F_LOOP_CAL_PT(VAR, S, N) for (float VAR=S; VAR<NPP+0.9999; VAR+=N)
#define I_LOOP_CAL_PT(VAR, S, N) for (float VAR=S; VAR>CEN+0.9999; VAR-=N)
#define LOOP_CAL_ALL(VAR) LOOP_CAL_PT(VAR, CEN, 1)
#define LOOP_CAL_RAD(VAR) LOOP_CAL_PT(VAR, __A, _7P_STEP)
#define LOOP_CAL_ACT(VAR, _4P, _OP) LOOP_CAL_PT(VAR, _OP ? _AB : __A, _4P ? _4P_STEP : _7P_STEP)

static void print_signed_float(const char * const prefix, const float &f) {
  SERIAL_PROTOCOLPGM("  ");
  serialprintPGM(prefix);
  SERIAL_PROTOCOLCHAR(':');
  if (f >= 0) SERIAL_CHAR('+');
  SERIAL_PROTOCOL_F(f, 2);
}

static void print_G33_settings(const bool end_stops, const bool tower_angles) {
  SERIAL_PROTOCOLPAIR(".Height:", delta_height);
  if (end_stops) {
    print_signed_float(PSTR("Ex"), delta_endstop_adj[A_AXIS]);
    print_signed_float(PSTR("Ey"), delta_endstop_adj[B_AXIS]);
    print_signed_float(PSTR("Ez"), delta_endstop_adj[C_AXIS]);
  }
  if (end_stops && tower_angles) {
    SERIAL_PROTOCOLPAIR("  Radius:", delta_radius);
    SERIAL_EOL();
    SERIAL_CHAR('.');
    SERIAL_PROTOCOL_SP(13);
  }
  if (tower_angles) {
    print_signed_float(PSTR("Tx"), delta_tower_angle_trim[A_AXIS]);
    print_signed_float(PSTR("Ty"), delta_tower_angle_trim[B_AXIS]);
    print_signed_float(PSTR("Tz"), delta_tower_angle_trim[C_AXIS]);
  }
  if ((!end_stops && tower_angles) || (end_stops && !tower_angles)) { // XOR
    SERIAL_PROTOCOLPAIR("  Radius:", delta_radius);
  }
  SERIAL_EOL();
}

static void print_G33_results(const float z_at_pt[NPP + 1], const bool tower_points, const bool opposite_points) {
  SERIAL_PROTOCOLPGM(".    ");
  print_signed_float(PSTR("c"), z_at_pt[CEN]);
  if (tower_points) {
    print_signed_float(PSTR(" x"), z_at_pt[__A]);
    print_signed_float(PSTR(" y"), z_at_pt[__B]);
    print_signed_float(PSTR(" z"), z_at_pt[__C]);
  }
  if (tower_points && opposite_points) {
    SERIAL_EOL();
    SERIAL_CHAR('.');
    SERIAL_PROTOCOL_SP(13);
  }
  if (opposite_points) {
    print_signed_float(PSTR("yz"), z_at_pt[_BC]);
    print_signed_float(PSTR("zx"), z_at_pt[_CA]);
    print_signed_float(PSTR("xy"), z_at_pt[_AB]);
  }
  SERIAL_EOL();
}

/**
 * After G33:
 *  - Move to the print ceiling (DELTA_HOME_TO_SAFE_ZONE only)
 *  - Stow the probe
 *  - Restore endstops state
 *  - Select the old tool, if needed
 */
static void G33_cleanup(
  #if HOTENDS > 1
    const uint8_t old_tool_index
  #endif
) {
  #if ENABLED(DELTA_HOME_TO_SAFE_ZONE)
    do_blocking_move_to_z(delta_clip_start_height);
  #endif
  STOW_PROBE();
  clean_up_after_endstop_or_probe_move();
  #if HOTENDS > 1
    tool_change(old_tool_index, 0, true);
  #endif
}

inline float calibration_probe(const float nx, const float ny, const bool stow) {
  #if HAS_BED_PROBE
    return probe_pt(nx, ny, stow, 0, false);
  #else
    UNUSED(stow);
    return lcd_probe_pt(nx, ny);
  #endif
}

static float probe_G33_points(float z_at_pt[NPP + 1], const int8_t probe_points, const bool towers_set, const bool stow_after_each) {
  const bool _0p_calibration      = probe_points == 0,
             _1p_calibration      = probe_points == 1,
             _4p_calibration      = probe_points == 2,
             _4p_opposite_points  = _4p_calibration && !towers_set,
             _7p_calibration      = probe_points >= 3 || probe_points == 0,
             _7p_no_intermediates = probe_points == 3,
             _7p_1_intermediates  = probe_points == 4,
             _7p_2_intermediates  = probe_points == 5,
             _7p_4_intermediates  = probe_points == 6,
             _7p_6_intermediates  = probe_points == 7,
             _7p_8_intermediates  = probe_points == 8,
             _7p_11_intermediates = probe_points == 9,
             _7p_14_intermediates = probe_points == 10,
             _7p_intermed_points  = probe_points >= 4,
             _7p_6_centre         = probe_points >= 5 && probe_points <= 7,
             _7p_9_centre         = probe_points >= 8;

  LOOP_CAL_ALL(axis) z_at_pt[axis] = 0.0;

  if (!_0p_calibration) {

    if (!_7p_no_intermediates && !_7p_4_intermediates && !_7p_11_intermediates) { // probe the center
      z_at_pt[CEN] += calibration_probe(0, 0, stow_after_each);
      if (isnan(z_at_pt[CEN])) return NAN;
    }

    if (_7p_calibration) { // probe extra center points
      const float start  = _7p_9_centre ? _CA + _7P_STEP / 3.0 : _7p_6_centre ? _CA : __C,
                  steps  = _7p_9_centre ? _4P_STEP / 3.0 : _7p_6_centre ? _7P_STEP : _4P_STEP;
      I_LOOP_CAL_PT(axis, start, steps) {
        const float a = RADIANS(210 + (360 / NPP) *  (axis - 1)),
                    r = delta_calibration_radius * 0.1;
        z_at_pt[CEN] += calibration_probe(cos(a) * r, sin(a) * r, stow_after_each);
        if (isnan(z_at_pt[CEN])) return NAN;
     }
      z_at_pt[CEN] /= float(_7p_2_intermediates ? 7 : probe_points);
    }

    if (!_1p_calibration) {  // probe the radius
      const CalEnum start  = _4p_opposite_points ? _AB : __A;
      const float   steps  = _7p_14_intermediates ? _7P_STEP / 15.0 : // 15r * 6 + 10c = 100
                             _7p_11_intermediates ? _7P_STEP / 12.0 : // 12r * 6 +  9c = 81
                             _7p_8_intermediates  ? _7P_STEP /  9.0 : //  9r * 6 + 10c = 64
                             _7p_6_intermediates  ? _7P_STEP /  7.0 : //  7r * 6 +  7c = 49
                             _7p_4_intermediates  ? _7P_STEP /  5.0 : //  5r * 6 +  6c = 36
                             _7p_2_intermediates  ? _7P_STEP /  3.0 : //  3r * 6 +  7c = 25
                             _7p_1_intermediates  ? _7P_STEP /  2.0 : //  2r * 6 +  4c = 16
                             _7p_no_intermediates ? _7P_STEP :        //  1r * 6 +  3c = 9
                             _4P_STEP;                                // .5r * 6 +  1c = 4
      bool zig_zag = true;
      F_LOOP_CAL_PT(axis, start, _7p_9_centre ? steps * 3 : steps) {
        const int8_t offset = _7p_9_centre ? 1 : 0;
        for (int8_t circle = -offset; circle <= offset; circle++) {
          const float a = RADIANS(210 + (360 / NPP) *  (axis - 1)),
                      r = delta_calibration_radius * (1 + 0.1 * (zig_zag ? circle : - circle)),
                      interpol = fmod(axis, 1);
          const float z_temp = calibration_probe(cos(a) * r, sin(a) * r, stow_after_each);
          if (isnan(z_temp)) return NAN;
          // split probe point to neighbouring calibration points
          z_at_pt[uint8_t(round(axis - interpol + NPP - 1)) % NPP + 1] += z_temp * sq(cos(RADIANS(interpol * 90)));
          z_at_pt[uint8_t(round(axis - interpol))           % NPP + 1] += z_temp * sq(sin(RADIANS(interpol * 90)));
        }
        zig_zag = !zig_zag;
      }
      if (_7p_intermed_points)
        LOOP_CAL_RAD(axis)
          z_at_pt[axis] /= _7P_STEP / steps;
    }

    float S1 = z_at_pt[CEN],
          S2 = sq(z_at_pt[CEN]);
    int16_t N = 1;
    if (!_1p_calibration) { // std dev from zero plane
      LOOP_CAL_ACT(axis, _4p_calibration, _4p_opposite_points) {
        S1 += z_at_pt[axis];
        S2 += sq(z_at_pt[axis]);
        N++;
      }
      return round(SQRT(S2 / N) * 1000.0) / 1000.0 + 0.00001;
    }
  }

  return 0.00001;
}

#if HAS_BED_PROBE

  static bool G33_auto_tune() {
    float z_at_pt[NPP + 1]      = { 0.0 },
          z_at_pt_base[NPP + 1] = { 0.0 },
          z_temp, h_fac = 0.0, r_fac = 0.0, a_fac = 0.0, norm = 0.8;

    #define ZP(N,I) ((N) * z_at_pt[I])
    #define Z06(I)  ZP(6, I)
    #define Z03(I)  ZP(3, I)
    #define Z02(I)  ZP(2, I)
    #define Z01(I)  ZP(1, I)
    #define Z32(I)  ZP(3/2, I)

    SERIAL_PROTOCOLPGM("AUTO TUNE baseline");
    SERIAL_EOL();
    if (isnan(probe_G33_points(z_at_pt_base, 3, true, false))) return false;
    print_G33_results(z_at_pt_base, true, true);

    LOOP_XYZ(axis) {
      delta_endstop_adj[axis] -= 1.0;
      recalc_delta_settings();

      endstops.enable(true);
      if (!home_delta()) return false;
      endstops.not_homing();

      SERIAL_PROTOCOLPGM("Tuning E");
      SERIAL_CHAR(tolower(axis_codes[axis]));
      SERIAL_EOL();

      if (isnan(probe_G33_points(z_at_pt, 3, true, false))) return false;
      LOOP_CAL_ALL(axis) z_at_pt[axis] -= z_at_pt_base[axis];
      print_G33_results(z_at_pt, true, true);
      delta_endstop_adj[axis] += 1.0;
      recalc_delta_settings();
      switch (axis) {
        case A_AXIS :
          h_fac += 4.0 / (Z03(CEN) +Z01(__A)                               +Z32(_CA) +Z32(_AB)); // Offset by X-tower end-stop
          break;
        case B_AXIS :
          h_fac += 4.0 / (Z03(CEN)           +Z01(__B)           +Z32(_BC)           +Z32(_AB)); // Offset by Y-tower end-stop
          break;
        case C_AXIS :
          h_fac += 4.0 / (Z03(CEN)                     +Z01(__C) +Z32(_BC) +Z32(_CA)          ); // Offset by Z-tower end-stop
          break;
      }
    }
    h_fac /= 3.0;
    h_fac *= norm; // Normalize to 1.02 for Kossel mini

    for (int8_t zig_zag = -1; zig_zag < 2; zig_zag += 2) {
      delta_radius += 1.0 * zig_zag;
      recalc_delta_settings();

      endstops.enable(true);
      if (!home_delta()) return false;
      endstops.not_homing();

      SERIAL_PROTOCOLPGM("Tuning R");
      SERIAL_PROTOCOL(zig_zag == -1 ? "-" : "+");
      SERIAL_EOL();
      if (isnan(probe_G33_points(z_at_pt, 3, true, false))) return false;
      LOOP_CAL_ALL(axis) z_at_pt[axis] -= z_at_pt_base[axis];
      print_G33_results(z_at_pt, true, true);
      delta_radius -= 1.0 * zig_zag;
      recalc_delta_settings();
      r_fac -= zig_zag * 6.0 / (Z03(__A) +Z03(__B) +Z03(__C) +Z03(_BC) +Z03(_CA) +Z03(_AB)); // Offset by delta radius
    }
    r_fac /= 2.0;
    r_fac *= 3 * norm; // Normalize to 2.25 for Kossel mini

    LOOP_XYZ(axis) {
      delta_tower_angle_trim[axis] += 1.0;
      delta_endstop_adj[(axis + 1) % 3] -= 1.0 / 4.5;
      delta_endstop_adj[(axis + 2) % 3] += 1.0 / 4.5;
      z_temp = MAX3(delta_endstop_adj[A_AXIS], delta_endstop_adj[B_AXIS], delta_endstop_adj[C_AXIS]);
      delta_height -= z_temp;
      LOOP_XYZ(axis) delta_endstop_adj[axis] -= z_temp;
      recalc_delta_settings();

      endstops.enable(true);
      if (!home_delta()) return false;
      endstops.not_homing();

      SERIAL_PROTOCOLPGM("Tuning T");
      SERIAL_CHAR(tolower(axis_codes[axis]));
      SERIAL_EOL();

      if (isnan(probe_G33_points(z_at_pt, 3, true, false))) return false;
      LOOP_CAL_ALL(axis) z_at_pt[axis] -= z_at_pt_base[axis];
      print_G33_results(z_at_pt, true, true);

      delta_tower_angle_trim[axis] -= 1.0;
      delta_endstop_adj[(axis+1) % 3] += 1.0/4.5;
      delta_endstop_adj[(axis+2) % 3] -= 1.0/4.5;
      z_temp = MAX3(delta_endstop_adj[A_AXIS], delta_endstop_adj[B_AXIS], delta_endstop_adj[C_AXIS]);
      delta_height -= z_temp;
      LOOP_XYZ(axis) delta_endstop_adj[axis] -= z_temp;
      recalc_delta_settings();
      switch (axis) {
        case A_AXIS :
          a_fac += 4.0 / (          Z06(__B) -Z06(__C)           +Z06(_CA) -Z06(_AB)); // Offset by alpha tower angle
          break;
        case B_AXIS :
          a_fac += 4.0 / (-Z06(__A)          +Z06(__C) -Z06(_BC)           +Z06(_AB)); // Offset by beta tower angle
          break;
        case C_AXIS :
          a_fac += 4.0 / (Z06(__A) -Z06(__B)           +Z06(_BC) -Z06(_CA)          ); // Offset by gamma tower angle
          break;
      }
    }
    a_fac /= 3.0;
    a_fac *= norm; // Normalize to 0.83 for Kossel mini

    endstops.enable(true);
    if (!home_delta()) return false;
    endstops.not_homing();
    print_signed_float(PSTR( "H_FACTOR: "), h_fac);
    print_signed_float(PSTR(" R_FACTOR: "), r_fac);
    print_signed_float(PSTR(" A_FACTOR: "), a_fac);
    SERIAL_EOL();
    SERIAL_PROTOCOLPGM("Copy these values to Configuration.h");
    SERIAL_EOL();
    return true;
  }

#endif // HAS_BED_PROBE

/**
 * G33 - Delta '1-4-7-point' Auto-Calibration
 *       Calibrate height, endstops, delta radius, and tower angles.
 *
 * Parameters:
 *
 *   Pn  Number of probe points:
 *      P0     No probe. Normalize only.
 *      P1     Probe center and set height only.
 *      P2     Probe center and towers. Set height, endstops and delta radius.
 *      P3     Probe all positions: center, towers and opposite towers. Set all.
 *      P4-P10 Probe all positions + at different intermediate locations and average them.
 *
 *   T   Don't calibrate tower angle corrections
 *
 *   Cn.nn  Calibration precision; when omitted calibrates to maximum precision
 *
 *   Fn  Force to run at least n iterations and take the best result
 *
 *   A   Auto-tune calibration factors (set in Configuration.h)
 *
 *   Vn  Verbose level:
 *      V0  Dry-run mode. Report settings and probe results. No calibration.
 *      V1  Report start and end settings only
 *      V2  Report settings at each iteration
 *      V3  Report settings and probe results
 *
 *   E   Engage the probe for each point
 */
void GcodeSuite::G33() {

  const int8_t probe_points = parser.intval('P', DELTA_CALIBRATION_DEFAULT_POINTS);
  if (!WITHIN(probe_points, 0, 10)) {
    SERIAL_PROTOCOLLNPGM("?(P)oints is implausible (0-10).");
    return;
  }

  const int8_t verbose_level = parser.byteval('V', 1);
  if (!WITHIN(verbose_level, 0, 3)) {
    SERIAL_PROTOCOLLNPGM("?(V)erbose level is implausible (0-3).");
    return;
  }

  const float calibration_precision = parser.floatval('C', 0.0);
  if (calibration_precision < 0) {
    SERIAL_PROTOCOLLNPGM("?(C)alibration precision is implausible (>=0).");
    return;
  }

  const int8_t force_iterations = parser.intval('F', 0);
  if (!WITHIN(force_iterations, 0, 30)) {
    SERIAL_PROTOCOLLNPGM("?(F)orce iteration is implausible (0-30).");
    return;
  }

  const bool towers_set           = !parser.boolval('T'),
             auto_tune            = parser.boolval('A'),
             stow_after_each      = parser.boolval('E'),
             _0p_calibration      = probe_points == 0,
             _1p_calibration      = probe_points == 1,
             _4p_calibration      = probe_points == 2,
             _7p_9_centre         = probe_points >= 8,
             _tower_results       = (_4p_calibration && towers_set)
                                    || probe_points >= 3 || probe_points == 0,
             _opposite_results    = (_4p_calibration && !towers_set)
                                    || probe_points >= 3 || probe_points == 0,
             _endstop_results     = probe_points != 1,
             _angle_results       = (probe_points >= 3 || probe_points == 0) && towers_set;
  const static char save_message[] PROGMEM = "Save with M500 and/or copy to Configuration.h";
  int8_t iterations = 0;
  float test_precision,
        zero_std_dev = (verbose_level ? 999.0 : 0.0), // 0.0 in dry-run mode : forced end
        zero_std_dev_min = zero_std_dev,
        e_old[ABC] = {
          delta_endstop_adj[A_AXIS],
          delta_endstop_adj[B_AXIS],
          delta_endstop_adj[C_AXIS]
        },
        dr_old = delta_radius,
        zh_old = delta_height,
        ta_old[ABC] = {
          delta_tower_angle_trim[A_AXIS],
          delta_tower_angle_trim[B_AXIS],
          delta_tower_angle_trim[C_AXIS]
        };

  SERIAL_PROTOCOLLNPGM("G33 Auto Calibrate");

  if (!_1p_calibration && !_0p_calibration) {  // test if the outer radius is reachable
    LOOP_CAL_RAD(axis) {
      const float a = RADIANS(210 + (360 / NPP) *  (axis - 1)),
                  r = delta_calibration_radius * (1 + (_7p_9_centre ? 0.1 : 0.0));
      if (!position_is_reachable(cos(a) * r, sin(a) * r)) {
        SERIAL_PROTOCOLLNPGM("?(M665 B)ed radius is implausible.");
        return;
      }
    }
  }

  stepper.synchronize();
  #if HAS_LEVELING
    reset_bed_level(); // After calibration bed-level data is no longer valid
  #endif

  #if HOTENDS > 1
    const uint8_t old_tool_index = active_extruder;
    tool_change(0, 0, true);
    #define G33_CLEANUP() G33_cleanup(old_tool_index)
  #else
    #define G33_CLEANUP() G33_cleanup()
  #endif

  setup_for_endstop_or_probe_move();
  endstops.enable(true);
  if (!_0p_calibration) {
    if (!home_delta())
      return;
    endstops.not_homing();
  }

  if (auto_tune) {
    #if HAS_BED_PROBE
      G33_auto_tune();
    #else
      SERIAL_PROTOCOLLNPGM("A probe is needed for auto-tune");
    #endif
    G33_CLEANUP();
    return;
  }

  // Report settings

  PGM_P checkingac = PSTR("Checking... AC"); // TODO: Make translatable string
  serialprintPGM(checkingac);
  if (verbose_level == 0) SERIAL_PROTOCOLPGM(" (DRY-RUN)");
  SERIAL_EOL();
  lcd_setstatusPGM(checkingac);

  print_G33_settings(_endstop_results, _angle_results);

  do {

    float z_at_pt[NPP + 1] = { 0.0 };

    test_precision = zero_std_dev;

    iterations++;

    // Probe the points

    zero_std_dev = probe_G33_points(z_at_pt, probe_points, towers_set, stow_after_each);
    if (isnan(zero_std_dev)) {
      SERIAL_PROTOCOLPGM("Correct delta_radius with M665 R or end-stops with M666 X Y Z");
      SERIAL_EOL();
      return G33_CLEANUP();
    }

    // Solve matrices

    if ((zero_std_dev < test_precision || iterations <= force_iterations) && zero_std_dev > calibration_precision) {
      if (zero_std_dev < zero_std_dev_min) {
        COPY(e_old, delta_endstop_adj);
        dr_old = delta_radius;
        zh_old = delta_height;
        COPY(ta_old, delta_tower_angle_trim);
      }

      float e_delta[ABC] = { 0.0 }, r_delta = 0.0, t_delta[ABC] = { 0.0 };
      const float r_diff = delta_radius - delta_calibration_radius,
                  h_factor = 1 / 6.0 *
                    #ifdef H_FACTOR
                      (H_FACTOR),                                       // Set in Configuration.h
                    #else
                      (1.00 + r_diff * 0.001),                          // 1.02 for r_diff = 20mm
                    #endif
                  r_factor = 1 / 6.0 *
                    #ifdef R_FACTOR
                      -(R_FACTOR),                                      // Set in Configuration.h
                    #else
                      -(1.75 + 0.005 * r_diff + 0.001 * sq(r_diff)),    // 2.25 for r_diff = 20mm
                    #endif
                  a_factor = 1 / 6.0 *
                    #ifdef A_FACTOR
                      (A_FACTOR);                                       // Set in Configuration.h
                    #else
                      (66.66 / delta_calibration_radius);               // 0.83 for cal_rd = 80mm
                    #endif

      #define ZP(N,I) ((N) * z_at_pt[I])
      #define Z6(I) ZP(6, I)
      #define Z4(I) ZP(4, I)
      #define Z2(I) ZP(2, I)
      #define Z1(I) ZP(1, I)

      #if !HAS_BED_PROBE
        test_precision = 0.00; // forced end
      #endif

      switch (probe_points) {
        case 0:
          test_precision = 0.00; // forced end
          break;

        case 1:
          test_precision = 0.00; // forced end
          LOOP_XYZ(axis) e_delta[axis] = Z1(CEN);
          break;

        case 2:
          if (towers_set) {
            e_delta[A_AXIS] = (Z6(CEN) +Z4(__A) -Z2(__B) -Z2(__C)) * h_factor;
            e_delta[B_AXIS] = (Z6(CEN) -Z2(__A) +Z4(__B) -Z2(__C)) * h_factor;
            e_delta[C_AXIS] = (Z6(CEN) -Z2(__A) -Z2(__B) +Z4(__C)) * h_factor;
            r_delta         = (Z6(CEN) -Z2(__A) -Z2(__B) -Z2(__C)) * r_factor;
          }
          else {
            e_delta[A_AXIS] = (Z6(CEN) -Z4(_BC) +Z2(_CA) +Z2(_AB)) * h_factor;
            e_delta[B_AXIS] = (Z6(CEN) +Z2(_BC) -Z4(_CA) +Z2(_AB)) * h_factor;
            e_delta[C_AXIS] = (Z6(CEN) +Z2(_BC) +Z2(_CA) -Z4(_AB)) * h_factor;
            r_delta         = (Z6(CEN) -Z2(_BC) -Z2(_CA) -Z2(_AB)) * r_factor;
          }
          break;

        default:
          e_delta[A_AXIS] = (Z6(CEN) +Z2(__A) -Z1(__B) -Z1(__C) -Z2(_BC) +Z1(_CA) +Z1(_AB)) * h_factor;
          e_delta[B_AXIS] = (Z6(CEN) -Z1(__A) +Z2(__B) -Z1(__C) +Z1(_BC) -Z2(_CA) +Z1(_AB)) * h_factor;
          e_delta[C_AXIS] = (Z6(CEN) -Z1(__A) -Z1(__B) +Z2(__C) +Z1(_BC) +Z1(_CA) -Z2(_AB)) * h_factor;
          r_delta         = (Z6(CEN) -Z1(__A) -Z1(__B) -Z1(__C) -Z1(_BC) -Z1(_CA) -Z1(_AB)) * r_factor;

          if (towers_set) {
            t_delta[A_AXIS] = (         -Z4(__B) +Z4(__C)          -Z4(_CA) +Z4(_AB)) * a_factor;
            t_delta[B_AXIS] = ( Z4(__A)          -Z4(__C) +Z4(_BC)          -Z4(_AB)) * a_factor;
            t_delta[C_AXIS] = (-Z4(__A) +Z4(__B)          -Z4(_BC) +Z4(_CA)         ) * a_factor;
            e_delta[A_AXIS] += (t_delta[B_AXIS] - t_delta[C_AXIS]) / 4.5;
            e_delta[B_AXIS] += (t_delta[C_AXIS] - t_delta[A_AXIS]) / 4.5;
            e_delta[C_AXIS] += (t_delta[A_AXIS] - t_delta[B_AXIS]) / 4.5;
          }
          break;
      }

      LOOP_XYZ(axis) delta_endstop_adj[axis] += e_delta[axis];
      delta_radius += r_delta;
      LOOP_XYZ(axis) delta_tower_angle_trim[axis] += t_delta[axis];
    }
    else if (zero_std_dev >= test_precision) {   // step one back
      COPY(delta_endstop_adj, e_old);
      delta_radius = dr_old;
      delta_height = zh_old;
      COPY(delta_tower_angle_trim, ta_old);
    }

    if (verbose_level != 0) {                                    // !dry run
      // normalise angles to least squares
      if (_angle_results) {
        float a_sum = 0.0;
        LOOP_XYZ(axis) a_sum += delta_tower_angle_trim[axis];
        LOOP_XYZ(axis) delta_tower_angle_trim[axis] -= a_sum / 3.0;
      }

      // adjust delta_height and endstops by the max amount
      const float z_temp = MAX3(delta_endstop_adj[A_AXIS], delta_endstop_adj[B_AXIS], delta_endstop_adj[C_AXIS]);
      delta_height -= z_temp;
      LOOP_XYZ(axis) delta_endstop_adj[axis] -= z_temp;
    }
    recalc_delta_settings();
    NOMORE(zero_std_dev_min, zero_std_dev);

    // print report

    if (verbose_level > 2)
      print_G33_results(z_at_pt, _tower_results, _opposite_results);

    if (verbose_level != 0) {                                    // !dry run
      if ((zero_std_dev >= test_precision && iterations > force_iterations) || zero_std_dev <= calibration_precision) {  // end iterations
        SERIAL_PROTOCOLPGM("Calibration OK");
        SERIAL_PROTOCOL_SP(32);
        #if HAS_BED_PROBE
          if (zero_std_dev >= test_precision && !_1p_calibration)
            SERIAL_PROTOCOLPGM("rolling back.");
          else
        #endif
          {
            SERIAL_PROTOCOLPGM("std dev:");
            SERIAL_PROTOCOL_F(zero_std_dev_min, 3);
          }
        SERIAL_EOL();
        char mess[21];
        strcpy_P(mess, PSTR("Calibration sd:"));
        if (zero_std_dev_min < 1)
          sprintf_P(&mess[15], PSTR("0.%03i"), (int)round(zero_std_dev_min * 1000.0));
        else
          sprintf_P(&mess[15], PSTR("%03i.x"), (int)round(zero_std_dev_min));
        lcd_setstatus(mess);
        print_G33_settings(_endstop_results, _angle_results);
        serialprintPGM(save_message);
        SERIAL_EOL();
      }
      else {                                                     // !end iterations
        char mess[15];
        if (iterations < 31)
          sprintf_P(mess, PSTR("Iteration : %02i"), (int)iterations);
        else
          strcpy_P(mess, PSTR("No convergence"));
        SERIAL_PROTOCOL(mess);
        SERIAL_PROTOCOL_SP(32);
        SERIAL_PROTOCOLPGM("std dev:");
        SERIAL_PROTOCOL_F(zero_std_dev, 3);
        SERIAL_EOL();
        lcd_setstatus(mess);
        if (verbose_level > 1)
          print_G33_settings(_endstop_results, _angle_results);
      }
    }
    else {                                                       // dry run
      PGM_P enddryrun = PSTR("End DRY-RUN");
      serialprintPGM(enddryrun);
      SERIAL_PROTOCOL_SP(35);
      SERIAL_PROTOCOLPGM("std dev:");
      SERIAL_PROTOCOL_F(zero_std_dev, 3);
      SERIAL_EOL();

      char mess[21];
      strcpy_P(mess, enddryrun);
      strcpy_P(&mess[11], PSTR(" sd:"));
      if (zero_std_dev < 1)
        sprintf_P(&mess[15], PSTR("0.%03i"), (int)round(zero_std_dev * 1000.0));
      else
        sprintf_P(&mess[15], PSTR("%03i.x"), (int)round(zero_std_dev));
      lcd_setstatus(mess);
    }

    endstops.enable(true);
    if (!home_delta())
      return;
    endstops.not_homing();

  }
  while (((zero_std_dev < test_precision && iterations < 31) || iterations <= force_iterations) && zero_std_dev > calibration_precision);

  G33_CLEANUP();
}

#endif // DELTA_AUTO_CALIBRATION