Marcio Teixeira
5 years ago
committed by
Scott Lahteine
Scott Lahteine
22 changed files with 648 additions and 296 deletions
@ -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
|
|||
@ -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; |
|||
Loading…
Reference in new issue