Input Shaping improvements

Marlin/Configuration_adv.h

@@ -1079,8 +1079,8 @@
  */
 //#define INPUT_SHAPING
 #if ENABLED(INPUT_SHAPING)
- #define SHAPING_FREQ_X 40 // (Hz) The dominant resonant frequency of the X axis.
- #define SHAPING_FREQ_Y 40 // (Hz) The dominant resonant frequency of the Y axis.
+ #define SHAPING_FREQ_X 40 // (Hz) The dominant resonant frequency of the X axis. Comment to disable shaping for X.
+ #define SHAPING_FREQ_Y 40 // (Hz) The dominant resonant frequency of the Y axis. Comment to disable shaping for Y.
  #define SHAPING_ZETA_X 0.3f // Damping ratio of the X axis (range: 0.0 = no damping to 1.0 = critical damping).
  #define SHAPING_ZETA_Y 0.3f // Damping ratio of the Y axis (range: 0.0 = no damping to 1.0 = critical damping).
  //#define SHAPING_MENU // Add a menu to the LCD to set shaping parameters.

Marlin/src/gcode/feature/input_shaping/M593.cpp

@@ -72,12 +72,13 @@ void GcodeSuite::M593() {
 
  if (parser.seen('F')) {
  const float freq = parser.value_float();
- if (freq > 0) {
+ constexpr float max_freq = float(uint32_t(STEPPER_TIMER_RATE) / 2) / shaping_time_t(-2);
+ if (freq == 0.0f || freq > max_freq) {
  if (for_X) stepper.set_shaping_frequency(X_AXIS, freq);
  if (for_Y) stepper.set_shaping_frequency(Y_AXIS, freq);
  }
  else
- SERIAL_ECHO_MSG("?Frequency (F) must be greater than 0");
+ SERIAL_ECHOLNPGM("?Frequency (F) must be greater than ", max_freq, " or 0 to disable");
  }
 }
 

Marlin/src/inc/SanityCheck.h

@@ -4277,8 +4277,6 @@ static_assert(_PLUS_TEST(4), "HOMING_FEEDRATE_MM_M values must be positive.");
 #if ENABLED(INPUT_SHAPING)
  #if ENABLED(DIRECT_STEPPING)
  #error "INPUT_SHAPING cannot currently be used with DIRECT_STEPPING."
- #elif ENABLED(LASER_FEATURE)
- #error "INPUT_SHAPING cannot currently be used with LASER_FEATURE."
  #endif
 #endif
 

Marlin/src/lcd/language/language_en.h

@@ -400,10 +400,10 @@ namespace Language_en {
  LSTR MSG_A_RETRACT = _UxGT("Retract Accel");
  LSTR MSG_A_TRAVEL = _UxGT("Travel Accel");
  LSTR MSG_INPUT_SHAPING = _UxGT("Input Shaping");
- LSTR MSG_SHAPING_X_FREQ = STR_X _UxGT(" frequency");
- LSTR MSG_SHAPING_Y_FREQ  = STR_Y _UxGT(" frequency");
- LSTR MSG_SHAPING_X_ZETA = STR_X _UxGT(" damping");
- LSTR MSG_SHAPING_Y_ZETA = STR_Y _UxGT(" damping");
+ LSTR MSG_SHAPING_ENABLE = _UxGT("Enable @ shaping");
+ LSTR MSG_SHAPING_DISABLE = _UxGT("Disable @ shaping");
+ LSTR MSG_SHAPING_FREQ  = _UxGT("@ frequency");
+ LSTR MSG_SHAPING_ZETA  = _UxGT("@ damping");
  LSTR MSG_XY_FREQUENCY_LIMIT = _UxGT("XY Freq Limit");
  LSTR MSG_XY_FREQUENCY_FEEDRATE = _UxGT("Min FR Factor");
  LSTR MSG_STEPS_PER_MM = _UxGT("Steps/mm");

Marlin/src/lcd/menu/menu_advanced.cpp

@@ -545,24 +545,28 @@ void menu_backlash();
  START_MENU();
  BACK_ITEM(MSG_ADVANCED_SETTINGS);
 
- // M593 F Frequency
+ // M593 F Frequency and D Damping ratio
  #if HAS_SHAPING_X
  editable.decimal = stepper.get_shaping_frequency(X_AXIS);
- EDIT_ITEM_FAST(float61, MSG_SHAPING_X_FREQ, &editable.decimal, min_frequency, 200.0f, []{ stepper.set_shaping_frequency(X_AXIS, editable.decimal); });
+ if (editable.decimal) {
+ ACTION_ITEM_N(X_AXIS, MSG_SHAPING_DISABLE, []{ stepper.set_shaping_frequency(X_AXIS, 0.0f); });
+ EDIT_ITEM_FAST_N(float61, X_AXIS, MSG_SHAPING_FREQ, &editable.decimal, min_frequency, 200.0f, []{ stepper.set_shaping_frequency(X_AXIS, editable.decimal); });
+ editable.decimal = stepper.get_shaping_damping_ratio(X_AXIS);
+ EDIT_ITEM_FAST_N(float42_52, X_AXIS, MSG_SHAPING_ZETA, &editable.decimal, 0.0f, 1.0f, []{ stepper.set_shaping_damping_ratio(X_AXIS, editable.decimal); });
+ }
+ else
+ ACTION_ITEM_N(X_AXIS, MSG_SHAPING_ENABLE, []{ stepper.set_shaping_frequency(X_AXIS, SHAPING_FREQ_X); });
  #endif
  #if HAS_SHAPING_Y
  editable.decimal = stepper.get_shaping_frequency(Y_AXIS);
- EDIT_ITEM_FAST(float61, MSG_SHAPING_Y_FREQ, &editable.decimal, min_frequency, 200.0f, []{ stepper.set_shaping_frequency(Y_AXIS, editable.decimal); });
- #endif
-
- // M593 D Damping ratio
- #if HAS_SHAPING_X
- editable.decimal = stepper.get_shaping_damping_ratio(X_AXIS);
- EDIT_ITEM_FAST(float42_52, MSG_SHAPING_X_ZETA, &editable.decimal, 0.0f, 1.0f, []{ stepper.set_shaping_damping_ratio(X_AXIS, editable.decimal); });
- #endif
- #if HAS_SHAPING_Y
- editable.decimal = stepper.get_shaping_damping_ratio(Y_AXIS);
- EDIT_ITEM_FAST(float42_52, MSG_SHAPING_Y_ZETA, &editable.decimal, 0.0f, 1.0f, []{ stepper.set_shaping_damping_ratio(Y_AXIS, editable.decimal); });
+ if (editable.decimal) {
+ ACTION_ITEM_N(Y_AXIS, MSG_SHAPING_DISABLE, []{ stepper.set_shaping_frequency(Y_AXIS, 0.0f); });
+ EDIT_ITEM_FAST_N(float61, Y_AXIS, MSG_SHAPING_FREQ, &editable.decimal, min_frequency, 200.0f, []{ stepper.set_shaping_frequency(Y_AXIS, editable.decimal); });
+ editable.decimal = stepper.get_shaping_damping_ratio(Y_AXIS);
+ EDIT_ITEM_FAST_N(float42_52, Y_AXIS, MSG_SHAPING_ZETA, &editable.decimal, 0.0f, 1.0f, []{ stepper.set_shaping_damping_ratio(Y_AXIS, editable.decimal); });
+ }
+ else
+ ACTION_ITEM_N(Y_AXIS, MSG_SHAPING_ENABLE, []{ stepper.set_shaping_frequency(Y_AXIS, SHAPING_FREQ_Y); });
  #endif
 
  END_MENU();

Marlin/src/module/planner.cpp

@@ -1724,6 +1724,13 @@ float Planner::triggered_position_mm(const AxisEnum axis) {
  return result * mm_per_step[axis];
 }
 
+bool Planner::busy() {
+ return (has_blocks_queued() || cleaning_buffer_counter
+ || TERN0(EXTERNAL_CLOSED_LOOP_CONTROLLER, CLOSED_LOOP_WAITING())
+ || TERN0(INPUT_SHAPING, stepper.input_shaping_busy())
+ );
+}
+
 void Planner::finish_and_disable() {
  while (has_blocks_queued() || cleaning_buffer_counter) idle();
  stepper.disable_all_steppers();
@@ -2484,10 +2491,12 @@ bool Planner::_populate_block(
  #endif // XY_FREQUENCY_LIMIT
 
  #if ENABLED(INPUT_SHAPING)
- const float top_freq = _MIN(float(0x7FFFFFFFL)
- OPTARG(HAS_SHAPING_X, stepper.get_shaping_frequency(X_AXIS))
- OPTARG(HAS_SHAPING_Y, stepper.get_shaping_frequency(Y_AXIS))),
- max_factor = (top_freq * float(shaping_dividends - 3) * 2.0f) / block->nominal_rate;
+ float bottom_freq = float(0x7FFFFFFFL);
+ if (TERN0(HAS_SHAPING_X, stepper.get_shaping_frequency(X_AXIS)))
+ NOMORE(bottom_freq, stepper.get_shaping_frequency(X_AXIS));
+ if (TERN0(HAS_SHAPING_Y, stepper.get_shaping_frequency(Y_AXIS)))
+ NOMORE(bottom_freq, stepper.get_shaping_frequency(Y_AXIS));
+ const float max_factor = (bottom_freq * (float(shaping_dividends - 3) * 2.0f)) / block->nominal_rate;
  NOMORE(speed_factor, max_factor);
  #endif
 

Marlin/src/module/planner.h

@@ -930,11 +930,7 @@ class Planner {
  static float triggered_position_mm(const AxisEnum axis);
 
  // Blocks are queued, or we're running out moves, or the closed loop controller is waiting
- static bool busy() {
- return (has_blocks_queued() || cleaning_buffer_counter
- || TERN0(EXTERNAL_CLOSED_LOOP_CONTROLLER, CLOSED_LOOP_WAITING())
- );
- }
+ static bool busy();
 
  // Block until all buffered steps are executed / cleaned
  static void synchronize();