M425 Backlash Correction (#11061)

Marlin/src/gcode/calibrate/M425.cpp

@@ -0,0 +1,123 @@
+/**
+ * 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(BACKLASH_GCODE)
+
+#include "../../module/planner.h"
+
+float backlash_distance_mm[XYZ] = BACKLASH_DISTANCE_MM,
+      backlash_correction = BACKLASH_CORRECTION;
+
+#ifdef BACKLASH_SMOOTHING_MM
+  float backlash_smoothing_mm = BACKLASH_SMOOTHING_MM;
+#endif
+
+#if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+  float backlash_measured_mm[XYZ] = { 0 };
+  uint8_t backlash_measured_num[XYZ] = { 0 };
+#endif
+
+#include "../gcode.h"
+
+/**
+ * M425: Enable and tune backlash correction.
+ *
+ *   F<fraction>     Enable/disable/fade-out backlash correction (0.0 to 1.0)
+ *   S<smoothing_mm> Distance over which backlash correction is spread
+ *   X<distance_mm>  Set the backlash distance on X (0 to disable)
+ *   Y<distance_mm>                        ... on Y
+ *   Z<distance_mm>                        ... on Z
+ *   X               If a backlash measurement was done on X, copy that value
+ *   Y                                              ... on Y
+ *   Z                                              ... on Z
+ *
+ * Type M425 without any arguments to show active values.
+ */
+void GcodeSuite::M425() {
+  bool noArgs = true;
+
+  LOOP_XYZ(i) {
+    if (parser.seen(axis_codes[i])) {
+      planner.synchronize();
+      const float measured_backlash = (
+        #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+          backlash_measured_num[i] > 0 ? backlash_measured_mm[i] / backlash_measured_num[i] : 0
+        #else
+          0
+        #endif
+      );
+      backlash_distance_mm[i] = parser.has_value() ? parser.value_linear_units() : measured_backlash;
+      noArgs = false;
+    }
+  }
+
+  if (parser.seen('F')) {
+    planner.synchronize();
+    backlash_correction = max(0, min(1.0, parser.value_linear_units()));
+    noArgs = false;
+  }
+
+  #ifdef BACKLASH_SMOOTHING_MM
+    if (parser.seen('S')) {
+      planner.synchronize();
+      backlash_smoothing_mm = parser.value_linear_units();
+      noArgs = false;
+    }
+  #endif
+
+  if (noArgs) {
+    SERIAL_ECHOPGM("Backlash correction is ");
+    if (!backlash_correction) SERIAL_ECHOPGM("in");
+    SERIAL_ECHOLNPGM("active:");
+    SERIAL_ECHOPAIR("  Correction Amount/Fade-out:     F", backlash_correction);
+    SERIAL_ECHOLNPGM("     (F1.0 = full, F0.0 = none)");
+    SERIAL_ECHOPGM("  Backlash Distance (mm):        ");
+    LOOP_XYZ(a) {
+      SERIAL_CHAR(' ');
+      SERIAL_CHAR(axis_codes[a]);
+      SERIAL_ECHO(backlash_distance_mm[a]);
+      SERIAL_EOL();
+    }
+
+    #ifdef BACKLASH_SMOOTHING_MM
+      SERIAL_ECHOLNPAIR("  Smoothing (mm):                 S", backlash_smoothing_mm);
+    #endif
+
+    #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
+      SERIAL_ECHOPGM("  Average measured backlash (mm):");
+      LOOP_XYZ(a) {
+        if (backlash_measured_num[a] > 0) {
+          SERIAL_CHAR(' ');
+          SERIAL_CHAR(axis_codes[a]);
+          SERIAL_ECHO(backlash_measured_mm[a] / backlash_measured_num[a]);
+        }
+      }
+      if (!backlash_measured_num[X_AXIS] && !backlash_measured_num[Y_AXIS] && !backlash_measured_num[Z_AXIS])
+        SERIAL_ECHOPGM(" (Not yet measured)");
+      SERIAL_EOL();
+    #endif
+  }
+}
+
+#endif // BACKLASH_GCODE

Marlin/src/gcode/gcode.cpp

@@ -576,6 +576,10 @@ void GcodeSuite::process_parsed_command(
         case 421: M421(); break;                                  // M421: Set a Mesh Bed Leveling Z coordinate
       #endif
 
+      #if ENABLED(BACKLASH_GCODE)
+        case 425: M425(); break;                                  // M425: Tune backlash compensation
+      #endif
+
       #if HAS_M206_COMMAND
         case 428: M428(); break;                                  // M428: Apply current_position to home_offset
       #endif

Marlin/src/gcode/gcode.h

@@ -201,6 +201,7 @@
  * M420 - Enable/Disable Leveling (with current values) S1=enable S0=disable (Requires MESH_BED_LEVELING or ABL)
  * M421 - Set a single Z coordinate in the Mesh Leveling grid. X<units> Y<units> Z<units> (Requires MESH_BED_LEVELING, AUTO_BED_LEVELING_BILINEAR, or AUTO_BED_LEVELING_UBL)
  * M422 - Set Z Stepper automatic alignment position using probe. X<units> Y<units> A<axis> (Requires Z_STEPPER_AUTO_ALIGN)
+ * M425 - Enable/Disable and tune backlash correction. (Requires BACKLASH_COMPENSATION and BACKLASH_GCODE)
  * M428 - Set the home_offset based on the current_position. Nearest edge applies. (Disabled by NO_WORKSPACE_OFFSETS or DELTA)
  * M500 - Store parameters in EEPROM. (Requires EEPROM_SETTINGS)
  * M501 - Restore parameters from EEPROM. (Requires EEPROM_SETTINGS)
@@ -709,6 +710,10 @@ private:
     static void M421();
   #endif
 
+  #if ENABLED(BACKLASH_GCODE)
+    static void M425();
+  #endif
+
   #if HAS_M206_COMMAND
     static void M428();
   #endif