"Calibrate Z" was redefined to let the user move the X axis up

to the Z end stoppers and to re-calibrate the 9 bed point
reference values after the printer has been re-seated or transported.

New "Mesh Bed Leveling" function was added to the menu, doing what
the "Calibrate Z" was doing before.

Firmware/Marlin_main.cpp

@@ -235,11 +235,6 @@ byte b[2];
 int value;
 };
 
-#define BABYSTEP_LOADZ_BY_PLANNER
-
-// Number of baby steps applied
-int babystepLoadZ = 0;
-
 float homing_feedrate[] = HOMING_FEEDRATE;
 // Currently only the extruder axis may be switched to a relative mode.
 // Other axes are always absolute or relative based on the common relative_mode flag.
@@ -1921,12 +1916,7 @@ void process_commands()
 
       // Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
       // consumed during the first movements following this statement.
-#ifdef BABYSTEP_LOADZ_BY_PLANNER
+      babystep_undo();
-      shift_z(float(babystepLoadZ) / float(axis_steps_per_unit[Z_AXIS]));
-#else
-      babystepsTodoZsubtract(babystepLoadZ);
-#endif /* BABYSTEP_LOADZ_BY_PLANNER */
-      babystepLoadZ = 0;
 
       saved_feedrate = feedrate;
       saved_feedmultiply = feedmultiply;
@@ -2103,11 +2093,8 @@ void process_commands()
 #ifndef MESH_BED_LEVELING
       // If MESH_BED_LEVELING is not active, then it is the original Prusa i3.
       // Offer the user to load the baby step value, which has been adjusted at the previous print session.
-      if(card.sdprinting) {
+      if(card.sdprinting && eeprom_read_word((uint16_t *)EEPROM_BABYSTEP_Z))
-        EEPROM_read_B(EEPROM_BABYSTEP_Z,&babystepLoadZ);
-        if(babystepLoadZ != 0)
           lcd_adjust_z();
-      }
 #endif
 
     // Load the machine correction matrix
@@ -2368,12 +2355,7 @@ void process_commands()
 
             // Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
             // consumed during the first movements following this statement.
-#ifdef BABYSTEP_LOADZ_BY_PLANNER
+            babystep_undo();
-            shift_z(float(babystepLoadZ) / float(axis_steps_per_unit[Z_AXIS]));
-#else
-            babystepsTodoZsubtract(babystepLoadZ);
-#endif /* BABYSTEP_LOADZ_BY_PLANNER */
-            babystepLoadZ = 0;
 
             // Cycle through all points and probe them
             // First move up. During this first movement, the babystepping will be reverted.
@@ -2460,28 +2442,7 @@ void process_commands()
             clean_up_after_endstop_move();
 
             // Apply Z height correction aka baby stepping before mesh bed leveing gets activated.
-            if(card.sdprinting || is_usb_printing ) 
+            babystep_apply();
-            {
-                if(eeprom_read_byte((unsigned char*)EEPROM_BABYSTEP_Z_SET) == 0x01)
-                {
-                    // End of G80: Apply the baby stepping value.
-                    EEPROM_read_B(EEPROM_BABYSTEP_Z,&babystepLoadZ);
-                #if 0
-                    SERIAL_ECHO("Z baby step: ");
-                    SERIAL_ECHO(babystepLoadZ);
-                    SERIAL_ECHO(", current Z: ");
-                    SERIAL_ECHO(current_position[Z_AXIS]);
-                    SERIAL_ECHO("correction: ");
-                    SERIAL_ECHO(float(babystepLoadZ) / float(axis_steps_per_unit[Z_AXIS]));
-                    SERIAL_ECHOLN("");
-                #endif
-                #ifdef BABYSTEP_LOADZ_BY_PLANNER
-                    shift_z(- float(babystepLoadZ) / float(axis_steps_per_unit[Z_AXIS]));
-                #else
-                    babystepsTodoZadd(babystepLoadZ);
-                #endif /* BABYSTEP_LOADZ_BY_PLANNER */
-                }
-            }
 
             bool eeprom_bed_correction_valid = eeprom_read_byte((unsigned char*)EEPROM_BED_CORRECTION_VALID) == 1;
             for (uint8_t i = 0; i < 4; ++ i) {
@@ -2938,46 +2899,68 @@ void process_commands()
         // the planner will not perform any adjustments in the XY plane. 
         // Wait for the motors to stop and update the current position with the absolute values.
         world2machine_revert_to_uncorrected();
+        // Reset the baby step value applied without moving the axes.
+        babystep_reset();
+        // Mark all axes as in a need for homing.
+        memset(axis_known_position, 0, sizeof(axis_known_position));
         // Let the user move the Z axes up to the end stoppers.
         if (lcd_calibrate_z_end_stop_manual()) {
             refresh_cmd_timeout();
+
             // Move the print head close to the bed.
             current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
             plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS],current_position[Z_AXIS] , current_position[E_AXIS], homing_feedrate[Z_AXIS]/40, active_extruder);
             st_synchronize();
+
             // Home in the XY plane.
             set_destination_to_current();
             setup_for_endstop_move();
             home_xy();
+
             int8_t verbosity_level = 0;
             if (code_seen('V')) {
                 // Just 'V' without a number counts as V1.
                 char c = strchr_pointer[1];
                 verbosity_level = (c == ' ' || c == '\t' || c == 0) ? 1 : code_value_short();
             }
-            BedSkewOffsetDetectionResultType result = find_bed_offset_and_skew(verbosity_level);
+            
-            uint8_t point_too_far_mask = 0;
+            if (code_seen('Z')) {
-            clean_up_after_endstop_move();
+                clean_up_after_endstop_move();
-            // Print head up.
+                // Z only calibration.
-            current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
+                // Load the machine correction matrix
-            plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS],current_position[Z_AXIS] , current_position[E_AXIS], homing_feedrate[Z_AXIS]/40, active_extruder);
+                world2machine_initialize();
-            st_synchronize();
+                // and correct the current_position to match the transformed coordinate system.
-            if (result >= 0) {
+                world2machine_update_current();
-                // Second half: The fine adjustment.
+                //FIXME
-                // Let the planner use the uncorrected coordinates.
+                bool result = sample_mesh_and_store_reference();
-                mbl.reset();
+                // if (result) babystep_apply();
-                world2machine_reset();
+            } else {
-                // Home in the XY plane.
+                // Complete XYZ calibration.
-                setup_for_endstop_move();
+                BedSkewOffsetDetectionResultType result = find_bed_offset_and_skew(verbosity_level);
-                home_xy();
+                uint8_t point_too_far_mask = 0;
-                result = improve_bed_offset_and_skew(1, verbosity_level, point_too_far_mask);
                 clean_up_after_endstop_move();
                 // Print head up.
                 current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
                 plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS],current_position[Z_AXIS] , current_position[E_AXIS], homing_feedrate[Z_AXIS]/40, active_extruder);
                 st_synchronize();
+                if (result >= 0) {
+                    // Second half: The fine adjustment.
+                    // Let the planner use the uncorrected coordinates.
+                    mbl.reset();
+                    world2machine_reset();
+                    // Home in the XY plane.
+                    setup_for_endstop_move();
+                    home_xy();
+                    result = improve_bed_offset_and_skew(1, verbosity_level, point_too_far_mask);
+                    clean_up_after_endstop_move();
+                    // Print head up.
+                    current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
+                    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS],current_position[Z_AXIS] , current_position[E_AXIS], homing_feedrate[Z_AXIS]/40, active_extruder);
+                    st_synchronize();
+                    // if (result >= 0) babystep_apply();
+                }
+                lcd_bed_calibration_show_result(result, point_too_far_mask);
             }
-            lcd_bed_calibration_show_result(result, point_too_far_mask);
         } else {
             // Timeouted.
         }

Firmware/language_all.cpp

@@ -1085,6 +1085,11 @@ const char * const MSG_MAX_LANG_TABLE[1] PROGMEM = {
 	MSG_MAX_EN
 };
 
+const char MSG_MESH_BED_LEVELING_EN[] PROGMEM = "Mesh Bed Leveling";
+const char * const MSG_MESH_BED_LEVELING_LANG_TABLE[1] PROGMEM = {
+	MSG_MESH_BED_LEVELING_EN
+};
+
 const char MSG_MIN_EN[] PROGMEM = " \002 Min";
 const char * const MSG_MIN_LANG_TABLE[1] PROGMEM = {
 	MSG_MIN_EN

Firmware/language_all.h

@@ -286,6 +286,8 @@ extern const char* const MSG_MAIN_LANG_TABLE[LANG_NUM];
 #define MSG_MAIN LANG_TABLE_SELECT(MSG_MAIN_LANG_TABLE)
 extern const char* const MSG_MAX_LANG_TABLE[1];
 #define MSG_MAX LANG_TABLE_SELECT_EXPLICIT(MSG_MAX_LANG_TABLE, 0)
+extern const char* const MSG_MESH_BED_LEVELING_LANG_TABLE[1];
+#define MSG_MESH_BED_LEVELING LANG_TABLE_SELECT_EXPLICIT(MSG_MESH_BED_LEVELING_LANG_TABLE, 0)
 extern const char* const MSG_MIN_LANG_TABLE[1];
 #define MSG_MIN LANG_TABLE_SELECT_EXPLICIT(MSG_MIN_LANG_TABLE, 0)
 extern const char* const MSG_MOTION_LANG_TABLE[LANG_NUM];

Firmware/language_en.h

@@ -314,4 +314,8 @@
 #define MSG_BED_CORRECTION_REAR									"Rear side  um"
 #define MSG_BED_CORRECTION_RESET								"Reset"
 
+
+
+#define MSG_MESH_BED_LEVELING									"Mesh Bed Leveling"
+
 #endif // LANGUAGE_EN_H

Firmware/mesh_bed_calibration.cpp

@@ -1908,6 +1908,42 @@ BedSkewOffsetDetectionResultType improve_bed_offset_and_skew(int8_t method, int8
         }
     }
 
+    // Sample Z heights for the mesh bed leveling.
+    // In addition, store the results into an eeprom, to be used later for verification of the bed leveling process.
+    if (! sample_mesh_and_store_reference())
+        goto canceled;
+
+    enable_endstops(endstops_enabled);
+    enable_z_endstop(endstop_z_enabled);
+    // Don't let the manage_inactivity() function remove power from the motors.
+    refresh_cmd_timeout();
+    return result;
+
+canceled:
+    // Don't let the manage_inactivity() function remove power from the motors.
+    refresh_cmd_timeout();
+    // Print head up.
+    current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
+    go_to_current(homing_feedrate[Z_AXIS]/60);
+    // Store the identity matrix to EEPROM.
+    reset_bed_offset_and_skew();
+    enable_endstops(endstops_enabled);
+    enable_z_endstop(endstop_z_enabled);
+    return result;
+}
+
+// Sample the 9 points of the bed and store them into the EEPROM as a reference.
+// When calling this function, the X, Y, Z axes should be already homed,
+// and the world2machine correction matrix should be active.
+// Returns false if the reference values are more than 3mm far away.
+bool sample_mesh_and_store_reference()
+{
+    bool endstops_enabled  = enable_endstops(false);
+    bool endstop_z_enabled = enable_z_endstop(false);
+
+    // Don't let the manage_inactivity() function remove power from the motors.
+    refresh_cmd_timeout();
+
     // Sample Z heights for the mesh bed leveling.
     // In addition, store the results into an eeprom, to be used later for verification of the bed leveling process.
     {
@@ -1952,7 +1988,7 @@ BedSkewOffsetDetectionResultType improve_bed_offset_and_skew(int8_t method, int8
             // The span of the Z offsets is extreme. Give up.
             // Homing failed on some of the points.
             SERIAL_PROTOCOLLNPGM("Exreme span of the Z values!");
-            goto canceled;
+            return false;
         }
     }
 
@@ -2003,21 +2039,7 @@ BedSkewOffsetDetectionResultType improve_bed_offset_and_skew(int8_t method, int8
 
     enable_endstops(endstops_enabled);
     enable_z_endstop(endstop_z_enabled);
-    // Don't let the manage_inactivity() function remove power from the motors.
+    return true;
-    refresh_cmd_timeout();
-    return result;
-
-canceled:
-    // Don't let the manage_inactivity() function remove power from the motors.
-    refresh_cmd_timeout();
-    // Print head up.
-    current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
-    go_to_current(homing_feedrate[Z_AXIS]/60);
-    // Store the identity matrix to EEPROM.
-    reset_bed_offset_and_skew();
-    enable_endstops(endstops_enabled);
-    enable_z_endstop(endstop_z_enabled);
-    return result;
 }
 
 bool scan_bed_induction_points(int8_t verbosity_level)
@@ -2083,9 +2105,54 @@ bool scan_bed_induction_points(int8_t verbosity_level)
 }
 
 // Shift a Z axis by a given delta.
-void shift_z(float delta)
+// To replace loading of the babystep correction.
+static void shift_z(float delta)
 {
     plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] - delta, current_position[E_AXIS], homing_feedrate[Z_AXIS]/40, active_extruder);
     st_synchronize();
     plan_set_z_position(current_position[Z_AXIS]);
 }
+
+#define BABYSTEP_LOADZ_BY_PLANNER
+
+// Number of baby steps applied
+static int babystepLoadZ = 0;
+
+void babystep_apply()
+{
+    // Apply Z height correction aka baby stepping before mesh bed leveing gets activated.
+    if(eeprom_read_byte((unsigned char*)EEPROM_BABYSTEP_Z_SET) == 0x01)
+    {
+        // End of G80: Apply the baby stepping value.
+        EEPROM_read_B(EEPROM_BABYSTEP_Z,&babystepLoadZ);
+    #if 0
+        SERIAL_ECHO("Z baby step: ");
+        SERIAL_ECHO(babystepLoadZ);
+        SERIAL_ECHO(", current Z: ");
+        SERIAL_ECHO(current_position[Z_AXIS]);
+        SERIAL_ECHO("correction: ");
+        SERIAL_ECHO(float(babystepLoadZ) / float(axis_steps_per_unit[Z_AXIS]));
+        SERIAL_ECHOLN("");
+    #endif
+    #ifdef BABYSTEP_LOADZ_BY_PLANNER
+        shift_z(- float(babystepLoadZ) / float(axis_steps_per_unit[Z_AXIS]));
+    #else
+        babystepsTodoZadd(babystepLoadZ);
+    #endif /* BABYSTEP_LOADZ_BY_PLANNER */
+    }
+}
+
+void babystep_undo()
+{
+#ifdef BABYSTEP_LOADZ_BY_PLANNER
+      shift_z(float(babystepLoadZ) / float(axis_steps_per_unit[Z_AXIS]));
+#else
+      babystepsTodoZsubtract(babystepLoadZ);
+#endif /* BABYSTEP_LOADZ_BY_PLANNER */
+      babystepLoadZ = 0;
+}
+
+void babystep_reset()
+{
+      babystepLoadZ = 0;    
+}

Firmware/mesh_bed_calibration.h

@@ -159,6 +159,8 @@ enum BedSkewOffsetDetectionResultType {
 extern BedSkewOffsetDetectionResultType find_bed_offset_and_skew(int8_t verbosity_level);
 extern BedSkewOffsetDetectionResultType improve_bed_offset_and_skew(int8_t method, int8_t verbosity_level, uint8_t &too_far_mask);
 
+extern bool sample_mesh_and_store_reference();
+
 extern void reset_bed_offset_and_skew();
 extern bool is_bed_z_jitter_data_valid();
 
@@ -167,7 +169,13 @@ extern bool is_bed_z_jitter_data_valid();
 // Useful for visualizing the behavior of the bed induction detector.
 extern bool scan_bed_induction_points(int8_t verbosity_level);
 
-// To replace loading of the babystep correction.
+// Apply Z babystep value from the EEPROM through the planner.
-extern void shift_z(float delta);
+extern void babystep_apply();
+
+// Undo the current Z babystep value.
+extern void babystep_undo();
+
+// Reset the current babystep counter without moving the axes.
+extern void babystep_reset();
 
 #endif /* MESH_BED_CALIBRATION_H */

Firmware/ultralcd.cpp

@@ -1446,19 +1446,16 @@ bool lcd_calibrate_z_end_stop_manual()
                 previous_millis_cmd = millis();
                 encoderPosition += abs(encoderDiff / ENCODER_PULSES_PER_STEP);
                 encoderDiff = 0;
-                // Only move up, whatever the user does.
+                if (! planner_queue_full()) {
-                current_position[Z_AXIS] += fabs(encoderPosition);
+                    // Only move up, whatever direction the user rotates the encoder.
-                encoderPosition = 0;
+                    current_position[Z_AXIS] += fabs(encoderPosition);
-                plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], manual_feedrate[Z_AXIS] / 60, active_extruder);
+                    encoderPosition = 0;
-                // Wait for the motors to stop.
+                    plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], manual_feedrate[Z_AXIS] / 60, active_extruder);
-                st_synchronize();
+                }
-                // Claim we are at Z=0, so the soft end stop will not trigger.
-                current_position[Z_AXIS] = 0;
-                plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
             }
             if (lcd_clicked()) {
-                // Wait until the Z up movement is finished.
+                // Abort a move if in progress.
-                st_synchronize();
+                planner_abort_hard();
                 while (lcd_clicked()) ;
                 delay(10);
                 while (lcd_clicked()) ;
@@ -2022,7 +2019,7 @@ static void lcd_set_lang(unsigned char lang) {
 }
 
 void lcd_force_language_selection() {
-  eeprom_update_byte((unsigned char *)EEPROM_LANG, LANGUAGE_ID_FORCE_SELECTION);
+  eeprom_update_byte((unsigned char *)EEPROM_LANG, LANG_ID_FORCE_SELECTION);
 }
 
 static void lcd_language_menu()
@@ -2052,6 +2049,12 @@ void lcd_mesh_calibration()
   lcd_return_to_status();
 }
 
+void lcd_mesh_calibration_z()
+{
+  enquecommand_P(PSTR("M45 Z"));
+  lcd_return_to_status();
+}
+
 static void lcd_settings_menu()
 {
   EEPROM_read(EEPROM_SILENT, (uint8_t*)&SilentModeMenu, sizeof(SilentModeMenu));
@@ -2065,9 +2068,13 @@ static void lcd_settings_menu()
   if (!isPrintPaused)
   {
 #ifndef MESH_BED_LEVELING
+    // "Calibrate Z"
 	  MENU_ITEM(gcode, MSG_HOMEYZ, PSTR("G28 Z"));
 #else
-	  MENU_ITEM(submenu, MSG_HOMEYZ, lcd_mesh_bedleveling);
+    // "Calibrate Z" with storing the reference values to EEPROM.
+    MENU_ITEM(submenu, MSG_HOMEYZ, lcd_mesh_calibration_z);
+    // "Mesh Bed Leveling"
+	  MENU_ITEM(submenu, MSG_MESH_BED_LEVELING, lcd_mesh_bedleveling);
 #endif
   }