⚡️ Input Shaping improvements (MarlinFirmware#24951)

Author: tombrazier

Marlin/Configuration_adv.h

@@ -1062,12 +1062,14 @@
  *
  * Zero Vibration (ZV) Input Shaping for X and/or Y movements.
  *
- * This option uses a lot of SRAM for the step buffer, which is proportional
- * to the largest step rate possible for any axis. If the build fails due to
+ * This option uses a lot of SRAM for the step buffer, which is related to the
+ * largest step rate possible for the shaped axes. If the build fails due to
  * low SRAM the buffer size may be reduced by setting smaller values for
- * DEFAULT_AXIS_STEPS_PER_UNIT and/or DEFAULT_MAX_FEEDRATE. Runtime editing
- * of max feedrate (M203) or resonant frequency (M593) may result feedrate
- * being capped to prevent buffer overruns.
+ * DEFAULT_AXIS_STEPS_PER_UNIT and/or DEFAULT_MAX_FEEDRATE. Disabling
+ * ADAPTIVE_STEP_SMOOTHING and reducing the step rate for non-shaped axes may
+ * also reduce the buffer sizes. Runtime editing of max feedrate (M203) or
+ * resonant frequency (M593) may result in input shaping losing effectiveness
+ * during high speed movements to prevent buffer overruns.
  *
  * Tune with M593 D<factor> F<frequency>:
  *
@@ -1077,13 +1079,18 @@
  *  X<1>         Set the given parameters only for the X axis.
  *  Y<1>         Set the given parameters only for the Y axis.
  */
-//#define INPUT_SHAPING
-#if ENABLED(INPUT_SHAPING)
-  #define SHAPING_FREQ_X    40  // (Hz) The dominant resonant frequency of the X axis.
-  #define SHAPING_FREQ_Y    40  // (Hz) The dominant resonant frequency of the Y axis.
-  #define SHAPING_ZETA_X  0.3f  // Damping ratio of the X axis (range: 0.0 = no damping to 1.0 = critical damping).
-  #define SHAPING_ZETA_Y  0.3f  // Damping ratio of the Y axis (range: 0.0 = no damping to 1.0 = critical damping).
-  //#define SHAPING_MENU        // Add a menu to the LCD to set shaping parameters.
+//#define INPUT_SHAPING_X
+//#define INPUT_SHAPING_Y
+#if EITHER(INPUT_SHAPING_X, INPUT_SHAPING_Y)
+  #if ENABLED(INPUT_SHAPING_X)
+    #define SHAPING_FREQ_X  40    // (Hz) The default dominant resonant frequency on the X axis.
+    #define SHAPING_ZETA_X  0.15f // Damping ratio of the X axis (range: 0.0 = no damping to 1.0 = critical damping).
+  #endif
+  #if ENABLED(INPUT_SHAPING_Y)
+    #define SHAPING_FREQ_Y  40    // (Hz) The default dominant resonant frequency on the Y axis.
+    #define SHAPING_ZETA_Y  0.15f // Damping ratio of the Y axis (range: 0.0 = no damping to 1.0 = critical damping).
+  #endif
+  //#define SHAPING_MENU          // Add a menu to the LCD to set shaping parameters.
 #endif
 
 #define AXIS_RELATIVE_MODES { false, false, false, false }

Marlin/src/gcode/feature/input_shaping/M593.cpp

@@ -22,21 +22,21 @@
 
 #include "../../../inc/MarlinConfig.h"
 
-#if ENABLED(INPUT_SHAPING)
+#if HAS_SHAPING
 
 #include "../../gcode.h"
 #include "../../../module/stepper.h"
 
 void GcodeSuite::M593_report(const bool forReplay/*=true*/) {
   report_heading_etc(forReplay, F("Input Shaping"));
-  #if HAS_SHAPING_X
+  #if ENABLED(INPUT_SHAPING_X)
     SERIAL_ECHOLNPGM("  M593 X"
       " F", stepper.get_shaping_frequency(X_AXIS),
       " D", stepper.get_shaping_damping_ratio(X_AXIS)
     );
   #endif
-  #if HAS_SHAPING_Y
-    TERN_(HAS_SHAPING_X, report_echo_start(forReplay));
+  #if ENABLED(INPUT_SHAPING_Y)
+    TERN_(INPUT_SHAPING_X, report_echo_start(forReplay));
     SERIAL_ECHOLNPGM("  M593 Y"
       " F", stepper.get_shaping_frequency(Y_AXIS),
       " D", stepper.get_shaping_damping_ratio(Y_AXIS)
@@ -55,10 +55,10 @@ void GcodeSuite::M593_report(const bool forReplay/*=true*/) {
 void GcodeSuite::M593() {
   if (!parser.seen_any()) return M593_report();
 
-  const bool seen_X = TERN0(HAS_SHAPING_X, parser.seen_test('X')),
-             seen_Y = TERN0(HAS_SHAPING_Y, parser.seen_test('Y')),
-             for_X = seen_X || TERN0(HAS_SHAPING_X, (!seen_X && !seen_Y)),
-             for_Y = seen_Y || TERN0(HAS_SHAPING_Y, (!seen_X && !seen_Y));
+  const bool seen_X = TERN0(INPUT_SHAPING_X, parser.seen_test('X')),
+             seen_Y = TERN0(INPUT_SHAPING_Y, parser.seen_test('Y')),
+             for_X = seen_X || TERN0(INPUT_SHAPING_X, (!seen_X && !seen_Y)),
+             for_Y = seen_Y || TERN0(INPUT_SHAPING_Y, (!seen_X && !seen_Y));
 
   if (parser.seen('D')) {
     const float zeta = parser.value_float();
@@ -72,12 +72,13 @@ void GcodeSuite::M593() {
 
   if (parser.seen('F')) {
     const float freq = parser.value_float();
-    if (freq > 0) {
+    constexpr float max_freq = float(uint32_t(STEPPER_TIMER_RATE) / 2) / shaping_time_t(-2);
+    if (freq == 0.0f || freq > max_freq) {
       if (for_X) stepper.set_shaping_frequency(X_AXIS, freq);
       if (for_Y) stepper.set_shaping_frequency(Y_AXIS, freq);
     }
     else
-      SERIAL_ECHO_MSG("?Frequency (F) must be greater than 0");
+      SERIAL_ECHOLNPGM("?Frequency (F) must be greater than ", max_freq, " or 0 to disable");
   }
 }
 

Marlin/src/gcode/gcode.cpp

@@ -933,7 +933,7 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
         case 575: M575(); break;                                  // M575: Set serial baudrate
       #endif
 
-      #if ENABLED(INPUT_SHAPING)
+      #if HAS_SHAPING
         case 593: M593(); break;                                  // M593: Set Input Shaping parameters
       #endif
 

Marlin/src/gcode/gcode.h

@@ -259,7 +259,7 @@
  * M554 - Get or set IP gateway. (Requires enabled Ethernet port)
  * M569 - Enable stealthChop on an axis. (Requires at least one _DRIVER_TYPE to be TMC2130/2160/2208/2209/5130/5160)
  * M575 - Change the serial baud rate. (Requires BAUD_RATE_GCODE)
- * M593 - Get or set input shaping parameters. (Requires INPUT_SHAPING)
+ * M593 - Get or set input shaping parameters. (Requires INPUT_SHAPING_[XY])
  * M600 - Pause for filament change: "M600 X<pos> Y<pos> Z<raise> E<first_retract> L<later_retract>". (Requires ADVANCED_PAUSE_FEATURE)
  * M603 - Configure filament change: "M603 T<tool> U<unload_length> L<load_length>". (Requires ADVANCED_PAUSE_FEATURE)
  * M605 - Set Dual X-Carriage movement mode: "M605 S<mode> [X<x_offset>] [R<temp_offset>]". (Requires DUAL_X_CARRIAGE)
@@ -1081,7 +1081,7 @@ class GcodeSuite {
     static void M575();
   #endif
 
-  #if ENABLED(INPUT_SHAPING)
+  #if HAS_SHAPING
     static void M593();
     static void M593_report(const bool forReplay=true);
   #endif

Marlin/src/inc/Conditionals_adv.h

@@ -1120,15 +1120,11 @@
 #endif
 
 // Input shaping
-#if ENABLED(INPUT_SHAPING)
-  #if !HAS_Y_AXIS
-    #undef SHAPING_FREQ_Y
-    #undef SHAPING_BUFFER_Y
-  #endif
-  #ifdef SHAPING_FREQ_X
-    #define HAS_SHAPING_X 1
-  #endif
-  #ifdef SHAPING_FREQ_Y
-    #define HAS_SHAPING_Y 1
-  #endif
+#if !HAS_Y_AXIS
+  #undef INPUT_SHAPING_Y
+  #undef SHAPING_FREQ_Y
+  #undef SHAPING_BUFFER_Y
+#endif
+#if EITHER(INPUT_SHAPING_X, INPUT_SHAPING_Y)
+  #define HAS_SHAPING 1
 #endif

Marlin/src/inc/SanityCheck.h

@@ -4271,14 +4271,14 @@ static_assert(_PLUS_TEST(4), "HOMING_FEEDRATE_MM_M values must be positive.");
 #endif
 
 // Check requirements for Input Shaping
-#if ENABLED(INPUT_SHAPING) && defined(__AVR__)
-  #if HAS_SHAPING_X
+#if HAS_SHAPING && defined(__AVR__)
+  #if ENABLED(INPUT_SHAPING_X)
     #if F_CPU > 16000000
       static_assert((SHAPING_FREQ_X) * 2 * 0x10000 >= (STEPPER_TIMER_RATE), "SHAPING_FREQ_X is below the minimum (20) for AVR 20MHz.");
     #else
       static_assert((SHAPING_FREQ_X) * 2 * 0x10000 >= (STEPPER_TIMER_RATE), "SHAPING_FREQ_X is below the minimum (16) for AVR 16MHz.");
     #endif
-  #elif HAS_SHAPING_Y
+  #elif ENABLED(INPUT_SHAPING_Y)
     #if F_CPU > 16000000
       static_assert((SHAPING_FREQ_Y) * 2 * 0x10000 >= (STEPPER_TIMER_RATE), "SHAPING_FREQ_Y is below the minimum (20) for AVR 20MHz.");
     #else
@@ -4287,12 +4287,8 @@ static_assert(_PLUS_TEST(4), "HOMING_FEEDRATE_MM_M values must be positive.");
   #endif
 #endif
 
-#if ENABLED(INPUT_SHAPING)
-  #if ENABLED(DIRECT_STEPPING)
-    #error "INPUT_SHAPING cannot currently be used with DIRECT_STEPPING."
-  #elif ENABLED(LASER_FEATURE)
-    #error "INPUT_SHAPING cannot currently be used with LASER_FEATURE."
-  #endif
+#if BOTH(HAS_SHAPING, DIRECT_STEPPING)
+  #error "INPUT_SHAPING_[XY] cannot currently be used with DIRECT_STEPPING."
 #endif
 
 // Misc. Cleanup

Marlin/src/lcd/language/language_en.h

@@ -403,10 +403,10 @@ namespace Language_en {
   LSTR MSG_A_RETRACT                      = _UxGT("Retract Accel");
   LSTR MSG_A_TRAVEL                       = _UxGT("Travel Accel");
   LSTR MSG_INPUT_SHAPING                  = _UxGT("Input Shaping");
-  LSTR MSG_SHAPING_X_FREQ                 = STR_X _UxGT(" frequency");
-  LSTR MSG_SHAPING_Y_FREQ                 = STR_Y _UxGT(" frequency");
-  LSTR MSG_SHAPING_X_ZETA                 = STR_X _UxGT(" damping");
-  LSTR MSG_SHAPING_Y_ZETA                 = STR_Y _UxGT(" damping");
+  LSTR MSG_SHAPING_ENABLE                 = _UxGT("Enable @ shaping");
+  LSTR MSG_SHAPING_DISABLE                = _UxGT("Disable @ shaping");
+  LSTR MSG_SHAPING_FREQ                   = _UxGT("@ frequency");
+  LSTR MSG_SHAPING_ZETA                   = _UxGT("@ damping");
   LSTR MSG_XY_FREQUENCY_LIMIT             = _UxGT("XY Freq Limit");
   LSTR MSG_XY_FREQUENCY_FEEDRATE          = _UxGT("Min FR Factor");
   LSTR MSG_STEPS_PER_MM                   = _UxGT("Steps/mm");

Marlin/src/lcd/menu/menu_advanced.cpp

@@ -545,24 +545,28 @@ void menu_backlash();
       START_MENU();
       BACK_ITEM(MSG_ADVANCED_SETTINGS);
 
-      // M593 F Frequency
-      #if HAS_SHAPING_X
+      // M593 F Frequency and D Damping ratio
+      #if ENABLED(INPUT_SHAPING_X)
         editable.decimal = stepper.get_shaping_frequency(X_AXIS);
-        EDIT_ITEM_FAST(float61, MSG_SHAPING_X_FREQ, &editable.decimal, min_frequency, 200.0f, []{ stepper.set_shaping_frequency(X_AXIS, editable.decimal); });
+        if (editable.decimal) {
+          ACTION_ITEM_N(X_AXIS, MSG_SHAPING_DISABLE, []{ stepper.set_shaping_frequency(X_AXIS, 0.0f); });
+          EDIT_ITEM_FAST_N(float61, X_AXIS, MSG_SHAPING_FREQ, &editable.decimal, min_frequency, 200.0f, []{ stepper.set_shaping_frequency(X_AXIS, editable.decimal); });
+          editable.decimal = stepper.get_shaping_damping_ratio(X_AXIS);
+          EDIT_ITEM_FAST_N(float42_52, X_AXIS, MSG_SHAPING_ZETA, &editable.decimal, 0.0f, 1.0f, []{ stepper.set_shaping_damping_ratio(X_AXIS, editable.decimal); });
+        }
+        else
+          ACTION_ITEM_N(X_AXIS, MSG_SHAPING_ENABLE, []{ stepper.set_shaping_frequency(X_AXIS, SHAPING_FREQ_X); });
       #endif
-      #if HAS_SHAPING_Y
+      #if ENABLED(INPUT_SHAPING_Y)
         editable.decimal = stepper.get_shaping_frequency(Y_AXIS);
-        EDIT_ITEM_FAST(float61, MSG_SHAPING_Y_FREQ, &editable.decimal, min_frequency, 200.0f, []{ stepper.set_shaping_frequency(Y_AXIS, editable.decimal); });
-      #endif
-
-      // M593 D Damping ratio
-      #if HAS_SHAPING_X
-        editable.decimal = stepper.get_shaping_damping_ratio(X_AXIS);
-        EDIT_ITEM_FAST(float42_52, MSG_SHAPING_X_ZETA, &editable.decimal, 0.0f, 1.0f, []{ stepper.set_shaping_damping_ratio(X_AXIS, editable.decimal); });
-      #endif
-      #if HAS_SHAPING_Y
-        editable.decimal = stepper.get_shaping_damping_ratio(Y_AXIS);
-        EDIT_ITEM_FAST(float42_52, MSG_SHAPING_Y_ZETA, &editable.decimal, 0.0f, 1.0f, []{ stepper.set_shaping_damping_ratio(Y_AXIS, editable.decimal); });
+        if (editable.decimal) {
+          ACTION_ITEM_N(Y_AXIS, MSG_SHAPING_DISABLE, []{ stepper.set_shaping_frequency(Y_AXIS, 0.0f); });
+          EDIT_ITEM_FAST_N(float61, Y_AXIS, MSG_SHAPING_FREQ, &editable.decimal, min_frequency, 200.0f, []{ stepper.set_shaping_frequency(Y_AXIS, editable.decimal); });
+          editable.decimal = stepper.get_shaping_damping_ratio(Y_AXIS);
+          EDIT_ITEM_FAST_N(float42_52, Y_AXIS, MSG_SHAPING_ZETA, &editable.decimal, 0.0f, 1.0f, []{ stepper.set_shaping_damping_ratio(Y_AXIS, editable.decimal); });
+        }
+        else
+          ACTION_ITEM_N(Y_AXIS, MSG_SHAPING_ENABLE, []{ stepper.set_shaping_frequency(Y_AXIS, SHAPING_FREQ_Y); });
       #endif
 
       END_MENU();

Marlin/src/module/planner.cpp

@@ -1724,6 +1724,13 @@ float Planner::triggered_position_mm(const AxisEnum axis) {
   return result * mm_per_step[axis];
 }
 
+bool Planner::busy() {
+  return (has_blocks_queued() || cleaning_buffer_counter
+      || TERN0(EXTERNAL_CLOSED_LOOP_CONTROLLER, CLOSED_LOOP_WAITING())
+      || TERN0(HAS_SHAPING, stepper.input_shaping_busy())
+  );
+}
+
 void Planner::finish_and_disable() {
   while (has_blocks_queued() || cleaning_buffer_counter) idle();
   stepper.disable_all_steppers();
@@ -2483,14 +2490,6 @@ bool Planner::_populate_block(
 
   #endif // XY_FREQUENCY_LIMIT
 
-  #if ENABLED(INPUT_SHAPING)
-    const float top_freq = _MIN(float(0x7FFFFFFFL)
-                                OPTARG(HAS_SHAPING_X, stepper.get_shaping_frequency(X_AXIS))
-                                OPTARG(HAS_SHAPING_Y, stepper.get_shaping_frequency(Y_AXIS))),
-                max_factor = (top_freq * float(shaping_dividends - 3) * 2.0f) / block->nominal_rate;
-    NOMORE(speed_factor, max_factor);
-  #endif
-
   // Correct the speed
   if (speed_factor < 1.0f) {
     current_speed *= speed_factor;

Marlin/src/module/planner.h

@@ -930,11 +930,7 @@ class Planner {
     static float triggered_position_mm(const AxisEnum axis);
 
     // Blocks are queued, or we're running out moves, or the closed loop controller is waiting
-    static bool busy() {
-      return (has_blocks_queued() || cleaning_buffer_counter
-          || TERN0(EXTERNAL_CLOSED_LOOP_CONTROLLER, CLOSED_LOOP_WAITING())
-      );
-    }
+    static bool busy();
 
     // Block until all buffered steps are executed / cleaned
     static void synchronize();