New feature: BED_SKEW_CORRECTION

Marlin/src/gcode/calibrate/M852.cpp

@@ -0,0 +1,89 @@
+/**
+ * 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(SKEW_CORRECTION_GCODE)
+
+#include "../gcode.h"
+#include "../../module/planner.h"
+
+/**
+ * M852: Get or set the machine skew factors. Reports current values with no arguments.
+ *
+ *  S[xy_factor] - Alias for 'I'
+ *  I[xy_factor] - New XY skew factor
+ *  J[xz_factor] - New XZ skew factor
+ *  K[yz_factor] - New YZ skew factor
+ */
+void GcodeSuite::M852() {
+  const bool ijk = parser.seen('I') || parser.seen('S')
+    #if ENABLED(SKEW_CORRECTION_FOR_Z)
+      || parser.seen('J') || parser.seen('K')
+    #endif
+  ;
+  bool badval = false;
+
+  if (parser.seen('I') || parser.seen('S')) {
+    const float value = parser.value_linear_units();
+    if (WITHIN(value, SKEW_FACTOR_MIN, SKEW_FACTOR_MAX))
+      planner.xy_skew_factor = value;
+    else
+      badval = true;
+  }
+
+  #if ENABLED(SKEW_CORRECTION_FOR_Z)
+
+    if (parser.seen('J')) {
+      const float value = parser.value_linear_units();
+      if (WITHIN(value, SKEW_FACTOR_MIN, SKEW_FACTOR_MAX))
+        planner.xz_skew_factor = value;
+      else
+        badval = true;
+    }
+
+    if (parser.seen('K')) {
+      const float value = parser.value_linear_units();
+      if (WITHIN(value, SKEW_FACTOR_MIN, SKEW_FACTOR_MAX))
+        planner.yz_skew_factor = value;
+      else
+        badval = true;
+    }
+
+  #endif
+
+  if (badval)
+    SERIAL_ECHOLNPGM(MSG_SKEW_MIN " " STRINGIFY(SKEW_FACTOR_MIN) " " MSG_SKEW_MAX " " STRINGIFY(SKEW_FACTOR_MAX));
+
+  if (!ijk) {
+    SERIAL_ECHO_START();
+    SERIAL_ECHOPAIR(MSG_SKEW_FACTOR " XY: ", planner.xy_skew_factor);
+    #if ENABLED(SKEW_CORRECTION_FOR_Z)
+      SERIAL_ECHOPAIR(" XZ: ", planner.xz_skew_factor);
+      SERIAL_ECHOLNPAIR(" YZ: ", planner.yz_skew_factor);
+    #else
+      SERIAL_EOL();
+    #endif
+  }
+}
+
+#endif // SKEW_CORRECTION_GCODE

Marlin/src/gcode/gcode.cpp

@@ -622,6 +622,12 @@ void GcodeSuite::process_parsed_command() {
           break;
       #endif // HAS_BED_PROBE
 
+      #if ENABLED(SKEW_CORRECTION_GCODE)
+        case 852: // M852: Set Skew factors
+          M852();
+          break;
+      #endif
+
       #if ENABLED(ADVANCED_PAUSE_FEATURE)
         case 600: // M600: Pause for filament change
           M600();

Marlin/src/gcode/gcode.h

@@ -201,6 +201,7 @@
  * M666 - Set delta endstop adjustment. (Requires DELTA)
  * M605 - Set dual x-carriage movement mode: "M605 S<mode> [X<x_offset>] [R<temp_offset>]". (Requires DUAL_X_CARRIAGE)
  * M851 - Set Z probe's Z offset in current units. (Negative = below the nozzle.)
+ * M852 - Set skew factors: "M852 [I<xy>] [J<xz>] [K<yz>]". (Requires SKEW_CORRECTION_GCODE, and SKEW_CORRECTION_FOR_Z for IJ)
  * M860 - Report the position of position encoder modules.
  * M861 - Report the status of position encoder modules.
  * M862 - Perform an axis continuity test for position encoder modules.
@@ -705,6 +706,10 @@ private:
     static void M851();
   #endif
 
+  #if ENABLED(SKEW_CORRECTION_GCODE)
+    static void M852();
+  #endif
+
   #if ENABLED(I2C_POSITION_ENCODERS)
     FORCE_INLINE static void M860() { I2CPEM.M860(); }
     FORCE_INLINE static void M861() { I2CPEM.M861(); }