1 files changed, 77 insertions, 0 deletions
diff --git a/Marlin/src/feature/backlash.h b/Marlin/src/feature/backlash.h
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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"
+
+constexpr uint8_t all_on = 0xFF, all_off = 0x00;
+
+class Backlash {
+public:
+  #if ENABLED(BACKLASH_GCODE)
+    static xyz_float_t distance_mm;
+    static uint8_t correction;
+    #ifdef BACKLASH_SMOOTHING_MM
+      static float smoothing_mm;
+    #endif
+
+    static inline void set_correction(const float &v) { correction = _MAX(0, _MIN(1.0, v)) * all_on; }
+    static inline float get_correction() { return float(ui8_to_percent(correction)) / 100.0f; }
+  #else
+    static constexpr uint8_t correction = (BACKLASH_CORRECTION) * 0xFF;
+    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)
+    private:
+      static xyz_float_t measured_mm;
+      static xyz_uint8_t measured_count;
+    public:
+      static void measure_with_probe();
+  #endif
+
+  static inline 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 inline bool has_measurement(const AxisEnum a) {
+    UNUSED(a);
+    return TERN0(MEASURE_BACKLASH_WHEN_PROBING, measured_count[a] > 0);
+  }
+
+  static inline bool has_any_measurement() {
+    return has_measurement(X_AXIS) || has_measurement(Y_AXIS) || has_measurement(Z_AXIS);
+  }
+
+  void add_correction_steps(const int32_t &da, const int32_t &db, const int32_t &dc, const uint8_t dm, block_t * const block);
+};
+
+extern Backlash backlash;