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⚡️ FT_MOTION improvements

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MarlinFirmware/Marlin#26074
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Scott Lahteine 2023-12-19 20:02:36 -06:00
parent aeac179db2
commit b0509c9167
354 changed files with 17700 additions and 10620 deletions
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82
config/default/Configuration_adv.h
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@ -1121,42 +1121,62 @@
#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

82
config/examples/3DFabXYZ/Migbot/Configuration_adv.h
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@ -1121,42 +1121,62 @@
#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

82
config/examples/ADIMLab/Gantry v1/Configuration_adv.h
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@ -1121,42 +1121,62 @@
#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

82
config/examples/ADIMLab/Gantry v2/Configuration_adv.h
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@ -1121,42 +1121,62 @@
#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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config/examples/Alfawise/U20-bltouch/Configuration_adv.h
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@ -1130,42 +1130,62 @@
#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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@ -1121,42 +1121,62 @@
#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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@ -1121,42 +1121,62 @@
#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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@ -1121,42 +1121,62 @@
#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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@ -1121,42 +1121,62 @@
#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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@ -1121,42 +1121,62 @@
#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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@ -1121,42 +1121,62 @@
#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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@ -1121,42 +1121,62 @@
#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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@ -1121,42 +1121,62 @@
#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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@ -1121,42 +1121,62 @@
#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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@ -1121,42 +1121,62 @@
#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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@ -1121,42 +1121,62 @@
#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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@ -1121,42 +1121,62 @@
#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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@ -1121,42 +1121,62 @@
#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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@ -1121,42 +1121,62 @@
#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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@ -1121,42 +1121,62 @@
#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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@ -1121,42 +1121,62 @@
#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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@ -1122,42 +1122,62 @@
#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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@ -1122,42 +1122,62 @@
#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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@ -1121,42 +1121,62 @@
#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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@ -1121,42 +1121,62 @@
#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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@ -1121,42 +1121,62 @@
#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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@ -1121,42 +1121,62 @@
#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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@ -1121,42 +1121,62 @@
#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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@ -1121,42 +1121,62 @@
#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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@ -1121,42 +1121,62 @@
#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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config/examples/Creality/Ender-3 S1 Plus/Configuration_adv.h
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@ -1121,42 +1121,62 @@
#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
#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)
// These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as: // Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV. // ZV : FTM_RATIO / 2
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV. // ZVD, MZV : FTM_RATIO
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI. // 2HEI : FTM_RATIO * 3 / 2
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI. // 3HEI : FTM_RATIO * 2
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer.
// Try increasing this value if stepper motion is not smooth.
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters.
#endif #endif
/** /**

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