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@thinkyhead
thinkyhead committed May 9, 2023
1 parent 35b1677 commit 9927982
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Showing 3 changed files with 44 additions and 38 deletions.
20 changes: 10 additions & 10 deletions Marlin/Configuration_adv.h
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Original file line number Diff line number Diff line change
Expand Up @@ -1121,26 +1121,26 @@
/**
* Advanced configuration
*/
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation;
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation;
// half the window size for Ulendo FBS.
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update.
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS)
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update.
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps.
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency.
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency.
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().

// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
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13 changes: 8 additions & 5 deletions Marlin/src/gcode/feature/ft_motion/M493.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -102,8 +102,10 @@ void GcodeSuite::M493() {
}

switch (val) {
case ftMotionMode_ENABLED: fxdTiCtrl.reset(); break;
#if HAS_X_AXIS
//case ftMotionMode_ULENDO_FBS:
//case ftMotionMode_DISCTF:
// break;
case ftMotionMode_ZV:
case ftMotionMode_ZVD:
case ftMotionMode_EI:
Expand All @@ -114,9 +116,10 @@ void GcodeSuite::M493() {
fxdTiCtrl.updateShapingA();
fxdTiCtrl.reset();
break;
//case ftMotionMode_ULENDO_FBS:
//case ftMotionMode_DISCTF:
#endif
case ftMotionMode_ENABLED:
fxdTiCtrl.reset();
break;
default: break;
}
}
Expand Down Expand Up @@ -195,7 +198,7 @@ void GcodeSuite::M493() {
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_ECHO_F(fxdTiCtrl.cfg_baseFreq[0], 2);
SERIAL_ECHOLNPGM(".");
}
else { // Frequency out of range.
Expand Down Expand Up @@ -243,7 +246,7 @@ void GcodeSuite::M493() {
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_ECHO_F(fxdTiCtrl.cfg_baseFreq[1], 2);
SERIAL_ECHOLNPGM(".");
}
else { // Frequency out of range.
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49 changes: 26 additions & 23 deletions Marlin/src/module/ft_motion.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -422,33 +422,36 @@ void FxdTiCtrl::reset() {
stepperCmdBuff_produceIdx = stepperCmdBuff_consumeIdx = 0;

for (uint32_t i = 0U; i < (FTM_BATCH_SIZE); i++) { // Reset trajectory history
TERN_(HAS_X_AXIS, xd[i] = 0.0f);
TERN_(HAS_Y_AXIS, yd[i] = 0.0f);
TERN_(HAS_Z_AXIS, zd[i] = 0.0f);
TERN_(HAS_X_AXIS, xd[i] = 0.0f);
TERN_(HAS_Y_AXIS, yd[i] = 0.0f);
TERN_(HAS_Z_AXIS, zd[i] = 0.0f);
TERN_(HAS_EXTRUDERS, ed[i] = 0.0f);
}

blockProcRdy = blockProcRdy_z1 = blockProcDn = false;
batchRdy = batchRdyForInterp = false;
runoutEna = false;

TERN_(HAS_X_AXIS, x_endPosn_prevBlock = 0.0f);
TERN_(HAS_Y_AXIS, y_endPosn_prevBlock = 0.0f);
TERN_(HAS_Z_AXIS, z_endPosn_prevBlock = 0.0f);
TERN_(HAS_X_AXIS, x_endPosn_prevBlock = 0.0f);
TERN_(HAS_Y_AXIS, y_endPosn_prevBlock = 0.0f);
TERN_(HAS_Z_AXIS, z_endPosn_prevBlock = 0.0f);
TERN_(HAS_EXTRUDERS, e_endPosn_prevBlock = 0.0f);

makeVector_idx = makeVector_idx_z1 = 0;
makeVector_batchIdx = FTM_BATCH_SIZE;

TERN_(HAS_X_AXIS, x_steps = 0);
TERN_(HAS_Y_AXIS, y_steps = 0);
TERN_(HAS_Z_AXIS, z_steps = 0);
TERN_(HAS_X_AXIS, x_steps = 0);
TERN_(HAS_Y_AXIS, y_steps = 0);
TERN_(HAS_Z_AXIS, z_steps = 0);
TERN_(HAS_EXTRUDERS, e_steps = 0);

interpIdx = interpIdx_z1 = 0;
TERN_(HAS_X_AXIS, x_dirState = stepDirState_NOT_SET);
TERN_(HAS_Y_AXIS, y_dirState = stepDirState_NOT_SET);
TERN_(HAS_Z_AXIS, z_dirState = stepDirState_NOT_SET);

TERN_(HAS_X_AXIS, x_dirState = stepDirState_NOT_SET);
TERN_(HAS_Y_AXIS, y_dirState = stepDirState_NOT_SET);
TERN_(HAS_Z_AXIS, z_dirState = stepDirState_NOT_SET);
TERN_(HAS_EXTRUDERS, e_dirState = stepDirState_NOT_SET);

nextStepTicks = FTM_MIN_TICKS;

#if HAS_X_AXIS
Expand Down Expand Up @@ -568,31 +571,31 @@ void FxdTiCtrl::loadBlockData(block_t * const current_block) {
// One less than (Accel + Coasting + Decel) datapoints
max_intervals = N1 + N2 + N3 - 1U;

TERN_(HAS_X_AXIS, x_endPosn_prevBlock += x_moveDist);
TERN_(HAS_Y_AXIS, y_endPosn_prevBlock += y_moveDist);
TERN_(HAS_Z_AXIS, z_endPosn_prevBlock += z_moveDist);
TERN_(HAS_X_AXIS, x_endPosn_prevBlock += x_moveDist);
TERN_(HAS_Y_AXIS, y_endPosn_prevBlock += y_moveDist);
TERN_(HAS_Z_AXIS, z_endPosn_prevBlock += z_moveDist);
TERN_(HAS_EXTRUDERS, e_endPosn_prevBlock += extrusion);
}

// Generate data points of the trajectory.
void FxdTiCtrl::makeVector() {
float accel_k = 0.0f; // (mm/s^2) Acceleration K factor
float tau = (makeVector_idx + 1) * (FTM_TS); // (s) Time since start of block
float dist = 0.0f; // (mm) Distance traveled
float accel_k = 0.0f; // (mm/s^2) Acceleration K factor
float tau = (makeVector_idx + 1) * (FTM_TS); // (s) Time since start of block
float dist = 0.0f; // (mm) Distance traveled

if (makeVector_idx < N1) {
// Acceleration phase
dist = (f_s * tau) + (0.5f * accel_P * sq(tau)); // (mm) Distance traveled for acceleration phase
accel_k = accel_P; // (mm/s^2) Acceleration K factor from Accel phase
dist = (f_s * tau) + (0.5f * accel_P * sq(tau)); // (mm) Distance traveled for acceleration phase
accel_k = accel_P; // (mm/s^2) Acceleration K factor from Accel phase
}
else if (makeVector_idx >= N1 && makeVector_idx < (N1 + N2)) {
// Coasting phase
dist = s_1e + F_P * (tau - N1 * (FTM_TS)); // (mm) Distance traveled for coasting phase
dist = s_1e + F_P * (tau - N1 * (FTM_TS)); // (mm) Distance traveled for coasting phase
//accel_k = 0.0f;
}
else {
// Deceleration phase
const float tau_ = tau - (N1 + N2) * (FTM_TS); // (s) Time since start of decel phase
const float tau_ = tau - (N1 + N2) * (FTM_TS); // (s) Time since start of decel phase
dist = s_2e + F_P * tau_ + 0.5f * decel_P * sq(tau_); // (mm) Distance traveled for deceleration phase
accel_k = decel_P; // (mm/s^2) Acceleration K factor from Decel phase
}
Expand All @@ -614,7 +617,7 @@ void FxdTiCtrl::makeVector() {
}
else {
ed[makeVector_batchIdx] = new_raw_z1;
// Alternatively: coordArray_e[makeVector_batchIdx] = e_startDist + extrusion / (N1 + N2 + N3);
// Alternatively: ed[makeVector_batchIdx] = e_startPosn + (e_Ratio * dist) / (N1 + N2 + N3);
}
#endif

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