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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/>.
- *
- */
-
- #include "../../inc/MarlinConfig.h"
-
- #if ENABLED(BACKLASH_GCODE)
-
- #include "../../feature/backlash.h"
- #include "../../module/planner.h"
-
- #include "../gcode.h"
-
- /**
- * M425: Enable and tune backlash correction.
- *
- * F<fraction> Enable/disable/fade-out backlash correction (0.0 to 1.0)
- * S<smoothing_mm> Distance over which backlash correction is spread
- * X<distance_mm> Set the backlash distance on X (0 to disable)
- * Y<distance_mm> ... on Y
- * Z<distance_mm> ... on Z
- * X If a backlash measurement was done on X, copy that value
- * Y ... on Y
- * Z ... on Z
- *
- * Type M425 without any arguments to show active values.
- */
- void GcodeSuite::M425() {
- bool noArgs = true;
-
- auto axis_can_calibrate = [](const uint8_t a) {
- switch (a) {
- default:
- case X_AXIS: return AXIS_CAN_CALIBRATE(X);
- case Y_AXIS: return AXIS_CAN_CALIBRATE(Y);
- case Z_AXIS: return AXIS_CAN_CALIBRATE(Z);
- }
- };
-
- LOOP_XYZ(a) {
- if (axis_can_calibrate(a) && parser.seen(XYZ_CHAR(a))) {
- planner.synchronize();
- backlash.distance_mm[a] = parser.has_value() ? parser.value_linear_units() : backlash.get_measurement(AxisEnum(a));
- noArgs = false;
- }
- }
-
- if (parser.seen('F')) {
- planner.synchronize();
- backlash.set_correction(parser.value_float());
- noArgs = false;
- }
-
- #ifdef BACKLASH_SMOOTHING_MM
- if (parser.seen('S')) {
- planner.synchronize();
- backlash.smoothing_mm = parser.value_linear_units();
- noArgs = false;
- }
- #endif
-
- if (noArgs) {
- SERIAL_ECHOPGM("Backlash Correction ");
- if (!backlash.correction) SERIAL_ECHOPGM("in");
- SERIAL_ECHOLNPGM("active:");
- SERIAL_ECHOLNPAIR(" Correction Amount/Fade-out: F", backlash.get_correction(), " (F1.0 = full, F0.0 = none)");
- SERIAL_ECHOPGM(" Backlash Distance (mm): ");
- LOOP_XYZ(a) if (axis_can_calibrate(a)) {
- SERIAL_CHAR(' ', XYZ_CHAR(a));
- SERIAL_ECHO(backlash.distance_mm[a]);
- SERIAL_EOL();
- }
-
- #ifdef BACKLASH_SMOOTHING_MM
- SERIAL_ECHOLNPAIR(" Smoothing (mm): S", backlash.smoothing_mm);
- #endif
-
- #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
- SERIAL_ECHOPGM(" Average measured backlash (mm):");
- if (backlash.has_any_measurement()) {
- LOOP_XYZ(a) if (axis_can_calibrate(a) && backlash.has_measurement(AxisEnum(a))) {
- SERIAL_CHAR(' ', XYZ_CHAR(a));
- SERIAL_ECHO(backlash.get_measurement(AxisEnum(a)));
- }
- }
- else
- SERIAL_ECHOPGM(" (Not yet measured)");
- SERIAL_EOL();
- #endif
- }
- }
-
- #endif // BACKLASH_GCODE
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