diff --git a/Marlin/src/Marlin.cpp b/Marlin/src/Marlin.cpp
index 6a55b399c1e9da075d365e98d044c425ba46dd7e..14e61d8460cb2d33dd288d5783df9c90c1eae9f3 100644
--- a/Marlin/src/Marlin.cpp
+++ b/Marlin/src/Marlin.cpp
@@ -30,6 +30,7 @@
#include "Marlin.h"
+#include "core/utility.h"
#include "lcd/ultralcd.h"
#include "module/motion.h"
#include "module/planner.h"
diff --git a/Marlin/src/core/utility.cpp b/Marlin/src/core/utility.cpp
index 33aa8d45e50ee1be146aed98d105bbca8eaeebe9..565eff0314f067f5296f3be4daa8cc7416d2af34 100644
--- a/Marlin/src/core/utility.cpp
+++ b/Marlin/src/core/utility.cpp
@@ -57,6 +57,16 @@ void safe_delay(millis_t ms) {
#define RJDIGIT(n, f) ((n) >= (f) ? DIGIMOD(n, f) : ' ')
#define MINUSOR(n, alt) (n >= 0 ? (alt) : (n = -n, '-'))
+ // Convert a full-range unsigned 8bit int to a percentage
+ char* ui8tostr_percent(const uint8_t i) {
+ const uint16_t percent = 100 * i / 255;
+ conv[3] = RJDIGIT(percent, 100);
+ conv[4] = RJDIGIT(percent, 10);
+ conv[5] = DIGIMOD(percent, 1);
+ conv[6] = '%';
+ return &conv[3];
+ }
+
// Convert unsigned 8bit int to string 123 format
char* ui8tostr3(const uint8_t i) {
conv[4] = RJDIGIT(i, 100);
diff --git a/Marlin/src/core/utility.h b/Marlin/src/core/utility.h
index 402ed5cd67b98a9764d1f4268a69fa33cd5b02d3..37e9c9e2e1122e3e921559c16cdf5677830d152f 100644
--- a/Marlin/src/core/utility.h
+++ b/Marlin/src/core/utility.h
@@ -55,6 +55,9 @@ inline void serial_delay(const millis_t ms) {
#if ANY(ULTRA_LCD, DEBUG_LEVELING_FEATURE, EXTENSIBLE_UI)
+ // Convert a full-range unsigned 8bit int to a percentage
+ char* ui8tostr_percent(const uint8_t i);
+
// Convert uint8_t to string with 123 format
char* ui8tostr3(const uint8_t x);
@@ -135,3 +138,8 @@ public:
#define REMEMBER(N,X, ...) restorer<typeof(X)> restorer_##N(X, ##__VA_ARGS__)
#define RESTORE(N) restorer_##N.restore()
+
+// Converts from an uint8_t in the range of 0-255 to an uint8_t
+// in the range 0-100 while avoiding rounding artifacts
+constexpr uint8_t ui8_to_percent(const uint8_t i) { return (int(i) * 100 + 127) / 255; }
+constexpr uint8_t all_on = 0xFF, all_off = 0x00;
diff --git a/Marlin/src/gcode/calibrate/G425.cpp b/Marlin/src/gcode/calibrate/G425.cpp
index 59d202d4553ed7da0162e5340816f55ea46a9106..1174fc38f8c2e3448e0b170d28e1378b495b4d3a 100644
--- a/Marlin/src/gcode/calibrate/G425.cpp
+++ b/Marlin/src/gcode/calibrate/G425.cpp
@@ -56,7 +56,8 @@
#define HAS_Y_CENTER BOTH(CALIBRATION_MEASURE_FRONT, CALIBRATION_MEASURE_BACK)
#if ENABLED(BACKLASH_GCODE)
- extern float backlash_distance_mm[], backlash_correction, backlash_smoothing_mm;
+ extern float backlash_distance_mm[], backlash_smoothing_mm;
+ extern uint8_t backlash_correction;
#endif
enum side_t : uint8_t { TOP, RIGHT, FRONT, LEFT, BACK, NUM_SIDES };
@@ -446,7 +447,7 @@ inline void calibrate_backlash(measurements_t &m, const float uncertainty) {
{
// New scope for TEMPORARY_BACKLASH_CORRECTION
- TEMPORARY_BACKLASH_CORRECTION(0.0f);
+ TEMPORARY_BACKLASH_CORRECTION(all_off);
TEMPORARY_BACKLASH_SMOOTHING(0.0f);
probe_sides(m, uncertainty);
@@ -478,7 +479,7 @@ inline void calibrate_backlash(measurements_t &m, const float uncertainty) {
{
// New scope for TEMPORARY_BACKLASH_CORRECTION
- TEMPORARY_BACKLASH_CORRECTION(1.0f);
+ TEMPORARY_BACKLASH_CORRECTION(all_on);
TEMPORARY_BACKLASH_SMOOTHING(0.0f);
move_to(
X_AXIS, current_position[X_AXIS] + 3,
@@ -513,7 +514,7 @@ inline void update_measurements(measurements_t &m, const AxisEnum axis) {
* - Call calibrate_backlash() beforehand for best accuracy
*/
inline void calibrate_toolhead(measurements_t &m, const float uncertainty, const uint8_t extruder) {
- TEMPORARY_BACKLASH_CORRECTION(1.0f);
+ TEMPORARY_BACKLASH_CORRECTION(all_on);
TEMPORARY_BACKLASH_SMOOTHING(0.0f);
#if HOTENDS > 1
@@ -556,7 +557,7 @@ inline void calibrate_toolhead(measurements_t &m, const float uncertainty, const
* uncertainty in - How far away from the object to begin probing
*/
inline void calibrate_all_toolheads(measurements_t &m, const float uncertainty) {
- TEMPORARY_BACKLASH_CORRECTION(1.0f);
+ TEMPORARY_BACKLASH_CORRECTION(all_on);
TEMPORARY_BACKLASH_SMOOTHING(0.0f);
HOTEND_LOOP() calibrate_toolhead(m, uncertainty, e);
@@ -588,7 +589,7 @@ inline void calibrate_all() {
reset_hotend_offsets();
#endif
- TEMPORARY_BACKLASH_CORRECTION(1.0f);
+ TEMPORARY_BACKLASH_CORRECTION(all_on);
TEMPORARY_BACKLASH_SMOOTHING(0.0f);
// Do a fast and rough calibration of the toolheads
diff --git a/Marlin/src/gcode/calibrate/M425.cpp b/Marlin/src/gcode/calibrate/M425.cpp
index 2b82bb88422192238ea76f17ecc9dc4868e3f6c8..e51c9301cf0a5bc5580a5e8a530ebb552d3436ff 100644
--- a/Marlin/src/gcode/calibrate/M425.cpp
+++ b/Marlin/src/gcode/calibrate/M425.cpp
@@ -26,8 +26,8 @@
#include "../../module/planner.h"
-float backlash_distance_mm[XYZ] = BACKLASH_DISTANCE_MM,
- backlash_correction = BACKLASH_CORRECTION;
+float backlash_distance_mm[XYZ] = BACKLASH_DISTANCE_MM;
+uint8_t backlash_correction = BACKLASH_CORRECTION * all_on;
#ifdef BACKLASH_SMOOTHING_MM
float backlash_smoothing_mm = BACKLASH_SMOOTHING_MM;
@@ -74,7 +74,7 @@ void GcodeSuite::M425() {
if (parser.seen('F')) {
planner.synchronize();
- backlash_correction = MAX(0, MIN(1.0, parser.value_linear_units()));
+ backlash_correction = MAX(0, MIN(1.0, parser.value_float())) * all_on;
noArgs = false;
}
@@ -90,8 +90,7 @@ void GcodeSuite::M425() {
SERIAL_ECHOPGM("Backlash correction is ");
if (!backlash_correction) SERIAL_ECHOPGM("in");
SERIAL_ECHOLNPGM("active:");
- SERIAL_ECHOPAIR(" Correction Amount/Fade-out: F", backlash_correction);
- SERIAL_ECHOLNPGM(" (F1.0 = full, F0.0 = none)");
+ SERIAL_ECHOLNPAIR(" Correction Amount/Fade-out: F", float(ui8_to_percent(backlash_correction)) / 100, " (F1.0 = full, F0.0 = none)");
SERIAL_ECHOPGM(" Backlash Distance (mm): ");
LOOP_XYZ(a) {
SERIAL_CHAR(' ');
diff --git a/Marlin/src/lcd/extensible_ui/ui_api.cpp b/Marlin/src/lcd/extensible_ui/ui_api.cpp
index 329e551b256b732d8511030d53a39d284da4232a..3965371439baceaf6973de25826760176fb50bc6 100644
--- a/Marlin/src/lcd/extensible_ui/ui_api.cpp
+++ b/Marlin/src/lcd/extensible_ui/ui_api.cpp
@@ -82,7 +82,8 @@
#include "ui_api.h"
#if ENABLED(BACKLASH_GCODE)
- extern float backlash_distance_mm[XYZ], backlash_correction;
+ extern float backlash_distance_mm[XYZ];
+ extern uint8_t backlash_correction;
#ifdef BACKLASH_SMOOTHING_MM
extern float backlash_smoothing_mm;
#endif
@@ -686,8 +687,8 @@ namespace ExtUI {
void setAxisBacklash_mm(const float value, const axis_t axis)
{ backlash_distance_mm[axis] = clamp(value,0,5); }
- float getBacklashCorrection_percent() { return backlash_correction * 100; }
- void setBacklashCorrection_percent(const float value) { backlash_correction = clamp(value, 0, 100) / 100.0f; }
+ float getBacklashCorrection_percent() { return ui8_to_percent(backlash_correction); }
+ void setBacklashCorrection_percent(const float value) { backlash_correction = map(clamp(value, 0, 100), 0, 100, 0, 255); }
#ifdef BACKLASH_SMOOTHING_MM
float getBacklashSmoothing_mm() { return backlash_smoothing_mm; }
diff --git a/Marlin/src/lcd/language/language_en.h b/Marlin/src/lcd/language/language_en.h
index 3f1cdef00a638b357bfac50569ea1d101d0cf8e8..de78f479df00719c93fee9819ce2405a14874c0b 100644
--- a/Marlin/src/lcd/language/language_en.h
+++ b/Marlin/src/lcd/language/language_en.h
@@ -1386,3 +1386,13 @@
#ifndef MSG_SERVICE_IN
#define MSG_SERVICE_IN _UxGT(" in:")
#endif
+
+#ifndef MSG_BACKLASH
+ #define MSG_BACKLASH _UxGT("Backlash")
+#endif
+#ifndef MSG_BACKLASH_CORRECTION
+ #define MSG_BACKLASH_CORRECTION _UxGT("Correction")
+#endif
+#ifndef MSG_BACKLASH_SMOOTHING
+ #define MSG_BACKLASH_SMOOTHING _UxGT("Smoothing")
+#endif
diff --git a/Marlin/src/lcd/menu/menu.h b/Marlin/src/lcd/menu/menu.h
index 061a7498a077d9cfe155709f3e4c12c825a003d7..c17f11677510c21270d6377972d006b724ea2944 100644
--- a/Marlin/src/lcd/menu/menu.h
+++ b/Marlin/src/lcd/menu/menu.h
@@ -43,6 +43,7 @@ bool printer_busy();
static inline char* strfunc(const float value) { return STRFUNC((TYPE) value); } \
};
+DECLARE_MENU_EDIT_TYPE(uint8_t, percent, ui8tostr_percent,1 ); // 100% right-justified
DECLARE_MENU_EDIT_TYPE(int16_t, int3, i16tostr3, 1 ); // 123, -12 right-justified
DECLARE_MENU_EDIT_TYPE(int16_t, int4, i16tostr4sign, 1 ); // 1234, -123 right-justified
DECLARE_MENU_EDIT_TYPE(int8_t, int8, i8tostr3, 1 ); // 123, -12 right-justified
@@ -102,6 +103,7 @@ FORCE_INLINE void draw_menu_item_edit_P(const bool sel, const uint8_t row, PGM_P
typedef void NAME##_void
#define DEFINE_DRAW_MENU_ITEM_SETTING_EDIT(NAME) _DEFINE_DRAW_MENU_ITEM_SETTING_EDIT(MenuItemInfo_##NAME::type_t, NAME, MenuItemInfo_##NAME::strfunc)
+DEFINE_DRAW_MENU_ITEM_SETTING_EDIT(percent); // 100% right-justified
DEFINE_DRAW_MENU_ITEM_SETTING_EDIT(int3); // 123, -12 right-justified
DEFINE_DRAW_MENU_ITEM_SETTING_EDIT(int4); // 1234, -123 right-justified
DEFINE_DRAW_MENU_ITEM_SETTING_EDIT(int8); // 123, -12 right-justified
@@ -174,6 +176,7 @@ class TMenuItem : MenuItemBase {
#define DECLARE_MENU_EDIT_ITEM(NAME) typedef TMenuItem<MenuItemInfo_##NAME> MenuItem_##NAME;
+DECLARE_MENU_EDIT_ITEM(percent);
DECLARE_MENU_EDIT_ITEM(int3);
DECLARE_MENU_EDIT_ITEM(int4);
DECLARE_MENU_EDIT_ITEM(int8);
diff --git a/Marlin/src/lcd/menu/menu_advanced.cpp b/Marlin/src/lcd/menu/menu_advanced.cpp
index 8bfce59ece8daa7a079f46817eb8dce1da738104..89955484b0259c3b7e4acee6ff79ed8fc9b7da60 100644
--- a/Marlin/src/lcd/menu/menu_advanced.cpp
+++ b/Marlin/src/lcd/menu/menu_advanced.cpp
@@ -49,6 +49,7 @@
#endif
void menu_tmc();
+void menu_backlash();
#if ENABLED(DAC_STEPPER_CURRENT)
@@ -647,6 +648,10 @@ void menu_advanced_settings() {
}
#endif // !SLIM_LCD_MENUS
+ #if ENABLED(BACKLASH_GCODE)
+ MENU_ITEM(submenu, MSG_BACKLASH, menu_backlash);
+ #endif
+
#if ENABLED(DAC_STEPPER_CURRENT)
MENU_ITEM(submenu, MSG_DRIVE_STRENGTH, menu_dac);
#endif
diff --git a/Marlin/src/lcd/menu/menu_backlash.cpp b/Marlin/src/lcd/menu/menu_backlash.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..1b183e10632aba421a999835d0554f7207f8c2b5
--- /dev/null
+++ b/Marlin/src/lcd/menu/menu_backlash.cpp
@@ -0,0 +1,58 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2019 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 <http://www.gnu.org/licenses/>.
+ *
+ */
+
+//
+// Backlash Menu
+//
+
+#include "../../inc/MarlinConfigPre.h"
+
+#if HAS_LCD_MENU && ENABLED(BACKLASH_GCODE)
+
+#include "menu.h"
+
+extern float backlash_distance_mm[XYZ];
+extern uint8_t backlash_correction;
+
+#ifdef BACKLASH_SMOOTHING_MM
+ extern float backlash_smoothing_mm;
+#endif
+
+void menu_backlash() {
+ START_MENU();
+ MENU_BACK(MSG_MAIN);
+
+ MENU_MULTIPLIER_ITEM_EDIT(percent, MSG_BACKLASH_CORRECTION, &backlash_correction, all_off, all_on);
+
+ #define EDIT_BACKLASH_DISTANCE(N) MENU_MULTIPLIER_ITEM_EDIT(float43, MSG_##N, &backlash_distance_mm[_AXIS(N)], 0.0f, 9.9f);
+ EDIT_BACKLASH_DISTANCE(A);
+ EDIT_BACKLASH_DISTANCE(B);
+ EDIT_BACKLASH_DISTANCE(C);
+
+ #ifdef BACKLASH_SMOOTHING_MM
+ MENU_MULTIPLIER_ITEM_EDIT(float43, MSG_BACKLASH_SMOOTHING, &backlash_smoothing_mm, 0.0f, 9.9f);
+ #endif
+
+ END_MENU();
+}
+
+#endif // HAS_LCD_MENU && BACKLASH_COMPENSATION
diff --git a/Marlin/src/lcd/menu/menu_temperature.cpp b/Marlin/src/lcd/menu/menu_temperature.cpp
index 051ea9bd0ed284117dff1a0795fdd205941850df..012c0d574e9693b6b6c5f46b57e804b0322be2ec 100644
--- a/Marlin/src/lcd/menu/menu_temperature.cpp
+++ b/Marlin/src/lcd/menu/menu_temperature.cpp
@@ -395,21 +395,21 @@ void menu_temperature() {
//
#if FAN_COUNT > 0
#if HAS_FAN0
- MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(uint8, MSG_FAN_SPEED FAN_SPEED_1_SUFFIX, &thermalManager.lcd_tmpfan_speed[0], 0, 255, thermalManager.lcd_setFanSpeed0);
+ MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(percent, MSG_FAN_SPEED FAN_SPEED_1_SUFFIX, &thermalManager.lcd_tmpfan_speed[0], 0, 255, thermalManager.lcd_setFanSpeed0);
#if ENABLED(EXTRA_FAN_SPEED)
- MENU_MULTIPLIER_ITEM_EDIT(uint8, MSG_EXTRA_FAN_SPEED FAN_SPEED_1_SUFFIX, &thermalManager.new_fan_speed[0], 3, 255);
+ MENU_MULTIPLIER_ITEM_EDIT(percent, MSG_EXTRA_FAN_SPEED FAN_SPEED_1_SUFFIX, &thermalManager.new_fan_speed[0], 3, 255);
#endif
#endif
#if HAS_FAN1 || (ENABLED(SINGLENOZZLE) && EXTRUDERS > 1)
- MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(uint8, MSG_FAN_SPEED " 2", &thermalManager.lcd_tmpfan_speed[1], 0, 255, thermalManager.lcd_setFanSpeed1);
+ MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(percent, MSG_FAN_SPEED " 2", &thermalManager.lcd_tmpfan_speed[1], 0, 255, thermalManager.lcd_setFanSpeed1);
#if ENABLED(EXTRA_FAN_SPEED)
- MENU_MULTIPLIER_ITEM_EDIT(uint8, MSG_EXTRA_FAN_SPEED " 2", &thermalManager.new_fan_speed[1], 3, 255);
+ MENU_MULTIPLIER_ITEM_EDIT(percent, MSG_EXTRA_FAN_SPEED " 2", &thermalManager.new_fan_speed[1], 3, 255);
#endif
#endif
#if HAS_FAN2 || (ENABLED(SINGLENOZZLE) && EXTRUDERS > 2)
- MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(uint8, MSG_FAN_SPEED " 3", &thermalManager.lcd_tmpfan_speed[2], 0, 255, thermalManager.lcd_setFanSpeed2);
+ MENU_MULTIPLIER_ITEM_EDIT_CALLBACK(percent, MSG_FAN_SPEED " 3", &thermalManager.lcd_tmpfan_speed[2], 0, 255, thermalManager.lcd_setFanSpeed2);
#if ENABLED(EXTRA_FAN_SPEED)
- MENU_MULTIPLIER_ITEM_EDIT(uint8, MSG_EXTRA_FAN_SPEED " 3", &thermalManager.new_fan_speed[2], 3, 255);
+ MENU_MULTIPLIER_ITEM_EDIT(percent, MSG_EXTRA_FAN_SPEED " 3", &thermalManager.new_fan_speed[2], 3, 255);
#endif
#endif
#endif // FAN_COUNT > 0
diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp
index 5da05d0161c970770bf52e2d9302c50a3faf0f9a..ff4f13e1d735f8d338ec2b3b71c4679e8e3db869 100644
--- a/Marlin/src/module/planner.cpp
+++ b/Marlin/src/module/planner.cpp
@@ -1572,13 +1572,14 @@ void Planner::synchronize() {
*/
#if ENABLED(BACKLASH_COMPENSATION)
#if ENABLED(BACKLASH_GCODE)
- extern float backlash_distance_mm[], backlash_correction;
+ extern float backlash_distance_mm[];
+ extern uint8_t backlash_correction;
#ifdef BACKLASH_SMOOTHING_MM
extern float backlash_smoothing_mm;
#endif
#else
constexpr float backlash_distance_mm[XYZ] = BACKLASH_DISTANCE_MM,
- backlash_correction = BACKLASH_CORRECTION;
+ constexpr uint8_t backlash_correction = BACKLASH_CORRECTION * 255;
#ifdef BACKLASH_SMOOTHING_MM
constexpr float backlash_smoothing_mm = BACKLASH_SMOOTHING_MM;
#endif
@@ -1612,13 +1613,15 @@ void Planner::synchronize() {
if (!changed_dir) return;
#endif
+ const float f_corr = float(backlash_correction) / 255.0f;
+
LOOP_XYZ(axis) {
if (backlash_distance_mm[axis]) {
const bool reversing = TEST(dm,axis);
// When an axis changes direction, add axis backlash to the residual error
if (TEST(changed_dir, axis))
- residual_error[axis] += backlash_correction * (reversing ? -1.0f : 1.0f) * backlash_distance_mm[axis] * planner.settings.axis_steps_per_mm[axis];
+ residual_error[axis] += (reversing ? -f_corr : f_corr) * backlash_distance_mm[axis] * planner.settings.axis_steps_per_mm[axis];
// Decide how much of the residual error to correct in this segment
int32_t error_correction = residual_error[axis];
diff --git a/Marlin/src/module/temperature.h b/Marlin/src/module/temperature.h
index ecb76765cc24efcf74af155ddad3559e2d121174..01dafa1df02e429eca669466ed2b905aced3f92a 100644
--- a/Marlin/src/module/temperature.h
+++ b/Marlin/src/module/temperature.h
@@ -420,7 +420,7 @@ class Temperature {
static uint8_t paused_fan_speed[FAN_COUNT];
#endif
- static constexpr inline uint8_t fanPercent(const uint8_t speed) { return (int(speed) * 100 + 127) / 255; }
+ static constexpr inline uint8_t fanPercent(const uint8_t speed) { return ui8_to_percent(speed); }
#if ENABLED(ADAPTIVE_FAN_SLOWING)
static uint8_t fan_speed_scaler[FAN_COUNT];