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input_shaper: Fixed tracking of step_generation_scan_time 

Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
This commit is contained in:
Dmitry Butyugin 2023-04-16 00:31:45 +02:00 committed by KevinOConnor
parent 345934bd68
commit e15bad4844
3 changed files with 12 additions and 20 deletions
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4
klippy/chelper/__init__.py
View File

@ -144,8 +144,8 @@ defs_kin_extruder = """
""" """
defs_kin_shaper = """ defs_kin_shaper = """
double input_shaper_get_step_generation_window(int n, double a[] double input_shaper_get_step_generation_window(
, double t[]); struct stepper_kinematics *sk);
int input_shaper_set_shaper_params(struct stepper_kinematics *sk, char axis int input_shaper_set_shaper_params(struct stepper_kinematics *sk, char axis
, int n, double a[], double t[]); , int n, double a[], double t[]);
int input_shaper_set_sk(struct stepper_kinematics *sk int input_shaper_set_sk(struct stepper_kinematics *sk

13
klippy/chelper/kin_shaper.c
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@ -210,16 +210,11 @@ input_shaper_set_shaper_params(struct stepper_kinematics *sk, char axis
} }
double __visible double __visible
input_shaper_get_step_generation_window(int n, double a[], double t[]) input_shaper_get_step_generation_window(struct stepper_kinematics *sk)
{ {
struct shaper_pulses sp; struct input_shaper *is = container_of(sk, struct input_shaper, sk);
init_shaper(n, a, t, &sp); return is->sk.gen_steps_pre_active > is->sk.gen_steps_post_active
if (!sp.num_pulses) ? is->sk.gen_steps_pre_active : is->sk.gen_steps_post_active;
return 0.;
double window = -sp.pulses[0].t;
if (sp.pulses[sp.num_pulses-1].t > window)
window = sp.pulses[sp.num_pulses-1].t;
return window;
} }
struct stepper_kinematics * __visible struct stepper_kinematics * __visible

15
klippy/extras/input_shaper.py
View File

@ -70,10 +70,6 @@ class AxisInputShaper:
ffi_lib.input_shaper_set_shaper_params( ffi_lib.input_shaper_set_shaper_params(
sk, self.axis.encode(), self.n, self.A, self.T) sk, self.axis.encode(), self.n, self.A, self.T)
return success return success
def get_step_generation_window(self):
ffi_main, ffi_lib = chelper.get_ffi()
return ffi_lib.input_shaper_get_step_generation_window(self.n,
self.A, self.T)
def disable_shaping(self): def disable_shaping(self):
if self.saved is None and self.n: if self.saved is None and self.n:
self.saved = (self.n, self.A, self.T) self.saved = (self.n, self.A, self.T)
@ -109,7 +105,6 @@ class InputShaper:
def connect(self): def connect(self):
self.toolhead = self.printer.lookup_object("toolhead") self.toolhead = self.printer.lookup_object("toolhead")
# Configure initial values # Configure initial values
self.old_delay = 0.
self._update_input_shaping(error=self.printer.config_error) self._update_input_shaping(error=self.printer.config_error)
def _get_input_shaper_stepper_kinematics(self, stepper): def _get_input_shaper_stepper_kinematics(self, stepper):
# Lookup stepper kinematics # Lookup stepper kinematics
@ -131,10 +126,7 @@ class InputShaper:
return is_sk return is_sk
def _update_input_shaping(self, error=None): def _update_input_shaping(self, error=None):
self.toolhead.flush_step_generation() self.toolhead.flush_step_generation()
new_delay = max([s.get_step_generation_window() for s in self.shapers]) ffi_main, ffi_lib = chelper.get_ffi()
self.toolhead.note_step_generation_scan_time(new_delay,
old_delay=self.old_delay)
self.old_delay = new_delay
kin = self.toolhead.get_kinematics() kin = self.toolhead.get_kinematics()
failed_shapers = [] failed_shapers = []
for s in kin.get_steppers(): for s in kin.get_steppers():
@ -143,11 +135,16 @@ class InputShaper:
is_sk = self._get_input_shaper_stepper_kinematics(s) is_sk = self._get_input_shaper_stepper_kinematics(s)
if is_sk is None: if is_sk is None:
continue continue
old_delay = ffi_lib.input_shaper_get_step_generation_window(is_sk)
for shaper in self.shapers: for shaper in self.shapers:
if shaper in failed_shapers: if shaper in failed_shapers:
continue continue
if not shaper.set_shaper_kinematics(is_sk): if not shaper.set_shaper_kinematics(is_sk):
failed_shapers.append(shaper) failed_shapers.append(shaper)
new_delay = ffi_lib.input_shaper_get_step_generation_window(is_sk)
if old_delay != new_delay:
self.toolhead.note_step_generation_scan_time(new_delay,
old_delay)
if failed_shapers: if failed_shapers:
error = error or self.printer.command_error error = error or self.printer.command_error
raise error("Failed to configure shaper(s) %s with given parameters" raise error("Failed to configure shaper(s) %s with given parameters"