Added backlash configuration to settings

grbl/MotionControl.c

@@ -37,7 +37,6 @@
 
 static float target_prev[N_AXIS] = {0.0};
 static uint8_t dir_negative[N_AXIS] = {0};
-static float backlash_comp[N_AXIS] = {DEFAULT_X_BACKLASH, DEFAULT_Y_BACKLASH, DEFAULT_Z_BACKLASH};
 
 
 // Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second
@@ -116,7 +115,7 @@ void MC_Line(float *target, Planner_LineData_t *pl_data)
             if(dir_negative[i] == 1)
             {
                 dir_negative[i] = 0;
-                target_prev[i] += backlash_comp[i];
+                target_prev[i] += settings.backlash[i];
 
                 // Backlash compensation
                 pl_backlash.backlash_motion = 1;
@@ -132,7 +131,7 @@ void MC_Line(float *target, Planner_LineData_t *pl_data)
             if(dir_negative[i] == 0)
             {
                 dir_negative[i] = 1;
-                target_prev[i] -= backlash_comp[i];
+                target_prev[i] -= settings.backlash[i];
 
                 // Backlash compensation
                 pl_backlash.backlash_motion = 1;

grbl/Report.c

@@ -250,9 +250,12 @@ void Report_GrblSettings(void) {
 	uint8_t idx, set_idx;
 	uint8_t val = AXIS_SETTINGS_START_VAL;
 
-	for(set_idx = 0; set_idx < AXIS_N_SETTINGS; set_idx++) {
-		for(idx = 0; idx < N_AXIS; idx++) {
-			switch(set_idx) {
+	for(set_idx = 0; set_idx < AXIS_N_SETTINGS; set_idx++)
+    {
+		for(idx = 0; idx < N_AXIS; idx++)
+        {
+			switch(set_idx)
+            {
 			case 0:
 				report_util_float_setting(val+idx,settings.steps_per_mm[idx],N_DECIMAL_SETTINGVALUE);
 				break;
@@ -269,6 +272,10 @@ void Report_GrblSettings(void) {
 				report_util_float_setting(val+idx,-settings.max_travel[idx],N_DECIMAL_SETTINGVALUE);
 				break;
 
+            case 4:
+                report_util_float_setting(val+idx,settings.backlash[idx],N_DECIMAL_SETTINGVALUE);
+                break;
+
 			default:
 				break;
 			}

grbl/Settings.c

@@ -129,6 +129,10 @@ void Settings_Restore(uint8_t restore_flag) {
 		settings.max_travel[Y_AXIS] = (-DEFAULT_Y_MAX_TRAVEL);
 		settings.max_travel[Z_AXIS] = (-DEFAULT_Z_MAX_TRAVEL);
 
+		settings.backlash[X_AXIS] = DEFAULT_X_BACKLASH;
+		settings.backlash[Y_AXIS] = DEFAULT_Y_BACKLASH;
+		settings.backlash[Z_AXIS] = DEFAULT_Z_BACKLASH;
+
 		WriteGlobalSettings();
 	}
 
@@ -261,6 +265,7 @@ uint8_t Settings_StoreGlobalSetting(uint8_t parameter, float value) {
 
 					case 2: settings.acceleration[parameter] = value*60*60; break; // Convert to mm/min^2 for grbl internal use.
 					case 3: settings.max_travel[parameter] = -value; break;  // Store as negative for grbl internal use.
+					case 4: settings.backlash[parameter] = value; break;
 				}
 				break; // Exit while-loop after setting has been configured and proceed to the EEPROM write call.
 			}

grbl/Settings.h

@@ -28,7 +28,7 @@
 
 // Version of the EEPROM data. Will be used to migrate existing data from older versions of Grbl
 // when firmware is upgraded. Always stored in byte 0 of eeprom
-#define SETTINGS_VERSION 					2  // NOTE: Check settings_reset() when moving to next version.
+#define SETTINGS_VERSION 					3  // NOTE: Check settings_reset() when moving to next version.
 
 
 // Define bit flag masks for the boolean settings in settings.system_flags
@@ -78,7 +78,7 @@
 // #define SETTING_INDEX_G92    N_COORDINATE_SYSTEM+2  // Coordinate offset (G92.2,G92.3 not supported)
 
 // Define Grbl axis settings numbering scheme. Starts at START_VAL, every INCREMENT, over N_SETTINGS.
-#define AXIS_N_SETTINGS          			4
+#define AXIS_N_SETTINGS          			5
 #define AXIS_SETTINGS_START_VAL  			100 // NOTE: Reserving settings values >= 100 for axis settings. Up to 255.
 #define AXIS_SETTINGS_INCREMENT  			10  // Must be greater than the number of axis settings
 
@@ -95,6 +95,8 @@ typedef struct {
 	float acceleration[N_AXIS];
 	float max_travel[N_AXIS];
 
+	float backlash[N_AXIS];
+
 	// Remaining Grbl settings
 	// TODO: document system_flags
 	uint8_t system_flags;