diff --git a/Marlin/src/core/serial.cpp b/Marlin/src/core/serial.cpp
index 2b1ae1f1fe..562cddbaa0 100644
--- a/Marlin/src/core/serial.cpp
+++ b/Marlin/src/core/serial.cpp
@@ -78,6 +78,14 @@ void serial_error_start() { static PGMSTR(errormagic, "Error:"); serial_print_P(
void serial_spaces(uint8_t count) { count *= (PROPORTIONAL_FONT_RATIO); while (count--) SERIAL_CHAR(' '); }
+void serial_offset(const_float_t v, const uint8_t sp/*=0*/) {
+ if (v == 0 && sp == 1)
+ SERIAL_CHAR(' ');
+ else if (v > 0 || (v == 0 && sp == 2))
+ SERIAL_CHAR('+');
+ SERIAL_DECIMAL(v);
+}
+
void serial_ternary(const bool onoff, FSTR_P const pre, FSTR_P const on, FSTR_P const off, FSTR_P const post/*=nullptr*/) {
if (pre) serial_print(pre);
serial_print(onoff ? on : off);
diff --git a/Marlin/src/core/serial.h b/Marlin/src/core/serial.h
index aee4d4d43d..98e82b6d72 100644
--- a/Marlin/src/core/serial.h
+++ b/Marlin/src/core/serial.h
@@ -345,6 +345,7 @@ void serialprint_onoff(const bool onoff);
void serialprintln_onoff(const bool onoff);
void serialprint_truefalse(const bool tf);
void serial_spaces(uint8_t count);
+void serial_offset(const_float_t v, const uint8_t sp=0); // For v==0 draw space (sp==1) or plus (sp==2)
void print_bin(const uint16_t val);
void print_pos(LINEAR_AXIS_ARGS(const_float_t), FSTR_P const prefix=nullptr, FSTR_P const suffix=nullptr);
diff --git a/Marlin/src/core/utility.cpp b/Marlin/src/core/utility.cpp
index 19e7626744..59e59d4cb7 100644
--- a/Marlin/src/core/utility.cpp
+++ b/Marlin/src/core/utility.cpp
@@ -126,10 +126,8 @@ void safe_delay(millis_t ms) {
#if ABL_PLANAR
SERIAL_ECHOPGM("ABL Adjustment");
LOOP_LINEAR_AXES(a) {
- const float v = planner.get_axis_position_mm(AxisEnum(a)) - current_position[a];
SERIAL_CHAR(' ', AXIS_CHAR(a));
- if (v > 0) SERIAL_CHAR('+');
- SERIAL_DECIMAL(v);
+ serial_offset(planner.get_axis_position_mm(AxisEnum(a)) - current_position[a]);
}
#else
#if ENABLED(AUTO_BED_LEVELING_UBL)
diff --git a/Marlin/src/feature/bedlevel/ubl/ubl.cpp b/Marlin/src/feature/bedlevel/ubl/ubl.cpp
index 964f1123fe..c162062f86 100644
--- a/Marlin/src/feature/bedlevel/ubl/ubl.cpp
+++ b/Marlin/src/feature/bedlevel/ubl/ubl.cpp
@@ -213,8 +213,8 @@ void unified_bed_leveling::display_map(const uint8_t map_type) {
else if (isnan(f))
SERIAL_ECHOF(human ? F(" . ") : F("NAN"));
else if (human || csv) {
- if (human && f >= 0.0) SERIAL_CHAR(f > 0 ? '+' : ' '); // Display sign also for positive numbers (' ' for 0)
- SERIAL_ECHO_F(f, 3); // Positive: 5 digits, Negative: 6 digits
+ if (human && f >= 0) SERIAL_CHAR(f > 0 ? '+' : ' '); // Display sign also for positive numbers (' ' for 0)
+ SERIAL_DECIMAL(f); // Positive: 5 digits, Negative: 6 digits
}
if (csv && i < (GRID_MAX_POINTS_X) - 1) SERIAL_CHAR('\t');
diff --git a/Marlin/src/feature/mixing.cpp b/Marlin/src/feature/mixing.cpp
index 9ebc90127f..b1a069e320 100644
--- a/Marlin/src/feature/mixing.cpp
+++ b/Marlin/src/feature/mixing.cpp
@@ -63,7 +63,7 @@ void Mixer::normalize(const uint8_t tool_index) {
#ifdef MIXER_NORMALIZER_DEBUG
SERIAL_ECHOPGM("Mixer: Old relation : [ ");
MIXER_STEPPER_LOOP(i) {
- SERIAL_ECHO_F(collector[i] / csum, 3);
+ SERIAL_DECIMAL(collector[i] / csum);
SERIAL_CHAR(' ');
}
SERIAL_ECHOLNPGM("]");
diff --git a/Marlin/src/feature/x_twist.cpp b/Marlin/src/feature/x_twist.cpp
index 8910091239..b5ad25cba8 100644
--- a/Marlin/src/feature/x_twist.cpp
+++ b/Marlin/src/feature/x_twist.cpp
@@ -36,8 +36,8 @@ void XATC::reset() {
constexpr float xzo[] = XATC_Z_OFFSETS;
static_assert(COUNT(xzo) == XATC_MAX_POINTS, "XATC_Z_OFFSETS is the wrong size.");
COPY(z_offset, xzo);
- xatc.spacing = (probe.max_x() - probe.min_x()) / (XATC_MAX_POINTS - 1);
- xatc.start = probe.min_x();
+ start = probe.min_x();
+ spacing = (probe.max_x() - start) / (XATC_MAX_POINTS - 1);
enabled = true;
}
@@ -45,14 +45,10 @@ void XATC::print_points() {
SERIAL_ECHOLNPGM(" X-Twist Correction:");
LOOP_L_N(x, XATC_MAX_POINTS) {
SERIAL_CHAR(' ');
- if (!isnan(z_offset[x])) {
- if (z_offset[x] >= 0) SERIAL_CHAR('+');
- SERIAL_ECHO_F(z_offset[x], 3);
- }
- else {
- LOOP_L_N(i, 6)
- SERIAL_CHAR(i ? '=' : ' ');
- }
+ if (!isnan(z_offset[x]))
+ serial_offset(z_offset[x]);
+ else
+ LOOP_L_N(i, 6) SERIAL_CHAR(i ? '=' : ' ');
}
SERIAL_EOL();
}
@@ -63,8 +59,7 @@ float XATC::compensation(const xy_pos_t &raw) {
if (!enabled) return 0;
if (NEAR_ZERO(spacing)) return 0;
float t = (raw.x - start) / spacing;
- int i = FLOOR(t);
- LIMIT(i, 0, XATC_MAX_POINTS - 2);
+ const int i = constrain(FLOOR(t), 0, XATC_MAX_POINTS - 2);
t -= i;
return lerp(t, z_offset[i], z_offset[i + 1]);
}
diff --git a/Marlin/src/gcode/calibrate/G33.cpp b/Marlin/src/gcode/calibrate/G33.cpp
index a4b9aec01b..506f367947 100644
--- a/Marlin/src/gcode/calibrate/G33.cpp
+++ b/Marlin/src/gcode/calibrate/G33.cpp
@@ -98,8 +98,7 @@ void ac_cleanup(TERN_(HAS_MULTI_HOTEND, const uint8_t old_tool_index)) {
void print_signed_float(FSTR_P const prefix, const_float_t f) {
SERIAL_ECHOPGM(" ");
SERIAL_ECHOF(prefix, AS_CHAR(':'));
- if (f >= 0) SERIAL_CHAR('+');
- SERIAL_ECHO_F(f, 2);
+ serial_offset(f);
}
/**
diff --git a/Marlin/src/gcode/gcode.h b/Marlin/src/gcode/gcode.h
index a150aca41d..6e331c1273 100644
--- a/Marlin/src/gcode/gcode.h
+++ b/Marlin/src/gcode/gcode.h
@@ -1195,6 +1195,11 @@ private:
static void M1000();
#endif
+ #if ENABLED(X_AXIS_TWIST_COMPENSATION)
+ static void M423();
+ static void M423_report(const bool forReplay=true);
+ #endif
+
#if ENABLED(SDSUPPORT)
static void M1001();
#endif
diff --git a/Marlin/src/gcode/probe/M423.cpp b/Marlin/src/gcode/probe/M423.cpp
new file mode 100644
index 0000000000..fde5aaaf87
--- /dev/null
+++ b/Marlin/src/gcode/probe/M423.cpp
@@ -0,0 +1,99 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2022 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 .
+ *
+ */
+
+/**
+ * M423.cpp - X-Axis Twist Compensation
+ */
+
+#include "../../inc/MarlinConfig.h"
+
+#if ENABLED(X_AXIS_TWIST_COMPENSATION)
+
+#include "../gcode.h"
+#include "../../feature/x_twist.h"
+#include "../../module/probe.h"
+
+/**
+ * M423: Set a Z offset for X-Twist (added to the mesh on future G29).
+ * M423 [R] [A] [I] [X Z]
+ *
+ * R - Reset the twist compensation data
+ * A - Set the X twist starting X position
+ * E - Set the X twist ending X position
+ * I - Set the X twist X-spacing directly
+ * X - Index of a Z value in the list
+ * Z - A Z value to set
+ */
+void GcodeSuite::M423() {
+
+ bool do_report = true;
+ float new_spacing = 0;
+
+ if (parser.seen_test('R')) {
+ do_report = false;
+ xatc.reset();
+ }
+ if (parser.seenval('A')) {
+ do_report = false;
+ xatc.start = parser.value_float();
+ new_spacing = (probe.max_x() - xatc.start) / (XATC_MAX_POINTS - 1);
+ }
+ if (parser.seenval('E')) {
+ do_report = false;
+ new_spacing = (parser.value_float() - xatc.start) / (XATC_MAX_POINTS - 1);
+ }
+ else if (parser.seenval('I')) {
+ do_report = false;
+ new_spacing = parser.value_float();
+ }
+
+ if (new_spacing) xatc.spacing = new_spacing;
+
+ if (parser.seenval('X')) {
+ do_report = false;
+ const int8_t x = parser.value_int();
+ if (!WITHIN(x, 0, XATC_MAX_POINTS - 1))
+ SERIAL_ECHOLNPGM("?(X) out of range (0..", XATC_MAX_POINTS - 1, ").");
+ else {
+ if (parser.seenval('Z'))
+ xatc.z_offset[x] = parser.value_linear_units();
+ else
+ SERIAL_ECHOLNPGM("?(Z) required.");
+ }
+ }
+
+ if (do_report) M423_report();
+
+}
+
+void GcodeSuite::M423_report(const bool forReplay/*=true*/) {
+ report_heading(forReplay, F("X-Twist Correction"));
+ SERIAL_ECHOLNPGM(" M423 A", xatc.start, " I", xatc.spacing);
+ LOOP_L_N(x, XATC_MAX_POINTS) {
+ const float z = xatc.z_offset[x];
+ SERIAL_ECHOPGM(" M423 X", x, " Z");
+ serial_offset(isnan(z) ? 0 : z);
+ SERIAL_EOL();
+ }
+}
+
+#endif // X_AXIS_TWIST_COMPENSATION
diff --git a/Marlin/src/lcd/menu/menu_x_twist.cpp b/Marlin/src/lcd/menu/menu_x_twist.cpp
index 93f8de07ad..ce46053dfc 100644
--- a/Marlin/src/lcd/menu/menu_x_twist.cpp
+++ b/Marlin/src/lcd/menu/menu_x_twist.cpp
@@ -153,7 +153,7 @@ void xatc_wizard_goto_next_point() {
measured_z = probe.probe_at_point(x, XATC_Y_POSITION, PROBE_PT_STOW);
xatc.set_enabled(true);
current_position += probe.offset_xy;
- current_position.z = XATC_START_Z - probe.offset.z + measured_z;
+ current_position.z = (XATC_START_Z) - probe.offset.z + measured_z;
line_to_current_position(MMM_TO_MMS(XY_PROBE_FEEDRATE));
ui.wait_for_move = false;
}
diff --git a/Marlin/src/libs/vector_3.cpp b/Marlin/src/libs/vector_3.cpp
index 614d2121b8..02945fe687 100644
--- a/Marlin/src/libs/vector_3.cpp
+++ b/Marlin/src/libs/vector_3.cpp
@@ -141,8 +141,7 @@ void matrix_3x3::debug(FSTR_P const title) {
if (title) SERIAL_ECHOLNF(title);
LOOP_L_N(i, 3) {
LOOP_L_N(j, 3) {
- if (vectors[i][j] >= 0.0) SERIAL_CHAR('+');
- SERIAL_ECHO_F(vectors[i][j], 6);
+ serial_offset(vectors[i][j], 2);
SERIAL_CHAR(' ');
}
SERIAL_EOL();
diff --git a/Marlin/src/module/settings.cpp b/Marlin/src/module/settings.cpp
index 2b2e335565..6eb17d5d2e 100644
--- a/Marlin/src/module/settings.cpp
+++ b/Marlin/src/module/settings.cpp
@@ -277,7 +277,7 @@ typedef struct SettingsDataStruct {
// X_AXIS_TWIST_COMPENSATION
//
#if ENABLED(X_AXIS_TWIST_COMPENSATION)
- XATC xatc; // TBD
+ XATC xatc; // M423 X Z
#endif
//
@@ -901,7 +901,9 @@ void MarlinSettings::postprocess() {
//
#if ENABLED(X_AXIS_TWIST_COMPENSATION)
_FIELD_TEST(xatc);
- EEPROM_WRITE(xatc);
+ EEPROM_WRITE(xatc.spacing);
+ EEPROM_WRITE(xatc.start);
+ EEPROM_WRITE(xatc.z_offset);
#endif
//
@@ -1809,7 +1811,10 @@ void MarlinSettings::postprocess() {
// X Axis Twist Compensation
//
#if ENABLED(X_AXIS_TWIST_COMPENSATION)
- EEPROM_READ(xatc);
+ _FIELD_TEST(xatc);
+ EEPROM_READ(xatc.spacing);
+ EEPROM_READ(xatc.start);
+ EEPROM_READ(xatc.z_offset);
#endif
//
@@ -3337,14 +3342,13 @@ void MarlinSettings::reset() {
#endif
- // TODO: Create G-code for settings
- //#if ENABLED(X_AXIS_TWIST_COMPENSATION)
- // CONFIG_ECHO_START();
- // xatc.print_points();
- //#endif
-
#endif // HAS_LEVELING
+ //
+ // X Axis Twist Compensation
+ //
+ TERN_(X_AXIS_TWIST_COMPENSATION, gcode.M423_report(forReplay));
+
//
// Editable Servo Angles
//
diff --git a/ini/features.ini b/ini/features.ini
index 48b6a2c47a..8e45b71e42 100644
--- a/ini/features.ini
+++ b/ini/features.ini
@@ -98,7 +98,7 @@ USB_FLASH_DRIVE_SUPPORT = src_filter=+ +
AUTO_BED_LEVELING_BILINEAR = src_filter=+
AUTO_BED_LEVELING_(3POINT|(BI)?LINEAR) = src_filter=+
-X_AXIS_TWIST_COMPENSATION = src_filter=+ +
+X_AXIS_TWIST_COMPENSATION = src_filter=+ + +
MESH_BED_LEVELING = src_filter=+ +
AUTO_BED_LEVELING_UBL = src_filter=+ +
UBL_HILBERT_CURVE = src_filter=+
diff --git a/platformio.ini b/platformio.ini
index 9b64bdd377..0e50da2b73 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -150,7 +150,7 @@ default_src_filter = + - - +
- -
-
-
- -
+ - -
-
-
-