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Backlash cleanup (#13659)

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…And save backlash, fil. sensor, ExtUI userdata to EEPROM.
This commit is contained in:
Marcio Teixeira
2019-05-03 22:53:15 -06:00
committed by Scott Lahteine
parent 0181e57417
commit 15357af67c
22 changed files with 645 additions and 293 deletions
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94
Marlin/src/module/planner.cpp
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@ -92,6 +92,10 @@
#include "../feature/power.h"
#endif
#if ENABLED(BACKLASH_COMPENSATION)
#include "../feature/backlash.h"
#endif
// Delay for delivery of first block to the stepper ISR, if the queue contains 2 or
// fewer movements. The delay is measured in milliseconds, and must be less than 250ms
#define BLOCK_DELAY_FOR_1ST_MOVE 100
@ -1560,94 +1564,6 @@ void Planner::synchronize() {
) idle();
}
/**
* The following implements axis backlash correction. To minimize seams
* on the printed part, the backlash correction only adds steps to the
* current segment (instead of creating a new segment, which causes
* discontinuities and print artifacts).
*
* When BACKLASH_SMOOTHING_MM is enabled and non-zero, the backlash
* correction is spread over multiple segments, smoothing out print
* artifacts even more.
*/
#if ENABLED(BACKLASH_COMPENSATION)
#if ENABLED(BACKLASH_GCODE)
extern float backlash_distance_mm[];
extern uint8_t backlash_correction;
#ifdef BACKLASH_SMOOTHING_MM
extern float backlash_smoothing_mm;
#endif
#else
constexpr float backlash_distance_mm[XYZ] = BACKLASH_DISTANCE_MM,
constexpr uint8_t backlash_correction = BACKLASH_CORRECTION * 255;
#ifdef BACKLASH_SMOOTHING_MM
constexpr float backlash_smoothing_mm = BACKLASH_SMOOTHING_MM;
#endif
#endif
void Planner::add_backlash_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 (backlash_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(backlash_correction) / 255.0f;
LOOP_XYZ(axis) {
if (backlash_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) * backlash_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 && backlash_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 / backlash_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;
}
}
}
}
#endif // BACKLASH_COMPENSATION
/**
* Planner::_buffer_steps
*
@ -1919,7 +1835,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
* should *never* remove steps!
*/
#if ENABLED(BACKLASH_COMPENSATION)
add_backlash_correction_steps(da, db, dc, dm, block);
backlash.add_correction_steps(da, db, dc, dm, block);
#endif
}