CMS/Marlin
3
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Backlash cleanup (#13659)

Browse Source 
…And save backlash, fil. sensor, ExtUI userdata to EEPROM.
This commit is contained in:
Marcio Teixeira 2019-05-03 22:53:15 -06:00 committed by Scott Lahteine
parent 0181e57417
commit 15357af67c
22 changed files with 645 additions and 293 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
Marlin/src/Marlin.cpp
View File

@ -939,6 +939,15 @@ void setup() {
queue_setup();
// UI must be initialized before EEPROM
// (because EEPROM code calls the UI).
ui.init();
ui.reset_status();
#if HAS_SPI_LCD && ENABLED(SHOW_BOOTSCREEN)
ui.show_bootscreen();
#endif
#if ENABLED(SDIO_SUPPORT) && SD_DETECT_PIN == -1
// Auto-mount the SD for EEPROM.dat emulation
if (!card.isDetected()) card.initsd();
@ -1044,13 +1053,6 @@ void setup() {
fanmux_init();
#endif
ui.init();
ui.reset_status();
#if HAS_SPI_LCD && ENABLED(SHOW_BOOTSCREEN)
ui.show_bootscreen();
#endif
#if ENABLED(MIXING_EXTRUDER)
mixer.init();
#endif

139
Marlin/src/feature/backlash.cpp Normal file
View File

@ -0,0 +1,139 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2019 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 "../Marlin.h"
#if ENABLED(BACKLASH_COMPENSATION)
#include "backlash.h"
#include "../module/planner.h"
#if ENABLED(BACKLASH_GCODE)
uint8_t Backlash::correction = (BACKLASH_CORRECTION) * 0xFF;
#ifdef BACKLASH_DISTANCE_MM
float Backlash::distance_mm[XYZ] = BACKLASH_DISTANCE_MM;
#endif
#ifdef BACKLASH_SMOOTHING_MM
float Backlash::smoothing_mm = BACKLASH_SMOOTHING_MM;
#endif
#endif
#if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
float Backlash::measured_mm[XYZ] = { 0 };
uint8_t Backlash::measured_count[XYZ] = { 0 };
#endif
Backlash backlash;
/**
* To minimize seams in the printed part, backlash correction only adds
* steps to the current segment (instead of creating a new segment, which
* causes discontinuities and print artifacts).
*
* With a non-zero BACKLASH_SMOOTHING_MM value the backlash correction is
* spread over multiple segments, smoothing out artifacts even more.
*/
void Backlash::add_correction_steps(const int32_t &da, const int32_t &db, const int32_t &dc, const uint8_t dm, block_t * const block) {
static uint8_t last_direction_bits;
uint8_t changed_dir = last_direction_bits ^ dm;
// Ignore direction change if no steps are taken in that direction
if (da == 0) CBI(changed_dir, X_AXIS);
if (db == 0) CBI(changed_dir, Y_AXIS);
if (dc == 0) CBI(changed_dir, Z_AXIS);
last_direction_bits ^= changed_dir;
if (correction == 0) return;
#ifdef BACKLASH_SMOOTHING_MM
// The segment proportion is a value greater than 0.0 indicating how much residual_error
// is corrected for in this segment. The contribution is based on segment length and the
// smoothing distance. Since the computation of this proportion involves a floating point
// division, defer computation until needed.
float segment_proportion = 0;
// Residual error carried forward across multiple segments, so correction can be applied
// to segments where there is no direction change.
static int32_t residual_error[XYZ] = { 0 };
#else
// No leftover residual error from segment to segment
int32_t residual_error[XYZ] = { 0 };
// No direction change, no correction.
if (!changed_dir) return;
#endif
const float f_corr = float(correction) / 255.0f;
LOOP_XYZ(axis) {
if (distance_mm[axis]) {
const bool reversing = TEST(dm,axis);
// When an axis changes direction, add axis backlash to the residual error
if (TEST(changed_dir, axis))
residual_error[axis] += (reversing ? -f_corr : f_corr) * distance_mm[axis] * planner.settings.axis_steps_per_mm[axis];
// Decide how much of the residual error to correct in this segment
int32_t error_correction = residual_error[axis];
#ifdef BACKLASH_SMOOTHING_MM
if (error_correction && smoothing_mm != 0) {
// Take up a portion of the residual_error in this segment, but only when
// the current segment travels in the same direction as the correction
if (reversing == (error_correction < 0)) {
if (segment_proportion == 0)
segment_proportion = MIN(1.0f, block->millimeters / smoothing_mm);
error_correction = ceil(segment_proportion * error_correction);
}
else
error_correction = 0; // Don't take up any backlash in this segment, as it would subtract steps
}
#endif
// Making a correction reduces the residual error and modifies delta_mm
if (error_correction) {
block->steps[axis] += ABS(error_correction);
residual_error[axis] -= error_correction;
}
}
}
}
#if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
#if USES_Z_MIN_PROBE_ENDSTOP
#define TEST_PROBE_PIN (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING)
#else
#define TEST_PROBE_PIN (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING)
#endif
// Measure Z backlash by raising nozzle in increments until probe deactivates
void Backlash::measure_with_probe() {
if (measured_count[Z_AXIS] == 255) return;
float start_height = current_position[Z_AXIS];
while (current_position[Z_AXIS] < (start_height + BACKLASH_MEASUREMENT_LIMIT) && TEST_PROBE_PIN)
do_blocking_move_to_z(current_position[Z_AXIS] + BACKLASH_MEASUREMENT_RESOLUTION, MMM_TO_MMS(BACKLASH_MEASUREMENT_FEEDRATE));
// The backlash from all probe points is averaged, so count the number of measurements
measured_mm[Z_AXIS] += current_position[Z_AXIS] - start_height;
measured_count[Z_AXIS]++;
}
#endif
#endif // BACKLASH_COMPENSATION

88
Marlin/src/feature/backlash.h Normal file
View File

@ -0,0 +1,88 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2019 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/>.
*
*/
#pragma once
#include "../inc/MarlinConfigPre.h"
#include "../module/planner.h"
class Backlash {
public:
#if ENABLED(BACKLASH_GCODE)
static uint8_t correction;
#ifdef BACKLASH_DISTANCE_MM
static float distance_mm[XYZ];
#endif
#ifdef BACKLASH_SMOOTHING_MM
static float smoothing_mm;
#endif
static inline void set_correction(const float &v) { correction = MAX(0, MIN(1.0, v)) * all_on; }
static inline float get_correction() { return float(ui8_to_percent(correction)) / 100.0f; }
#elif ENABLED(BACKLASH_COMPENSATION)
static constexpr uint8_t correction = (BACKLASH_CORRECTION) * 0xFF;
#ifdef BACKLASH_DISTANCE_MM
static constexpr float distance_mm[XYZ] = BACKLASH_DISTANCE_MM;
#endif
#ifdef BACKLASH_SMOOTHING_MM
static constexpr float smoothing_mm = BACKLASH_SMOOTHING_MM;
#endif
static inline void set_correction(float) { }
static inline float get_correction() { return float(ui8_to_percent(correction)) / 100.0f; }
#else
static constexpr uint8_t correction = 0;
static inline void set_correction(float) { }
static inline float get_correction() { return 0; }
#endif
#if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
private:
static float measured_mm[XYZ];
static uint8_t measured_count[XYZ];
public:
static void measure_with_probe();
#endif
static inline float get_measurement(const uint8_t e) {
// Return the measurement averaged over all readings
return (
#if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
measured_count[e] > 0 ? measured_mm[e] / measured_count[e] :
#endif
0
);
}
static inline bool has_measurement(const uint8_t e) {
return (false
#if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
|| (measured_count[e] > 0)
#endif
);
}
static inline bool has_any_measurement() {
return has_measurement(X_AXIS) || has_measurement(Y_AXIS) || has_measurement(Z_AXIS);
}
void add_correction_steps(const int32_t &da, const int32_t &db, const int32_t &dc, const uint8_t dm, block_t * const block);
};
extern Backlash backlash;

2
Marlin/src/feature/runout.cpp
View File

@ -51,7 +51,7 @@ void FilamentSensorBase::filament_present(const uint8_t extruder) {
uint8_t FilamentSensorEncoder::motion_detected;
#endif
#if FILAMENT_RUNOUT_DISTANCE_MM > 0
#ifdef FILAMENT_RUNOUT_DISTANCE_MM
float RunoutResponseDelayed::runout_distance_mm = FILAMENT_RUNOUT_DISTANCE_MM;
volatile float RunoutResponseDelayed::runout_mm_countdown[EXTRUDERS];
#else

18
Marlin/src/feature/runout.h
View File

@ -78,6 +78,11 @@ class TFilamentMonitor : public FilamentMonitorBase {
response.filament_present(extruder);
}
#ifdef FILAMENT_RUNOUT_DISTANCE_MM
static inline float& runout_distance() { return response.runout_distance_mm; }
static inline void set_runout_distance(const float &mm) { response.runout_distance_mm = mm; }
#endif
// Handle a block completion. RunoutResponseDelayed uses this to
// add up the length of filament moved while the filament is out.
static inline void block_completed(const block_t* const b) {
@ -90,13 +95,13 @@ class TFilamentMonitor : public FilamentMonitorBase {
// Give the response a chance to update its counter.
static inline void run() {
if (enabled && !filament_ran_out && (IS_SD_PRINTING() || print_job_timer.isRunning() || did_pause_print)) {
#if FILAMENT_RUNOUT_DISTANCE_MM > 0
#ifdef FILAMENT_RUNOUT_DISTANCE_MM
cli(); // Prevent RunoutResponseDelayed::block_completed from accumulating here
#endif
response.run();
sensor.run();
const bool ran_out = response.has_run_out();
#if FILAMENT_RUNOUT_DISTANCE_MM > 0
#ifdef FILAMENT_RUNOUT_DISTANCE_MM
sei();
#endif
if (ran_out) {
@ -272,7 +277,7 @@ class FilamentSensorBase {
/********************************* RESPONSE TYPE *********************************/
#if FILAMENT_RUNOUT_DISTANCE_MM > 0
#ifdef FILAMENT_RUNOUT_DISTANCE_MM
// RunoutResponseDelayed triggers a runout event only if the length
// of filament specified by FILAMENT_RUNOUT_DISTANCE_MM has been fed
@ -347,11 +352,12 @@ class FilamentSensorBase {
/********************************* TEMPLATE SPECIALIZATION *********************************/
typedef TFilamentMonitor<
#if FILAMENT_RUNOUT_DISTANCE_MM > 0
#ifdef FILAMENT_RUNOUT_DISTANCE_MM
RunoutResponseDelayed,
#if ENABLED(FILAMENT_MOTION_SENSOR)
RunoutResponseDelayed, FilamentSensorEncoder
FilamentSensorEncoder
#else
RunoutResponseDelayed, FilamentSensorSwitch
FilamentSensorSwitch
#endif
#else
RunoutResponseDebounced, FilamentSensorSwitch

24
Marlin/src/gcode/calibrate/G425.cpp
View File

@ -31,6 +31,7 @@
#include "../../module/tool_change.h"
#include "../../module/endstops.h"
#include "../../feature/bedlevel/bedlevel.h"
#include "../../feature/backlash.h"
/**
@ -55,11 +56,6 @@
#define HAS_X_CENTER BOTH(CALIBRATION_MEASURE_LEFT, CALIBRATION_MEASURE_RIGHT)
#define HAS_Y_CENTER BOTH(CALIBRATION_MEASURE_FRONT, CALIBRATION_MEASURE_BACK)
#if ENABLED(BACKLASH_GCODE)
extern float backlash_distance_mm[], backlash_smoothing_mm;
extern uint8_t backlash_correction;
#endif
enum side_t : uint8_t { TOP, RIGHT, FRONT, LEFT, BACK, NUM_SIDES };
struct measurements_t {
@ -79,13 +75,13 @@ struct measurements_t {
#define TEMPORARY_SOFT_ENDSTOP_STATE(enable) REMEMBER(tes, soft_endstops_enabled, enable);
#if ENABLED(BACKLASH_GCODE)
#define TEMPORARY_BACKLASH_CORRECTION(value) REMEMBER(tbst, backlash_correction, value)
#define TEMPORARY_BACKLASH_CORRECTION(value) REMEMBER(tbst, backlash.correction, 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)
#define TEMPORARY_BACKLASH_SMOOTHING(value) REMEMBER(tbsm, backlash.smoothing_mm, value)
#else
#define TEMPORARY_BACKLASH_SMOOTHING(value)
#endif
@ -454,22 +450,22 @@ inline void calibrate_backlash(measurements_t &m, const float uncertainty) {
#if ENABLED(BACKLASH_GCODE)
#if HAS_X_CENTER
backlash_distance_mm[X_AXIS] = (m.backlash[LEFT] + m.backlash[RIGHT]) / 2;
backlash.distance_mm[X_AXIS] = (m.backlash[LEFT] + m.backlash[RIGHT]) / 2;
#elif ENABLED(CALIBRATION_MEASURE_LEFT)
backlash_distance_mm[X_AXIS] = m.backlash[LEFT];
backlash.distance_mm[X_AXIS] = m.backlash[LEFT];
#elif ENABLED(CALIBRATION_MEASURE_RIGHT)
backlash_distance_mm[X_AXIS] = m.backlash[RIGHT];
backlash.distance_mm[X_AXIS] = m.backlash[RIGHT];
#endif
#if HAS_Y_CENTER
backlash_distance_mm[Y_AXIS] = (m.backlash[FRONT] + m.backlash[BACK]) / 2;
backlash.distance_mm[Y_AXIS] = (m.backlash[FRONT] + m.backlash[BACK]) / 2;
#elif ENABLED(CALIBRATION_MEASURE_FRONT)
backlash_distance_mm[Y_AXIS] = m.backlash[FRONT];
backlash.distance_mm[Y_AXIS] = m.backlash[FRONT];
#elif ENABLED(CALIBRATION_MEASURE_BACK)
backlash_distance_mm[Y_AXIS] = m.backlash[BACK];
backlash.distance_mm[Y_AXIS] = m.backlash[BACK];
#endif
backlash_distance_mm[Z_AXIS] = m.backlash[TOP];
backlash.distance_mm[Z_AXIS] = m.backlash[TOP];
#endif
}

44
Marlin/src/gcode/calibrate/M425.cpp
View File

@ -24,20 +24,9 @@
#if ENABLED(BACKLASH_GCODE)
#include "../../feature/backlash.h"
#include "../../module/planner.h"
float backlash_distance_mm[XYZ] = BACKLASH_DISTANCE_MM;
uint8_t backlash_correction = BACKLASH_CORRECTION * all_on;
#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"
/**
@ -60,59 +49,52 @@ void GcodeSuite::M425() {
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;
backlash.distance_mm[i] = parser.has_value() ? parser.value_linear_units() : backlash.get_measurement(i);
noArgs = false;
}
}
if (parser.seen('F')) {
planner.synchronize();
backlash_correction = MAX(0, MIN(1.0, parser.value_float())) * all_on;
backlash.set_correction(parser.value_float());
noArgs = false;
}
#ifdef BACKLASH_SMOOTHING_MM
if (parser.seen('S')) {
planner.synchronize();
backlash_smoothing_mm = parser.value_linear_units();
backlash.smoothing_mm = parser.value_linear_units();
noArgs = false;
}
#endif
if (noArgs) {
SERIAL_ECHOPGM("Backlash correction is ");
if (!backlash_correction) SERIAL_ECHOPGM("in");
SERIAL_ECHOPGM("Backlash Correction ");
if (!backlash.correction) SERIAL_ECHOPGM("in");
SERIAL_ECHOLNPGM("active:");
SERIAL_ECHOLNPAIR(" Correction Amount/Fade-out: F", float(ui8_to_percent(backlash_correction)) / 100, " (F1.0 = full, F0.0 = none)");
SERIAL_ECHOLNPAIR(" Correction Amount/Fade-out: F", backlash.get_correction(), " (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_ECHO(backlash.distance_mm[a]);
SERIAL_EOL();
}
#ifdef BACKLASH_SMOOTHING_MM
SERIAL_ECHOLNPAIR(" Smoothing (mm): S", 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) {
if (backlash.has_any_measurement()) {
LOOP_XYZ(a) if (backlash.has_measurement(a)) {
SERIAL_CHAR(' ');
SERIAL_CHAR(axis_codes[a]);
SERIAL_ECHO(backlash_measured_mm[a] / backlash_measured_num[a]);
SERIAL_ECHO(backlash.get_measurement(a));
}
}
if (!backlash_measured_num[X_AXIS] && !backlash_measured_num[Y_AXIS] && !backlash_measured_num[Z_AXIS])
else
SERIAL_ECHOPGM(" (Not yet measured)");
SERIAL_EOL();
#endif

9
Marlin/src/gcode/feature/runout/M412.cpp
View File

@ -32,6 +32,9 @@
*/
void GcodeSuite::M412() {
if (parser.seen("HS"
#ifdef FILAMENT_RUNOUT_DISTANCE_MM
"D"
#endif
#if ENABLED(HOST_ACTION_COMMANDS)
"R"
#endif
@ -42,11 +45,17 @@ void GcodeSuite::M412() {
const bool seenR = parser.seen('R'), seenS = parser.seen('S');
if (seenR || seenS) runout.reset();
if (seenS) runout.enabled = parser.value_bool();
#ifdef FILAMENT_RUNOUT_DISTANCE_MM
if (parser.seen('D')) runout.set_runout_distance(parser.value_linear_units());
#endif
}
else {
SERIAL_ECHO_START();
SERIAL_ECHOPGM("Filament runout ");
serialprintln_onoff(runout.enabled);
#ifdef FILAMENT_RUNOUT_DISTANCE_MM
SERIAL_ECHOLNPAIR("Filament runout distance (mm): ", runout.runout_distance());
#endif
}
}

3
Marlin/src/inc/Conditionals_LCD.h
View File

@ -516,6 +516,9 @@
#define GRID_MAX_POINTS ((GRID_MAX_POINTS_X) * (GRID_MAX_POINTS_Y))
#endif
#if ENABLED(MALYAN_LCD)
#define EXTENSIBLE_UI
#endif
#define HAS_SOFTWARE_ENDSTOPS EITHER(MIN_SOFTWARE_ENDSTOPS, MAX_SOFTWARE_ENDSTOPS)
#define HAS_RESUME_CONTINUE ANY(EXTENSIBLE_UI, NEWPANEL, EMERGENCY_PARSER)
#define HAS_COLOR_LEDS ANY(BLINKM, RGB_LED, RGBW_LED, PCA9632, PCA9533, NEOPIXEL_LED)

4
Marlin/src/inc/SanityCheck.h
View File

@ -613,6 +613,8 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
#error "FILAMENT_RUNOUT_SENSOR with NUM_RUNOUT_SENSORS > 5 requires FIL_RUNOUT6_PIN."
#elif DISABLED(SDSUPPORT, PRINTJOB_TIMER_AUTOSTART)
#error "FILAMENT_RUNOUT_SENSOR requires SDSUPPORT or PRINTJOB_TIMER_AUTOSTART."
#elif FILAMENT_RUNOUT_DISTANCE_MM < 0
#error "FILAMENT_RUNOUT_DISTANCE_MM must be greater than or equal to zero."
#elif DISABLED(ADVANCED_PAUSE_FEATURE)
static_assert(NULL == strstr(FILAMENT_RUNOUT_SCRIPT, "M600"), "ADVANCED_PAUSE_FEATURE is required to use M600 with FILAMENT_RUNOUT_SENSOR.");
#endif
@ -1784,7 +1786,7 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
+ ENABLED(OLED_PANEL_TINYBOY2) \
+ ENABLED(ZONESTAR_LCD) \
+ ENABLED(ULTI_CONTROLLER) \
+ ENABLED(EXTENSIBLE_UI)
+ (ENABLED(EXTENSIBLE_UI) && DISABLED(MALYAN_LCD))
#error "Please select no more than one LCD controller option."
#endif

42
Marlin/src/lcd/extensible_ui/lib/example.cpp
View File

@ -1,6 +1,6 @@
/*************
* dummy.cpp *
*************/
/***************
* example.cpp *
***************/
/****************************************************************************
* Written By Marcio Teixeira 2018 - Aleph Objects, Inc. *
@ -21,7 +21,7 @@
#include "../../../inc/MarlinConfigPre.h"
#if ENABLED(EXTENSIBLE_UI)
#if BOTH(EXTUI_EXAMPLE, EXTENSIBLE_UI)
#include "../ui_api.h"
@ -58,8 +58,36 @@ namespace ExtUI {
void onUserConfirmRequired(const char * const msg) {}
void onStatusChanged(const char * const msg) {}
void onFactoryReset() {}
void onLoadSettings() {}
void onStoreSettings() {}
void onStoreSettings(char *buff) {
// This is called when saving to EEPROM (i.e. M500). If the ExtUI needs
// permanent data to be stored, it can write up to eeprom_data_size bytes
// into buff.
// Example:
// static_assert(sizeof(myDataStruct) <= ExtUI::eeprom_data_size);
// memcpy(buff, &myDataStruct, sizeof(myDataStruct));
}
void onLoadSettings(const char *buff) {
// This is called while loading settings from EEPROM. If the ExtUI
// needs to retrieve data, it should copy up to eeprom_data_size bytes
// from buff
// Example:
// static_assert(sizeof(myDataStruct) <= ExtUI::eeprom_data_size);
// memcpy(&myDataStruct, buff, sizeof(myDataStruct));
}
void onConfigurationStoreWritten(bool success) {
// This is called after the entire EEPROM has been written,
// whether successful or not.
}
void onConfigurationStoreRead(bool success) {
// This is called after the entire EEPROM has been read,
// whether successful or not.
}
}
#endif // EXTENSIBLE_UI
#endif // EXTUI_EXAMPLE && EXTENSIBLE_UI

27
Marlin/src/lcd/extensible_ui/ui_api.cpp
View File

@ -82,11 +82,7 @@
#include "ui_api.h"
#if ENABLED(BACKLASH_GCODE)
extern float backlash_distance_mm[XYZ];
extern uint8_t backlash_correction;
#ifdef BACKLASH_SMOOTHING_MM
extern float backlash_smoothing_mm;
#endif
#include "../../feature/backlash.h"
#endif
#if HAS_LEVELING
@ -111,7 +107,6 @@ static struct {
} flags;
namespace ExtUI {
#ifdef __SAM3X8E__
/**
* Implement a special millis() to allow time measurement
@ -517,13 +512,13 @@ namespace ExtUI {
bool getFilamentRunoutEnabled() { return runout.enabled; }
void setFilamentRunoutEnabled(const bool value) { runout.enabled = value; }
#if FILAMENT_RUNOUT_DISTANCE_MM > 0
#ifdef FILAMENT_RUNOUT_DISTANCE_MM
float getFilamentRunoutDistance_mm() {
return RunoutResponseDelayed::runout_distance_mm;
return runout.runout_distance();
}
void setFilamentRunoutDistance_mm(const float value) {
RunoutResponseDelayed::runout_distance_mm = clamp(value, 0, 999);
runout.set_runout_distance(clamp(value, 0, 999));
}
#endif
#endif
@ -687,16 +682,16 @@ namespace ExtUI {
#endif // HAS_HOTEND_OFFSET
#if ENABLED(BACKLASH_GCODE)
float getAxisBacklash_mm(const axis_t axis) { return backlash_distance_mm[axis]; }
float getAxisBacklash_mm(const axis_t axis) { return backlash.distance_mm[axis]; }
void setAxisBacklash_mm(const float value, const axis_t axis)
{ backlash_distance_mm[axis] = clamp(value,0,5); }
{ backlash.distance_mm[axis] = clamp(value,0,5); }
float getBacklashCorrection_percent() { return ui8_to_percent(backlash_correction); }
void setBacklashCorrection_percent(const float value) { backlash_correction = map(clamp(value, 0, 100), 0, 100, 0, 255); }
float getBacklashCorrection_percent() { return ui8_to_percent(backlash.correction); }
void setBacklashCorrection_percent(const float value) { backlash.correction = map(clamp(value, 0, 100), 0, 100, 0, 255); }
#ifdef BACKLASH_SMOOTHING_MM
float getBacklashSmoothing_mm() { return backlash_smoothing_mm; }
void setBacklashSmoothing_mm(const float value) { backlash_smoothing_mm = clamp(value, 0, 999); }
float getBacklashSmoothing_mm() { return backlash.smoothing_mm; }
void setBacklashSmoothing_mm(const float value) { backlash.smoothing_mm = clamp(value, 0, 999); }
#endif
#endif
@ -750,7 +745,7 @@ namespace ExtUI {
}
bool commandsInQueue() { return (planner.movesplanned() || commands_in_queue); }
bool isAxisPositionKnown(const axis_t axis) {
return TEST(axis_known_position, axis);
}

13
Marlin/src/lcd/extensible_ui/ui_api.h
View File

@ -46,6 +46,11 @@
#include "../../inc/MarlinConfig.h"
namespace ExtUI {
// The ExtUI implementation can store up to this many bytes
// in the EEPROM when the methods onStoreSettings and
// onLoadSettings are called.
static constexpr size_t eeprom_data_size = 48;
enum axis_t : uint8_t { X, Y, Z };
enum extruder_t : uint8_t { E0, E1, E2, E3, E4, E5 };
@ -207,7 +212,7 @@ namespace ExtUI {
bool getFilamentRunoutEnabled();
void setFilamentRunoutEnabled(const bool);
#if FILAMENT_RUNOUT_DISTANCE_MM > 0
#ifdef FILAMENT_RUNOUT_DISTANCE_MM
float getFilamentRunoutDistance_mm();
void setFilamentRunoutDistance_mm(const float);
#endif
@ -283,8 +288,10 @@ namespace ExtUI {
void onUserConfirmRequired(const char * const msg);
void onStatusChanged(const char * const msg);
void onFactoryReset();
void onStoreSettings();
void onLoadSettings();
void onStoreSettings(char *);
void onLoadSettings(const char *);
void onConfigurationStoreWritten(bool success);
void onConfigurationStoreRead(bool success);
};
/**

172
Marlin/src/lcd/malyanlcd.cpp
View File

@ -41,23 +41,19 @@
* Copyright (c) 2017 Jason Nelson (xC0000005)
*/
#include "../inc/MarlinConfig.h"
#include "../inc/MarlinConfigPre.h"
#if ENABLED(MALYAN_LCD)
#include "extensible_ui/ui_api.h"
#include "ultralcd.h"
#include "../module/temperature.h"
#include "../module/planner.h"
#include "../module/stepper.h"
#include "../module/motion.h"
#include "../module/probe.h"
#include "../libs/duration_t.h"
#include "../module/printcounter.h"
#include "../gcode/gcode.h"
#include "../gcode/queue.h"
#include "../module/configuration_store.h"
#include "../Marlin.h"
#if ENABLED(SDSUPPORT)
#include "../sd/cardreader.h"
@ -412,78 +408,118 @@ void update_usb_status(const bool forceUpdate) {
}
}
/**
* - from printer on startup:
* {SYS:STARTED}{VER:29}{SYS:STARTED}{R:UD}
* The optimize attribute fixes a register Compile
* error for amtel.
*/
void MarlinUI::update() {
static char inbound_buffer[MAX_CURLY_COMMAND];
namespace ExtUI {
void onStartup() {
/**
* The Malyan LCD actually runs as a separate MCU on Serial 1.
* This code's job is to siphon the weird curly-brace commands from
* it and translate into gcode, which then gets injected into
* the command queue where possible.
*/
inbound_count = 0;
LCD_SERIAL.begin(500000);
// First report USB status.
update_usb_status(false);
// Signal init
write_to_lcd_P(PSTR("{SYS:STARTED}\r\n"));
// now drain commands...
while (LCD_SERIAL.available()) {
const byte b = (byte)LCD_SERIAL.read() & 0x7F;
inbound_buffer[inbound_count++] = b;
if (b == '}' || inbound_count == sizeof(inbound_buffer) - 1) {
inbound_buffer[inbound_count - 1] = '\0';
process_lcd_command(inbound_buffer);
inbound_count = 0;
inbound_buffer[0] = 0;
}
// send a version that says "unsupported"
write_to_lcd_P(PSTR("{VER:99}\r\n"));
// No idea why it does this twice.
write_to_lcd_P(PSTR("{SYS:STARTED}\r\n"));
update_usb_status(true);
}
#if ENABLED(SDSUPPORT)
// The way last printing status works is simple:
// The UI needs to see at least one TQ which is not 100%
// and then when the print is complete, one which is.
static uint8_t last_percent_done = 100;
void onIdle() {
/**
* - from printer on startup:
* {SYS:STARTED}{VER:29}{SYS:STARTED}{R:UD}
* The optimize attribute fixes a register Compile
* error for amtel.
*/
static char inbound_buffer[MAX_CURLY_COMMAND];
// If there was a print in progress, we need to emit the final
// print status as {TQ:100}. Reset last percent done so a new print will
// issue a percent of 0.
const uint8_t percent_done = IS_SD_PRINTING() ? card.percentDone() : last_printing_status ? 100 : 0;
if (percent_done != last_percent_done) {
char message_buffer[10];
sprintf_P(message_buffer, PSTR("{TQ:%03i}"), percent_done);
write_to_lcd(message_buffer);
last_percent_done = percent_done;
last_printing_status = IS_SD_PRINTING();
// First report USB status.
update_usb_status(false);
// now drain commands...
while (LCD_SERIAL.available()) {
const byte b = (byte)LCD_SERIAL.read() & 0x7F;
inbound_buffer[inbound_count++] = b;
if (b == '}' || inbound_count == sizeof(inbound_buffer) - 1) {
inbound_buffer[inbound_count - 1] = '\0';
process_lcd_command(inbound_buffer);
inbound_count = 0;
inbound_buffer[0] = 0;
}
}
#endif
}
/**
* The Malyan LCD actually runs as a separate MCU on Serial 1.
* This code's job is to siphon the weird curly-brace commands from
* it and translate into gcode, which then gets injected into
* the command queue where possible.
*/
void MarlinUI::init() {
inbound_count = 0;
LCD_SERIAL.begin(500000);
#if ENABLED(SDSUPPORT)
// The way last printing status works is simple:
// The UI needs to see at least one TQ which is not 100%
// and then when the print is complete, one which is.
static uint8_t last_percent_done = 100;
// Signal init
write_to_lcd_P(PSTR("{SYS:STARTED}\r\n"));
// If there was a print in progress, we need to emit the final
// print status as {TQ:100}. Reset last percent done so a new print will
// issue a percent of 0.
const uint8_t percent_done = IS_SD_PRINTING() ? card.percentDone() : last_printing_status ? 100 : 0;
if (percent_done != last_percent_done) {
char message_buffer[10];
sprintf_P(message_buffer, PSTR("{TQ:%03i}"), percent_done);
write_to_lcd(message_buffer);
last_percent_done = percent_done;
last_printing_status = IS_SD_PRINTING();
}
#endif
}
// send a version that says "unsupported"
write_to_lcd_P(PSTR("{VER:99}\r\n"));
void onPrinterKilled(PGM_P const msg) {}
void onMediaInserted() {};
void onMediaError() {};
void onMediaRemoved() {};
void onPlayTone(const uint16_t frequency, const uint16_t duration) {}
void onPrintTimerStarted() {}
void onPrintTimerPaused() {}
void onPrintTimerStopped() {}
void onFilamentRunout() {}
void onUserConfirmRequired(const char * const msg) {}
void onStatusChanged(const char * const msg) {
write_to_lcd_P(PSTR("{E:"));
write_to_lcd(msg);
write_to_lcd_P("}");
}
void onFactoryReset() {}
// No idea why it does this twice.
write_to_lcd_P(PSTR("{SYS:STARTED}\r\n"));
update_usb_status(true);
}
void onStoreSettings(char *buff) {
// This is called when saving to EEPROM (i.e. M500). If the ExtUI needs
// permanent data to be stored, it can write up to eeprom_data_size bytes
// into buff.
/**
* Set an alert.
*/
void MarlinUI::set_alert_status_P(PGM_P const message) {
write_to_lcd_P(PSTR("{E:"));
write_to_lcd_P(message);
write_to_lcd_P("}");
// Example:
// static_assert(sizeof(myDataStruct) <= ExtUI::eeprom_data_size);
// memcpy(buff, &myDataStruct, sizeof(myDataStruct));
}
void onLoadSettings(const char *buff) {
// This is called while loading settings from EEPROM. If the ExtUI
// needs to retrieve data, it should copy up to eeprom_data_size bytes
// from buff
// Example:
// static_assert(sizeof(myDataStruct) <= ExtUI::eeprom_data_size);
// memcpy(&myDataStruct, buff, sizeof(myDataStruct));
}
void onConfigurationStoreWritten(bool success) {
// This is called after the entire EEPROM has been written,
// whether successful or not.
}
void onConfigurationStoreRead(bool success) {
// This is called after the entire EEPROM has been read,
// whether successful or not.
}
}
#endif // MALYAN_LCD

13
Marlin/src/lcd/menu/menu_backlash.cpp
View File

@ -30,26 +30,21 @@
#include "menu.h"
extern float backlash_distance_mm[XYZ];
extern uint8_t backlash_correction;
#ifdef BACKLASH_SMOOTHING_MM
extern float backlash_smoothing_mm;
#endif
#include "../../feature/backlash.h"
void menu_backlash() {
START_MENU();
MENU_BACK(MSG_MAIN);
MENU_MULTIPLIER_ITEM_EDIT(percent, MSG_BACKLASH_CORRECTION, &backlash_correction, all_off, all_on);
MENU_MULTIPLIER_ITEM_EDIT(percent, MSG_BACKLASH_CORRECTION, &backlash.correction, all_off, all_on);
#define EDIT_BACKLASH_DISTANCE(N) MENU_MULTIPLIER_ITEM_EDIT(float43, MSG_##N, &backlash_distance_mm[_AXIS(N)], 0.0f, 9.9f);
#define EDIT_BACKLASH_DISTANCE(N) MENU_MULTIPLIER_ITEM_EDIT(float43, MSG_##N, &backlash.distance_mm[_AXIS(N)], 0.0f, 9.9f);
EDIT_BACKLASH_DISTANCE(A);
EDIT_BACKLASH_DISTANCE(B);
EDIT_BACKLASH_DISTANCE(C);
#ifdef BACKLASH_SMOOTHING_MM
MENU_MULTIPLIER_ITEM_EDIT(float43, MSG_BACKLASH_SMOOTHING, &backlash_smoothing_mm, 0.0f, 9.9f);
MENU_MULTIPLIER_ITEM_EDIT(float43, MSG_BACKLASH_SMOOTHING, &backlash.smoothing_mm, 0.0f, 9.9f);
#endif
END_MENU();

2
Marlin/src/lcd/ultralcd.cpp
View File

@ -23,7 +23,7 @@
#include "../inc/MarlinConfigPre.h"
// These displays all share the MarlinUI class
#if HAS_SPI_LCD || EITHER(MALYAN_LCD, EXTENSIBLE_UI)
#if HAS_SPI_LCD || ENABLED(EXTENSIBLE_UI)
#include "ultralcd.h"
#include "fontutils.h"
MarlinUI ui;

182
Marlin/src/module/configuration_store.cpp
View File

@ -37,7 +37,7 @@
*/
// Change EEPROM version if the structure changes
#define EEPROM_VERSION "V65"
#define EEPROM_VERSION "V66"
#define EEPROM_OFFSET 100
// Check the integrity of data offsets.
@ -90,10 +90,16 @@
#include "../feature/pause.h"
#if ENABLED(BACKLASH_COMPENSATION)
#include "../feature/backlash.h"
#endif
#if HAS_FILAMENT_SENSOR
#include "../feature/runout.h"
#endif
#include "../lcd/extensible_ui/ui_api.h"
#if ENABLED(EXTRA_LIN_ADVANCE_K)
extern float saved_extruder_advance_K[EXTRUDERS];
#endif
@ -149,6 +155,7 @@ typedef struct SettingsDataStruct {
// FILAMENT_RUNOUT_SENSOR
//
bool runout_sensor_enabled; // M412 S
float runout_distance_mm; // M412 D
//
// ENABLE_LEVELING_FADE_HEIGHT
@ -298,6 +305,21 @@ typedef struct SettingsDataStruct {
toolchange_settings_t toolchange_settings; // M217 S P R
#endif
//
// BACKLASH_COMPENSATION
//
float backlash_distance_mm[XYZ]; // M425 X Y Z
uint8_t backlash_correction; // M425 F
float backlash_smoothing_mm; // M425 S
//
// EXTENSIBLE_UI
//
#if ENABLED(EXTENSIBLE_UI)
// This is a significant hardware change; don't reserve space when not present
uint8_t extui_data[ExtUI::eeprom_data_size];
#endif
} SettingsData;
//static_assert(sizeof(SettingsData) <= E2END + 1, "EEPROM too small to contain SettingsData!");
@ -372,6 +394,16 @@ void MarlinSettings::postprocess() {
report_current_position();
}
#if ENABLED(PRINTCOUNTER) && ENABLED(EEPROM_SETTINGS)
#include "printcounter.h"
static_assert(
!WITHIN(STATS_EEPROM_ADDRESS, EEPROM_OFFSET, EEPROM_OFFSET + sizeof(SettingsData)) &&
!WITHIN(STATS_EEPROM_ADDRESS + sizeof(printStatistics), EEPROM_OFFSET, EEPROM_OFFSET + sizeof(SettingsData)),
"STATS_EEPROM_ADDRESS collides with EEPROM settings storage."
);
#endif
#if ENABLED(SD_FIRMWARE_UPDATE)
#if ENABLED(EEPROM_SETTINGS)
@ -528,11 +560,18 @@ void MarlinSettings::postprocess() {
//
{
#if HAS_FILAMENT_SENSOR
EEPROM_WRITE(runout.enabled);
const bool &runout_sensor_enabled = runout.enabled;
#else
const bool runout_sensor_enabled = true;
EEPROM_WRITE(runout_sensor_enabled);
const bool runout_sensor_enabled = false;
#endif
#if HAS_FILAMENT_SENSOR && defined(FILAMENT_RUNOUT_DISTANCE_MM)
const float &runout_distance_mm = runout.runout_distance();
#else
const float runout_distance_mm = 0;
#endif
_FIELD_TEST(runout_sensor_enabled);
EEPROM_WRITE(runout_sensor_enabled);
EEPROM_WRITE(runout_distance_mm);
}
//
@ -1118,6 +1157,42 @@ void MarlinSettings::postprocess() {
EEPROM_WRITE(toolchange_settings);
#endif
//
// Backlash Compensation
//
{
#if ENABLED(BACKLASH_COMPENSATION)
const float (&backlash_distance_mm)[XYZ] = backlash.distance_mm;
const uint8_t &backlash_correction = backlash.correction;
#else
const float backlash_distance_mm[XYZ] = { 0 };
const uint8_t backlash_correction = 0;
#endif
#ifdef BACKLASH_SMOOTHING_MM
const float &backlash_smoothing_mm = backlash.smoothing_mm;
#else
const float backlash_smoothing_mm = 3;
#endif
_FIELD_TEST(backlash_distance_mm);
EEPROM_WRITE(backlash_distance_mm[X_AXIS]);
EEPROM_WRITE(backlash_distance_mm[Y_AXIS]);
EEPROM_WRITE(backlash_distance_mm[Z_AXIS]);
EEPROM_WRITE(backlash_correction);
EEPROM_WRITE(backlash_smoothing_mm);
}
//
// Extensible UI User Data
//
#if ENABLED(EXTENSIBLE_UI)
{
char extui_data[ExtUI::eeprom_data_size] = { 0 };
ExtUI::onStoreSettings(extui_data);
_FIELD_TEST(extui_data);
EEPROM_WRITE(extui_data);
}
#endif
//
// Validate CRC and Data Size
//
@ -1148,7 +1223,7 @@ void MarlinSettings::postprocess() {
#endif
#if ENABLED(EXTENSIBLE_UI)
if (!eeprom_error) ExtUI::onStoreSettings();
ExtUI::onConfigurationStoreWritten(!eeprom_error);
#endif
return !eeprom_error;
@ -1264,12 +1339,18 @@ void MarlinSettings::postprocess() {
// Filament Runout Sensor
//
{
_FIELD_TEST(runout_sensor_enabled);
#if HAS_FILAMENT_SENSOR
EEPROM_READ(runout.enabled);
bool &runout_sensor_enabled = runout.enabled;
#else
bool runout_sensor_enabled;
EEPROM_READ(runout_sensor_enabled);
#endif
_FIELD_TEST(runout_sensor_enabled);
EEPROM_READ(runout_sensor_enabled);
float runout_distance_mm;
EEPROM_READ(runout_distance_mm);
#if HAS_FILAMENT_SENSOR && defined(FILAMENT_RUNOUT_DISTANCE_MM)
runout.set_runout_distance(runout_distance_mm);
#endif
}
@ -1851,6 +1932,44 @@ void MarlinSettings::postprocess() {
EEPROM_READ(toolchange_settings);
#endif
//
// Backlash Compensation
//
{
#if ENABLED(BACKLASH_COMPENSATION)
float (&backlash_distance_mm)[XYZ] = backlash.distance_mm;
uint8_t &backlash_correction = backlash.correction;
#else
float backlash_distance_mm[XYZ];
uint8_t backlash_correction;
#endif
#ifdef BACKLASH_SMOOTHING_MM
float &backlash_smoothing_mm = backlash.smoothing_mm;
#else
float backlash_smoothing_mm;
#endif
_FIELD_TEST(backlash_distance_mm);
EEPROM_READ(backlash_distance_mm[X_AXIS]);
EEPROM_READ(backlash_distance_mm[Y_AXIS]);
EEPROM_READ(backlash_distance_mm[Z_AXIS]);
EEPROM_READ(backlash_correction);
EEPROM_READ(backlash_smoothing_mm);
}
//
// Extensible UI User Data
//
#if ENABLED(EXTENSIBLE_UI)
// This is a significant hardware change; don't reserve EEPROM space when not present
{
const char extui_data[ExtUI::eeprom_data_size] = { 0 };
_FIELD_TEST(extui_data);
EEPROM_READ(extui_data);
if(!validating)
ExtUI::onLoadSettings(extui_data);
}
#endif
eeprom_error = size_error(eeprom_index - (EEPROM_OFFSET));
if (eeprom_error) {
DEBUG_ECHO_START();
@ -1921,7 +2040,7 @@ void MarlinSettings::postprocess() {
if (validate()) {
const bool success = _load();
#if ENABLED(EXTENSIBLE_UI)
if (success) ExtUI::onLoadSettings();
ExtUI::onConfigurationStoreRead(success);
#endif
return success;
}
@ -2090,6 +2209,9 @@ void MarlinSettings::reset() {
#if HAS_FILAMENT_SENSOR
runout.enabled = true;
runout.reset();
#ifdef FILAMENT_RUNOUT_DISTANCE_MM
runout.set_runout_distance(FILAMENT_RUNOUT_DISTANCE_MM);
#endif
#endif
//
@ -2108,6 +2230,23 @@ void MarlinSettings::reset() {
toolchange_settings.z_raise = TOOLCHANGE_ZRAISE;
#endif
#if ENABLED(BACKLASH_GCODE)
backlash.correction = (BACKLASH_CORRECTION) * 255;
#ifdef BACKLASH_DISTANCE_MM
constexpr float tmp[XYZ] = BACKLASH_DISTANCE_MM;
backlash.distance_mm[X_AXIS] = tmp[X_AXIS];
backlash.distance_mm[Y_AXIS] = tmp[Y_AXIS];
backlash.distance_mm[Z_AXIS] = tmp[Z_AXIS];
#endif
#ifdef BACKLASH_SMOOTHING_MM
backlash.smoothing_mm = BACKLASH_SMOOTHING_MM;
#endif
#endif
#if ENABLED(EXTENSIBLE_UI)
ExtUI::onFactoryReset();
#endif
//
// Magnetic Parking Extruder
//
@ -3200,6 +3339,31 @@ void MarlinSettings::reset() {
CONFIG_ECHO_START();
M217_report(true);
#endif
#if ENABLED(BACKLASH_GCODE)
CONFIG_ECHO_HEADING("Backlash compensation:");
CONFIG_ECHO_START();
SERIAL_ECHOLNPAIR(
" M425 F", backlash.get_correction(),
" X", LINEAR_UNIT(backlash.distance_mm[X_AXIS]),
" Y", LINEAR_UNIT(backlash.distance_mm[Y_AXIS]),
" Z", LINEAR_UNIT(backlash.distance_mm[Z_AXIS])
#ifdef BACKLASH_SMOOTHING_MM
, " S", LINEAR_UNIT(backlash.smoothing_mm)
#endif
);
#endif
#if HAS_FILAMENT_SENSOR
CONFIG_ECHO_HEADING("Filament runout sensor:");
CONFIG_ECHO_START();
SERIAL_ECHOLNPAIR(
" M412 S", int(runout.enabled)
#ifdef FILAMENT_RUNOUT_DISTANCE_MM
, " D", LINEAR_UNIT(runout.runout_distance())
#endif
);
#endif
}
#endif // !DISABLE_M503

94
Marlin/src/module/planner.cpp
View File

@ -92,6 +92,10 @@
#include "../feature/power.h"
#endif
#if ENABLED(BACKLASH_COMPENSATION)
#include "../feature/backlash.h"
#endif
// Delay for delivery of first block to the stepper ISR, if the queue contains 2 or
// fewer movements. The delay is measured in milliseconds, and must be less than 250ms
#define BLOCK_DELAY_FOR_1ST_MOVE 100
@ -1560,94 +1564,6 @@ void Planner::synchronize() {
) idle();
}
/**
* The following implements axis backlash correction. To minimize seams
* on the printed part, the backlash correction only adds steps to the
* current segment (instead of creating a new segment, which causes
* discontinuities and print artifacts).
*
* When BACKLASH_SMOOTHING_MM is enabled and non-zero, the backlash
* correction is spread over multiple segments, smoothing out print
* artifacts even more.
*/
#if ENABLED(BACKLASH_COMPENSATION)
#if ENABLED(BACKLASH_GCODE)
extern float backlash_distance_mm[];
extern uint8_t backlash_correction;
#ifdef BACKLASH_SMOOTHING_MM
extern float backlash_smoothing_mm;
#endif
#else
constexpr float backlash_distance_mm[XYZ] = BACKLASH_DISTANCE_MM,
constexpr uint8_t backlash_correction = BACKLASH_CORRECTION * 255;
#ifdef BACKLASH_SMOOTHING_MM
constexpr float backlash_smoothing_mm = BACKLASH_SMOOTHING_MM;
#endif
#endif
void Planner::add_backlash_correction_steps(const int32_t da, const int32_t db, const int32_t dc, const uint8_t dm, block_t * const block) {
static uint8_t last_direction_bits;
uint8_t changed_dir = last_direction_bits ^ dm;
// Ignore direction change if no steps are taken in that direction
if (da == 0) CBI(changed_dir, X_AXIS);
if (db == 0) CBI(changed_dir, Y_AXIS);
if (dc == 0) CBI(changed_dir, Z_AXIS);
last_direction_bits ^= changed_dir;
if (backlash_correction == 0) return;
#ifdef BACKLASH_SMOOTHING_MM
// The segment proportion is a value greater than 0.0 indicating how much residual_error
// is corrected for in this segment. The contribution is based on segment length and the
// smoothing distance. Since the computation of this proportion involves a floating point
// division, defer computation until needed.
float segment_proportion = 0;
// Residual error carried forward across multiple segments, so correction can be applied
// to segments where there is no direction change.
static int32_t residual_error[XYZ] = { 0 };
#else
// No leftover residual error from segment to segment
int32_t residual_error[XYZ] = { 0 };
// No direction change, no correction.
if (!changed_dir) return;
#endif
const float f_corr = float(backlash_correction) / 255.0f;
LOOP_XYZ(axis) {
if (backlash_distance_mm[axis]) {
const bool reversing = TEST(dm,axis);
// When an axis changes direction, add axis backlash to the residual error
if (TEST(changed_dir, axis))
residual_error[axis] += (reversing ? -f_corr : f_corr) * backlash_distance_mm[axis] * planner.settings.axis_steps_per_mm[axis];
// Decide how much of the residual error to correct in this segment
int32_t error_correction = residual_error[axis];
#ifdef BACKLASH_SMOOTHING_MM
if (error_correction && backlash_smoothing_mm != 0) {
// Take up a portion of the residual_error in this segment, but only when
// the current segment travels in the same direction as the correction
if (reversing == (error_correction < 0)) {
if (segment_proportion == 0)
segment_proportion = MIN(1.0f, block->millimeters / backlash_smoothing_mm);
error_correction = ceil(segment_proportion * error_correction);
}
else
error_correction = 0; // Don't take up any backlash in this segment, as it would subtract steps
}
#endif
// Making a correction reduces the residual error and modifies delta_mm
if (error_correction) {
block->steps[axis] += ABS(error_correction);
residual_error[axis] -= error_correction;
}
}
}
}
#endif // BACKLASH_COMPENSATION
/**
* Planner::_buffer_steps
*
@ -1919,7 +1835,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
* should *never* remove steps!
*/
#if ENABLED(BACKLASH_COMPENSATION)
add_backlash_correction_steps(da, db, dc, dm, block);
backlash.add_correction_steps(da, db, dc, dm, block);
#endif
}

4
Marlin/src/module/planner.h
View File

@ -338,10 +338,6 @@ class Planner {
volatile static uint32_t block_buffer_runtime_us; //Theoretical block buffer runtime in µs
#endif
#if ENABLED(BACKLASH_COMPENSATION)
static void add_backlash_correction_steps(const int32_t da, const int32_t db, const int32_t dc, const uint8_t dm, block_t * const block);
#endif
public:
/**

8
Marlin/src/module/printcounter.cpp
View File

@ -29,6 +29,10 @@ Stopwatch print_job_timer; // Global Print Job Timer instance
#else // PRINTCOUNTER
#if ENABLED(EXTENSIBLE_UI)
#include "../lcd/extensible_ui/ui_api.h"
#endif
#include "printcounter.h"
#include "../Marlin.h"
#include "../HAL/shared/persistent_store_api.h"
@ -169,6 +173,10 @@ void PrintCounter::saveStats() {
persistentStore.access_start();
persistentStore.write_data(address + sizeof(uint8_t), (uint8_t*)&data, sizeof(printStatistics));
persistentStore.access_finish();
#if ENABLED(EXTENSIBLE_UI)
ExtUI::onConfigurationStoreWritten(true);
#endif
}
#if HAS_SERVICE_INTERVALS

30
Marlin/src/module/probe.cpp
View File

@ -54,6 +54,10 @@
#include "planner.h"
#endif
#if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
#include "../feature/backlash.h"
#endif
float zprobe_zoffset; // Initialized by settings.load()
#if ENABLED(BLTOUCH)
@ -463,30 +467,6 @@ bool set_probe_deployed(const bool deploy) {
}
#endif
#if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
#if USES_Z_MIN_PROBE_ENDSTOP
#define TEST_PROBE_PIN (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING)
#else
#define TEST_PROBE_PIN (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING)
#endif
extern float backlash_measured_mm[];
extern uint8_t backlash_measured_num[];
/* Measure Z backlash by raising nozzle in increments until probe deactivates */
static void measure_backlash_with_probe() {
if (backlash_measured_num[Z_AXIS] == 255) return;
float start_height = current_position[Z_AXIS];
while (current_position[Z_AXIS] < (start_height + BACKLASH_MEASUREMENT_LIMIT) && TEST_PROBE_PIN)
do_blocking_move_to_z(current_position[Z_AXIS] + BACKLASH_MEASUREMENT_RESOLUTION, MMM_TO_MMS(BACKLASH_MEASUREMENT_FEEDRATE));
// The backlash from all probe points is averaged, so count the number of measurements
backlash_measured_mm[Z_AXIS] += current_position[Z_AXIS] - start_height;
backlash_measured_num[Z_AXIS]++;
}
#endif
/**
* @brief Used by run_z_probe to do a single Z probe move.
*
@ -643,7 +623,7 @@ static float run_z_probe() {
}
#if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
measure_backlash_with_probe();
backlash.measure_with_probe();
#endif
#if MULTIPLE_PROBING > 2

4
Marlin/src/module/stepper.cpp
View File

@ -113,7 +113,7 @@ Stepper stepper; // Singleton
#include "../feature/mixing.h"
#endif
#if FILAMENT_RUNOUT_DISTANCE_MM > 0
#ifdef FILAMENT_RUNOUT_DISTANCE_MM
#include "../feature/runout.h"
#endif
@ -1537,7 +1537,7 @@ uint32_t Stepper::stepper_block_phase_isr() {
// If current block is finished, reset pointer
if (step_events_completed >= step_event_count) {
#if FILAMENT_RUNOUT_DISTANCE_MM > 0
#ifdef FILAMENT_RUNOUT_DISTANCE_MM
runout.block_completed(current_block);
#endif
axis_did_move = 0;