🚀 ZV Input Shaping (MarlinFirmware#24797)

Marlin/Configuration_adv.h

@@ -1055,6 +1055,35 @@
 
 // @section motion
 
+/**
+ * Input Shaping -- EXPERIMENTAL
+ *
+ * Zero Vibration (ZV) Input Shaping for X and/or Y movements.
+ *
+ * This option uses a lot of SRAM for the step buffer, which is proportional
+ * to the largest step rate possible for any axis. If the build fails due to
+ * low SRAM the buffer size may be reduced by setting smaller values for
+ * DEFAULT_AXIS_STEPS_PER_UNIT and/or DEFAULT_MAX_FEEDRATE. Runtime editing
+ * of max feedrate (M203) or resonant frequency (M593) may result feedrate
+ * being capped to prevent buffer overruns.
+ *
+ * Tune with M593 D<factor> F<frequency>:
+ *
+ *  D<factor>    Set the zeta/damping factor. If axes (X, Y, etc.) are not specified, set for all axes.
+ *  F<frequency> Set the frequency. If axes (X, Y, etc.) are not specified, set for all axes.
+ *  T[map]       Input Shaping type, 0:ZV, 1:EI, 2:2H EI (not implemented yet)
+ *  X<1>         Set the given parameters only for the X axis.
+ *  Y<1>         Set the given parameters only for the Y axis.
+ */
+//#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_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.
+#endif
+
 #define AXIS_RELATIVE_MODES { false, false, false, false }
 
 // Add a Duplicate option for well-separated conjoined nozzles

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

@@ -0,0 +1,83 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2022 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(INPUT_SHAPING)
+
+#include "../../gcode.h"
+#include "../../../module/stepper.h"
+
+void GcodeSuite::M593_report(const bool forReplay/*=true*/) {
+  report_heading_etc(forReplay, F("Input Shaping"));
+  #if HAS_SHAPING_X
+    SERIAL_ECHO_MSG("M593 X"
+      " F", stepper.get_shaping_frequency(X_AXIS),
+      " D", stepper.get_shaping_damping_ratio(X_AXIS)
+    );
+  #endif
+  #if HAS_SHAPING_Y
+    SERIAL_ECHO_MSG("M593 Y"
+      " F", stepper.get_shaping_frequency(Y_AXIS),
+      " D", stepper.get_shaping_damping_ratio(Y_AXIS)
+    );
+  #endif
+}
+
+/**
+ * M593: Get or Set Input Shaping Parameters
+ *  D<factor>    Set the zeta/damping factor. If axes (X, Y, etc.) are not specified, set for all axes.
+ *  F<frequency> Set the frequency. If axes (X, Y, etc.) are not specified, set for all axes.
+ *  T[map]       Input Shaping type, 0:ZV, 1:EI, 2:2H EI (not implemented yet)
+ *  X<1>         Set the given parameters only for the X axis.
+ *  Y<1>         Set the given parameters only for the Y axis.
+ */
+void GcodeSuite::M593() {
+  if (!parser.seen_any()) return M593_report();
+
+  const bool seen_X = TERN0(HAS_SHAPING_X, parser.seen_test('X')),
+             seen_Y = TERN0(HAS_SHAPING_Y, parser.seen_test('Y')),
+             for_X = seen_X || TERN0(HAS_SHAPING_X, (!seen_X && !seen_Y)),
+             for_Y = seen_Y || TERN0(HAS_SHAPING_Y, (!seen_X && !seen_Y));
+
+  if (parser.seen('D')) {
+    const float zeta = parser.value_float();
+    if (WITHIN(zeta, 0, 1)) {
+      if (for_X) stepper.set_shaping_damping_ratio(X_AXIS, zeta);
+      if (for_Y) stepper.set_shaping_damping_ratio(Y_AXIS, zeta);
+    }
+    else
+      SERIAL_ECHO_MSG("?Zeta (D) value out of range (0-1)");
+  }
+
+  if (parser.seen('F')) {
+    const float freq = parser.value_float();
+    if (freq > 0) {
+      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");
+  }
+}
+
+#endif

Marlin/src/gcode/gcode.cpp

@@ -933,6 +933,10 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
         case 575: M575(); break;                                  // M575: Set serial baudrate
       #endif
 
+      #if ENABLED(INPUT_SHAPING)
+        case 593: M593(); break;                                  // M593: Set Input Shaping parameters
+      #endif
+
       #if ENABLED(ADVANCED_PAUSE_FEATURE)
         case 600: M600(); break;                                  // M600: Pause for Filament Change
         case 603: M603(); break;                                  // M603: Configure Filament Change

Marlin/src/gcode/gcode.h

@@ -259,6 +259,7 @@
  * M554 - Get or set IP gateway. (Requires enabled Ethernet port)
  * M569 - Enable stealthChop on an axis. (Requires at least one _DRIVER_TYPE to be TMC2130/2160/2208/2209/5130/5160)
  * M575 - Change the serial baud rate. (Requires BAUD_RATE_GCODE)
+ * M593 - Get or set input shaping parameters. (Requires INPUT_SHAPING)
  * M600 - Pause for filament change: "M600 X<pos> Y<pos> Z<raise> E<first_retract> L<later_retract>". (Requires ADVANCED_PAUSE_FEATURE)
  * M603 - Configure filament change: "M603 T<tool> U<unload_length> L<load_length>". (Requires ADVANCED_PAUSE_FEATURE)
  * M605 - Set Dual X-Carriage movement mode: "M605 S<mode> [X<x_offset>] [R<temp_offset>]". (Requires DUAL_X_CARRIAGE)
@@ -1080,6 +1081,11 @@ class GcodeSuite {
     static void M575();
   #endif
 
+  #if ENABLED(INPUT_SHAPING)
+    static void M593();
+    static void M593_report(const bool forReplay=true);
+  #endif
+
   #if ENABLED(ADVANCED_PAUSE_FEATURE)
     static void M600();
     static void M603();

Marlin/src/inc/Conditionals_adv.h

@@ -1085,3 +1085,17 @@
 #else
   #define CALC_FAN_SPEED(f) (f ? map(f, 1, 255, FAN_MIN_PWM, FAN_MAX_PWM) : FAN_OFF_PWM)
 #endif
+
+// Input shaping
+#if ENABLED(INPUT_SHAPING)
+  #if !HAS_Y_AXIS
+    #undef SHAPING_FREQ_Y
+    #undef SHAPING_BUFFER_Y
+  #endif
+  #ifdef SHAPING_FREQ_X
+    #define HAS_SHAPING_X 1
+  #endif
+  #ifdef SHAPING_FREQ_Y
+    #define HAS_SHAPING_Y 1
+  #endif
+#endif

Marlin/src/inc/SanityCheck.h

@@ -4238,11 +4238,6 @@ static_assert(_PLUS_TEST(4), "HOMING_FEEDRATE_MM_M values must be positive.");
   #endif
 #endif
 
-// Misc. Cleanup
-#undef _TEST_PWM
-#undef _NUM_AXES_STR
-#undef _LOGICAL_AXES_STR
-
 // JTAG support in the HAL
 #if ENABLED(DISABLE_DEBUG) && !defined(JTAGSWD_DISABLE)
   #error "DISABLE_DEBUG is not supported for the selected MCU/Board."
@@ -4254,3 +4249,33 @@ static_assert(_PLUS_TEST(4), "HOMING_FEEDRATE_MM_M values must be positive.");
 #if ENABLED(XFER_BUILD) && !BOTH(BINARY_FILE_TRANSFER, CUSTOM_FIRMWARE_UPLOAD)
   #error "BINARY_FILE_TRANSFER and CUSTOM_FIRMWARE_UPLOAD are required for custom upload."
 #endif
+
+// Check requirements for Input Shaping
+#if ENABLED(INPUT_SHAPING) && defined(__AVR__)
+  #if HAS_SHAPING_X
+    #if F_CPU > 16000000
+      static_assert((SHAPING_FREQ_X) * 2 * 0x10000 >= (STEPPER_TIMER_RATE), "SHAPING_FREQ_X is below the minimum (20) for AVR 20MHz.");
+    #else
+      static_assert((SHAPING_FREQ_X) * 2 * 0x10000 >= (STEPPER_TIMER_RATE), "SHAPING_FREQ_X is below the minimum (16) for AVR 16MHz.");
+    #endif
+  #elif HAS_SHAPING_Y
+    #if F_CPU > 16000000
+      static_assert((SHAPING_FREQ_Y) * 2 * 0x10000 >= (STEPPER_TIMER_RATE), "SHAPING_FREQ_Y is below the minimum (20) for AVR 20MHz.");
+    #else
+      static_assert((SHAPING_FREQ_Y) * 2 * 0x10000 >= (STEPPER_TIMER_RATE), "SHAPING_FREQ_Y is below the minimum (16) for AVR 16MHz.");
+    #endif
+  #endif
+#endif
+
+#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
+
+// Misc. Cleanup
+#undef _TEST_PWM
+#undef _NUM_AXES_STR
+#undef _LOGICAL_AXES_STR

Marlin/src/lcd/language/language_en.h

@@ -399,6 +399,11 @@ namespace Language_en {
   LSTR MSG_AMAX_EN                        = _UxGT("Max * Accel");
   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_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

@@ -31,6 +31,7 @@
 #include "menu_item.h"
 #include "../../MarlinCore.h"
 #include "../../module/planner.h"
+#include "../../module/stepper.h"
 
 #if DISABLED(NO_VOLUMETRICS)
   #include "../../gcode/parser.h"
@@ -80,8 +81,6 @@ void menu_backlash();
 
 #if HAS_MOTOR_CURRENT_PWM
 
-  #include "../../module/stepper.h"
-
   void menu_pwm() {
     START_MENU();
     BACK_ITEM(MSG_ADVANCED_SETTINGS);
@@ -538,6 +537,39 @@ void menu_backlash();
     END_MENU();
   }
 
+  #if ENABLED(SHAPING_MENU)
+
+    void menu_advanced_input_shaping() {
+      constexpr float min_frequency = TERN(__AVR__, float(STEPPER_TIMER_RATE) / 2 / 0x10000, 1.0f);
+
+      START_MENU();
+      BACK_ITEM(MSG_ADVANCED_SETTINGS);
+
+      // M593 F Frequency
+      #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); });
+      #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); });
+      #endif
+
+      END_MENU();
+    }
+
+  #endif
+
   #if HAS_CLASSIC_JERK
 
     void menu_advanced_jerk() {
@@ -657,6 +689,11 @@ void menu_advanced_settings() {
     // M201 - Acceleration items
     SUBMENU(MSG_ACCELERATION, menu_advanced_acceleration);
 
+    // M593 - Acceleration items
+    #if ENABLED(SHAPING_MENU)
+      SUBMENU(MSG_INPUT_SHAPING, menu_advanced_input_shaping);
+    #endif
+
     #if HAS_CLASSIC_JERK
       // M205 - Max Jerk
       SUBMENU(MSG_JERK, menu_advanced_jerk);

Marlin/src/module/planner.cpp

@@ -2483,6 +2483,14 @@ 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;
+    NOMORE(speed_factor, max_factor);
+  #endif
+
   // Correct the speed
   if (speed_factor < 1.0f) {
     current_speed *= speed_factor;