Proposed changes from Ulendo

Co-Authored-By: ulendoalex <111143418+ulendoalex@users.noreply.github.com>

Marlin/src/gcode/feature/ft_motion/M493.cpp

@@ -55,6 +55,10 @@ void say_shaper_type(const AxisEnum a) {
   #define AXIS_1_NAME "Y"
 #endif
 
+#define CMPNSTR_IS_SHAPER(A) WITHIN(ftMotion.cfg.cmpnstr[A], ftMotionCmpnstr_ZV, ftMotionCmpnstr_MZV)
+#define CMPNSTR_IS_EISHAPER(A) WITHIN(ftMotion.cfg.cmpnstr[A], ftMotionCmpnstr_EI, ftMotionCmpnstr_3HEI)
+
+
 void say_shaping() {
   // FT Enabled
   SERIAL_ECHO_TERNARY(ftMotion.cfg.active, "Fixed-Time Motion ", "en", "dis", "abled");
@@ -201,8 +205,11 @@ void GcodeSuite::M493() {
 
     if (active != ftMotion.cfg.active) {
       switch (active) {
-        case false: flag.reset_ft = true;
-        case true: flag.report_h = true;
+        case false:
+          flag.reset_ft = true;
+          // fall-thru
+        case true:
+          flag.report_h = true;
           ftMotion.cfg.active = active;
           break;
       }

Marlin/src/gcode/feature/ft_motion/M494.cpp

@@ -0,0 +1,209 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2024 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"
+#include "../../../module/stepper.h"
+
+void say_ftm_cfg() {
+  #if ENABLED(FTM_UNIFIED_BWS)
+    SERIAL_ECHOPGM( "M494 FTMCFG FTM_BATCH_SIZE:", (int)(FTM_BW_SIZE),
+                    " FTM_WINDOW_SIZE:", (int)(FTM_BW_SIZE));
+  #else
+    SERIAL_ECHOPGM( "M494 FTMCFG FTM_BATCH_SIZE:", (int)(FTM_BATCH_SIZE),
+                    " FTM_WINDOW_SIZE:", (int)(FTM_WINDOW_SIZE));
+  #endif
+  SERIAL_ECHOPGM( " FTM_FS:", (int)(FTM_FS),
+                  " FTM_STEPPER_FS:", (int)(FTM_STEPPER_FS),
+                  " FTM_STEPPERCMD_BUFF_SIZE:", (int)(FTM_STEPPERCMD_BUFF_SIZE),
+                  " STEPPER_TIMER_RATE:", (int)(STEPPER_TIMER_RATE),
+                  " FTM_ZMAX:", (int)(FTM_ZMAX),
+                  " X_MAX_LENGTH:", (int)(X_MAX_LENGTH));
+  #if HAS_Y_AXIS
+    SERIAL_ECHOPGM( " Y_MAX_LENGTH:", (int)(Y_MAX_LENGTH));
+  #endif
+  SERIAL_EOL();
+}
+
+/**
+ * M494: Interact with Fixed-time Motion Control's trajectory generation.
+ *
+ *    A<mode> Start / abort a frequency sweep profile.
+ *
+ *       0: None active.
+ *       1: Continuous sweep on X axis.
+ *       2: Continuous sweep on Y axis.
+ *       99: Abort the current sweep.
+ * 
+ *    B<float> Start frequency.
+ *    C<float> End frequency.
+ *    D<float> Frequency rate.
+ *    E<float> Acceleration amplitude.
+ *    F<float> Step time.
+ *    H<float> Step acceleration amplitude.
+ *    I<float> Delay time to opening step.
+ *    J<float> Delay time from opening step to sweep.
+ *    K<float> Delay time from sweep to closing step.
+ * 
+ * With no parameters passed, M494 will report the FTM configuration and
+ * variables required for autocalibration.
+ * 
+ */
+void GcodeSuite::M494() {
+
+  if (!parser.seen_any()) { say_ftm_cfg(); return; }
+
+  if (!ftMotion.cfg.mode) { SERIAL_ECHOLN("M494 echo: rejected! FTM is not enabled."); return; }
+
+  ftMotionTrajGenMode_t mode_val_seen = trajGenMode_NONE;
+  bool good_cfg_received = true;
+
+  // Parse mode parameter.
+  if (parser.seenval('A')) {
+    const ftMotionTrajGenMode_t newmm = (ftMotionTrajGenMode_t)parser.value_byte();
+    switch (newmm) {
+      default: SERIAL_ECHOLNPGM("?Invalid calibration mode [F] value."); return;
+      case trajGenMode_NONE:
+      case trajGenMode_SWEEPC_X:
+      #if HAS_Y_AXIS
+      case trajGenMode_SWEEPC_Y:
+      #endif
+        if ( ftMotion.traj_gen_cfg.mode ) {
+          SERIAL_ECHOLN("M494 echo: rejected! wait for the previous command to complete.");
+          return;
+        }
+        mode_val_seen = newmm;
+        break;
+      case trajGenMode_ABORT:
+        if ( ftMotion.traj_gen_cfg.mode ) {
+          ftMotion.traj_gen_cfg.mode = trajGenMode_NONE;
+          stepper.quick_stop();
+          return;
+        }
+    }
+  }
+
+  // Parse start frequency parameter.
+  if (parser.seenval('B')) {
+      const float val = parser.value_float();
+      if (val >= 1.0f) ftMotion.traj_gen_cfg.f0 = val;
+      else { good_cfg_received = false; SERIAL_ECHOLN("M494 echo: Start frequency out of range."); }
+  } else good_cfg_received = false;
+
+  // Parse end frequency parameter.
+  if (parser.seenval('C')) {
+      const float val = parser.value_float();
+      if (val > 0.0f) ftMotion.traj_gen_cfg.f1 = val;
+      else { good_cfg_received = false; SERIAL_ECHOLN("M494 echo: End frequency out of range."); }
+  } else good_cfg_received = false;
+
+  // Parse step frequency parameter.
+  if (parser.seenval('D')) {
+      const float val = parser.value_float();
+      if (val > 0.0f) ftMotion.traj_gen_cfg.dfdt = val;
+      else { good_cfg_received = false; SERIAL_ECHOLN("M494 echo: Step / delta frequency out of range."); }
+  } else good_cfg_received = false;
+
+  // Parse amplitude parameter.
+  if (parser.seenval('E')) {
+      const float val = parser.value_float();
+      if (val > 0.0f) ftMotion.traj_gen_cfg.a = val;
+      else { good_cfg_received = false; SERIAL_ECHOLN("M494 echo: Amplitude out of range."); }
+  } else good_cfg_received = false;
+
+  // Parse step time parameter.
+  if (parser.seenval('F')) {
+      const float val = parser.value_float();
+      if (val > 0.0f) ftMotion.traj_gen_cfg.step_ti = val;
+      else { good_cfg_received = false; SERIAL_ECHOLN("M494 echo: Step time out of range."); }
+  } else good_cfg_received = false;
+
+  // Parse step amplitude parameter.
+  if (parser.seenval('H')) {
+      const float val = parser.value_float();
+      if (val > 0.0f) ftMotion.traj_gen_cfg.step_a = val;
+      else { good_cfg_received = false; SERIAL_ECHOLN("M494 echo: Step amplitude out of range."); }
+  } else good_cfg_received = false;
+
+  // Parse delay parameter.
+  if (parser.seenval('I')) {
+      const float val = parser.value_float();
+      if (val > 0.0f) ftMotion.traj_gen_cfg.dly1_ti = val;
+      else { good_cfg_received = false; SERIAL_ECHOLN("M494 echo: Delay 1 out of range."); }
+  } else good_cfg_received = false;
+
+  // Parse delay parameter.
+  if (parser.seenval('J')) {
+      const float val = parser.value_float();
+      if (val > 0.0f) ftMotion.traj_gen_cfg.dly2_ti = val;
+      else { good_cfg_received = false; SERIAL_ECHOLN("M494 echo: Delay 2 out of range."); }
+  } else good_cfg_received = false;
+
+  // Parse delay parameter.
+  if (parser.seenval('K')) {
+      const float val = parser.value_float();
+      if (val > 0.0f) ftMotion.traj_gen_cfg.dly3_ti = val;
+      else { good_cfg_received = false; SERIAL_ECHOLN("M494 echo: Delay 3 out of range."); }
+  } else good_cfg_received = false;
+
+  // Validate and set.
+  if ( mode_val_seen && good_cfg_received ) {
+
+    planner.synchronize();
+
+    const float f0_ = ftMotion.traj_gen_cfg.f0 - 1.f; // This is calculated assuming a ramp time of 1 sec.
+
+    ftMotion.traj_gen_cfg.k1 = PI*ftMotion.traj_gen_cfg.dfdt;
+    ftMotion.traj_gen_cfg.k2 = 2.f*PI*f0_;
+
+    ftMotion.traj_gen_cfg.pcws_ti[0] = ftMotion.traj_gen_cfg.dly1_ti;
+    ftMotion.traj_gen_cfg.pcws_ti[1] = ftMotion.traj_gen_cfg.pcws_ti[0] + 4 * ftMotion.traj_gen_cfg.step_ti;
+    ftMotion.traj_gen_cfg.pcws_ti[2] = ftMotion.traj_gen_cfg.pcws_ti[1] + ftMotion.traj_gen_cfg.dly2_ti;
+    ftMotion.traj_gen_cfg.pcws_ti[3] = ftMotion.traj_gen_cfg.pcws_ti[2] + ( ftMotion.traj_gen_cfg.f1 - f0_ ) / ftMotion.traj_gen_cfg.dfdt;
+    ftMotion.traj_gen_cfg.pcws_ti[4] = ftMotion.traj_gen_cfg.pcws_ti[3] + ftMotion.traj_gen_cfg.dly3_ti;
+    ftMotion.traj_gen_cfg.pcws_ti[5] = ftMotion.traj_gen_cfg.pcws_ti[4] + 4 * ftMotion.traj_gen_cfg.step_ti;
+
+    ftMotion.traj_gen_cfg.step_a_x_0p5 = 0.5f * ftMotion.traj_gen_cfg.step_a;
+    ftMotion.traj_gen_cfg.step_a_x_step_ti_x_step_ti = ftMotion.traj_gen_cfg.step_a * sq(ftMotion.traj_gen_cfg.step_ti);
+    ftMotion.traj_gen_cfg.step_ti_x_2 = 2.f * ftMotion.traj_gen_cfg.step_ti;
+    ftMotion.traj_gen_cfg.step_ti_x_3 = 3.f * ftMotion.traj_gen_cfg.step_ti;
+    ftMotion.traj_gen_cfg.step_ti_x_4 = 4.f * ftMotion.traj_gen_cfg.step_ti;
+
+    ftMotion.traj_gen_cfg.mode = mode_val_seen;
+
+    ftMotion.setup_traj_gen(round(ftMotion.traj_gen_cfg.pcws_ti[5]*FTM_FS + 0.5f));
+
+    SERIAL_ECHOLN("M494 echo: SWEEPC starting.");
+
+    stepper.enable_all_steppers();
+
+    // stepper.disable_all_steppers(); Leave this to the plugin or user; this can
+    // be annoying on printers that require all axes homing before axis movement.
+  }
+
+}
+
+#endif // FT_MOTION

Marlin/src/gcode/gcode.cpp

@@ -912,6 +912,7 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
 
       #if ENABLED(FT_MOTION)
         case 493: M493(); break;                                  // M493: Fixed-Time Motion control
+        case 494: M494(); break;                                  // M494: Fixed-Time Motion control trajectory generation
       #endif
 
       case 500: M500(); break;                                    // M500: Store settings in EEPROM

Marlin/src/gcode/gcode.h

@@ -1075,6 +1075,7 @@ class GcodeSuite {
   #if ENABLED(FT_MOTION)
     static void M493();
     static void M493_report(const bool forReplay=true);
+    static void M494();
   #endif
 
   static void M500();