🚀 ZV Input Shaping (#24797)

2022-10-21 22:34:22 +01:00
parent 5765449867
commit c1f0f26bff
15 changed files with 657 additions and 42 deletions
--- a/Marlin/src/gcode/feature/input_shaping/M593.cpp
+++ b/Marlin/src/gcode/feature/input_shaping/M593.cpp
@@ -0,0 +1,83 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../../../inc/MarlinConfig.h"
+
+#if ENABLED(INPUT_SHAPING)
+
+#include "../../gcode.h"
+#include "../../../module/stepper.h"
+
+void GcodeSuite::M593_report(const bool forReplay/*=true*/) {
+  report_heading_etc(forReplay, F("Input Shaping"));
+  #if HAS_SHAPING_X
+    SERIAL_ECHO_MSG("M593 X"
+      " F", stepper.get_shaping_frequency(X_AXIS),
+      " D", stepper.get_shaping_damping_ratio(X_AXIS)
+    );
+  #endif
+  #if HAS_SHAPING_Y
+    SERIAL_ECHO_MSG("M593 Y"
+      " F", stepper.get_shaping_frequency(Y_AXIS),
+      " D", stepper.get_shaping_damping_ratio(Y_AXIS)
+    );
+  #endif
+}
+
+/**
+ * M593: Get or Set Input Shaping Parameters
+ *  D<factor>    Set the zeta/damping factor. If axes (X, Y, etc.) are not specified, set for all axes.
+ *  F<frequency> Set the frequency. If axes (X, Y, etc.) are not specified, set for all axes.
+ *  T[map]       Input Shaping type, 0:ZV, 1:EI, 2:2H EI (not implemented yet)
+ *  X<1>         Set the given parameters only for the X axis.
+ *  Y<1>         Set the given parameters only for the Y axis.
+ */
+void GcodeSuite::M593() {
+  if (!parser.seen_any()) return M593_report();
+
+  const bool seen_X = TERN0(HAS_SHAPING_X, parser.seen_test('X')),
+             seen_Y = TERN0(HAS_SHAPING_Y, parser.seen_test('Y')),
+             for_X = seen_X || TERN0(HAS_SHAPING_X, (!seen_X && !seen_Y)),
+             for_Y = seen_Y || TERN0(HAS_SHAPING_Y, (!seen_X && !seen_Y));
+
+  if (parser.seen('D')) {
+    const float zeta = parser.value_float();
+    if (WITHIN(zeta, 0, 1)) {
+      if (for_X) stepper.set_shaping_damping_ratio(X_AXIS, zeta);
+      if (for_Y) stepper.set_shaping_damping_ratio(Y_AXIS, zeta);
+    }
+    else
+      SERIAL_ECHO_MSG("?Zeta (D) value out of range (0-1)");
+  }
+
+  if (parser.seen('F')) {
+    const float freq = parser.value_float();
+    if (freq > 0) {
+      if (for_X) stepper.set_shaping_frequency(X_AXIS, freq);
+      if (for_Y) stepper.set_shaping_frequency(Y_AXIS, freq);
+    }
+    else
+      SERIAL_ECHO_MSG("?Frequency (F) must be greater than 0");
+  }
+}
+
+#endif