[FR] Input Shaping - Marlin 2.1.2

[St-Aris]

Description

Marlin 2.1.2 has a new Klipper like input shaping feature:

https://marlinfw.org/docs/gcode/M593.html

Any chance on working on a port of this - looks soooo interesting. Perhaps in the next major release - i'm sure it will be getting a fair bit of tweaking.

Feature Workflow

(https://marlinfw.org/docs/gcode/M593.html)

Additional Information

• Provide pictures or links that demonstrate a similar feature or concept.
  https://marlinfw.org/docs/gcode/M593.html

[stklcode]

With the fix #405 is merged into master, the full 2.1.2 upstream sources are available.

The (experimental) feature can be enabled adding something like this to the configuration:

/**
 * Input Shaping -- EXPERIMENTAL
 *
 * Zero Vibration (ZV) Input Shaping for X and/or Y movements.
 *
 * This option uses a lot of SRAM for the step buffer. The buffer size is
 * calculated automatically from SHAPING_FREQ_[XY], DEFAULT_AXIS_STEPS_PER_UNIT,
 * DEFAULT_MAX_FEEDRATE and ADAPTIVE_STEP_SMOOTHING. The default calculation can
 * be overridden by setting SHAPING_MIN_FREQ and/or SHAPING_MAX_FEEDRATE.
 * The higher the frequency and the lower the feedrate, the smaller the buffer.
 * If the buffer is too small at runtime, input shaping will have reduced
 * effectiveness during high speed movements.
 *
 * Tune with M593 D<factor> F<frequency>:
 *
 *  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.
 */
//#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_MIN_FREQ  20        // By default the minimum of the shaping frequencies. Override to affect SRAM usage.
  //#define SHAPING_MAX_STEPRATE 10000  // By default the maximum total step rate of the shaped axes. Override to affect SRAM usage.
  //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
#endif

I don't have any idea which parameter values might be appropriate for our printers, so somebody has to figure them out...

[St-Aris]

Can anyone confirm if this is enabled in the latest beta hext file?

[dtylerb]

With the fix #405 is merged into master, the full 2.1.2 upstream sources are available.

The (experimental) feature can be enabled adding something like this to the configuration:

/**
 * Input Shaping -- EXPERIMENTAL
 *
 * Zero Vibration (ZV) Input Shaping for X and/or Y movements.
 *
 * This option uses a lot of SRAM for the step buffer. The buffer size is
 * calculated automatically from SHAPING_FREQ_[XY], DEFAULT_AXIS_STEPS_PER_UNIT,
 * DEFAULT_MAX_FEEDRATE and ADAPTIVE_STEP_SMOOTHING. The default calculation can
 * be overridden by setting SHAPING_MIN_FREQ and/or SHAPING_MAX_FEEDRATE.
 * The higher the frequency and the lower the feedrate, the smaller the buffer.
 * If the buffer is too small at runtime, input shaping will have reduced
 * effectiveness during high speed movements.
 *
 * Tune with M593 D<factor> F<frequency>:
 *
 *  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.
 */
//#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_MIN_FREQ  20        // By default the minimum of the shaping frequencies. Override to affect SRAM usage.
  //#define SHAPING_MAX_STEPRATE 10000  // By default the maximum total step rate of the shaped axes. Override to affect SRAM usage.
  //#define SHAPING_MENU                // Add a menu to the LCD to set shaping parameters.
#endif

I don't have any idea which parameter values might be appropriate for our printers, so somebody has to figure them out...

I downloaded the latest Knutwurst firmware (1.5.0 beta 3) thinking it would have input shaping because it is listed in the changelog on marlinfw.org as being part of version 2.1.2, and the changelog for the knutwurst firmware says that as of version 1.5.0 beta 3 the codebase has been updated to Marlin 2.1.2. Unfortunately I found that the section on input shaping was missing from configuration_adv.h. I then ran across this post and pasted the section above in to my configuration_adv.h, but was unable to compile due to some errors. I then downloaded the stock Marlin 2.1.2 so that I could see exactly where in the file it belongs (in case that makes a difference) and copied and pasted it from the stock Marlin configuration_adv.h in to exactly the same spot, but it made no difference. Oh, and of course in all cases I uncommented the lines for #define INPUT_SHAPING_X and Y. Obviously there's more to it than that. Here are the errors:

Compiling .pio\build\MEGA_S_TMC\src\src\feature\bedlevel\bedlevel.cpp.o
In file included from Marlin\src\MarlinCore.cpp:47:0:
Marlin\src\module/stepper.h:348:56: in constexpr expansion of 'max_isr_rate<>()'
Marlin\src\module/stepper.h:348:75: error: array subscript value '4' is outside the bounds of array type 'const feedRate_t [4] {aka const float [4]}'
constexpr float max_step_rate = _MIN(max_isr_rate(), max_shaped_rate);
^
Marlin\src\module/stepper.h:370:55: error: size of array 'times' is not an integral constant-expression
static shaping_time_t times[shaping_echoes];
^
Marlin\src\module/stepper.h:371:59: error: size of array 'echo_axes' is not an integral constant-expression
static shaping_echo_axis_t echo_axes[shaping_echoes];
^
Compiling .pio\build\MEGA_S_TMC\src\src\feature\bedlevel\hilbert_curve.cpp.o
*** [.pio\build\MEGA_S_TMC\src\src\MarlinCore.cpp.o] Error 1
In file included from Marlin\src\feature\babystep.cpp:31:0:
Marlin\src\feature../module/stepper.h:348:56: in constexpr expansion of 'max_isr_rate<>()'
Marlin\src\feature../module/stepper.h:348:75: error: array subscript value '4' is outside the bounds of array type 'const feedRate_t [4] {aka const float [4]}'
constexpr float max_step_rate = _MIN(max_isr_rate(), max_shaped_rate);
^
Marlin\src\feature../module/stepper.h:370:55: error: size of array 'times' is not an integral constant-expression
static shaping_time_t times[shaping_echoes];
^
Marlin\src\feature../module/stepper.h:371:59: error: size of array 'echo_axes' is not an integral constant-expression
static shaping_echo_axis_t echo_axes[shaping_echoes];
^
*** [.pio\build\MEGA_S_TMC\src\src\feature\babystep.cpp.o] Error 1
====================================================================================== [FAILED] Took 10.86 seconds ======================================================================================

[stklcode]

Obviously there's more to it than that.

At the very least you have to comment out the source exclusion from the platformio.ini:

Marlin-2-0-x-Anycubic-i3-MEGA-S/platformio.ini

Line 249 in fb281ba

-<src/gcode/feature/input_shaping>

I.e. make this line
# -<src/gcode/feature/input_shaping>

[St-Aris]

Could we get a beta image with this enabled? Do the original early trigorilla boards have enough ram to handle it?

[dtylerb]

Obviously there's more to it than that.

At the very least you have to comment out the source exclusion from the platformio.ini:

Marlin-2-0-x-Anycubic-i3-MEGA-S/platformio.ini

Line 249 in fb281ba

-<src/gcode/feature/input_shaping>

I.e. make this line # -<src/gcode/feature/input_shaping>

Well, that didn't fix it. I haven't done any serious coding in many years and when I did it wasn't using Visual Studio/platform.io, so it may be a simple issue but I have limited ability to troubleshoot. Anyhow, if it's not a simple thing to tell me how to get it enabled, I just wanted those who do have the ability to know that it's either not working or there aren't clear instructions that work (or at least not that I've been able to find). I'm still getting the same errors.

I appreciate the help so far.

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