Merge branch 'master' of https://github.com/gbkwiatt/klipper-idex; br…

…anch 'master' of https://github.com/Klipper3d/klipper

docs/Config_Changes.md

@@ -8,6 +8,9 @@ All dates in this document are approximate.
 
 ## Changes
 
+20230525: `SHAPER_CALIBRATE` command immediately applies input shaper
+parameters if `[input_shaper]` was enabled already.
+
 20230407: The `stalled_bytes` counter in the log and in the
 `printer.mcu.last_stats` field has been renamed to `upcoming_bytes`.
 

docs/G-Codes.md

@@ -1053,7 +1053,7 @@ frequency response is calculated (across all probe points) and written into
 
 #### SHAPER_CALIBRATE
 `SHAPER_CALIBRATE [AXIS=<axis>] [NAME=<name>] [FREQ_START=<min_freq>]
-[FREQ_END=<max_freq>] [HZ_PER_SEC=<hz_per_sec>]
+[FREQ_END=<max_freq>] [HZ_PER_SEC=<hz_per_sec>] [CHIPS=<adxl345_chip_name>]
 [MAX_SMOOTHING=<max_smoothing>]`: Similarly to `TEST_RESONANCES`, runs
 the resonance test as configured, and tries to find the optimal
 parameters for the input shaper for the requested axis (or both X and
@@ -1067,7 +1067,9 @@ frequency responses and the different input shapers values are written
 to a CSV file(s) `/tmp/calibration_data_<axis>_<name>.csv`. Unless
 specified, NAME defaults to the current time in "YYYYMMDD_HHMMSS"
 format. Note that the suggested input shaper parameters can be
-persisted in the config by issuing `SAVE_CONFIG` command.
+persisted in the config by issuing `SAVE_CONFIG` command, and if
+`[input_shaper]` was already enabled previously, these parameters
+take effect immediately.
 
 ### [respond]
 

klippy/extras/resonance_tester.py

@@ -207,11 +207,21 @@ def _run_test(self, gcmd, axes, helper, raw_name_suffix=None,
                     else:
                         calibration_data[axis].add_data(new_data)
         return calibration_data
+    def _parse_chips(self, accel_chips):
+        parsed_chips = []
+        for chip_name in accel_chips.split(','):
+            if "adxl345" in chip_name:
+                chip_lookup_name = chip_name.strip()
+            else:
+                chip_lookup_name = "adxl345 " + chip_name.strip();
+            chip = self.printer.lookup_object(chip_lookup_name)
+            parsed_chips.append(chip)
+        return parsed_chips
     cmd_TEST_RESONANCES_help = ("Runs the resonance test for a specifed axis")
     def cmd_TEST_RESONANCES(self, gcmd):
         # Parse parameters
         axis = _parse_axis(gcmd, gcmd.get("AXIS").lower())
-        accel_chips = gcmd.get("CHIPS", None)
+        chips_str = gcmd.get("CHIPS", None)
         test_point = gcmd.get("POINT", None)
 
         if test_point:
@@ -224,15 +234,7 @@ def cmd_TEST_RESONANCES(self, gcmd):
                 raise gcmd.error("Invalid POINT parameter, must be 'x,y,z'"
                 " where x, y and z are valid floating point numbers")
 
-        if accel_chips:
-            parsed_chips = []
-            for chip_name in accel_chips.split(','):
-                if "adxl345" in chip_name:
-                    chip_lookup_name = chip_name.strip()
-                else:
-                    chip_lookup_name = "adxl345 " + chip_name.strip();
-                chip = self.printer.lookup_object(chip_lookup_name)
-                parsed_chips.append(chip)
+        accel_chips = self._parse_chips(chips_str) if chips_str else None
 
         outputs = gcmd.get("OUTPUT", "resonances").lower().split(',')
         for output in outputs:
@@ -257,8 +259,7 @@ def cmd_TEST_RESONANCES(self, gcmd):
         data = self._run_test(
                 gcmd, [axis], helper,
                 raw_name_suffix=name_suffix if raw_output else None,
-                accel_chips=parsed_chips if accel_chips else None,
-                test_point=test_point)[axis]
+                accel_chips=accel_chips, test_point=test_point)[axis]
         if csv_output:
             csv_name = self.save_calibration_data('resonances', name_suffix,
                                                   helper, axis, data,
@@ -276,6 +277,8 @@ def cmd_SHAPER_CALIBRATE(self, gcmd):
             raise gcmd.error("Unsupported axis '%s'" % (axis,))
         else:
             calibrate_axes = [TestAxis(axis.lower())]
+        chips_str = gcmd.get("CHIPS", None)
+        accel_chips = self._parse_chips(chips_str) if chips_str else None
 
         max_smoothing = gcmd.get_float(
                 "MAX_SMOOTHING", self.max_smoothing, minval=0.05)
@@ -284,10 +287,13 @@ def cmd_SHAPER_CALIBRATE(self, gcmd):
         if not self.is_valid_name_suffix(name_suffix):
             raise gcmd.error("Invalid NAME parameter")
 
+        input_shaper = self.printer.lookup_object('input_shaper', None)
+
         # Setup shaper calibration
         helper = shaper_calibrate.ShaperCalibrate(self.printer)
 
-        calibration_data = self._run_test(gcmd, calibrate_axes, helper)
+        calibration_data = self._run_test(gcmd, calibrate_axes, helper,
+                                          accel_chips=accel_chips)
 
         configfile = self.printer.lookup_object('configfile')
         for axis in calibrate_axes:
@@ -302,6 +308,9 @@ def cmd_SHAPER_CALIBRATE(self, gcmd):
                     "Recommended shaper_type_%s = %s, shaper_freq_%s = %.1f Hz"
                     % (axis_name, best_shaper.name,
                        axis_name, best_shaper.freq))
+            if input_shaper is not None:
+                helper.apply_params(input_shaper, axis_name,
+                                    best_shaper.name, best_shaper.freq)
             helper.save_params(configfile, axis_name,
                                best_shaper.name, best_shaper.freq)
             csv_name = self.save_calibration_data(

klippy/extras/shaper_calibrate.py

@@ -334,6 +334,18 @@ def save_params(self, configfile, axis, shaper_name, shaper_freq):
             configfile.set('input_shaper', 'shaper_freq_'+axis,
                            '%.1f' % (shaper_freq,))
 
+    def apply_params(self, input_shaper, axis, shaper_name, shaper_freq):
+        if axis == 'xy':
+            self.apply_params(input_shaper, 'x', shaper_name, shaper_freq)
+            self.apply_params(input_shaper, 'y', shaper_name, shaper_freq)
+            return
+        gcode = self.printer.lookup_object("gcode")
+        axis = axis.upper()
+        input_shaper.cmd_SET_INPUT_SHAPER(gcode.create_gcode_command(
+                "SET_INPUT_SHAPER", "SET_INPUT_SHAPER", {
+                    "SHAPER_TYPE_" + axis: shaper_name,
+                    "SHAPER_FREQ_" + axis: shaper_freq}))
+
     def save_calibration_data(self, output, calibration_data, shapers=None):
         try:
             with open(output, "w") as csvfile:

klippy/kinematics/hybrid_corexy.py

@@ -66,7 +66,11 @@ def calc_position(self, stepper_positions):
         else:
             return [pos[0] + pos[1], pos[1], pos[2]]
     def update_limits(self, i, range):
-        self.limits[i] = range
+        l, h = self.limits[i]
+        # Only update limits if this axis was already homed,
+        # otherwise leave in un-homed state.
+        if l <= h:
+            self.limits[i] = range
     def override_rail(self, i, rail):
         self.rails[i] = rail
     def set_position(self, newpos, homing_axes):

klippy/kinematics/hybrid_corexz.py

@@ -66,7 +66,11 @@ def calc_position(self, stepper_positions):
         else:
             return [pos[0] + pos[2], pos[1], pos[2]]
     def update_limits(self, i, range):
-        self.limits[i] = range
+        l, h = self.limits[i]
+        # Only update limits if this axis was already homed,
+        # otherwise leave in un-homed state.
+        if l <= h:
+            self.limits[i] = range
     def override_rail(self, i, rail):
         self.rails[i] = rail
     def set_position(self, newpos, homing_axes):