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input_shaper: Initial support of input shaping (#3032)

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Input shaping can help to reduce printer vibrations due to resonances
and eliminate or reduce ghosting in prints.

Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
This commit is contained in:
Dmitry Butyugin
2020-07-06 02:54:38 +02:00
committed by GitHub
parent 09a3d018a8
commit 4bdc11a8b3
5 changed files with 626 additions and 2 deletions
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26
klippy/chelper/__init__.py
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@@ -17,7 +17,7 @@ COMPILE_CMD = ("gcc -Wall -g -O2 -shared -fPIC"
SOURCE_FILES = [
'pyhelper.c', 'serialqueue.c', 'stepcompress.c', 'itersolve.c', 'trapq.c',
'kin_cartesian.c', 'kin_corexy.c', 'kin_delta.c', 'kin_polar.c',
'kin_rotary_delta.c', 'kin_winch.c', 'kin_extruder.c',
'kin_rotary_delta.c', 'kin_winch.c', 'kin_extruder.c', 'kin_shaper.c',
]
DEST_LIB = "c_helper.so"
OTHER_FILES = [
@@ -104,6 +104,27 @@ defs_kin_extruder = """
, double smooth_time);
"""
defs_kin_shaper = """
enum INPUT_SHAPER_TYPE {
INPUT_SHAPER_ZV = 0,
INPUT_SHAPER_ZVD = 1,
INPUT_SHAPER_MZV = 2,
INPUT_SHAPER_EI = 3,
INPUT_SHAPER_2HUMP_EI = 4,
INPUT_SHAPER_3HUMP_EI = 5,
};
double input_shaper_get_step_generation_window(int shaper_type
, double shaper_freq, double damping_ratio);
int input_shaper_set_shaper_params(struct stepper_kinematics *sk
, int shaper_type_x, int shaper_type_y
, double shaper_freq_x, double shaper_freq_y
, double damping_ratio_x, double damping_ratio_y);
int input_shaper_set_sk(struct stepper_kinematics *sk
, struct stepper_kinematics *orig_sk);
struct stepper_kinematics * input_shaper_alloc(void);
"""
defs_serialqueue = """
#define MESSAGE_MAX 64
struct pull_queue_message {
@@ -147,7 +168,8 @@ defs_all = [
defs_pyhelper, defs_serialqueue, defs_std,
defs_stepcompress, defs_itersolve, defs_trapq,
defs_kin_cartesian, defs_kin_corexy, defs_kin_delta, defs_kin_polar,
defs_kin_rotary_delta, defs_kin_winch, defs_kin_extruder
defs_kin_rotary_delta, defs_kin_winch, defs_kin_extruder,
defs_kin_shaper,
]
# Return the list of file modification times