mirror of
https://github.com/MarlinFirmware/Configurations.git
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MarlinFirmware/Marlin#28055 Co-Authored-By: David Buezas <david.buezas@gmail.com>
This commit is contained in:
Scott Lahteine
parent
95802448f8
commit
2e02635137
385 changed files with 17708 additions and 11550 deletions
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@ -1143,49 +1143,73 @@
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/**
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* Fixed-time-based Motion Control -- BETA FEATURE
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* Enable/disable and set parameters with G-code M493.
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* Enable/disable and set parameters with G-code M493 and M494.
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* See ft_types.h for named values used by FTM options.
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*/
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//#define FT_MOTION
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#if ENABLED(FT_MOTION)
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//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
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//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
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//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
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#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
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#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
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#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
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#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
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#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
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#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
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#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
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#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
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#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
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#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
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#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
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#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
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#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
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#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
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#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
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#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
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#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
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#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
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#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
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//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
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//#define FTM_SHAPER_Z // Include Z shaping support
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#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
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#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
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#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
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#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
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//#define FTM_SHAPER_E // Include E shaping support
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// Required to synchronise extruder with XYZ (better quality)
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#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
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#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
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#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
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#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
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//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
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// on sharp corners, but too much will round corners.
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#if ENABLED(FTM_SMOOTHING)
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#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
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// Increase smoothing time to reduce jerky motion, ghosting and noises.
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#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
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#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
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#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
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#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
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// smoothing acceleration peaks, which may also smooth curved surfaces.
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#endif
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/**
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* Advanced configuration
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*/
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#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
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#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
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#if ENABLED(FTM_UNIFIED_BWS)
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#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
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#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
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#else
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#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
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#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
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#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
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#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
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#endif
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#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
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#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
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#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
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#if DISABLED(COREXY)
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#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
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#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
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// Use this to adjust the time required to consume the command buffer.
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// Try increasing this value if stepper motion is choppy.
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#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
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#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
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#else
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// CoreXY motion needs a larger buffer size. These values are based on our testing.
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@ -1193,17 +1217,7 @@
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#define FTM_STEPPERCMD_BUFF_SIZE 6000
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#endif
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#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
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#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
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#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
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#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
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#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
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// Calculate as:
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// ZV : FTM_RATIO / 2
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// ZVD, MZV : FTM_RATIO
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// 2HEI : FTM_RATIO * 3 / 2
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// 3HEI : FTM_RATIO * 2
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#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
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#endif // FT_MOTION
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/**
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@ -1143,47 +1143,73 @@
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/**
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* Fixed-time-based Motion Control -- BETA FEATURE
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* Enable/disable and set parameters with G-code M493.
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* Enable/disable and set parameters with G-code M493 and M494.
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* See ft_types.h for named values used by FTM options.
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*/
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//#define FT_MOTION
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#if ENABLED(FT_MOTION)
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//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
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//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
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//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
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#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
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#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
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#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
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#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
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#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
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#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
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#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
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#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
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#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
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#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
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#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
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#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
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#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
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#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
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#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
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#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
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#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
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#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
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#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
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//#define FTM_SHAPER_Z // Include Z shaping support
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#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
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#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
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#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
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#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
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//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
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//#define FTM_SHAPER_E // Include E shaping support
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// Required to synchronise extruder with XYZ (better quality)
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#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
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#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
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#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
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#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
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//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
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// on sharp corners, but too much will round corners.
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#if ENABLED(FTM_SMOOTHING)
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#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
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// Increase smoothing time to reduce jerky motion, ghosting and noises.
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#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
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#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
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#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
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#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
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// smoothing acceleration peaks, which may also smooth curved surfaces.
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#endif
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/**
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* Advanced configuration
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*/
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#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
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#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
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#if ENABLED(FTM_UNIFIED_BWS)
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#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
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#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
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#else
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#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
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#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
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#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
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#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
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#endif
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#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
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#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
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#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
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#if DISABLED(COREXY)
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#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
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#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
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// Use this to adjust the time required to consume the command buffer.
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// Try increasing this value if stepper motion is choppy.
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#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
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#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
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#else
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// CoreXY motion needs a larger buffer size. These values are based on our testing.
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@ -1191,17 +1217,7 @@
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#define FTM_STEPPERCMD_BUFF_SIZE 6000
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#endif
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#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
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#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
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#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
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#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
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#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
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// Calculate as:
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// ZV : FTM_RATIO / 2
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// ZVD, MZV : FTM_RATIO
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// 2HEI : FTM_RATIO * 3 / 2
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// 3HEI : FTM_RATIO * 2
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#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
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#endif // FT_MOTION
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/**
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@ -1143,47 +1143,73 @@
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/**
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* Fixed-time-based Motion Control -- BETA FEATURE
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* Enable/disable and set parameters with G-code M493.
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* Enable/disable and set parameters with G-code M493 and M494.
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* See ft_types.h for named values used by FTM options.
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*/
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//#define FT_MOTION
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#if ENABLED(FT_MOTION)
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//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
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//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
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//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
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#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
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#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
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#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
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#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
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#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
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#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
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#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
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#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
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#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
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#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
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#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
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#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
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#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
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#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
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#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
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#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
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#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
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#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
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#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
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//#define FTM_SHAPER_Z // Include Z shaping support
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#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
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#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
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#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
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#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
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//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
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//#define FTM_SHAPER_E // Include E shaping support
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// Required to synchronise extruder with XYZ (better quality)
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#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
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#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
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#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
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#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
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//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
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// on sharp corners, but too much will round corners.
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#if ENABLED(FTM_SMOOTHING)
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#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
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// Increase smoothing time to reduce jerky motion, ghosting and noises.
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#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
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#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
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#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
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#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
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// smoothing acceleration peaks, which may also smooth curved surfaces.
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#endif
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/**
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* Advanced configuration
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*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1152,47 +1152,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1200,17 +1226,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1148,47 +1148,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1196,17 +1222,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1144,47 +1144,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1192,17 +1218,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1144,47 +1144,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1192,17 +1218,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1142,47 +1142,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1190,17 +1216,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1145,47 +1145,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1193,17 +1219,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1145,47 +1145,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1193,17 +1219,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -1143,47 +1143,73 @@
|
|||
|
||||
/**
|
||||
* Fixed-time-based Motion Control -- BETA FEATURE
|
||||
* Enable/disable and set parameters with G-code M493.
|
||||
* Enable/disable and set parameters with G-code M493 and M494.
|
||||
* See ft_types.h for named values used by FTM options.
|
||||
*/
|
||||
//#define FT_MOTION
|
||||
#if ENABLED(FT_MOTION)
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FTM_IS_DEFAULT_MOTION // Use FT Motion as the factory default?
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 and M494 parameters
|
||||
|
||||
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (DISABLED, Z_BASED, MASS_BASED)
|
||||
|
||||
#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. (Acceleration-based scaling factor.)
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_X ftMotionShaper_NONE // Default shaper mode on X axis (NONE, ZV, ZVD, ZVDD, ZVDDD, EI, 2HEI, 3HEI, MZV)
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
|
||||
#define FTM_DEFAULT_SHAPER_Y ftMotionShaper_NONE // Default shaper mode on Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_X 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
|
||||
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. (Acceleration-based scaling factor.)
|
||||
#define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Y 37.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
|
||||
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
|
||||
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
|
||||
//#define FTM_SHAPER_Z // Include Z shaping support
|
||||
#define FTM_DEFAULT_SHAPER_Z ftMotionShaper_NONE // Default shaper mode on Z axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_Z 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_Z 0.03f // Zeta used by input shapers for Z axis
|
||||
#define FTM_SHAPING_V_TOL_Z 0.05f // Vibration tolerance used by EI input shapers for Z axis
|
||||
|
||||
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
|
||||
//#define FTM_SHAPER_E // Include E shaping support
|
||||
// Required to synchronise extruder with XYZ (better quality)
|
||||
#define FTM_DEFAULT_SHAPER_E ftMotionShaper_NONE // Default shaper mode on Extruder axis
|
||||
#define FTM_SHAPING_DEFAULT_FREQ_E 21.0f // (Hz) Default peak frequency used by input shapers
|
||||
#define FTM_SHAPING_ZETA_E 0.03f // Zeta used by input shapers for E axis
|
||||
#define FTM_SHAPING_V_TOL_E 0.05f // Vibration tolerance used by EI input shapers for E axis
|
||||
|
||||
//#define FTM_SMOOTHING // Smoothing can reduce artifacts and make steppers quieter
|
||||
// on sharp corners, but too much will round corners.
|
||||
#if ENABLED(FTM_SMOOTHING)
|
||||
#define FTM_MAX_SMOOTHING_TIME 0.10f // Maximum smoothing time (seconds), higher consumes more RAM.
|
||||
// Increase smoothing time to reduce jerky motion, ghosting and noises.
|
||||
#define FTM_SMOOTHING_TIME_X 0.00f // (s) Smoothing time for X axis. Zero means disabled.
|
||||
#define FTM_SMOOTHING_TIME_Y 0.00f // (s) Smoothing time for Y axis
|
||||
#define FTM_SMOOTHING_TIME_Z 0.00f // (s) Smoothing time for Z axis
|
||||
#define FTM_SMOOTHING_TIME_E 0.02f // (s) Smoothing time for E axis. Prevents noise/skipping from LA by
|
||||
// smoothing acceleration peaks, which may also smooth curved surfaces.
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Advanced configuration
|
||||
*/
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
|
||||
#if ENABLED(FTM_UNIFIED_BWS)
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
|
||||
#else
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
|
||||
#define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
|
||||
#endif
|
||||
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
|
||||
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
|
||||
|
||||
#if DISABLED(COREXY)
|
||||
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
|
||||
#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
|
||||
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
|
||||
|
||||
#else
|
||||
// CoreXY motion needs a larger buffer size. These values are based on our testing.
|
||||
|
|
@ -1191,17 +1217,7 @@
|
|||
#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_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
|
||||
#define FTM_MIN_SHAPE_FREQ 10 // (Hz) Minimum shaping frequency, lower consumes more RAM
|
||||
#endif // FT_MOTION
|
||||
|
||||
/**
|
||||
|
|
|
|||
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Reference in a new issue