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🐛 Fix backlash applied steps when config changes (#23826)

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Followup to #23814
This commit is contained in:
tombrazier
2022-03-01 22:14:52 +00:00
committed by Scott Lahteine
parent 2d648e4dd9
commit 41a51e9527
8 changed files with 167 additions and 117 deletions
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60
Marlin/src/gcode/calibrate/G425.cpp
View File

@ -105,13 +105,27 @@ struct measurements_t {
};
#if ENABLED(BACKLASH_GCODE)
#define TEMPORARY_BACKLASH_CORRECTION(value) REMEMBER(tbst, backlash.correction, value)
class restorer_correction {
const uint8_t val_;
public:
restorer_correction(const uint8_t temp_val) : val_(backlash.get_correction_uint8()) { backlash.set_correction_uint8(temp_val); }
~restorer_correction() { backlash.set_correction_uint8(val_); }
};
#define TEMPORARY_BACKLASH_CORRECTION(value) restorer_correction restorer_tbst(value)
#else
#define TEMPORARY_BACKLASH_CORRECTION(value)
#endif
#if ENABLED(BACKLASH_GCODE) && defined(BACKLASH_SMOOTHING_MM)
#define TEMPORARY_BACKLASH_SMOOTHING(value) REMEMBER(tbsm, backlash.smoothing_mm, value)
class restorer_smoothing {
const float val_;
public:
restorer_smoothing(const float temp_val) : val_(backlash.get_smoothing_mm()) { backlash.set_smoothing_mm(temp_val); }
~restorer_smoothing() { backlash.set_smoothing_mm(val_); }
};
#define TEMPORARY_BACKLASH_SMOOTHING(value) restorer_smoothing restorer_tbsm(value)
#else
#define TEMPORARY_BACKLASH_SMOOTHING(value)
#endif
@ -524,7 +538,7 @@ inline void calibrate_backlash(measurements_t &m, const float uncertainty) {
{
// New scope for TEMPORARY_BACKLASH_CORRECTION
TEMPORARY_BACKLASH_CORRECTION(all_off);
TEMPORARY_BACKLASH_CORRECTION(backlash.all_off);
TEMPORARY_BACKLASH_SMOOTHING(0.0f);
probe_sides(m, uncertainty);
@ -532,45 +546,45 @@ inline void calibrate_backlash(measurements_t &m, const float uncertainty) {
#if ENABLED(BACKLASH_GCODE)
#if HAS_X_CENTER
backlash.distance_mm.x = (m.backlash[LEFT] + m.backlash[RIGHT]) / 2;
backlash.set_distance_mm(X_AXIS, (m.backlash[LEFT] + m.backlash[RIGHT]) / 2);
#elif ENABLED(CALIBRATION_MEASURE_LEFT)
backlash.distance_mm.x = m.backlash[LEFT];
backlash.set_distance_mm(X_AXIS, m.backlash[LEFT]);
#elif ENABLED(CALIBRATION_MEASURE_RIGHT)
backlash.distance_mm.x = m.backlash[RIGHT];
backlash.set_distance_mm(X_AXIS, m.backlash[RIGHT]);
#endif
#if HAS_Y_CENTER
backlash.distance_mm.y = (m.backlash[FRONT] + m.backlash[BACK]) / 2;
backlash.set_distance_mm(Y_AXIS, (m.backlash[FRONT] + m.backlash[BACK]) / 2);
#elif ENABLED(CALIBRATION_MEASURE_FRONT)
backlash.distance_mm.y = m.backlash[FRONT];
backlash.set_distance_mm(Y_AXIS, m.backlash[FRONT]);
#elif ENABLED(CALIBRATION_MEASURE_BACK)
backlash.distance_mm.y = m.backlash[BACK];
backlash.set_distance_mm(Y_AXIS, m.backlash[BACK]);
#endif
TERN_(HAS_Z_AXIS, if (AXIS_CAN_CALIBRATE(Z)) backlash.distance_mm.z = m.backlash[TOP]);
TERN_(HAS_Z_AXIS, if (AXIS_CAN_CALIBRATE(Z)) backlash.set_distance_mm(Z_AXIS, m.backlash[TOP]));
#if HAS_I_CENTER
backlash.distance_mm.i = (m.backlash[IMINIMUM] + m.backlash[IMAXIMUM]) / 2;
backlash.set_distance_mm(I_AXIS, (m.backlash[IMINIMUM] + m.backlash[IMAXIMUM]) / 2);
#elif ENABLED(CALIBRATION_MEASURE_IMIN)
backlash.distance_mm.i = m.backlash[IMINIMUM];
backlash.set_distance_mm(I_AXIS, m.backlash[IMINIMUM]);
#elif ENABLED(CALIBRATION_MEASURE_IMAX)
backlash.distance_mm.i = m.backlash[IMAXIMUM];
backlash.set_distance_mm(I_AXIS, m.backlash[IMAXIMUM]);
#endif
#if HAS_J_CENTER
backlash.distance_mm.j = (m.backlash[JMINIMUM] + m.backlash[JMAXIMUM]) / 2;
backlash.set_distance_mm(J_AXIS, (m.backlash[JMINIMUM] + m.backlash[JMAXIMUM]) / 2);
#elif ENABLED(CALIBRATION_MEASURE_JMIN)
backlash.distance_mm.j = m.backlash[JMINIMUM];
backlash.set_distance_mm(J_AXIS, m.backlash[JMINIMUM]);
#elif ENABLED(CALIBRATION_MEASURE_JMAX)
backlash.distance_mm.j = m.backlash[JMAXIMUM];
backlash.set_distance_mm(J_AXIS, m.backlash[JMAXIMUM]);
#endif
#if HAS_K_CENTER
backlash.distance_mm.k = (m.backlash[KMINIMUM] + m.backlash[KMAXIMUM]) / 2;
backlash.set_distance_mm(K_AXIS, (m.backlash[KMINIMUM] + m.backlash[KMAXIMUM]) / 2);
#elif ENABLED(CALIBRATION_MEASURE_KMIN)
backlash.distance_mm.k = m.backlash[KMINIMUM];
backlash.set_distance_mm(K_AXIS, m.backlash[KMINIMUM]);
#elif ENABLED(CALIBRATION_MEASURE_KMAX)
backlash.distance_mm.k = m.backlash[KMAXIMUM];
backlash.set_distance_mm(K_AXIS, m.backlash[KMAXIMUM]);
#endif
#endif // BACKLASH_GCODE
@ -581,7 +595,7 @@ inline void calibrate_backlash(measurements_t &m, const float uncertainty) {
// allowed directions to take up any backlash
{
// New scope for TEMPORARY_BACKLASH_CORRECTION
TEMPORARY_BACKLASH_CORRECTION(all_on);
TEMPORARY_BACKLASH_CORRECTION(backlash.all_on);
TEMPORARY_BACKLASH_SMOOTHING(0.0f);
const xyz_float_t move = LINEAR_AXIS_ARRAY(
AXIS_CAN_CALIBRATE(X) * 3, AXIS_CAN_CALIBRATE(Y) * 3, AXIS_CAN_CALIBRATE(Z) * 3,
@ -611,7 +625,7 @@ inline void update_measurements(measurements_t &m, const AxisEnum axis) {
* - Call calibrate_backlash() beforehand for best accuracy
*/
inline void calibrate_toolhead(measurements_t &m, const float uncertainty, const uint8_t extruder) {
TEMPORARY_BACKLASH_CORRECTION(all_on);
TEMPORARY_BACKLASH_CORRECTION(backlash.all_on);
TEMPORARY_BACKLASH_SMOOTHING(0.0f);
TERN(HAS_MULTI_HOTEND, set_nozzle(m, extruder), UNUSED(extruder));
@ -648,7 +662,7 @@ inline void calibrate_toolhead(measurements_t &m, const float uncertainty, const
* uncertainty in - How far away from the object to begin probing
*/
inline void calibrate_all_toolheads(measurements_t &m, const float uncertainty) {
TEMPORARY_BACKLASH_CORRECTION(all_on);
TEMPORARY_BACKLASH_CORRECTION(backlash.all_on);
TEMPORARY_BACKLASH_SMOOTHING(0.0f);
HOTEND_LOOP() calibrate_toolhead(m, uncertainty, e);
@ -674,7 +688,7 @@ inline void calibrate_all() {
TERN_(HAS_HOTEND_OFFSET, reset_hotend_offsets());
TEMPORARY_BACKLASH_CORRECTION(all_on);
TEMPORARY_BACKLASH_CORRECTION(backlash.all_on);
TEMPORARY_BACKLASH_SMOOTHING(0.0f);
// Do a fast and rough calibration of the toolheads

24
Marlin/src/gcode/calibrate/M425.cpp
View File

@ -63,7 +63,7 @@ void GcodeSuite::M425() {
LOOP_LINEAR_AXES(a) {
if (axis_can_calibrate(a) && parser.seen(AXIS_CHAR(a))) {
planner.synchronize();
backlash.distance_mm[a] = parser.has_value() ? parser.value_linear_units() : backlash.get_measurement(AxisEnum(a));
backlash.set_distance_mm(AxisEnum(a), parser.has_value() ? parser.value_linear_units() : backlash.get_measurement(AxisEnum(a)));
noArgs = false;
}
}
@ -77,25 +77,25 @@ void GcodeSuite::M425() {
#ifdef BACKLASH_SMOOTHING_MM
if (parser.seen('S')) {
planner.synchronize();
backlash.smoothing_mm = parser.value_linear_units();
backlash.set_smoothing_mm(parser.value_linear_units());
noArgs = false;
}
#endif
if (noArgs) {
SERIAL_ECHOPGM("Backlash Correction ");
if (!backlash.correction) SERIAL_ECHOPGM("in");
if (!backlash.get_correction_uint8()) SERIAL_ECHOPGM("in");
SERIAL_ECHOLNPGM("active:");
SERIAL_ECHOLNPGM(" Correction Amount/Fade-out: F", backlash.get_correction(), " (F1.0 = full, F0.0 = none)");
SERIAL_ECHOPGM(" Backlash Distance (mm): ");
LOOP_LINEAR_AXES(a) if (axis_can_calibrate(a)) {
SERIAL_CHAR(' ', AXIS_CHAR(a));
SERIAL_ECHO(backlash.distance_mm[a]);
SERIAL_ECHO(backlash.get_distance_mm(AxisEnum(a)));
SERIAL_EOL();
}
#ifdef BACKLASH_SMOOTHING_MM
SERIAL_ECHOLNPGM(" Smoothing (mm): S", backlash.smoothing_mm);
SERIAL_ECHOLNPGM(" Smoothing (mm): S", backlash.get_smoothing_mm());
#endif
#if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
@ -118,15 +118,15 @@ void GcodeSuite::M425_report(const bool forReplay/*=true*/) {
SERIAL_ECHOLNPGM_P(
PSTR(" M425 F"), backlash.get_correction()
#ifdef BACKLASH_SMOOTHING_MM
, PSTR(" S"), LINEAR_UNIT(backlash.smoothing_mm)
, PSTR(" S"), LINEAR_UNIT(backlash.get_smoothing_mm())
#endif
, LIST_N(DOUBLE(LINEAR_AXES),
SP_X_STR, LINEAR_UNIT(backlash.distance_mm.x),
SP_Y_STR, LINEAR_UNIT(backlash.distance_mm.y),
SP_Z_STR, LINEAR_UNIT(backlash.distance_mm.z),
SP_I_STR, LINEAR_UNIT(backlash.distance_mm.i),
SP_J_STR, LINEAR_UNIT(backlash.distance_mm.j),
SP_K_STR, LINEAR_UNIT(backlash.distance_mm.k)
SP_X_STR, LINEAR_UNIT(backlash.get_distance_mm(X_AXIS)),
SP_Y_STR, LINEAR_UNIT(backlash.get_distance_mm(Y_AXIS)),
SP_Z_STR, LINEAR_UNIT(backlash.get_distance_mm(Z_AXIS)),
SP_I_STR, LINEAR_UNIT(backlash.get_distance_mm(I_AXIS)),
SP_J_STR, LINEAR_UNIT(backlash.get_distance_mm(J_AXIS)),
SP_K_STR, LINEAR_UNIT(backlash.get_distance_mm(K_AXIS))
)
);
}