Adjustable XY_FREQUENCY_LIMIT (#17583)

Marlin/Configuration_adv.h

@@ -784,10 +784,16 @@
   #define SLOWDOWN_DIVISOR 2
 #endif
 
-// Frequency limit
-// See nophead's blog for more info
-// Not working O
-//#define XY_FREQUENCY_LIMIT  15
+/**
+ * XY Frequency limit
+ * Reduce resonance by limiting the frequency of small zigzag infill moves.
+ * See http://hydraraptor.blogspot.com/2010/12/frequency-limit.html
+ * Use M201 F<freq> G<min%> to change limits at runtime.
+ */
+//#define XY_FREQUENCY_LIMIT      10 // (Hz) Maximum frequency of small zigzag infill moves. Set with M201 F<hertz>.
+#ifdef XY_FREQUENCY_LIMIT
+  #define XY_FREQUENCY_MIN_PERCENT 5 // (percent) Minimum FR percentage to apply. Set with M201 G<min%>.
+#endif
 
 // Minimum planner junction speed. Sets the default minimum speed the planner plans for at the end
 // of the buffer and all stops. This should not be much greater than zero and should only be changed

Marlin/src/gcode/config/M200-M205.cpp

@@ -60,6 +60,11 @@ void GcodeSuite::M201() {
   const int8_t target_extruder = get_target_extruder_from_command();
   if (target_extruder < 0) return;
 
+  #ifdef XY_FREQUENCY_LIMIT
+    if (parser.seenval('F')) planner.set_frequency_limit(parser.value_byte());
+    if (parser.seenval('G')) planner.xy_freq_min_speed_factor = constrain(parser.value_float(), 1, 100) / 100;
+  #endif
+
   LOOP_XYZE(i) {
     if (parser.seen(axis_codes[i])) {
       const uint8_t a = (i == E_AXIS ? uint8_t(E_AXIS_N(target_extruder)) : i);

Marlin/src/lcd/language/language_en.h

@@ -301,6 +301,8 @@ namespace Language_en {
   PROGMEM Language_Str MSG_AMAX_EN                         = _UxGT("Amax *");
   PROGMEM Language_Str MSG_A_RETRACT                       = _UxGT("A-Retract");
   PROGMEM Language_Str MSG_A_TRAVEL                        = _UxGT("A-Travel");
+  PROGMEM Language_Str MSG_XY_FREQUENCY_LIMIT              = _UxGT("Frequency max");
+  PROGMEM Language_Str MSG_XY_FREQUENCY_FEEDRATE           = _UxGT("Feed min");
   PROGMEM Language_Str MSG_STEPS_PER_MM                    = _UxGT("Steps/mm");
   PROGMEM Language_Str MSG_A_STEPS                         = LCD_STR_A _UxGT("steps/mm");
   PROGMEM Language_Str MSG_B_STEPS                         = LCD_STR_B _UxGT("steps/mm");

Marlin/src/lcd/language/language_fr.h

@@ -262,6 +262,8 @@ namespace Language_fr {
   PROGMEM Language_Str MSG_ACCELERATION                    = _UxGT("Accélération");
   PROGMEM Language_Str MSG_A_RETRACT                       = _UxGT("Acc.rétraction");
   PROGMEM Language_Str MSG_A_TRAVEL                        = _UxGT("Acc.course");
+  PROGMEM Language_Str MSG_XY_FREQUENCY_LIMIT              = _UxGT("Fréquence max");
+  PROGMEM Language_Str MSG_XY_FREQUENCY_FEEDRATE           = _UxGT("Vitesse min");
   PROGMEM Language_Str MSG_STEPS_PER_MM                    = _UxGT("Pas/mm");
   PROGMEM Language_Str MSG_A_STEPS                         = LCD_STR_A _UxGT(" pas/mm");
   PROGMEM Language_Str MSG_B_STEPS                         = LCD_STR_B _UxGT(" pas/mm");

Marlin/src/lcd/menu/menu_advanced.cpp

@@ -405,9 +405,9 @@ void menu_cancelobject();
     #endif
 
     #define EDIT_AMAX(Q,L) EDIT_ITEM_FAST(long5_25, MSG_AMAX_##Q, &planner.settings.max_acceleration_mm_per_s2[_AXIS(Q)], L, max_accel_edit_scaled[_AXIS(Q)], []{ planner.reset_acceleration_rates(); })
-    EDIT_AMAX(A,100);
-    EDIT_AMAX(B,100);
-    EDIT_AMAX(C, 10);
+    EDIT_AMAX(A, 100);
+    EDIT_AMAX(B, 100);
+    EDIT_AMAX(C,  10);
 
     #if ENABLED(DISTINCT_E_FACTORS)
       EDIT_ITEM_FAST(long5_25, MSG_AMAX_E, &planner.settings.max_acceleration_mm_per_s2[E_AXIS_N(active_extruder)], 100, max_accel_edit_scaled.e, []{ planner.reset_acceleration_rates(); });
@@ -417,6 +417,12 @@ void menu_cancelobject();
       EDIT_ITEM_FAST(long5_25, MSG_AMAX_E, &planner.settings.max_acceleration_mm_per_s2[E_AXIS], 100, max_accel_edit_scaled.e, []{ planner.reset_acceleration_rates(); });
     #endif
 
+    #ifdef XY_FREQUENCY_LIMIT
+      EDIT_ITEM(uint16_3, MSG_XY_FREQUENCY_LIMIT, &planner.xy_freq_limit_hz, 0, 100, refresh_frequency_limit(), true);
+      editable.uint8 = ROUND(planner.xy_freq_min_speed_factor * 255 * 100); // percent to u8
+      EDIT_ITEM(percent, MSG_XY_FREQUENCY_FEEDRATE, &editable.uint8, 3, 255, []{ planner.set_min_speed_factor_u8(editable.uint8); }, true);
+    #endif
+
     END_MENU();
   }
 

Marlin/src/module/planner.cpp

@@ -113,7 +113,7 @@
 
 Planner planner;
 
-  // public:
+// public:
 
 /**
  * A ring buffer of moves described in steps
@@ -200,10 +200,9 @@ float Planner::previous_nominal_speed_sqr;
 #endif
 
 #ifdef XY_FREQUENCY_LIMIT
-  // Old direction bits. Used for speed calculations
-  unsigned char Planner::old_direction_bits = 0;
-  // Segment times (in µs). Used for speed calculations
-  xy_ulong_t Planner::axis_segment_time_us[3] = { { MAX_FREQ_TIME_US + 1, MAX_FREQ_TIME_US + 1 } };
+  int8_t Planner::xy_freq_limit_hz = XY_FREQUENCY_LIMIT;
+  float Planner::xy_freq_min_speed_factor = (XY_FREQUENCY_MIN_PERCENT) * 0.01f;
+  int32_t Planner::xy_freq_min_interval_us = LROUND(1000000.0 / (XY_FREQUENCY_LIMIT));
 #endif
 
 #if ENABLED(LIN_ADVANCE)
@@ -2006,7 +2005,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
   // Slow down when the buffer starts to empty, rather than wait at the corner for a buffer refill
   #if EITHER(SLOWDOWN, ULTRA_LCD) || defined(XY_FREQUENCY_LIMIT)
     // Segment time im micro seconds
-    uint32_t segment_time_us = LROUND(1000000.0f / inverse_secs);
+    int32_t segment_time_us = LROUND(1000000.0f / inverse_secs);
   #endif
 
   #if ENABLED(SLOWDOWN)
@@ -2014,9 +2013,10 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
       #define SLOWDOWN_DIVISOR 2
     #endif
     if (WITHIN(moves_queued, 2, (BLOCK_BUFFER_SIZE) / (SLOWDOWN_DIVISOR) - 1)) {
-      if (segment_time_us < settings.min_segment_time_us) {
-        // buffer is draining, add extra time.  The amount of time added increases if the buffer is still emptied more.
-        const uint32_t nst = segment_time_us + LROUND(2 * (settings.min_segment_time_us - segment_time_us) / moves_queued);
+      const int32_t time_diff = settings.min_segment_time_us - segment_time_us;
+      if (time_diff > 0) {
+        // Buffer is draining so add extra time. The amount of time added increases if the buffer is still emptied more.
+        const int32_t nst = segment_time_us + LROUND(2 * time_diff / moves_queued);
         inverse_secs = 1000000.0f / nst;
         #if defined(XY_FREQUENCY_LIMIT) || HAS_SPI_LCD
           segment_time_us = nst;
@@ -2072,42 +2072,36 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
     }
   #endif
 
-  // Max segment time in µs.
   #ifdef XY_FREQUENCY_LIMIT
 
-    // Check and limit the xy direction change frequency
-    const unsigned char direction_change = block->direction_bits ^ old_direction_bits;
-    old_direction_bits = block->direction_bits;
-    segment_time_us = LROUND((float)segment_time_us / speed_factor);
-
-    uint32_t xs0 = axis_segment_time_us[0].x,
-             xs1 = axis_segment_time_us[1].x,
-             xs2 = axis_segment_time_us[2].x,
-             ys0 = axis_segment_time_us[0].y,
-             ys1 = axis_segment_time_us[1].y,
-             ys2 = axis_segment_time_us[2].y;
-
-    if (TEST(direction_change, X_AXIS)) {
-      xs2 = axis_segment_time_us[2].x = xs1;
-      xs1 = axis_segment_time_us[1].x = xs0;
-      xs0 = 0;
-    }
-    xs0 = axis_segment_time_us[0].x = xs0 + segment_time_us;
+    static uint8_t old_direction_bits; // = 0
 
-    if (TEST(direction_change, Y_AXIS)) {
-      ys2 = axis_segment_time_us[2].y = axis_segment_time_us[1].y;
-      ys1 = axis_segment_time_us[1].y = axis_segment_time_us[0].y;
-      ys0 = 0;
-    }
-    ys0 = axis_segment_time_us[0].y = ys0 + segment_time_us;
-
-    const uint32_t max_x_segment_time = _MAX(xs0, xs1, xs2),
-                   max_y_segment_time = _MAX(ys0, ys1, ys2),
-                   min_xy_segment_time = _MIN(max_x_segment_time, max_y_segment_time);
-    if (min_xy_segment_time < MAX_FREQ_TIME_US) {
-      const float low_sf = speed_factor * min_xy_segment_time / (MAX_FREQ_TIME_US);
-      NOMORE(speed_factor, low_sf);
+    if (xy_freq_limit_hz) {
+      // Check and limit the xy direction change frequency
+      const uint8_t direction_change = block->direction_bits ^ old_direction_bits;
+      old_direction_bits = block->direction_bits;
+      segment_time_us = LROUND(float(segment_time_us) / speed_factor);
+
+      static int32_t xs0, xs1, xs2, ys0, ys1, ys2;
+      if (segment_time_us > xy_freq_min_interval_us)
+        xs2 = xs1 = ys2 = ys1 = xy_freq_min_interval_us;
+      else {
+        xs2 = xs1; xs1 = xs0;
+        ys2 = ys1; ys1 = ys0;
+      }
+      xs0 = TEST(direction_change, X_AXIS) ? segment_time_us : xy_freq_min_interval_us;
+      ys0 = TEST(direction_change, Y_AXIS) ? segment_time_us : xy_freq_min_interval_us;
+
+      if (segment_time_us < xy_freq_min_interval_us) {
+        const int32_t least_xy_segment_time = _MIN(_MAX(xs0, xs1, xs2), _MAX(ys0, ys1, ys2));
+        if (least_xy_segment_time < xy_freq_min_interval_us) {
+          float freq_xy_feedrate = (speed_factor * least_xy_segment_time) / xy_freq_min_interval_us;
+          NOLESS(freq_xy_feedrate, xy_freq_min_speed_factor);
+          NOMORE(speed_factor, freq_xy_feedrate);
+        }
+      }
     }
+
   #endif // XY_FREQUENCY_LIMIT
 
   // Correct the speed
@@ -2832,7 +2826,7 @@ void Planner::set_max_jerk(const AxisEnum axis, float targetValue) {
       const bool was_enabled = stepper.suspend();
     #endif
 
-    millis_t bbru = block_buffer_runtime_us;
+    uint32_t bbru = block_buffer_runtime_us;
 
     #ifdef __AVR__
       // Reenable Stepper ISR
@@ -2844,7 +2838,7 @@ void Planner::set_max_jerk(const AxisEnum axis, float targetValue) {
     // Doesn't matter because block_buffer_runtime_us is already too small an estimation.
     bbru >>= 10;
     // limit to about a minute.
-    NOMORE(bbru, 0xFFFFul);
+    NOMORE(bbru, 0x0000FFFFUL);
     return bbru;
   }
 

Marlin/src/module/planner.h

@@ -352,6 +352,23 @@ class Planner {
     #if ENABLED(SD_ABORT_ON_ENDSTOP_HIT)
       static bool abort_on_endstop_hit;
     #endif
+    #ifdef XY_FREQUENCY_LIMIT
+      static int8_t xy_freq_limit_hz;         // Minimum XY frequency setting
+      static float xy_freq_min_speed_factor;  // Minimum speed factor setting
+      static int32_t xy_freq_min_interval_us; // Minimum segment time based on xy_freq_limit_hz
+      static inline void refresh_frequency_limit() {
+        //xy_freq_min_interval_us = xy_freq_limit_hz ?: LROUND(1000000.0f / xy_freq_limit_hz);
+        if (xy_freq_limit_hz)
+          xy_freq_min_interval_us = LROUND(1000000.0f / xy_freq_limit_hz);
+      }
+      static inline void set_min_speed_factor_u8(const uint8_t v255) {
+        xy_freq_min_speed_factor = float(ui8_to_percent(v255)) / 100;
+      }
+      static inline void set_frequency_limit(const uint8_t hz) {
+        xy_freq_limit_hz = constrain(hz, 0, 100);
+        refresh_frequency_limit();
+      }
+    #endif
 
   private:
 
@@ -375,23 +392,12 @@ class Planner {
     #endif
 
     #if ENABLED(DISABLE_INACTIVE_EXTRUDER)
-      /**
-       * Counters to manage disabling inactive extruders
-       */
+       // Counters to manage disabling inactive extruders
       static uint8_t g_uc_extruder_last_move[EXTRUDERS];
-    #endif // DISABLE_INACTIVE_EXTRUDER
-
-    #ifdef XY_FREQUENCY_LIMIT
-      // Used for the frequency limit
-      #define MAX_FREQ_TIME_US (uint32_t)(1000000.0 / XY_FREQUENCY_LIMIT)
-      // Old direction bits. Used for speed calculations
-      static unsigned char old_direction_bits;
-      // Segment times (in µs). Used for speed calculations
-      static xy_ulong_t axis_segment_time_us[3];
     #endif
 
     #if HAS_SPI_LCD
-      volatile static uint32_t block_buffer_runtime_us; //Theoretical block buffer runtime in µs
+      volatile static uint32_t block_buffer_runtime_us; // Theoretical block buffer runtime in µs
     #endif
 
   public: