RRF 3.4 input shaping preview available

nuroo

Thanks for trying to help. I did see the orientation.pdf but I was unable to determine which orientation I should choose based on the picutures because I have the adafruit sensor. When I initially set up the sensor I chose I50, but I'm unsure if it correct.

M955 P0 C"spi.cs6+spi.cs5" I50 Q2000000 ;LIS3DH Adafruit2809

The main point I failed to make with my past post was I wish the firmware determined the correct orientation. Couldnt the printer do a series of moves and see how user has sensor mounted??
I mean the printer knows what are the correct X and Y axis. If printer issues an X+ move but sensor registers a Z- for example. Then another movement to determine 1 other axis. 2 axis known. Third movement unnesscary because if 2 axis known, third is whats left???

I imagine lots of troubleshooting ahead if users are picking the wrong orientation. Then try to tune the wrong axis to fix ringing <<--like this guy

MikeS

@nuroo thanks for the photo! From these i can see that your accelerometer Z axis is facing -X (4) and X axis is facing -Y (5) so your correct I parameter should be 45.

For the auto detection i think it wouldn't be a problem but also finding it manually is not so complicated once you understand how it works. Also this need to be done only one time if you don't plan to move the accelerometer.

I'm planning on also removing the accelerometer once the readings are done and installing it only if i retighten the belts.

nuroo

@mikes thank u, Sir.

I would never have chosen that orientation even after viewing the pdf. It confuses me, I wont be the only one I think.

skrotz

@dc42 any new firmwares to test!? I’m able to do testing more easily on the weekends…

dc42

@skrotz yes I have a new one, I just haven't found time to do an actual print with it yet. I found and fixed a bug with pressure advance.

I've just put it at https://www.dropbox.com/sh/ja08b7qdzsl8kjc/AAAwUbkN2XJvurq5CuQTgx5Wa?dl=0 for you to try. This version does not support DAA, just the other input shaping types.

Also fixes in this one is simulation mode, which was broken.

Marco Bona

@dc42, should these versions also work with SBC connected? I tried to upgrade to 3.4 but when I start printing after the print temperature is reached the SBC disconnects and the printout is canceled.I upgraded with unstable branch to 3.4, in version 3.3 it works fine. I'll attach the report after I restart the machine.

m122
=== Diagnostics ===
RepRapFirmware for Duet 3 MB6HC version 3.4.0beta1 (2021-07-10 16:20:28) running on Duet 3 MB6HC v0.6 or 1.0 (SBC mode)
Board ID: 08DJM-956L2-G43S4-6JKF0-3S86T-9A5YD
Used output buffers: 1 of 40 (21 max)
=== RTOS ===
Static ram: 150904
Dynamic ram: 63484 of which 0 recycled
Never used RAM 139804, free system stack 200 words
Tasks: SBC(resourceWait:,2.3%,332) HEAT(delaying,0.0%,325) Move(notifyWait,0.0%,352) CanReceiv(notifyWait,0.0%,799) CanSender(notifyWait,0.0%,374) CanClock(delaying,0.0%,351) TMC(notifyWait,7.3%,93) MAIN(running,89.6%,922) IDLE(ready,0.7%,29), total 100.0%
Owned mutexes: HTTP(MAIN)
=== Platform ===
Last reset 00:00:45 ago, cause: power up
Last software reset at 2021-07-31 18:14, reason: User, GCodes spinning, available RAM 136244, slot 1
Software reset code 0x0003 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x0044a000 BFAR 0x00000000 SP 0x00000000 Task MAIN Freestk 0 n/a
Error status: 0x00
Aux0 errors 0,0,0
Step timer max interval 144
MCU temperature: min 31.1, current 35.1, max 35.2
Supply voltage: min 24.1, current 24.1, max 24.1, under voltage events: 0, over voltage events: 0, power good: yes
12V rail voltage: min 12.0, current 12.1, max 12.1, under voltage events: 0
Heap OK, handles allocated/used 0/0, heap memory allocated/used/recyclable 0/0/0, gc cycles 0
Driver 0: position 0, standstill, reads 61046, writes 15 timeouts 0, SG min/max 0/0
Driver 1: position 0, standstill, reads 61046, writes 15 timeouts 0, SG min/max 0/0
Driver 2: position 0, standstill, reads 61046, writes 15 timeouts 0, SG min/max 0/0
Driver 3: position 0, standstill, reads 61047, writes 14 timeouts 0, SG min/max 0/0
Driver 4: position 0, standstill, reads 61048, writes 14 timeouts 0, SG min/max 0/0
Driver 5: position 0, standstill, reads 61048, writes 14 timeouts 0, SG min/max 0/0
Date/time: 2021-07-31 18:16:34
Slowest loop: 1.58ms; fastest: 0.05ms
=== Storage ===
Free file entries: 10
SD card 0 not detected, interface speed: 37.5MBytes/sec
SD card longest read time 0.0ms, write time 0.0ms, max retries 0
=== Move ===
DMs created 125, maxWait 0ms, bed compensation in use: none, comp offset 0.000
=== MainDDARing ===
Scheduled moves 0, completed moves 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1
=== AuxDDARing ===
Scheduled moves 0, completed moves 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1
=== Heat ===
Bed heaters = 0 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1, chamberHeaters = 3 -1 -1 -1
Heater 1 is on, I-accum = 0.0
=== GCodes ===
Segments left: 0
Movement lock held by null
HTTP* is doing "M122" in state(s) 0
Telnet is idle in state(s) 0
File is idle in state(s) 0
USB is idle in state(s) 0
Aux is idle in state(s) 0
Trigger* is idle in state(s) 0
Queue is idle in state(s) 0
LCD is idle in state(s) 0
SBC is idle in state(s) 0
Daemon is idle in state(s) 0
Aux2 is idle in state(s) 0
Autopause is idle in state(s) 0
Code queue is empty.
=== CAN ===
Messages queued 348, received 316, lost 0, longest wait 1ms for reply type 6042, peak Tx sync delay 179, free buffers 49 (min 48), ts 230/229/0
Tx timeouts 0,0,0,0,0,0
=== SBC interface ===
State: 4, failed transfers: 1, checksum errors: 0
Last transfer: 2ms ago
RX/TX seq numbers: 1585/1585
SPI underruns 0, overruns 0
Disconnects: 0, timeouts: 0, IAP RAM available 0x2c778
Buffer RX/TX: 0/0-0
=== Duet Control Server ===
Duet Control Server v3.4-b1
Code buffer space: 4096
Configured SPI speed: 8000000Hz
Full transfers per second: 60.95, max wait times: 35.8ms/0.0ms
Codes per second: 4.45
Maximum length of RX/TX data transfers: 3481/980

dc42

@marco-bona I think you will need a new DSF to run with SBC.

Marco Bona

@dc42, DSF has also been updated to 3.4.

dc42

@marco-bona said in RRF 3.4 input shaping preview available:

@dc42, DSF has also been updated to 3.4.

There is a further update needed to go with this RRF build, not released yet.

JenPet

@dc42 The extrusion issue with PA is still there. A single wall line starts at my testprint at 0.45 and the line ends at 0.30 thickness.

dc42

@jenpet said in RRF 3.4 input shaping preview available:

@dc42 The extrusion issue with PA is still there. A single wall line starts at my testprint at 0.45 and the line ends at 0.30 thickness.

Is that with or without input shaping applied?

JenPet

@dc42 With Input Shaping mode zvdd @ 55Hz

dc42

@jenpet @skrotz I've just found and fixed a bug that was sometimes causing incorrect axis deceleration profiles when input shaping was used, typically leading to clonking sounds from the motors. On my test system it occurred when using ZVD input shaping but not when using EI3. This would also have affected the rate of extrusion vs. axis movement, which might make it look as though PA was not working properly at the end of a segment.

I have updated the binaries at https://www.dropbox.com/sh/ja08b7qdzsl8kjc/AAAwUbkN2XJvurq5CuQTgx5Wa?dl=0.

JenPet

@dc42 I have tested the updated firmware but see no improvement in my problem with extrusion

dc42

@jenpet thanks for the feedback. I will continue to work on this tomorrow.

skrotz

@dc42 with this latest firmware I also did not see much difference. with PA enabled I still had extruder clunking and issues with over/under extrusion and jaggedness on some layers, especially where the head was moving to print the X and Y of the calibration cube. M122 reports no step errors but lots of hiccups:

=== Move ===
DMs created 83, segments created 35, maxWait 57566ms, bed compensation in use: mesh, comp offset 0.000
=== MainDDARing ===
Scheduled moves 11545, completed moves 11545, hiccups 2766, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1
=== AuxDDARing ===
Scheduled moves 0, completed moves 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1

RepRapFirmware for Duet 2 WiFi/Ethernet version 3.4.0beta2-inputshaping (2021-07-31 22:03:00) running on Duet WiFi 1.02 or later + DueX5

Input shaping 'ei2' at 41.0Hz damping factor 0.10, min. acceleration 10.0, impulses 0.259 0.619 0.892 with durations (ms) 12.65 12.07 11.78
572
Extruder pressure advance: 0.120, 0.000, 0.000, 0.000

dc42

@skrotz I noticed that on my system the axis motors were sometimes clunky, and that led me to another deceleration bug. This may have been the cause of the hiccups that you observed. I have now fixed that and updated the binaries at https://www.dropbox.com/sh/ja08b7qdzsl8kjc/AAAwUbkN2XJvurq5CuQTgx5Wa?dl=0.

@skrotz and @JenPet, if you still have extrusion issues with this build, please test with PA enabled both with and without input shaping enabled, to see if there is a problem with PA even without input shaping.

Fred-Y

@dc42 I’m having some issues to collect the data with the version from July 31 using a Duet 3 6HC and Tool board V1.1

M955 P121.0 I25
Accelerometer 121:0 type LIS3DH with orientation 25 samples at 1344Hz with 10-bit resolution

I have been using these 2 macros with the previous versions without any issue
Macro: 03- Capture X

M593 P"none"     ; disable DAA
;M593 P"zvd" F46
G1 X200 Y200 Z50
;G1 X150 G4 S2 M956 P121.0 S1000 A0 G4 P10 G1 X20 F20000
G1 X50 G4 S2 G1 X200 F20000 M400 M956 XY P121.0 S1000 A0

Macro: 03- Capture Y

M593 P"none"     ; disable DAA
;M593 P"zvd" F46
G1 X200 Y200 Z50
;G1 X150 G4 S2 M956 P121.0 S1000 A0 G4 P10 G1 X20 F20000
G1 Y50 G4 S2 G1 Y200 F20000 M400 M956 P121.0 S1000 A0

With the last version, the first macro run with no errors and no data are being records (I did click on the refresh button), then if I try to run the second, I have this error:

M98 P"0:/macros/Input shaping/03- Capture Y"
Error: Accelerometer is already collecting data

M122

=== Diagnostics ===
RepRapFirmware for Duet 3 MB6HC version 3.4.0beta2-inputshaping (2021-07-31 22:02:01) running on Duet 3 MB6HC v1.01 or later (standalone mode)
Board ID: 08DJM-956BA-NA3TJ-6J1FL-3S46N-998YS
Used output buffers: 3 of 40 (19 max)
=== RTOS ===
Static ram: 151128
Dynamic ram: 93036 of which 256 recycled
Never used RAM 106252, free system stack 200 words
Tasks: NETWORK(ready,28.5%,236) ETHERNET(notifyWait,0.1%,167) HEAT(delaying,0.0%,326) Move(notifyWait,0.0%,352) CanReceiv(notifyWait,0.0%,798) CanSender(notifyWait,0.0%,373) CanClock(delaying,0.0%,340) TMC(notifyWait,7.8%,93) MAIN(running,63.4%,924) IDLE(ready,0.1%,29), total 100.0%
Owned mutexes:
=== Platform ===
Last reset 00:01:32 ago, cause: software
Last software reset at 2021-07-31 17:48, reason: User, GCodes spinning, available RAM 106252, slot 0
Software reset code 0x0003 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x0044a000 BFAR 0x00000000 SP 0x00000000 Task MAIN Freestk 0 n/a
Error status: 0x00
Aux0 errors 0,0,0
Step timer max interval 130
MCU temperature: min 44.0, current 44.1, max 44.5
Supply voltage: min 24.1, current 24.1, max 24.2, under voltage events: 0, over voltage events: 0, power good: yes
12V rail voltage: min 12.0, current 12.1, max 12.3, under voltage events: 0
Heap OK, handles allocated/used 0/0, heap memory allocated/used/recyclable 0/0/0, gc cycles 0
Driver 0: position 0, standstill, reads 56205, writes 15 timeouts 0, SG min/max 0/0
Driver 1: position 0, standstill, reads 56205, writes 15 timeouts 0, SG min/max 0/0
Driver 2: position 0, standstill, reads 56206, writes 14 timeouts 0, SG min/max 0/0
Driver 3: position 0, standstill, reads 56206, writes 14 timeouts 0, SG min/max 0/0
Driver 4: position 0, standstill, reads 56207, writes 14 timeouts 0, SG min/max 0/0
Driver 5: position 0, standstill, reads 56207, writes 14 timeouts 0, SG min/max 0/0
Date/time: 2021-07-31 17:49:38
Slowest loop: 4.15ms; fastest: 0.05ms
=== Storage ===
Free file entries: 10
SD card 0 detected, interface speed: 25.0MBytes/sec
SD card longest read time 2.3ms, write time 0.0ms, max retries 0
=== Move ===
DMs created 125, segments created 0, maxWait 0ms, bed compensation in use: none, comp offset 0.000
=== MainDDARing ===
Scheduled moves 0, completed moves 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1
=== AuxDDARing ===
Scheduled moves 0, completed moves 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1
=== Heat ===
Bed heaters = 0 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1, chamberHeaters = -1 -1 -1 -1
=== GCodes ===
Segments left: 0
Movement lock held by null
HTTP is idle in state(s) 0
Telnet is idle in state(s) 0
File is idle in state(s) 0
USB is idle in state(s) 0
Aux is idle in state(s) 0
Trigger is idle in state(s) 0
Queue is idle in state(s) 0
LCD is idle in state(s) 0
SBC is idle in state(s) 0
Daemon is idle in state(s) 0
Aux2 is idle in state(s) 0
Autopause is idle in state(s) 0
Code queue is empty
=== CAN ===
Messages queued 851, received 1130, lost 0, longest wait 2ms for reply type 6049, peak Tx sync delay 423, free buffers 49 (min 48), ts 462/461/0
Tx timeouts 0,0,0,0,0,0
=== Network ===
Slowest loop: 2.79ms; fastest: 0.02ms
Responder states: HTTP(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) HTTP(0) FTP(0) Telnet(0), 0 sessions Telnet(0), 0 sessions
HTTP sessions: 1 of 8
- Ethernet -
State: active
Error counts: 0 0 0 0 0
Socket states: 5 2 2 2 2 0 0 0

M122 B121

Diagnostics for board 121:
Duet TOOL1LC firmware version 3.4beta1+ (2021-07-31 19:12:33)
Bootloader ID: SAMC21 bootloader version 2.3 (2021-01-26b1)
Never used RAM 2712, free system stack 2789 words
Tasks: Move(notifyWait,0.0%,153) HEAT(delaying,0.2%,117) CanAsync(notifyWait,0.0%,65) CanRecv(notifyWait,0.0%,76) CanClock(notifyWait,0.0%,65) ACCEL(notifyWait,0.0%,61) TMC(notifyWait,2.8%,57) MAIN(running,92.0%,352) IDLE(ready,0.0%,27) AIN(delaying,4.9%,142), total 100.0%
Last reset 00:02:07 ago, cause: software
Last software reset data not available
Driver 0: position 0, 655.0 steps/mm, standstill, SG min/max 0/0, read errors 0, write errors 1, ifcnt 62, reads 63964, writes 11, timeouts 0, DMA errors 0, steps req 0 done 0
Moves scheduled 0, completed 0, in progress 0, hiccups 0, step errors 0, maxPrep 0, maxOverdue 0, maxInc 0, mcErrs 0, gcmErrs 0
Peak sync jitter 0/4, peak Rx sync delay 207, resyncs 0/0, no step interrupt scheduled
VIN: 24.4V
MCU temperature: min 39.1C, current 39.2C, max 39.6C
Ticks since heat task active 233, ADC conversions started 127978, completed 127976, timed out 0, errs 0
Last sensors broadcast 0x00000002 found 1 238 ticks ago, loop time 0, Vref 43268 Vssa 369
CAN messages queued 1570, send timeouts 0, received 1172, lost 0, free buffers 37, min 37, error reg 110000
dup 0, oos 0/0/0/0, bm 0, wbm 0, rxMotionDelay 0
Accelerometer detected: yes, status: bb
I2C bus errors 0, naks 0, other errors 0

I have also noticed that the temperature sensor (Heater 1) is now acting in a strange way - I don't remember seeing that before.

Fred-Y

I just noticed 2 things:

a file is created to collect the data but it is empty and also seems to stay open

I have to reboot the board and after I can delete it
The temperature only start to act weirdly after I tried to collect the data from the accelerometer.

The arrow is when I ran the macro to collect data, it sounds directly related.

I hope these info are useful, let me know if you would like additional details.

Edit:
I did a little more testing and rolled back the firmwares to get back to a stable version, it seems the issue is with the Tool Board 1LC firmware, it seems to be working fine with this combo:

RepRapFirmware for Duet 3 MB6HC version 3.4.0beta2-inputshaping (2021-08-01 00:01:41) running on Duet 3 MB6HC v1.01 or later (standalone mode)
Duet TOOL1LC firmware version 3.3 (2021-06-15 16:12:58)

skrotz

@dc42 Sorry to always be the bearer of bad news but no real difference with this firmware from what I can tell, still hearing clunking noises and still extrusion issues and jagginess on the print with PA enabled and EI3 input shaping enabled. I will try and do a test with input shaping disabled soon.

UPDATE: started a print with input shaping disabled, and was getting the clunking, maybe even worse than with input shaping on. Disabled PA and things quieted back to normal. I then turned on input shaping back on (with PA disabled) and it still sounds normal, no clunking. so PA in general seems to be the cause of the clunking. I'll see if I'm still having extrusion blobs/zits with PA disabled but input shaping on.

UPDATE 2: still seeing the same extrusion blobs with PA off and input shaping (ei3) enabled.

stats below are from the print with both PA and input shaping enabled:
=== Move ===
DMs created 83, segments created 35, maxWait 39679ms, bed compensation in use: mesh, comp offset 0.000
=== MainDDARing ===
Scheduled moves 11545, completed moves 11545, hiccups 2744, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1
=== AuxDDARing ===
Scheduled moves 0, completed moves 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1

RepRapFirmware for Duet 2 WiFi/Ethernet version 3.4.0beta2-inputshaping (2021-08-01 00:01:15) running on Duet WiFi 1.02 or later + DueX5