-
-
Notifications
You must be signed in to change notification settings - Fork 19.2k
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
✨ Fixed-Time Motion with Input Shaping by Ulendo
- Loading branch information
1 parent
06e5273
commit f6e7715
Showing
20 changed files
with
1,797 additions
and
74 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,282 @@ | ||
| /** | ||
| * 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 | ||
|
|
||
| #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 |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Oops, something went wrong.