Update backlash code
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@ -20,11 +20,13 @@
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*
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*/
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#include "../Marlin.h"
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#include "../inc/MarlinConfigPre.h"
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#if ENABLED(BACKLASH_COMPENSATION)
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#include "backlash.h"
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#include "../module/motion.h"
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#include "../module/planner.h"
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#if ENABLED(BACKLASH_GCODE)
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@ -75,10 +77,10 @@ void Backlash::add_correction_steps(const int32_t &da, const int32_t &db, const
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// to segments where there is no direction change.
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static int32_t residual_error[XYZ] = { 0 };
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#else
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// No leftover residual error from segment to segment
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int32_t residual_error[XYZ] = { 0 };
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// No direction change, no correction.
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if (!changed_dir) return;
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// No leftover residual error from segment to segment
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int32_t residual_error[XYZ] = { 0 };
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#endif
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const float f_corr = float(correction) / 255.0f;
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@ -100,7 +102,7 @@ void Backlash::add_correction_steps(const int32_t &da, const int32_t &db, const
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if (reversing == (error_correction < 0)) {
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if (segment_proportion == 0)
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segment_proportion = MIN(1.0f, block->millimeters / smoothing_mm);
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error_correction = ceil(segment_proportion * error_correction);
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error_correction = CEIL(segment_proportion * error_correction);
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}
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else
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error_correction = 0; // Don't take up any backlash in this segment, as it would subtract steps
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@ -36,7 +36,7 @@ public:
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#endif
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static inline void set_correction(const float &v) { correction = MAX(0, MIN(1.0, v)) * all_on; }
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static inline float get_correction() { return float(ui8_to_percent(correction)) / 100.0f; }
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#elif ENABLED(BACKLASH_COMPENSATION)
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#else
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static constexpr uint8_t correction = (BACKLASH_CORRECTION) * 0xFF;
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#ifdef BACKLASH_DISTANCE_MM
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static constexpr float distance_mm[XYZ] = BACKLASH_DISTANCE_MM;
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@ -46,10 +46,6 @@ public:
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#endif
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static inline void set_correction(float) { }
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static inline float get_correction() { return float(ui8_to_percent(correction)) / 100.0f; }
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#else
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static constexpr uint8_t correction = 0;
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static inline void set_correction(float) { }
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static inline float get_correction() { return 0; }
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#endif
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#if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
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@ -25,14 +25,17 @@
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#if ENABLED(CALIBRATION_GCODE)
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#include "../gcode.h"
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#if ENABLED(BACKLASH_GCODE)
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#include "../../feature/backlash.h"
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#endif
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#include "../../lcd/ultralcd.h"
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#include "../../module/motion.h"
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#include "../../module/planner.h"
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#include "../../module/tool_change.h"
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#include "../../module/endstops.h"
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#include "../../feature/bedlevel/bedlevel.h"
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#include "../../feature/backlash.h"
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/**
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* G425 backs away from the calibration object by various distances
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@ -1177,11 +1177,14 @@ void MarlinSettings::postprocess() {
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// Backlash Compensation
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//
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{
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#if ENABLED(BACKLASH_COMPENSATION)
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#ifdef BACKLASH_DISTANCE_MM
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const float (&backlash_distance_mm)[XYZ] = backlash.distance_mm;
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const uint8_t &backlash_correction = backlash.correction;
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#else
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const float backlash_distance_mm[XYZ] = { 0 };
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#endif
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#if ENABLED(BACKLASH_COMPENSATION)
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const uint8_t &backlash_correction = backlash.correction;
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#else
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const uint8_t backlash_correction = 0;
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#endif
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#ifdef BACKLASH_SMOOTHING_MM
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@ -1962,11 +1965,14 @@ void MarlinSettings::postprocess() {
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// Backlash Compensation
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//
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{
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#if ENABLED(BACKLASH_COMPENSATION)
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#ifdef BACKLASH_DISTANCE_MM
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float (&backlash_distance_mm)[XYZ] = backlash.distance_mm;
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uint8_t &backlash_correction = backlash.correction;
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#else
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float backlash_distance_mm[XYZ];
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#endif
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#if ENABLED(BACKLASH_COMPENSATION)
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uint8_t &backlash_correction = backlash.correction;
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#else
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uint8_t backlash_correction;
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#endif
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#ifdef BACKLASH_SMOOTHING_MM
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