Backlash cleanup (#13659)

…And save backlash, fil. sensor, ExtUI userdata to EEPROM.

Marlin/src/feature/backlash.cpp

@@ -0,0 +1,139 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2019 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 "../Marlin.h"
+
+#if ENABLED(BACKLASH_COMPENSATION)
+
+#include "backlash.h"
+#include "../module/planner.h"
+
+#if ENABLED(BACKLASH_GCODE)
+  uint8_t Backlash::correction = (BACKLASH_CORRECTION) * 0xFF;
+  #ifdef BACKLASH_DISTANCE_MM
+    float Backlash::distance_mm[XYZ] = BACKLASH_DISTANCE_MM;
+  #endif
+  #ifdef BACKLASH_SMOOTHING_MM
+    float Backlash::smoothing_mm = BACKLASH_SMOOTHING_MM;
+  #endif
+#endif
+
+#if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+  float Backlash::measured_mm[XYZ] = { 0 };
+  uint8_t Backlash::measured_count[XYZ] = { 0 };
+#endif
+
+Backlash backlash;
+
+/**
+ * To minimize seams in the printed part, backlash correction only adds
+ * steps to the current segment (instead of creating a new segment, which
+ * causes discontinuities and print artifacts).
+ *
+ * With a non-zero BACKLASH_SMOOTHING_MM value the backlash correction is
+ * spread over multiple segments, smoothing out artifacts even more.
+ */
+
+void Backlash::add_correction_steps(const int32_t &da, const int32_t &db, const int32_t &dc, const uint8_t dm, block_t * const block) {
+  static uint8_t last_direction_bits;
+  uint8_t changed_dir = last_direction_bits ^ dm;
+  // Ignore direction change if no steps are taken in that direction
+  if (da == 0) CBI(changed_dir, X_AXIS);
+  if (db == 0) CBI(changed_dir, Y_AXIS);
+  if (dc == 0) CBI(changed_dir, Z_AXIS);
+  last_direction_bits ^= changed_dir;
+
+  if (correction == 0) return;
+
+  #ifdef BACKLASH_SMOOTHING_MM
+    // The segment proportion is a value greater than 0.0 indicating how much residual_error
+    // is corrected for in this segment. The contribution is based on segment length and the
+    // smoothing distance. Since the computation of this proportion involves a floating point
+    // division, defer computation until needed.
+    float segment_proportion = 0;
+
+    // Residual error carried forward across multiple segments, so correction can be applied
+    // to segments where there is no direction change.
+    static int32_t residual_error[XYZ] = { 0 };
+  #else
+    // No leftover residual error from segment to segment
+    int32_t residual_error[XYZ] = { 0 };
+    // No direction change, no correction.
+    if (!changed_dir) return;
+  #endif
+
+  const float f_corr = float(correction) / 255.0f;
+
+  LOOP_XYZ(axis) {
+    if (distance_mm[axis]) {
+      const bool reversing = TEST(dm,axis);
+
+      // When an axis changes direction, add axis backlash to the residual error
+      if (TEST(changed_dir, axis))
+        residual_error[axis] += (reversing ? -f_corr : f_corr) * distance_mm[axis] * planner.settings.axis_steps_per_mm[axis];
+
+      // Decide how much of the residual error to correct in this segment
+      int32_t error_correction = residual_error[axis];
+      #ifdef BACKLASH_SMOOTHING_MM
+        if (error_correction && smoothing_mm != 0) {
+          // Take up a portion of the residual_error in this segment, but only when
+          // the current segment travels in the same direction as the correction
+          if (reversing == (error_correction < 0)) {
+            if (segment_proportion == 0)
+              segment_proportion = MIN(1.0f, block->millimeters / smoothing_mm);
+            error_correction = ceil(segment_proportion * error_correction);
+          }
+          else
+            error_correction = 0; // Don't take up any backlash in this segment, as it would subtract steps
+        }
+      #endif
+      // Making a correction reduces the residual error and modifies delta_mm
+      if (error_correction) {
+        block->steps[axis] += ABS(error_correction);
+        residual_error[axis] -= error_correction;
+      }
+    }
+  }
+}
+
+#if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+  #if USES_Z_MIN_PROBE_ENDSTOP
+    #define TEST_PROBE_PIN (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING)
+  #else
+    #define TEST_PROBE_PIN (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING)
+  #endif
+
+  // Measure Z backlash by raising nozzle in increments until probe deactivates
+  void Backlash::measure_with_probe() {
+    if (measured_count[Z_AXIS] == 255) return;
+
+    float start_height = current_position[Z_AXIS];
+    while (current_position[Z_AXIS] < (start_height + BACKLASH_MEASUREMENT_LIMIT) && TEST_PROBE_PIN)
+      do_blocking_move_to_z(current_position[Z_AXIS] + BACKLASH_MEASUREMENT_RESOLUTION, MMM_TO_MMS(BACKLASH_MEASUREMENT_FEEDRATE));
+
+    // The backlash from all probe points is averaged, so count the number of measurements
+    measured_mm[Z_AXIS] += current_position[Z_AXIS] - start_height;
+    measured_count[Z_AXIS]++;
+  }
+#endif
+
+#endif // BACKLASH_COMPENSATION

Marlin/src/feature/backlash.h

@@ -0,0 +1,88 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2019 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/>.
+ *
+ */
+#pragma once
+
+#include "../inc/MarlinConfigPre.h"
+#include "../module/planner.h"
+
+class Backlash {
+public:
+  #if ENABLED(BACKLASH_GCODE)
+    static uint8_t correction;
+    #ifdef BACKLASH_DISTANCE_MM
+      static float distance_mm[XYZ];
+    #endif
+    #ifdef BACKLASH_SMOOTHING_MM
+      static float smoothing_mm;
+    #endif
+    static inline void set_correction(const float &v) { correction = MAX(0, MIN(1.0, v)) * all_on; }
+    static inline float get_correction() { return float(ui8_to_percent(correction)) / 100.0f; }
+  #elif ENABLED(BACKLASH_COMPENSATION)
+    static constexpr uint8_t correction = (BACKLASH_CORRECTION) * 0xFF;
+    #ifdef BACKLASH_DISTANCE_MM
+      static constexpr float distance_mm[XYZ] = BACKLASH_DISTANCE_MM;
+    #endif
+    #ifdef BACKLASH_SMOOTHING_MM
+      static constexpr float smoothing_mm = BACKLASH_SMOOTHING_MM;
+    #endif
+    static inline void set_correction(float) { }
+    static inline float get_correction() { return float(ui8_to_percent(correction)) / 100.0f; }
+  #else
+    static constexpr uint8_t correction = 0;
+    static inline void set_correction(float) { }
+    static inline float get_correction() { return 0; }
+  #endif
+
+  #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+    private:
+      static float measured_mm[XYZ];
+      static uint8_t measured_count[XYZ];
+    public:
+      static void measure_with_probe();
+  #endif
+
+  static inline float get_measurement(const uint8_t e) {
+    // Return the measurement averaged over all readings
+    return (
+      #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+        measured_count[e] > 0 ? measured_mm[e] / measured_count[e] :
+      #endif
+      0
+    );
+  }
+
+  static inline bool has_measurement(const uint8_t e) {
+    return (false
+      #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+        || (measured_count[e] > 0)
+      #endif
+    );
+  }
+
+  static inline bool has_any_measurement() {
+    return has_measurement(X_AXIS) || has_measurement(Y_AXIS) || has_measurement(Z_AXIS);
+  }
+
+  void add_correction_steps(const int32_t &da, const int32_t &db, const int32_t &dc, const uint8_t dm, block_t * const block);
+};
+
+extern Backlash backlash;

Marlin/src/feature/runout.cpp

@@ -51,7 +51,7 @@ void FilamentSensorBase::filament_present(const uint8_t extruder) {
   uint8_t FilamentSensorEncoder::motion_detected;
 #endif
 
-#if FILAMENT_RUNOUT_DISTANCE_MM > 0
+#ifdef FILAMENT_RUNOUT_DISTANCE_MM
   float RunoutResponseDelayed::runout_distance_mm = FILAMENT_RUNOUT_DISTANCE_MM;
   volatile float RunoutResponseDelayed::runout_mm_countdown[EXTRUDERS];
 #else

Marlin/src/feature/runout.h

@@ -78,6 +78,11 @@ class TFilamentMonitor : public FilamentMonitorBase {
       response.filament_present(extruder);
     }
 
+    #ifdef FILAMENT_RUNOUT_DISTANCE_MM
+      static inline float& runout_distance() { return response.runout_distance_mm; }
+      static inline void set_runout_distance(const float &mm) { response.runout_distance_mm = mm; }
+    #endif
+
     // Handle a block completion. RunoutResponseDelayed uses this to
     // add up the length of filament moved while the filament is out.
     static inline void block_completed(const block_t* const b) {
@@ -90,13 +95,13 @@ class TFilamentMonitor : public FilamentMonitorBase {
     // Give the response a chance to update its counter.
     static inline void run() {
       if (enabled && !filament_ran_out && (IS_SD_PRINTING() || print_job_timer.isRunning() || did_pause_print)) {
-        #if FILAMENT_RUNOUT_DISTANCE_MM > 0
+        #ifdef FILAMENT_RUNOUT_DISTANCE_MM
           cli(); // Prevent RunoutResponseDelayed::block_completed from accumulating here
         #endif
         response.run();
         sensor.run();
         const bool ran_out = response.has_run_out();
-        #if FILAMENT_RUNOUT_DISTANCE_MM > 0
+        #ifdef FILAMENT_RUNOUT_DISTANCE_MM
           sei();
         #endif
         if (ran_out) {
@@ -272,7 +277,7 @@ class FilamentSensorBase {
 
 /********************************* RESPONSE TYPE *********************************/
 
-#if FILAMENT_RUNOUT_DISTANCE_MM > 0
+#ifdef FILAMENT_RUNOUT_DISTANCE_MM
 
   // RunoutResponseDelayed triggers a runout event only if the length
   // of filament specified by FILAMENT_RUNOUT_DISTANCE_MM has been fed
@@ -347,11 +352,12 @@ class FilamentSensorBase {
 /********************************* TEMPLATE SPECIALIZATION *********************************/
 
 typedef TFilamentMonitor<
-  #if FILAMENT_RUNOUT_DISTANCE_MM > 0
+  #ifdef FILAMENT_RUNOUT_DISTANCE_MM
+    RunoutResponseDelayed,
     #if ENABLED(FILAMENT_MOTION_SENSOR)
-      RunoutResponseDelayed, FilamentSensorEncoder
+      FilamentSensorEncoder
     #else
-      RunoutResponseDelayed, FilamentSensorSwitch
+      FilamentSensorSwitch
     #endif
   #else
     RunoutResponseDebounced, FilamentSensorSwitch