1st commit of FT migration for Marlin

Added FT support for Marlin (bugfix-2.1.x). (20240802) Based on latest Marlin commit (MarlinFirmware/Marlin@1662e95)
S2AUlendo · Aug 3, 2024 · 6dc7b09 · 6dc7b09
1 parent 76af865
commit 6dc7b09
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Showing 13 changed files with 993 additions and 612 deletions.
diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h
@@ -1120,21 +1120,26 @@
  * Enable/disable and set parameters with G-code M493.
  * See ft_types.h for named values used by FTM options.
  */
-//#define FT_MOTION
+#define FT_MOTION
 #if ENABLED(FT_MOTION)
   //#define FTM_IS_DEFAULT_MOTION                 // Use FT Motion as the factory default?
-  #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
-  #define FTM_DEFAULT_SHAPER_X      ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
-  #define FTM_DEFAULT_SHAPER_Y      ftMotionShaper_NONE // Default shaper mode on Y axis
+  // FBS-related
+  #define FTM_DEFAULT_MODE             ftMotionMode_ENABLED // Default mode of fixed time control. (Enums in ft_types.h)
+  #define FTM_DEFAULT_X_COMPENSATOR    ftMotionCmpnstr_NONE // Default compensation / shaper mode on X axis
+  #define FTM_DEFAULT_Y_COMPENSATOR    ftMotionCmpnstr_NONE // Default compensation / shaper mode on Y axis
+  // ---
+  #define FTM_DEFAULT_DYNFREQ_MODE     dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
+  #define FTM_DEFAULT_SHAPER_X         ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
+  #define FTM_DEFAULT_SHAPER_Y         ftMotionShaper_NONE // Default shaper mode on Y axis
   #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         // Default linear advance gain, integer value. (Acceleration-based scaling factor.)
-  #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_LINEAR_ADV_DEFAULT_K     0.0f       // Default linear advance gain
+  #define FTM_SHAPING_DEFAULT_ZETA_X   0.1f       // Zeta used by input shapers for X axis
+  #define FTM_SHAPING_DEFAULT_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 FTM_SHAPING_DEFAULT_V_TOL_X   0.05f     // Vibration tolerance used by EI input shapers for X axis
+  #define FTM_SHAPING_DEFAULT_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
 
@@ -1152,6 +1157,10 @@
   #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)
 
+  // FBS-related: 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
 
@@ -1192,12 +1201,18 @@
  * If the buffer is too small at runtime, input shaping will have reduced
  * effectiveness during high speed movements.
  *
- * Tune with M593 D<factor> F<frequency>
+ * 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_X
 //#define INPUT_SHAPING_Y
 //#define INPUT_SHAPING_Z
-#if ANY(INPUT_SHAPING_X, INPUT_SHAPING_Y, INPUT_SHAPING_Z)
+#if ANY(INPUT_SHAPING_X, INPUT_SHAPING_Y) //, INPUT_SHAPING_Z
   #if ENABLED(INPUT_SHAPING_X)
     #define SHAPING_FREQ_X  40.0        // (Hz) The default dominant resonant frequency on the X axis.
     #define SHAPING_ZETA_X   0.15       // Damping ratio of the X axis (range: 0.0 = no damping to 1.0 = critical damping).
@@ -1206,10 +1221,12 @@
     #define SHAPING_FREQ_Y  40.0        // (Hz) The default dominant resonant frequency on the Y axis.
     #define SHAPING_ZETA_Y   0.15       // Damping ratio of the Y axis (range: 0.0 = no damping to 1.0 = critical damping).
   #endif
+  /*
   #if ENABLED(INPUT_SHAPING_Z)
     #define SHAPING_FREQ_Z  40.0        // (Hz) The default dominant resonant frequency on the Z axis.
     #define SHAPING_ZETA_Z   0.15       // Damping ratio of the Z axis (range: 0.0 = no damping to 1.0 = critical damping).
   #endif
+  */
   //#define SHAPING_MIN_FREQ  20.0      // (Hz) By default the minimum of the shaping frequencies. Override to affect SRAM usage.
   //#define SHAPING_MAX_STEPRATE 10000  // By default the maximum total step rate of the shaped axes. Override to affect SRAM usage.
   //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
@@ -1331,6 +1348,8 @@
   //#define CALIBRATION_SCRIPT_PRE  "M117 Starting Auto-Calibration\nT0\nG28\nG12\nM117 Calibrating..."
   //#define CALIBRATION_SCRIPT_POST "M500\nM117 Calibration data saved"
 
+  #define CALIBRATION_MEASUREMENT_RESOLUTION     0.01 // mm
+
   #define CALIBRATION_FEEDRATE_SLOW             60    // mm/min
   #define CALIBRATION_FEEDRATE_FAST           1200    // mm/min
   #define CALIBRATION_FEEDRATE_TRAVEL         3000    // mm/min
@@ -3443,7 +3462,7 @@
   /**
    * Step on both rising and falling edge signals (as with a square wave).
    */
-  #define EDGE_STEPPING
+  //#define EDGE_STEPPING
 
   /**
    * Enable M122 debugging command for TMC stepper drivers.
@@ -3525,7 +3544,7 @@
   //#define PHOTOGRAPH_PIN 23
 
   // Canon Hack Development Kit
-  // https://web.archive.org/web/20200920094805/captain-slow.dk/2014/03/09/3d-printing-timelapses/
+  // https://web.archive.org/web/20200920094805/https://captain-slow.dk/2014/03/09/3d-printing-timelapses/
   //#define CHDK_PIN        4
 
   // Optional second move with delay to trigger the camera shutter