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Code Issues Releases Wiki Activity

🔧 Refine Input Shaping check (#25280)

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This commit is contained in:
Scott Lahteine 2023-01-25 21:37:10 -06:00
parent 0ed083aba8
commit 0d831183ba
4 changed files with 36 additions and 21 deletions
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15
Marlin/src/inc/SanityCheck.h
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@ -4328,10 +4328,17 @@ static_assert(_PLUS_TEST(4), "HOMING_FEEDRATE_MM_M values must be positive.");
#error "Input Shaping is not compatible with POLARGRAPH kinematics."
#elif ENABLED(DIRECT_STEPPING)
#error "Input Shaping is not compatible with DIRECT_STEPPING."
#elif ENABLED(INPUT_SHAPING_X) && ANY(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY, MARKFORGED_YX)
#error "INPUT_SHAPING_X is not supported with COREXY, COREYX, COREXZ, COREZX, or MARKFORGED_*."
#elif ENABLED(INPUT_SHAPING_Y) && ANY(CORE_IS_XY, CORE_IS_YZ, MARKFORGED_XY, MARKFORGED_YX)
#error "INPUT_SHAPING_Y is not supported with COREXY, COREYX, COREYZ, COREZY, or MARKFORGED_*."
#elif BOTH(INPUT_SHAPING_X, CORE_IS_XZ)
#error "INPUT_SHAPING_X is not supported with COREXZ."
#elif BOTH(INPUT_SHAPING_Y, CORE_IS_YZ)
#error "INPUT_SHAPING_Y is not supported with COREYZ."
#elif ANY(CORE_IS_XY, MARKFORGED_XY, MARKFORGED_YX)
#if !BOTH(INPUT_SHAPING_X, INPUT_SHAPING_Y)
#error "INPUT_SHAPING_X and INPUT_SHAPING_Y must both be enabled for COREXY, COREYX, or MARKFORGED_*."
#else
static_assert(SHAPING_FREQ_X == SHAPING_FREQ_Y, "SHAPING_FREQ_X and SHAPING_FREQ_Y must be the same for COREXY / COREYX / MARKFORGED_*.");
static_assert(SHAPING_ZETA_X == SHAPING_ZETA_Y, "SHAPING_ZETA_X and SHAPING_ZETA_Y must be the same for COREXY / COREYX / MARKFORGED_*.");
#endif
#endif
#ifdef __AVR__

7
Marlin/src/inc/Warnings.cpp
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@ -783,3 +783,10 @@
#if ENABLED(BD_SENSOR) && DISABLED(BABYSTEPPING)
#warning "BABYSTEPPING is recommended with BD_SENSOR."
#endif
/**
* Input Shaping
*/
#if HAS_SHAPING && ANY(CORE_IS_XY, MARKFORGED_XY, MARKFORGED_YX)
#warning "Input Shaping for CORE / MARKFORGED kinematic axes is still experimental."
#endif

8
Marlin/src/module/stepper.cpp
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@ -3020,7 +3020,7 @@ void Stepper::init() {
* Calculate a fixed point factor to apply to the signal and its echo
* when shaping an axis.
*/
void Stepper::set_shaping_damping_ratio(const AxisEnum axis, const float zeta) {
void Stepper::set_shaping_damping_ratio(const AxisEnum axis, const_float_t zeta) {
// from the damping ratio, get a factor that can be applied to advance_dividend for fixed point maths
// for ZV, we use amplitudes 1/(1+K) and K/(1+K) where K = exp(-zeta * M_PI / sqrt(1.0f - zeta * zeta))
// which can be converted to 1:7 fixed point with an excellent fit with a 3rd order polynomial
@ -3029,9 +3029,9 @@ void Stepper::init() {
else if (zeta >= 1.0f) factor2 = 0.0f;
else {
factor2 = 64.44056192 + -99.02008832 * zeta;
const float zeta2 = zeta * zeta;
const_float_t zeta2 = zeta * zeta;
factor2 += -7.58095488 * zeta2;
const float zeta3 = zeta2 * zeta;
const_float_t zeta3 = zeta2 * zeta;
factor2 += 43.073216 * zeta3;
factor2 = floor(factor2);
}
@ -3049,7 +3049,7 @@ void Stepper::init() {
return -1;
}
void Stepper::set_shaping_frequency(const AxisEnum axis, const float freq) {
void Stepper::set_shaping_frequency(const AxisEnum axis, const_float_t freq) {
// enabling or disabling shaping whilst moving can result in lost steps
planner.synchronize();

27
Marlin/src/module/stepper.h
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@ -154,38 +154,39 @@
// Add time for each stepper
#if HAS_X_STEP
#define ISR_X_STEPPER_CYCLES ISR_STEPPER_CYCLES
#define ISR_X_STEPPER_CYCLES ISR_STEPPER_CYCLES
#endif
#if HAS_Y_STEP
#define ISR_Y_STEPPER_CYCLES ISR_STEPPER_CYCLES
#define ISR_Y_STEPPER_CYCLES ISR_STEPPER_CYCLES
#endif
#if HAS_Z_STEP
#define ISR_Z_STEPPER_CYCLES ISR_STEPPER_CYCLES
#define ISR_Z_STEPPER_CYCLES ISR_STEPPER_CYCLES
#endif
#if HAS_I_STEP
#define ISR_I_STEPPER_CYCLES ISR_STEPPER_CYCLES
#define ISR_I_STEPPER_CYCLES ISR_STEPPER_CYCLES
#endif
#if HAS_J_STEP
#define ISR_J_STEPPER_CYCLES ISR_STEPPER_CYCLES
#define ISR_J_STEPPER_CYCLES ISR_STEPPER_CYCLES
#endif
#if HAS_K_STEP
#define ISR_K_STEPPER_CYCLES ISR_STEPPER_CYCLES
#define ISR_K_STEPPER_CYCLES ISR_STEPPER_CYCLES
#endif
#if HAS_U_STEP
#define ISR_U_STEPPER_CYCLES ISR_STEPPER_CYCLES
#define ISR_U_STEPPER_CYCLES ISR_STEPPER_CYCLES
#endif
#if HAS_V_STEP
#define ISR_V_STEPPER_CYCLES ISR_STEPPER_CYCLES
#define ISR_V_STEPPER_CYCLES ISR_STEPPER_CYCLES
#endif
#if HAS_W_STEP
#define ISR_W_STEPPER_CYCLES ISR_STEPPER_CYCLES
#define ISR_W_STEPPER_CYCLES ISR_STEPPER_CYCLES
#endif
#if HAS_EXTRUDERS
#define ISR_E_STEPPER_CYCLES ISR_STEPPER_CYCLES // E is always interpolated, even for mixing extruders
#define ISR_E_STEPPER_CYCLES ISR_STEPPER_CYCLES // E is always interpolated, even for mixing extruders
#endif
// And the total minimum loop time, not including the base
#define MIN_ISR_LOOP_CYCLES (ISR_MIXING_STEPPER_CYCLES LOGICAL_AXIS_GANG(+ ISR_E_STEPPER_CYCLES, + ISR_X_STEPPER_CYCLES, + ISR_Y_STEPPER_CYCLES, + ISR_Z_STEPPER_CYCLES, + ISR_I_STEPPER_CYCLES, + ISR_J_STEPPER_CYCLES, + ISR_K_STEPPER_CYCLES, + ISR_U_STEPPER_CYCLES, + ISR_V_STEPPER_CYCLES, + ISR_W_STEPPER_CYCLES))
#define _PLUS_AXIS_CYCLES(A) + (ISR_##A##_STEPPER_CYCLES)
#define MIN_ISR_LOOP_CYCLES (ISR_MIXING_STEPPER_CYCLES LOGICAL_AXIS_MAP(_PLUS_AXIS_CYCLES))
// Calculate the minimum MPU cycles needed per pulse to enforce, limited to the max stepper rate
#define _MIN_STEPPER_PULSE_CYCLES(N) _MAX(uint32_t((F_CPU) / (MAXIMUM_STEPPER_RATE)), ((F_CPU) / 500000UL) * (N))
@ -802,9 +803,9 @@ class Stepper {
}
#if HAS_SHAPING
static void set_shaping_damping_ratio(const AxisEnum axis, const float zeta);
static void set_shaping_damping_ratio(const AxisEnum axis, const_float_t zeta);
static float get_shaping_damping_ratio(const AxisEnum axis);
static void set_shaping_frequency(const AxisEnum axis, const float freq);
static void set_shaping_frequency(const AxisEnum axis, const_float_t freq);
static float get_shaping_frequency(const AxisEnum axis);
#endif