changed eeprom address for temp shift, verbosity level for mesh bed leveling added, added debuging functions for temp calibration

Firmware/Configuration.h

@@ -34,8 +34,6 @@
 
 #define EEPROM_FARM_MODE (EEPROM_BED_CALIBRATION_Z_JITTER-4)
 
-#define EEPROM_PROBE_TEMP_SHIFT (EEPROM_FARM_MODE - 2*5) //5 x int for storing pinda probe temp shift relative to 50 C; unit: motor steps 
-
 // Correction of the bed leveling, in micrometers.
 // Maximum 50 micrometers allowed.
 // Bed correction is valid if set to 1. If set to zero or 255, the successive 4 bytes are invalid.
@@ -46,6 +44,7 @@
 #define EEPROM_BED_CORRECTION_REAR  (EEPROM_BED_CORRECTION_FRONT-1)
 #define EEPROM_TOSHIBA_FLASH_AIR_COMPATIBLITY (EEPROM_BED_CORRECTION_REAR-1)
 #define EEPROM_PRINT_FLAG (EEPROM_TOSHIBA_FLASH_AIR_COMPATIBLITY-1)
+#define EEPROM_PROBE_TEMP_SHIFT (EEPROM_PRINT_FLAG - 2*5) //5 x int for storing pinda probe temp shift relative to 50 C; unit: motor steps 
 
 // Currently running firmware, each digit stored as uint16_t.
 // The flavor differentiates a dev, alpha, beta, release candidate or a release version.

Firmware/Marlin_main.cpp

@@ -27,14 +27,6 @@
     http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
  */
 
-
-
-
-
-
-
-
-
 #include "Marlin.h"
 
 #ifdef ENABLE_AUTO_BED_LEVELING
@@ -62,6 +54,7 @@
 #include "pins_arduino.h"
 #include "math.h"
 #include "util.h"
+//#include "spline.h"
 
 #ifdef BLINKM
 #include "BlinkM.h"
@@ -2767,6 +2760,25 @@ void process_commands()
      *
      */
 
+	case 73:
+	{
+		int i, read;
+		for (i = 0; i < 5; i++) {
+			EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &read);
+			MYSERIAL.print(read);
+			SERIAL_ECHOLNPGM(" ");
+		}
+	}break;
+
+	case 74:
+	{
+		float result, temp;
+		if (code_seen('X')) temp = code_value();
+		result = temp_comp_interpolation(temp);
+		MYSERIAL.print(result);
+
+	}break;
+
 	case 76: //PINDA probe temperature compensation
 	{
 		setTargetBed(PINDA_MIN_T);
@@ -2847,6 +2859,12 @@ void process_commands()
 	}
 	break;
 
+	case 75:
+	{
+		temp_compensation_start();
+	}
+	break;
+
 #ifdef DIS
 	case 77:
 	{
@@ -2877,9 +2895,16 @@ void process_commands()
 	
 #endif
 
+
 	case 80:
 	case_G80:
 	{
+		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();
+		}
 		// Firstly check if we know where we are
 		if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
 			// We don't know where we are! HOME!
@@ -2889,7 +2914,7 @@ void process_commands()
 			enquecommand_front_P((PSTR("G28 W0")));
 			break;
 		}
-			temp_compensation_start();
+
 		// Save custom message state, set a new custom message state to display: Calibrating point 9.
 		bool custom_message_old = custom_message;
 		unsigned int custom_message_type_old = custom_message_type;
@@ -2899,7 +2924,7 @@ void process_commands()
 		custom_message_state = (MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) + 10;
 		lcd_update(1);
 
-            mbl.reset();
+		mbl.reset(); //reset mesh bed leveling
 
 					 // 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.
@@ -2912,13 +2937,17 @@ void process_commands()
 		// The move to the first calibration point.
 		current_position[X_AXIS] = pgm_read_float(bed_ref_points);
 		current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 1);
-            world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
+		bool clamped = world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
+
+		if (verbosity_level >= 1) {
+			clamped ? SERIAL_PROTOCOLPGM("First calibration point clamped.\n") : SERIAL_PROTOCOLPGM("No clamping for first calibration point.\n");
+		}
 		//            mbl.get_meas_xy(0, 0, current_position[X_AXIS], current_position[Y_AXIS], false);            
 		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[X_AXIS] / 30, active_extruder);
 		// Wait until the move is finished.
 		st_synchronize();
 
-            int mesh_point = 0;
+		int mesh_point = 0; //index number of calibration point
 
 		int ix = 0;
 		int iy = 0;
@@ -2926,25 +2955,31 @@ void process_commands()
 		int XY_AXIS_FEEDRATE = homing_feedrate[X_AXIS] / 20;
 		int Z_PROBE_FEEDRATE = homing_feedrate[Z_AXIS] / 60;
 		int Z_LIFT_FEEDRATE = homing_feedrate[Z_AXIS] / 40;
-            bool has_z = is_bed_z_jitter_data_valid();
+		bool has_z = is_bed_z_jitter_data_valid(); //checks if we have data from Z calibration (offsets of the Z heiths of the 8 calibration points from the first point)
-            setup_for_endstop_move(false);
+		if (verbosity_level >= 1) {
+			has_z ? SERIAL_PROTOCOLPGM("Z jitter data from Z cal. valid.\n") : SERIAL_PROTOCOLPGM("Z jitter data from Z cal. not valid.\n");
+		}
+		setup_for_endstop_move(false); //save feedrate and feedmultiply, sets feedmultiply to 100
 		const char *kill_message = NULL;
 		while (mesh_point != MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) {
+			if (verbosity_level >= 1) SERIAL_ECHOLNPGM("");
 			// Get coords of a measuring point.
-                ix = mesh_point % MESH_MEAS_NUM_X_POINTS;
+			ix = mesh_point % MESH_MEAS_NUM_X_POINTS; // from 0 to MESH_NUM_X_POINTS - 1
 			iy = mesh_point / MESH_MEAS_NUM_X_POINTS;
 			if (iy & 1) ix = (MESH_MEAS_NUM_X_POINTS - 1) - ix; // Zig zag
 			float z0 = 0.f;
 			if (has_z && mesh_point > 0) {
 				uint16_t z_offset_u = eeprom_read_word((uint16_t*)(EEPROM_BED_CALIBRATION_Z_JITTER + 2 * (ix + iy * 3 - 1)));
 				z0 = mbl.z_values[0][0] + *reinterpret_cast<int16_t*>(&z_offset_u) * 0.01;
-                    #if 0
+				//#if 0
+				if (verbosity_level >= 1) {
 					SERIAL_ECHOPGM("Bed leveling, point: ");
 					MYSERIAL.print(mesh_point);
 					SERIAL_ECHOPGM(", calibration z: ");
 					MYSERIAL.print(z0, 5);
 					SERIAL_ECHOLNPGM("");
-                    #endif
+				}
+				//#endif
 			}
 
 			// Move Z up to MESH_HOME_Z_SEARCH.
@@ -2955,13 +2990,23 @@ void process_commands()
 			// Move to XY position of the sensor point.
 			current_position[X_AXIS] = pgm_read_float(bed_ref_points + 2 * mesh_point);
 			current_position[Y_AXIS] = pgm_read_float(bed_ref_points + 2 * mesh_point + 1);
+
+
+
 			world2machine_clamp(current_position[X_AXIS], current_position[Y_AXIS]);
+			if (verbosity_level >= 1) {
+
+				SERIAL_PROTOCOL(mesh_point);
+				clamped ? SERIAL_PROTOCOLPGM(": xy clamped.\n") : SERIAL_PROTOCOLPGM(": no xy clamping\n");
+			}
+
+
 			plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], XY_AXIS_FEEDRATE, active_extruder);
 			st_synchronize();
 
 			// Go down until endstop is hit
 			const float Z_CALIBRATION_THRESHOLD = 1.f;
-                if (! find_bed_induction_sensor_point_z((has_z && mesh_point > 0) ? z0 - Z_CALIBRATION_THRESHOLD : -10.f)) {
+			if (!find_bed_induction_sensor_point_z((has_z && mesh_point > 0) ? z0 - Z_CALIBRATION_THRESHOLD : -10.f)) { //if we have data from z calibration max allowed difference is 1mm for each point, if we dont have data max difference is 10mm from initial point  
 				kill_message = MSG_BED_LEVELING_FAILED_POINT_LOW;
 				break;
 			}
@@ -2969,32 +3014,54 @@ void process_commands()
 				kill_message = MSG_BED_LEVELING_FAILED_PROBE_DISCONNECTED;
 				break;
 			}
-                if (has_z && fabs(z0 - current_position[Z_AXIS]) > Z_CALIBRATION_THRESHOLD) {
+			if (has_z && fabs(z0 - current_position[Z_AXIS]) > Z_CALIBRATION_THRESHOLD) { //if we have data from z calibration, max. allowed difference is 1mm for each point
 				kill_message = MSG_BED_LEVELING_FAILED_POINT_HIGH;
 				break;
 			}
 
-                mbl.set_z(ix, iy, current_position[Z_AXIS]);
+			if (verbosity_level >= 10) {
+				SERIAL_ECHOPGM("X: ");
+				MYSERIAL.print(current_position[X_AXIS], 5);
+				SERIAL_ECHOLNPGM("");
+				SERIAL_ECHOPGM("Y: ");
+				MYSERIAL.print(current_position[Y_AXIS], 5);
+				SERIAL_PROTOCOLPGM("\n");
+			}
+
+			if (verbosity_level >= 1) {
+				SERIAL_ECHOPGM("mesh bed leveling: ");
+				MYSERIAL.print(current_position[Z_AXIS], 5);
+				SERIAL_ECHOLNPGM("");
+			}
+			mbl.set_z(ix, iy, current_position[Z_AXIS]); //store measured z values z_values[iy][ix] = z;
 
 			custom_message_state--;
 			mesh_point++;
 			lcd_update(1);
 		}
+		if (verbosity_level >= 20) SERIAL_ECHOLNPGM("Mesh bed leveling while loop finished.");
 		current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
+		if (verbosity_level >= 20) {
+			SERIAL_ECHOLNPGM("MESH_HOME_Z_SEARCH: ");
+			MYSERIAL.print(current_position[Z_AXIS], 5);
+		}
 		plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], Z_LIFT_FEEDRATE, active_extruder);
 		st_synchronize();
 		if (mesh_point != MESH_MEAS_NUM_X_POINTS * MESH_MEAS_NUM_Y_POINTS) {
 			kill(kill_message);
+			SERIAL_ECHOLNPGM("killed");
 		}
 		clean_up_after_endstop_move();
-
+		SERIAL_ECHOLNPGM("clean up finished ");
-
 		temp_compensation_apply(); //apply PINDA temperature compensation
-
+		babystep_apply(); // Apply Z height correction aka baby stepping before mesh bed leveing gets activated.
-            // Apply Z height correction aka baby stepping before mesh bed leveing gets activated.
+		SERIAL_ECHOLNPGM("babystep applied");
-            babystep_apply();
-
 		bool eeprom_bed_correction_valid = eeprom_read_byte((unsigned char*)EEPROM_BED_CORRECTION_VALID) == 1;
+
+		if (verbosity_level >= 1) {
+			eeprom_bed_correction_valid ? SERIAL_PROTOCOLPGM("Bed correction data valid\n") : SERIAL_PROTOCOLPGM("Bed correction data not valid\n");
+		}
+
 		for (uint8_t i = 0; i < 4; ++i) {
 			unsigned char codes[4] = { 'L', 'R', 'F', 'B' };
 			long correction = 0;
@@ -3014,7 +3081,8 @@ void process_commands()
 				SERIAL_ECHOPGM("Excessive bed leveling correction: ");
 				SERIAL_ECHO(offset);
 				SERIAL_ECHOLNPGM(" microns");
-                } else {
+			}
+			else {
 				switch (i) {
 				case 0:
 					for (uint8_t row = 0; row < 3; ++row) {
@@ -3043,11 +3111,13 @@ void process_commands()
 				}
 			}
 		}
-
+		SERIAL_ECHOLNPGM("Bed leveling correction finished");
-            mbl.upsample_3x3();
+		mbl.upsample_3x3(); //bilinear interpolation from 3x3 to 7x7 points while using the same array z_values[iy][ix] for storing (just coppying measured data to new destination and interpolating between them)
-            mbl.active = 1;
+		SERIAL_ECHOLNPGM("Upsample finished");
+		mbl.active = 1; //activate mesh bed leveling
+		SERIAL_ECHOLNPGM("Mesh bed leveling activated");
 		go_home_with_z_lift();
-
+		SERIAL_ECHOLNPGM("Go home finished");
 		// Restore custom message state
 		custom_message = custom_message_old;
 		custom_message_type = custom_message_type_old;
@@ -6166,14 +6236,14 @@ void temp_compensation_apply() {
 	int z_shift = 0;
 	float z_shift_mm;
 
-	if (target_temperature_bed % 10 == 0 && target_temperature_bed >= 60 && target_temperature_bed <= 100) {
+	if (target_temperature_bed % 10 == 0 && target_temperature_bed >= 50 && target_temperature_bed <= 100) {
 		i_add = (target_temperature_bed - 60) / 10;
 		EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + i_add * 2, &z_shift);
 		z_shift_mm = z_shift / axis_steps_per_unit[Z_AXIS];
 	}
 	else {
 		//interpolation
-		//z_shift_mm = temp_comp_interpolation(target_temperature_bed) / axis_steps_per_unit[Z_AXIS];
+		z_shift_mm = temp_comp_interpolation(target_temperature_bed) / axis_steps_per_unit[Z_AXIS];
 	}
 	SERIAL_PROTOCOLPGM("\n");
 	SERIAL_PROTOCOLPGM("Z shift applied:");
@@ -6183,6 +6253,12 @@ void temp_compensation_apply() {
 	plan_set_z_position(current_position[Z_AXIS]);
 }
 
+/*float temp_comp_interpolation(float temperature) {
+	
+}*/
+
+
+
 float temp_comp_interpolation(float temperature) {
 	//cubic spline interpolation
 	
@@ -6196,19 +6272,24 @@ float temp_comp_interpolation(float temperature) {
 	int n, j, k;
 	float h[10], a, b, c, d, sum, s[10] = { 0 }, x[10], F[10], f[10], p, m[10][10] = { 0 }, temp;
 
-
+	/*SERIAL_ECHOLNPGM("Reading shift data:");
-	for (i = 0; i < 6; i++) {
+	MYSERIAL.print(shift[i]);*/
+	for (i = 0; i < 5; i++) {
 		EEPROM_read_B(EEPROM_PROBE_TEMP_SHIFT + i * 2, &shift[i + 1]); //read shift in steps from EEPROM
+
+		//SERIAL_ECHOLNPGM(" ");
+		//MYSERIAL.print(shift[i + 1]);
 		temp_C[i] = 50 + i * 10; //temperature in C
 		shift_f[i] = (float)shift[i];
 	
 	}
+
 	for (i = 5; i > 0; i--) {
 		F[i] = (shift_f[i] - shift_f[i - 1]) / (temp_C[i] - temp_C[i - 1]);
 		h[i - 1] = temp_C[i] - temp_C[i - 1];
 	}
 
-	//*********** formation of h, s , f matrix **************//
+	//*********** formation of h, s , f matrix *************
 	for (i = 1; i<5; i++) {
 		m[i][i] = 2 * (h[i - 1] + h[i]);
 		if (i != 1) {
@@ -6217,13 +6298,13 @@ float temp_comp_interpolation(float temperature) {
 		}
 		m[i][5] = 6 * (F[i + 1] - F[i]);
 	}
-	//*********** forward elimination **************//
+	//*********** forward elimination **************
 	for (i = 1; i<4; i++) {
 		temp = (m[i + 1][i] / m[i][i]);
 		for (j = 1; j <= 5; j++)
 			m[i + 1][j] -= temp*m[i][j];
 	}
-	//*********** backward substitution *********//
+	//*********** backward substitution *********
 	for (i = 4; i>0; i--) {
 		sum = 0;
 		for (j = i; j <= 4; j++)