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Backlash cleanup (#13659)

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…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
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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

25
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

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;