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https://github.com/OrcaSlicer/OrcaSlicer.git
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Machine Input Shaping (#11202)
* Base IS Machine * Toggle line * Rebase * Intento 1 * Wiki IS * Flavorized * Tooltips * Calibration using the same list * max * Reorder JD validation * Refactor set input shaping * Calibrations IS * Default values * Axis * Orca comments * Rename input_shaping_enable to input_shaping_emit Refactor all references of the input shaping configuration option from 'input_shaping_enable' to 'input_shaping_emit' across the codebase. This improves clarity by better reflecting the option's purpose of controlling whether input shaping commands are emitted in the generated G-code. Restore DONT EMIT FOR KLIPPER * Refactor input shaping option toggling logic Simplifies and consolidates the logic for toggling input shaping related options in TabPrinter::toggle_options(). Uses a loop to handle enabling/disabling lines based on GCode flavor compatibility, and refines the conditions for toggling individual options. * Improve input shaping option toggling logic in TabPrinter * GrayOut Emit to gcode limits for klipper * Typo Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com> * Typo * Skip Y input-shaper when type is Disable If marlin2 and disabled it will be already disabled at X. * IS expert Co-Authored-By: SoftFever <softfeverever@gmail.com> --------- Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com> Co-authored-by: SoftFever <softfeverever@gmail.com>
This commit is contained in:
Ian Bassi
@@ -3925,6 +3925,17 @@ void GCode::print_machine_envelope(GCodeOutputStream &file, Print &print)
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// New Marlin uses M205 J[mm] for junction deviation (only apply if it is > 0)
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file.write_format(writer().set_junction_deviation(config().machine_max_junction_deviation.values.front()).c_str());
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// Orca: Override input shaping values
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if (print.config().input_shaping_emit.value && flavor != gcfMarlinLegacy) {
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const bool input_shaping_disable = print.config().input_shaping_type.value == InputShaperType::Disable;
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file.write_format(writer().set_input_shaping('X', print.config().input_shaping_damp_x.value,
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print.config().input_shaping_freq_x.value, print.config().opt_serialize("input_shaping_type")).c_str());
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if (flavor != gcfRepRapFirmware && !input_shaping_disable) {
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file.write_format(writer().set_input_shaping('Y', print.config().input_shaping_damp_y.value,
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print.config().input_shaping_freq_y.value, "").c_str());
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}
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}
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}
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}
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@@ -350,7 +350,7 @@ std::string GCodeWriter::set_accel_and_jerk(unsigned int acceleration, double je
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std::string GCodeWriter::set_junction_deviation(double junction_deviation){
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std::ostringstream gcode;
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if (FLAVOR_IS(gcfMarlinFirmware) && junction_deviation > 0 && m_max_junction_deviation > 0) {
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if (FLAVOR_IS(gcfMarlinFirmware) && m_max_junction_deviation > 0 && junction_deviation > 0) {
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// Clamp the junction deviation to the allowed maximum.
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gcode << "M205 J";
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if (junction_deviation <= m_max_junction_deviation) {
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@@ -390,68 +390,88 @@ std::string GCodeWriter::set_pressure_advance(double pa) const
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return gcode.str();
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}
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// Orca: input shaping support
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std::string GCodeWriter::set_input_shaping(char axis, float damp, float freq, std::string type) const
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{
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if (FLAVOR_IS(gcfMarlinLegacy))
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throw std::runtime_error("Input shaping is not supported by Marlin < 2.1.2.\nCheck your firmware version and update your G-code flavor to ´Marlin 2´");
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if (freq < 0.0f || damp < 0.f || damp > 1.0f || (axis != 'X' && axis != 'Y' && axis != 'Z' && axis != 'A'))// A = all axis
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{
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throw std::runtime_error("Invalid input shaping parameters: freq=" + std::to_string(freq) + ", damp=" + std::to_string(damp));
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bool disable = type == "Disable";
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if (disable){
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freq = 0.0f;
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damp = 0.0f;
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axis = 'A';
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type = "Default";
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} else if (freq < 0.0f || damp < 0.f || damp > 1.0f || (axis != 'X' && axis != 'Y' && axis != 'Z' && axis != 'A')) { // A = all axis
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throw std::runtime_error("Invalid input shaping parameters: axis=" + std::string(1, axis) + ", freq=" + std::to_string(freq) + ", damp=" + std::to_string(damp));
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}
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std::ostringstream gcode;
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if (FLAVOR_IS(gcfKlipper)) {
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gcode << "SET_INPUT_SHAPER";
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std::ostringstream params;
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switch (this->config.gcode_flavor) {
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case gcfKlipper: {
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if (!type.empty() && type != "Default") {
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gcode << " SHAPER_TYPE=" << type;
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params << " SHAPER_TYPE=" << type;
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}
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if (axis != 'A')
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{
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if (freq > 0.0f) {
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gcode << " SHAPER_FREQ_" << axis << "=" << std::fixed << std::setprecision(2) << freq;
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}
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if (damp > 0.0f){
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gcode << " DAMPING_RATIO_" << axis << "=" << std::fixed << std::setprecision(3) << damp;
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}
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} else {
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if (freq > 0.0f) {
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gcode << " SHAPER_FREQ_X=" << std::fixed << std::setprecision(2) << freq << " SHAPER_FREQ_Y=" << std::fixed << std::setprecision(2) << freq;
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params << " SHAPER_FREQ_" << axis << "=" << std::fixed << std::setprecision(2) << freq;
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}
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if (damp > 0.0f) {
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gcode << " DAMPING_RATIO_X=" << std::fixed << std::setprecision(3) << damp << " DAMPING_RATIO_Y=" << std::fixed << std::setprecision(3) << damp;
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params << " DAMPING_RATIO_" << axis << "=" << std::fixed << std::setprecision(3) << damp;
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}
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} else {
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if (freq > 0.0f || disable) {
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params << " SHAPER_FREQ_X=" << std::fixed << std::setprecision(2) << freq << " SHAPER_FREQ_Y=" << std::fixed << std::setprecision(2) << freq;
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}
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if (damp > 0.0f || disable) {
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params << " DAMPING_RATIO_X=" << std::fixed << std::setprecision(3) << damp << " DAMPING_RATIO_Y=" << std::fixed << std::setprecision(3) << damp;
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}
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}
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} else if (FLAVOR_IS(gcfRepRapFirmware)) {
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gcode << "M593";
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if (!params.str().empty()) {
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gcode << "SET_INPUT_SHAPER" << params.str();
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}
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break;
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}
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case gcfRepRapFirmware: {
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if (!type.empty() && type != "Default" && type != "DAA") {
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gcode << " P\"" << type << "\"";
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params << " P\"" << type << "\"";
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}
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if (freq > 0.0f) {
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gcode << " F" << std::fixed << std::setprecision(2) << freq;
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if (freq > 0.0f || disable) {
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params << " F" << std::fixed << std::setprecision(2) << freq;
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}
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if (damp > 0.0f){
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gcode << " S" << std::fixed << std::setprecision(3) << damp;
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if (damp > 0.0f || disable) {
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params << " S" << std::fixed << std::setprecision(3) << damp;
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}
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} else if (FLAVOR_IS(gcfMarlinFirmware)) {
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gcode << "M593";
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if (axis != 'A')
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{
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gcode << " " << axis;
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if (!params.str().empty()) {
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gcode << "M593" << params.str();
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}
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if (freq > 0.0f)
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{
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gcode << " F" << std::fixed << std::setprecision(2) << freq;
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break;
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}
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case gcfMarlinFirmware: {
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if (axis != 'A') {
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params << " " << axis;
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}
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if (damp > 0.0f)
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{
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gcode << " D" << std::fixed << std::setprecision(3) << damp;
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if (freq > 0.0f || disable) {
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params << " F" << std::fixed << std::setprecision(2) << freq;
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}
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} else {
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if (damp > 0.0f || disable) {
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params << " D" << std::fixed << std::setprecision(3) << damp;
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}
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if (!params.str().empty()) {
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gcode << "M593" << params.str();
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}
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break;
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}
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case gcfMarlinLegacy: {
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throw std::runtime_error("Input shaping is not supported by Marlin < 2.1.2.\nCheck your firmware version and update your G-code flavor to ´Marlin 2´");
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}
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default:
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throw std::runtime_error("Input shaping is only supported by Klipper, RepRapFirmware and Marlin 2");
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}
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if (GCodeWriter::full_gcode_comment){
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gcode << " ; Override input shaping";
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if (!gcode.str().empty()) {
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if (GCodeWriter::full_gcode_comment) {
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gcode << " ; Override input shaping";
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}
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gcode << "\n";
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}
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gcode << "\n";
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return gcode.str();
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}
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@@ -1318,6 +1318,8 @@ static std::vector<std::string> s_Preset_machine_limits_options {
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"machine_max_junction_deviation",
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//resonance avoidance ported from qidi slicer
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"resonance_avoidance", "min_resonance_avoidance_speed", "max_resonance_avoidance_speed",
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// Orca: input shaping
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"input_shaping_emit", "input_shaping_type", "input_shaping_freq_x", "input_shaping_freq_y", "input_shaping_damp_x", "input_shaping_damp_y",
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};
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static std::vector<std::string> s_Preset_printer_options {
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@@ -91,6 +91,25 @@ size_t get_extruder_index(const GCodeConfig& config, unsigned int filament_id)
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return 0;
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}
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// Orca: input shaping values types by flavor
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std::vector<std::string> get_shaper_type_values_for_flavor(GCodeFlavor flavor)
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{
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switch (flavor) {
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case GCodeFlavor::gcfKlipper:
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return {"Default", "MZV", "ZV", "ZVD", "EI", "2HUMP_EI", "3HUMP_EI"};
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case GCodeFlavor::gcfRepRapFirmware:
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return {"Default", "MZV", "ZV", "ZVD", "ZVDD", "ZVDDD", "EI2", "EI3", "DAA"};
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case GCodeFlavor::gcfMarlinFirmware:
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return {"ZV"};
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case GCodeFlavor::gcfMarlinLegacy:
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return {};
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default:
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break;
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}
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return {"Default"};
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}
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static t_config_enum_names enum_names_from_keys_map(const t_config_enum_values &enum_keys_map)
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{
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t_config_enum_names names;
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@@ -481,6 +500,23 @@ static t_config_enum_values s_keys_map_PrinterStructure {
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};
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CONFIG_OPTION_ENUM_DEFINE_STATIC_MAPS(PrinterStructure)
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static t_config_enum_values s_keys_map_InputShaperType {
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{"Default", int(InputShaperType::Default)},
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{"MZV", int(InputShaperType::MZV)},
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{"ZV", int(InputShaperType::ZV)},
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{"ZVD", int(InputShaperType::ZVD)},
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{"ZVDD", int(InputShaperType::ZVDD)},
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{"ZVDDD", int(InputShaperType::ZVDDD)},
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{"EI", int(InputShaperType::EI)},
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{"EI2", int(InputShaperType::EI2)},
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{"2HUMP_EI",int(InputShaperType::TwoHumpEI)},
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{"EI3", int(InputShaperType::EI3)},
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{"3HUMP_EI",int(InputShaperType::ThreeHumpEI)},
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{"DAA", int(InputShaperType::DAA)},
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{"Disable", int(InputShaperType::Disable)}
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};
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CONFIG_OPTION_ENUM_DEFINE_STATIC_MAPS(InputShaperType)
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static t_config_enum_values s_keys_map_PerimeterGeneratorType{
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{ "classic", int(PerimeterGeneratorType::Classic) },
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{ "arachne", int(PerimeterGeneratorType::Arachne) }
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@@ -4243,8 +4279,8 @@ void PrintConfigDef::init_fff_params()
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def = this->add("emit_machine_limits_to_gcode", coBool);
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def->label = L("Emit limits to G-code");
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def->category = L("Machine limits");
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def->tooltip = L("If enabled, the machine limits will be emitted to G-code file.\nThis option will be ignored if the G-code flavor is "
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"set to Klipper.");
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def->tooltip = L("If enabled, the machine limits will be emitted to G-code file.\nThis option will be ignored if the G-code flavor is "
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"set to Klipper.");
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def->mode = comAdvanced;
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def->set_default_value(new ConfigOptionBool(true));
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@@ -4455,6 +4491,56 @@ void PrintConfigDef::init_fff_params()
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def->mode = comAdvanced;
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def->set_default_value(new ConfigOptionFloat(120));
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// Orca: Input Shaping support
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def = this->add("input_shaping_emit", coBool);
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def->label = L("Emit input shaping");
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def->tooltip = L("Override firmware input shaping settings.\nIf disabled, firmware settings are used.");
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def->mode = comExpert;
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def->set_default_value(new ConfigOptionBool(false));
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def = this->add("input_shaping_type", coEnum);
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def->label = L("Input shaper type");
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def->tooltip = L("Choose the input shaper algorithm.\nDefault uses the firmware default settings.\nDisable turns off input shaping in the firmware.");
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def->enum_keys_map = &ConfigOptionEnum<InputShaperType>::get_enum_values();
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def->enum_values = {"Default", "MZV", "ZV", "ZVD", "ZVDD", "ZVDDD", "EI", "EI2", "2HUMP_EI", "EI3", "3HUMP_EI", "DAA", "Disable"};
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def->enum_labels = {L("Default"), L("MZV"), L("ZV"), L("ZVD"), L("ZVDD"), L("ZVDDD"), L("EI"), L("EI2"), L("2HUMP_EI"), L("EI3"), L("3HUMP_EI"), L("DAA"), L("Disable")};
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def->mode = comExpert;
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def->set_default_value(new ConfigOptionEnum<InputShaperType>(InputShaperType::Default));
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def = this->add("input_shaping_freq_x", coFloat);
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def->label = L("X");
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def->tooltip = L("Resonant frequency for the X axis input shaper.\nZero will use the firmware frequency.\nTo disable input shaping, use the Disable type.\nRRF: X and Y values are equal.");
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def->sidetext = "Hz";
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def->min = 0;
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def->max = 1000;
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def->mode = comExpert;
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def->set_default_value(new ConfigOptionFloat(0));
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def = this->add("input_shaping_freq_y", coFloat);
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def->label = L("Y");
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def->tooltip = L("Resonant frequency for the Y axis input shaper.\nZero will use the firmware frequency.\nTo disable input shaping, use the Disable type.");
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def->sidetext = "Hz";
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def->min = 0;
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def->max = 1000;
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def->mode = comExpert;
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def->set_default_value(new ConfigOptionFloat(0));
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def = this->add("input_shaping_damp_x", coFloat);
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def->label = L("X");
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def->tooltip = L("Damping ratio for the X axis input shaper.\nZero will use the firmware damping ratio.\nTo disable input shaping, use the Disable type.\nRRF: X and Y values are equal.");
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def->min = 0;
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def->max = 1;
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def->mode = comExpert;
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def->set_default_value(new ConfigOptionFloat(0.1));
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def = this->add("input_shaping_damp_y", coFloat);
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def->label = L("Y");
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def->tooltip = L("Damping ratio for the Y axis input shaper.\nZero will use the firmware damping ratio.\nTo disable input shaping, use the Disable type.");
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def->min = 0;
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def->max = 1;
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def->mode = comExpert;
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def->set_default_value(new ConfigOptionFloat(0.1));
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def = this->add("fan_max_speed", coFloats);
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def->label = L("Fan speed");
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def->tooltip = L("Part cooling fan speed may be increased when auto cooling is enabled. "
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@@ -362,6 +362,22 @@ enum PrinterStructure {
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psDelta
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};
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enum class InputShaperType : unsigned char {
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Default = 0,
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MZV,
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ZV,
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ZVD,
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ZVDD,
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ZVDDD,
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EI,
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EI2,
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TwoHumpEI,
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EI3,
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ThreeHumpEI,
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DAA,
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Disable
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};
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// BBS
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enum ZHopType {
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zhtAuto = 0,
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@@ -525,6 +541,7 @@ CONFIG_OPTION_ENUM_DECLARE_STATIC_MAPS(BrimType)
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CONFIG_OPTION_ENUM_DECLARE_STATIC_MAPS(TimelapseType)
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CONFIG_OPTION_ENUM_DECLARE_STATIC_MAPS(BedType)
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CONFIG_OPTION_ENUM_DECLARE_STATIC_MAPS(SkirtType)
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CONFIG_OPTION_ENUM_DECLARE_STATIC_MAPS(InputShaperType)
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CONFIG_OPTION_ENUM_DECLARE_STATIC_MAPS(DraftShield)
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CONFIG_OPTION_ENUM_DECLARE_STATIC_MAPS(ForwardCompatibilitySubstitutionRule)
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CONFIG_OPTION_ENUM_DECLARE_STATIC_MAPS(GCodeThumbnailsFormat)
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@@ -1259,6 +1276,14 @@ PRINT_CONFIG_CLASS_DEFINE(
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((ConfigOptionBool, resonance_avoidance))
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((ConfigOptionFloat, min_resonance_avoidance_speed))
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((ConfigOptionFloat, max_resonance_avoidance_speed))
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//Orca: Input shaping
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((ConfigOptionBool, input_shaping_emit))
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((ConfigOptionEnum<InputShaperType>, input_shaping_type))
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((ConfigOptionFloat, input_shaping_freq_x))
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((ConfigOptionFloat, input_shaping_freq_y))
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((ConfigOptionFloat, input_shaping_damp_x))
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((ConfigOptionFloat, input_shaping_damp_y))
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)
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// This object is mapped to Perl as Slic3r::Config::GCode.
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