Firmware2/Marlin/src/gcode/calibrate/M425.cpp

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/**
* 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();
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backlash_correction = MAX(0, MIN(1.0, parser.value_linear_units()));
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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