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Make it possible to override the shaping buffer size calculations in confg.

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Also potential SRAM reduction when not using ADAPTIVE_STEP_SMOOTHING on 32 bit MCUs.
This commit is contained in:
Tom Brazier
2022-11-29 08:53:47 +00:00
committed by InsanityAutomation
parent f3e8919552
commit 55d943e9d2
3 changed files with 35 additions and 20 deletions
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Marlin/Configuration_adv.h
+14 -13
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@@ -1107,14 +1107,13 @@
*
* Zero Vibration (ZV) Input Shaping for X and/or Y movements.
*
* 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. 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.
* 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>:
*
@@ -1128,14 +1127,16 @@
//#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).
#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).
#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.
//#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
#define AXIS_RELATIVE_MODES { false, false, false, false }
Marlin/src/inc/SanityCheck.h
+12 -5
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@@ -4331,17 +4331,24 @@ static_assert(_PLUS_TEST(4), "HOMING_FEEDRATE_MM_M values must be positive.");
// Check requirements for Input Shaping
#if HAS_SHAPING && defined(__AVR__)
#ifdef SHAPING_MIN_FREQ
static_assert((SHAPING_MIN_FREQ) > 0, "SHAPING_MIN_FREQ must be > 0.");
#else
TERN_(INPUT_SHAPING_X, static_assert((SHAPING_FREQ_X) > 0, "SHAPING_FREQ_X must be > 0."));
TERN_(INPUT_SHAPING_Y, static_assert((SHAPING_FREQ_Y) > 0, "SHAPING_FREQ_Y must be > 0."));
#endif
#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.");
static_assert((SHAPING_FREQ_X) == 0 || (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.");
static_assert((SHAPING_FREQ_X) == 0 || (SHAPING_FREQ_X) * 2 * 0x10000 >= (STEPPER_TIMER_RATE), "SHAPING_FREQ_X is below the minimum (16) for AVR 16MHz.");
#endif
#elif ENABLED(INPUT_SHAPING_Y)
#endif
#if 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.");
static_assert((SHAPING_FREQ_Y) == 0 || (SHAPING_FREQ_Y) * 2 * 0x10000 >= (STEPPER_TIMER_RATE), "SHAPING_FREQ_Y is below the minimum (20) for AVR 20MHz.");
#else
static_assert((SHAPING_FREQ_Y) * 2 * 0x10000 >= (STEPPER_TIMER_RATE), "SHAPING_FREQ_Y is below the minimum (16) for AVR 16MHz.");
static_assert((SHAPING_FREQ_Y) == 0 || (SHAPING_FREQ_Y) * 2 * 0x10000 >= (STEPPER_TIMER_RATE), "SHAPING_FREQ_Y is below the minimum (16) for AVR 16MHz.");
#endif
#endif
#endif
Marlin/src/module/stepper.h
+9 -2
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@@ -334,7 +334,9 @@ constexpr ena_mask_t enable_overlap[] = {
constexpr xyze_float_t max_feedrate = DEFAULT_MAX_FEEDRATE;
constexpr xyze_float_t steps_per_unit = DEFAULT_AXIS_STEPS_PER_UNIT;
// MIN_STEP_ISR_FREQUENCY is known at compile time on AVRs and any reduction in SRAM is welcome
#ifdef __AVR__
#ifdef SHAPING_MAX_STEPRATE
constexpr float max_step_rate = SHAPING_MAX_STEPRATE;
#elif defined(__AVR__) || !defined(ADAPTIVE_STEP_SMOOTHING)
constexpr float max_isr_rate = _MAX(
LOGICAL_AXIS_LIST(
max_feedrate.e * steps_per_unit.e,
@@ -358,7 +360,12 @@ constexpr ena_mask_t enable_overlap[] = {
constexpr float max_step_rate = TERN0(INPUT_SHAPING_X, max_feedrate.x * steps_per_unit.x) +
TERN0(INPUT_SHAPING_Y, max_feedrate.y * steps_per_unit.y);
#endif
constexpr uint16_t shaping_echoes = max_step_rate / _MIN(0x7FFFFFFFL OPTARG(INPUT_SHAPING_X, SHAPING_FREQ_X) OPTARG(INPUT_SHAPING_Y, SHAPING_FREQ_Y)) / 2 + 3;
#ifdef SHAPING_MIN_FREQ
constexpr uint16_t shaping_min_freq = SHAPING_MIN_FREQ;
#else
constexpr uint16_t shaping_min_freq = _MIN(0x7FFFFFFFL OPTARG(INPUT_SHAPING_X, SHAPING_FREQ_X) OPTARG(INPUT_SHAPING_Y, SHAPING_FREQ_Y));
#endif
constexpr uint16_t shaping_echoes = max_step_rate / shaping_min_freq / 2 + 3;
typedef IF<ENABLED(__AVR__), uint16_t, uint32_t>::type shaping_time_t;
enum shaping_echo_t { ECHO_NONE = 0, ECHO_FWD = 1, ECHO_BWD = 2 };