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🐛⚡️ FT_MOTION improvements (#26074)

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Co-Authored-By: Scott Lahteine <thinkyhead@users.noreply.github.com>
This commit is contained in:
narno2202 2023-12-20 02:56:47 +01:00 committed by Scott Lahteine
parent 0ede16cd5a
commit 67d7562609
16 changed files with 652 additions and 643 deletions
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80
Marlin/Configuration_adv.h
View file

@ -1121,42 +1121,62 @@
#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #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_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_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_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_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #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_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #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 * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#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. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // 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 #endif
/** /**

4
Marlin/src/gcode/bedlevel/G35.cpp
View file

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

1
Marlin/src/gcode/bedlevel/abl/G29.cpp
View file

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

1
Marlin/src/gcode/bedlevel/mbl/G29.cpp
View file

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

1
Marlin/src/gcode/calibrate/G34_M422.cpp
View file

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

111
Marlin/src/gcode/feature/ft_motion/M493.cpp
View file

@ -26,6 +26,7 @@
#include "../../gcode.h" #include "../../gcode.h"
#include "../../../module/ft_motion.h" #include "../../../module/ft_motion.h"
#include "../../../module/stepper.h"
void say_shaping() { void say_shaping() {
// FT Enabled // FT Enabled
@ -39,6 +40,8 @@ void say_shaping() {
default: break; default: break;
case ftMotionMode_ZV: SERIAL_ECHOPGM("ZV"); break; case ftMotionMode_ZV: SERIAL_ECHOPGM("ZV"); break;
case ftMotionMode_ZVD: SERIAL_ECHOPGM("ZVD"); 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_EI: SERIAL_ECHOPGM("EI"); break;
case ftMotionMode_2HEI: SERIAL_ECHOPGM("2 Hump EI"); break; case ftMotionMode_2HEI: SERIAL_ECHOPGM("2 Hump EI"); break;
case ftMotionMode_3HEI: SERIAL_ECHOPGM("3 Hump EI"); break; case ftMotionMode_3HEI: SERIAL_ECHOPGM("3 Hump EI"); break;
@ -155,20 +158,19 @@ void GcodeSuite::M493() {
if (!parser.seen_any()) if (!parser.seen_any())
flag.report_h = true; flag.report_h = true;
else
planner.synchronize();
// Parse 'S' mode parameter. // Parse 'S' mode parameter.
if (parser.seenval('S')) { if (parser.seenval('S')) {
const ftMotionMode_t oldmm = ftMotion.cfg.mode, const ftMotionMode_t newmm = (ftMotionMode_t)parser.value_byte();
newmm = (ftMotionMode_t)parser.value_byte();
if (newmm != oldmm) { if (newmm != ftMotion.cfg.mode) {
switch (newmm) { switch (newmm) {
default: SERIAL_ECHOLNPGM("?Invalid control mode [S] value."); return; default: SERIAL_ECHOLNPGM("?Invalid control mode [S] value."); return;
#if HAS_X_AXIS #if HAS_X_AXIS
case ftMotionMode_ZV: case ftMotionMode_ZV:
case ftMotionMode_ZVD: case ftMotionMode_ZVD:
case ftMotionMode_ZVDD:
case ftMotionMode_ZVDDD:
case ftMotionMode_EI: case ftMotionMode_EI:
case ftMotionMode_2HEI: case ftMotionMode_2HEI:
case ftMotionMode_3HEI: case ftMotionMode_3HEI:
@ -177,11 +179,10 @@ void GcodeSuite::M493() {
//case ftMotionMode_DISCTF: //case ftMotionMode_DISCTF:
flag.update_n = flag.update_a = true; flag.update_n = flag.update_a = true;
#endif #endif
case ftMotionMode_DISABLED: case ftMotionMode_DISABLED: flag.reset_ft = true;
case ftMotionMode_ENABLED: case ftMotionMode_ENABLED:
ftMotion.cfg.mode = newmm; ftMotion.cfg.mode = newmm;
flag.report_h = true; flag.report_h = true;
if (oldmm == ftMotionMode_DISABLED) flag.reset_ft = true;
break; break;
} }
} }
@ -193,6 +194,7 @@ void GcodeSuite::M493() {
if (parser.seen('P')) { if (parser.seen('P')) {
const bool val = parser.value_bool(); const bool val = parser.value_bool();
ftMotion.cfg.linearAdvEna = val; ftMotion.cfg.linearAdvEna = val;
flag.report_h = true;
SERIAL_ECHO_TERNARY(val, "Linear Advance ", "en", "dis", "abled.\n"); SERIAL_ECHO_TERNARY(val, "Linear Advance ", "en", "dis", "abled.\n");
} }
@ -216,22 +218,16 @@ void GcodeSuite::M493() {
if (ftMotion.cfg.modeHasShaper()) { if (ftMotion.cfg.modeHasShaper()) {
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
case dynFreqMode_Z_BASED:
#endif
#if HAS_DYNAMIC_FREQ_G
case dynFreqMode_MASS_BASED:
#endif
case dynFreqMode_DISABLED: case dynFreqMode_DISABLED:
ftMotion.cfg.dynFreqMode = val; ftMotion.cfg.dynFreqMode = val;
flag.report_h = true; flag.report_h = true;
break; 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
default: default:
SERIAL_ECHOLNPGM("?Invalid Dynamic Frequency Mode [D] value."); SERIAL_ECHOLNPGM("?Invalid Dynamic Frequency Mode [D] value.");
break; break;
@ -279,6 +275,36 @@ void GcodeSuite::M493() {
} }
#endif #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 #endif // HAS_X_AXIS
#if HAS_Y_AXIS #if HAS_Y_AXIS
@ -310,15 +336,50 @@ void GcodeSuite::M493() {
} }
#endif #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 #endif // HAS_Y_AXIS
#if HAS_X_AXIS planner.synchronize();
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();
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 #endif // FT_MOTION

1
Marlin/src/gcode/probe/G38.cpp
View file

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

2
Marlin/src/inc/Conditionals_adv.h
View file

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

6
Marlin/src/lcd/language/language_en.h
View file

@ -802,6 +802,8 @@ namespace LanguageNarrow_en {
LSTR MSG_FTM_MODE = _UxGT("Motion Mode:"); LSTR MSG_FTM_MODE = _UxGT("Motion Mode:");
LSTR MSG_FTM_ZV = _UxGT("ZV"); LSTR MSG_FTM_ZV = _UxGT("ZV");
LSTR MSG_FTM_ZVD = _UxGT("ZVD"); 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_EI = _UxGT("EI");
LSTR MSG_FTM_2HEI = _UxGT("2HEI"); LSTR MSG_FTM_2HEI = _UxGT("2HEI");
LSTR MSG_FTM_3HEI = _UxGT("3HEI"); LSTR MSG_FTM_3HEI = _UxGT("3HEI");
@ -813,8 +815,8 @@ namespace LanguageNarrow_en {
LSTR MSG_FTM_MASS_BASED = _UxGT("Mass-based"); LSTR MSG_FTM_MASS_BASED = _UxGT("Mass-based");
LSTR MSG_FTM_BASE_FREQ_N = _UxGT("@ Base Freq."); LSTR MSG_FTM_BASE_FREQ_N = _UxGT("@ Base Freq.");
LSTR MSG_FTM_DFREQ_K_N = _UxGT("@ Dyn. Freq."); LSTR MSG_FTM_DFREQ_K_N = _UxGT("@ Dyn. Freq.");
LSTR MSG_FTM_ZETA = _UxGT("Damping"); LSTR MSG_FTM_ZETA_N = _UxGT("@ Damping");
LSTR MSG_FTM_VTOL = _UxGT("Vib. Level"); LSTR MSG_FTM_VTOL_N = _UxGT("@ Vib. Level");
LSTR MSG_LEVEL_X_AXIS = _UxGT("Level X Axis"); LSTR MSG_LEVEL_X_AXIS = _UxGT("Level X Axis");
LSTR MSG_AUTO_CALIBRATE = _UxGT("Auto Calibrate"); LSTR MSG_AUTO_CALIBRATE = _UxGT("Auto Calibrate");

23
Marlin/src/lcd/menu/menu_motion.cpp
View file

@ -342,6 +342,8 @@ void menu_move() {
#if HAS_X_AXIS #if HAS_X_AXIS
if (mode != ftMotionMode_ZV) ACTION_ITEM(MSG_FTM_ZV, []{ ftm_menu_setShaping(ftMotionMode_ZV); }); if (mode != ftMotionMode_ZV) ACTION_ITEM(MSG_FTM_ZV, []{ ftm_menu_setShaping(ftMotionMode_ZV); });
if (mode != ftMotionMode_ZVD) ACTION_ITEM(MSG_FTM_ZVD, []{ ftm_menu_setShaping(ftMotionMode_ZVD); }); if (mode != ftMotionMode_ZVD) ACTION_ITEM(MSG_FTM_ZVD, []{ ftm_menu_setShaping(ftMotionMode_ZVD); });
if (mode != ftMotionMode_ZVDD) ACTION_ITEM(MSG_FTM_ZVDD, []{ ftm_menu_setShaping(ftMotionMode_ZVDD); });
if (mode != ftMotionMode_ZVDDD) ACTION_ITEM(MSG_FTM_ZVDDD,[]{ ftm_menu_setShaping(ftMotionMode_ZVDDD); });
if (mode != ftMotionMode_EI) ACTION_ITEM(MSG_FTM_EI, []{ ftm_menu_setShaping(ftMotionMode_EI); }); if (mode != ftMotionMode_EI) ACTION_ITEM(MSG_FTM_EI, []{ ftm_menu_setShaping(ftMotionMode_EI); });
if (mode != ftMotionMode_2HEI) ACTION_ITEM(MSG_FTM_2HEI, []{ ftm_menu_setShaping(ftMotionMode_2HEI); }); if (mode != ftMotionMode_2HEI) ACTION_ITEM(MSG_FTM_2HEI, []{ ftm_menu_setShaping(ftMotionMode_2HEI); });
if (mode != ftMotionMode_3HEI) ACTION_ITEM(MSG_FTM_3HEI, []{ ftm_menu_setShaping(ftMotionMode_3HEI); }); if (mode != ftMotionMode_3HEI) ACTION_ITEM(MSG_FTM_3HEI, []{ ftm_menu_setShaping(ftMotionMode_3HEI); });
@ -384,6 +386,8 @@ void menu_move() {
case ftMotionMode_ENABLED: ftmode = GET_TEXT_F(MSG_LCD_ON); break; case ftMotionMode_ENABLED: ftmode = GET_TEXT_F(MSG_LCD_ON); break;
case ftMotionMode_ZV: ftmode = GET_TEXT_F(MSG_FTM_ZV); break; case ftMotionMode_ZV: ftmode = GET_TEXT_F(MSG_FTM_ZV); break;
case ftMotionMode_ZVD: ftmode = GET_TEXT_F(MSG_FTM_ZVD); break; case ftMotionMode_ZVD: ftmode = GET_TEXT_F(MSG_FTM_ZVD); break;
case ftMotionMode_ZVDD: ftmode = GET_TEXT_F(MSG_FTM_ZVDD); break;
case ftMotionMode_ZVDDD: ftmode = GET_TEXT_F(MSG_FTM_ZVDDD);break;
case ftMotionMode_EI: ftmode = GET_TEXT_F(MSG_FTM_EI); break; case ftMotionMode_EI: ftmode = GET_TEXT_F(MSG_FTM_EI); break;
case ftMotionMode_2HEI: ftmode = GET_TEXT_F(MSG_FTM_2HEI); break; case ftMotionMode_2HEI: ftmode = GET_TEXT_F(MSG_FTM_2HEI); break;
case ftMotionMode_3HEI: ftmode = GET_TEXT_F(MSG_FTM_3HEI); break; case ftMotionMode_3HEI: ftmode = GET_TEXT_F(MSG_FTM_3HEI); break;
@ -416,10 +420,21 @@ void menu_move() {
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.refreshShapingN); 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.refreshShapingN);
#endif #endif
EDIT_ITEM_FAST(float42_52, MSG_FTM_ZETA, &c.zeta, 0.0f, 1.0f, ftMotion.refreshShapingN); #if HAS_X_AXIS
EDIT_ITEM_FAST_N(float42_52, X_AXIS, MSG_FTM_ZETA_N, &c.zeta[0], 0.0f, 1.0f, ftMotion.refreshShapingN);
#endif
#if HAS_Y_AXIS
EDIT_ITEM_FAST_N(float42_52, Y_AXIS, MSG_FTM_ZETA_N, &c.zeta[1], 0.0f, 1.0f, ftMotion.refreshShapingN);
#endif
if (WITHIN(c.mode, ftMotionMode_EI, ftMotionMode_3HEI)) if (IS_EI_MODE(c.mode)) {
EDIT_ITEM_FAST(float42_52, MSG_FTM_VTOL, &c.vtol, 0.0f, 1.0f, ftMotion.refreshShapingN); #if HAS_X_AXIS
EDIT_ITEM_FAST_N(float42_52, X_AXIS, MSG_FTM_VTOL_N, &c.vtol[0], 0.0f, 1.0f, ftMotion.refreshShapingN);
#endif
#if HAS_Y_AXIS
EDIT_ITEM_FAST_N(float42_52, Y_AXIS, MSG_FTM_VTOL_N, &c.vtol[1], 0.0f, 1.0f, ftMotion.refreshShapingN);
#endif
}
#if HAS_DYNAMIC_FREQ #if HAS_DYNAMIC_FREQ
SUBMENU(MSG_FTM_DYN_MODE, menu_ftm_dyn_mode); SUBMENU(MSG_FTM_DYN_MODE, menu_ftm_dyn_mode);
@ -437,7 +452,7 @@ void menu_move() {
#if HAS_EXTRUDERS #if HAS_EXTRUDERS
EDIT_ITEM(bool, MSG_LINEAR_ADVANCE, &c.linearAdvEna); EDIT_ITEM(bool, MSG_LINEAR_ADVANCE, &c.linearAdvEna);
EDIT_ITEM(float42_52, MSG_ADVANCE_K, &c.linearAdvK, 0, 10); if (c.linearAdvEna) EDIT_ITEM(float42_52, MSG_ADVANCE_K, &c.linearAdvK, 0, 10);
#endif #endif
END_MENU(); END_MENU();

697
Marlin/src/module/ft_motion.cpp
View file

@ -32,6 +32,8 @@ FTMotion ftMotion;
#if !HAS_X_AXIS #if !HAS_X_AXIS
static_assert(FTM_DEFAULT_MODE == ftMotionMode_ZV, "ftMotionMode_ZV requires at least one linear axis."); static_assert(FTM_DEFAULT_MODE == ftMotionMode_ZV, "ftMotionMode_ZV requires at least one linear axis.");
static_assert(FTM_DEFAULT_MODE == ftMotionMode_ZVD, "ftMotionMode_ZVD requires at least one linear axis."); static_assert(FTM_DEFAULT_MODE == ftMotionMode_ZVD, "ftMotionMode_ZVD requires at least one linear axis.");
static_assert(FTM_DEFAULT_MODE == ftMotionMode_ZVDD, "ftMotionMode_ZVD requires at least one linear axis.");
static_assert(FTM_DEFAULT_MODE == ftMotionMode_ZVDDD, "ftMotionMode_ZVD requires at least one linear axis.");
static_assert(FTM_DEFAULT_MODE == ftMotionMode_EI, "ftMotionMode_EI requires at least one linear axis."); static_assert(FTM_DEFAULT_MODE == ftMotionMode_EI, "ftMotionMode_EI requires at least one linear axis.");
static_assert(FTM_DEFAULT_MODE == ftMotionMode_2HEI, "ftMotionMode_2HEI requires at least one linear axis."); static_assert(FTM_DEFAULT_MODE == ftMotionMode_2HEI, "ftMotionMode_2HEI requires at least one linear axis.");
static_assert(FTM_DEFAULT_MODE == ftMotionMode_3HEI, "ftMotionMode_3HEI requires at least one linear axis."); static_assert(FTM_DEFAULT_MODE == ftMotionMode_3HEI, "ftMotionMode_3HEI requires at least one linear axis.");
@ -52,9 +54,7 @@ FTMotion ftMotion;
ft_config_t FTMotion::cfg; ft_config_t FTMotion::cfg;
bool FTMotion::busy; // = false bool FTMotion::busy; // = false
ft_command_t FTMotion::stepperCmdBuff[FTM_STEPPERCMD_BUFF_SIZE] = {0U}; // Buffer of stepper commands. ft_command_t FTMotion::stepperCmdBuff[FTM_STEPPERCMD_BUFF_SIZE] = {0U}; // Stepper commands buffer.
hal_timer_t FTMotion::stepperCmdBuff_StepRelativeTi[FTM_STEPPERCMD_BUFF_SIZE] = {0U}; // Buffer of the stepper command timing.
uint8_t FTMotion::stepperCmdBuff_ApplyDir[FTM_STEPPERCMD_DIR_SIZE] = {0U}; // Buffer of whether DIR needs to be updated.
uint32_t FTMotion::stepperCmdBuff_produceIdx = 0, // Index of next stepper command write to the buffer. uint32_t FTMotion::stepperCmdBuff_produceIdx = 0, // Index of next stepper command write to the buffer.
FTMotion::stepperCmdBuff_consumeIdx = 0; // Index of next stepper command read from the buffer. FTMotion::stepperCmdBuff_consumeIdx = 0; // Index of next stepper command read from the buffer.
@ -62,10 +62,10 @@ bool FTMotion::sts_stepperBusy = false; // The stepper buffer has items
// Private variables. // Private variables.
// NOTE: These are sized for Ulendo FBS use. // NOTE: These are sized for Ulendo FBS use.
xyze_trajectory_t FTMotion::traj; // = {0.0f} Storage for fixed-time-based trajectory. xyze_trajectory_t FTMotion::traj; // = {0.0f} Storage for fixed-time-based trajectory.
xyze_trajectoryMod_t FTMotion::trajMod; // = {0.0f} Storage for modified fixed-time-based trajectory. xyze_trajectoryMod_t FTMotion::trajMod; // = {0.0f} Storage for modified fixed-time-based trajectory.
xyze_trajectoryWin_t FTMotion::trajWin; // = {0.0f} Storage for fixed time trajectory window.
block_t* FTMotion::current_block_cpy = nullptr; // Pointer to current block being processed.
bool FTMotion::blockProcRdy = false, // Indicates a block is ready to be processed. bool FTMotion::blockProcRdy = false, // Indicates a block is ready to be processed.
FTMotion::blockProcRdy_z1 = false, // Storage for the previous indicator. FTMotion::blockProcRdy_z1 = false, // Storage for the previous indicator.
FTMotion::blockProcDn = false; // Indicates current block is done being processed. FTMotion::blockProcDn = false; // Indicates current block is done being processed.
@ -76,7 +76,7 @@ bool FTMotion::batchRdy = false; // Indicates a batch of the fixe
bool FTMotion::batchRdyForInterp = false; // Indicates the batch is done being post processed, bool FTMotion::batchRdyForInterp = false; // Indicates the batch is done being post processed,
// if applicable, and is ready to be converted to step commands. // if applicable, and is ready to be converted to step commands.
bool FTMotion::runoutEna = false; // True if runout of the block hasn't been done and is allowed. bool FTMotion::runoutEna = false; // True if runout of the block hasn't been done and is allowed.
bool FTMotion::runout = false; // Indicates if runout is in progress. bool FTMotion::blockDataIsRunout = false; // Indicates the last loaded block variables are for a runout.
// Trapezoid data variables. // Trapezoid data variables.
xyze_pos_t FTMotion::startPosn, // (mm) Start position of block xyze_pos_t FTMotion::startPosn, // (mm) Start position of block
@ -98,15 +98,13 @@ uint32_t FTMotion::max_intervals; // Total number of data points t
// Make vector variables. // Make vector variables.
uint32_t FTMotion::makeVector_idx = 0, // Index of fixed time trajectory generation of the overall block. uint32_t FTMotion::makeVector_idx = 0, // Index of fixed time trajectory generation of the overall block.
FTMotion::makeVector_idx_z1 = 0, // Storage for the previously calculated index above. FTMotion::makeVector_idx_z1 = 0, // Storage for the previously calculated index above.
FTMotion::makeVector_batchIdx = FTM_BATCH_SIZE; // Index of fixed time trajectory generation within the batch. FTMotion::makeVector_batchIdx = 0; // Index of fixed time trajectory generation within the batch.
// Interpolation variables. // Interpolation variables.
xyze_long_t FTMotion::steps = { 0 }; // Step count accumulator. xyze_long_t FTMotion::steps = { 0 }; // Step count accumulator.
xyze_stepDir_t FTMotion::dirState = LOGICAL_AXIS_ARRAY_1(stepDirState_NOT_SET); // Memory of the currently set step direction of the axis.
uint32_t FTMotion::interpIdx = 0, // Index of current data point being interpolated. uint32_t FTMotion::interpIdx = 0, // Index of current data point being interpolated.
FTMotion::interpIdx_z1 = 0; // Storage for the previously calculated index above. FTMotion::interpIdx_z1 = 0; // Storage for the previously calculated index above.
hal_timer_t FTMotion::nextStepTicks = FTM_MIN_TICKS; // Accumulator for the next step time (in ticks).
// Shaping variables. // Shaping variables.
#if HAS_X_AXIS #if HAS_X_AXIS
@ -125,8 +123,6 @@ hal_timer_t FTMotion::nextStepTicks = FTM_MIN_TICKS; // Accumulator for the nex
float FTMotion::e_advanced_z1 = 0.0f; // (ms) Unit delay of advanced extruder position. float FTMotion::e_advanced_z1 = 0.0f; // (ms) Unit delay of advanced extruder position.
#endif #endif
constexpr uint32_t last_batchIdx = (FTM_WINDOW_SIZE) - (FTM_BATCH_SIZE);
//-----------------------------------------------------------------// //-----------------------------------------------------------------//
// Function definitions. // Function definitions.
//-----------------------------------------------------------------// //-----------------------------------------------------------------//
@ -134,8 +130,7 @@ constexpr uint32_t last_batchIdx = (FTM_WINDOW_SIZE) - (FTM_BATCH_SIZE);
// Public functions. // Public functions.
// Sets controller states to begin processing a block. // Sets controller states to begin processing a block.
void FTMotion::startBlockProc(block_t * const current_block) { void FTMotion::startBlockProc() {
current_block_cpy = current_block;
blockProcRdy = true; blockProcRdy = true;
blockProcDn = false; blockProcDn = false;
runoutEna = true; runoutEna = true;
@ -144,30 +139,16 @@ void FTMotion::startBlockProc(block_t * const current_block) {
// Move any free data points to the stepper buffer even if a full batch isn't ready. // Move any free data points to the stepper buffer even if a full batch isn't ready.
void FTMotion::runoutBlock() { void FTMotion::runoutBlock() {
if (runoutEna && !batchRdy) { // If the window is full already (block intervals was a multiple of if (!runoutEna) return;
// the batch size), or runout is not enabled, no runout is needed.
// Fill out the trajectory window with the last position calculated.
if (makeVector_batchIdx > last_batchIdx)
for (uint32_t i = makeVector_batchIdx; i < (FTM_WINDOW_SIZE); i++) {
LOGICAL_AXIS_CODE(
traj.e[i] = traj.e[makeVector_batchIdx - 1],
traj.x[i] = traj.x[makeVector_batchIdx - 1],
traj.y[i] = traj.y[makeVector_batchIdx - 1],
traj.z[i] = traj.z[makeVector_batchIdx - 1],
traj.i[i] = traj.i[makeVector_batchIdx - 1],
traj.j[i] = traj.j[makeVector_batchIdx - 1],
traj.k[i] = traj.k[makeVector_batchIdx - 1],
traj.u[i] = traj.u[makeVector_batchIdx - 1],
traj.v[i] = traj.v[makeVector_batchIdx - 1],
traj.w[i] = traj.w[makeVector_batchIdx - 1]
);
}
makeVector_batchIdx = last_batchIdx; startPosn = endPosn_prevBlock;
batchRdy = true; ratio.reset();
runout = true;
} max_intervals = cfg.modeHasShaper() ? shaper_intervals : 0;
runoutEna = false; if (max_intervals <= TERN(FTM_UNIFIED_BWS, FTM_BW_SIZE, min_max_intervals - (FTM_BATCH_SIZE))) max_intervals = min_max_intervals;
max_intervals += TERN(FTM_UNIFIED_BWS, FTM_BW_SIZE, FTM_WINDOW_SIZE) - makeVector_batchIdx;
blockProcRdy = blockDataIsRunout = true;
runoutEna = blockProcDn = false;
} }
// Controller main, to be invoked from non-isr task. // Controller main, to be invoked from non-isr task.
@ -184,81 +165,63 @@ void FTMotion::loop() {
if (sts_stepperBusy) return; // Wait until motion buffers are emptied if (sts_stepperBusy) return; // Wait until motion buffers are emptied
reset(); reset();
blockProcDn = true; // Set queueing to look for next block. blockProcDn = true; // Set queueing to look for next block.
runoutEna = false; // Disabling running out this block, since we want to halt the motion.
stepper.abort_current_block = false; // Abort finished. stepper.abort_current_block = false; // Abort finished.
} }
// Planner processing and block conversion. // Planner processing and block conversion.
if (!blockProcRdy && !runout) stepper.ftMotion_BlockQueueUpdate(); if (!blockProcRdy) stepper.ftMotion_blockQueueUpdate();
if (blockProcRdy) { if (blockProcRdy) {
if (!blockProcRdy_z1) loadBlockData(current_block_cpy); // One-shot. if (!blockProcRdy_z1) { // One-shot.
if (!blockDataIsRunout) loadBlockData(stepper.current_block);
else blockDataIsRunout = false;
}
while (!blockProcDn && !batchRdy && (makeVector_idx - makeVector_idx_z1 < (FTM_POINTS_PER_LOOP))) while (!blockProcDn && !batchRdy && (makeVector_idx - makeVector_idx_z1 < (FTM_POINTS_PER_LOOP)))
makeVector(); makeVector();
} }
if (runout && !batchRdy) { // The lower half of the window has been runout.
// Runout the upper half of the window: the upper half has been shifted into the lower
// half. Fill out the upper half so another batch can be processed.
for (uint32_t i = last_batchIdx; i < (FTM_WINDOW_SIZE) - 1; i++) {
LOGICAL_AXIS_CODE(
traj.e[i] = traj.e[(FTM_WINDOW_SIZE) - 1],
traj.x[i] = traj.x[(FTM_WINDOW_SIZE) - 1],
traj.y[i] = traj.y[(FTM_WINDOW_SIZE) - 1],
traj.z[i] = traj.z[(FTM_WINDOW_SIZE) - 1],
traj.i[i] = traj.i[(FTM_WINDOW_SIZE) - 1],
traj.j[i] = traj.j[(FTM_WINDOW_SIZE) - 1],
traj.k[i] = traj.k[(FTM_WINDOW_SIZE) - 1],
traj.u[i] = traj.u[(FTM_WINDOW_SIZE) - 1],
traj.v[i] = traj.v[(FTM_WINDOW_SIZE) - 1],
traj.w[i] = traj.w[(FTM_WINDOW_SIZE) - 1]
);
}
batchRdy = true;
runout = false;
}
// FBS / post processing. // FBS / post processing.
if (batchRdy && !batchRdyForInterp) { if (batchRdy && !batchRdyForInterp) {
// Call Ulendo FBS here. // Call Ulendo FBS here.
// Copy the uncompensated vectors. (XY done, other axes uncompensated) #if ENABLED(FTM_UNIFIED_BWS)
LOGICAL_AXIS_CODE( trajMod = traj; // Copy the uncompensated vectors.
memcpy(trajMod.e, &traj.e[FTM_BATCH_SIZE], sizeof(trajMod.e)), traj = trajWin; // Move the window to traj
memcpy(trajMod.x, &traj.x[FTM_BATCH_SIZE], sizeof(trajMod.x)), #else
memcpy(trajMod.y, &traj.y[FTM_BATCH_SIZE], sizeof(trajMod.y)), // Copy the uncompensated vectors.
memcpy(trajMod.z, &traj.z[FTM_BATCH_SIZE], sizeof(trajMod.z)), #define TCOPY(A) memcpy(trajMod.A, traj.A, sizeof(trajMod.A))
memcpy(trajMod.i, &traj.i[FTM_BATCH_SIZE], sizeof(trajMod.i)), LOGICAL_AXIS_CODE(
memcpy(trajMod.j, &traj.j[FTM_BATCH_SIZE], sizeof(trajMod.j)), TCOPY(e),
memcpy(trajMod.k, &traj.k[FTM_BATCH_SIZE], sizeof(trajMod.k)), TCOPY(x), TCOPY(y), TCOPY(z),
memcpy(trajMod.u, &traj.u[FTM_BATCH_SIZE], sizeof(trajMod.u)), TCOPY(i), TCOPY(j), TCOPY(k),
memcpy(trajMod.v, &traj.v[FTM_BATCH_SIZE], sizeof(trajMod.v)), TCOPY(u), TCOPY(v), TCOPY(w)
memcpy(trajMod.w, &traj.w[FTM_BATCH_SIZE], sizeof(trajMod.w)) );
);
// Shift the time series back in the window for (shaped) X and Y // Shift the time series back in the window
TERN_(HAS_X_AXIS, memcpy(traj.x, &traj.x[FTM_BATCH_SIZE], sizeof(traj.x) / 2)); #define TSHIFT(A) memcpy(traj.A, trajWin.A, sizeof(trajWin.A))
TERN_(HAS_Y_AXIS, memcpy(traj.y, &traj.y[FTM_BATCH_SIZE], sizeof(traj.y) / 2)); LOGICAL_AXIS_CODE(
TSHIFT(e),
// Z...W and E Disabled! Uncompensated so the lower half is not used. TSHIFT(x), TSHIFT(y), TSHIFT(z),
//TERN_(HAS_Z_AXIS, memcpy(&traj.z[0], &traj.z[FTM_BATCH_SIZE], sizeof(traj.z) / 2)); TSHIFT(i), TSHIFT(j), TSHIFT(k),
TSHIFT(u), TSHIFT(v), TSHIFT(w)
);
#endif
// ... data is ready in trajMod. // ... data is ready in trajMod.
batchRdyForInterp = true; batchRdyForInterp = true;
batchRdy = false; // Clear so that makeVector() may resume generating points. batchRdy = false; // Clear so makeVector() can resume generating points.
}
} // if (batchRdy && !batchRdyForInterp)
// Interpolation. // Interpolation.
while ( batchRdyForInterp while ( batchRdyForInterp
&& ( stepperCmdBuffItems() < ((FTM_STEPPERCMD_BUFF_SIZE) - (FTM_STEPS_PER_UNIT_TIME)) ) && ( stepperCmdBuffItems() < (FTM_STEPPERCMD_BUFF_SIZE) - (FTM_STEPS_PER_UNIT_TIME) )
&& ( (interpIdx - interpIdx_z1) < (FTM_STEPS_PER_LOOP) ) && ( interpIdx - interpIdx_z1 < (FTM_STEPS_PER_LOOP) )
) { ) {
convertToSteps(interpIdx); convertToSteps(interpIdx);
if (++interpIdx == FTM_BATCH_SIZE) { if (++interpIdx == TERN(FTM_UNIFIED_BWS, FTM_BW_SIZE, FTM_BATCH_SIZE)) {
batchRdyForInterp = false; batchRdyForInterp = false;
interpIdx = 0; interpIdx = 0;
} }
@ -277,76 +240,153 @@ void FTMotion::loop() {
// Refresh the gains used by shaping functions. // Refresh the gains used by shaping functions.
// To be called on init or mode or zeta change. // To be called on init or mode or zeta change.
void FTMotion::Shaping::updateShapingA(const_float_t zeta/*=cfg.zeta*/, const_float_t vtol/*=cfg.vtol*/) { void FTMotion::Shaping::updateShapingA(float zeta[]/*=cfg.zeta*/, float vtol[]/*=cfg.vtol*/) {
const float K = exp(-zeta * M_PI / sqrt(1.0f - sq(zeta))), const float Kx = exp(-zeta[0] * M_PI / sqrt(1.0f - sq(zeta[0]))),
K2 = sq(K); Ky = exp(-zeta[1] * M_PI / sqrt(1.0f - sq(zeta[1]))),
Kx2 = sq(Kx),
Ky2 = sq(Ky);
switch (cfg.mode) { switch (cfg.mode) {
case ftMotionMode_ZV: case ftMotionMode_ZV:
max_i = 1U; max_i = 1U;
x.Ai[0] = 1.0f / (1.0f + K); x.Ai[0] = 1.0f / (1.0f + Kx);
x.Ai[1] = x.Ai[0] * K; x.Ai[1] = x.Ai[0] * Kx;
y.Ai[0] = 1.0f / (1.0f + Ky);
y.Ai[1] = y.Ai[0] * Ky;
break; break;
case ftMotionMode_ZVD: case ftMotionMode_ZVD:
max_i = 2U; max_i = 2U;
x.Ai[0] = 1.0f / ( 1.0f + 2.0f * K + K2 ); x.Ai[0] = 1.0f / (1.0f + 2.0f * Kx + Kx2);
x.Ai[1] = x.Ai[0] * 2.0f * K; x.Ai[1] = x.Ai[0] * 2.0f * Kx;
x.Ai[2] = x.Ai[0] * K2; x.Ai[2] = x.Ai[0] * Kx2;
y.Ai[0] = 1.0f / (1.0f + 2.0f * Ky + Ky2);
y.Ai[1] = y.Ai[0] * 2.0f * Ky;
y.Ai[2] = y.Ai[0] * Ky2;
break;
case ftMotionMode_ZVDD:
max_i = 3U;
x.Ai[0] = 1.0f / (1.0f + 3.0f * Kx + 3.0f * Kx2 + cu(Kx));
x.Ai[1] = x.Ai[0] * 3.0f * Kx;
x.Ai[2] = x.Ai[0] * 3.0f * Kx2;
x.Ai[3] = x.Ai[0] * cu(Kx);
y.Ai[0] = 1.0f / (1.0f + 3.0f * Ky + 3.0f * Ky2 + cu(Ky));
y.Ai[1] = y.Ai[0] * 3.0f * Ky;
y.Ai[2] = y.Ai[0] * 3.0f * Ky2;
y.Ai[3] = y.Ai[0] * cu(Ky);
break;
case ftMotionMode_ZVDDD:
max_i = 4U;
x.Ai[0] = 1.0f / (1.0f + 4.0f * Kx + 6.0f * Kx2 + 4.0f * cu(Kx) + sq(Kx2));
x.Ai[1] = x.Ai[0] * 4.0f * Kx;
x.Ai[2] = x.Ai[0] * 6.0f * Kx2;
x.Ai[3] = x.Ai[0] * 4.0f * cu(Kx);
x.Ai[4] = x.Ai[0] * sq(Kx2);
y.Ai[0] = 1.0f / (1.0f + 4.0f * Ky + 6.0f * Ky2 + 4.0f * cu(Ky) + sq(Ky2));
y.Ai[1] = y.Ai[0] * 4.0f * Ky;
y.Ai[2] = y.Ai[0] * 6.0f * Ky2;
y.Ai[3] = y.Ai[0] * 4.0f * cu(Ky);
y.Ai[4] = y.Ai[0] * sq(Ky2);
break; break;
case ftMotionMode_EI: { case ftMotionMode_EI: {
max_i = 2U; max_i = 2U;
x.Ai[0] = 0.25f * (1.0f + vtol); x.Ai[0] = 0.25f * (1.0f + vtol[0]);
x.Ai[1] = 0.50f * (1.0f - vtol) * K; x.Ai[1] = 0.50f * (1.0f - vtol[0]) * Kx;
x.Ai[2] = x.Ai[0] * K2; x.Ai[2] = x.Ai[0] * Kx2;
const float A_adj = 1.0f / (x.Ai[0] + x.Ai[1] + x.Ai[2]);
for (uint32_t i = 0U; i < 3U; i++) { x.Ai[i] *= A_adj; } y.Ai[0] = 0.25f * (1.0f + vtol[1]);
} break; y.Ai[1] = 0.50f * (1.0f - vtol[1]) * Ky;
y.Ai[2] = y.Ai[0] * Ky2;
const float X_adj = 1.0f / (x.Ai[0] + x.Ai[1] + x.Ai[2]);
const float Y_adj = 1.0f / (y.Ai[0] + y.Ai[1] + y.Ai[2]);
for (uint32_t i = 0U; i < 3U; i++) {
x.Ai[i] *= X_adj;
y.Ai[i] *= Y_adj;
}
}
break;
case ftMotionMode_2HEI: { case ftMotionMode_2HEI: {
max_i = 3U; max_i = 3U;
const float vtol2 = sq(vtol); const float vtolx2 = sq(vtol[0]);
const float X = pow(vtol2 * (sqrt(1.0f - vtol2) + 1.0f), 1.0f / 3.0f); const float X = pow(vtolx2 * (sqrt(1.0f - vtolx2) + 1.0f), 1.0f / 3.0f);
x.Ai[0] = ( 3.0f * sq(X) + 2.0f * X + 3.0f * vtol2 ) / (16.0f * X); x.Ai[0] = (3.0f * sq(X) + 2.0f * X + 3.0f * vtolx2) / (16.0f * X);
x.Ai[1] = ( 0.5f - x.Ai[0] ) * K; x.Ai[1] = (0.5f - x.Ai[0]) * Kx;
x.Ai[2] = x.Ai[1] * K; x.Ai[2] = x.Ai[1] * Kx;
x.Ai[3] = x.Ai[0] * cu(K); x.Ai[3] = x.Ai[0] * cu(Kx);
const float A_adj = 1.0f / (x.Ai[0] + x.Ai[1] + x.Ai[2] + x.Ai[3]);
for (uint32_t i = 0U; i < 4U; i++) { x.Ai[i] *= A_adj; } const float vtoly2 = sq(vtol[1]);
} break; const float Y = pow(vtoly2 * (sqrt(1.0f - vtoly2) + 1.0f), 1.0f / 3.0f);
y.Ai[0] = (3.0f * sq(Y) + 2.0f * Y + 3.0f * vtoly2) / (16.0f * Y);
y.Ai[1] = (0.5f - y.Ai[0]) * Ky;
y.Ai[2] = y.Ai[1] * Ky;
y.Ai[3] = y.Ai[0] * cu(Ky);
const float X_adj = 1.0f / (x.Ai[0] + x.Ai[1] + x.Ai[2] + x.Ai[3]);
const float Y_adj = 1.0f / (y.Ai[0] + y.Ai[1] + y.Ai[2] + y.Ai[3]);
for (uint32_t i = 0U; i < 4U; i++) {
x.Ai[i] *= X_adj;
y.Ai[i] *= Y_adj;
}
}
break;
case ftMotionMode_3HEI: { case ftMotionMode_3HEI: {
max_i = 4U; max_i = 4U;
x.Ai[0] = 0.0625f * ( 1.0f + 3.0f * vtol + 2.0f * sqrt( 2.0f * ( vtol + 1.0f ) * vtol ) ); x.Ai[0] = 0.0625f * ( 1.0f + 3.0f * vtol[0] + 2.0f * sqrt( 2.0f * ( vtol[0] + 1.0f ) * vtol[0] ) );
x.Ai[1] = 0.25f * ( 1.0f - vtol ) * K; x.Ai[1] = 0.25f * ( 1.0f - vtol[0] ) * Kx;
x.Ai[2] = ( 0.5f * ( 1.0f + vtol ) - 2.0f * x.Ai[0] ) * K2; x.Ai[2] = ( 0.5f * ( 1.0f + vtol[0] ) - 2.0f * x.Ai[0] ) * Kx2;
x.Ai[3] = x.Ai[1] * K2; x.Ai[3] = x.Ai[1] * Kx2;
x.Ai[4] = x.Ai[0] * sq(K2); x.Ai[4] = x.Ai[0] * sq(Kx2);
const float A_adj = 1.0f / (x.Ai[0] + x.Ai[1] + x.Ai[2] + x.Ai[3] + x.Ai[4]);
for (uint32_t i = 0U; i < 5U; i++) { x.Ai[i] *= A_adj; } y.Ai[0] = 0.0625f * (1.0f + 3.0f * vtol[1] + 2.0f * sqrt(2.0f * (vtol[1] + 1.0f) * vtol[1]));
} break; y.Ai[1] = 0.25f * (1.0f - vtol[1]) * Ky;
y.Ai[2] = (0.5f * (1.0f + vtol[1]) - 2.0f * y.Ai[0]) * Ky2;
y.Ai[3] = y.Ai[1] * Ky2;
y.Ai[4] = y.Ai[0] * sq(Ky2);
const float X_adj = 1.0f / (x.Ai[0] + x.Ai[1] + x.Ai[2] + x.Ai[3] + x.Ai[4]);
const float Y_adj = 1.0f / (y.Ai[0] + y.Ai[1] + y.Ai[2] + y.Ai[3] + y.Ai[4]);
for (uint32_t i = 0U; i < 5U; i++) {
x.Ai[i] *= X_adj;
y.Ai[i] *= Y_adj;
}
}
break;
case ftMotionMode_MZV: { case ftMotionMode_MZV: {
max_i = 2U; max_i = 2U;
const float B = 1.4142135623730950488016887242097f * K; const float Bx = 1.4142135623730950488016887242097f * Kx;
x.Ai[0] = 1.0f / (1.0f + B + K2); x.Ai[0] = 1.0f / (1.0f + Bx + Kx2);
x.Ai[1] = x.Ai[0] * B; x.Ai[1] = x.Ai[0] * Bx;
x.Ai[2] = x.Ai[0] * K2; x.Ai[2] = x.Ai[0] * Kx2;
} break;
const float By = 1.4142135623730950488016887242097f * Ky;
y.Ai[0] = 1.0f / (1.0f + By + Ky2);
y.Ai[1] = y.Ai[0] * By;
y.Ai[2] = y.Ai[0] * Ky2;
}
break;
default: default:
for (uint32_t i = 0U; i < 5U; i++) x.Ai[i] = 0.0f; ZERO(x.Ai);
ZERO(y.Ai);
max_i = 0; max_i = 0;
} }
#if HAS_Y_AXIS
memcpy(y.Ai, x.Ai, sizeof(x.Ai)); // For now, zeta and vtol are shared across x and y.
#endif
} }
void FTMotion::updateShapingA(const_float_t zeta/*=cfg.zeta*/, const_float_t vtol/*=cfg.vtol*/) { void FTMotion::updateShapingA(float zeta[]/*=cfg.zeta*/, float vtol[]/*=cfg.vtol*/) {
shaping.updateShapingA(zeta, vtol); shaping.updateShapingA(zeta, vtol);
} }
@ -364,11 +404,13 @@ void FTMotion::loop() {
Ni[1] = round((0.5f / f / df) * (FTM_FS)); Ni[1] = round((0.5f / f / df) * (FTM_FS));
Ni[2] = Ni[1] + Ni[1]; Ni[2] = Ni[1] + Ni[1];
break; break;
case ftMotionMode_ZVDD:
case ftMotionMode_2HEI: case ftMotionMode_2HEI:
Ni[1] = round((0.5f / f / df) * (FTM_FS)); Ni[1] = round((0.5f / f / df) * (FTM_FS));
Ni[2] = Ni[1] + Ni[1]; Ni[2] = Ni[1] + Ni[1];
Ni[3] = Ni[2] + Ni[1]; Ni[3] = Ni[2] + Ni[1];
break; break;
case ftMotionMode_ZVDDD:
case ftMotionMode_3HEI: case ftMotionMode_3HEI:
Ni[1] = round((0.5f / f / df) * (FTM_FS)); Ni[1] = round((0.5f / f / df) * (FTM_FS));
Ni[2] = Ni[1] + Ni[1]; Ni[2] = Ni[1] + Ni[1];
@ -383,10 +425,14 @@ void FTMotion::loop() {
} }
} }
void FTMotion::updateShapingN(const_float_t xf OPTARG(HAS_Y_AXIS, const_float_t yf), const_float_t zeta/*=cfg.zeta*/) { void FTMotion::updateShapingN(const_float_t xf OPTARG(HAS_Y_AXIS, const_float_t yf), float zeta[]/*=cfg.zeta*/) {
const float df = sqrt(1.0f - sq(zeta)); const float xdf = sqrt(1.0f - sq(zeta[0]));
shaping.x.updateShapingN(xf, df); shaping.x.updateShapingN(xf, xdf);
TERN_(HAS_Y_AXIS, shaping.y.updateShapingN(yf, df));
#if HAS_Y_AXIS
const float ydf = sqrt(1.0f - sq(zeta[1]));
shaping.y.updateShapingN(yf, ydf);
#endif
} }
#endif // HAS_X_AXIS #endif // HAS_X_AXIS
@ -396,27 +442,24 @@ void FTMotion::reset() {
stepperCmdBuff_produceIdx = stepperCmdBuff_consumeIdx = 0; stepperCmdBuff_produceIdx = stepperCmdBuff_consumeIdx = 0;
traj.reset(); // Reset trajectory history traj.reset();
trajMod.reset(); // Reset modified trajectory history trajWin.reset();
blockProcRdy = blockProcRdy_z1 = blockProcDn = false; blockProcRdy = blockProcRdy_z1 = blockProcDn = false;
batchRdy = batchRdyForInterp = false; batchRdy = batchRdyForInterp = false;
runoutEna = false; runoutEna = false;
runout = false;
endPosn_prevBlock.reset(); endPosn_prevBlock.reset();
makeVector_idx = makeVector_idx_z1 = 0; makeVector_idx = makeVector_idx_z1 = 0;
makeVector_batchIdx = FTM_BATCH_SIZE; makeVector_batchIdx = 0;
steps.reset(); steps.reset();
interpIdx = interpIdx_z1 = 0; interpIdx = interpIdx_z1 = 0;
dirState = LOGICAL_AXIS_ARRAY_1(stepDirState_NOT_SET);
nextStepTicks = FTM_MIN_TICKS;
#if HAS_X_AXIS #if HAS_X_AXIS
for (uint32_t i = 0U; i < (FTM_ZMAX); i++) ZERO(shaping.x.d_zi);
shaping.x.d_zi[i] = TERN_(HAS_Y_AXIS, shaping.y.d_zi[i] =) 0.0f; TERN_(HAS_Y_AXIS, ZERO(shaping.y.d_zi));
shaping.zi_idx = 0; shaping.zi_idx = 0;
#endif #endif
@ -445,40 +488,26 @@ void FTMotion::loadBlockData(block_t * const current_block) {
const float totalLength = current_block->millimeters, const float totalLength = current_block->millimeters,
oneOverLength = 1.0f / totalLength; oneOverLength = 1.0f / totalLength;
const AxisBits direction = current_block->direction_bits;
startPosn = endPosn_prevBlock; startPosn = endPosn_prevBlock;
xyze_pos_t moveDist = LOGICAL_AXIS_ARRAY( xyze_pos_t moveDist = LOGICAL_AXIS_ARRAY(
current_block->steps.e / planner.settings.axis_steps_per_mm[E_AXIS_N(current_block->extruder)], current_block->steps.e * planner.mm_per_step[E_AXIS_N(current_block->extruder)] * (current_block->direction_bits.e ? 1 : -1),
current_block->steps.x / planner.settings.axis_steps_per_mm[X_AXIS], current_block->steps.x * planner.mm_per_step[X_AXIS] * (current_block->direction_bits.x ? 1 : -1),
current_block->steps.y / planner.settings.axis_steps_per_mm[Y_AXIS], current_block->steps.y * planner.mm_per_step[Y_AXIS] * (current_block->direction_bits.y ? 1 : -1),
current_block->steps.z / planner.settings.axis_steps_per_mm[Z_AXIS], current_block->steps.z * planner.mm_per_step[Z_AXIS] * (current_block->direction_bits.z ? 1 : -1),
current_block->steps.i / planner.settings.axis_steps_per_mm[I_AXIS], current_block->steps.i * planner.mm_per_step[I_AXIS] * (current_block->direction_bits.i ? 1 : -1),
current_block->steps.j / planner.settings.axis_steps_per_mm[J_AXIS], current_block->steps.j * planner.mm_per_step[J_AXIS] * (current_block->direction_bits.j ? 1 : -1),
current_block->steps.k / planner.settings.axis_steps_per_mm[K_AXIS], current_block->steps.k * planner.mm_per_step[K_AXIS] * (current_block->direction_bits.k ? 1 : -1),
current_block->steps.u / planner.settings.axis_steps_per_mm[U_AXIS], current_block->steps.u * planner.mm_per_step[U_AXIS] * (current_block->direction_bits.u ? 1 : -1),
current_block->steps.v / planner.settings.axis_steps_per_mm[V_AXIS], current_block->steps.v * planner.mm_per_step[V_AXIS] * (current_block->direction_bits.v ? 1 : -1),
current_block->steps.w / planner.settings.axis_steps_per_mm[W_AXIS] current_block->steps.w * planner.mm_per_step[W_AXIS] * (current_block->direction_bits.w ? 1 : -1)
);
LOGICAL_AXIS_CODE(
if (!direction.e) moveDist.e *= -1.0f,
if (!direction.x) moveDist.x *= -1.0f,
if (!direction.y) moveDist.y *= -1.0f,
if (!direction.z) moveDist.z *= -1.0f,
if (!direction.i) moveDist.i *= -1.0f,
if (!direction.j) moveDist.j *= -1.0f,
if (!direction.k) moveDist.k *= -1.0f,
if (!direction.u) moveDist.u *= -1.0f,
if (!direction.v) moveDist.v *= -1.0f,
if (!direction.w) moveDist.w *= -1.0f
); );
ratio = moveDist * oneOverLength; ratio = moveDist * oneOverLength;
/* Keep for comprehension
const float spm = totalLength / current_block->step_event_count; // (steps/mm) Distance for each step const float spm = totalLength / current_block->step_event_count; // (steps/mm) Distance for each step
f_s = spm * current_block->initial_rate; // (steps/s) Start feedrate f_s = spm * current_block->initial_rate, // (steps/s) Start feedrate
const float f_e = spm * current_block->final_rate; // (steps/s) End feedrate f_e = spm * current_block->final_rate; // (steps/s) End feedrate
const float a = current_block->acceleration, // (mm/s^2) Same magnitude for acceleration or deceleration const float a = current_block->acceleration, // (mm/s^2) Same magnitude for acceleration or deceleration
oneby2a = 1.0f / (2.0f * a), // (s/mm) Time to accelerate or decelerate one mm (i.e., oneby2a * 2 oneby2a = 1.0f / (2.0f * a), // (s/mm) Time to accelerate or decelerate one mm (i.e., oneby2a * 2
@ -499,25 +528,46 @@ void FTMotion::loadBlockData(block_t * const current_block) {
const float T1 = (F_n - f_s) / a, // (s) Accel Time = difference in feedrate over acceleration const float T1 = (F_n - f_s) / a, // (s) Accel Time = difference in feedrate over acceleration
T3 = (F_n - f_e) / a; // (s) Decel Time = difference in feedrate over acceleration T3 = (F_n - f_e) / a; // (s) Decel Time = difference in feedrate over acceleration
*/
N1 = ceil(T1 * (FTM_FS)); // Accel datapoints based on Hz frequency const float spm = totalLength / current_block->step_event_count,
N2 = ceil(T2 * (FTM_FS)); // Coast f_s = spm * current_block->initial_rate,
N3 = ceil(T3 * (FTM_FS)); // Decel f_e = spm * current_block->final_rate;
const float T1_P = N1 * (FTM_TS), // (s) Accel datapoints x timestep resolution const float accel = current_block->acceleration,
T2_P = N2 * (FTM_TS), // (s) Coast oneOverAccel = 1.0f / accel;
T3_P = N3 * (FTM_TS); // (s) Decel
// Calculate the reachable feedrate at the end of the accel phase float F_n = current_block->nominal_speed;
// totalLength is the total distance to travel in mm const float ldiff = totalLength + 0.5f * oneOverAccel * (sq(f_s) + sq(f_e));
// f_s is the starting feedrate in mm/s
// f_e is the ending feedrate in mm/s float T2 = ldiff / F_n - oneOverAccel * F_n;
// T1_P is the time spent accelerating in seconds if (T2 < 0.0f) {
// T2_P is the time spent coasting in seconds T2 = 0.0f;
// T3_P is the time spent decelerating in seconds F_n = SQRT(ldiff * accel);
// f_s * T1_P is the distance traveled during the accel phase }
// f_e * T3_P is the distance traveled during the decel phase
// const float T1 = (F_n - f_s) * oneOverAccel,
T3 = (F_n - f_e) * oneOverAccel;
N1 = ceil(T1 * (FTM_FS)); // Accel datapoints based on Hz frequency
N2 = ceil(T2 * (FTM_FS)); // Coast
N3 = ceil(T3 * (FTM_FS)); // Decel
const float T1_P = N1 * (FTM_TS), // (s) Accel datapoints x timestep resolution
T2_P = N2 * (FTM_TS), // (s) Coast
T3_P = N3 * (FTM_TS); // (s) Decel
/**
* Calculate the reachable feedrate at the end of the accel phase.
* totalLength is the total distance to travel in mm
* f_s : (mm/s) Starting feedrate
* f_e : (mm/s) Ending feedrate
* T1_P : (sec) Time spent accelerating
* T2_P : (sec) Time spent coasting
* T3_P : (sec) Time spent decelerating
* f_s * T1_P : (mm) Distance traveled during the accel phase
* f_e * T3_P : (mm) Distance traveled during the decel phase
*/
F_P = (2.0f * totalLength - f_s * T1_P - f_e * T3_P) / (T1_P + 2.0f * T2_P + T3_P); // (mm/s) Feedrate at the end of the accel phase F_P = (2.0f * totalLength - f_s * T1_P - f_e * T3_P) / (T1_P + 2.0f * T2_P + T3_P); // (mm/s) Feedrate at the end of the accel phase
// Calculate the acceleration and deceleration rates // Calculate the acceleration and deceleration rates
@ -531,77 +581,69 @@ void FTMotion::loadBlockData(block_t * const current_block) {
// Calculate the distance traveled during the decel phase // Calculate the distance traveled during the decel phase
s_2e = s_1e + F_P * T2_P; s_2e = s_1e + F_P * T2_P;
// One less than (Accel + Coasting + Decel) datapoints // Accel + Coasting + Decel datapoints
max_intervals = N1 + N2 + N3 - 1U; max_intervals = N1 + N2 + N3;
endPosn_prevBlock += moveDist; endPosn_prevBlock += moveDist;
} }
// Generate data points of the trajectory. // Generate data points of the trajectory.
void FTMotion::makeVector() { void FTMotion::makeVector() {
float accel_k = 0.0f; // (mm/s^2) Acceleration K factor float accel_k = 0.0f; // (mm/s^2) Acceleration K factor
float tau = (makeVector_idx + 1) * (FTM_TS); // (s) Time since start of block float tau = (makeVector_idx + 1) * (FTM_TS); // (s) Time since start of block
float dist = 0.0f; // (mm) Distance traveled float dist = 0.0f; // (mm) Distance traveled
if (makeVector_idx < N1) { if (makeVector_idx < N1) {
// Acceleration phase // Acceleration phase
dist = (f_s * tau) + (0.5f * accel_P * sq(tau)); // (mm) Distance traveled for acceleration phase dist = (f_s * tau) + (0.5f * accel_P * sq(tau)); // (mm) Distance traveled for acceleration phase since start of block
accel_k = accel_P; // (mm/s^2) Acceleration K factor from Accel phase accel_k = accel_P; // (mm/s^2) Acceleration K factor from Accel phase
} }
else if (makeVector_idx >= N1 && makeVector_idx < (N1 + N2)) { else if (makeVector_idx < (N1 + N2)) {
// Coasting phase // Coasting phase
dist = s_1e + F_P * (tau - N1 * (FTM_TS)); // (mm) Distance traveled for coasting phase dist = s_1e + F_P * (tau - N1 * (FTM_TS)); // (mm) Distance traveled for coasting phase since start of block
//accel_k = 0.0f; //accel_k = 0.0f;
} }
else { else {
// Deceleration phase // Deceleration phase
const float tau_ = tau - (N1 + N2) * (FTM_TS); // (s) Time since start of decel phase tau -= (N1 + N2) * (FTM_TS); // (s) Time since start of decel phase
dist = s_2e + F_P * tau_ + 0.5f * decel_P * sq(tau_); // (mm) Distance traveled for deceleration phase dist = s_2e + F_P * tau + 0.5f * decel_P * sq(tau); // (mm) Distance traveled for deceleration phase since start of block
accel_k = decel_P; // (mm/s^2) Acceleration K factor from Decel phase accel_k = decel_P; // (mm/s^2) Acceleration K factor from Decel phase
} }
NUM_AXIS_CODE( LOGICAL_AXIS_CODE(
traj.x[makeVector_batchIdx] = startPosn.x + ratio.x * dist, trajWin.e[makeVector_batchIdx] = startPosn.e + ratio.e * dist,
traj.y[makeVector_batchIdx] = startPosn.y + ratio.y * dist, trajWin.x[makeVector_batchIdx] = startPosn.x + ratio.x * dist,
traj.z[makeVector_batchIdx] = startPosn.z + ratio.z * dist, trajWin.y[makeVector_batchIdx] = startPosn.y + ratio.y * dist,
traj.i[makeVector_batchIdx] = startPosn.i + ratio.i * dist, trajWin.z[makeVector_batchIdx] = startPosn.z + ratio.z * dist,
traj.j[makeVector_batchIdx] = startPosn.j + ratio.j * dist, trajWin.i[makeVector_batchIdx] = startPosn.i + ratio.i * dist,
traj.k[makeVector_batchIdx] = startPosn.k + ratio.k * dist, trajWin.j[makeVector_batchIdx] = startPosn.j + ratio.j * dist,
traj.u[makeVector_batchIdx] = startPosn.u + ratio.u * dist, trajWin.k[makeVector_batchIdx] = startPosn.k + ratio.k * dist,
traj.v[makeVector_batchIdx] = startPosn.v + ratio.v * dist, trajWin.u[makeVector_batchIdx] = startPosn.u + ratio.u * dist,
traj.w[makeVector_batchIdx] = startPosn.w + ratio.w * dist trajWin.v[makeVector_batchIdx] = startPosn.v + ratio.v * dist,
trajWin.w[makeVector_batchIdx] = startPosn.w + ratio.w * dist
); );
#if HAS_EXTRUDERS #if HAS_EXTRUDERS
const float new_raw_z1 = startPosn.e + ratio.e * dist;
if (cfg.linearAdvEna) { if (cfg.linearAdvEna) {
float dedt_adj = (new_raw_z1 - e_raw_z1) * (FTM_FS); float dedt_adj = (trajWin.e[makeVector_batchIdx] - e_raw_z1) * (FTM_FS);
if (ratio.e > 0.0f) dedt_adj += accel_k * cfg.linearAdvK; if (ratio.e > 0.0f) dedt_adj += accel_k * cfg.linearAdvK;
e_raw_z1 = trajWin.e[makeVector_batchIdx];
e_advanced_z1 += dedt_adj * (FTM_TS); e_advanced_z1 += dedt_adj * (FTM_TS);
traj.e[makeVector_batchIdx] = e_advanced_z1; trajWin.e[makeVector_batchIdx] = e_advanced_z1;
e_raw_z1 = new_raw_z1;
}
else {
traj.e[makeVector_batchIdx] = new_raw_z1;
// Alternatively: ed[makeVector_batchIdx] = startPosn.e + (ratio.e * dist) / (N1 + N2 + N3);
} }
#endif #endif
// Update shaping parameters if needed. // Update shaping parameters if needed.
#if HAS_DYNAMIC_FREQ_MM
static float zd_z1 = 0.0f;
#endif
switch (cfg.dynFreqMode) { switch (cfg.dynFreqMode) {
#if HAS_DYNAMIC_FREQ_MM #if HAS_DYNAMIC_FREQ_MM
case dynFreqMode_Z_BASED: case dynFreqMode_Z_BASED:
if (traj.z[makeVector_batchIdx] != zd_z1) { // Only update if Z changed. if (trajWin.z[makeVector_batchIdx] != 0.0f) { // Only update if Z changed.
const float xf = cfg.baseFreq[X_AXIS] + cfg.dynFreqK[X_AXIS] * traj.z[makeVector_batchIdx], const float xf = cfg.baseFreq[X_AXIS] + cfg.dynFreqK[X_AXIS] * trajWin.z[makeVector_batchIdx]
yf = cfg.baseFreq[Y_AXIS] + cfg.dynFreqK[Y_AXIS] * traj.z[makeVector_batchIdx]; OPTARG(HAS_Y_AXIS, yf = cfg.baseFreq[Y_AXIS] + cfg.dynFreqK[Y_AXIS] * trajWin.z[makeVector_batchIdx]);
updateShapingN(_MAX(xf, FTM_MIN_SHAPE_FREQ), _MAX(yf, FTM_MIN_SHAPE_FREQ)); updateShapingN(_MAX(xf, FTM_MIN_SHAPE_FREQ) OPTARG(HAS_Y_AXIS, _MAX(yf, FTM_MIN_SHAPE_FREQ)));
zd_z1 = traj.z[makeVector_batchIdx];
} }
break; break;
#endif #endif
@ -610,8 +652,8 @@ void FTMotion::makeVector() {
case dynFreqMode_MASS_BASED: case dynFreqMode_MASS_BASED:
// Update constantly. The optimization done for Z value makes // Update constantly. The optimization done for Z value makes
// less sense for E, as E is expected to constantly change. // less sense for E, as E is expected to constantly change.
updateShapingN( cfg.baseFreq[X_AXIS] + cfg.dynFreqK[X_AXIS] * traj.e[makeVector_batchIdx] updateShapingN( cfg.baseFreq[X_AXIS] + cfg.dynFreqK[X_AXIS] * trajWin.e[makeVector_batchIdx]
OPTARG(HAS_Y_AXIS, cfg.baseFreq[Y_AXIS] + cfg.dynFreqK[Y_AXIS] * traj.e[makeVector_batchIdx]) ); OPTARG(HAS_Y_AXIS, cfg.baseFreq[Y_AXIS] + cfg.dynFreqK[Y_AXIS] * trajWin.e[makeVector_batchIdx]) );
break; break;
#endif #endif
@ -621,18 +663,18 @@ void FTMotion::makeVector() {
// Apply shaping if in mode. // Apply shaping if in mode.
#if HAS_X_AXIS #if HAS_X_AXIS
if (cfg.modeHasShaper()) { if (cfg.modeHasShaper()) {
shaping.x.d_zi[shaping.zi_idx] = traj.x[makeVector_batchIdx]; shaping.x.d_zi[shaping.zi_idx] = trajWin.x[makeVector_batchIdx];
traj.x[makeVector_batchIdx] *= shaping.x.Ai[0]; trajWin.x[makeVector_batchIdx] *= shaping.x.Ai[0];
#if HAS_Y_AXIS #if HAS_Y_AXIS
shaping.y.d_zi[shaping.zi_idx] = traj.y[makeVector_batchIdx]; shaping.y.d_zi[shaping.zi_idx] = trajWin.y[makeVector_batchIdx];
traj.y[makeVector_batchIdx] *= shaping.y.Ai[0]; trajWin.y[makeVector_batchIdx] *= shaping.y.Ai[0];
#endif #endif
for (uint32_t i = 1U; i <= shaping.max_i; i++) { for (uint32_t i = 1U; i <= shaping.max_i; i++) {
const uint32_t udiffx = shaping.zi_idx - shaping.x.Ni[i]; const uint32_t udiffx = shaping.zi_idx - shaping.x.Ni[i];
traj.x[makeVector_batchIdx] += shaping.x.Ai[i] * shaping.x.d_zi[shaping.x.Ni[i] > shaping.zi_idx ? (FTM_ZMAX) + udiffx : udiffx]; trajWin.x[makeVector_batchIdx] += shaping.x.Ai[i] * shaping.x.d_zi[shaping.x.Ni[i] > shaping.zi_idx ? (FTM_ZMAX) + udiffx : udiffx];
#if HAS_Y_AXIS #if HAS_Y_AXIS
const uint32_t udiffy = shaping.zi_idx - shaping.y.Ni[i]; const uint32_t udiffy = shaping.zi_idx - shaping.y.Ni[i];
traj.y[makeVector_batchIdx] += shaping.y.Ai[i] * shaping.y.d_zi[shaping.y.Ni[i] > shaping.zi_idx ? (FTM_ZMAX) + udiffy : udiffy]; trajWin.y[makeVector_batchIdx] += shaping.y.Ai[i] * shaping.y.d_zi[shaping.y.Ni[i] > shaping.zi_idx ? (FTM_ZMAX) + udiffy : udiffy];
#endif #endif
} }
if (++shaping.zi_idx == (FTM_ZMAX)) shaping.zi_idx = 0; if (++shaping.zi_idx == (FTM_ZMAX)) shaping.zi_idx = 0;
@ -640,18 +682,38 @@ void FTMotion::makeVector() {
#endif #endif
// Filled up the queue with regular and shaped steps // Filled up the queue with regular and shaped steps
if (++makeVector_batchIdx == (FTM_WINDOW_SIZE)) { if (++makeVector_batchIdx == TERN(FTM_UNIFIED_BWS, FTM_BW_SIZE, (FTM_WINDOW_SIZE - FTM_BATCH_SIZE))) {
makeVector_batchIdx = last_batchIdx; makeVector_batchIdx = 0;
batchRdy = true; batchRdy = true;
} }
if (makeVector_idx == max_intervals) { if (++makeVector_idx == max_intervals) {
blockProcDn = true; blockProcDn = true;
blockProcRdy = false; blockProcRdy = false;
makeVector_idx = 0; makeVector_idx = 0;
} }
else }
makeVector_idx++;
/**
* Convert to steps
* - Commands are written in a bitmask with step and dir as single bits.
* - Tests for delta are moved outside the loop.
* - Two functions are used for command computation with an array of function pointers.
*/
static void (*command_set[NUM_AXES TERN0(HAS_EXTRUDERS, +1)])(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) {
if (e < FTM_CTS_COMPARE_VAL) return;
s++;
b |= bd | bs;
e -= FTM_STEPS_PER_UNIT_TIME;
}
static void command_set_neg(int32_t &e, int32_t &s, ft_command_t &b, int32_t bd, int32_t bs) {
if (e > -(FTM_CTS_COMPARE_VAL)) return;
s--;
b |= bs;
e += FTM_STEPS_PER_UNIT_TIME;
} }
// Interpolates single data point to stepper commands. // Interpolates single data point to stepper commands.
@ -660,154 +722,61 @@ void FTMotion::convertToSteps(const uint32_t idx) {
//#define STEPS_ROUNDING //#define STEPS_ROUNDING
#if ENABLED(STEPS_ROUNDING) #if ENABLED(STEPS_ROUNDING)
const xyze_float_t steps_tar = LOGICAL_AXIS_ARRAY( #define TOSTEPS(A,B) int32_t(trajMod.A[idx] * planner.settings.axis_steps_per_mm[B] + (trajMod.A[idx] < 0.0f ? -0.5f : 0.5f))
trajMod.e[idx] * planner.settings.axis_steps_per_mm[E_AXIS_N(current_block->extruder)] + (trajMod.e[idx] < 0.0f ? -0.5f : 0.5f), // May be eliminated if guaranteed positive. const xyze_long_t steps_tar = LOGICAL_AXIS_ARRAY(
trajMod.x[idx] * planner.settings.axis_steps_per_mm[X_AXIS] + (trajMod.x[idx] < 0.0f ? -0.5f : 0.5f), TOSTEPS(e, E_AXIS_N(current_block->extruder)), // May be eliminated if guaranteed positive.
trajMod.y[idx] * planner.settings.axis_steps_per_mm[Y_AXIS] + (trajMod.y[idx] < 0.0f ? -0.5f : 0.5f), TOSTEPS(x, X_AXIS), TOSTEPS(y, Y_AXIS), TOSTEPS(z, Z_AXIS),
trajMod.z[idx] * planner.settings.axis_steps_per_mm[Z_AXIS] + (trajMod.z[idx] < 0.0f ? -0.5f : 0.5f), TOSTEPS(i, I_AXIS), TOSTEPS(j, J_AXIS), TOSTEPS(k, K_AXIS),
trajMod.i[idx] * planner.settings.axis_steps_per_mm[I_AXIS] + (trajMod.i[idx] < 0.0f ? -0.5f : 0.5f), TOSTEPS(u, U_AXIS), TOSTEPS(v, V_AXIS), TOSTEPS(w, W_AXIS)
trajMod.j[idx] * planner.settings.axis_steps_per_mm[J_AXIS] + (trajMod.j[idx] < 0.0f ? -0.5f : 0.5f),
trajMod.k[idx] * planner.settings.axis_steps_per_mm[K_AXIS] + (trajMod.k[idx] < 0.0f ? -0.5f : 0.5f),
trajMod.u[idx] * planner.settings.axis_steps_per_mm[U_AXIS] + (trajMod.u[idx] < 0.0f ? -0.5f : 0.5f),
trajMod.v[idx] * planner.settings.axis_steps_per_mm[V_AXIS] + (trajMod.v[idx] < 0.0f ? -0.5f : 0.5f),
trajMod.w[idx] * planner.settings.axis_steps_per_mm[W_AXIS] + (trajMod.w[idx] < 0.0f ? -0.5f : 0.5f),
); );
xyze_long_t delta = xyze_long_t(steps_tar) - steps; xyze_long_t delta = steps_tar - steps;
//const xyze_long_t delta = LOGICAL_AXIS_ARRAY(
// int32_t(steps_tar.e) - steps.e,
// int32_t(steps_tar.x) - steps.x,
// int32_t(steps_tar.y) - steps.y,
// int32_t(steps_tar.z) - steps.z,
// int32_t(steps_tar.i) - steps.i,
// int32_t(steps_tar.j) - steps.j,
// int32_t(steps_tar.k) - steps.k,
// int32_t(steps_tar.u) - steps.u,
// int32_t(steps_tar.v) - steps.v,
// int32_t(steps_tar.w) - steps.w
//);
#else #else
#define TOSTEPS(A,B) int32_t(trajMod.A[idx] * planner.settings.axis_steps_per_mm[B]) - steps.A
xyze_long_t delta = LOGICAL_AXIS_ARRAY( xyze_long_t delta = LOGICAL_AXIS_ARRAY(
int32_t(trajMod.e[idx] * planner.settings.axis_steps_per_mm[E_AXIS_N(current_block->extruder)]) - steps.e, TOSTEPS(e, E_AXIS_N(current_block->extruder)),
int32_t(trajMod.x[idx] * planner.settings.axis_steps_per_mm[X_AXIS]) - steps.x, TOSTEPS(x, X_AXIS), TOSTEPS(y, Y_AXIS), TOSTEPS(z, Z_AXIS),
int32_t(trajMod.y[idx] * planner.settings.axis_steps_per_mm[Y_AXIS]) - steps.y, TOSTEPS(i, I_AXIS), TOSTEPS(j, J_AXIS), TOSTEPS(k, K_AXIS),
int32_t(trajMod.z[idx] * planner.settings.axis_steps_per_mm[Z_AXIS]) - steps.z, TOSTEPS(u, U_AXIS), TOSTEPS(v, V_AXIS), TOSTEPS(w, W_AXIS)
int32_t(trajMod.i[idx] * planner.settings.axis_steps_per_mm[I_AXIS]) - steps.i,
int32_t(trajMod.j[idx] * planner.settings.axis_steps_per_mm[J_AXIS]) - steps.j,
int32_t(trajMod.k[idx] * planner.settings.axis_steps_per_mm[K_AXIS]) - steps.k,
int32_t(trajMod.u[idx] * planner.settings.axis_steps_per_mm[U_AXIS]) - steps.u,
int32_t(trajMod.v[idx] * planner.settings.axis_steps_per_mm[V_AXIS]) - steps.v,
int32_t(trajMod.w[idx] * planner.settings.axis_steps_per_mm[W_AXIS]) - steps.w
); );
#endif #endif
bool any_dirChange = (false LOGICAL_AXIS_CODE(
LOGICAL_AXIS_GANG( command_set[E_AXIS_N(current_block->extruder)] = delta.e >= 0 ? command_set_pos : command_set_neg,
|| (delta.e > 0 && dirState.e != stepDirState_POS) || (delta.e < 0 && dirState.e != stepDirState_NEG), command_set[X_AXIS] = delta.x >= 0 ? command_set_pos : command_set_neg,
|| (delta.x > 0 && dirState.x != stepDirState_POS) || (delta.x < 0 && dirState.x != stepDirState_NEG), command_set[Y_AXIS] = delta.y >= 0 ? command_set_pos : command_set_neg,
|| (delta.y > 0 && dirState.y != stepDirState_POS) || (delta.y < 0 && dirState.y != stepDirState_NEG), command_set[Z_AXIS] = delta.z >= 0 ? command_set_pos : command_set_neg,
|| (delta.z > 0 && dirState.z != stepDirState_POS) || (delta.z < 0 && dirState.z != stepDirState_NEG), command_set[I_AXIS] = delta.i >= 0 ? command_set_pos : command_set_neg,
|| (delta.i > 0 && dirState.i != stepDirState_POS) || (delta.i < 0 && dirState.i != stepDirState_NEG), command_set[J_AXIS] = delta.j >= 0 ? command_set_pos : command_set_neg,
|| (delta.j > 0 && dirState.j != stepDirState_POS) || (delta.j < 0 && dirState.j != stepDirState_NEG), command_set[K_AXIS] = delta.k >= 0 ? command_set_pos : command_set_neg,
|| (delta.k > 0 && dirState.k != stepDirState_POS) || (delta.k < 0 && dirState.k != stepDirState_NEG), command_set[U_AXIS] = delta.u >= 0 ? command_set_pos : command_set_neg,
|| (delta.u > 0 && dirState.u != stepDirState_POS) || (delta.u < 0 && dirState.u != stepDirState_NEG), command_set[V_AXIS] = delta.v >= 0 ? command_set_pos : command_set_neg,
|| (delta.v > 0 && dirState.v != stepDirState_POS) || (delta.v < 0 && dirState.v != stepDirState_NEG), command_set[W_AXIS] = delta.w >= 0 ? command_set_pos : command_set_neg
|| (delta.w > 0 && dirState.w != stepDirState_POS) || (delta.w < 0 && dirState.w != stepDirState_NEG)
)
); );
for (uint32_t i = 0U; i < (FTM_STEPS_PER_UNIT_TIME); i++) { for (uint32_t i = 0U; i < (FTM_STEPS_PER_UNIT_TIME); i++) {
// TODO: (?) Since the *delta variables will not change,
// the comparison may be done once before iterating at
// expense of storage and lines of code.
bool anyStep = false;
// Commands are written in a bitmask with step and dir as single bits
auto COMMAND_SET = [&](auto &d, auto &e, auto &s, auto &b, auto bd, auto bs) {
if (d >= 0) {
if (e + d < (FTM_CTS_COMPARE_VAL)) {
e += d;
}
else {
s++;
b |= bd | bs;
e += d - (FTM_STEPS_PER_UNIT_TIME);
anyStep = true;
}
}
else {
if ((e + d) > -(FTM_CTS_COMPARE_VAL)) {
e += d;
}
else {
s--;
b |= bs;
e += d + (FTM_STEPS_PER_UNIT_TIME);
anyStep = true;
}
}
};
// Init all step/dir bits to 0 (defaulting to reverse/negative motion) // Init all step/dir bits to 0 (defaulting to reverse/negative motion)
stepperCmdBuff[stepperCmdBuff_produceIdx] = 0; stepperCmdBuff[stepperCmdBuff_produceIdx] = 0;
err_P += delta;
// Set up step/dir bits for all axes // Set up step/dir bits for all axes
LOGICAL_AXIS_CODE( LOGICAL_AXIS_CODE(
COMMAND_SET(delta.e, err_P.e, steps.e, stepperCmdBuff[stepperCmdBuff_produceIdx], _BV(FT_BIT_DIR_E), _BV(FT_BIT_STEP_E)), command_set[E_AXIS_N(current_block->extruder)](err_P.e, steps.e, stepperCmdBuff[stepperCmdBuff_produceIdx], _BV(FT_BIT_DIR_E), _BV(FT_BIT_STEP_E)),
COMMAND_SET(delta.x, err_P.x, steps.x, stepperCmdBuff[stepperCmdBuff_produceIdx], _BV(FT_BIT_DIR_X), _BV(FT_BIT_STEP_X)), command_set[X_AXIS](err_P.x, steps.x, stepperCmdBuff[stepperCmdBuff_produceIdx], _BV(FT_BIT_DIR_X), _BV(FT_BIT_STEP_X)),
COMMAND_SET(delta.y, err_P.y, steps.y, stepperCmdBuff[stepperCmdBuff_produceIdx], _BV(FT_BIT_DIR_Y), _BV(FT_BIT_STEP_Y)), command_set[Y_AXIS](err_P.y, steps.y, stepperCmdBuff[stepperCmdBuff_produceIdx], _BV(FT_BIT_DIR_Y), _BV(FT_BIT_STEP_Y)),
COMMAND_SET(delta.z, err_P.z, steps.z, stepperCmdBuff[stepperCmdBuff_produceIdx], _BV(FT_BIT_DIR_Z), _BV(FT_BIT_STEP_Z)), command_set[Z_AXIS](err_P.z, steps.z, stepperCmdBuff[stepperCmdBuff_produceIdx], _BV(FT_BIT_DIR_Z), _BV(FT_BIT_STEP_Z)),
COMMAND_SET(delta.i, err_P.i, steps.i, stepperCmdBuff[stepperCmdBuff_produceIdx], _BV(FT_BIT_DIR_I), _BV(FT_BIT_STEP_I)), command_set[I_AXIS](err_P.i, steps.i, stepperCmdBuff[stepperCmdBuff_produceIdx], _BV(FT_BIT_DIR_I), _BV(FT_BIT_STEP_I)),
COMMAND_SET(delta.j, err_P.j, steps.j, stepperCmdBuff[stepperCmdBuff_produceIdx], _BV(FT_BIT_DIR_J), _BV(FT_BIT_STEP_J)), command_set[J_AXIS](err_P.j, steps.j, stepperCmdBuff[stepperCmdBuff_produceIdx], _BV(FT_BIT_DIR_J), _BV(FT_BIT_STEP_J)),
COMMAND_SET(delta.k, err_P.k, steps.k, stepperCmdBuff[stepperCmdBuff_produceIdx], _BV(FT_BIT_DIR_K), _BV(FT_BIT_STEP_K)), command_set[K_AXIS](err_P.k, steps.k, stepperCmdBuff[stepperCmdBuff_produceIdx], _BV(FT_BIT_DIR_K), _BV(FT_BIT_STEP_K)),
COMMAND_SET(delta.u, err_P.u, steps.u, stepperCmdBuff[stepperCmdBuff_produceIdx], _BV(FT_BIT_DIR_U), _BV(FT_BIT_STEP_U)), command_set[U_AXIS](err_P.u, steps.u, stepperCmdBuff[stepperCmdBuff_produceIdx], _BV(FT_BIT_DIR_U), _BV(FT_BIT_STEP_U)),
COMMAND_SET(delta.v, err_P.v, steps.v, stepperCmdBuff[stepperCmdBuff_produceIdx], _BV(FT_BIT_DIR_V), _BV(FT_BIT_STEP_V)), command_set[V_AXIS](err_P.v, steps.v, stepperCmdBuff[stepperCmdBuff_produceIdx], _BV(FT_BIT_DIR_V), _BV(FT_BIT_STEP_V)),
COMMAND_SET(delta.w, err_P.w, steps.w, stepperCmdBuff[stepperCmdBuff_produceIdx], _BV(FT_BIT_DIR_W), _BV(FT_BIT_STEP_W)), command_set[W_AXIS](err_P.w, steps.w, stepperCmdBuff[stepperCmdBuff_produceIdx], _BV(FT_BIT_DIR_W), _BV(FT_BIT_STEP_W)),
); );
if (!anyStep) { if (++stepperCmdBuff_produceIdx == (FTM_STEPPERCMD_BUFF_SIZE))
nextStepTicks += (FTM_MIN_TICKS); stepperCmdBuff_produceIdx = 0;
}
else {
stepperCmdBuff_StepRelativeTi[stepperCmdBuff_produceIdx] = nextStepTicks;
const uint8_t dir_index = stepperCmdBuff_produceIdx >> 3,
dir_bit = stepperCmdBuff_produceIdx & 0x7;
if (any_dirChange) {
SBI(stepperCmdBuff_ApplyDir[dir_index], dir_bit);
auto DIR_SET = [&](auto &d, auto &c, auto &b, auto bd) {
if (d > 0) { b |= bd; c = stepDirState_POS; } else { c = stepDirState_NEG; }
};
LOGICAL_AXIS_CODE(
DIR_SET(delta.e, dirState.e, stepperCmdBuff[stepperCmdBuff_produceIdx], _BV(FT_BIT_DIR_E)),
DIR_SET(delta.x, dirState.x, stepperCmdBuff[stepperCmdBuff_produceIdx], _BV(FT_BIT_DIR_X)),
DIR_SET(delta.y, dirState.y, stepperCmdBuff[stepperCmdBuff_produceIdx], _BV(FT_BIT_DIR_Y)),
DIR_SET(delta.z, dirState.z, stepperCmdBuff[stepperCmdBuff_produceIdx], _BV(FT_BIT_DIR_Z)),
DIR_SET(delta.i, dirState.i, stepperCmdBuff[stepperCmdBuff_produceIdx], _BV(FT_BIT_DIR_I)),
DIR_SET(delta.j, dirState.j, stepperCmdBuff[stepperCmdBuff_produceIdx], _BV(FT_BIT_DIR_J)),
DIR_SET(delta.k, dirState.k, stepperCmdBuff[stepperCmdBuff_produceIdx], _BV(FT_BIT_DIR_K)),
DIR_SET(delta.u, dirState.u, stepperCmdBuff[stepperCmdBuff_produceIdx], _BV(FT_BIT_DIR_U)),
DIR_SET(delta.v, dirState.v, stepperCmdBuff[stepperCmdBuff_produceIdx], _BV(FT_BIT_DIR_V)),
DIR_SET(delta.w, dirState.w, stepperCmdBuff[stepperCmdBuff_produceIdx], _BV(FT_BIT_DIR_W)),
);
any_dirChange = false;
}
else { // ...no direction change.
CBI(stepperCmdBuff_ApplyDir[dir_index], dir_bit);
}
if (stepperCmdBuff_produceIdx == (FTM_STEPPERCMD_BUFF_SIZE) - 1)
stepperCmdBuff_produceIdx = 0;
else
stepperCmdBuff_produceIdx++;
nextStepTicks = FTM_MIN_TICKS;
}
} // FTM_STEPS_PER_UNIT_TIME loop } // FTM_STEPS_PER_UNIT_TIME loop
} }

69
Marlin/src/module/ft_motion.h
View file

@ -26,8 +26,6 @@
#include "ft_types.h" #include "ft_types.h"
#define FTM_STEPPERCMD_DIR_SIZE ((FTM_STEPPERCMD_BUFF_SIZE + 7) / 8)
#if HAS_X_AXIS && (HAS_Z_AXIS || HAS_EXTRUDERS) #if HAS_X_AXIS && (HAS_Z_AXIS || HAS_EXTRUDERS)
#define HAS_DYNAMIC_FREQ 1 #define HAS_DYNAMIC_FREQ 1
#if HAS_Z_AXIS #if HAS_Z_AXIS
@ -39,28 +37,30 @@
#endif #endif
typedef struct FTConfig { typedef struct FTConfig {
ftMotionMode_t mode = FTM_DEFAULT_MODE; // Mode / active compensation mode configuration. ftMotionMode_t mode = FTM_DEFAULT_MODE; // Mode / active compensation mode configuration.
bool modeHasShaper() { return WITHIN(mode, 10U, 19U); } bool modeHasShaper() { return WITHIN(mode, 10U, 19U); }
#if HAS_X_AXIS #if HAS_X_AXIS
float baseFreq[1 + ENABLED(HAS_Y_AXIS)] = // Base frequency. [Hz] float baseFreq[1 + ENABLED(HAS_Y_AXIS)] = // 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
{ FTM_SHAPING_ZETA_X OPTARG(HAS_Y_AXIS, FTM_SHAPING_ZETA_Y) };
float vtol[1 + ENABLED(HAS_Y_AXIS)] = // Vibration Level
{ FTM_SHAPING_V_TOL_X OPTARG(HAS_Y_AXIS, FTM_SHAPING_V_TOL_Y) };
#endif #endif
float zeta = FTM_SHAPING_ZETA; // Damping factor #if HAS_DYNAMIC_FREQ
float vtol = FTM_SHAPING_V_TOL; // Vibration Level 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]
#if HAS_DYNAMIC_FREQ
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]
#else #else
static constexpr dynFreqMode_t dynFreqMode = dynFreqMode_DISABLED; static constexpr dynFreqMode_t dynFreqMode = dynFreqMode_DISABLED;
#endif #endif
#if HAS_EXTRUDERS #if HAS_EXTRUDERS
bool linearAdvEna = FTM_LINEAR_ADV_DEFAULT_ENA; // Linear advance enable configuration. bool linearAdvEna = FTM_LINEAR_ADV_DEFAULT_ENA; // Linear advance enable configuration.
float linearAdvK = FTM_LINEAR_ADV_DEFAULT_K; // Linear advance gain. float linearAdvK = FTM_LINEAR_ADV_DEFAULT_K; // Linear advance gain.
#endif #endif
} ft_config_t; } ft_config_t;
@ -78,8 +78,11 @@ class FTMotion {
TERN_(HAS_X_AXIS, cfg.baseFreq[X_AXIS] = FTM_SHAPING_DEFAULT_X_FREQ); TERN_(HAS_X_AXIS, cfg.baseFreq[X_AXIS] = FTM_SHAPING_DEFAULT_X_FREQ);
TERN_(HAS_Y_AXIS, cfg.baseFreq[Y_AXIS] = FTM_SHAPING_DEFAULT_Y_FREQ); TERN_(HAS_Y_AXIS, cfg.baseFreq[Y_AXIS] = FTM_SHAPING_DEFAULT_Y_FREQ);
cfg.zeta = FTM_SHAPING_ZETA; // Damping factor TERN_(HAS_X_AXIS, cfg.zeta[X_AXIS] = FTM_SHAPING_ZETA_X);
cfg.vtol = FTM_SHAPING_V_TOL; // Vibration Level TERN_(HAS_Y_AXIS, cfg.zeta[Y_AXIS] = FTM_SHAPING_ZETA_Y);
TERN_(HAS_X_AXIS, cfg.vtol[X_AXIS] = FTM_SHAPING_V_TOL_X);
TERN_(HAS_Y_AXIS, cfg.vtol[Y_AXIS] = FTM_SHAPING_V_TOL_Y);
#if HAS_DYNAMIC_FREQ #if HAS_DYNAMIC_FREQ
cfg.dynFreqMode = FTM_DEFAULT_DYNFREQ_MODE; cfg.dynFreqMode = FTM_DEFAULT_DYNFREQ_MODE;
@ -99,47 +102,45 @@ class FTMotion {
reset(); reset();
} }
static ft_command_t stepperCmdBuff[FTM_STEPPERCMD_BUFF_SIZE]; // Buffer of stepper commands. static ft_command_t stepperCmdBuff[FTM_STEPPERCMD_BUFF_SIZE]; // Buffer of stepper commands.
static hal_timer_t stepperCmdBuff_StepRelativeTi[FTM_STEPPERCMD_BUFF_SIZE]; // Buffer of the stepper command timing. static uint32_t stepperCmdBuff_produceIdx, // Index of next stepper command write to the buffer.
static uint8_t stepperCmdBuff_ApplyDir[FTM_STEPPERCMD_DIR_SIZE]; // Buffer of whether DIR needs to be updated. stepperCmdBuff_consumeIdx; // Index of next stepper command read from the buffer.
static uint32_t stepperCmdBuff_produceIdx, // Index of next stepper command write to the buffer.
stepperCmdBuff_consumeIdx; // Index of next stepper command read from the buffer.
static bool sts_stepperBusy; // The stepper buffer has items and is in use. static bool sts_stepperBusy; // The stepper buffer has items and is in use.
// Public methods // Public methods
static void init(); static void init();
static void startBlockProc(block_t * const current_block); // Set controller states to begin processing a block. static void startBlockProc(); // Set controller states to begin processing a block.
static bool getBlockProcDn() { return blockProcDn; } // Return true if the controller no longer needs the current block. static bool getBlockProcDn() { return blockProcDn; } // Return true if the controller no longer needs the current block.
static void runoutBlock(); // Move any free data points to the stepper buffer even if a full batch isn't ready. static void runoutBlock(); // Move any free data points to the stepper buffer even if a full batch isn't ready.
static void loop(); // Controller main, to be invoked from non-isr task. static void loop(); // Controller main, to be invoked from non-isr task.
#if HAS_X_AXIS #if HAS_X_AXIS
// Refresh the gains used by shaping functions. // Refresh the gains used by shaping functions.
// To be called on init or mode or zeta change. // To be called on init or mode or zeta change.
static void updateShapingA(const_float_t zeta=cfg.zeta, const_float_t vtol=cfg.vtol); static void updateShapingA(float zeta[]=cfg.zeta, float vtol[]=cfg.vtol);
// Refresh the indices used by shaping functions. // Refresh the indices used by shaping functions.
// To be called when frequencies change. // To be called when frequencies change.
static void updateShapingN(const_float_t xf OPTARG(HAS_Y_AXIS, const_float_t yf), const_float_t zeta=cfg.zeta); static void updateShapingN(const_float_t xf OPTARG(HAS_Y_AXIS, const_float_t yf), float zeta[]=cfg.zeta);
static void refreshShapingN() { updateShapingN(cfg.baseFreq[X_AXIS] OPTARG(HAS_Y_AXIS, cfg.baseFreq[Y_AXIS])); } static void refreshShapingN() { updateShapingN(cfg.baseFreq[X_AXIS] OPTARG(HAS_Y_AXIS, cfg.baseFreq[Y_AXIS])); }
#endif #endif
static void reset(); // Resets all states of the fixed time conversion to defaults. static void reset(); // Reset all states of the fixed time conversion to defaults.
private: private:
static xyze_trajectory_t traj; static xyze_trajectory_t traj;
static xyze_trajectoryMod_t trajMod; static xyze_trajectoryMod_t trajMod;
static xyze_trajectoryWin_t trajWin;
static block_t *current_block_cpy;
static bool blockProcRdy, blockProcRdy_z1, blockProcDn; static bool blockProcRdy, blockProcRdy_z1, blockProcDn;
static bool batchRdy, batchRdyForInterp; static bool batchRdy, batchRdyForInterp;
static bool runoutEna; static bool runoutEna;
static bool runout; static bool blockDataIsRunout;
// Trapezoid data variables. // Trapezoid data variables.
static xyze_pos_t startPosn, // (mm) Start position of block static xyze_pos_t startPosn, // (mm) Start position of block
@ -154,6 +155,11 @@ class FTMotion {
static uint32_t N1, N2, N3; static uint32_t N1, N2, N3;
static uint32_t max_intervals; static uint32_t max_intervals;
static constexpr uint32_t _ftm_size = TERN(FTM_UNIFIED_BWS, FTM_BW_SIZE, FTM_BATCH_SIZE),
_ftm_wind = TERN(FTM_UNIFIED_BWS, 2, ceil((FTM_WINDOW_SIZE) / _ftm_size)),
shaper_intervals = _ftm_size * ceil((FTM_ZMAX) / _ftm_size),
min_max_intervals = _ftm_size * _ftm_wind;
// Make vector variables. // Make vector variables.
static uint32_t makeVector_idx, static uint32_t makeVector_idx,
makeVector_idx_z1, makeVector_idx_z1,
@ -164,9 +170,6 @@ class FTMotion {
interpIdx_z1; interpIdx_z1;
static xyze_long_t steps; static xyze_long_t steps;
static xyze_stepDir_t dirState;
static hal_timer_t nextStepTicks;
// Shaping variables. // Shaping variables.
#if HAS_X_AXIS #if HAS_X_AXIS
@ -188,7 +191,7 @@ class FTMotion {
axis_shaping_t y; axis_shaping_t y;
#endif #endif
void updateShapingA(const_float_t zeta=cfg.zeta, const_float_t vtol=cfg.vtol); void updateShapingA(float zeta[]=cfg.zeta, float vtol[]=cfg.vtol);
} shaping_t; } shaping_t;

29
Marlin/src/module/ft_types.h
View file

@ -29,10 +29,12 @@ typedef enum FXDTICtrlMode : uint8_t {
//ftMotionMode_ULENDO_FBS = 2U, //ftMotionMode_ULENDO_FBS = 2U,
ftMotionMode_ZV = 10U, ftMotionMode_ZV = 10U,
ftMotionMode_ZVD = 11U, ftMotionMode_ZVD = 11U,
ftMotionMode_EI = 12U, ftMotionMode_ZVDD = 12U,
ftMotionMode_2HEI = 13U, ftMotionMode_ZVDDD = 13U,
ftMotionMode_3HEI = 14U, ftMotionMode_EI = 14U,
ftMotionMode_MZV = 15U, ftMotionMode_2HEI = 15U,
ftMotionMode_3HEI = 16U,
ftMotionMode_MZV = 17U,
//ftMotionMode_DISCTF = 20U //ftMotionMode_DISCTF = 20U
} ftMotionMode_t; } ftMotionMode_t;
@ -42,16 +44,17 @@ enum dynFreqMode_t : uint8_t {
dynFreqMode_MASS_BASED = 2U dynFreqMode_MASS_BASED = 2U
}; };
enum stepDirState_t : uint8_t { #define IS_EI_MODE(N) WITHIN(N, ftMotionMode_EI, ftMotionMode_3HEI)
stepDirState_NOT_SET = 0U,
stepDirState_POS = 1U,
stepDirState_NEG = 2U
};
typedef struct XYZEarray<float, FTM_WINDOW_SIZE> xyze_trajectory_t; #if ENABLED(FTM_UNIFIED_BWS)
typedef struct XYZEarray<float, FTM_BATCH_SIZE> xyze_trajectoryMod_t; typedef struct XYZEarray<float, FTM_BW_SIZE> xyze_trajectory_t;
typedef struct XYZEarray<float, FTM_BW_SIZE> xyze_trajectoryMod_t;
typedef struct XYZEval<stepDirState_t> xyze_stepDir_t; typedef struct XYZEarray<float, FTM_BW_SIZE> xyze_trajectoryWin_t;
#else
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_WINDOW_SIZE - FTM_BATCH_SIZE)> xyze_trajectoryWin_t;
#endif
enum { enum {
LIST_N(DOUBLE(LOGICAL_AXES), LIST_N(DOUBLE(LOGICAL_AXES),

19
Marlin/src/module/motion.cpp
View file

@ -33,10 +33,6 @@
#include "../lcd/marlinui.h" #include "../lcd/marlinui.h"
#include "../inc/MarlinConfig.h" #include "../inc/MarlinConfig.h"
#if ENABLED(FT_MOTION)
#include "ft_motion.h"
#endif
#if IS_SCARA #if IS_SCARA
#include "../libs/buzzer.h" #include "../libs/buzzer.h"
#include "../lcd/marlinui.h" #include "../lcd/marlinui.h"
@ -2095,21 +2091,6 @@ void prepare_line_to_destination() {
void homeaxis(const AxisEnum axis) { void homeaxis(const AxisEnum axis) {
#if ENABLED(FT_MOTION)
// Disable ft-motion for homing
struct OnExit {
ftMotionMode_t oldmm;
OnExit() {
oldmm = ftMotion.cfg.mode;
ftMotion.cfg.mode = ftMotionMode_DISABLED;
}
~OnExit() {
ftMotion.cfg.mode = oldmm;
ftMotion.init();
}
} on_exit;
#endif
#if ANY(MORGAN_SCARA, MP_SCARA) #if ANY(MORGAN_SCARA, MP_SCARA)
// Only Z homing (with probe) is permitted // Only Z homing (with probe) is permitted
if (axis != Z_AXIS) { BUZZ(100, 880); return; } if (axis != Z_AXIS) { BUZZ(100, 880); return; }

244
Marlin/src/module/stepper.cpp
View file

@ -1492,11 +1492,6 @@ void Stepper::isr() {
uint8_t max_loops = 10; uint8_t max_loops = 10;
#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
static bool ftMotion_stepCmdRdy = false; // Indicates a step command was loaded from the
// buffers and is ready to be output.
static bool ftMotion_applyDir = false; // Indicates the DIR output should be set.
static ft_command_t ftMotion_stepCmd = 0U; // Storage for the step command to be output.
static uint32_t ftMotion_nextAuxISR = 0U; // Storage for the next ISR of the auxilliary tasks.
const bool using_ftMotion = ftMotion.cfg.mode; const bool using_ftMotion = ftMotion.cfg.mode;
#else #else
constexpr bool using_ftMotion = false; constexpr bool using_ftMotion = false;
@ -1508,57 +1503,19 @@ void Stepper::isr() {
// Enable ISRs to reduce USART processing latency // Enable ISRs to reduce USART processing latency
hal.isr_on(); hal.isr_on();
hal_timer_t interval; hal_timer_t interval = 0;
#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
if (using_ftMotion) { if (using_ftMotion) {
if (!nextMainISR) { if (!nextMainISR) {
if (abort_current_block) { nextMainISR = FTM_MIN_TICKS;
ftMotion_stepCmdRdy = false; // If a command was ready, cancel it. ftMotion_stepper();
ftMotion.sts_stepperBusy = false; // Set busy false to allow a reset.
nextMainISR = 0.01f * (STEPPER_TIMER_RATE); // Come back in 10 msec.
}
else { // !(abort_current_block)
if (ftMotion_stepCmdRdy) {
ftMotion_stepper(ftMotion_applyDir, ftMotion_stepCmd);
ftMotion_stepCmdRdy = false;
}
// Check if there is data in the buffers.
if (ftMotion.stepperCmdBuff_produceIdx != ftMotion.stepperCmdBuff_consumeIdx) {
ftMotion.sts_stepperBusy = true;
// "Pop" one command from the command buffer.
ftMotion_stepCmd = ftMotion.stepperCmdBuff[ftMotion.stepperCmdBuff_consumeIdx];
const uint8_t dir_index = ftMotion.stepperCmdBuff_consumeIdx >> 3,
dir_bit = ftMotion.stepperCmdBuff_consumeIdx & 0x7;
ftMotion_applyDir = TEST(ftMotion.stepperCmdBuff_ApplyDir[dir_index], dir_bit);
nextMainISR = ftMotion.stepperCmdBuff_StepRelativeTi[ftMotion.stepperCmdBuff_consumeIdx];
ftMotion_stepCmdRdy = true;
if (++ftMotion.stepperCmdBuff_consumeIdx == (FTM_STEPPERCMD_BUFF_SIZE))
ftMotion.stepperCmdBuff_consumeIdx = 0;
}
else { // Buffer empty.
ftMotion.sts_stepperBusy = false;
nextMainISR = 0.01f * (STEPPER_TIMER_RATE); // Come back in 10 msec.
}
} // !(abort_current_block)
} // if (!nextMainISR)
// Define 2.5 msec task for auxiliary functions.
if (!ftMotion_nextAuxISR) {
endstops.update(); endstops.update();
TERN_(BABYSTEPPING, if (babystep.has_steps()) babystepping_isr()); TERN_(BABYSTEPPING, if (babystep.has_steps()) babystepping_isr());
ftMotion_refreshAxisDidMove();
ftMotion_nextAuxISR = 0.0025f * (STEPPER_TIMER_RATE);
} }
interval = nextMainISR;
interval = _MIN(nextMainISR, ftMotion_nextAuxISR);
nextMainISR -= interval; nextMainISR -= interval;
ftMotion_nextAuxISR -= interval;
} }
#endif #endif
@ -3365,6 +3322,28 @@ void Stepper::set_axis_position(const AxisEnum a, const int32_t &v) {
#endif #endif
} }
#if ENABLED(FT_MOTION)
void Stepper::ftMotion_syncPosition() {
//planner.synchronize(); planner already synchronized in M493
#ifdef __AVR__
// Protect the access to the position. Only required for AVR, as
// any 32bit CPU offers atomic access to 32bit variables
const bool was_enabled = suspend();
#endif
// Update stepper positions from the planner
count_position = planner.position;
#ifdef __AVR__
// Reenable Stepper ISR
if (was_enabled) wake_up();
#endif
}
#endif // FT_MOTION
// Signal endstops were triggered - This function can be called from // Signal endstops were triggered - This function can be called from
// an ISR context (Temperature, Stepper or limits ISR), so we must // an ISR context (Temperature, Stepper or limits ISR), so we must
// be very careful here. If the interrupt being preempted was the // be very careful here. If the interrupt being preempted was the
@ -3459,65 +3438,70 @@ void Stepper::report_positions() {
#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
// Set stepper I/O for fixed time controller. // Set stepper I/O for fixed time controller.
void Stepper::ftMotion_stepper(const bool applyDir, const ft_command_t command) { void Stepper::ftMotion_stepper() {
// Check if the buffer is empty.
ftMotion.sts_stepperBusy = (ftMotion.stepperCmdBuff_produceIdx != ftMotion.stepperCmdBuff_consumeIdx);
if (!ftMotion.sts_stepperBusy) return;
// "Pop" one command from current motion buffer
// Use one byte to restore one stepper command in the format:
// |X_step|X_direction|Y_step|Y_direction|Z_step|Z_direction|E_step|E_direction|
const ft_command_t command = ftMotion.stepperCmdBuff[ftMotion.stepperCmdBuff_consumeIdx];
if (++ftMotion.stepperCmdBuff_consumeIdx == (FTM_STEPPERCMD_BUFF_SIZE)) ftMotion.stepperCmdBuff_consumeIdx = 0U;
if (abort_current_block) return;
USING_TIMED_PULSE(); USING_TIMED_PULSE();
const xyze_bool_t axis_step = LOGICAL_AXIS_ARRAY( axis_did_move = LOGICAL_AXIS_ARRAY(
TEST(command, FT_BIT_STEP_E), TEST(command, FT_BIT_STEP_E),
TEST(command, FT_BIT_STEP_X), TEST(command, FT_BIT_STEP_Y), TEST(command, FT_BIT_STEP_Z), TEST(command, FT_BIT_STEP_X), TEST(command, FT_BIT_STEP_Y), TEST(command, FT_BIT_STEP_Z),
TEST(command, FT_BIT_STEP_I), TEST(command, FT_BIT_STEP_J), TEST(command, FT_BIT_STEP_K), TEST(command, FT_BIT_STEP_I), TEST(command, FT_BIT_STEP_J), TEST(command, FT_BIT_STEP_K),
TEST(command, FT_BIT_STEP_U), TEST(command, FT_BIT_STEP_V), TEST(command, FT_BIT_STEP_W) TEST(command, FT_BIT_STEP_U), TEST(command, FT_BIT_STEP_V), TEST(command, FT_BIT_STEP_W)
); );
last_direction_bits = LOGICAL_AXIS_ARRAY(
axis_did_move.e ? TEST(command, FT_BIT_DIR_E) : last_direction_bits.e,
axis_did_move.x ? TEST(command, FT_BIT_DIR_X) : last_direction_bits.x,
axis_did_move.y ? TEST(command, FT_BIT_DIR_Y) : last_direction_bits.y,
axis_did_move.z ? TEST(command, FT_BIT_DIR_Z) : last_direction_bits.z,
axis_did_move.i ? TEST(command, FT_BIT_DIR_I) : last_direction_bits.i,
axis_did_move.j ? TEST(command, FT_BIT_DIR_J) : last_direction_bits.j,
axis_did_move.k ? TEST(command, FT_BIT_DIR_K) : last_direction_bits.k,
axis_did_move.u ? TEST(command, FT_BIT_DIR_U) : last_direction_bits.u,
axis_did_move.v ? TEST(command, FT_BIT_DIR_V) : last_direction_bits.v,
axis_did_move.w ? TEST(command, FT_BIT_DIR_W) : last_direction_bits.w
);
// Apply directions (which will apply to the entire linear move) // Apply directions (which will apply to the entire linear move)
AxisBits axis_dir = last_direction_bits; LOGICAL_AXIS_CODE(
if (applyDir) { E_APPLY_DIR(last_direction_bits.e, false),
axis_dir = LOGICAL_AXIS_ARRAY( X_APPLY_DIR(last_direction_bits.x, false), Y_APPLY_DIR(last_direction_bits.y, false), Z_APPLY_DIR(last_direction_bits.z, false),
TEST(command, FT_BIT_DIR_E), I_APPLY_DIR(last_direction_bits.i, false), J_APPLY_DIR(last_direction_bits.j, false), K_APPLY_DIR(last_direction_bits.k, false),
TEST(command, FT_BIT_DIR_X), TEST(command, FT_BIT_DIR_Y), TEST(command, FT_BIT_DIR_Z), U_APPLY_DIR(last_direction_bits.u, false), V_APPLY_DIR(last_direction_bits.v, false), W_APPLY_DIR(last_direction_bits.w, false)
TEST(command, FT_BIT_DIR_I), TEST(command, FT_BIT_DIR_J), TEST(command, FT_BIT_DIR_K), );
TEST(command, FT_BIT_DIR_U), TEST(command, FT_BIT_DIR_V), TEST(command, FT_BIT_DIR_W)
); DIR_WAIT_AFTER();
LOGICAL_AXIS_CODE(
E_APPLY_DIR(axis_dir.e, false),
X_APPLY_DIR(axis_dir.x, false), Y_APPLY_DIR(axis_dir.y, false), Z_APPLY_DIR(axis_dir.z, false),
I_APPLY_DIR(axis_dir.i, false), J_APPLY_DIR(axis_dir.j, false), K_APPLY_DIR(axis_dir.k, false),
U_APPLY_DIR(axis_dir.u, false), V_APPLY_DIR(axis_dir.v, false), W_APPLY_DIR(axis_dir.w, false)
);
last_direction_bits = axis_dir;
DIR_WAIT_AFTER();
}
// Start a step pulse // Start a step pulse
LOGICAL_AXIS_CODE( LOGICAL_AXIS_CODE(
if (axis_step.e) E_APPLY_STEP(STEP_STATE_E, false), E_APPLY_STEP(axis_did_move.e, false),
if (axis_step.x) X_APPLY_STEP(STEP_STATE_X, false), if (axis_step.y) Y_APPLY_STEP(STEP_STATE_Y, false), X_APPLY_STEP(axis_did_move.x, false), Y_APPLY_STEP(axis_did_move.y, false), Z_APPLY_STEP(axis_did_move.z, false),
if (axis_step.z) Z_APPLY_STEP(STEP_STATE_Z, false), if (axis_step.i) I_APPLY_STEP(STEP_STATE_I, false), I_APPLY_STEP(axis_did_move.i, false), J_APPLY_STEP(axis_did_move.j, false), K_APPLY_STEP(axis_did_move.k, false),
if (axis_step.j) J_APPLY_STEP(STEP_STATE_J, false), if (axis_step.k) K_APPLY_STEP(STEP_STATE_K, false), U_APPLY_STEP(axis_did_move.u, false), V_APPLY_STEP(axis_did_move.v, false), W_APPLY_STEP(axis_did_move.w, false)
if (axis_step.u) U_APPLY_STEP(STEP_STATE_U, false), if (axis_step.v) V_APPLY_STEP(STEP_STATE_V, false),
if (axis_step.w) W_APPLY_STEP(STEP_STATE_W, false)
); );
// Begin waiting for the minimum pulse duration // Begin waiting for the minimum pulse duration
START_TIMED_PULSE(); START_TIMED_PULSE();
// Update axis direction adders // Update step counts
count_direction = LOGICAL_AXIS_ARRAY(
int8_t(axis_dir.e ? 1 : -1),
int8_t(axis_dir.x ? 1 : -1), int8_t(axis_dir.y ? 1 : -1), int8_t(axis_dir.z ? 1 : -1),
int8_t(axis_dir.i ? 1 : -1), int8_t(axis_dir.j ? 1 : -1), int8_t(axis_dir.k ? 1 : -1),
int8_t(axis_dir.u ? 1 : -1), int8_t(axis_dir.v ? 1 : -1), int8_t(axis_dir.w ? 1 : -1)
);
// Update stepper counts - required for various operations
LOGICAL_AXIS_CODE( LOGICAL_AXIS_CODE(
if (axis_step.e) count_position.e += count_direction.e, if (axis_did_move.e) count_position.e += last_direction_bits.e ? 1 : -1, if (axis_did_move.x) count_position.x += last_direction_bits.x ? 1 : -1,
if (axis_step.x) count_position.x += count_direction.x, if (axis_step.y) count_position.y += count_direction.y, if (axis_did_move.y) count_position.y += last_direction_bits.y ? 1 : -1, if (axis_did_move.z) count_position.z += last_direction_bits.z ? 1 : -1,
if (axis_step.z) count_position.z += count_direction.z, if (axis_step.i) count_position.i += count_direction.i, if (axis_did_move.i) count_position.i += last_direction_bits.i ? 1 : -1, if (axis_did_move.j) count_position.j += last_direction_bits.j ? 1 : -1,
if (axis_step.j) count_position.j += count_direction.j, if (axis_step.k) count_position.k += count_direction.k, if (axis_did_move.k) count_position.k += last_direction_bits.k ? 1 : -1, if (axis_did_move.u) count_position.u += last_direction_bits.u ? 1 : -1,
if (axis_step.u) count_position.u += count_direction.u, if (axis_step.v) count_position.v += count_direction.v, if (axis_did_move.v) count_position.v += last_direction_bits.v ? 1 : -1, if (axis_did_move.w) count_position.w += last_direction_bits.w ? 1 : -1
if (axis_step.w) count_position.w += count_direction.w
); );
#if HAS_EXTRUDERS #if HAS_EXTRUDERS
@ -3532,10 +3516,10 @@ void Stepper::report_positions() {
// Only wait for axes without edge stepping // Only wait for axes without edge stepping
const bool any_wait = false LOGICAL_AXIS_GANG( const bool any_wait = false LOGICAL_AXIS_GANG(
|| (!e_axis_has_dedge && axis_step.e), || (!e_axis_has_dedge && axis_did_move.e),
|| (!AXIS_HAS_DEDGE(X) && axis_step.x), || (!AXIS_HAS_DEDGE(Y) && axis_step.y), || (!AXIS_HAS_DEDGE(Z) && axis_step.z), || (!AXIS_HAS_DEDGE(X) && axis_did_move.x), || (!AXIS_HAS_DEDGE(Y) && axis_did_move.y), || (!AXIS_HAS_DEDGE(Z) && axis_did_move.z),
|| (!AXIS_HAS_DEDGE(I) && axis_step.i), || (!AXIS_HAS_DEDGE(J) && axis_step.j), || (!AXIS_HAS_DEDGE(K) && axis_step.k), || (!AXIS_HAS_DEDGE(I) && axis_did_move.i), || (!AXIS_HAS_DEDGE(J) && axis_did_move.j), || (!AXIS_HAS_DEDGE(K) && axis_did_move.k),
|| (!AXIS_HAS_DEDGE(U) && axis_step.u), || (!AXIS_HAS_DEDGE(V) && axis_step.v), || (!AXIS_HAS_DEDGE(W) && axis_step.w) || (!AXIS_HAS_DEDGE(U) && axis_did_move.u), || (!AXIS_HAS_DEDGE(V) && axis_did_move.v), || (!AXIS_HAS_DEDGE(W) && axis_did_move.w)
); );
// Allow pulses to be registered by stepper drivers // Allow pulses to be registered by stepper drivers
@ -3543,80 +3527,46 @@ void Stepper::report_positions() {
// Stop pulses. Axes with DEDGE will do nothing, assuming STEP_STATE_* is HIGH // Stop pulses. Axes with DEDGE will do nothing, assuming STEP_STATE_* is HIGH
LOGICAL_AXIS_CODE( LOGICAL_AXIS_CODE(
if (axis_step.e) E_APPLY_STEP(!STEP_STATE_E, false), E_APPLY_STEP(!STEP_STATE_E, false),
if (axis_step.x) X_APPLY_STEP(!STEP_STATE_X, false), if (axis_step.y) Y_APPLY_STEP(!STEP_STATE_Y, false), X_APPLY_STEP(!STEP_STATE_X, false), Y_APPLY_STEP(!STEP_STATE_Y, false), Z_APPLY_STEP(!STEP_STATE_Z, false),
if (axis_step.z) Z_APPLY_STEP(!STEP_STATE_Z, false), if (axis_step.i) I_APPLY_STEP(!STEP_STATE_I, false), I_APPLY_STEP(!STEP_STATE_I, false), J_APPLY_STEP(!STEP_STATE_J, false), K_APPLY_STEP(!STEP_STATE_K, false),
if (axis_step.j) J_APPLY_STEP(!STEP_STATE_J, false), if (axis_step.k) K_APPLY_STEP(!STEP_STATE_K, false), U_APPLY_STEP(!STEP_STATE_U, false), V_APPLY_STEP(!STEP_STATE_V, false), W_APPLY_STEP(!STEP_STATE_W, false)
if (axis_step.u) U_APPLY_STEP(!STEP_STATE_U, false), if (axis_step.v) V_APPLY_STEP(!STEP_STATE_V, false),
if (axis_step.w) W_APPLY_STEP(!STEP_STATE_W, false)
); );
} // Stepper::ftMotion_stepper } // Stepper::ftMotion_stepper
void Stepper::ftMotion_BlockQueueUpdate() { void Stepper::ftMotion_blockQueueUpdate() {
if (current_block) { if (current_block) {
// If the current block is not done processing, return right away // If the current block is not done processing, return right away
if (!ftMotion.getBlockProcDn()) return; if (!ftMotion.getBlockProcDn()) return;
axis_did_move.reset(); axis_did_move.reset();
current_block = nullptr; planner.release_current_block();
discard_current_block();
} }
if (!current_block) { // No current block // Check the buffer for a new block
current_block = planner.get_current_block();
// Check the buffer for a new block if (current_block) {
current_block = planner.get_current_block(); // Sync block? Sync the stepper counts and return
while (current_block->is_sync()) {
TERN_(LASER_FEATURE, if (!(current_block->is_fan_sync() || current_block->is_pwr_sync()))) _set_position(current_block->position);
planner.release_current_block();
if (current_block) { // Try to get a new block
// Sync block? Sync the stepper counts and return if (!(current_block = planner.get_current_block()))
while (current_block->is_sync()) { return; // No queued blocks.
if (!(current_block->is_fan_sync() || current_block->is_pwr_sync())) _set_position(current_block->position);
discard_current_block();
// Try to get a new block
if (!(current_block = planner.get_current_block()))
return; // No more queued movements!image.png
}
// this is needed by motor_direction() and subsequently bed leveling (somehow)
// update it here, even though it will may be out of sync with step commands
last_direction_bits = current_block->direction_bits;
ftMotion.startBlockProc(current_block);
}
else {
ftMotion.runoutBlock();
return; // No queued blocks
} }
} // if (!current_block) ftMotion.startBlockProc();
return;
}
} // Stepper::ftMotion_BlockQueueUpdate() ftMotion.runoutBlock();
// Debounces the axis move indication to account for potential } // Stepper::ftMotion_blockQueueUpdate()
// delay between the block information and the stepper commands
void Stepper::ftMotion_refreshAxisDidMove() {
// Set the debounce time in seconds.
#define AXIS_DID_MOVE_DEB 5 // TODO: The debounce time should be calculated if possible,
// or the set conditions should be changed from the block to
// the motion trajectory or motor commands.
AxisBits didmove;
static abce_ulong_t debounce{0};
auto debounce_axis = [&](const AxisEnum axis) {
if (current_block->steps[axis]) debounce[axis] = (AXIS_DID_MOVE_DEB) * 400; // divide by 0.0025f */
if (debounce[axis]) { didmove.bset(axis); debounce[axis]--; }
};
#define _DEBOUNCE(N) debounce_axis(AxisEnum(N));
if (current_block) { REPEAT(LOGICAL_AXES, _DEBOUNCE); }
axis_did_move = didmove;
}
#endif // FT_MOTION #endif // FT_MOTION

7
Marlin/src/module/stepper.h
View file

@ -655,7 +655,9 @@ class Stepper {
#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
// Manage the planner // Manage the planner
static void ftMotion_BlockQueueUpdate(); static void ftMotion_blockQueueUpdate();
// Set current position in steps when reset flag is set in M493 and planner already synchronized
static void ftMotion_syncPosition();
#endif #endif
#if HAS_ZV_SHAPING #if HAS_ZV_SHAPING
@ -694,8 +696,7 @@ class Stepper {
#endif #endif
#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
static void ftMotion_stepper(const bool applyDir, const ft_command_t command); static void ftMotion_stepper();
static void ftMotion_refreshAxisDidMove();
#endif #endif
}; };