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96 lines
3.1 KiB
96 lines
3.1 KiB
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*
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*/
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#pragma once
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#include "../inc/MarlinConfigPre.h"
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#include "../module/planner.h"
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class Backlash {
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public:
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static constexpr uint8_t all_on = 0xFF, all_off = 0x00;
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private:
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static axis_bits_t last_direction_bits;
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static xyz_long_t residual_error;
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#if ENABLED(BACKLASH_GCODE)
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static uint8_t correction;
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static xyz_float_t distance_mm;
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#ifdef BACKLASH_SMOOTHING_MM
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static float smoothing_mm;
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#endif
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#else
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static constexpr uint8_t correction = (BACKLASH_CORRECTION) * all_on;
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static const xyz_float_t distance_mm;
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#ifdef BACKLASH_SMOOTHING_MM
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static constexpr float smoothing_mm = BACKLASH_SMOOTHING_MM;
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#endif
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#endif
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#if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
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static xyz_float_t measured_mm;
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static xyz_uint8_t measured_count;
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#endif
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class StepAdjuster;
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public:
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static float get_measurement(const AxisEnum a) {
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UNUSED(a);
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// Return the measurement averaged over all readings
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return TERN(MEASURE_BACKLASH_WHEN_PROBING
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, measured_count[a] > 0 ? measured_mm[a] / measured_count[a] : 0
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, 0
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);
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}
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static bool has_measurement(const AxisEnum a) {
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UNUSED(a);
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return TERN0(MEASURE_BACKLASH_WHEN_PROBING, measured_count[a] > 0);
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}
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static bool has_any_measurement() {
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return has_measurement(X_AXIS) || has_measurement(Y_AXIS) || has_measurement(Z_AXIS);
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}
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static void add_correction_steps(const int32_t &da, const int32_t &db, const int32_t &dc, const axis_bits_t dm, block_t * const block);
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static int32_t get_applied_steps(const AxisEnum axis);
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#if ENABLED(BACKLASH_GCODE)
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static void set_correction_uint8(const uint8_t v);
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static uint8_t get_correction_uint8() { return correction; }
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static void set_correction(const float v) { set_correction_uint8(_MAX(0, _MIN(1.0, v)) * all_on + 0.5f); }
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static float get_correction() { return float(get_correction_uint8()) / all_on; }
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static void set_distance_mm(const AxisEnum axis, const float v);
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static float get_distance_mm(const AxisEnum axis) {return distance_mm[axis];}
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#ifdef BACKLASH_SMOOTHING_MM
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static void set_smoothing_mm(const float v);
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static float get_smoothing_mm() {return smoothing_mm;}
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#endif
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#endif
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#if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
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static void measure_with_probe();
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#endif
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};
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extern Backlash backlash;
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