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🚸 Safer FTMotion parameter editing (#28191)

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Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>
This commit is contained in:
David Buezas 2025-12-17 03:05:55 +01:00 • committed by GitHub
parent b73ebafa0f
commit 07565d9016
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GPG key ID: B5690EEEBB952194
11 changed files with 128 additions and 93 deletions
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4
Marlin/src/HAL/GD32_MFL/timers.cpp
View file

@ -69,10 +69,6 @@
#endif
#endif
#ifndef HAL_TIMER_RATE
#define HAL_TIMER_RATE GetStepperTimerClkFreq()
#endif
#ifndef STEP_TIMER
#define STEP_TIMER MF_TIMER_STEP
#endif

9
Marlin/src/HAL/GD32_MFL/timers.h
View file

@ -37,15 +37,18 @@
typedef uint32_t hal_timer_t;
#define HAL_TIMER_TYPE_MAX hal_timer_t(UINT16_MAX)
extern uint32_t GetStepperTimerClkFreq();
#ifndef HAL_TIMER_RATE
extern uint32_t GetStepperTimerClkFreq();
#define HAL_TIMER_RATE GetStepperTimerClkFreq()
#endif
// Timer configuration constants
#define STEPPER_TIMER_RATE 2000000
#define TEMP_TIMER_FREQUENCY 1000
// Timer prescaler calculations
#define STEPPER_TIMER_PRESCALE (GetStepperTimerClkFreq() / STEPPER_TIMER_RATE) // Prescaler = 30
#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000UL) // (MHz) Stepper Timer ticks per µs
#define STEPPER_TIMER_PRESCALE ((HAL_TIMER_RATE) / (STEPPER_TIMER_RATE)) // Prescaler = 30
#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000UL) // (MHz) Stepper Timer ticks per µs
// Pulse Timer (counter) calculations
#define PULSE_TIMER_RATE STEPPER_TIMER_RATE // (Hz) Frequency of Pulse Timer

4
Marlin/src/HAL/STM32/timers.cpp
View file

@ -81,10 +81,6 @@
#define MCU_TEMP_TIMER 14 // TIM7 is consumed by Software Serial if used.
#endif
#ifndef HAL_TIMER_RATE
#define HAL_TIMER_RATE GetStepperTimerClkFreq()
#endif
#ifndef STEP_TIMER
#define STEP_TIMER MCU_STEP_TIMER
#endif

17
Marlin/src/HAL/STM32/timers.h
View file

@ -48,13 +48,18 @@
#define TIMER_INDEX_(T) TIMER##T##_INDEX // TIMER#_INDEX enums (timer_index_t) depend on TIM#_BASE defines.
#define TIMER_INDEX(T) TIMER_INDEX_(T) // Convert Timer ID to HardwareTimer_Handle index.
#define TEMP_TIMER_FREQUENCY 1000 // Temperature::isr() is expected to be called at around 1kHz
#ifndef HAL_TIMER_RATE
extern uint32_t GetStepperTimerClkFreq();
#define HAL_TIMER_RATE GetStepperTimerClkFreq()
#endif
// TODO: get rid of manual rate/prescale/ticks/cycles taken for procedures in stepper.cpp
#define STEPPER_TIMER_RATE 2'000'000 // 2 Mhz
extern uint32_t GetStepperTimerClkFreq();
#define STEPPER_TIMER_PRESCALE (GetStepperTimerClkFreq() / (STEPPER_TIMER_RATE))
#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000UL) // (MHz) Stepper Timer ticks per µs
// Timer configuration constants
#define STEPPER_TIMER_RATE 2000000
#define TEMP_TIMER_FREQUENCY 1000 // Temperature::isr() should run at ~1kHz
// Timer prescaler calculations
#define STEPPER_TIMER_PRESCALE ((HAL_TIMER_RATE) / (STEPPER_TIMER_RATE))
#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000UL) // (MHz) Stepper Timer ticks per µs
// Pulse Timer (counter) calculations
#define PULSE_TIMER_RATE STEPPER_TIMER_RATE // (Hz) Frequency of Pulse Timer

85
Marlin/src/gcode/feature/ft_motion/M493.cpp
View file

@ -236,10 +236,8 @@ void GcodeSuite::M493() {
return;
}
auto set_shaper = [&](const AxisEnum axis, ftMotionShaper_t newsh) {
if (newsh != c.shaper[axis]) {
c.shaper[axis] = newsh;
if (c.setShaper(axis, newsh))
flag.update = flag.report = true;
}
};
if (seenC) {
#define _SET_SHAPER(A) set_shaper(_AXIS(A), shaperVal);
@ -248,14 +246,9 @@ void GcodeSuite::M493() {
#endif // NUM_AXES_SHAPED > 0
// Parse 'H' Axis Synchronization parameter.
if (parser.seenval('H')) {
const bool enabled = parser.value_bool();
if (enabled != c.axis_sync_enabled) {
c.axis_sync_enabled = enabled;
flag.report = true;
}
}
// Parse bool 'H' Axis Synchronization parameter.
if (parser.seen('H') && c.setAxisSync(parser.value_bool()))
flag.report = true;
#if HAS_DYNAMIC_FREQ
@ -317,10 +310,8 @@ void GcodeSuite::M493() {
if (seenA) {
if (AXIS_IS_SHAPING(X)) {
// TODO: Frequency minimum is dependent on the shaper used; the above check isn't always correct.
if (goodBaseFreq) {
c.baseFreq.x = baseFreqVal;
if (goodBaseFreq && c.setBaseFreq(X_AXIS, baseFreqVal))
flag.update = flag.report = true;
}
}
else // Mode doesn't use frequency.
SERIAL_ECHOLNPGM("?Wrong mode for ", C(STEPPER_A_NAME), " (A) frequency.");
@ -328,19 +319,15 @@ void GcodeSuite::M493() {
#if HAS_DYNAMIC_FREQ
// Parse X frequency scaling parameter
if (seenF && modeUsesDynFreq) {
c.dynFreqK.x = baseDynFreqVal;
if (seenF && c.setDynFreqK(X_AXIS, baseDynFreqVal))
flag.report = true;
}
#endif
// Parse X zeta parameter
if (seenI) {
if (AXIS_IS_SHAPING(X)) {
if (goodZeta) {
c.zeta.x = zetaVal;
if (goodZeta && c.setZeta(X_AXIS, zetaVal))
flag.update = true;
}
}
else
SERIAL_ECHOLNPGM("?Wrong mode for ", C(STEPPER_A_NAME), " (I) zeta parameter.");
@ -350,10 +337,8 @@ void GcodeSuite::M493() {
// Parse X vtol parameter
if (seenQ) {
if (AXIS_IS_EISHAPING(X)) {
if (goodVtol) {
c.vtol.x = vtolVal;
if (goodVtol && c.setVtol(X_AXIS, vtolVal))
flag.update = true;
}
}
else
SERIAL_ECHOLNPGM("?Wrong mode for ", C(STEPPER_A_NAME), " (Q) vtol parameter.");
@ -370,10 +355,8 @@ void GcodeSuite::M493() {
// Parse Y frequency parameter
if (seenA) {
if (AXIS_IS_SHAPING(Y)) {
if (goodBaseFreq) {
c.baseFreq.y = baseFreqVal;
if (goodBaseFreq && c.setBaseFreq(Y_AXIS, baseFreqVal))
flag.update = flag.report = true;
}
}
else // Mode doesn't use frequency.
SERIAL_ECHOLNPGM("?Wrong mode for ", C(STEPPER_B_NAME), " (A) frequency.");
@ -381,32 +364,26 @@ void GcodeSuite::M493() {
#if HAS_DYNAMIC_FREQ
// Parse Y frequency scaling parameter
if (seenF && modeUsesDynFreq) {
c.dynFreqK.y = baseDynFreqVal;
if (seenF && c.setDynFreqK(Y_AXIS, baseDynFreqVal))
flag.report = true;
}
#endif
// Parse Y zeta parameter
if (seenI) {
if (AXIS_IS_SHAPING(Y)) {
if (goodZeta) {
c.zeta.y = zetaVal;
if (goodZeta && c.setZeta(Y_AXIS, zetaVal))
flag.update = true;
}
}
else
SERIAL_ECHOLNPGM("?Wrong mode for ", C(STEPPER_B_NAME), " (I) zeta parameter.");
}
// Parse Y vtol parameter
#if HAS_FTM_EI_SHAPING
// Parse Y vtol parameter
if (seenQ) {
if (AXIS_IS_EISHAPING(Y)) {
if (goodVtol) {
c.vtol.y = vtolVal;
if (goodVtol && c.setVtol(Y_AXIS, vtolVal))
flag.update = true;
}
}
else
SERIAL_ECHOLNPGM("?Wrong mode for ", C(STEPPER_B_NAME), " (Q) vtol parameter.");
@ -423,10 +400,8 @@ void GcodeSuite::M493() {
// Parse Z frequency parameter
if (seenA) {
if (AXIS_IS_SHAPING(Z)) {
if (goodBaseFreq) {
c.baseFreq.z = baseFreqVal;
if (goodBaseFreq && c.setBaseFreq(Z_AXIS, baseFreqVal))
flag.update = flag.report = true;
}
}
else // Mode doesn't use frequency.
SERIAL_ECHOLNPGM("?Wrong mode for ", C(STEPPER_C_NAME), " (A) frequency.");
@ -434,32 +409,26 @@ void GcodeSuite::M493() {
#if HAS_DYNAMIC_FREQ
// Parse Z frequency scaling parameter
if (seenF && modeUsesDynFreq) {
c.dynFreqK.z = baseDynFreqVal;
if (seenF && c.setDynFreqK(Z_AXIS, baseDynFreqVal))
flag.report = true;
}
#endif
// Parse Z zeta parameter
if (seenI) {
if (AXIS_IS_SHAPING(Z)) {
if (goodZeta) {
c.zeta.z = zetaVal;
if (goodZeta && c.setZeta(Z_AXIS, zetaVal))
flag.update = true;
}
}
else
SERIAL_ECHOLNPGM("?Wrong mode for ", C(STEPPER_C_NAME), " (I) zeta parameter.");
}
// Parse Z vtol parameter
#if HAS_FTM_EI_SHAPING
// Parse Z vtol parameter
if (seenQ) {
if (AXIS_IS_EISHAPING(Z)) {
if (goodVtol) {
c.vtol.z = vtolVal;
if (goodVtol && c.setVtol(Z_AXIS, vtolVal))
flag.update = true;
}
}
else
SERIAL_ECHOLNPGM("?Wrong mode for ", C(STEPPER_C_NAME), " (Q) vtol parameter.");
@ -476,10 +445,8 @@ void GcodeSuite::M493() {
// Parse E frequency parameter
if (seenA) {
if (AXIS_IS_SHAPING(E)) {
if (goodBaseFreq) {
c.baseFreq.e = baseFreqVal;
if (goodBaseFreq && c.setBaseFreq(E_AXIS, baseFreqVal))
flag.update = flag.report = true;
}
}
else // Mode doesn't use frequency.
SERIAL_ECHOLNPGM("?Wrong mode for ", C('E'), " (A) frequency.");
@ -487,32 +454,26 @@ void GcodeSuite::M493() {
#if HAS_DYNAMIC_FREQ
// Parse E frequency scaling parameter
if (seenF && modeUsesDynFreq) {
c.dynFreqK.e = baseDynFreqVal;
if (seenF && c.setDynFreqK(E_AXIS, baseDynFreqVal))
flag.report = true;
}
#endif
// Parse E zeta parameter
if (seenI) {
if (AXIS_IS_SHAPING(E)) {
if (goodZeta) {
c.zeta.e = zetaVal;
if (goodZeta && c.setZeta(E_AXIS, zetaVal))
flag.update = true;
}
}
else
SERIAL_ECHOLNPGM("?Wrong mode for ", C('E'), " (I) zeta parameter.");
}
// Parse E vtol parameter
#if HAS_FTM_EI_SHAPING
// Parse E vtol parameter
if (seenQ) {
if (AXIS_IS_EISHAPING(E)) {
if (goodVtol) {
c.vtol.e = vtolVal;
if (goodVtol && c.setVtol(E_AXIS, vtolVal))
flag.update = true;
}
}
else
SERIAL_ECHOLNPGM("?Wrong mode for ", C('E'), " (Q) vtol parameter.");

10
Marlin/src/inc/Conditionals-5-post.h
View file

@ -3700,11 +3700,9 @@
#ifndef FTM_BUFFER_SIZE
#define FTM_BUFFER_SIZE 128
#endif
#define FTM_BUFFER_MASK (FTM_BUFFER_SIZE - 1u)
#if ANY(BIQU_MICROPROBE_V1, BIQU_MICROPROBE_V2)
#ifndef PROBE_WAKEUP_TIME_MS
#define PROBE_WAKEUP_TIME_MS 30
#define PROBE_WAKEUP_TIME_WARNING 1
#endif
#if ANY(BIQU_MICROPROBE_V1, BIQU_MICROPROBE_V2) && !defined(PROBE_WAKEUP_TIME_MS)
#define PROBE_WAKEUP_TIME_MS 30
#define PROBE_WAKEUP_TIME_WARNING 1
#endif
#endif

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

@ -4472,7 +4472,7 @@ static_assert(_PLUS_TEST(3), "DEFAULT_MAX_ACCELERATION values must be positive."
* Fixed-Time Motion limitations
*/
#if ENABLED(FT_MOTION)
static_assert(FTM_BUFFER_SIZE >= 4 && (FTM_BUFFER_SIZE & FTM_BUFFER_MASK) == 0, "FTM_BUFFER_SIZE must be a power of two (128, 256, 512, ...).");
static_assert(FTM_BUFFER_SIZE >= 4 && (FTM_BUFFER_SIZE & (FTM_BUFFER_SIZE - 1u)) == 0, "FTM_BUFFER_SIZE must be a power of two (128, 256, 512, ...).");
#if ENABLED(MIXING_EXTRUDER)
#error "FT_MOTION does not currently support MIXING_EXTRUDER."
#endif

3
Marlin/src/lcd/menu/menu_motion.cpp
View file

@ -517,7 +517,8 @@ void menu_move() {
CARTES_MAP(_FTM_AXIS_SUBMENU);
EDIT_ITEM(bool, MSG_FTM_AXIS_SYNC, &c.axis_sync_enabled);
editable.state = c.axis_sync_enabled;
EDIT_ITEM(bool, MSG_FTM_AXIS_SYNC, &editable.state, []{ c.setAxisSync(editable.state); });
#if ENABLED(FTM_RESONANCE_TEST)
SUBMENU(MSG_FTM_RESONANCE_TEST, menu_ftm_resonance_test);

1
Marlin/src/module/ft_motion.cpp
View file

@ -214,6 +214,7 @@ void FTMotion::loop() {
bool FTMotion::set_smoothing_time(const AxisEnum axis, const float s_time) {
if (!WITHIN(s_time, 0.0f, FTM_MAX_SMOOTHING_TIME)) return false;
planner.synchronize();
cfg.smoothingTime[axis] = s_time;
update_smoothing_params();
return true;

74
Marlin/src/module/ft_motion.h
View file

@ -102,15 +102,51 @@ typedef struct FTConfig {
bool setActive(const bool a) {
if (a == active) return false;
stepper.ftMotion_syncPosition();
planner.synchronize();
active = a;
return true;
}
#endif
bool setAxisSync(const bool ena) {
if (ena == axis_sync_enabled) return false;
planner.synchronize();
axis_sync_enabled = ena;
return true;
}
#if HAS_FTM_SHAPING
bool setShaper(const AxisEnum a, const ftMotionShaper_t s) {
if (s == shaper[a]) return false;
planner.synchronize();
shaper[a] = s;
return true;
}
constexpr bool goodZeta(const float z) { return WITHIN(z, 0.01f, ftm_max_dampening); }
constexpr bool goodVtol(const float v) { return WITHIN(v, 0.00f, 1.0f); }
bool setZeta(const AxisEnum a, const float z) {
if (z == zeta[a]) return false;
if (!goodZeta(z)) return false;
planner.synchronize();
zeta[a] = z;
return true;
}
#if HAS_FTM_EI_SHAPING
constexpr bool goodVtol(const float v) { return WITHIN(v, 0.00f, 1.0f); }
bool setVtol(const AxisEnum a, const float v) {
if (v == vtol[a]) return false;
if (!goodVtol(v)) return false;
planner.synchronize();
vtol[a] = v;
return true;
}
#endif
#if HAS_DYNAMIC_FREQ
@ -133,12 +169,28 @@ typedef struct FTConfig {
|| TERN0(HAS_DYNAMIC_FREQ_G, dynFreqMode == dynFreqMode_MASS_BASED));
}
bool setDynFreqK(const AxisEnum a, const float k) {
if (!modeUsesDynFreq()) return false;
if (k == dynFreqK[a]) return false;
planner.synchronize();
dynFreqK[a] = k;
return true;
}
#endif // HAS_DYNAMIC_FREQ
#endif // HAS_FTM_SHAPING
constexpr bool goodBaseFreq(const float f) { return WITHIN(f, FTM_MIN_SHAPE_FREQ, (FTM_FS) / 2); }
bool setBaseFreq(const AxisEnum a, const float f) {
if (f == baseFreq[a]) return false;
if (!goodBaseFreq(a)) return false;
planner.synchronize();
baseFreq[a] = f;
return true;
}
void set_defaults() {
#if HAS_STANDARD_MOTION
active = ENABLED(FTM_IS_DEFAULT_MOTION);
@ -234,6 +286,26 @@ class FTMotion {
}
#endif
// Setters for baseFreq, zeta, vtol
static bool setBaseFreq(const AxisEnum a, const float f) {
if (!cfg.setBaseFreq(a, f)) return false;
update_shaping_params();
return true;
}
static bool setZeta(const AxisEnum a, const float z) {
if (!cfg.setZeta(a, z)) return false;
update_shaping_params();
return true;
}
#if HAS_FTM_EI_SHAPING
static bool setVtol(const AxisEnum a, const float v) {
if (!cfg.setVtol(a, v)) return false;
update_shaping_params();
return true;
}
#endif
// Trajectory generator selection
#if ENABLED(FTM_POLYS)
static void setTrajectoryType(const TrajectoryType type);

12
Marlin/src/module/ft_motion/stepping.h
View file

@ -41,11 +41,11 @@ constexpr uint32_t FTM_Q_INT = 32u - TICKS_BITS; // Bits remaining
constexpr uint32_t FTM_Q = 16u - FTM_Q_INT; // uint16 interval fractional bits.
// Intervals buffer has fixed point numbers with the point on this position
static_assert(FRAME_TICKS < FTM_NEVER, "(STEPPER_TIMER_RATE / FTM_FS) must be < " STRINGIFY(FTM_NEVER) " to fit 16-bit fixed-point numbers.");
static_assert(FRAME_TICKS != 2000 || FTM_Q_INT == 11, "FTM_Q_INT should be 11");
static_assert(FRAME_TICKS != 2000 || FTM_Q == 5, "FTM_Q should be 5");
static_assert(FRAME_TICKS != 25000 || FTM_Q_INT == 15, "FTM_Q_INT should be 15");
static_assert(FRAME_TICKS != 25000 || FTM_Q == 1, "FTM_Q should be 1");
static_assert(FRAME_TICKS < FTM_NEVER, "(STEPPER_TIMER_RATE / FTM_FS) (" STRINGIFY(STEPPER_TIMER_RATE) " / " STRINGIFY(FTM_FS) ") must be < " STRINGIFY(FTM_NEVER) " to fit 16-bit fixed-point numbers.");
// Sanity check
static_assert(FRAME_TICKS != 2000 || FTM_Q == 5, "FTM_Q should be 5");
static_assert(FRAME_TICKS != 25000 || FTM_Q == 1, "FTM_Q should be 1");
// The _FP and _fp suffixes mean the number is in fixed point format with the point at the FTM_Q position.
// See: https://en.wikipedia.org/wiki/Fixed-point_arithmetic
@ -154,6 +154,8 @@ typedef struct Stepping {
// Buffering part
//
#define FTM_BUFFER_MASK (FTM_BUFFER_SIZE - 1u)
stepper_plan_t stepper_plan_buff[FTM_BUFFER_SIZE];
uint32_t stepper_plan_tail = 0, stepper_plan_head = 0;
XYZEval<int64_t> curr_steps_q48_16{0};