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idex_modes: Native input shaping support with dual carriages

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Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
This commit is contained in:
Dmitry Butyugin 2023-02-20 01:18:57 +01:00 • committed by KevinOConnor
parent 98ed0a8168
commit 345934bd68
3 changed files with 79 additions and 42 deletions
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62
klippy/extras/input_shaper.py
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@ -61,7 +61,6 @@ class AxisInputShaper:
self.params.update(gcmd)
old_n, old_A, old_T = self.n, self.A, self.T
self.n, self.A, self.T = self.params.get_shaper()
return (old_n, old_A, old_T) != (self.n, self.A, self.T)
def set_shaper_kinematics(self, sk):
ffi_main, ffi_lib = chelper.get_ffi()
success = ffi_lib.input_shaper_set_shaper_params(
@ -98,7 +97,7 @@ class InputShaper:
self.toolhead = None
self.shapers = [AxisInputShaper('x', config),
AxisInputShaper('y', config)]
self.stepper_kinematics = []
self.input_shaper_stepper_kinematics = []
self.orig_stepper_kinematics = []
# Register gcode commands
gcode = self.printer.lookup_object('gcode')
@ -109,38 +108,50 @@ class InputShaper:
return self.shapers
def connect(self):
self.toolhead = self.printer.lookup_object("toolhead")
kin = self.toolhead.get_kinematics()
# Lookup stepper kinematics
ffi_main, ffi_lib = chelper.get_ffi()
steppers = kin.get_steppers()
for s in steppers:
sk = ffi_main.gc(ffi_lib.input_shaper_alloc(), ffi_lib.free)
orig_sk = s.set_stepper_kinematics(sk)
res = ffi_lib.input_shaper_set_sk(sk, orig_sk)
if res < 0:
s.set_stepper_kinematics(orig_sk)
continue
self.stepper_kinematics.append(sk)
self.orig_stepper_kinematics.append(orig_sk)
# Configure initial values
self.old_delay = 0.
self._update_input_shaping(error=self.printer.config_error)
def _get_input_shaper_stepper_kinematics(self, stepper):
# Lookup stepper kinematics
sk = stepper.get_stepper_kinematics()
if sk in self.orig_stepper_kinematics:
# Already processed this stepper kinematics unsuccessfully
return None
if sk in self.input_shaper_stepper_kinematics:
return sk
self.orig_stepper_kinematics.append(sk)
ffi_main, ffi_lib = chelper.get_ffi()
is_sk = ffi_main.gc(ffi_lib.input_shaper_alloc(), ffi_lib.free)
stepper.set_stepper_kinematics(is_sk)
res = ffi_lib.input_shaper_set_sk(is_sk, sk)
if res < 0:
stepper.set_stepper_kinematics(sk)
return None
self.input_shaper_stepper_kinematics.append(is_sk)
return is_sk
def _update_input_shaping(self, error=None):
self.toolhead.flush_step_generation()
new_delay = max([s.get_step_generation_window() for s in self.shapers])
self.toolhead.note_step_generation_scan_time(new_delay,
old_delay=self.old_delay)
failed = []
for sk in self.stepper_kinematics:
self.old_delay = new_delay
kin = self.toolhead.get_kinematics()
failed_shapers = []
for s in kin.get_steppers():
if s.get_trapq() is None:
continue
is_sk = self._get_input_shaper_stepper_kinematics(s)
if is_sk is None:
continue
for shaper in self.shapers:
if shaper in failed:
if shaper in failed_shapers:
continue
if not shaper.set_shaper_kinematics(sk):
failed.append(shaper)
if failed:
if not shaper.set_shaper_kinematics(is_sk):
failed_shapers.append(shaper)
if failed_shapers:
error = error or self.printer.command_error
raise error("Failed to configure shaper(s) %s with given parameters"
% (', '.join([s.get_name() for s in failed])))
% (', '.join([s.get_name() for s in failed_shapers])))
def disable_shaping(self):
for shaper in self.shapers:
shaper.disable_shaping()
@ -151,10 +162,9 @@ class InputShaper:
self._update_input_shaping()
cmd_SET_INPUT_SHAPER_help = "Set cartesian parameters for input shaper"
def cmd_SET_INPUT_SHAPER(self, gcmd):
updated = False
for shaper in self.shapers:
updated |= shaper.update(gcmd)
if updated:
if gcmd.get_command_parameters():
for shaper in self.shapers:
shaper.update(gcmd)
self._update_input_shaping()
for shaper in self.shapers:
shaper.report(gcmd)