bissen21/Marlin_Firmware
1
0
Fork 0
Code Issues Pull Requests Projects Releases 4 Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

16
Marlin/src/module/planner.cpp
View File

@ -1706,7 +1706,7 @@ void Planner::endstop_triggered(const AxisEnum axis) {
}
float Planner::triggered_position_mm(const AxisEnum axis) {
const float result = DIFF_TERN(BACKLASH_COMPENSATION, stepper.triggered_position(axis), backlash.applied_steps(axis));
const float result = DIFF_TERN(BACKLASH_COMPENSATION, stepper.triggered_position(axis), backlash.get_applied_steps(axis));
return result * mm_per_step[axis];
}
@ -1729,8 +1729,8 @@ float Planner::get_axis_position_mm(const AxisEnum axis) {
// Protect the access to the position.
const bool was_enabled = stepper.suspend();
const int32_t p1 = DIFF_TERN(BACKLASH_COMPENSATION, stepper.position(CORE_AXIS_1), backlash.applied_steps(CORE_AXIS_1)),
p2 = DIFF_TERN(BACKLASH_COMPENSATION, stepper.position(CORE_AXIS_2), backlash.applied_steps(CORE_AXIS_2));
const int32_t p1 = DIFF_TERN(BACKLASH_COMPENSATION, stepper.position(CORE_AXIS_1), backlash.get_applied_steps(CORE_AXIS_1)),
p2 = DIFF_TERN(BACKLASH_COMPENSATION, stepper.position(CORE_AXIS_2), backlash.get_applied_steps(CORE_AXIS_2));
if (was_enabled) stepper.wake_up();
@ -1739,7 +1739,7 @@ float Planner::get_axis_position_mm(const AxisEnum axis) {
axis_steps = (axis == CORE_AXIS_2 ? CORESIGN(p1 - p2) : p1 + p2) * 0.5f;
}
else
axis_steps = DIFF_TERN(BACKLASH_COMPENSATION, stepper.position(axis), backlash.applied_steps(axis));
axis_steps = DIFF_TERN(BACKLASH_COMPENSATION, stepper.position(axis), backlash.get_applied_steps(axis));
#elif EITHER(MARKFORGED_XY, MARKFORGED_YX)
@ -1756,12 +1756,12 @@ float Planner::get_axis_position_mm(const AxisEnum axis) {
axis_steps = ((axis == CORE_AXIS_1) ? p1 - p2 : p2);
}
else
axis_steps = DIFF_TERN(BACKLASH_COMPENSATION, stepper.position(axis), backlash.applied_steps(axis));
axis_steps = DIFF_TERN(BACKLASH_COMPENSATION, stepper.position(axis), backlash.get_applied_steps(axis));
#else
axis_steps = stepper.position(axis);
TERN_(BACKLASH_COMPENSATION, axis_steps -= backlash.applied_steps(axis));
TERN_(BACKLASH_COMPENSATION, axis_steps -= backlash.get_applied_steps(axis));
#endif
@ -2844,7 +2844,7 @@ void Planner::buffer_sync_block(TERN_(LASER_SYNCHRONOUS_M106_M107, uint8_t sync_
block->position = position;
#if ENABLED(BACKLASH_COMPENSATION)
LOOP_LINEAR_AXES(axis) block->position[axis] += backlash.applied_steps((AxisEnum)axis);
LOOP_LINEAR_AXES(axis) block->position[axis] += backlash.get_applied_steps((AxisEnum)axis);
#endif
#if BOTH(HAS_FAN, LASER_SYNCHRONOUS_M106_M107)
@ -3122,7 +3122,7 @@ void Planner::set_machine_position_mm(const abce_pos_t &abce) {
else {
#if ENABLED(BACKLASH_COMPENSATION)
abce_long_t stepper_pos = position;
LOOP_LINEAR_AXES(axis) stepper_pos[axis] += backlash.applied_steps((AxisEnum)axis);
LOOP_LINEAR_AXES(axis) stepper_pos[axis] += backlash.get_applied_steps((AxisEnum)axis);
stepper.set_position(stepper_pos);
#else
stepper.set_position(position);

37
Marlin/src/module/settings.cpp
View File

@ -1426,14 +1426,15 @@ void MarlinSettings::postprocess() {
//
{
#if ENABLED(BACKLASH_GCODE)
const xyz_float_t &backlash_distance_mm = backlash.distance_mm;
const uint8_t &backlash_correction = backlash.correction;
xyz_float_t backlash_distance_mm;
LOOP_LINEAR_AXES(axis) backlash_distance_mm[axis] = backlash.get_distance_mm((AxisEnum)axis);
const uint8_t backlash_correction = backlash.get_correction_uint8();
#else
const xyz_float_t backlash_distance_mm{0};
const uint8_t backlash_correction = 0;
#endif
#if ENABLED(BACKLASH_GCODE) && defined(BACKLASH_SMOOTHING_MM)
const float &backlash_smoothing_mm = backlash.smoothing_mm;
const float backlash_smoothing_mm = backlash.get_smoothing_mm();
#else
const float backlash_smoothing_mm = 3;
#endif
@ -2364,22 +2365,22 @@ void MarlinSettings::postprocess() {
// Backlash Compensation
//
{
#if ENABLED(BACKLASH_GCODE)
const xyz_float_t &backlash_distance_mm = backlash.distance_mm;
const uint8_t &backlash_correction = backlash.correction;
#else
xyz_float_t backlash_distance_mm;
uint8_t backlash_correction;
#endif
#if ENABLED(BACKLASH_GCODE) && defined(BACKLASH_SMOOTHING_MM)
const float &backlash_smoothing_mm = backlash.smoothing_mm;
#else
float backlash_smoothing_mm;
#endif
xyz_float_t backlash_distance_mm;
uint8_t backlash_correction;
float backlash_smoothing_mm;
_FIELD_TEST(backlash_distance_mm);
EEPROM_READ(backlash_distance_mm);
EEPROM_READ(backlash_correction);
EEPROM_READ(backlash_smoothing_mm);
#if ENABLED(BACKLASH_GCODE)
LOOP_LINEAR_AXES(axis) backlash.set_distance_mm((AxisEnum)axis, backlash_distance_mm[axis]);
backlash.set_correction_uint8(backlash_correction);
#ifdef BACKLASH_SMOOTHING_MM
backlash.set_smoothing_mm(backlash_smoothing_mm);
#endif
#endif
}
//
@ -2811,11 +2812,11 @@ void MarlinSettings::reset() {
#endif
#if ENABLED(BACKLASH_GCODE)
backlash.correction = (BACKLASH_CORRECTION) * 255;
backlash.set_correction(BACKLASH_CORRECTION);
constexpr xyz_float_t tmp = BACKLASH_DISTANCE_MM;
backlash.distance_mm = tmp;
LOOP_LINEAR_AXES(axis) backlash.set_distance_mm((AxisEnum)axis, tmp[axis]);
#ifdef BACKLASH_SMOOTHING_MM
backlash.smoothing_mm = BACKLASH_SMOOTHING_MM;
backlash.set_smoothing_mm(BACKLASH_SMOOTHING_MM);
#endif
#endif