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Merged
thinkyhead merged 4 commits into from
Jan 27, 2026
Merged

FTM : Restore individual axis shaping selection #28241

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1c0e81b
Restore individual axis shaping choice
narno2202 Dec 20, 2025
12e30e9
Merge branch 'MarlinFirmware:bugfix-2.1.x' into FTM_Individual_Axis_S…
narno2202 Jan 11, 2026
88e5927
Merge branch 'MarlinFirmware:bugfix-2.1.x' into FTM_Individual_Axis_S…
narno2202 Jan 23, 2026
ae019bf
format
thinkyhead Jan 27, 2026
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83 changes: 50 additions & 33 deletions Marlin/src/gcode/feature/ft_motion/M493.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,7 @@ void say_shaper_type(const AxisEnum a, bool &sep, const char axis_name) {
SERIAL_CHAR(axis_name, '=');
switch (ftMotion.cfg.shaper[a]) {
default: break;
case ftMotionShaper_NONE: SERIAL_ECHOPGM("None"); break;
TERN_(FTM_SHAPER_ZV, case ftMotionShaper_ZV: SERIAL_ECHOPGM("ZV"); break);
TERN_(FTM_SHAPER_ZVD, case ftMotionShaper_ZVD: SERIAL_ECHOPGM("ZVD"); break);
TERN_(FTM_SHAPER_ZVDD, case ftMotionShaper_ZVDD: SERIAL_ECHOPGM("ZVDD"); break);
Expand All @@ -57,7 +58,7 @@ void say_shaping() {
bool sep = false;
if (is_shaping) {
#define STEPPER_E_NAME 'E'
#define _SAY_SHAPER(A) if (AXIS_IS_SHAPING(A)) say_shaper_type(_AXIS(A), sep, STEPPER_##A##_NAME);
#define _SAY_SHAPER(A) say_shaper_type(_AXIS(A), sep, STEPPER_##A##_NAME);
SERIAL_ECHOPGM(" (");
SHAPED_CODE(_SAY_SHAPER(A), _SAY_SHAPER(B), _SAY_SHAPER(C), _SAY_SHAPER(E));
SERIAL_CHAR(')');
Expand Down Expand Up @@ -86,43 +87,51 @@ void say_shaping() {
#endif

#if HAS_X_AXIS
SERIAL_CHAR(STEPPER_A_NAME);
SERIAL_ECHO_TERNARY(dynamic, " ", "base dynamic", "static", " shaper frequency: ");
SERIAL_ECHO(p_float_t(c.baseFreq.x, 2), F(" Hz"));
#if HAS_DYNAMIC_FREQ
if (dynamic) SERIAL_ECHO(F(" scaling: "), p_float_t(c.dynFreqK.x, 2), F("Hz/"), z_based ? F("mm") : F("g"));
#endif
SERIAL_EOL();
if (ftMotion.cfg.shaper[X_AXIS]) {
SERIAL_CHAR(STEPPER_A_NAME);
SERIAL_ECHO_TERNARY(dynamic, " ", "base dynamic", "static", " shaper frequency: ");
SERIAL_ECHO(p_float_t(c.baseFreq.x, 2), F(" Hz"));
#if HAS_DYNAMIC_FREQ
if (dynamic) SERIAL_ECHO(F(" scaling: "), p_float_t(c.dynFreqK.x, 2), F("Hz/"), z_based ? F("mm") : F("g"));
#endif
SERIAL_EOL();
}
#endif

#if HAS_Y_AXIS
SERIAL_CHAR(STEPPER_B_NAME);
SERIAL_ECHO_TERNARY(dynamic, " ", "base dynamic", "static", " shaper frequency: ");
SERIAL_ECHO(p_float_t(c.baseFreq.y, 2), F(" Hz"));
#if HAS_DYNAMIC_FREQ
if (dynamic) SERIAL_ECHO(F(" scaling: "), p_float_t(c.dynFreqK.y, 2), F("Hz/"), z_based ? F("mm") : F("g"));
#endif
SERIAL_EOL();
if (ftMotion.cfg.shaper[Y_AXIS]) {
SERIAL_CHAR(STEPPER_B_NAME);
SERIAL_ECHO_TERNARY(dynamic, " ", "base dynamic", "static", " shaper frequency: ");
SERIAL_ECHO(p_float_t(c.baseFreq.y, 2), F(" Hz"));
#if HAS_DYNAMIC_FREQ
if (dynamic) SERIAL_ECHO(F(" scaling: "), p_float_t(c.dynFreqK.y, 2), F("Hz/"), z_based ? F("mm") : F("g"));
#endif
SERIAL_EOL();
}
#endif

#if ENABLED(FTM_SHAPER_Z)
SERIAL_CHAR(STEPPER_C_NAME);
SERIAL_ECHO_TERNARY(dynamic, " ", "base dynamic", "static", " shaper frequency: ");
SERIAL_ECHO(p_float_t(c.baseFreq.z, 2), F(" Hz"));
#if HAS_DYNAMIC_FREQ
if (dynamic) SERIAL_ECHO(F(" scaling: "), p_float_t(c.dynFreqK.z, 2), F("Hz/"), z_based ? F("mm") : F("g"));
#endif
SERIAL_EOL();
if (ftMotion.cfg.shaper[Z_AXIS]) {
SERIAL_CHAR(STEPPER_C_NAME);
SERIAL_ECHO_TERNARY(dynamic, " ", "base dynamic", "static", " shaper frequency: ");
SERIAL_ECHO(p_float_t(c.baseFreq.z, 2), F(" Hz"));
#if HAS_DYNAMIC_FREQ
if (dynamic) SERIAL_ECHO(F(" scaling: "), p_float_t(c.dynFreqK.z, 2), F("Hz/"), z_based ? F("mm") : F("g"));
# endif
SERIAL_EOL();
}
#endif

#if ENABLED(FTM_SHAPER_E)
SERIAL_CHAR('E');
SERIAL_ECHO_TERNARY(dynamic, " ", "base dynamic", "static", " shaper frequency: ");
SERIAL_ECHO(p_float_t(c.baseFreq.e, 2), F(" Hz"));
#if HAS_DYNAMIC_FREQ
if (dynamic) SERIAL_ECHO(F(" scaling: "), p_float_t(c.dynFreqK.e, 2), F("Hz/"), z_based ? F("mm") : F("g"));
#endif
SERIAL_EOL();
if (ftMotion.cfg.shaper[E_AXIS]) {
SERIAL_CHAR('E');
SERIAL_ECHO_TERNARY(dynamic, " ", "base dynamic", "static", " shaper frequency: ");
SERIAL_ECHO(p_float_t(c.baseFreq.e, 2), F(" Hz"));
#if HAS_DYNAMIC_FREQ
if (dynamic) SERIAL_ECHO(F(" scaling: "), p_float_t(c.dynFreqK.e, 2), F("Hz/"), z_based ? F("mm") : F("g"));
#endif
SERIAL_EOL();
}
#endif
}
}
Expand Down Expand Up @@ -250,10 +259,6 @@ void GcodeSuite::M493() {
if (c.setShaper(axis, newsh))
flag.update = flag.report = true;
};
if (seenC) {
#define _SET_SHAPER(A) set_shaper(_AXIS(A), shaperVal);
SHAPED_MAP(_SET_SHAPER);
}

#endif // NUM_AXES_SHAPED > 0

Expand Down Expand Up @@ -317,6 +322,9 @@ void GcodeSuite::M493() {

if (apply_xy || parser.seen_test('X')) {

// Set shaper if given
if (seenC) set_shaper(X_AXIS, shaperVal);

// Parse X frequency parameter
if (seenA) {
if (AXIS_IS_SHAPING(X)) {
Expand Down Expand Up @@ -363,6 +371,9 @@ void GcodeSuite::M493() {

if (apply_xy || parser.seen_test('Y')) {

// Set shaper if given
if (seenC) set_shaper(Y_AXIS, shaperVal);

// Parse Y frequency parameter
if (seenA) {
if (AXIS_IS_SHAPING(Y)) {
Expand Down Expand Up @@ -408,6 +419,9 @@ void GcodeSuite::M493() {

if (parser.seen_test('Z')) {

// Set shaper if given
if (seenC) set_shaper(Z_AXIS, shaperVal);

// Parse Z frequency parameter
if (seenA) {
if (AXIS_IS_SHAPING(Z)) {
Expand Down Expand Up @@ -453,6 +467,9 @@ void GcodeSuite::M493() {

if (parser.seen_test('E')) {

// Set shaper if given
if (seenC) set_shaper(E_AXIS, shaperVal);

// Parse E frequency parameter
if (seenA) {
if (AXIS_IS_SHAPING(E)) {
Expand Down
2 changes: 1 addition & 1 deletion Marlin/src/module/ft_motion/trajectory_trapezoidal.h
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,7 @@ class TrapezoidalTrajectoryGenerator : public TrajectoryGenerator {
TrapezoidalTrajectoryGenerator() = default;

void plan(const float initial_speed_in, const float final_speed_in, const float acceleration_in, const float nominal_speed_in, const float distance_in) override {

initial_speed = initial_speed_in;
acceleration = acceleration_in;
nominal_speed = nominal_speed_in;
Expand Down
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