1 files changed, 111 insertions, 0 deletions
diff --git a/Marlin/src/gcode/calibrate/M425.cpp b/Marlin/src/gcode/calibrate/M425.cpp
new file mode 100644
index 0000000..40441ac
--- /dev/null
+++ b/Marlin/src/gcode/calibrate/M425.cpp
@@ -0,0 +1,111 @@
+/**
+ * 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