🚀 ZV Input Shaping (#24797)

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

@@ -0,0 +1,83 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../../../inc/MarlinConfig.h"
+
+#if ENABLED(INPUT_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
+    SERIAL_ECHO_MSG("M593 X"
+      " F", stepper.get_shaping_frequency(X_AXIS),
+      " D", stepper.get_shaping_damping_ratio(X_AXIS)
+    );
+  #endif
+  #if HAS_SHAPING_Y
+    SERIAL_ECHO_MSG("M593 Y"
+      " F", stepper.get_shaping_frequency(Y_AXIS),
+      " D", stepper.get_shaping_damping_ratio(Y_AXIS)
+    );
+  #endif
+}
+
+/**
+ * M593: Get or Set Input Shaping Parameters
+ *  D<factor>    Set the zeta/damping factor. If axes (X, Y, etc.) are not specified, set for all axes.
+ *  F<frequency> Set the frequency. If axes (X, Y, etc.) are not specified, set for all axes.
+ *  T[map]       Input Shaping type, 0:ZV, 1:EI, 2:2H EI (not implemented yet)
+ *  X<1>         Set the given parameters only for the X axis.
+ *  Y<1>         Set the given parameters only for the Y axis.
+ */
+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));
+
+  if (parser.seen('D')) {
+    const float zeta = parser.value_float();
+    if (WITHIN(zeta, 0, 1)) {
+      if (for_X) stepper.set_shaping_damping_ratio(X_AXIS, zeta);
+      if (for_Y) stepper.set_shaping_damping_ratio(Y_AXIS, zeta);
+    }
+    else
+      SERIAL_ECHO_MSG("?Zeta (D) value out of range (0-1)");
+  }
+
+  if (parser.seen('F')) {
+    const float freq = parser.value_float();
+    if (freq > 0) {
+      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");
+  }
+}
+
+#endif

Marlin/src/gcode/gcode.cpp

@@ -933,6 +933,10 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
         case 575: M575(); break;                                  // M575: Set serial baudrate
       #endif
 
+      #if ENABLED(INPUT_SHAPING)
+        case 593: M593(); break;                                  // M593: Set Input Shaping parameters
+      #endif
+
       #if ENABLED(ADVANCED_PAUSE_FEATURE)
         case 600: M600(); break;                                  // M600: Pause for Filament Change
         case 603: M603(); break;                                  // M603: Configure Filament Change

Marlin/src/gcode/gcode.h

@@ -259,6 +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)
  * 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)
@@ -1080,6 +1081,11 @@ private:
     static void M575();
   #endif
 
+  #if ENABLED(INPUT_SHAPING)
+    static void M593();
+    static void M593_report(const bool forReplay=true);
+  #endif
+
   #if ENABLED(ADVANCED_PAUSE_FEATURE)
     static void M600();
     static void M603();