Update - Merge w/ Marlin, change how .bin renames

🐛 Fix Backlash Compensation layer shift (#26392)
🔨 Minor schema.py updates
random-bin.py does the tacking on time to firmware file + print()

Marlin/src/feature/backlash.cpp

@@ -63,25 +63,25 @@ Backlash backlash;
  * spread over multiple segments, smoothing out artifacts even more.
  */
 
-void Backlash::add_correction_steps(const int32_t &da, const int32_t &db, const int32_t &dc, const AxisBits dm, block_t * const block) {
+void Backlash::add_correction_steps(const xyze_long_t &dist, const AxisBits dm, block_t * const block) {
   AxisBits changed_dir = last_direction_bits ^ dm;
   // Ignore direction change unless steps are taken in that direction
   #if DISABLED(CORE_BACKLASH) || ANY(MARKFORGED_XY, MARKFORGED_YX)
-    if (!da)        changed_dir.x = false;
-    if (!db)        changed_dir.y = false;
-    if (!dc)        changed_dir.z = false;
+    if (!dist.a)            changed_dir.x = false;
+    if (!dist.b)            changed_dir.y = false;
+    if (!dist.c)            changed_dir.z = false;
   #elif CORE_IS_XY
-    if (!(da + db)) changed_dir.x = false;
-    if (!(da - db)) changed_dir.y = false;
-    if (!dc)        changed_dir.z = false;
+    if (!(dist.a + dist.b)) changed_dir.x = false;
+    if (!(dist.a - dist.b)) changed_dir.y = false;
+    if (!dist.c)            changed_dir.z = false;
   #elif CORE_IS_XZ
-    if (!(da + dc)) changed_dir.x = false;
-    if (!(da - dc)) changed_dir.z = false;
-    if (!db)        changed_dir.y = false;
+    if (!(dist.a + dist.c)) changed_dir.x = false;
+    if (!(dist.a - dist.c)) changed_dir.z = false;
+    if (!dist.b)            changed_dir.y = false;
   #elif CORE_IS_YZ
-    if (!(db + dc)) changed_dir.y = false;
-    if (!(db - dc)) changed_dir.z = false;
-    if (!da)        changed_dir.x = false;
+    if (!(dist.b + dist.c)) changed_dir.y = false;
+    if (!(dist.b - dist.c)) changed_dir.z = false;
+    if (!dist.a)            changed_dir.x = false;
   #endif
   last_direction_bits ^= changed_dir;
 
@@ -97,7 +97,15 @@ void Backlash::add_correction_steps(const int32_t &da, const int32_t &db, const
 
   const float f_corr = float(correction) / all_on;
 
+  bool changed = false;
+  float millimeters_delta = 0.0f;
+  #if IS_KINEMATIC
+    float sqr_stepper_space_mm = 0.0f;
+  #endif
+
   LOOP_NUM_AXES(axis) {
+    TERN_(IS_KINEMATIC, sqr_stepper_space_mm += sq(dist[axis] * planner.mm_per_step[axis]));
+
     if (distance_mm[axis]) {
       const bool forward = dm[axis];
 
@@ -107,8 +115,6 @@ void Backlash::add_correction_steps(const int32_t &da, const int32_t &db, const
 
       // Decide how much of the residual error to correct in this segment
       int32_t error_correction = residual_error[axis];
-      if (forward == (error_correction < 0))
-        error_correction = 0; // Don't take up any backlash in this segment, as it would subtract steps
 
       #ifdef BACKLASH_SMOOTHING_MM
         if (error_correction && smoothing_mm != 0) {
@@ -118,9 +124,18 @@ void Backlash::add_correction_steps(const int32_t &da, const int32_t &db, const
         }
       #endif
 
+      // Don't correct backlash in the opposite direction to movement on this axis and for accuracy in
+      // updating block->millimeters, don't add too many steps to the movement on this axis
+      if (forward)
+        LIMIT(error_correction, 0, dist[axis]);
+      else
+        LIMIT(error_correction, dist[axis], 0);
+
       // This correction reduces the residual error and adds block steps
       if (error_correction) {
+        changed = true;
         block->steps[axis] += ABS(error_correction);
+        millimeters_delta += dist[axis] * error_correction * sq(planner.mm_per_step[axis]);
         #if ENABLED(CORE_BACKLASH)
           switch (axis) {
             case CORE_AXIS_1:
@@ -142,6 +157,11 @@ void Backlash::add_correction_steps(const int32_t &da, const int32_t &db, const
       }
     }
   }
+
+  // If backlash correction steps were added modify block->millimeters with a linear approximation
+  // See https://github.com/MarlinFirmware/Marlin/pull/26392
+  if (changed)
+    block->millimeters += TERN(IS_KINEMATIC, millimeters_delta * block->millimeters / sqr_stepper_space_mm, millimeters_delta / block->millimeters);
 }
 
 int32_t Backlash::get_applied_steps(const AxisEnum axis) {
@@ -151,8 +171,8 @@ int32_t Backlash::get_applied_steps(const AxisEnum axis) {
 
   const int32_t residual_error_axis = residual_error[axis];
 
-  // At startup it is assumed the last move was forwards. So the applied
-  // steps will always be a non-positive number.
+  // At startup it is assumed the last move was forward.
+  // So the applied steps will always be negative.
 
   if (forward) return -residual_error_axis;
 

Marlin/src/feature/backlash.h

@@ -72,7 +72,7 @@ class Backlash {
     return has_measurement(X_AXIS) || has_measurement(Y_AXIS) || has_measurement(Z_AXIS);
   }
 
-  static void add_correction_steps(const int32_t &da, const int32_t &db, const int32_t &dc, const AxisBits dm, block_t * const block);
+  static void add_correction_steps(const xyze_long_t &dist, const AxisBits dm, block_t * const block);
   static int32_t get_applied_steps(const AxisEnum axis);
 
   #if ENABLED(BACKLASH_GCODE)

Marlin/src/module/planner.cpp

@@ -2178,7 +2178,7 @@ bool Planner::_populate_block(
      * A correction function is permitted to add steps to an axis, it
      * should *never* remove steps!
      */
-    TERN_(BACKLASH_COMPENSATION, backlash.add_correction_steps(dist.a, dist.b, dist.c, dm, block));
+    TERN_(BACKLASH_COMPENSATION, backlash.add_correction_steps(dist, dm, block));
   }
 
   TERN_(HAS_EXTRUDERS, block->steps.e = esteps);

README.md

@@ -70,14 +70,22 @@ There is a *MarlinSimulator.exe* file provided to test out for yourself. It simu
 
 To create your own MarlinSimulator with you own build, start by changing in Configuration.h **MOTHERBOARD** to *BOARD_SIMULATED*, also disable `ENDSTOP_INTERRUPTS_FEATURE` and `PROUI_EX`, and then in platformio.ini **default_envs =** change to *simulator_windows*. The MarlinSimulator can only compile for Manual Mesh Bed Leveling for now, so make sure your configuration is set for `MESH_BED_LEVELING`.
 
-Then you have to extract **SDL2-devel-2.28.0-mingw.zip** from /**docs**. To install SDL, navigate to the SDL2 directory in *MSYS2 MINGW64* terminal and type  
+Then you have to extract **SDL2-devel-2.28.4-mingw.zip** from /**docs**. To install SDL, navigate to the SDL2 directory in *MSYS2 MINGW64* terminal (Run as Administrator)ls and type:  
+>
+>     make cross
+>
+If you receive an error, then try the following:  
+>
+>     make install-package arch=x86_64-w64-mingw32 prefix=/usr
+>
+You can use instead a 32-bit version by passing:  
 >
 >     make native
 >
 
-64-bit files are in \x86_64-w64-mingw32. Then **copy** the contents of ~\SDL2-2.28.2\x86_64-w64-mingw32\include\SDL2\\* into ~\.pio\libdeps\simulator_windows\\**imgui**  
+32-bit files are in \i686-w64-mingw32 if you use `make native`. Then **copy** the contents of ~\SDL2-2.28.4\x86_64-w64-mingw32\include\SDL2\\* into ~\.pio\libdeps\simulator_windows\\**imgui**  
 -OR-  
-Copy the just folder ~\SDL2-2.28.2\x86_64-w64-mingw32\include\\**SDL2** into the directory ~\libdeps\\*simulator_windows*  
+Copy the just folder ~\SDL2-2.28.4\x86_64-w64-mingw32\include\\**SDL2** into the directory ~\libdeps\\*simulator_windows*  
 You may have to first Build so the directory can be created.
 
 Once all that is done, just build like you would normally and *MarlinSimulator.exe* will be created.

buildroot/share/PlatformIO/scripts/random-bin.py

@@ -10,3 +10,8 @@
     env = DefaultEnvironment()
     Import("env")
     env['PROGNAME'] = datetime.now().strftime("firmware-%Y%m%d-%H%M%S")
+    def name_target(target, source, env):
+        print("FIRMWARE ELF: %s.elf" % env['PROGNAME'])
+        print("FIRMWARE BIN: %s.bin" % env['PROGNAME'])
+    import marlin
+    marlin.add_post_action(name_target)

buildroot/share/PlatformIO/scripts/schema.py

@@ -85,7 +85,8 @@ class Parse:
         NORMAL          = 0 # No condition yet
         BLOCK_COMMENT   = 1 # Looking for the end of the block comment
         EOL_COMMENT     = 2 # EOL comment started, maybe add the next comment?
-        GET_SENSORS     = 3 # Gathering temperature sensor options
+        SLASH_COMMENT   = 3 # Block-like comment, starting with aligned //
+        GET_SENSORS     = 4 # Gathering temperature sensor options
         ERROR           = 9 # Syntax error
 
     # List of files to process, with shorthand
@@ -107,6 +108,7 @@ class Parse:
             line_number = 0         # Counter for the line number of the file
             conditions = []         # Create a condition stack for the current file
             comment_buff = []       # A temporary buffer for comments
+            prev_comment = ''       # Copy before reset for an EOL comment
             options_json = ''       # A buffer for the most recent options JSON found
             eol_options = False     # The options came from end of line, so only apply once
             join_line = False       # A flag that the line should be joined with the previous one
@@ -143,9 +145,13 @@ class Parse:
                     if not defmatch and the_line.startswith('//'):
                         comment_buff.append(the_line[2:].strip())
                     else:
-                        last_added_ref['comment'] = ' '.join(comment_buff)
-                        comment_buff = []
                         state = Parse.NORMAL
+                        cline = ' '.join(comment_buff)
+                        comment_buff = []
+                        if cline != '':
+                            # A (block or slash) comment was already added
+                            cfield = 'notes' if 'comment' in last_added_ref else 'comment'
+                            last_added_ref[cfield] = cline
 
                 def use_comment(c, opt, sec, bufref):
                     if c.startswith(':'):               # If the comment starts with : then it has magic JSON
@@ -162,6 +168,15 @@ def use_comment(c, opt, sec, bufref):
                         bufref.append(c)
                     return opt, sec
 
+                # For slash comments, capture consecutive slash comments.
+                # The comment will be applied to the next #define.
+                if state == Parse.SLASH_COMMENT:
+                    if not defmatch and the_line.startswith('//'):
+                        use_comment(the_line[2:].strip(), options_json, section, comment_buff)
+                        continue
+                    else:
+                        state = Parse.NORMAL
+
                 # In a block comment, capture lines up to the end of the comment.
                 # Assume nothing follows the comment closure.
                 if state in (Parse.BLOCK_COMMENT, Parse.GET_SENSORS):
@@ -178,14 +193,14 @@ def use_comment(c, opt, sec, bufref):
                         state = Parse.NORMAL
 
                     # Strip the leading '*' from block comments
-                    if cline.startswith('*'): cline = cline[1:].strip()
+                    cline = re.sub(r'^\* ?', '', cline)
 
                     # Collect temperature sensors
                     if state == Parse.GET_SENSORS:
                         sens = re.match(r'^(-?\d+)\s*:\s*(.+)$', cline)
                         if sens:
                             s2 = sens[2].replace("'","''")
-                            options_json += f"{sens[1]}:'{s2}', "
+                            options_json += f"{sens[1]}:'{sens[1]} - {s2}', "
 
                     elif state == Parse.BLOCK_COMMENT:
 
@@ -216,15 +231,19 @@ def use_comment(c, opt, sec, bufref):
                         # Comment after a define may be continued on the following lines
                         if defmatch != None and cpos > 10:
                             state = Parse.EOL_COMMENT
+                            prev_comment = '\n'.join(comment_buff)
                             comment_buff = []
+                        else:
+                            state = Parse.SLASH_COMMENT
 
                     # Process the start of a new comment
                     if cpos != -1:
+                        comment_buff = []
                         cline, line = line[cpos+2:].strip(), line[:cpos].strip()
 
                         if state == Parse.BLOCK_COMMENT:
                             # Strip leading '*' from block comments
-                            if cline.startswith('*'): cline = cline[1:].strip()
+                            cline = re.sub(r'^\* ?', '', cline)
                         else:
                             # Expire end-of-line options after first use
                             if cline.startswith(':'): eol_options = True
@@ -320,7 +339,7 @@ def atomize(s):
                         if value_type != '': define_info['type'] = value_type
 
                         # Join up accumulated conditions with &&
-                        if conditions: define_info['requires'] = ' && '.join(sum(conditions, []))
+                        if conditions: define_info['requires'] = '(' + ') && ('.join(sum(conditions, [])) + ')'
 
                         # If the comment_buff is not empty, add the comment to the info
                         if comment_buff:

ini/stm32f4.ini

@@ -745,7 +745,6 @@ build_flags                 = ${stm32_variant.build_flags}
                               -DSTEP_TIMER_IRQ_PRIO=0
                               -Wl,--no-warn-rwx-segment
 extra_scripts               = ${stm32_variant.extra_scripts}
-                              pre:buildroot/share/PlatformIO/scripts/random-bin.py
 upload_protocol             = stlink
 debug_tool                  = stlink
 

ini/stm32g0.ini

@@ -61,7 +61,6 @@ build_flags                 = ${stm32_variant.build_flags}
                               -DSTEP_TIMER_IRQ_PRIO=0
                               -Wl,--no-warn-rwx-segment
 extra_scripts               = ${stm32_variant.extra_scripts}
-                              pre:buildroot/share/PlatformIO/scripts/random-bin.py
 upload_protocol             = stlink
 debug_tool                  = stlink
 

platformio.ini

@@ -68,6 +68,7 @@ extra_scripts      =
   pre:buildroot/share/PlatformIO/scripts/common-dependencies.py
   pre:buildroot/share/PlatformIO/scripts/common-cxxflags.py
   pre:buildroot/share/PlatformIO/scripts/preflight-checks.py
+  pre:buildroot/share/PlatformIO/scripts/random-bin.py
   post:buildroot/share/PlatformIO/scripts/common-dependencies-post.py
 lib_deps           =
 default_src_filter = +<src/*> -<src/config> -<src/tests>
@@ -148,15 +149,14 @@ default_src_filter = +<src/*> -<src/config> -<src/tests>
 # Default values apply to all 'env:' prefixed environments
 #
 [env]
-framework          = arduino
-extra_scripts      = ${common.extra_scripts}
-build_flags        = ${common.build_flags}
-board_build.rename = firmware-{date}-{time}.bin
-lib_deps           = ${common.lib_deps}
-monitor_speed      = 250000
-monitor_eol        = LF
-monitor_echo       = yes
-monitor_filters    = colorize, time, send_on_enter
+framework         = arduino
+extra_scripts     = ${common.extra_scripts}
+build_flags       = ${common.build_flags}
+lib_deps          = ${common.lib_deps}
+monitor_speed     = 250000
+monitor_eol       = LF
+monitor_echo      = yes
+monitor_filters   = colorize, time, send_on_enter
 
 #
 # Just print the dependency tree