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✨ Fixed-Time Motion with Input Shaping by Ulendo (MarlinFirmware#25394)
Co-authored-by: Ulendo Alex <alex@ulendo.io>
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| Original file line number | Diff line number | Diff line change |
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| /** | ||
| * Marlin 3D Printer Firmware | ||
| * Copyright (c) 2023 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/>. | ||
| * | ||
| */ | ||
|
|
||
| #include "../../../inc/MarlinConfig.h" | ||
|
|
||
| #if ENABLED(FT_MOTION) | ||
|
|
||
| #include "../../gcode.h" | ||
| #include "../../../module/ft_motion.h" | ||
|
|
||
| void say_shaping() { | ||
| SERIAL_ECHO_TERNARY(fxdTiCtrl.cfg_mode, "Fixed time controller ", "en", "dis", "abled"); | ||
| if (fxdTiCtrl.cfg_mode == ftMotionMode_DISABLED || fxdTiCtrl.cfg_mode == ftMotionMode_ENABLED) { | ||
| SERIAL_ECHOLNPGM("."); | ||
| return; | ||
| } | ||
| #if HAS_X_AXIS | ||
| SERIAL_ECHOPGM(" with "); | ||
| switch (fxdTiCtrl.cfg_mode) { | ||
| default: break; | ||
| //case ftMotionMode_ULENDO_FBS: SERIAL_ECHOLNPGM("Ulendo FBS."); return; | ||
| case ftMotionMode_ZV: SERIAL_ECHOLNPGM("ZV"); break; | ||
| case ftMotionMode_ZVD: SERIAL_ECHOLNPGM("ZVD"); break; | ||
| case ftMotionMode_EI: SERIAL_ECHOLNPGM("EI"); break; | ||
| case ftMotionMode_2HEI: SERIAL_ECHOLNPGM("2 Hump EI"); break; | ||
| case ftMotionMode_3HEI: SERIAL_ECHOLNPGM("3 Hump EI"); break; | ||
| case ftMotionMode_MZV: SERIAL_ECHOLNPGM("MZV"); break; | ||
| //case ftMotionMode_DISCTF: SERIAL_ECHOLNPGM("discrete transfer functions"); break; | ||
| } | ||
| SERIAL_ECHOLNPGM(" shaping."); | ||
| #endif | ||
| } | ||
|
|
||
| /** | ||
| * M493: Set Fixed-time Motion Control parameters | ||
| * | ||
| * S<mode> Set the motion / shaping mode. Shaping requires an X axis, at the minimum. | ||
| * 0: NORMAL | ||
| * 1: FIXED-TIME | ||
| * 10: ZV | ||
| * 11: ZVD | ||
| * 12: EI | ||
| * 13: 2HEI | ||
| * 14: 3HEI | ||
| * 15: MZV | ||
| * | ||
| * P<bool> Enable (1) or Disable (0) Linear Advance pressure control | ||
| * | ||
| * K<gain> Set Linear Advance gain | ||
| * | ||
| * D<mode> Set Dynamic Frequency mode | ||
| * 0: DISABLED | ||
| * 1: Z-based (Requires a Z axis) | ||
| * 2: Mass-based (Requires X and E axes) | ||
| * | ||
| * A<Hz> Set static/base frequency for the X axis | ||
| * F<Hz> Set frequency scaling for the X axis | ||
| * | ||
| * B<Hz> Set static/base frequency for the Y axis | ||
| * H<Hz> Set frequency scaling for the Y axis | ||
| */ | ||
| void GcodeSuite::M493() { | ||
| // Parse 'S' mode parameter. | ||
| if (parser.seenval('S')) { | ||
| const ftMotionMode_t val = (ftMotionMode_t)parser.value_byte(); | ||
| switch (val) { | ||
| case ftMotionMode_DISABLED: | ||
| case ftMotionMode_ENABLED: | ||
| #if HAS_X_AXIS | ||
| case ftMotionMode_ZVD: | ||
| case ftMotionMode_2HEI: | ||
| case ftMotionMode_3HEI: | ||
| case ftMotionMode_MZV: | ||
| //case ftMotionMode_ULENDO_FBS: | ||
| //case ftMotionMode_DISCTF: | ||
| fxdTiCtrl.cfg_mode = val; | ||
| say_shaping(); | ||
| break; | ||
| #endif | ||
| default: | ||
| SERIAL_ECHOLNPGM("?Invalid control mode [M] value."); | ||
| return; | ||
| } | ||
|
|
||
| switch (val) { | ||
| case ftMotionMode_ENABLED: fxdTiCtrl.reset(); break; | ||
| #if HAS_X_AXIS | ||
| case ftMotionMode_ZV: | ||
| case ftMotionMode_ZVD: | ||
| case ftMotionMode_EI: | ||
| case ftMotionMode_2HEI: | ||
| case ftMotionMode_3HEI: | ||
| case ftMotionMode_MZV: | ||
| fxdTiCtrl.updateShapingN(fxdTiCtrl.cfg_baseFreq[0] OPTARG(HAS_Y_AXIS, fxdTiCtrl.cfg_baseFreq[1])); | ||
| fxdTiCtrl.updateShapingA(); | ||
| fxdTiCtrl.reset(); | ||
| break; | ||
| //case ftMotionMode_ULENDO_FBS: | ||
| //case ftMotionMode_DISCTF: | ||
| #endif | ||
| default: break; | ||
| } | ||
| } | ||
|
|
||
| #if HAS_EXTRUDERS | ||
|
|
||
| // Pressure control (linear advance) parameter. | ||
| if (parser.seen('P')) { | ||
| const bool val = parser.value_bool(); | ||
| fxdTiCtrl.cfg_linearAdvEna = val; | ||
| SERIAL_ECHO_TERNARY(val, "Pressure control: Linear Advance ", "en", "dis", "abled.\n"); | ||
| } | ||
|
|
||
| // Pressure control (linear advance) gain parameter. | ||
| if (parser.seenval('K')) { | ||
| const float val = parser.value_float(); | ||
| if (val >= 0.0f) { | ||
| fxdTiCtrl.cfg_linearAdvK = val; | ||
| SERIAL_ECHOPGM("Pressure control: Linear Advance gain set to: "); | ||
| SERIAL_ECHO_F(val, 5); | ||
| SERIAL_ECHOLNPGM("."); | ||
| } | ||
| else { // Value out of range. | ||
| SERIAL_ECHOLNPGM("Pressure control: Linear Advance gain out of range."); | ||
| } | ||
| } | ||
|
|
||
| #endif // HAS_EXTRUDERS | ||
|
|
||
| #if HAS_Z_AXIS || HAS_EXTRUDERS | ||
|
|
||
| // Dynamic frequency mode parameter. | ||
| if (parser.seenval('D')) { | ||
| if (WITHIN(fxdTiCtrl.cfg_mode, 10U, 19U)) { | ||
| const dynFreqMode_t val = dynFreqMode_t(parser.value_byte()); | ||
| switch (val) { | ||
| case dynFreqMode_DISABLED: | ||
| fxdTiCtrl.cfg_dynFreqMode = val; | ||
| SERIAL_ECHOLNPGM("Dynamic frequency mode disabled."); | ||
| break; | ||
| #if HAS_Z_AXIS | ||
| case dynFreqMode_Z_BASED: | ||
| fxdTiCtrl.cfg_dynFreqMode = val; | ||
| SERIAL_ECHOLNPGM("Z-based Dynamic Frequency Mode."); | ||
| break; | ||
| #endif | ||
| #if HAS_EXTRUDERS | ||
| case dynFreqMode_MASS_BASED: | ||
| fxdTiCtrl.cfg_dynFreqMode = val; | ||
| SERIAL_ECHOLNPGM("Mass-based Dynamic Frequency Mode."); | ||
| break; | ||
| #endif | ||
| default: | ||
| SERIAL_ECHOLNPGM("?Invalid Dynamic Frequency Mode [D] value."); | ||
| break; | ||
| } | ||
| } | ||
| else { | ||
| SERIAL_ECHOLNPGM("Incompatible shaper for [D] Dynamic Frequency mode."); | ||
| } | ||
| } | ||
|
|
||
| #endif // HAS_Z_AXIS || HAS_EXTRUDERS | ||
|
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| #if HAS_X_AXIS | ||
|
|
||
| // Parse frequency parameter (X axis). | ||
| if (parser.seenval('A')) { | ||
| if (WITHIN(fxdTiCtrl.cfg_mode, 10U, 19U)) { | ||
| const float val = parser.value_float(); | ||
| const bool frequencyInRange = WITHIN(val, FTM_MIN_SHAPE_FREQ, (FTM_FS) / 2); | ||
| // TODO: Frequency minimum is dependent on the shaper used; the above check isn't always correct. | ||
| if (frequencyInRange) { | ||
| fxdTiCtrl.cfg_baseFreq[0] = val; | ||
| fxdTiCtrl.updateShapingN(fxdTiCtrl.cfg_baseFreq[0] OPTARG(HAS_Y_AXIS, fxdTiCtrl.cfg_baseFreq[1])); | ||
| fxdTiCtrl.reset(); | ||
| if (fxdTiCtrl.cfg_dynFreqMode) { SERIAL_ECHOPGM("Compensator base dynamic frequency (X/A axis) set to:"); } | ||
| else { SERIAL_ECHOPGM("Compensator static frequency (X/A axis) set to: "); } | ||
| SERIAL_ECHO_F( fxdTiCtrl.cfg_baseFreq[0], 2 ); | ||
| SERIAL_ECHOLNPGM("."); | ||
| } | ||
| else { // Frequency out of range. | ||
| SERIAL_ECHOLNPGM("Invalid [A] frequency value."); | ||
| } | ||
| } | ||
| else { // Mode doesn't use frequency. | ||
| SERIAL_ECHOLNPGM("Incompatible mode for [A] frequency."); | ||
| } | ||
| } | ||
|
|
||
| #if HAS_Z_AXIS || HAS_EXTRUDERS | ||
| // Parse frequency scaling parameter (X axis). | ||
| if (parser.seenval('F')) { | ||
| const bool modeUsesDynFreq = ( | ||
| TERN0(HAS_Z_AXIS, fxdTiCtrl.cfg_dynFreqMode == dynFreqMode_Z_BASED) | ||
| || TERN0(HAS_EXTRUDERS, fxdTiCtrl.cfg_dynFreqMode == dynFreqMode_MASS_BASED) | ||
| ); | ||
|
|
||
| if (modeUsesDynFreq) { | ||
| const float val = parser.value_float(); | ||
| fxdTiCtrl.cfg_dynFreqK[0] = val; | ||
| SERIAL_ECHOPGM("Frequency scaling (X/A axis) set to: "); | ||
| SERIAL_ECHO_F(fxdTiCtrl.cfg_dynFreqK[0], 8); | ||
| SERIAL_ECHOLNPGM("."); | ||
| } | ||
| else { | ||
| SERIAL_ECHOLNPGM("Incompatible mode for [F] frequency scaling."); | ||
| } | ||
| } | ||
| #endif // HAS_Z_AXIS || HAS_EXTRUDERS | ||
|
|
||
| #endif // HAS_X_AXIS | ||
|
|
||
| #if HAS_Y_AXIS | ||
|
|
||
| // Parse frequency parameter (Y axis). | ||
| if (parser.seenval('B')) { | ||
| if (WITHIN(fxdTiCtrl.cfg_mode, 10U, 19U)) { | ||
| const float val = parser.value_float(); | ||
| const bool frequencyInRange = WITHIN(val, FTM_MIN_SHAPE_FREQ, (FTM_FS) / 2); | ||
| if (frequencyInRange) { | ||
| fxdTiCtrl.cfg_baseFreq[1] = val; | ||
| fxdTiCtrl.updateShapingN(fxdTiCtrl.cfg_baseFreq[0] OPTARG(HAS_Y_AXIS, fxdTiCtrl.cfg_baseFreq[1])); | ||
| fxdTiCtrl.reset(); | ||
| if (fxdTiCtrl.cfg_dynFreqMode) { SERIAL_ECHOPGM("Compensator base dynamic frequency (Y/B axis) set to:"); } | ||
| else { SERIAL_ECHOPGM("Compensator static frequency (Y/B axis) set to: "); } | ||
| SERIAL_ECHO_F( fxdTiCtrl.cfg_baseFreq[1], 2 ); | ||
| SERIAL_ECHOLNPGM("."); | ||
| } | ||
| else { // Frequency out of range. | ||
| SERIAL_ECHOLNPGM("Invalid frequency [B] value."); | ||
| } | ||
| } | ||
| else { // Mode doesn't use frequency. | ||
| SERIAL_ECHOLNPGM("Incompatible mode for [B] frequency."); | ||
| } | ||
| } | ||
|
|
||
| #if HAS_Z_AXIS || HAS_EXTRUDERS | ||
| // Parse frequency scaling parameter (Y axis). | ||
| if (parser.seenval('H')) { | ||
| const bool modeUsesDynFreq = ( | ||
| TERN0(HAS_Z_AXIS, fxdTiCtrl.cfg_dynFreqMode == dynFreqMode_Z_BASED) | ||
| || TERN0(HAS_EXTRUDERS, fxdTiCtrl.cfg_dynFreqMode == dynFreqMode_MASS_BASED) | ||
| ); | ||
|
|
||
| if (modeUsesDynFreq) { | ||
| const float val = parser.value_float(); | ||
| fxdTiCtrl.cfg_dynFreqK[1] = val; | ||
| SERIAL_ECHOPGM("Frequency scaling (Y/B axis) set to: "); | ||
| SERIAL_ECHO_F(val, 8); | ||
| SERIAL_ECHOLNPGM("."); | ||
| } | ||
| else { | ||
| SERIAL_ECHOLNPGM("Incompatible mode for [H] frequency scaling."); | ||
| } | ||
| } | ||
| #endif // HAS_Z_AXIS || HAS_EXTRUDERS | ||
|
|
||
| #endif // HAS_Y_AXIS | ||
| } | ||
|
|
||
| #endif // FT_MOTION |
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