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Input shaping #24797

Merged
merged 11 commits into from
Oct 21, 2022
Merged

Input shaping #24797

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3553b72
Input Shaping
tombrazier Jul 16, 2022
fb5ba8e
Only use one input shaping buffer and one dividend buffer for signifi…
tombrazier Oct 15, 2022
56bb9b3
Added config menu for input shaping
tombrazier Oct 15, 2022
354af11
Fix some things
thinkyhead Oct 17, 2022
28754b4
Style adjustment, tweak xy pulse for closer sync
thinkyhead Oct 17, 2022
e22f9cf
renaming that got missed at some point
tombrazier Oct 17, 2022
c784a23
Reduce speed to prevent buffer overflows
tombrazier Oct 17, 2022
daf3dcf
COmpile error
tombrazier Oct 18, 2022
1412493
tweak speed factor limit
thinkyhead Oct 21, 2022
0a6ab15
Merge remote-tracking branch 'upstream/bugfix-2.1.x' into pr/24797
thinkyhead Oct 21, 2022
9d1268e
followup
thinkyhead Oct 21, 2022
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Added config menu for input shaping
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@tombrazier
tombrazier committed Oct 15, 2022
commit 56bb9b3489e8b8651776cdf16d6cb09ec0360dc8
1 change: 1 addition & 0 deletions Marlin/Configuration_adv.h
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Original file line number Diff line number Diff line change
Expand Up @@ -1075,6 +1075,7 @@
#define SHAPING_FREQ_Y 40 // (Hz) The dominant resonant frequency of the Y axis.
#define SHAPING_ZETA_X 0.3f // Damping ratio of the X axis (range: 0.0 = no damping to 1.0 = critical damping).
#define SHAPING_ZETA_Y 0.3f // Damping ratio of the Y axis (range: 0.0 = no damping to 1.0 = critical damping).
//#define SHAPING_MENU // Add a menu to the LCD to set shaping parameters.
#endif

#define AXIS_RELATIVE_MODES { false, false, false, false }
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5 changes: 5 additions & 0 deletions Marlin/src/lcd/language/language_en.h
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Expand Up @@ -399,6 +399,11 @@ namespace Language_en {
LSTR MSG_AMAX_EN = _UxGT("Max * Accel");
LSTR MSG_A_RETRACT = _UxGT("Retract Accel");
LSTR MSG_A_TRAVEL = _UxGT("Travel Accel");
LSTR MSG_INPUT_SHAPING = _UxGT("Input Shaping");
LSTR MSG_SHAPING_X_FREQ = STR_X _UxGT(" frequency");
LSTR MSG_SHAPING_Y_FREQ = STR_Y _UxGT(" frequency");
LSTR MSG_SHAPING_X_ZETA = STR_X _UxGT(" damping");
LSTR MSG_SHAPING_Y_ZETA = STR_Y _UxGT(" damping");
LSTR MSG_XY_FREQUENCY_LIMIT = _UxGT("XY Freq Limit");
LSTR MSG_XY_FREQUENCY_FEEDRATE = _UxGT("Min FR Factor");
LSTR MSG_STEPS_PER_MM = _UxGT("Steps/mm");
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44 changes: 42 additions & 2 deletions Marlin/src/lcd/menu/menu_advanced.cpp
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Expand Up @@ -31,6 +31,7 @@
#include "menu_item.h"
#include "../../MarlinCore.h"
#include "../../module/planner.h"
#include "../../module/stepper.h"

#if DISABLED(NO_VOLUMETRICS)
#include "../../gcode/parser.h"
Expand Down Expand Up @@ -80,8 +81,6 @@ void menu_backlash();

#if HAS_MOTOR_CURRENT_PWM

#include "../../module/stepper.h"

void menu_pwm() {
START_MENU();
BACK_ITEM(MSG_ADVANCED_SETTINGS);
Expand Down Expand Up @@ -536,6 +535,42 @@ void menu_backlash();
END_MENU();
}

#if ENABLED(INPUT_SHAPING) && ENABLED(SHAPING_MENU)
void menu_advanced_input_shaping() {
START_MENU();
BACK_ITEM(MSG_ADVANCED_SETTINGS);

#ifdef __AVR__
constexpr float min_frequency = float(STEPPER_TIMER_RATE) / 2 / 0x10000;
#else
constexpr float min_frequency = 1.0f;
#endif

// M593 F Frequency
#if HAS_SHAPING_X
editable.decimal = Stepper::get_shaping_frequency(X_AXIS);
EDIT_ITEM_FAST(float61, MSG_SHAPING_X_FREQ, &editable.decimal, min_frequency, 200.0f, []{ Stepper::set_shaping_frequency(X_AXIS, editable.decimal); });
#endif
#if HAS_SHAPING_Y
editable.decimal = Stepper::get_shaping_frequency(Y_AXIS);
EDIT_ITEM_FAST(float61, MSG_SHAPING_Y_FREQ, &editable.decimal, min_frequency, 200.0f, []{ Stepper::set_shaping_frequency(Y_AXIS, editable.decimal); });
#endif

// M593 D Damping ratio
#if HAS_SHAPING_X
editable.decimal = Stepper::get_shaping_damping_ratio(X_AXIS);
EDIT_ITEM_FAST(float42_52, MSG_SHAPING_X_ZETA, &editable.decimal, 0.0f, 1.0f, []{ Stepper::set_shaping_damping_ratio(X_AXIS, editable.decimal); });
#endif
#if HAS_SHAPING_Y
editable.decimal = Stepper::get_shaping_damping_ratio(Y_AXIS);
EDIT_ITEM_FAST(float42_52, MSG_SHAPING_Y_ZETA, &editable.decimal, 0.0f, 1.0f, []{ Stepper::set_shaping_damping_ratio(Y_AXIS, editable.decimal); });
#endif


END_MENU();
}
#endif

#if HAS_CLASSIC_JERK

void menu_advanced_jerk() {
Expand Down Expand Up @@ -645,6 +680,11 @@ void menu_advanced_settings() {
// M201 - Acceleration items
SUBMENU(MSG_ACCELERATION, menu_advanced_acceleration);

// M593 - Acceleration items
#if ENABLED(INPUT_SHAPING) && ENABLED(SHAPING_MENU)
SUBMENU(MSG_INPUT_SHAPING, menu_advanced_input_shaping);
#endif

#if HAS_CLASSIC_JERK
// M205 - Max Jerk
SUBMENU(MSG_JERK, menu_advanced_jerk);
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