1 files changed, 147 insertions, 0 deletions
diff --git a/Marlin/src/feature/probe_temp_comp.h b/Marlin/src/feature/probe_temp_comp.h
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+++ b/Marlin/src/feature/probe_temp_comp.h
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+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 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 <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+#include "../inc/MarlinConfig.h"
+
+enum TempSensorID : uint8_t {
+  TSI_PROBE,
+  TSI_BED,
+  #if ENABLED(USE_TEMP_EXT_COMPENSATION)
+    TSI_EXT,
+  #endif
+  TSI_COUNT
+};
+
+typedef struct {
+  uint8_t measurements; // Max. number of measurements to be stored (35 - 80°C)
+  float   temp_res,     // Resolution in °C between measurements
+          start_temp,   // Base measurement; z-offset == 0
+          end_temp;
+} temp_calib_t;
+
+/**
+ * Probe temperature compensation implementation.
+ * Z-probes like the P.I.N.D.A V2 allow for compensation of
+ * measurement errors/shifts due to changed temperature.
+ */
+
+// Probe temperature calibration constants
+#ifndef PTC_SAMPLE_COUNT
+  #define PTC_SAMPLE_COUNT 10U
+#endif
+#ifndef PTC_SAMPLE_RES
+  #define PTC_SAMPLE_RES 5.0f
+#endif
+#ifndef PTC_SAMPLE_START
+  #define PTC_SAMPLE_START 30.0f
+#endif
+#define PTC_SAMPLE_END ((PTC_SAMPLE_START) + (PTC_SAMPLE_COUNT) * (PTC_SAMPLE_RES))
+
+// Bed temperature calibration constants
+#ifndef BTC_PROBE_TEMP
+  #define BTC_PROBE_TEMP 30.0f
+#endif
+#ifndef BTC_SAMPLE_COUNT
+  #define BTC_SAMPLE_COUNT 10U
+#endif
+#ifndef BTC_SAMPLE_STEP
+  #define BTC_SAMPLE_RES 5.0f
+#endif
+#ifndef BTC_SAMPLE_START
+  #define BTC_SAMPLE_START 60.0f
+#endif
+#define BTC_SAMPLE_END ((BTC_SAMPLE_START) + (BTC_SAMPLE_COUNT) * (BTC_SAMPLE_RES))
+
+#ifndef PTC_PROBE_HEATING_OFFSET
+  #define PTC_PROBE_HEATING_OFFSET 0.5f
+#endif
+
+#ifndef PTC_PROBE_RAISE
+  #define PTC_PROBE_RAISE 10.0f
+#endif
+
+static constexpr temp_calib_t cali_info_init[TSI_COUNT] = {
+    {  PTC_SAMPLE_COUNT, PTC_SAMPLE_RES, PTC_SAMPLE_START, PTC_SAMPLE_END },       // Probe
+    {  BTC_SAMPLE_COUNT, BTC_SAMPLE_RES, BTC_SAMPLE_START, BTC_SAMPLE_END },       // Bed
+  #if ENABLED(USE_TEMP_EXT_COMPENSATION)
+    {  20,  5, 180, 180 +  5 * 20 }        // Extruder
+  #endif
+};
+
+class ProbeTempComp {
+  public:
+
+    static const temp_calib_t cali_info[TSI_COUNT];
+
+    // Where to park nozzle to wait for probe cooldown
+    static constexpr xyz_pos_t park_point = PTC_PARK_POS;
+
+    // XY coordinates of nozzle for probing the bed
+    static constexpr xy_pos_t measure_point    = PTC_PROBE_POS;     // Coordinates to probe
+                            //measure_point    = { 12.0f, 7.3f };   // Coordinates for the MK52 magnetic heatbed
+
+    static constexpr int  probe_calib_bed_temp = BED_MAX_TARGET,  // Bed temperature while calibrating probe
+                          bed_calib_probe_temp = BTC_PROBE_TEMP;  // Probe temperature while calibrating bed
+
+    static int16_t *sensor_z_offsets[TSI_COUNT],
+                   z_offsets_probe[cali_info_init[TSI_PROBE].measurements], // (µm)
+                   z_offsets_bed[cali_info_init[TSI_BED].measurements];     // (µm)
+
+    #if ENABLED(USE_TEMP_EXT_COMPENSATION)
+      static int16_t z_offsets_ext[cali_info_init[TSI_EXT].measurements];   // (µm)
+    #endif
+
+    static inline void reset_index() { calib_idx = 0; };
+    static inline uint8_t get_index() { return calib_idx; }
+    static void clear_offsets(const TempSensorID tsi);
+    static inline void clear_all_offsets() {
+      clear_offsets(TSI_BED);
+      clear_offsets(TSI_PROBE);
+      TERN_(USE_TEMP_EXT_COMPENSATION, clear_offsets(TSI_EXT));
+    }
+    static bool set_offset(const TempSensorID tsi, const uint8_t idx, const int16_t offset);
+    static void print_offsets();
+    static void prepare_new_calibration(const float &init_meas_z);
+    static void push_back_new_measurement(const TempSensorID tsi, const float &meas_z);
+    static bool finish_calibration(const TempSensorID tsi);
+    static void compensate_measurement(const TempSensorID tsi, const float &temp, float &meas_z);
+
+  private:
+    static uint8_t calib_idx;
+
+    /**
+     * Base value. Temperature compensation values will be deltas
+     * to this value, set at first probe.
+     */
+    static float init_measurement;
+
+    static float get_offset_for_temperature(const TempSensorID tsi, const float &temp);
+
+    /**
+     * Fit a linear function in measured temperature offsets
+     * to allow generating values of higher temperatures.
+     */
+    static bool linear_regression(const TempSensorID tsi, float &k, float &d);
+};
+
+extern ProbeTempComp temp_comp;