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- /**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2020 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 <https://www.gnu.org/licenses/>.
- *
- */
- #pragma once
-
- #include "../inc/MarlinConfigPre.h"
- #include "../module/planner.h"
-
- class Backlash {
- public:
- static constexpr uint8_t all_on = 0xFF, all_off = 0x00;
-
- private:
- static axis_bits_t last_direction_bits;
- static xyz_long_t residual_error;
-
- #if ENABLED(BACKLASH_GCODE)
- static uint8_t correction;
- static xyz_float_t distance_mm;
- #ifdef BACKLASH_SMOOTHING_MM
- static float smoothing_mm;
- #endif
- #else
- 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;
- #endif
- #endif
-
- #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
- 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
- return TERN(MEASURE_BACKLASH_WHEN_PROBING
- , measured_count[a] > 0 ? measured_mm[a] / measured_count[a] : 0
- , 0
- );
- }
-
- static bool has_measurement(const AxisEnum a) {
- UNUSED(a);
- return TERN0(MEASURE_BACKLASH_WHEN_PROBING, measured_count[a] > 0);
- }
-
- static bool has_any_measurement() {
- return has_measurement(X_AXIS) || has_measurement(Y_AXIS) || has_measurement(Z_AXIS);
- }
-
- 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 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;
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