RRF 3.4 input shaping preview available

CadetC

@dc42
Info copied from DWC : Machine specific-General :
Board: Duet 3 MB6HC (MB6HC)
DSF Version: 3.4-b1
Firmware: RepRapFirmware for Duet 3 MB6HC 3.4.0beta1-inputshaping (2021-07-11)

Thanks,

Frederik

@dc42 here the same error , accelerometer detected but when trying to perform a data collect, it says acceleromter not found

m122
=== Diagnostics ===
RepRapFirmware for Duet 3 MB6HC version 3.4.0beta1 (2021-07-10 16:20:28) running on Duet 3 MB6HC v1.01 or later (SBC mode)
Board ID: 08DJM-956BA-NA3TN-6J9DL-3S46S-99AUT
Used output buffers: 1 of 40 (10 max)
=== RTOS ===
Static ram: 150904
Dynamic ram: 62912 of which 24 recycled
Never used RAM 140352, free system stack 146 words
Tasks: SBC(ready,0.7%,308) HEAT(delaying,0.0%,325) Move(notifyWait,0.0%,266) CanReceiv(notifyWait,0.0%,774) CanSender(notifyWait,0.0%,374) CanClock(delaying,0.0%,339) TMC(notifyWait,7.4%,59) MAIN(running,91.8%,922) IDLE(ready,0.0%,29), total 100.0%
Owned mutexes: HTTP(MAIN)
=== Platform ===
Last reset 00:40:04 ago, cause: software
Last software reset at 2021-07-11 15:33, reason: User, none spinning, available RAM 137420, slot 0
Software reset code 0x0012 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x0044a000 BFAR 0x00000000 SP 0x00000000 Task SBC Freestk 0 n/a
Error status: 0x00
Step timer max interval 172
MCU temperature: min 31.1, current 33.9, max 47.4
Supply voltage: min 24.0, current 24.1, max 24.1, under voltage events: 0, over voltage events: 0, power good: yes
12V rail voltage: min 12.1, current 12.1, max 12.2, 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 41808, standstill, reads 41390, writes 20 timeouts 0, SG min/max 0/425
Driver 1: position -25728, standstill, reads 41390, writes 20 timeouts 0, SG min/max 0/995
Driver 2: position 3893, standstill, reads 41390, writes 20 timeouts 0, SG min/max 0/852
Driver 3: position 0, standstill, reads 41391, writes 20 timeouts 0, SG min/max 0/280
Driver 4: position 0, standstill, reads 41391, writes 20 timeouts 0, SG min/max 0/825
Driver 5: position 0, standstill, reads 41399, writes 12 timeouts 0, SG min/max 0/0
Date/time: 2021-07-11 16:13:58
Slowest loop: 56.12ms; fastest: 0.04ms
=== 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 1844035ms, bed compensation in use: none, comp offset 0.000
=== MainDDARing ===
Scheduled moves 13, completed moves 13, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 1], 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 = 2 -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.
=== Filament sensors ===
Extruder 0: no data received
=== CAN ===
Messages queued 21655, received 30029, lost 0, longest wait 5ms for reply type 6024, peak Tx sync delay 169, free buffers 49 (min 48), ts 12021/12020/0
Tx timeouts 0,0,0,0,0,0
=== SBC interface ===
State: 4, failed transfers: 0, checksum errors: 0
Last transfer: 2ms ago
RX/TX seq numbers: 29527/29527
SPI underruns 0, overruns 0
Disconnects: 0, timeouts: 0, IAP RAM available 0x2c7a4
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: 39.59, max wait times: 49.2ms/0.0ms
Codes per second: 0.04
Maximum length of RX/TX data transfers: 3196/800


m122 b121
Diagnostics for board 121:
Duet TOOL1LC firmware version 3.3 (2021-06-15 16:12:58)
Bootloader ID: SAMC21 bootloader version 2.3 (2021-01-26b1)
Never used RAM 2108, 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 00:01:14 ago, cause: VDD brownout
Last software reset data not available
Driver 0: position 0, 859.0 steps/mm, standstill, SG min/max 0/0, read errors 0, write errors 0, ifcnt 11, reads 18391, writes 0, 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 0/5, peak Rx sync delay 192, resyncs 0/0, no step interrupt scheduled
VIN: 24.4V
MCU temperature: min 37.5C, current 39.0C, max 39.0C
Ticks since heat task active 2, ADC conversions started 74496, completed 74495, timed out 0, errs 0
Last sensors broadcast 0x00000002 found 1 6 ticks ago, loop time 0
CAN messages queued 492, send timeouts 0, received 339, lost 0, free buffers 37, min 37, error reg 0
dup 0, oos 0/0/0/0, bm 0, wbm 0, rxMotionDelay 0
Accelerometer detected: yes, status: 00
I2C bus errors 0, naks 0, other errors 0
=== Filament sensors ===
Interrupt 5726621 to 0us, poll 9 to 432us
Driver 0: no data received, errs: frame 0 parity 0 ovrun 0 pol 0 ovdue 0


m122 b121
Diagnostics for board 121:
Duet TOOL1LC firmware version 3.3 (2021-06-15 16:12:58)
Bootloader ID: SAMC21 bootloader version 2.3 (2021-01-26b1)
Never used RAM 2108, free system stack 2789 words
Tasks: Move(notifyWait,0.0%,153) HEAT(delaying,0.2%,113) CanAsync(notifyWait,0.0%,61) CanRecv(notifyWait,0.0%,76) CanClock(notifyWait,0.0%,65) ACCEL(notifyWait,0.0%,61) TMC(delaying,2.8%,57) MAIN(running,92.0%,352) IDLE(ready,0.0%,27) AIN(delaying,4.9%,142), total 100.0%
Last reset 00:43:34 ago, cause: software
Last software reset data not available
Driver 0: position 0, 859.0 steps/mm, standstill, SG min/max 0/0, read errors 0, write errors 0, ifcnt 23, reads 5309, writes 0, 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 0/6, peak Rx sync delay 212, resyncs 0/0, no step interrupt scheduled
VIN: 24.4V
MCU temperature: min 38.8C, current 40.0C, max 40.3C
Ticks since heat task active 129, ADC conversions started 2614124, completed 2614122, timed out 0, errs 0
Last sensors broadcast 0x00000002 found 1 134 ticks ago, loop time 0
CAN messages queued 8362, send timeouts 0, received 6006, lost 0, free buffers 37, min 37, error reg 0
dup 0, oos 0/0/0/0, bm 0, wbm 0, rxMotionDelay 0
Accelerometer detected: yes, status: 00
I2C bus errors 0, naks 0, other errors 0
=== Filament sensors ===
Interrupt 5726621 to 0us, poll 9 to 433us
Driver 0: no data received, errs: frame 0 parity 0 ovrun 0 pol 0 ovdue 0

regards

dc42

@frederik thanks, we have identified the cause. Fixing it will require a change to DSF on the Pi.

Meanwhile, you should be able to send the command to the Duet from an attached PanelDue if you have one, or via USB.

Argo

Measurement without input shaping (Y axis):

With ZVD input shaping:

The print results to also show that it is working.
I also have no issues with PA nor was it necessary to recalibrate PA.

Is it planned to to be able to use different shapers and frequencies per axis or to use an "automatic frequency and shaper finder" in conjunction with the accelerometer (like Klipper does)?

dc42

@argo the automatic shaper recommendation generator is under development.

skrotz

@dc42 I mis-typed, I meant that PA clunked unless I took it down to 0.04 (not 0.4), reducing it from my usual 0.12 value. Sorry about that.

I've grabbed the latest firmware and still have that same result of clunking with PA at or above 0.04 or so. My extruder is attached to E0 on the duet2, I have a pretty standard railcore setup, so I have z steppers on a duex5 but X/Y and E0 are on the duet2 wifi.

Aside from the PA clunking, everything else so far seems fine, things were printing ok with DAA, and now with zvdd in some quick tests.

dc42

@argo, as you have a fairly broad resonance, ZVDD will probably work better than ZVD.

dc42

@skrotz said in RRF 3.4 input shaping preview available:

@dc42 I mis-typed, I meant that PA clunked unless I took it down to 0.04 (not 0.4), reducing it from my usual 0.12 value. Sorry about that.

Interesting, my Duet WiFi powered delta normally runs at PA 0.2 and has been fine. My tool changer didn't have the correct extrusion with the earlier firmware, but that uses a tool board and it is running fine now with the later firmware.

skrotz

@dc42 definitely some extruder weirdness for me that I don't get on 3.3.

I only had PA on briefly (the clunking is disconcerting) on a test print of a calibration cube but did notice this from M122:

=== Move ===
DMs created 83, segments created 35, maxWait 135339ms, bed compensation in use: mesh, comp offset 0.000
=== MainDDARing ===
Scheduled moves 11522, completed moves 11522, hiccups 511, stepErrors 2, 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

my extruder motor is the standard LDO one in a filastruder railcore kit, used as a direct drive.

dc42

@skrotz thanks.The step errors are not right. Please can you connect a laptop to the Duet via USB, load a terminal emulator (e.g. YAT), and send M111 S1 P4. That will enable Move debugging. Then run that print. For each step error recorded you should get a few lines of DDA and DM printout in the terminal. Post those lines here.

Also please post the print file and your config.g.

Argo

@dc42

Using the same frequency with ZVDD or other shaper is giving me worse results. I don‘t think I can just use the measured ringing frequency with shapers other than ZVD?

skrotz

@dc42 it took a bit of finagling to get things hooked up to the PC, but so far even though I heard the clunking it didn't output anything on the terminal at that point even with the debug enabled. I may be able to try again later, is there anything else I could/should enable? an M122 after stopping showed "hiccups" but no stepper errors at that point. I only did a small amount of the print though, I had to stop as I think I injected something via the terminal at the wrong time and caused some problems.

I've included my config file and the gcode I'm printing.

config.g

CFFFP_xyzCalibration_cube_195.gcode

dc42

@skrotz please can you try again, this time wait until M122 shows some step errors, as it did in your previous M122 that you posted here.

Some extduders do sound clunky when used with pressure advance, however it shouldn't be different in the latest 3.4 with input shaping compared to 3.3.

OwenD

@dc42
Just an update.
Upgraded to the latest binary.
This time the print completed with no apparent missed step issues, or clunking including during sectioins using DAA.
No step errors in the M122 report, but a couple of hiccups.

	M122
=== Diagnostics ===
RepRapFirmware for Duet 2 WiFi/Ethernet version 3.4.0beta1-inputshaping (2021-07-11 11:04:56) running on Duet WiFi 1.02 or later

=== MainDDARing ===
Scheduled moves 34420, completed moves 34420, hiccups 4, stepErrors 0, LaErrors 0, Underruns [0, 0, 6], CDDA state -1
=== AuxDDARing ===
Scheduled moves 0, completed moves 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1

Nothing of note shows up in the M111 debug log.

Too late in the night to evaluate the results in regards to print quality of each mode.

skrotz

@dc42 There's definitely different behavior between 3.3 and 3.4 - no clunks on 3.3. I need to do a quick print on 3.3 with PA disabled to double check some strangeness I see with same on 3.4, then will try and collect the data again, I think I sorted out what went wrong previously with my 3.4 print (user error basically).

skrotz

@dc42 ok I did a simple print of the xyz calibration cube on 3.3 with PA disabled, and it looks clean, but the same print on 3.4 shows some zits or bubbles in spots that don't show in the 3.3 print - it looks like it is overextruding sometimes before it changes direction, they occur in several spots on the "X" of the calibration cube. They are consistent in where they occur in 3.4, multiple prints show them in the same places. Something is definitely wonky with extrusion in general for me in 3.4, and made worse when PA is enabled.

Adrian52

I get extruder clunking on the 11/7 3.4 on delta Duet2wifi not seen with 3.3. The 3.4 gives 1941 hiccups over 22457 moves (no step errors) ; under the same conditions 3.3 gave 0 hiccups. This is printing the first 25mm of the ringing stl.

dc42

@adrian52 and @skrotz, thanks for your feedback. Please provide your config.g files and the gcode files that you printed. Also tell me what input shaping if any you were using.

@skrotz are you quite certain that you had PA disabled in the 3.3 print? Excess extrusion when changing direction without PA is common.

Adrian52

@dc42 The gcode was generated by superslicer and has M593 commands embedded to change the shaping through none, zvd, zvdd, ei2, ei3 and daa at 10 mm intervals. The config used actually had PA set to 0.5, and M593 set to "none".
20210713 config.g.txt
ringing_tower 10mm bands incl daa 210 195 30mm_sec.gcode

skrotz

@dc42 Pretty certain PA was off, I used the console to set the S value to 0 for it to disable. I see bulging corners and telltale signs of no PA on the print, but there's the occasional blips that don't show on the same print with no PA on 3.3.

I may have had some input shaping enabled though on the 3.4 PA disabled print, I can do another quick test and super verify turning off PA and input shaping to see if the "blips" go away doing that. I'll try and capture some more debugging data soonish also.. getting things hooked up to a PC is a bit tricky, I should get a longer USB cable to be able to do it more easily on my setup..