🚸 Fix, extend X Axis Twist Compensation (#23745)

Co-authored-by: Scott Lahteine <[email protected]>

Marlin/src/core/serial.cpp

@@ -78,6 +78,14 @@ void serial_error_start() { static PGMSTR(errormagic, "Error:"); serial_print_P(
 
 void serial_spaces(uint8_t count) { count *= (PROPORTIONAL_FONT_RATIO); while (count--) SERIAL_CHAR(' '); }
 
+void serial_offset(const_float_t v, const uint8_t sp/*=0*/) {
+  if (v == 0 && sp == 1)
+    SERIAL_CHAR(' ');
+  else if (v > 0 || (v == 0 && sp == 2))
+    SERIAL_CHAR('+');
+  SERIAL_DECIMAL(v);
+}
+
 void serial_ternary(const bool onoff, FSTR_P const pre, FSTR_P const on, FSTR_P const off, FSTR_P const post/*=nullptr*/) {
   if (pre) serial_print(pre);
   serial_print(onoff ? on : off);

Marlin/src/core/serial.h

@@ -345,6 +345,7 @@ void serialprint_onoff(const bool onoff);
 void serialprintln_onoff(const bool onoff);
 void serialprint_truefalse(const bool tf);
 void serial_spaces(uint8_t count);
+void serial_offset(const_float_t v, const uint8_t sp=0); // For v==0 draw space (sp==1) or plus (sp==2)
 
 void print_bin(const uint16_t val);
 void print_pos(LINEAR_AXIS_ARGS(const_float_t), FSTR_P const prefix=nullptr, FSTR_P const suffix=nullptr);

Marlin/src/core/utility.cpp

@@ -126,10 +126,8 @@ void safe_delay(millis_t ms) {
         #if ABL_PLANAR
           SERIAL_ECHOPGM("ABL Adjustment");
           LOOP_LINEAR_AXES(a) {
-            const float v = planner.get_axis_position_mm(AxisEnum(a)) - current_position[a];
             SERIAL_CHAR(' ', AXIS_CHAR(a));
-            if (v > 0) SERIAL_CHAR('+');
-            SERIAL_DECIMAL(v);
+            serial_offset(planner.get_axis_position_mm(AxisEnum(a)) - current_position[a]);
           }
         #else
           #if ENABLED(AUTO_BED_LEVELING_UBL)

Marlin/src/feature/bedlevel/ubl/ubl.cpp

@@ -213,8 +213,8 @@ void unified_bed_leveling::display_map(const uint8_t map_type) {
       else if (isnan(f))
         SERIAL_ECHOF(human ? F("  .   ") : F("NAN"));
       else if (human || csv) {
-        if (human && f >= 0.0) SERIAL_CHAR(f > 0 ? '+' : ' ');  // Display sign also for positive numbers (' ' for 0)
-        SERIAL_ECHO_F(f, 3);                                    // Positive: 5 digits, Negative: 6 digits
+        if (human && f >= 0) SERIAL_CHAR(f > 0 ? '+' : ' ');  // Display sign also for positive numbers (' ' for 0)
+        SERIAL_DECIMAL(f);                                    // Positive: 5 digits, Negative: 6 digits
       }
       if (csv && i < (GRID_MAX_POINTS_X) - 1) SERIAL_CHAR('\t');
 

Marlin/src/feature/mixing.cpp

@@ -63,7 +63,7 @@ void Mixer::normalize(const uint8_t tool_index) {
   #ifdef MIXER_NORMALIZER_DEBUG
     SERIAL_ECHOPGM("Mixer: Old relation : [ ");
     MIXER_STEPPER_LOOP(i) {
-      SERIAL_ECHO_F(collector[i] / csum, 3);
+      SERIAL_DECIMAL(collector[i] / csum);
       SERIAL_CHAR(' ');
     }
     SERIAL_ECHOLNPGM("]");

Marlin/src/feature/x_twist.cpp

@@ -36,23 +36,19 @@ void XATC::reset() {
   constexpr float xzo[] = XATC_Z_OFFSETS;
   static_assert(COUNT(xzo) == XATC_MAX_POINTS, "XATC_Z_OFFSETS is the wrong size.");
   COPY(z_offset, xzo);
-  xatc.spacing = (probe.max_x() - probe.min_x()) / (XATC_MAX_POINTS - 1);
-  xatc.start = probe.min_x();
+  start = probe.min_x();
+  spacing = (probe.max_x() - start) / (XATC_MAX_POINTS - 1);
   enabled = true;
 }
 
 void XATC::print_points() {
   SERIAL_ECHOLNPGM(" X-Twist Correction:");
   LOOP_L_N(x, XATC_MAX_POINTS) {
     SERIAL_CHAR(' ');
-    if (!isnan(z_offset[x])) {
-      if (z_offset[x] >= 0) SERIAL_CHAR('+');
-      SERIAL_ECHO_F(z_offset[x], 3);
-    }
-    else {
-      LOOP_L_N(i, 6)
-        SERIAL_CHAR(i ? '=' : ' ');
-    }
+    if (!isnan(z_offset[x]))
+      serial_offset(z_offset[x]);
+    else
+      LOOP_L_N(i, 6) SERIAL_CHAR(i ? '=' : ' ');
   }
   SERIAL_EOL();
 }
@@ -63,8 +59,7 @@ float XATC::compensation(const xy_pos_t &raw) {
   if (!enabled) return 0;
   if (NEAR_ZERO(spacing)) return 0;
   float t = (raw.x - start) / spacing;
-  int i = FLOOR(t);
-  LIMIT(i, 0, XATC_MAX_POINTS - 2);
+  const int i = constrain(FLOOR(t), 0, XATC_MAX_POINTS - 2);
   t -= i;
   return lerp(t, z_offset[i], z_offset[i + 1]);
 }

Marlin/src/gcode/calibrate/G33.cpp

@@ -98,8 +98,7 @@ void ac_cleanup(TERN_(HAS_MULTI_HOTEND, const uint8_t old_tool_index)) {
 void print_signed_float(FSTR_P const prefix, const_float_t f) {
   SERIAL_ECHOPGM("  ");
   SERIAL_ECHOF(prefix, AS_CHAR(':'));
-  if (f >= 0) SERIAL_CHAR('+');
-  SERIAL_ECHO_F(f, 2);
+  serial_offset(f);
 }
 
 /**

Marlin/src/gcode/gcode.h

@@ -1195,6 +1195,11 @@ class GcodeSuite {
     static void M1000();
   #endif
 
+  #if ENABLED(X_AXIS_TWIST_COMPENSATION)
+    static void M423();
+    static void M423_report(const bool forReplay=true);
+  #endif
+
   #if ENABLED(SDSUPPORT)
     static void M1001();
   #endif

Marlin/src/gcode/probe/M423.cpp

@@ -0,0 +1,99 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2022 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/>.
+ *
+ */
+
+/**
+ * M423.cpp - X-Axis Twist Compensation
+ */
+
+#include "../../inc/MarlinConfig.h"
+
+#if ENABLED(X_AXIS_TWIST_COMPENSATION)
+
+#include "../gcode.h"
+#include "../../feature/x_twist.h"
+#include "../../module/probe.h"
+
+/**
+ * M423: Set a Z offset for X-Twist (added to the mesh on future G29).
+ *  M423 [R] [A<startx>] [I<interval>] [X<index> Z<offset>]
+ *
+ *    R         - Reset the twist compensation data
+ *    A<linear> - Set the X twist starting X position
+ *    E<linear> - Set the X twist ending X position
+ *    I<linear> - Set the X twist X-spacing directly
+ *    X<index>  - Index of a Z value in the list
+ *    Z<linear> - A Z value to set
+ */
+void GcodeSuite::M423() {
+
+  bool do_report = true;
+  float new_spacing = 0;
+
+  if (parser.seen_test('R')) {
+    do_report = false;
+    xatc.reset();
+  }
+  if (parser.seenval('A')) {
+    do_report = false;
+    xatc.start = parser.value_float();
+    new_spacing = (probe.max_x() - xatc.start) / (XATC_MAX_POINTS - 1);
+  }
+  if (parser.seenval('E')) {
+    do_report = false;
+    new_spacing = (parser.value_float() - xatc.start) / (XATC_MAX_POINTS - 1);
+  }
+  else if (parser.seenval('I')) {
+    do_report = false;
+    new_spacing = parser.value_float();
+  }
+
+  if (new_spacing) xatc.spacing = new_spacing;
+
+  if (parser.seenval('X')) {
+    do_report = false;
+    const int8_t x = parser.value_int();
+    if (!WITHIN(x, 0, XATC_MAX_POINTS - 1))
+      SERIAL_ECHOLNPGM("?(X) out of range (0..", XATC_MAX_POINTS - 1, ").");
+    else {
+      if (parser.seenval('Z'))
+        xatc.z_offset[x] = parser.value_linear_units();
+      else
+        SERIAL_ECHOLNPGM("?(Z) required.");
+    }
+  }
+
+  if (do_report) M423_report();
+
+}
+
+void GcodeSuite::M423_report(const bool forReplay/*=true*/) {
+  report_heading(forReplay, F("X-Twist Correction"));
+  SERIAL_ECHOLNPGM("  M423 A", xatc.start, " I", xatc.spacing);
+  LOOP_L_N(x, XATC_MAX_POINTS) {
+    const float z = xatc.z_offset[x];
+    SERIAL_ECHOPGM("  M423 X", x, " Z");
+    serial_offset(isnan(z) ? 0 : z);
+    SERIAL_EOL();
+  }
+}
+
+#endif // X_AXIS_TWIST_COMPENSATION

Marlin/src/lcd/menu/menu_x_twist.cpp

@@ -153,7 +153,7 @@ void xatc_wizard_goto_next_point() {
       measured_z = probe.probe_at_point(x, XATC_Y_POSITION, PROBE_PT_STOW);
       xatc.set_enabled(true);
       current_position += probe.offset_xy;
-      current_position.z = XATC_START_Z - probe.offset.z + measured_z;
+      current_position.z = (XATC_START_Z) - probe.offset.z + measured_z;
       line_to_current_position(MMM_TO_MMS(XY_PROBE_FEEDRATE));
       ui.wait_for_move = false;
     }

Marlin/src/libs/vector_3.cpp

@@ -141,8 +141,7 @@ void matrix_3x3::debug(FSTR_P const title) {
   if (title) SERIAL_ECHOLNF(title);
   LOOP_L_N(i, 3) {
     LOOP_L_N(j, 3) {
-      if (vectors[i][j] >= 0.0) SERIAL_CHAR('+');
-      SERIAL_ECHO_F(vectors[i][j], 6);
+      serial_offset(vectors[i][j], 2);
       SERIAL_CHAR(' ');
     }
     SERIAL_EOL();

Marlin/src/module/settings.cpp

@@ -277,7 +277,7 @@ typedef struct SettingsDataStruct {
   // X_AXIS_TWIST_COMPENSATION
   //
   #if ENABLED(X_AXIS_TWIST_COMPENSATION)
-    XATC xatc;                                          // TBD
+    XATC xatc;                                          // M423 X Z
   #endif
 
   //
@@ -901,7 +901,9 @@ void MarlinSettings::postprocess() {
     //
     #if ENABLED(X_AXIS_TWIST_COMPENSATION)
       _FIELD_TEST(xatc);
-      EEPROM_WRITE(xatc);
+      EEPROM_WRITE(xatc.spacing);
+      EEPROM_WRITE(xatc.start);
+      EEPROM_WRITE(xatc.z_offset);
     #endif
 
     //
@@ -1809,7 +1811,10 @@ void MarlinSettings::postprocess() {
       // X Axis Twist Compensation
       //
       #if ENABLED(X_AXIS_TWIST_COMPENSATION)
-        EEPROM_READ(xatc);
+        _FIELD_TEST(xatc);
+        EEPROM_READ(xatc.spacing);
+        EEPROM_READ(xatc.start);
+        EEPROM_READ(xatc.z_offset);
       #endif
 
       //
@@ -3337,14 +3342,13 @@ void MarlinSettings::reset() {
 
       #endif
 
-      // TODO: Create G-code for settings
-      //#if ENABLED(X_AXIS_TWIST_COMPENSATION)
-      //  CONFIG_ECHO_START();
-      //  xatc.print_points();
-      //#endif
-
     #endif // HAS_LEVELING
 
+    //
+    // X Axis Twist Compensation
+    //
+    TERN_(X_AXIS_TWIST_COMPENSATION, gcode.M423_report(forReplay));
+
     //
     // Editable Servo Angles
     //

ini/features.ini

@@ -98,7 +98,7 @@ USB_FLASH_DRIVE_SUPPORT                = src_filter=+<src/sd/usb_flashdrive/Sd2C
 HAS_MCP3426_ADC                        = src_filter=+<src/feature/adc> +<src/gcode/feature/adc>
 AUTO_BED_LEVELING_BILINEAR             = src_filter=+<src/feature/bedlevel/abl>
 AUTO_BED_LEVELING_(3POINT|(BI)?LINEAR) = src_filter=+<src/gcode/bedlevel/abl>
-X_AXIS_TWIST_COMPENSATION              = src_filter=+<src/feature/x_twist.cpp> +<src/lcd/menu/menu_x_twist.cpp>
+X_AXIS_TWIST_COMPENSATION              = src_filter=+<src/feature/x_twist.cpp> +<src/lcd/menu/menu_x_twist.cpp> +<src/gcode/probe/M423.cpp>
 MESH_BED_LEVELING                      = src_filter=+<src/feature/bedlevel/mbl> +<src/gcode/bedlevel/mbl>
 AUTO_BED_LEVELING_UBL                  = src_filter=+<src/feature/bedlevel/ubl> +<src/gcode/bedlevel/ubl>
 UBL_HILBERT_CURVE                      = src_filter=+<src/feature/bedlevel/hilbert_curve.cpp>

platformio.ini

@@ -150,7 +150,7 @@ default_src_filter = +<src/*> -<src/config> -<src/HAL> +<src/HAL/shared>
   -<src/feature/tmc_util.cpp> -<src/module/stepper/trinamic.cpp>
   -<src/feature/tramming.cpp>
   -<src/feature/twibus.cpp>
-  -<src/feature/x_twist.cpp>
+  -<src/feature/x_twist.cpp> -<src/gcode/probe/M423.cpp>
   -<src/feature/z_stepper_align.cpp>
   -<src/gcode/bedlevel/G26.cpp>
   -<src/gcode/bedlevel/G35.cpp>