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🚸 FT_MOTION menu updates (#26083)
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@narno2202
narno2202 authored Aug 7, 2023
1 parent a817794 commit a5e4b4b
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Showing 5 changed files with 55 additions and 47 deletions.
2 changes: 2 additions & 0 deletions Marlin/src/lcd/language/language_en.h
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Original file line number Diff line number Diff line change
Expand Up @@ -824,6 +824,8 @@ namespace LanguageNarrow_en {
LSTR MSG_FTM_MASS_BASED = _UxGT("Mass-based");
LSTR MSG_FTM_BASE_FREQ_N = _UxGT("@ Base Freq.");
LSTR MSG_FTM_DFREQ_K_N = _UxGT("@ Dyn. Freq.");
LSTR MSG_FTM_ZETA = _UxGT("Damping");
LSTR MSG_FTM_VTOL = _UxGT("Vib. Level");

LSTR MSG_LEVEL_X_AXIS = _UxGT("Level X Axis");
LSTR MSG_AUTO_CALIBRATE = _UxGT("Auto Calibrate");
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80 changes: 40 additions & 40 deletions Marlin/src/lcd/menu/menu_motion.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -318,10 +318,9 @@ void menu_move() {
#include "../../module/ft_motion.h"
#include "../../gcode/gcode.h"

void _M493_S(const ftMotionMode_t s) {
char cmd[10];
sprintf_P(cmd, PSTR("M493S%i"), int(s));
gcode.process_subcommands_now(cmd);
void ftm_menu_setShaping(const ftMotionMode_t s) {
fxdTiCtrl.cfg.mode = s;
fxdTiCtrl.refreshShapingN();
ui.go_back();
}

Expand All @@ -331,43 +330,36 @@ void menu_move() {
START_MENU();
BACK_ITEM(MSG_FIXED_TIME_MOTION);

if (mode != ftMotionMode_DISABLED) ACTION_ITEM(MSG_LCD_OFF, []{ _M493_S(ftMotionMode_DISABLED); });
if (mode != ftMotionMode_ENABLED) ACTION_ITEM(MSG_LCD_ON, []{ _M493_S(ftMotionMode_ENABLED); });
if (mode != ftMotionMode_DISABLED) ACTION_ITEM(MSG_LCD_OFF, []{ ftm_menu_setShaping(ftMotionMode_DISABLED); });
if (mode != ftMotionMode_ENABLED) ACTION_ITEM(MSG_LCD_ON, []{ ftm_menu_setShaping(ftMotionMode_ENABLED); });
#if HAS_X_AXIS
if (mode != ftMotionMode_ZV) ACTION_ITEM(MSG_FTM_ZV, []{ _M493_S(ftMotionMode_ZV); });
if (mode != ftMotionMode_ZVD) ACTION_ITEM(MSG_FTM_ZVD, []{ _M493_S(ftMotionMode_ZVD); });
if (mode != ftMotionMode_EI) ACTION_ITEM(MSG_FTM_EI, []{ _M493_S(ftMotionMode_EI); });
if (mode != ftMotionMode_2HEI) ACTION_ITEM(MSG_FTM_2HEI, []{ _M493_S(ftMotionMode_2HEI); });
if (mode != ftMotionMode_3HEI) ACTION_ITEM(MSG_FTM_3HEI, []{ _M493_S(ftMotionMode_3HEI); });
if (mode != ftMotionMode_MZV) ACTION_ITEM(MSG_FTM_MZV, []{ _M493_S(ftMotionMode_MZV); });
//if (mode != ftMotionMode_ULENDO_FBS) ACTION_ITEM(MSG_FTM_ULENDO_FBS, []{ _M493_S(ftMotionMode_ULENDO_FBS); });
//if (mode != ftMotionMode_DISCTF) ACTION_ITEM(MSG_FTM_DISCTF, []{ _M493_S(ftMotionMode_DISCTF); });
if (mode != ftMotionMode_ZV) ACTION_ITEM(MSG_FTM_ZV, []{ ftm_menu_setShaping(ftMotionMode_ZV); });
if (mode != ftMotionMode_ZVD) ACTION_ITEM(MSG_FTM_ZVD, []{ ftm_menu_setShaping(ftMotionMode_ZVD); });
if (mode != ftMotionMode_EI) ACTION_ITEM(MSG_FTM_EI, []{ ftm_menu_setShaping(ftMotionMode_EI); });
if (mode != ftMotionMode_2HEI) ACTION_ITEM(MSG_FTM_2HEI, []{ ftm_menu_setShaping(ftMotionMode_2HEI); });
if (mode != ftMotionMode_3HEI) ACTION_ITEM(MSG_FTM_3HEI, []{ ftm_menu_setShaping(ftMotionMode_3HEI); });
if (mode != ftMotionMode_MZV) ACTION_ITEM(MSG_FTM_MZV, []{ ftm_menu_setShaping(ftMotionMode_MZV); });
//if (mode != ftMotionMode_ULENDO_FBS) ACTION_ITEM(MSG_FTM_ULENDO_FBS, []{ ftm_menu_setShaping(ftMotionMode_ULENDO_FBS); });
//if (mode != ftMotionMode_DISCTF) ACTION_ITEM(MSG_FTM_DISCTF, []{ ftm_menu_setShaping(ftMotionMode_DISCTF); });
#endif

END_MENU();
}

#if HAS_DYNAMIC_FREQ

void _M493_D(const dynFreqMode_t d) {
char cmd[10];
sprintf_P(cmd, PSTR("M493D%i"), int(d));
gcode.process_subcommands_now(cmd);
ui.go_back();
}

inline void menu_ftm_dyn_mode() {
const dynFreqMode_t dmode = fxdTiCtrl.cfg.dynFreqMode;

START_MENU();
BACK_ITEM(MSG_FIXED_TIME_MOTION);

if (dmode != dynFreqMode_DISABLED) ACTION_ITEM(MSG_LCD_OFF, []{ _M493_D(dynFreqMode_DISABLED); });
if (dmode != dynFreqMode_DISABLED) ACTION_ITEM(MSG_LCD_OFF, []{ fxdTiCtrl.cfg.dynFreqMode = dynFreqMode_DISABLED; ui.go_back(); });
#if HAS_DYNAMIC_FREQ_MM
if (dmode != dynFreqMode_Z_BASED) ACTION_ITEM(MSG_FTM_Z_BASED, []{ _M493_D(dynFreqMode_Z_BASED); });
if (dmode != dynFreqMode_Z_BASED) ACTION_ITEM(MSG_FTM_Z_BASED, []{ fxdTiCtrl.cfg.dynFreqMode = dynFreqMode_Z_BASED; ui.go_back(); });
#endif
#if HAS_DYNAMIC_FREQ_G
if (dmode != dynFreqMode_MASS_BASED) ACTION_ITEM(MSG_FTM_MASS_BASED, []{ _M493_D(dynFreqMode_MASS_BASED); });
if (dmode != dynFreqMode_MASS_BASED) ACTION_ITEM(MSG_FTM_MASS_BASED, []{ fxdTiCtrl.cfg.dynFreqMode = dynFreqMode_MASS_BASED; ui.go_back(); });
#endif

END_MENU();
Expand Down Expand Up @@ -409,25 +401,33 @@ void menu_move() {
SUBMENU(MSG_FTM_MODE, menu_ftm_mode);
MENU_ITEM_ADDON_START_RJ(5); lcd_put_u8str(ftmode); MENU_ITEM_ADDON_END();

#if HAS_X_AXIS
EDIT_ITEM_FAST_N(float42_52, X_AXIS, MSG_FTM_BASE_FREQ_N, &c.baseFreq[X_AXIS], FTM_MIN_SHAPE_FREQ, (FTM_FS) / 2, fxdTiCtrl.refreshShapingN);
#endif
#if HAS_Y_AXIS
EDIT_ITEM_FAST_N(float42_52, Y_AXIS, MSG_FTM_BASE_FREQ_N, &c.baseFreq[Y_AXIS], FTM_MIN_SHAPE_FREQ, (FTM_FS) / 2, fxdTiCtrl.refreshShapingN);
#endif
if (c.modeHasShaper()) {
#if HAS_X_AXIS
EDIT_ITEM_FAST_N(float42_52, X_AXIS, MSG_FTM_BASE_FREQ_N, &c.baseFreq[X_AXIS], FTM_MIN_SHAPE_FREQ, (FTM_FS) / 2, fxdTiCtrl.refreshShapingN);
#endif
#if HAS_Y_AXIS
EDIT_ITEM_FAST_N(float42_52, Y_AXIS, MSG_FTM_BASE_FREQ_N, &c.baseFreq[Y_AXIS], FTM_MIN_SHAPE_FREQ, (FTM_FS) / 2, fxdTiCtrl.refreshShapingN);
#endif

#if HAS_DYNAMIC_FREQ
if (c.modeHasShaper()) {
EDIT_ITEM_FAST(float42_52, MSG_FTM_ZETA, &c.zeta, 0.0f, 1.0f, fxdTiCtrl.refreshShapingN);

if (WITHIN(c.mode, ftMotionMode_EI, ftMotionMode_3HEI))
EDIT_ITEM_FAST(float42_52, MSG_FTM_VTOL, &c.vtol, 0.0f, 1.0f, fxdTiCtrl.refreshShapingN);

#if HAS_DYNAMIC_FREQ
SUBMENU(MSG_FTM_DYN_MODE, menu_ftm_dyn_mode);
MENU_ITEM_ADDON_START_RJ(11); lcd_put_u8str(dmode); MENU_ITEM_ADDON_END();
#if HAS_X_AXIS
EDIT_ITEM_FAST_N(float42_52, X_AXIS, MSG_FTM_DFREQ_K_N, &c.dynFreqK[X_AXIS], 0.0f, 20.0f);
#endif
#if HAS_Y_AXIS
EDIT_ITEM_FAST_N(float42_52, Y_AXIS, MSG_FTM_DFREQ_K_N, &c.dynFreqK[Y_AXIS], 0.0f, 20.0f);
#endif
}
#endif
if (c.dynFreqMode != dynFreqMode_DISABLED) {
#if HAS_X_AXIS
EDIT_ITEM_FAST_N(float42_52, X_AXIS, MSG_FTM_DFREQ_K_N, &c.dynFreqK[X_AXIS], 0.0f, 20.0f);
#endif
#if HAS_Y_AXIS
EDIT_ITEM_FAST_N(float42_52, Y_AXIS, MSG_FTM_DFREQ_K_N, &c.dynFreqK[Y_AXIS], 0.0f, 20.0f);
#endif
}
#endif
}

#if HAS_EXTRUDERS
EDIT_ITEM(bool, MSG_LINEAR_ADVANCE, &c.linearAdvEna);
EDIT_ITEM(float42_52, MSG_ADVANCE_K, &c.linearAdvK, 0, 10);
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6 changes: 3 additions & 3 deletions Marlin/src/module/ft_motion.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -276,7 +276,7 @@ void FxdTiCtrl::loop() {
// Refresh the gains used by shaping functions.
// To be called on init or mode or zeta change.

void FxdTiCtrl::Shaping::updateShapingA(const_float_t zeta/*=FTM_SHAPING_ZETA*/, const_float_t vtol/*=FTM_SHAPING_V_TOL*/) {
void FxdTiCtrl::Shaping::updateShapingA(const_float_t zeta/*=cfg.zeta*/, const_float_t vtol/*=cfg.vtol*/) {

const float K = exp(-zeta * M_PI / sqrt(1.0f - sq(zeta))),
K2 = sq(K);
Expand Down Expand Up @@ -345,7 +345,7 @@ void FxdTiCtrl::loop() {
#endif
}

void FxdTiCtrl::updateShapingA(const_float_t zeta/*=FTM_SHAPING_ZETA*/, const_float_t vtol/*=FTM_SHAPING_V_TOL*/) {
void FxdTiCtrl::updateShapingA(const_float_t zeta/*=cfg.zeta*/, const_float_t vtol/*=cfg.vtol*/) {
shaping.updateShapingA(zeta, vtol);
}

Expand Down Expand Up @@ -382,7 +382,7 @@ void FxdTiCtrl::loop() {
}
}

void FxdTiCtrl::updateShapingN(const_float_t xf OPTARG(HAS_Y_AXIS, const_float_t yf), const_float_t zeta/*=FTM_SHAPING_ZETA*/) {
void FxdTiCtrl::updateShapingN(const_float_t xf OPTARG(HAS_Y_AXIS, const_float_t yf), const_float_t zeta/*=cfg.zeta*/) {
const float df = sqrt(1.0f - sq(zeta));
shaping.x.updateShapingN(xf, df);
TERN_(HAS_Y_AXIS, shaping.y.updateShapingN(yf, df));
Expand Down
12 changes: 9 additions & 3 deletions Marlin/src/module/ft_motion.h
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Original file line number Diff line number Diff line change
Expand Up @@ -48,6 +48,9 @@ typedef struct FTConfig {
{ FTM_SHAPING_DEFAULT_X_FREQ OPTARG(HAS_Y_AXIS, FTM_SHAPING_DEFAULT_Y_FREQ) };
#endif

float zeta = FTM_SHAPING_ZETA; // Damping factor
float vtol = FTM_SHAPING_V_TOL; // Vibration Level

#if HAS_DYNAMIC_FREQ
dynFreqMode_t dynFreqMode = FTM_DEFAULT_DYNFREQ_MODE; // Dynamic frequency mode configuration.
float dynFreqK[1 + ENABLED(HAS_Y_AXIS)] = { 0.0f }; // Scaling / gain for dynamic frequency. [Hz/mm] or [Hz/g]
Expand All @@ -74,6 +77,9 @@ class FxdTiCtrl {
TERN_(HAS_X_AXIS, cfg.baseFreq[X_AXIS] = FTM_SHAPING_DEFAULT_X_FREQ);
TERN_(HAS_Y_AXIS, cfg.baseFreq[Y_AXIS] = FTM_SHAPING_DEFAULT_Y_FREQ);

cfg.zeta = FTM_SHAPING_ZETA;
cfg.vtol = FTM_SHAPING_V_TOL;

#if HAS_DYNAMIC_FREQ
cfg.dynFreqMode = FTM_DEFAULT_DYNFREQ_MODE;
cfg.dynFreqK[X_AXIS] = TERN_(HAS_Y_AXIS, cfg.dynFreqK[Y_AXIS]) = 0.0f;
Expand Down Expand Up @@ -112,11 +118,11 @@ class FxdTiCtrl {
#if HAS_X_AXIS
// Refresh the gains used by shaping functions.
// To be called on init or mode or zeta change.
static void updateShapingA(const_float_t zeta=FTM_SHAPING_ZETA, const_float_t vtol=FTM_SHAPING_V_TOL);
static void updateShapingA(const_float_t zeta=cfg.zeta, const_float_t vtol=cfg.vtol);

// Refresh the indices used by shaping functions.
// To be called when frequencies change.
static void updateShapingN(const_float_t xf OPTARG(HAS_Y_AXIS, const_float_t yf), const_float_t zeta=FTM_SHAPING_ZETA);
static void updateShapingN(const_float_t xf OPTARG(HAS_Y_AXIS, const_float_t yf), const_float_t zeta=cfg.zeta);

static void refreshShapingN() { updateShapingN(cfg.baseFreq[X_AXIS] OPTARG(HAS_Y_AXIS, cfg.baseFreq[Y_AXIS])); }

Expand Down Expand Up @@ -181,7 +187,7 @@ class FxdTiCtrl {
axis_shaping_t y;
#endif

void updateShapingA(const_float_t zeta=FTM_SHAPING_ZETA, const_float_t vtol=FTM_SHAPING_V_TOL);
void updateShapingA(const_float_t zeta=cfg.zeta, const_float_t vtol=cfg.vtol);

} shaping_t;

Expand Down
2 changes: 1 addition & 1 deletion Marlin/src/sd/SdBaseFile.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -708,7 +708,7 @@ bool SdBaseFile::open(SdBaseFile * const dirFile, const uint8_t dname[11]
}
// Get LFN sequence number
lfnSequenceNumber = pvFat->sequenceNumber & 0x1F;
if WITHIN(lfnSequenceNumber, 1, reqEntriesNum) {
if (WITHIN(lfnSequenceNumber, 1, reqEntriesNum)) {
// Check checksum for all other entries with the starting checksum fetched before
if (lfnChecksum == pvFat->checksum) {
// Set chunk of LFN from VFAT entry into lfnName
Expand Down

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