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Code Issues Releases Wiki Activity

🎨 FT Motion, axis cleanup

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This commit is contained in:
Scott Lahteine 2024-08-12 17:28:55 -05:00
parent 89b0143b09
commit b062a3b226
7 changed files with 41 additions and 38 deletions
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6
Marlin/src/core/types.h
View file

@ -297,7 +297,7 @@ enum AxisEnum : uint8_t {
#endif #endif
// Distinct axes, including all E and Core // Distinct axes, including all E and Core
NUM_AXIS_ENUMS, NUM_AXIS_HEADS,
// Most of the time we refer only to the single E_AXIS // Most of the time we refer only to the single E_AXIS
#if HAS_EXTRUDERS #if HAS_EXTRUDERS
@ -995,7 +995,7 @@ class AxisBits;
class AxisBits { class AxisBits {
public: public:
typedef bits_t(NUM_AXIS_ENUMS) el; typedef bits_t(NUM_AXIS_HEADS) el;
union { union {
el bits; el bits;
// Axes x, y, z ... e0, e1, e2 ... hx, hy, hz // Axes x, y, z ... e0, e1, e2 ... hx, hy, hz
@ -1056,7 +1056,7 @@ public:
FI AxisBits& operator=(const el p) { set(p); return *this; } FI AxisBits& operator=(const el p) { set(p); return *this; }
FI void reset() { set(0); } FI void reset() { set(0); }
FI void fill() { set(_BV(NUM_AXIS_ENUMS) - 1); } FI void fill() { set(_BV(NUM_AXIS_HEADS) - 1); }
#define MSET(pE,pX,pY,pZ,pI,pJ,pK,pU,pV,pW) LOGICAL_AXIS_CODE(e=pE, x=pX, y=pY, z=pZ, i=pI, j=pJ, k=pK, u=pU, v=pV, w=pW) #define MSET(pE,pX,pY,pZ,pI,pJ,pK,pU,pV,pW) LOGICAL_AXIS_CODE(e=pE, x=pX, y=pY, z=pZ, i=pI, j=pJ, k=pK, u=pU, v=pV, w=pW)

27
Marlin/src/gcode/feature/ft_motion/M493.cpp
View file

@ -61,13 +61,13 @@ void say_shaping() {
// FT Shaping // FT Shaping
#if HAS_X_AXIS #if HAS_X_AXIS
if (CMPNSTR_HAS_SHAPER(X_AXIS)) { if (AXIS_HAS_SHAPER(X)) {
SERIAL_ECHOPGM(" with " AXIS_0_NAME); SERIAL_ECHOPGM(" with " AXIS_0_NAME);
say_shaper_type(X_AXIS); say_shaper_type(X_AXIS);
} }
#endif #endif
#if HAS_Y_AXIS #if HAS_Y_AXIS
if (CMPNSTR_HAS_SHAPER(Y_AXIS)) { if (AXIS_HAS_SHAPER(Y)) {
SERIAL_ECHOPGM(" and with " AXIS_1_NAME); SERIAL_ECHOPGM(" and with " AXIS_1_NAME);
say_shaper_type(Y_AXIS); say_shaper_type(Y_AXIS);
} }
@ -80,7 +80,7 @@ void say_shaping() {
dynamic = z_based || g_based; dynamic = z_based || g_based;
// FT Dynamic Frequency Mode // FT Dynamic Frequency Mode
if (CMPNSTR_HAS_SHAPER(X_AXIS) || CMPNSTR_HAS_SHAPER(Y_AXIS)) { if (AXIS_HAS_SHAPER(X) || AXIS_HAS_SHAPER(Y)) {
#if HAS_DYNAMIC_FREQ #if HAS_DYNAMIC_FREQ
SERIAL_ECHOPGM("Dynamic Frequency Mode "); SERIAL_ECHOPGM("Dynamic Frequency Mode ");
switch (ftMotion.cfg.dynFreqMode) { switch (ftMotion.cfg.dynFreqMode) {
@ -201,8 +201,11 @@ void GcodeSuite::M493() {
if (active != ftMotion.cfg.active) { if (active != ftMotion.cfg.active) {
switch (active) { switch (active) {
case false: flag.reset_ft = true; case false:
case true: flag.report_h = true; flag.reset_ft = true;
// fall-thru
case true:
flag.report_h = true;
ftMotion.cfg.active = active; ftMotion.cfg.active = active;
break; break;
} }
@ -267,7 +270,7 @@ void GcodeSuite::M493() {
// Dynamic frequency mode parameter. // Dynamic frequency mode parameter.
if (parser.seenval('D')) { if (parser.seenval('D')) {
if (CMPNSTR_HAS_SHAPER(X_AXIS) || CMPNSTR_HAS_SHAPER(Y_AXIS)) { if (AXIS_HAS_SHAPER(X) || AXIS_HAS_SHAPER(Y)) {
const dynFreqMode_t val = dynFreqMode_t(parser.value_byte()); const dynFreqMode_t val = dynFreqMode_t(parser.value_byte());
switch (val) { switch (val) {
#if HAS_DYNAMIC_FREQ_MM #if HAS_DYNAMIC_FREQ_MM
@ -301,7 +304,7 @@ void GcodeSuite::M493() {
// Parse frequency parameter (X axis). // Parse frequency parameter (X axis).
if (parser.seenval('A')) { if (parser.seenval('A')) {
if (CMPNSTR_HAS_SHAPER(X_AXIS)) { if (AXIS_HAS_SHAPER(X)) {
const float val = parser.value_float(); const float val = parser.value_float();
// TODO: Frequency minimum is dependent on the shaper used; the above check isn't always correct. // TODO: Frequency minimum is dependent on the shaper used; the above check isn't always correct.
if (WITHIN(val, FTM_MIN_SHAPE_FREQ, (FTM_FS) / 2)) { if (WITHIN(val, FTM_MIN_SHAPE_FREQ, (FTM_FS) / 2)) {
@ -330,7 +333,7 @@ void GcodeSuite::M493() {
// Parse zeta parameter (X axis). // Parse zeta parameter (X axis).
if (parser.seenval('I')) { if (parser.seenval('I')) {
const float val = parser.value_float(); const float val = parser.value_float();
if (CMPNSTR_HAS_SHAPER(X_AXIS)) { if (AXIS_HAS_SHAPER(X)) {
if (WITHIN(val, 0.01f, 1.0f)) { if (WITHIN(val, 0.01f, 1.0f)) {
ftMotion.cfg.zeta[0] = val; ftMotion.cfg.zeta[0] = val;
flag.update = true; flag.update = true;
@ -345,7 +348,7 @@ void GcodeSuite::M493() {
// Parse vtol parameter (X axis). // Parse vtol parameter (X axis).
if (parser.seenval('Q')) { if (parser.seenval('Q')) {
const float val = parser.value_float(); const float val = parser.value_float();
if (CMPNSTR_IS_EISHAPER(X_AXIS)) { if (AXIS_HAS_EISHAPER(X)) {
if (WITHIN(val, 0.00f, 1.0f)) { if (WITHIN(val, 0.00f, 1.0f)) {
ftMotion.cfg.vtol[0] = val; ftMotion.cfg.vtol[0] = val;
flag.update = true; flag.update = true;
@ -363,7 +366,7 @@ void GcodeSuite::M493() {
// Parse frequency parameter (Y axis). // Parse frequency parameter (Y axis).
if (parser.seenval('B')) { if (parser.seenval('B')) {
if (CMPNSTR_HAS_SHAPER(Y_AXIS)) { if (AXIS_HAS_SHAPER(Y)) {
const float val = parser.value_float(); const float val = parser.value_float();
if (WITHIN(val, FTM_MIN_SHAPE_FREQ, (FTM_FS) / 2)) { if (WITHIN(val, FTM_MIN_SHAPE_FREQ, (FTM_FS) / 2)) {
ftMotion.cfg.baseFreq[Y_AXIS] = val; ftMotion.cfg.baseFreq[Y_AXIS] = val;
@ -391,7 +394,7 @@ void GcodeSuite::M493() {
// Parse zeta parameter (Y axis). // Parse zeta parameter (Y axis).
if (parser.seenval('J')) { if (parser.seenval('J')) {
const float val = parser.value_float(); const float val = parser.value_float();
if (CMPNSTR_HAS_SHAPER(Y_AXIS)) { if (AXIS_HAS_SHAPER(Y)) {
if (WITHIN(val, 0.01f, 1.0f)) { if (WITHIN(val, 0.01f, 1.0f)) {
ftMotion.cfg.zeta[1] = val; ftMotion.cfg.zeta[1] = val;
flag.update = true; flag.update = true;
@ -406,7 +409,7 @@ void GcodeSuite::M493() {
// Parse vtol parameter (Y axis). // Parse vtol parameter (Y axis).
if (parser.seenval('R')) { if (parser.seenval('R')) {
const float val = parser.value_float(); const float val = parser.value_float();
if (CMPNSTR_IS_EISHAPER(Y_AXIS)) { if (AXIS_HAS_EISHAPER(Y)) {
if (WITHIN(val, 0.00f, 1.0f)) { if (WITHIN(val, 0.00f, 1.0f)) {
ftMotion.cfg.vtol[1] = val; ftMotion.cfg.vtol[1] = val;
flag.update = true; flag.update = true;

16
Marlin/src/lcd/menu/menu_motion.cpp
View file

@ -416,9 +416,9 @@ void menu_move() {
void menu_ft_motion() { void menu_ft_motion() {
// Define stuff ahead of the menu loop // Define stuff ahead of the menu loop
MString<20> shaper_name[1 + ENABLED(HAS_Y_AXIS)] {}; MString<20> shaper_name[NUM_AXES_SHAPED] {};
#if HAS_X_AXIS #if HAS_X_AXIS
for (uint_fast8_t a = X_AXIS; a <= TERN(HAS_Y_AXIS, Y_AXIS, X_AXIS); ++a) for (uint_fast8_t a = X_AXIS; a < NUM_AXES_SHAPED; ++a)
shaper_name[a] = get_shaper_name(AxisEnum(a)); shaper_name[a] = get_shaper_name(AxisEnum(a));
#endif #endif
#if HAS_DYNAMIC_FREQ #if HAS_DYNAMIC_FREQ
@ -441,10 +441,10 @@ void menu_move() {
SUBMENU_N(X_AXIS, MSG_FTM_CMPN_MODE, menu_ftm_cmpn_x); SUBMENU_N(X_AXIS, MSG_FTM_CMPN_MODE, menu_ftm_cmpn_x);
MENU_ITEM_ADDON_START_RJ(5); lcd_put_u8str(shaper_name[X_AXIS]); MENU_ITEM_ADDON_END(); MENU_ITEM_ADDON_START_RJ(5); lcd_put_u8str(shaper_name[X_AXIS]); MENU_ITEM_ADDON_END();
if (CMPNSTR_HAS_SHAPER(X_AXIS)) { if (AXIS_HAS_SHAPER(X)) {
EDIT_ITEM_FAST_N(float42_52, X_AXIS, MSG_FTM_BASE_FREQ_N, &c.baseFreq[X_AXIS], FTM_MIN_SHAPE_FREQ, (FTM_FS) / 2, ftMotion.update_shaping_params); EDIT_ITEM_FAST_N(float42_52, X_AXIS, MSG_FTM_BASE_FREQ_N, &c.baseFreq[X_AXIS], FTM_MIN_SHAPE_FREQ, (FTM_FS) / 2, ftMotion.update_shaping_params);
EDIT_ITEM_FAST_N(float42_52, X_AXIS, MSG_FTM_ZETA_N, &c.zeta[0], 0.0f, 1.0f, ftMotion.update_shaping_params); EDIT_ITEM_FAST_N(float42_52, X_AXIS, MSG_FTM_ZETA_N, &c.zeta[0], 0.0f, 1.0f, ftMotion.update_shaping_params);
if (CMPNSTR_IS_EISHAPER(X_AXIS)) if (AXIS_HAS_EISHAPER(X))
EDIT_ITEM_FAST_N(float42_52, X_AXIS, MSG_FTM_VTOL_N, &c.vtol[0], 0.0f, 1.0f, ftMotion.update_shaping_params); EDIT_ITEM_FAST_N(float42_52, X_AXIS, MSG_FTM_VTOL_N, &c.vtol[0], 0.0f, 1.0f, ftMotion.update_shaping_params);
} }
#endif #endif
@ -452,10 +452,10 @@ void menu_move() {
SUBMENU_N(Y_AXIS, MSG_FTM_CMPN_MODE, menu_ftm_cmpn_y); SUBMENU_N(Y_AXIS, MSG_FTM_CMPN_MODE, menu_ftm_cmpn_y);
MENU_ITEM_ADDON_START_RJ(5); lcd_put_u8str(shaper_name[Y_AXIS]); MENU_ITEM_ADDON_END(); MENU_ITEM_ADDON_START_RJ(5); lcd_put_u8str(shaper_name[Y_AXIS]); MENU_ITEM_ADDON_END();
if (CMPNSTR_HAS_SHAPER(Y_AXIS)) { if (AXIS_HAS_SHAPER(Y)) {
EDIT_ITEM_FAST_N(float42_52, Y_AXIS, MSG_FTM_BASE_FREQ_N, &c.baseFreq[Y_AXIS], FTM_MIN_SHAPE_FREQ, (FTM_FS) / 2, ftMotion.update_shaping_params); EDIT_ITEM_FAST_N(float42_52, Y_AXIS, MSG_FTM_BASE_FREQ_N, &c.baseFreq[Y_AXIS], FTM_MIN_SHAPE_FREQ, (FTM_FS) / 2, ftMotion.update_shaping_params);
EDIT_ITEM_FAST_N(float42_52, Y_AXIS, MSG_FTM_ZETA_N, &c.zeta[1], 0.0f, 1.0f, ftMotion.update_shaping_params); EDIT_ITEM_FAST_N(float42_52, Y_AXIS, MSG_FTM_ZETA_N, &c.zeta[1], 0.0f, 1.0f, ftMotion.update_shaping_params);
if (CMPNSTR_IS_EISHAPER(Y_AXIS)) if (AXIS_HAS_EISHAPER(Y))
EDIT_ITEM_FAST_N(float42_52, Y_AXIS, MSG_FTM_VTOL_N, &c.vtol[1], 0.0f, 1.0f, ftMotion.update_shaping_params); EDIT_ITEM_FAST_N(float42_52, Y_AXIS, MSG_FTM_VTOL_N, &c.vtol[1], 0.0f, 1.0f, ftMotion.update_shaping_params);
} }
#endif #endif
@ -483,9 +483,9 @@ void menu_move() {
void menu_tune_ft_motion() { void menu_tune_ft_motion() {
// Define stuff ahead of the menu loop // Define stuff ahead of the menu loop
MString<20> shaper_name[1 + ENABLED(HAS_Y_AXIS)] {}; MString<20> shaper_name[NUM_AXES_SHAPED] {};
#if HAS_X_AXIS #if HAS_X_AXIS
for (uint_fast8_t a = X_AXIS; a <= TERN(HAS_Y_AXIS, Y_AXIS, X_AXIS); ++a) for (uint_fast8_t a = X_AXIS; a < NUM_AXES_SHAPED; ++a)
shaper_name[a] = get_shaper_name(AxisEnum(a)); shaper_name[a] = get_shaper_name(AxisEnum(a));
#endif #endif
#if HAS_DYNAMIC_FREQ #if HAS_DYNAMIC_FREQ

6
Marlin/src/lcd/tft/ui_color_ui.cpp
View file

@ -247,21 +247,21 @@ void MarlinUI::draw_status_screen() {
tft.set_background(COLOR_BACKGROUND); tft.set_background(COLOR_BACKGROUND);
tft.add_rectangle(0, 0, COORDINATES_W, COORDINATES_H, COLOR_AXIS_HOMED); tft.add_rectangle(0, 0, COORDINATES_W, COORDINATES_H, COLOR_AXIS_HOMED);
#if ENABLED(HAS_X_AXIS) && defined(X_MARK_X) && defined(X_MARK_Y) && defined(X_VALUE_X) && defined(X_VALUE_Y) #if HAS_X_AXIS && defined(X_MARK_X) && defined(X_MARK_Y) && defined(X_VALUE_X) && defined(X_VALUE_Y)
tft.add_text(X_MARK_X, X_MARK_Y, COLOR_AXIS_HOMED , "X"); tft.add_text(X_MARK_X, X_MARK_Y, COLOR_AXIS_HOMED , "X");
const bool nhx = axis_should_home(X_AXIS); const bool nhx = axis_should_home(X_AXIS);
tft_string.set(blink && nhx ? "?" : ftostr4sign(LOGICAL_X_POSITION(current_position.x))); tft_string.set(blink && nhx ? "?" : ftostr4sign(LOGICAL_X_POSITION(current_position.x)));
tft.add_text(X_VALUE_X, X_VALUE_Y, nhx ? COLOR_AXIS_NOT_HOMED : COLOR_AXIS_HOMED, tft_string); tft.add_text(X_VALUE_X, X_VALUE_Y, nhx ? COLOR_AXIS_NOT_HOMED : COLOR_AXIS_HOMED, tft_string);
#endif #endif
#if ENABLED(HAS_Y_AXIS) && defined(Y_MARK_X) && defined(Y_MARK_Y) && defined(Y_VALUE_X) && defined(Y_VALUE_Y) #if HAS_Y_AXIS && defined(Y_MARK_X) && defined(Y_MARK_Y) && defined(Y_VALUE_X) && defined(Y_VALUE_Y)
tft.add_text(Y_MARK_X, Y_MARK_Y, COLOR_AXIS_HOMED , "Y"); tft.add_text(Y_MARK_X, Y_MARK_Y, COLOR_AXIS_HOMED , "Y");
const bool nhy = axis_should_home(Y_AXIS); const bool nhy = axis_should_home(Y_AXIS);
tft_string.set(blink && nhy ? "?" : ftostr4sign(LOGICAL_Y_POSITION(current_position.y))); tft_string.set(blink && nhy ? "?" : ftostr4sign(LOGICAL_Y_POSITION(current_position.y)));
tft.add_text(Y_VALUE_X, Y_VALUE_Y, nhy ? COLOR_AXIS_NOT_HOMED : COLOR_AXIS_HOMED, tft_string); tft.add_text(Y_VALUE_X, Y_VALUE_Y, nhy ? COLOR_AXIS_NOT_HOMED : COLOR_AXIS_HOMED, tft_string);
#endif #endif
#if ENABLED(HAS_Z_AXIS) && defined(Z_MARK_X) && defined(Z_MARK_Y) && defined(Z_VALUE_X) && defined(Z_VALUE_Y) && defined(Z_VALUE_OFFSET) #if HAS_Z_AXIS && defined(Z_MARK_X) && defined(Z_MARK_Y) && defined(Z_VALUE_X) && defined(Z_VALUE_Y) && defined(Z_VALUE_OFFSET)
tft.add_text(Z_MARK_X, Z_MARK_Y, COLOR_AXIS_HOMED , "Z"); tft.add_text(Z_MARK_X, Z_MARK_Y, COLOR_AXIS_HOMED , "Z");
uint16_t offset = Z_VALUE_OFFSET; uint16_t offset = Z_VALUE_OFFSET;
const bool nhz = axis_should_home(Z_AXIS); const bool nhz = axis_should_home(Z_AXIS);

8
Marlin/src/module/ft_motion.cpp
View file

@ -349,15 +349,13 @@ void FTMotion::loop() {
void FTMotion::update_shaping_params() { void FTMotion::update_shaping_params() {
#if HAS_X_AXIS #if HAS_X_AXIS
shaping.x.ena = CMPNSTR_HAS_SHAPER(X_AXIS); if ((shaping.x.ena = AXIS_HAS_SHAPER(X))) {
if (shaping.x.ena) {
shaping.x.set_axis_shaping_A(cfg.shaper[X_AXIS], cfg.zeta[X_AXIS], cfg.vtol[X_AXIS]); shaping.x.set_axis_shaping_A(cfg.shaper[X_AXIS], cfg.zeta[X_AXIS], cfg.vtol[X_AXIS]);
shaping.x.set_axis_shaping_N(cfg.shaper[X_AXIS], cfg.baseFreq[X_AXIS], cfg.zeta[X_AXIS]); shaping.x.set_axis_shaping_N(cfg.shaper[X_AXIS], cfg.baseFreq[X_AXIS], cfg.zeta[X_AXIS]);
} }
#endif #endif
#if HAS_Y_AXIS #if HAS_Y_AXIS
shaping.y.ena = CMPNSTR_HAS_SHAPER(Y_AXIS); if ((shaping.y.ena = AXIS_HAS_SHAPER(Y))) {
if (shaping.y.ena) {
shaping.y.set_axis_shaping_A(cfg.shaper[Y_AXIS], cfg.zeta[Y_AXIS], cfg.vtol[Y_AXIS]); shaping.y.set_axis_shaping_A(cfg.shaper[Y_AXIS], cfg.zeta[Y_AXIS], cfg.vtol[Y_AXIS]);
shaping.y.set_axis_shaping_N(cfg.shaper[Y_AXIS], cfg.baseFreq[Y_AXIS], cfg.zeta[Y_AXIS]); shaping.y.set_axis_shaping_N(cfg.shaper[Y_AXIS], cfg.baseFreq[Y_AXIS], cfg.zeta[Y_AXIS]);
} }
@ -664,7 +662,7 @@ void FTMotion::makeVector() {
* - Tests for delta are moved outside the loop. * - Tests for delta are moved outside the loop.
* - Two functions are used for command computation with an array of function pointers. * - Two functions are used for command computation with an array of function pointers.
*/ */
static void (*command_set[SUM_TERN(HAS_EXTRUDERS, NUM_AXES, 1)])(int32_t&, int32_t&, ft_command_t&, int32_t, int32_t); static void (*command_set[LOGICAL_AXES])(int32_t&, int32_t&, ft_command_t&, int32_t, int32_t);
static void command_set_pos(int32_t &e, int32_t &s, ft_command_t &b, int32_t bd, int32_t bs) { static void command_set_pos(int32_t &e, int32_t &s, ft_command_t &b, int32_t bd, int32_t bs) {
if (e < FTM_CTS_COMPARE_VAL) return; if (e < FTM_CTS_COMPARE_VAL) return;

12
Marlin/src/module/ft_motion.h
View file

@ -36,23 +36,25 @@
#endif #endif
#endif #endif
#define NUM_AXES_SHAPED TERN(HAS_Y_AXIS, 2, 1)
typedef struct FTConfig { typedef struct FTConfig {
bool active = ENABLED(FTM_IS_DEFAULT_MOTION); // Active (else standard motion) bool active = ENABLED(FTM_IS_DEFAULT_MOTION); // Active (else standard motion)
#if HAS_X_AXIS #if HAS_X_AXIS
ftMotionShaper_t shaper[1 + ENABLED(HAS_Y_AXIS)] = // Shaper type ftMotionShaper_t shaper[NUM_AXES_SHAPED] = // Shaper type
{ FTM_DEFAULT_SHAPER_X OPTARG(HAS_Y_AXIS, FTM_DEFAULT_SHAPER_Y) }; { FTM_DEFAULT_SHAPER_X OPTARG(HAS_Y_AXIS, FTM_DEFAULT_SHAPER_Y) };
float baseFreq[1 + ENABLED(HAS_Y_AXIS)] = // Base frequency. [Hz] float baseFreq[NUM_AXES_SHAPED] = // Base frequency. [Hz]
{ FTM_SHAPING_DEFAULT_X_FREQ OPTARG(HAS_Y_AXIS, FTM_SHAPING_DEFAULT_Y_FREQ) }; { FTM_SHAPING_DEFAULT_X_FREQ OPTARG(HAS_Y_AXIS, FTM_SHAPING_DEFAULT_Y_FREQ) };
float zeta[1 + ENABLED(HAS_Y_AXIS)] = // Damping factor float zeta[NUM_AXES_SHAPED] = // Damping factor
{ FTM_SHAPING_ZETA_X OPTARG(HAS_Y_AXIS, FTM_SHAPING_ZETA_Y) }; { FTM_SHAPING_ZETA_X OPTARG(HAS_Y_AXIS, FTM_SHAPING_ZETA_Y) };
float vtol[1 + ENABLED(HAS_Y_AXIS)] = // Vibration Level float vtol[NUM_AXES_SHAPED] = // Vibration Level
{ FTM_SHAPING_V_TOL_X OPTARG(HAS_Y_AXIS, FTM_SHAPING_V_TOL_Y) }; { FTM_SHAPING_V_TOL_X OPTARG(HAS_Y_AXIS, FTM_SHAPING_V_TOL_Y) };
#endif #endif
#if HAS_DYNAMIC_FREQ #if HAS_DYNAMIC_FREQ
dynFreqMode_t dynFreqMode = FTM_DEFAULT_DYNFREQ_MODE; // Dynamic frequency mode configuration. dynFreqMode_t dynFreqMode = FTM_DEFAULT_DYNFREQ_MODE; // Dynamic frequency mode configuration.
float dynFreqK[1 + ENABLED(HAS_Y_AXIS)] = { 0.0f }; // Scaling / gain for dynamic frequency. [Hz/mm] or [Hz/g] float dynFreqK[NUM_AXES_SHAPED] = { 0.0f }; // Scaling / gain for dynamic frequency. [Hz/mm] or [Hz/g]
#else #else
static constexpr dynFreqMode_t dynFreqMode = dynFreqMode_DISABLED; static constexpr dynFreqMode_t dynFreqMode = dynFreqMode_DISABLED;
#endif #endif

4
Marlin/src/module/ft_types.h
View file

@ -41,8 +41,8 @@ enum dynFreqMode_t : uint8_t {
dynFreqMode_MASS_BASED = 2 dynFreqMode_MASS_BASED = 2
}; };
#define CMPNSTR_HAS_SHAPER(A) (ftMotion.cfg.shaper[A] != ftMotionShaper_NONE) #define AXIS_HAS_SHAPER(A) (ftMotion.cfg.shaper[_AXIS(A)] != ftMotionShaper_NONE)
#define CMPNSTR_IS_EISHAPER(A) WITHIN(ftMotion.cfg.shaper[A], ftMotionShaper_EI, ftMotionShaper_3HEI) #define AXIS_HAS_EISHAPER(A) WITHIN(ftMotion.cfg.shaper[_AXIS(A)], ftMotionShaper_EI, ftMotionShaper_3HEI)
typedef struct XYZEarray<float, FTM_WINDOW_SIZE> xyze_trajectory_t; typedef struct XYZEarray<float, FTM_WINDOW_SIZE> xyze_trajectory_t;
typedef struct XYZEarray<float, FTM_BATCH_SIZE> xyze_trajectoryMod_t; typedef struct XYZEarray<float, FTM_BATCH_SIZE> xyze_trajectoryMod_t;