🔧🚸 FT_MOTION adjustments (#27359)

Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>
MarlinFirmware · Aug 24, 2024 · 3abe1fc · 3abe1fc
1 parent 02ed020
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Showing 8 changed files with 95 additions and 65 deletions.
diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h
@@ -1127,8 +1127,8 @@
   #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
   #define FTM_DEFAULT_SHAPER_X      ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
   #define FTM_DEFAULT_SHAPER_Y      ftMotionShaper_NONE // Default shaper mode on Y axis
-  #define FTM_SHAPING_DEFAULT_X_FREQ   37.0f      // (Hz) Default peak frequency used by input shapers
-  #define FTM_SHAPING_DEFAULT_Y_FREQ   37.0f      // (Hz) Default peak frequency used by input shapers
+  #define FTM_SHAPING_DEFAULT_FREQ_X   37.0f      // (Hz) Default peak frequency used by input shapers
+  #define FTM_SHAPING_DEFAULT_FREQ_Y   37.0f      // (Hz) Default peak frequency used by input shapers
   #define FTM_LINEAR_ADV_DEFAULT_ENA   false      // Default linear advance enable (true) or disable (false)
   #define FTM_LINEAR_ADV_DEFAULT_K      0         // Default linear advance gain, integer value. (Acceleration-based scaling factor.)
   #define FTM_SHAPING_ZETA_X            0.1f      // Zeta used by input shapers for X axis

diff --git a/Marlin/src/inc/BaseConfiguration_adv.h b/Marlin/src/inc/BaseConfiguration_adv.h
@@ -752,11 +752,11 @@
   #ifndef FTM_DEFAULT_SHAPER_Y
     #define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE
   #endif
-  #ifndef FTM_SHAPING_DEFAULT_X_FREQ
-    #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f
+  #ifndef FTM_SHAPING_DEFAULT_FREQ_X
+    #define FTM_SHAPING_DEFAULT_FREQ_X 37.0f
   #endif
-  #ifndef FTM_SHAPING_DEFAULT_Y_FREQ
-    #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f
+  #ifndef FTM_SHAPING_DEFAULT_FREQ_Y
+    #define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f
   #endif
   #ifndef FTM_LINEAR_ADV_DEFAULT_ENA
     #define FTM_LINEAR_ADV_DEFAULT_ENA false

diff --git a/Marlin/src/inc/Changes.h b/Marlin/src/inc/Changes.h
@@ -701,6 +701,8 @@
   #error "CALIBRATION_MEASUREMENT_RESOLUTION is no longer needed and should be removed."
 #elif defined(MMU2_MENUS)
   #error "MMU2_MENUS is now MMU_MENUS."
+#elif defined(FTM_SHAPING_DEFAULT_X_FREQ) || defined(FTM_SHAPING_DEFAULT_Y_FREQ)
+  #error "FTM_SHAPING_DEFAULT_[XY]_FREQ is now FTM_SHAPING_DEFAULT_FREQ_[XY]."
 #endif
 
 // Changes to Probe Temp Compensation (#17392)

diff --git a/Marlin/src/inc/Conditionals_adv.h b/Marlin/src/inc/Conditionals_adv.h
@@ -1396,9 +1396,14 @@
 #endif
 
 // FT Motion unified window and batch size
-#if ALL(FT_MOTION, FTM_UNIFIED_BWS)
-  #define FTM_WINDOW_SIZE FTM_BW_SIZE
-  #define FTM_BATCH_SIZE  FTM_BW_SIZE
+#if ENABLED(FT_MOTION)
+  #if HAS_X_AXIS
+    #define HAS_FTM_SHAPING 1
+  #endif
+  #if ENABLED(FTM_UNIFIED_BWS)
+    #define FTM_WINDOW_SIZE FTM_BW_SIZE
+    #define FTM_BATCH_SIZE  FTM_BW_SIZE
+  #endif
 #endif
 
 // Toolchange Event G-code

diff --git a/Marlin/src/lcd/menu/menu_motion.cpp b/Marlin/src/lcd/menu/menu_motion.cpp
@@ -44,6 +44,9 @@
   #include "../../feature/bedlevel/bedlevel.h"
 #endif
 
+// Always show configurable options regardless of FT Motion active
+//#define FT_MOTION_NO_MENU_TOGGLE
+
 constexpr bool has_large_area() {
   return TERN0(HAS_X_AXIS, (X_BED_SIZE) >= 1000) || TERN0(HAS_Y_AXIS, (Y_BED_SIZE) >= 1000) || TERN0(HAS_Z_AXIS, (Z_MAX_POS) >= 1000);
 }
@@ -323,7 +326,6 @@ void menu_move() {
 #if ENABLED(FT_MOTION_MENU)
 
   #include "../../module/ft_motion.h"
-  #include "../../gcode/gcode.h"
 
   FSTR_P get_shaper_name(const AxisEnum axis=X_AXIS) {
     switch (ftMotion.cfg.shaper[axis]) {
@@ -436,7 +438,8 @@ void menu_move() {
       ftMotion.update_shaping_params();
     });
 
-    if (c.active) {
+    // Show only when FT Motion is active (or optionally always show)
+    if (c.active || ENABLED(FT_MOTION_NO_MENU_TOGGLE)) {
       #if HAS_X_AXIS
         SUBMENU_N(X_AXIS, MSG_FTM_CMPN_MODE, menu_ftm_shaper_x);
         MENU_ITEM_ADDON_START_RJ(5); lcd_put_u8str(shaper_name[X_AXIS]); MENU_ITEM_ADDON_END();
@@ -475,7 +478,8 @@ void menu_move() {
 
       #if HAS_EXTRUDERS
         EDIT_ITEM(bool, MSG_LINEAR_ADVANCE, &c.linearAdvEna);
-        if (c.linearAdvEna) EDIT_ITEM(float42_52, MSG_ADVANCE_K, &c.linearAdvK, 0, 10);
+        if (c.linearAdvEna || ENABLED(FT_MOTION_NO_MENU_TOGGLE))
+          EDIT_ITEM(float42_52, MSG_ADVANCE_K, &c.linearAdvK, 0, 10);
       #endif
     }
     END_MENU();
@@ -492,6 +496,10 @@ void menu_move() {
       MString<20> dmode = get_dyn_freq_mode_name();
     #endif
 
+    #if HAS_EXTRUDERS
+      ft_config_t &c = ftMotion.cfg;
+    #endif
+
     START_MENU();
 
     #if HAS_X_AXIS
@@ -502,13 +510,14 @@ void menu_move() {
       SUBMENU_N(Y_AXIS, MSG_FTM_CMPN_MODE, menu_ftm_shaper_y);
       MENU_ITEM_ADDON_START_RJ(5); lcd_put_u8str(shaper_name[Y_AXIS]); MENU_ITEM_ADDON_END();
     #endif
-
     #if HAS_DYNAMIC_FREQ
       SUBMENU(MSG_FTM_DYN_MODE, menu_ftm_dyn_mode);
       MENU_ITEM_ADDON_START_RJ(dmode.length()); lcd_put_u8str(dmode); MENU_ITEM_ADDON_END();
     #endif
     #if HAS_EXTRUDERS
-      EDIT_ITEM(bool, MSG_LINEAR_ADVANCE, &ftMotion.cfg.linearAdvEna);
+      EDIT_ITEM(bool, MSG_LINEAR_ADVANCE, &c.linearAdvEna);
+      if (c.linearAdvEna || ENABLED(FT_MOTION_NO_MENU_TOGGLE))
+        EDIT_ITEM(float42_52, MSG_ADVANCE_K, &c.linearAdvK, 0, 10);
     #endif
 
     END_MENU();

diff --git a/Marlin/src/module/ft_motion.cpp b/Marlin/src/module/ft_motion.cpp
@@ -90,12 +90,14 @@ xyze_long_t FTMotion::steps = { 0 };            // Step count accumulator.
 uint32_t FTMotion::interpIdx = 0;               // Index of current data point being interpolated.
 
 // Shaping variables.
-#if HAS_X_AXIS
+#if HAS_FTM_SHAPING
   FTMotion::shaping_t FTMotion::shaping = {
     0,
-    x:{ false, { 0.0f }, { 0.0f }, { 0 }, 0 },            // ena, d_zi[], Ai[], Ni[], max_i
+    #if HAS_X_AXIS
+      x:{ false, { 0.0f }, { 0.0f }, { 0 }, 0 } // ena, d_zi[], Ai[], Ni[], max_i
+    #endif
     #if HAS_Y_AXIS
-      y:{ false, { 0.0f }, { 0.0f }, { 0 }, 0 }           // ena, d_zi[], Ai[], Ni[], max_i
+      y:{ false, { 0.0f }, { 0.0f }, { 0 }, 0 } // ena, d_zi[], Ai[], Ni[], max_i
     #endif
   };
 #endif
@@ -210,7 +212,7 @@ void FTMotion::loop() {
 
 }
 
-#if HAS_X_AXIS
+#if HAS_FTM_SHAPING
 
   // Refresh the gains used by shaping functions.
   void FTMotion::AxisShaping::set_axis_shaping_A(const ftMotionShaper_t shaper, const_float_t zeta, const_float_t vtol) {
@@ -361,7 +363,7 @@ void FTMotion::loop() {
     #endif
   }
 
-#endif // HAS_X_AXIS
+#endif // HAS_FTM_SHAPING
 
 // Reset all trajectory processing variables.
 void FTMotion::reset() {
@@ -382,8 +384,8 @@ void FTMotion::reset() {
 
   stepper.axis_did_move.reset();
 
-  #if HAS_X_AXIS
-    ZERO(shaping.x.d_zi);
+  #if HAS_FTM_SHAPING
+    TERN_(HAS_X_AXIS, ZERO(shaping.x.d_zi));
     TERN_(HAS_Y_AXIS, ZERO(shaping.y.d_zi));
     shaping.zi_idx = 0;
   #endif
@@ -652,15 +654,17 @@ void FTMotion::makeVector() {
   }
 
   // Apply shaping if active on each axis
-  #if HAS_X_AXIS
-    if (shaping.x.ena) {
-      shaping.x.d_zi[shaping.zi_idx] = traj.x[makeVector_batchIdx];
-      traj.x[makeVector_batchIdx] *= shaping.x.Ai[0];
-      for (uint32_t i = 1U; i <= shaping.x.max_i; i++) {
-        const uint32_t udiffx = shaping.zi_idx - shaping.x.Ni[i];
-        traj.x[makeVector_batchIdx] += shaping.x.Ai[i] * shaping.x.d_zi[shaping.x.Ni[i] > shaping.zi_idx ? (FTM_ZMAX) + udiffx : udiffx];
+  #if HAS_FTM_SHAPING
+    #if HAS_X_AXIS
+      if (shaping.x.ena) {
+        shaping.x.d_zi[shaping.zi_idx] = traj.x[makeVector_batchIdx];
+        traj.x[makeVector_batchIdx] *= shaping.x.Ai[0];
+        for (uint32_t i = 1U; i <= shaping.x.max_i; i++) {
+          const uint32_t udiffx = shaping.zi_idx - shaping.x.Ni[i];
+          traj.x[makeVector_batchIdx] += shaping.x.Ai[i] * shaping.x.d_zi[shaping.x.Ni[i] > shaping.zi_idx ? (FTM_ZMAX) + udiffx : udiffx];
+        }
       }
-    }
+    #endif
 
     #if HAS_Y_AXIS
       if (shaping.y.ena) {
@@ -673,7 +677,7 @@ void FTMotion::makeVector() {
       }
     #endif
     if (++shaping.zi_idx == (FTM_ZMAX)) shaping.zi_idx = 0;
-  #endif // HAS_X_AXIS
+  #endif // HAS_FTM_SHAPING
 
   // Filled up the queue with regular and shaped steps
   if (++makeVector_batchIdx == FTM_WINDOW_SIZE) {

diff --git a/Marlin/src/module/ft_motion.h b/Marlin/src/module/ft_motion.h
@@ -40,23 +40,23 @@
 typedef struct FTConfig {
   bool active = ENABLED(FTM_IS_DEFAULT_MOTION);           // Active (else standard motion)
 
-  #if HAS_X_AXIS
+  #if HAS_FTM_SHAPING
     ft_shaped_shaper_t shaper =                           // Shaper type
       { SHAPED_ELEM(FTM_DEFAULT_SHAPER_X, FTM_DEFAULT_SHAPER_Y) };
     ft_shaped_float_t baseFreq =                          // Base frequency. [Hz]
-      { SHAPED_ELEM(FTM_SHAPING_DEFAULT_X_FREQ, FTM_SHAPING_DEFAULT_Y_FREQ) };
+      { SHAPED_ELEM(FTM_SHAPING_DEFAULT_FREQ_X, FTM_SHAPING_DEFAULT_FREQ_Y) };
     ft_shaped_float_t zeta =                              // Damping factor
       { SHAPED_ELEM(FTM_SHAPING_ZETA_X, FTM_SHAPING_ZETA_Y) };
     ft_shaped_float_t vtol =                              // Vibration Level
       { SHAPED_ELEM(FTM_SHAPING_V_TOL_X, FTM_SHAPING_V_TOL_Y) };
-  #endif
 
-  #if HAS_DYNAMIC_FREQ
-    dynFreqMode_t dynFreqMode = FTM_DEFAULT_DYNFREQ_MODE; // Dynamic frequency mode configuration.
-    ft_shaped_float_t dynFreqK = { 0.0f };                // Scaling / gain for dynamic frequency. [Hz/mm] or [Hz/g]
-  #else
-    static constexpr dynFreqMode_t dynFreqMode = dynFreqMode_DISABLED;
-  #endif
+    #if HAS_DYNAMIC_FREQ
+      dynFreqMode_t dynFreqMode = FTM_DEFAULT_DYNFREQ_MODE; // Dynamic frequency mode configuration.
+      ft_shaped_float_t dynFreqK = { 0.0f };                // Scaling / gain for dynamic frequency. [Hz/mm] or [Hz/g]
+    #else
+      static constexpr dynFreqMode_t dynFreqMode = dynFreqMode_DISABLED;
+    #endif
+  #endif // HAS_FTM_SHAPING
 
   #if HAS_EXTRUDERS
     bool linearAdvEna = FTM_LINEAR_ADV_DEFAULT_ENA;       // Linear advance enable configuration.
@@ -75,33 +75,37 @@ class FTMotion {
     static void set_defaults() {
       cfg.active = ENABLED(FTM_IS_DEFAULT_MOTION);
 
-      #if HAS_X_AXIS
-        cfg.shaper.x = FTM_DEFAULT_SHAPER_X;
-        cfg.baseFreq.x = FTM_SHAPING_DEFAULT_X_FREQ;
-        cfg.zeta.x = FTM_SHAPING_ZETA_X;
-        cfg.vtol.x = FTM_SHAPING_V_TOL_X;
-      #endif
+      #if HAS_FTM_SHAPING
 
-      #if HAS_Y_AXIS
-        cfg.shaper.y = FTM_DEFAULT_SHAPER_Y;
-        cfg.baseFreq.y = FTM_SHAPING_DEFAULT_Y_FREQ;
-        cfg.zeta.y = FTM_SHAPING_ZETA_Y;
-        cfg.vtol.y = FTM_SHAPING_V_TOL_Y;
-      #endif
+        #if HAS_X_AXIS
+          cfg.shaper.x = FTM_DEFAULT_SHAPER_X;
+          cfg.baseFreq.x = FTM_SHAPING_DEFAULT_FREQ_X;
+          cfg.zeta.x = FTM_SHAPING_ZETA_X;
+          cfg.vtol.x = FTM_SHAPING_V_TOL_X;
+        #endif
 
-      #if HAS_DYNAMIC_FREQ
-        cfg.dynFreqMode = FTM_DEFAULT_DYNFREQ_MODE;
-        TERN_(HAS_X_AXIS, cfg.dynFreqK.x = 0.0f);
-        TERN_(HAS_Y_AXIS, cfg.dynFreqK.y = 0.0f);
-      #endif
+        #if HAS_Y_AXIS
+          cfg.shaper.y = FTM_DEFAULT_SHAPER_Y;
+          cfg.baseFreq.y = FTM_SHAPING_DEFAULT_FREQ_Y;
+          cfg.zeta.y = FTM_SHAPING_ZETA_Y;
+          cfg.vtol.y = FTM_SHAPING_V_TOL_Y;
+        #endif
+
+        #if HAS_DYNAMIC_FREQ
+          cfg.dynFreqMode = FTM_DEFAULT_DYNFREQ_MODE;
+          TERN_(HAS_X_AXIS, cfg.dynFreqK.x = 0.0f);
+          TERN_(HAS_Y_AXIS, cfg.dynFreqK.y = 0.0f);
+        #endif
+
+        update_shaping_params();
+
+      #endif // HAS_FTM_SHAPING
 
       #if HAS_EXTRUDERS
         cfg.linearAdvEna = FTM_LINEAR_ADV_DEFAULT_ENA;
         cfg.linearAdvK = FTM_LINEAR_ADV_DEFAULT_K;
       #endif
 
-      TERN_(HAS_X_AXIS, update_shaping_params());
-
       reset();
     }
 
@@ -118,7 +122,7 @@ class FTMotion {
     static void init();
     static void loop();                                   // Controller main, to be invoked from non-isr task.
 
-    #if HAS_X_AXIS
+    #if HAS_FTM_SHAPING
       // Refresh gains and indices used by shaping functions.
       static void update_shaping_params(void);
     #endif
@@ -166,7 +170,7 @@ class FTMotion {
     static xyze_long_t steps;
 
     // Shaping variables.
-    #if HAS_X_AXIS
+    #if HAS_FTM_SHAPING
 
       typedef struct AxisShaping {
         bool ena = false;                 // Enabled indication.
@@ -182,16 +186,17 @@ class FTMotion {
 
       typedef struct Shaping {
         uint32_t zi_idx;           // Index of storage in the data point delay vectors.
-        axis_shaping_t x;
+        #if HAS_X_AXIS
+          axis_shaping_t x;
+        #endif
         #if HAS_Y_AXIS
           axis_shaping_t y;
         #endif
-
       } shaping_t;
 
       static shaping_t shaping; // Shaping data
 
-    #endif // HAS_X_AXIS
+    #endif // HAS_FTM_SHAPING
 
     // Linear advance variables.
     #if HAS_EXTRUDERS

diff --git a/Marlin/src/module/ft_types.h b/Marlin/src/module/ft_types.h
@@ -58,8 +58,13 @@ enum {
   FT_BIT_COUNT
 };
 
-#define NUM_AXES_SHAPED TERN(HAS_Y_AXIS, 2, 1)
-#define SHAPED_ELEM(A, B) A OPTARG(HAS_Y_AXIS, B)
+#if HAS_FTM_SHAPING
+  #define NUM_AXES_SHAPED TERN(HAS_Y_AXIS, 2, 1)
+  #define SHAPED_ELEM(A, B) A OPTARG(HAS_Y_AXIS, B)
+#else
+  #define NUM_AXES_SHAPED 0
+  #define SHAPED_ELEM(A, B)
+#endif
 
 template<typename T>
 struct FTShapedAxes {