thebears/marlin_skr
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

🐛 Fix backlash applied steps when config changes (#23826)

Browse Source 
Followup to #23814
This commit is contained in:
tombrazier
2022-03-01 22:14:52 +00:00
committed by GitHub
parent 15de14dd89
commit 6b7868d943
8 changed files with 167 additions and 117 deletions
Download Patch File Download Diff File Expand all files Collapse all files

46
Marlin/src/feature/backlash.h
View File

@@ -24,27 +24,22 @@
#include "../inc/MarlinConfigPre.h"
#include "../module/planner.h"
constexpr uint8_t all_on = 0xFF, all_off = 0x00;
class Backlash {
public:
static constexpr uint8_t all_on = 0xFF, all_off = 0x00;
private:
static axis_bits_t last_direction_bits;
#ifdef BACKLASH_SMOOTHING_MM
static xyz_long_t residual_error;
#endif
static xyz_long_t residual_error;
public:
#if ENABLED(BACKLASH_GCODE)
static xyz_float_t distance_mm;
static uint8_t correction;
static xyz_float_t distance_mm;
#ifdef BACKLASH_SMOOTHING_MM
static float smoothing_mm;
#endif
static void set_correction(const_float_t v) { correction = _MAX(0, _MIN(1.0, v)) * all_on; }
static float get_correction() { return float(ui8_to_percent(correction)) / 100.0f; }
#else
static constexpr uint8_t correction = (BACKLASH_CORRECTION) * 0xFF;
static constexpr uint8_t correction = (BACKLASH_CORRECTION) * all_on;
static const xyz_float_t distance_mm;
#ifdef BACKLASH_SMOOTHING_MM
static constexpr float smoothing_mm = BACKLASH_SMOOTHING_MM;
@@ -52,13 +47,13 @@ public:
#endif
#if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
private:
static xyz_float_t measured_mm;
static xyz_uint8_t measured_count;
public:
static void measure_with_probe();
static xyz_float_t measured_mm;
static xyz_uint8_t measured_count;
#endif
class StepAdjuster;
public:
static float get_measurement(const AxisEnum a) {
UNUSED(a);
// Return the measurement averaged over all readings
@@ -78,7 +73,24 @@ public:
}
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);
static int32_t applied_steps(const AxisEnum axis);
static int32_t get_applied_steps(const AxisEnum axis);
#if ENABLED(BACKLASH_GCODE)
static void set_correction_uint8(const uint8_t v);
static uint8_t get_correction_uint8() { return correction; }
static void set_correction(const float v) { set_correction_uint8(_MAX(0, _MIN(1.0, v)) * all_on + 0.5f); }
static float get_correction() { return float(get_correction_uint8()) / all_on; }
static void set_distance_mm(const AxisEnum axis, const float v);
static float get_distance_mm(const AxisEnum axis) {return distance_mm[axis];}
#ifdef BACKLASH_SMOOTHING_MM
static void set_smoothing_mm(const float v);
static float get_smoothing_mm() {return smoothing_mm;}
#endif
#endif
#if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
static void measure_with_probe();
#endif
};
extern Backlash backlash;