v5.0.0

.github/workflows/test.yml

@@ -13,7 +13,18 @@ jobs:
         klipper_repo:
           - klipper3d/klipper
           - DangerKlippers/danger-klipper
+        klipper_version:
+          - master
+          - v0.12.0
+        python_version:
+          - '3.9' # Debian Bullseye default
+          - '3.11' # Debian Bookworm default
+          # Below disabled - Greenlet upstream version not compatable with py 3.12
+          # - '3.12' # Latest Released as of 2024/9
     steps: 
+      - uses: actions/setup-python@v5
+        with:
+          python-version: ${{ matrix.python_version }}
       - name: Checkout shaketune
         uses: actions/checkout@v4
         with:
@@ -23,11 +34,11 @@ jobs:
         with:
           path: klipper
           repository: ${{ matrix.klipper_repo }}
-          ref: master
+          ref: ${{ matrix.klipper_version }}
       - name: Install build dependencies
         run: |
           sudo apt-get update
-          sudo apt-get install -y build-essential
+          sudo apt-get install -y build-essential gcc-avr avr-libc
       - name: Build klipper dict
         run: |
           pushd klipper
@@ -50,7 +61,7 @@ jobs:
         run: |
           pushd klipper
           mkdir ../dicts
-          cp ../klipper/out/klipper.dict ../dicts/linux_basic.dict
+          cp ../klipper/out/klipper.dict ../dicts/atmega2560.dict
           ../klippy-env/bin/python scripts/test_klippy.py -d ../dicts ../shaketune/ci/smoke-test/klippy-tests/simple.test
   lint:
     runs-on: ubuntu-latest

MAINTNENCE.md

@@ -0,0 +1,7 @@
+## When a new stable version of klipper is released:
+
+In `.github/workflows/test.yaml`, update `jobs.klippy_testing.strategy.matrix.klipper_version` to include the new version.
+
+## When a new version of python becomes supported by klipper
+
+In `.github/workflows/test.yaml`, update `jobs.klippy_testing.strategy.matrix.python_version` to include the new version.

README.md

@@ -19,18 +19,42 @@ Follow these steps to install Shake&Tune on your printer:
      ```
      [shaketune]
      # result_folder: ~/printer_data/config/ShakeTune_results
-     #    The folder where the results will be stored. It will be created if it doesn't exist.
-     # number_of_results_to_keep: 3
-     #    The number of results to keep in the result_folder. The oldest results will
-     #    be automatically deleted after each runs.
-     # keep_raw_csv: False
-     #    If True, the raw CSV files will be kept in the result_folder alongside the
-     #    PNG graphs. If False, they will be deleted and only the graphs will be kept.
+     #    Path where the processed results will be stored. If the folder doesn't exist,
+     #    it will be automatically created. You can change this if you'd like to store 
+     #    results in a different location.
+     # number_of_results_to_keep: 10
+     #    This setting defines how many results you want to keep in the result folder.
+     #    Once the specified number is exceeded, older results will be automatically deleted
+     #    to free up space on the SD card and avoid cluttering the results folder.
+     # keep_raw_data: False
+     #    If set to True, Shake&Tune will store both the processed graphs and the raw accelerometer
+     #    .stdata files in the results folder. This can be useful for debugging or archiving purposes.
+     #    Please always attach them when reporting any issues on GitHub or Discord.
      # show_macros_in_webui: True
-     #    Mainsail and Fluidd doesn't create buttons for "system" macros that are not in the
-     #    printer.cfg file. If you want to see the macros in the webui, set this to True.
-     # timeout: 300
-     #    The maximum time in seconds to let Shake&Tune process the CSV files and generate the graphs.
+     #    Mainsail and Fluidd doesn't create buttons for system commands (macros that are not part
+     #    of the printer.cfg file). This option allow Shake&Tune to inject them into the webui at runtime.
+     #    If set to False, the macros will be hidden but still accessible from the console by typing
+     #    their names manually, which can be useful if you prefer to encapsulate them into your own macros.
+     # timeout: 600
+     #    This defines the maximum processing time (in seconds) to allows to Shake&Tune for generating 
+     #    graphs from a .stdata file. 10 minutes should be more than enough in most cases, but if you have
+     #    slower hardware (e.g., older SD cards or low-performance devices), increase it to prevent timeouts.
+     # measurements_chunk_size: 2
+     #    Each Shake&Tune command uses the accelerometer to take multiple measurements. By default,
+     #    Shake&Tune will write a chunk of data to disk every two measurements, and at the end of the
+     #    command will merge these chunks into the final .stdata file for processing. "2" is a very
+     #    conservative setting to avoid Klipper Timer Too Close errors on lower end devices with little
+     #    RAM, and should work for everyone. However, if you are using a powerful computer, you may
+     #    wish to increase this value to keep more measurements in memory (e.g., 15-20) before writing
+     #    the chunk and avoid stressing the filesystem too much.
+     # max_freq: 200
+     #    This setting defines the maximum frequency at which the calculation of the power spectral density
+     #    is cutoff. The default value should be fine for most machines and accelerometer combinations and
+     #    avoid touching it unless you know what you're doing.
+     # dpi: 300
+     #    Controls the resolution of the generated graphs. The default value of 300 dpi was optimized
+     #    and strikes a balance between performance and readability, ensuring that graphs are clear
+     #    without using too much RAM to generate them. Usually, you shouldn't need to change this value.
      ```
 
 Don't forget to check out **[Shake&Tune documentation here](./docs/README.md)**.

ci/smoke-test/klipper-smoketest.kconfig

@@ -1,34 +1,4 @@
-CONFIG_LOW_LEVEL_OPTIONS=y
-# CONFIG_MACH_AVR is not set
-# CONFIG_MACH_ATSAM is not set
-# CONFIG_MACH_ATSAMD is not set
-# CONFIG_MACH_LPC176X is not set
-# CONFIG_MACH_STM32 is not set
-# CONFIG_MACH_HC32F460 is not set
-# CONFIG_MACH_RP2040 is not set
-# CONFIG_MACH_PRU is not set
-# CONFIG_MACH_AR100 is not set
-CONFIG_MACH_LINUX=y
-# CONFIG_MACH_SIMU is not set
-CONFIG_BOARD_DIRECTORY="linux"
-CONFIG_CLOCK_FREQ=50000000
-CONFIG_LINUX_SELECT=y
-CONFIG_USB_VENDOR_ID=0x1d50
-CONFIG_USB_DEVICE_ID=0x614e
-CONFIG_USB_SERIAL_NUMBER="12345"
-CONFIG_WANT_GPIO_BITBANGING=y
-CONFIG_WANT_DISPLAYS=y
-CONFIG_WANT_SENSORS=y
-CONFIG_WANT_LIS2DW=y
-CONFIG_WANT_LDC1612=y
-CONFIG_WANT_SOFTWARE_I2C=y
-CONFIG_WANT_SOFTWARE_SPI=y
-CONFIG_NEED_SENSOR_BULK=y
-CONFIG_CANBUS_FREQUENCY=1000000
-CONFIG_INITIAL_PINS=""
-CONFIG_HAVE_GPIO=y
-CONFIG_HAVE_GPIO_ADC=y
-CONFIG_HAVE_GPIO_SPI=y
-CONFIG_HAVE_GPIO_I2C=y
-CONFIG_HAVE_GPIO_HARD_PWM=y
-CONFIG_INLINE_STEPPER_HACK=y
+# Base Kconfig file for atmega2560
+CONFIG_MACH_AVR=y
+CONFIG_MACH_atmega2560=y
+CONFIG_CLOCK_FREQ=16000000

ci/smoke-test/klippy-tests/simple.cfg

@@ -1,9 +1,85 @@
+# Test config with a minimal setup to have kind
+# of a machine ready with an ADXL345 and an MPU9250
+# to have the required the resonance_tester section
+# and allow loading and initializing Shake&Tune into Klipper
+
+[stepper_x]
+step_pin: PF0
+dir_pin: PF1
+enable_pin: !PD7
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PE5
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_y]
+step_pin: PF6
+dir_pin: !PF7
+enable_pin: !PF2
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PJ1
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_z]
+step_pin: PL3
+dir_pin: PL1
+enable_pin: !PK0
+microsteps: 16
+rotation_distance: 8
+endstop_pin: ^PD3
+position_endstop: 0.5
+position_max: 200
+
+[extruder]
+step_pin: PA4
+dir_pin: PA6
+enable_pin: !PA2
+microsteps: 16
+rotation_distance: 33.5
+nozzle_diameter: 0.500
+filament_diameter: 3.500
+heater_pin: PB4
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK5
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 210
+
+[heater_bed]
+heater_pin: PH5
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK6
+control: watermark
+min_temp: 0
+max_temp: 110
+
 [mcu]
-serial: /tmp/klipper_host_mcu
+serial: /dev/ttyACM0
 
 [printer]
-kinematics: none
+kinematics: cartesian
 max_velocity: 300
-max_accel: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100
+
+[adxl345]
+cs_pin: PK7
+axes_map: -x,-y,z
+
+[mpu9250 my_mpu]
+
+[resonance_tester]
+probe_points: 20,20,20
+accel_chip_x: adxl345
+accel_chip_y: mpu9250 my_mpu
 
 [shaketune]

ci/smoke-test/klippy-tests/simple.test

@@ -1,4 +1,4 @@
-DICTIONARY linux_basic.dict
 CONFIG simple.cfg
+DICTIONARY atmega2560.dict
 
 G4 P1000

docs/is_tuning_generalities.md

@@ -37,6 +37,12 @@ While you should usually try to focus on the toolhead/belts mechanical subsystem
   1. **Diagnosis phase**: Begin with the nozzle tip mount to identify and troubleshoot mechanical issues to ensure the printer components are healthy and the assembly is well done and optimized.
   1. **Filter selection phase**: If the graphs are mostly clean, you can transition to a mounting point near the toolhead's center of gravity for cleaner data on the main resonance, facilitating accurate Input Shaping filter settings. You can also consider the CANBus integrated accelerometer for its simplicity, especially if the toolhead is particularly rigid and minimally affected by wobble.
 
+### Should I use the sweeping or pulse-only test?
+
+The "sweeping" test superimposes a slow motion sweep on top of the usual back-and-forth pulses of the original test. This causes the toolhead (and stepper motors) to pass through multiple positions, rather than getting stuck on the same motor steps, rotor angle, and kinematic position. The added benefit is that it can help filter out some of the random motor and mechanical noise in the measurement, especially on less rigid machines, which can be problematic with the original test. This can help focus on only the "toolhead on belts" resonance peak, which is the most important one, and prevent the recommendation results from being muddled by extra vibration and noise you might have on the graph. It can be seen as a complementary solution to placing your accelerometer right at the center of gravity of the toolhead: you'll end up with a cleaner signal.
+
+On the other hand, if you're looking for mechanical problems (like a wobbly toolhead, binding axis, loose belts, or other gremlins), the pulse-only mode can actually be more revealing. In fact, because the sweep mode smooths things out, it can hide some of the problems you want to find and fix. So if you're in full diagnostic mode, my advice is to use the pulse-only test and try placing the accelerometer in different places, like the nozzle tip, to better see the problems and fix them. Once everything is fixed, if there's still a bit of noise on your graphs, you can switch back to sweep mode for one last nice, clean reading.
+
 
 ## Theory behind it
 

docs/macros/axes_shaper_calibrations.md

@@ -21,6 +21,10 @@ Then, call the `AXES_SHAPER_CALIBRATION` macro and look for the graphs in the re
 |TRAVEL_SPEED|120|speed in mm/s used for all the travel movements (to go to the start position prior to the test)|
 |Z_HEIGHT|None|Z height wanted for the test. This value can be used if needed to override the Z value of the probe_point set in your `[resonance_tester]` config section|
 
+  > **Note**
+  >
+  > If you are wondering wether you should use sweeping or not, have a read on the [dedicated section here](../is_tuning_generalities.md#should-i-use-the-sweeping-or-pulse-only-test).
+
 ![](../images/shaper_graphs/shaper_graph_explanation.png)
 
 ## Generalities on IS graphs

docs/macros/compare_belts_responses.md

@@ -22,6 +22,10 @@ Then, call the `COMPARE_BELTS_RESPONSES` macro and look for the graphs in the re
 |TRAVEL_SPEED|120|speed in mm/s used for all the travel movements (to go to the start position prior to the test)|
 |Z_HEIGHT|None|Z height wanted for the test. This value can be used if needed to override the Z value of the probe_point set in your `[resonance_tester]` config section|
 
+  > **Note**
+  >
+  > If you are wondering wether you should use sweeping or not, have a read on the [dedicated section here](../is_tuning_generalities.md#should-i-use-the-sweeping-or-pulse-only-test).
+
 ![](../images/belts_example.png)
 
 ### Belts frequency profiles

install.sh

@@ -3,7 +3,7 @@
 USER_CONFIG_PATH="${HOME}/printer_data/config"
 MOONRAKER_CONFIG="${HOME}/printer_data/config/moonraker.conf"
 KLIPPER_PATH="${HOME}/klipper"
-KLIPPER_VENV_PATH="${HOME}/klippy-env"
+KLIPPER_VENV_PATH="${KLIPPER_VENV:-${HOME}/klippy-env}"
 
 OLD_K_SHAKETUNE_VENV="${HOME}/klippain_shaketune-env"
 K_SHAKETUNE_PATH="${HOME}/klippain_shaketune"
@@ -124,7 +124,19 @@ function add_updater {
     update_section=$(grep -c '\[update_manager[a-z ]* Klippain-ShakeTune\]' $MOONRAKER_CONFIG || true)
     if [ "$update_section" -eq 0 ]; then
         echo -n "[INSTALL] Adding update manager to moonraker.conf..."
-        cat ${K_SHAKETUNE_PATH}/moonraker.conf >> $MOONRAKER_CONFIG
+        cat <<EOF >>$MOONRAKER_CONFIG
+
+## Klippain Shake&Tune automatic update management
+[update_manager Klippain-ShakeTune]
+type: git_repo
+origin: https://github.com/Frix-x/klippain-shaketune.git
+path: ~/klippain_shaketune
+virtualenv: ${KLIPPER_VENV_PATH}
+requirements: requirements.txt
+system_dependencies: system-dependencies.json
+primary_branch: main
+managed_services: klipper
+EOF
     fi
 }
 

requirements.txt

@@ -3,3 +3,4 @@ matplotlib==3.8.2
 numpy==1.26.2
 scipy==1.11.4
 PyWavelets==1.6.0
+zstandard==0.23.0