🐛⚡️ FT_MOTION improvements (MarlinFirmware#26074)

Co-Authored-By: Scott Lahteine <thinkyhead@users.noreply.github.com>

Marlin/Configuration_adv.h

@@ -1121,42 +1121,62 @@
 #if ENABLED(FT_MOTION)
  #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
- #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers.
- #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers.
- #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false).
- #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain.
- #define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers.
- #define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers.
+ #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
+ #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
+ #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
+ #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
+ #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
+ #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
+
+ #define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
+ #define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
+
+ //#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
 
  /**
  * Advanced configuration
  */
- #define FTM_BATCH_SIZE 100 // Batch size for trajectory generation;
- #define FTM_WINDOW_SIZE 200 // Window size for trajectory generation.
- #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!).
- // 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.
- // Calculate as (FTM_STEPPER_FS / FTM_FS).
- #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().
-
- // This value may be configured to adjust duration to consume the command buffer.
- // Try increasing this value if stepper motion is not smooth.
- #define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
-
- //#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
+ #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
+ #if ENABLED(FTM_UNIFIED_BWS)
+ #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
+ #else
+ #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
+ #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
+ #endif
+
+ #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
+ #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
+
+ // These values may be configured to adjust the 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()
+
+ #if DISABLED(COREXY)
+ #define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
+
+ // Use this to adjust the time required to consume the command buffer.
+ // Try increasing this value if stepper motion is choppy.
+ #define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
+ // (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
+ // If you run out of memory, fall back to 3000 and increase progressively
+ #else
+ // CoreXY motion needs a larger buffer size. These values are based on our testing.
+ #define FTM_STEPPER_FS 30000
+ #define FTM_STEPPERCMD_BUFF_SIZE 6000
+ #endif
+
+ #define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
+ #define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
+ #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_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
+ #define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
+ // Calculate as:
+ // ZV : FTM_RATIO / 2
+ // ZVD, MZV : FTM_RATIO
+ // 2HEI : FTM_RATIO * 3 / 2
+ // 3HEI : FTM_RATIO * 2
 #endif
 
 /**

Marlin/src/gcode/bedlevel/G35.cpp

@@ -57,9 +57,9 @@
  * 41 - Counter-Clockwise M4
  * 50 - Clockwise M5
  * 51 - Counter-Clockwise M5
- *
- */
+ **/
 void GcodeSuite::G35() {
+
  DEBUG_SECTION(log_G35, "G35", DEBUGGING(LEVELING));
 
  if (DEBUGGING(LEVELING)) log_machine_info();

Marlin/src/gcode/bedlevel/abl/G29.cpp

@@ -225,6 +225,7 @@ class G29_State {
  * There's no extra effect if you have a fixed Z probe.
  */
 G29_TYPE GcodeSuite::G29() {
+
  DEBUG_SECTION(log_G29, "G29", DEBUGGING(LEVELING));
 
  // Leveling state is persistent when done manually with multiple G29 commands

Marlin/src/gcode/bedlevel/mbl/G29.cpp

@@ -64,6 +64,7 @@ inline void echo_not_entered(const char c) { SERIAL_CHAR(c); SERIAL_ECHOLNPGM("
  * S5 Reset and disable mesh
  */
 void GcodeSuite::G29() {
+
  DEBUG_SECTION(log_G29, "G29", true);
 
  // G29 Q is also available if debugging

Marlin/src/gcode/calibrate/G34_M422.cpp

@@ -79,6 +79,7 @@
  * R Flag to recalculate points based on current probe offsets
  */
 void GcodeSuite::G34() {
+
  DEBUG_SECTION(log_G34, "G34", DEBUGGING(LEVELING));
  if (DEBUGGING(LEVELING)) log_machine_info();
 

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

@@ -26,6 +26,7 @@
 
 #include "../../gcode.h"
 #include "../../../module/ft_motion.h"
+#include "../../../module/stepper.h"
 
 void say_shaping() {
  // FT Enabled
@@ -39,6 +40,8 @@ void say_shaping() {
  default: break;
  case ftMotionMode_ZV: SERIAL_ECHOPGM("ZV"); break;
  case ftMotionMode_ZVD: SERIAL_ECHOPGM("ZVD"); break;
+ case ftMotionMode_ZVDD: SERIAL_ECHOPGM("ZVDD"); break;
+ case ftMotionMode_ZVDDD: SERIAL_ECHOPGM("ZVDDD"); break;
  case ftMotionMode_EI: SERIAL_ECHOPGM("EI"); break;
  case ftMotionMode_2HEI: SERIAL_ECHOPGM("2 Hump EI"); break;
  case ftMotionMode_3HEI: SERIAL_ECHOPGM("3 Hump EI"); break;
@@ -155,20 +158,19 @@ void GcodeSuite::M493() {
 
  if (!parser.seen_any())
  flag.report_h = true;
- else
- planner.synchronize();
 
  // Parse 'S' mode parameter.
  if (parser.seenval('S')) {
- const ftMotionMode_t oldmm = ftMotion.cfg.mode,
- newmm = (ftMotionMode_t)parser.value_byte();
+ const ftMotionMode_t newmm = (ftMotionMode_t)parser.value_byte();
 
- if (newmm != oldmm) {
+ if (newmm != ftMotion.cfg.mode) {
  switch (newmm) {
  default: SERIAL_ECHOLNPGM("?Invalid control mode [S] value."); return;
  #if HAS_X_AXIS
  case ftMotionMode_ZV:
  case ftMotionMode_ZVD:
+ case ftMotionMode_ZVDD:
+ case ftMotionMode_ZVDDD:
  case ftMotionMode_EI:
  case ftMotionMode_2HEI:
  case ftMotionMode_3HEI:
@@ -177,11 +179,10 @@ void GcodeSuite::M493() {
  //case ftMotionMode_DISCTF:
  flag.update_n = flag.update_a = true;
  #endif
- case ftMotionMode_DISABLED:
+ case ftMotionMode_DISABLED: flag.reset_ft = true;
  case ftMotionMode_ENABLED:
  ftMotion.cfg.mode = newmm;
  flag.report_h = true;
- if (oldmm == ftMotionMode_DISABLED) flag.reset_ft = true;
  break;
  }
  }
@@ -193,6 +194,7 @@ void GcodeSuite::M493() {
  if (parser.seen('P')) {
  const bool val = parser.value_bool();
  ftMotion.cfg.linearAdvEna = val;
+ flag.report_h = true;
  SERIAL_ECHO_TERNARY(val, "Linear Advance ", "en", "dis", "abled.\n");
  }
 
@@ -216,22 +218,16 @@ void GcodeSuite::M493() {
  if (ftMotion.cfg.modeHasShaper()) {
  const dynFreqMode_t val = dynFreqMode_t(parser.value_byte());
  switch (val) {
- case dynFreqMode_DISABLED:
- ftMotion.cfg.dynFreqMode = val;
- flag.report_h = true;
- break;
  #if HAS_DYNAMIC_FREQ_MM
  case dynFreqMode_Z_BASED:
- ftMotion.cfg.dynFreqMode = val;
- flag.report_h = true;
- break;
  #endif
  #if HAS_DYNAMIC_FREQ_G
  case dynFreqMode_MASS_BASED:
- ftMotion.cfg.dynFreqMode = val;
- flag.report_h = true;
- break;
  #endif
+ case dynFreqMode_DISABLED:
+ ftMotion.cfg.dynFreqMode = val;
+ flag.report_h = true;
+ break;
  default:
  SERIAL_ECHOLNPGM("?Invalid Dynamic Frequency Mode [D] value.");
  break;
@@ -279,6 +275,36 @@ void GcodeSuite::M493() {
  }
  #endif
 
+ // Parse zeta parameter (X axis).
+ if (parser.seenval('I')) {
+ const float val = parser.value_float();
+ if (ftMotion.cfg.modeHasShaper()) {
+ if (WITHIN(val, 0.01f, 1.0f)) {
+ ftMotion.cfg.zeta[0] = val;
+ flag.update_n = flag.update_a = true;
+ }
+ else
+ SERIAL_ECHOLNPGM("Invalid X zeta [", AS_CHAR('I'), "] value."); // Zeta out of range.
+ }
+ else
+ SERIAL_ECHOLNPGM("Wrong mode for zeta parameter.");
+ }
+
+ // Parse vtol parameter (X axis).
+ if (parser.seenval('Q')) {
+ const float val = parser.value_float();
+ if (ftMotion.cfg.modeHasShaper() && IS_EI_MODE(ftMotion.cfg.mode)) {
+ if (WITHIN(val, 0.00f, 1.0f)) {
+ ftMotion.cfg.vtol[0] = val;
+ flag.update_a = true;
+ }
+ else
+ SERIAL_ECHOLNPGM("Invalid X vtol [", AS_CHAR('Q'), "] value."); // VTol out of range.
+ }
+ else
+ SERIAL_ECHOLNPGM("Wrong mode for vtol parameter.");
+ }
+
  #endif // HAS_X_AXIS
 
  #if HAS_Y_AXIS
@@ -310,15 +336,50 @@ void GcodeSuite::M493() {
  }
  #endif
 
+ // Parse zeta parameter (Y axis).
+ if (parser.seenval('J')) {
+ const float val = parser.value_float();
+ if (ftMotion.cfg.modeHasShaper()) {
+ if (WITHIN(val, 0.01f, 1.0f)) {
+ ftMotion.cfg.zeta[1] = val;
+ flag.update_n = flag.update_a = true;
+ }
+ else
+ SERIAL_ECHOLNPGM("Invalid Y zeta [", AS_CHAR('J'), "] value."); // Zeta Out of range
+ }
+ else
+ SERIAL_ECHOLNPGM("Wrong mode for zeta parameter.");
+ }
+
+ // Parse vtol parameter (Y axis).
+ if (parser.seenval('R')) {
+ const float val = parser.value_float();
+ if (ftMotion.cfg.modeHasShaper() && IS_EI_MODE(ftMotion.cfg.mode)) {
+ if (WITHIN(val, 0.00f, 1.0f)) {
+ ftMotion.cfg.vtol[1] = val;
+ flag.update_a = true;
+ }
+ else
+ SERIAL_ECHOLNPGM("Invalid Y vtol [", AS_CHAR('R'), "] value."); // VTol out of range.
+ }
+ else
+ SERIAL_ECHOLNPGM("Wrong mode for vtol parameter.");
+ }
+
  #endif // HAS_Y_AXIS
 
- #if HAS_X_AXIS
- if (flag.update_n) ftMotion.refreshShapingN();
- if (flag.update_a) ftMotion.updateShapingA();
- #endif
- if (flag.reset_ft) ftMotion.reset();
- if (flag.report_h) say_shaping();
+ planner.synchronize();
 
+ if (flag.update_n) ftMotion.refreshShapingN();
+
+ if (flag.update_a) ftMotion.updateShapingA();
+
+ if (flag.reset_ft) {
+ stepper.ftMotion_syncPosition();
+ ftMotion.reset();
+ }
+
+ if (flag.report_h) say_shaping();
 }
 
 #endif // FT_MOTION

Marlin/src/gcode/probe/G38.cpp

@@ -105,6 +105,7 @@ inline bool G38_run_probe() {
  * G38.5 - Probe away from workpiece, stop on contact break
  */
 void GcodeSuite::G38(const int8_t subcode) {
+
  // Get X Y Z E F
  get_destination_from_command();
 

Marlin/src/inc/Conditionals_adv.h

@@ -1144,7 +1144,7 @@
  #elif HAS_DRIVER(A4988)
  #define MINIMUM_STEPPER_POST_DIR_DELAY 200
  #elif HAS_TRINAMIC_CONFIG || HAS_TRINAMIC_STANDALONE
- #define MINIMUM_STEPPER_POST_DIR_DELAY 60
+ #define MINIMUM_STEPPER_POST_DIR_DELAY 70
  #else
  #define MINIMUM_STEPPER_POST_DIR_DELAY 0 // Expect at least 10µS since one Stepper ISR must transpire
  #endif

Marlin/src/lcd/language/language_en.h

@@ -802,6 +802,8 @@ namespace LanguageNarrow_en {
  LSTR MSG_FTM_MODE = _UxGT("Motion Mode:");
  LSTR MSG_FTM_ZV = _UxGT("ZV");
  LSTR MSG_FTM_ZVD = _UxGT("ZVD");
+ LSTR MSG_FTM_ZVDD = _UxGT("ZVDD");
+ LSTR MSG_FTM_ZVDDD = _UxGT("ZVDDD");
  LSTR MSG_FTM_EI = _UxGT("EI");
  LSTR MSG_FTM_2HEI = _UxGT("2HEI");
  LSTR MSG_FTM_3HEI = _UxGT("3HEI");
@@ -813,8 +815,8 @@ 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_FTM_ZETA_N = _UxGT("@ Damping");
+ LSTR MSG_FTM_VTOL_N = _UxGT("@ Vib. Level");
 
  LSTR MSG_LEVEL_X_AXIS = _UxGT("Level X Axis");
  LSTR MSG_AUTO_CALIBRATE = _UxGT("Auto Calibrate");