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⚡️ FT_MOTION improvements

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MarlinFirmware/Marlin#26074
This commit is contained in:
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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80
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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

80
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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

80
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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

80
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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

80
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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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config/examples/Anet/ET4/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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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config/examples/Anet/ET5-Pro/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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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config/examples/Anet/ET5/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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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config/examples/Anet/ET5X/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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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config/examples/AnyCubic/Chiron/Configuration_adv.h
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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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config/examples/AnyCubic/Mega Zero/BigTreeTech SKR Mini MZ V1.0/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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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config/examples/AnyCubic/Vyper/Configuration_adv.h
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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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config/examples/AnyCubic/i3/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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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config/examples/ArmEd/Configuration_adv.h
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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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config/examples/Artillery/Genius Pro/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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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config/examples/Artillery/Genius/BLTouch/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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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config/examples/Artillery/Genius/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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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config/examples/Artillery/Hornet/Configuration_adv.h
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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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config/examples/Artillery/Sidewinder X1/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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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config/examples/Artillery/Sidewinder X2/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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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config/examples/Azteeg/X5GT/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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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config/examples/BIBO/TouchX/cyclops/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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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config/examples/BIBO/TouchX/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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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config/examples/BIQU/B1 SE 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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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config/examples/BIQU/B1 SE/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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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config/examples/BIQU/B1/Configuration_adv.h
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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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config/examples/BIQU/BX/Configuration_adv.h
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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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config/examples/BIQU/Hurakan/Configuration_adv.h
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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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config/examples/BIQU/Thunder Standard/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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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config/examples/BQ/Hephestos/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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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config/examples/BQ/Hephestos_2/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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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config/examples/BQ/WITBOX/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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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config/examples/CTC/A13/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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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config/examples/CTC/Bizer/Configuration_adv.h
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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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config/examples/Cartesio/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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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config/examples/Copymaster3D/500/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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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config/examples/Creality/CR-10 Max/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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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config/examples/Creality/CR-10 Mini/BigTreeTech SKR Mini E3 2.0/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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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@ -1120,42 +1120,62 @@
#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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config/examples/Creality/CR-10 S5/CrealityV1/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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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config/examples/Creality/CR-10 S5/CrealityV2.2-BLTouch/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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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config/examples/Creality/CR-10 V2/Configuration_adv.h
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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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config/examples/Creality/CR-10 V3/Configuration_adv.h
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@ -1123,42 +1123,62 @@
#if ENABLED(FT_MOTION) #if ENABLED(FT_MOTION)
#define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h) #define FTM_DEFAULT_MODE ftMotionMode_DISABLED // Default mode of fixed time control. (Enums in ft_types.h)
#define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h) #define FTM_DEFAULT_DYNFREQ_MODE dynFreqMode_DISABLED // Default mode of dynamic frequency calculation. (Enums in ft_types.h)
#define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_X_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers. #define FTM_SHAPING_DEFAULT_Y_FREQ 37.0f // (Hz) Default peak frequency used by input shapers
#define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false). #define FTM_LINEAR_ADV_DEFAULT_ENA false // Default linear advance enable (true) or disable (false)
#define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain. #define FTM_LINEAR_ADV_DEFAULT_K 0.0f // Default linear advance gain
#define FTM_SHAPING_ZETA 0.1f // Zeta used by input shapers. #define FTM_SHAPING_ZETA_X 0.1f // Zeta used by input shapers for X axis
#define FTM_SHAPING_V_TOL 0.05f // Vibration tolerance used by EI input shapers. #define FTM_SHAPING_ZETA_Y 0.1f // Zeta used by input shapers for Y axis
#define FTM_SHAPING_V_TOL_X 0.05f // Vibration tolerance used by EI input shapers for X axis
#define FTM_SHAPING_V_TOL_Y 0.05f // Vibration tolerance used by EI input shapers for Y axis
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters
/** /**
* Advanced configuration * Advanced configuration
*/ */
#define FTM_BATCH_SIZE 100 // Batch size for trajectory generation; #define FTM_UNIFIED_BWS // DON'T DISABLE unless you use Ulendo FBS (not implemented)
#define FTM_WINDOW_SIZE 200 // Window size for trajectory generation. #if ENABLED(FTM_UNIFIED_BWS)
#define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (1 / FTM_TS) #define FTM_BW_SIZE 100 // Unified Window and Batch size with a ratio of 2
#define FTM_TS 0.001f // (s) Time step for trajectory generation. (1 / FTM_FS) #else
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update. #define FTM_WINDOW_SIZE 200 // Custom Window size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps. #define FTM_BATCH_SIZE 100 // Custom Batch size for trajectory generation needed by Ulendo FBS
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency. #endif
#define FTM_ZMAX 100 // Maximum delays for shaping functions (even numbers only!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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config/examples/Creality/CR-10/CrealityV1/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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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config/examples/Creality/CR-10S/CrealityV1/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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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config/examples/Creality/CR-20 Pro/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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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config/examples/Creality/CR-20/RepRapWorld Minitronics20/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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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config/examples/Creality/CR-20/Stock/Configuration_adv.h
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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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config/examples/Creality/CR-30 PrintMill/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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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config/examples/Creality/CR-6 SE/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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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config/examples/Creality/CR-8/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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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config/examples/Creality/Ender-2 Pro/CrealityV423/Configuration_adv.h
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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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config/examples/Creality/Ender-2/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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

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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!).
// Calculate as:
// 1/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZV.
// (FTM_FS / FTM_MIN_SHAPE_FREQ) for ZVD, MZV.
// 3/2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 2HEI.
// 2 * (FTM_FS / FTM_MIN_SHAPE_FREQ) for 3HEI.
#define FTM_STEPS_PER_UNIT_TIME 20 // Interpolated stepper commands per unit time.
// Calculate as (FTM_STEPPER_FS / FTM_FS).
#define FTM_CTS_COMPARE_VAL 10 // Comparison value used in interpolation algorithm.
// Calculate as (FTM_STEPS_PER_UNIT_TIME / 2).
// These values may be configured to adjust duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop().
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop().
// This value may be configured to adjust duration to consume the command buffer. #define FTM_FS 1000 // (Hz) Frequency for trajectory generation. (Reciprocal of FTM_TS)
// Try increasing this value if stepper motion is not smooth. #define FTM_TS 0.001f // (s) Time step for trajectory generation. (Reciprocal of FTM_FS)
#define FTM_STEPPERCMD_BUFF_SIZE 1000 // Size of the stepper command buffers.
//#define FT_MOTION_MENU // Provide a MarlinUI menu to set M493 parameters. // These values may be configured to adjust the duration of loop().
#define FTM_STEPS_PER_LOOP 60 // Number of stepper commands to generate each loop()
#define FTM_POINTS_PER_LOOP 100 // Number of trajectory points to generate each loop()
#if DISABLED(COREXY)
#define FTM_STEPPER_FS 20000 // (Hz) Frequency for stepper I/O update
// Use this to adjust the time required to consume the command buffer.
// Try increasing this value if stepper motion is choppy.
#define FTM_STEPPERCMD_BUFF_SIZE 3000 // Size of the stepper command buffers
// (FTM_STEPS_PER_LOOP * FTM_POINTS_PER_LOOP) is a good start
// If you run out of memory, fall back to 3000 and increase progressively
#else
// CoreXY motion needs a larger buffer size. These values are based on our testing.
#define FTM_STEPPER_FS 30000
#define FTM_STEPPERCMD_BUFF_SIZE 6000
#endif
#define FTM_STEPS_PER_UNIT_TIME (FTM_STEPPER_FS / FTM_FS) // Interpolated stepper commands per unit time
#define FTM_CTS_COMPARE_VAL (FTM_STEPS_PER_UNIT_TIME / 2) // Comparison value used in interpolation algorithm
#define FTM_MIN_TICKS ((STEPPER_TIMER_RATE) / (FTM_STEPPER_FS)) // Minimum stepper ticks between steps
#define FTM_MIN_SHAPE_FREQ 10 // Minimum shaping frequency
#define FTM_RATIO (FTM_FS / FTM_MIN_SHAPE_FREQ) // Factor for use in FTM_ZMAX. DON'T CHANGE.
#define FTM_ZMAX (FTM_RATIO * 2) // Maximum delays for shaping functions (even numbers only!)
// Calculate as:
// ZV : FTM_RATIO / 2
// ZVD, MZV : FTM_RATIO
// 2HEI : FTM_RATIO * 3 / 2
// 3HEI : FTM_RATIO * 2
#endif #endif
/** /**

80
config/examples/Creality/Ender-3 S1 Plus/Configuration_adv.h
View file

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

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