135 lines
4.5 KiB
C++
135 lines
4.5 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*
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*/
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#include "../../inc/MarlinConfig.h"
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#if ENABLED(BACKLASH_GCODE)
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#include "../../feature/backlash.h"
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#include "../../module/planner.h"
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#include "../gcode.h"
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/**
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* M425: Enable and tune backlash correction.
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*
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* F<fraction> Enable/disable/fade-out backlash correction (0.0 to 1.0)
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* S<smoothing_mm> Distance over which backlash correction is spread
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* X<distance_mm> Set the backlash distance on X (0 to disable)
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* Y<distance_mm> ... on Y
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* Z<distance_mm> ... on Z
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* X If a backlash measurement was done on X, copy that value
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* Y ... on Y
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* Z ... on Z
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*
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* Type M425 without any arguments to show active values.
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*/
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void GcodeSuite::M425() {
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bool noArgs = true;
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auto axis_can_calibrate = [](const uint8_t a) {
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switch (a) {
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default: return false;
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LINEAR_AXIS_CODE(
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case X_AXIS: return AXIS_CAN_CALIBRATE(X),
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case Y_AXIS: return AXIS_CAN_CALIBRATE(Y),
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case Z_AXIS: return AXIS_CAN_CALIBRATE(Z),
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case I_AXIS: return AXIS_CAN_CALIBRATE(I),
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case J_AXIS: return AXIS_CAN_CALIBRATE(J),
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case K_AXIS: return AXIS_CAN_CALIBRATE(K)
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);
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}
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};
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LOOP_LINEAR_AXES(a) {
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if (axis_can_calibrate(a) && parser.seen(AXIS_CHAR(a))) {
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planner.synchronize();
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backlash.set_distance_mm(AxisEnum(a), parser.has_value() ? parser.value_linear_units() : backlash.get_measurement(AxisEnum(a)));
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noArgs = false;
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}
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}
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if (parser.seen('F')) {
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planner.synchronize();
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backlash.set_correction(parser.value_float());
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noArgs = false;
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}
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#ifdef BACKLASH_SMOOTHING_MM
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if (parser.seen('S')) {
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planner.synchronize();
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backlash.set_smoothing_mm(parser.value_linear_units());
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noArgs = false;
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}
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#endif
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if (noArgs) {
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SERIAL_ECHOPGM("Backlash Correction ");
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if (!backlash.get_correction_uint8()) SERIAL_ECHOPGM("in");
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SERIAL_ECHOLNPGM("active:");
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SERIAL_ECHOLNPGM(" Correction Amount/Fade-out: F", backlash.get_correction(), " (F1.0 = full, F0.0 = none)");
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SERIAL_ECHOPGM(" Backlash Distance (mm): ");
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LOOP_LINEAR_AXES(a) if (axis_can_calibrate(a)) {
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SERIAL_CHAR(' ', AXIS_CHAR(a));
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SERIAL_ECHO(backlash.get_distance_mm(AxisEnum(a)));
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SERIAL_EOL();
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}
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#ifdef BACKLASH_SMOOTHING_MM
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SERIAL_ECHOLNPGM(" Smoothing (mm): S", backlash.get_smoothing_mm());
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#endif
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#if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
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SERIAL_ECHOPGM(" Average measured backlash (mm):");
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if (backlash.has_any_measurement()) {
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LOOP_LINEAR_AXES(a) if (axis_can_calibrate(a) && backlash.has_measurement(AxisEnum(a))) {
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SERIAL_CHAR(' ', AXIS_CHAR(a));
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SERIAL_ECHO(backlash.get_measurement(AxisEnum(a)));
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}
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}
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else
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SERIAL_ECHOPGM(" (Not yet measured)");
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SERIAL_EOL();
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#endif
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}
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}
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void GcodeSuite::M425_report(const bool forReplay/*=true*/) {
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report_heading_etc(forReplay, F(STR_BACKLASH_COMPENSATION));
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SERIAL_ECHOLNPGM_P(
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PSTR(" M425 F"), backlash.get_correction()
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#ifdef BACKLASH_SMOOTHING_MM
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, PSTR(" S"), LINEAR_UNIT(backlash.get_smoothing_mm())
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#endif
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, LIST_N(DOUBLE(LINEAR_AXES),
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SP_X_STR, LINEAR_UNIT(backlash.get_distance_mm(X_AXIS)),
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SP_Y_STR, LINEAR_UNIT(backlash.get_distance_mm(Y_AXIS)),
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SP_Z_STR, LINEAR_UNIT(backlash.get_distance_mm(Z_AXIS)),
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SP_I_STR, LINEAR_UNIT(backlash.get_distance_mm(I_AXIS)),
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SP_J_STR, LINEAR_UNIT(backlash.get_distance_mm(J_AXIS)),
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SP_K_STR, LINEAR_UNIT(backlash.get_distance_mm(K_AXIS))
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)
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);
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}
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#endif // BACKLASH_GCODE
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