using my own resonance tester algorithm

README.md

@@ -1,4 +1,4 @@
-# Klipper Shake&Tune Module
+# Klipper Shake&Tune plugin
 
 This "Shake&Tune" repository is a standalone module from the [Klippain](https://github.com/Frix-x/klippain) ecosystem, designed to automate and calibrate the input shaper system on your Klipper 3D printer with a streamlined workflow and insightful vizualisations. This can be installed on any Klipper machine. It is not limited to those using Klippain.
 

docs/README.md

@@ -1,4 +1,4 @@
-# Klippain Shake&Tune module documentation
+# Klipper Shake&Tune plugin documentation
 
 ![](./banner_long.png)
 
@@ -89,7 +89,7 @@ Here are the parameters available when calling this macro:
 |SPEED|80|speed of the toolhead in mm/s for the movements|
 |ACCEL|1500 (or max printer accel)|accel in mm/s^2 used for all the moves|
 |TRAVEL_SPEED|120|speed in mm/s used for all the travels moves|
-|ACCEL_CHIP|"adxl345"|accelerometer chip name in the config|
+|ACCEL_CHIP|None|accelerometer to use for the test. If unset, it will automatically select the proper accelerometer based on what is configured in your `[resonance_tester]` config section|
 
 The machine will move slightly in +X, +Y, and +Z, and output in the console: `Detected axes_map: -z,y,x`.
 
@@ -108,8 +108,11 @@ Here are the parameters available when calling this macro:
 | parameters | default value | description |
 |-----------:|---------------|-------------|
 |FREQUENCY|25|excitation frequency (in Hz) that you want to maintain. Usually, it's the frequency of a peak on one of the graphs|
-|TIME|10|time in second to maintain this excitation|
+|DURATION|10|duration in second to maintain this excitation|
+|ACCEL_PER_HZ|None|accel per Hz value used for the test. If unset, it will use the value from your `[resonance_tester]` config section (75 is the default)|
 |AXIS|x|axis you want to excitate. Can be set to either "x", "y", "a", "b"|
+|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|
 
 
 ## Complementary ressources

docs/macros/axis_tuning.md

@@ -11,14 +11,15 @@ Then, call the `AXES_SHAPER_CALIBRATION` macro and look for the graphs in the re
 
 | parameters | default value | description |
 |-----------:|---------------|-------------|
-|FREQ_START|5|Starting excitation frequency|
+|FREQ_START|5|starting excitation frequency|
-|FREQ_END|133|Maximum excitation frequency|
+|FREQ_END|133|maximum excitation frequency|
-|HZ_PER_SEC|1|Number of Hz per seconds for the test|
+|HZ_PER_SEC|1|number of Hz per seconds for the test|
-|AXIS|"all"|Axis you want to test in the list of "all", "X" or "Y"|
+|ACCEL_PER_HZ|None|accel per Hz value used for the test. If unset, it will use the value from your `[resonance_tester]` config section (75 is the default)|
-|SCV|printer square corner velocity|Square corner velocity you want to use to calculate shaper recommendations. Using higher SCV values usually results in more smoothing and lower maximum accelerations|
+|AXIS|"all"|axis you want to test in the list of "all", "X" or "Y"|
-|MAX_SMOOTHING|None|Max smoothing allowed when calculating shaper recommendations|
+|SCV|printer square corner velocity|square corner velocity you want to use to calculate shaper recommendations. Using higher SCV values usually results in more smoothing and lower maximum accelerations|
-|KEEP_N_RESULTS|3|Total number of results to keep in the result folder after running the test. The older results are automatically cleaned up|
+|MAX_SMOOTHING|None|max smoothing allowed when calculating shaper recommendations|
-|KEEP_CSV|0|Weither or not to keep the CSV data file alonside the PNG graphs|
+|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|
 
 
 ## Graphs description

docs/macros/belts_tuning.md

@@ -11,11 +11,12 @@ Then, call the `COMPARE_BELTS_RESPONSES` macro and look for the graphs in the re
 
 | parameters | default value | description |
 |-----------:|---------------|-------------|
-|FREQ_START|5|Starting excitation frequency|
+|FREQ_START|5|starting excitation frequency|
-|FREQ_END|133|Maximum excitation frequency|
+|FREQ_END|133|maximum excitation frequency|
-|HZ_PER_SEC|1|Number of Hz per seconds for the test|
+|HZ_PER_SEC|1|number of Hz per seconds for the test|
-|KEEP_N_RESULTS|3|Total number of results to keep in the result folder after running the test. The older results are automatically cleaned up|
+|ACCEL_PER_HZ|None|accel per Hz value used for the test. If unset, it will use the value from your `[resonance_tester]` config section (75 is the default)|
-|KEEP_CSV|0|Weither or not to keep the CSV data files alonside the PNG graphs|
+|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|
 
 
 ## Graphs description

shaketune/graph_creators/graph_creator.py

@@ -57,7 +57,6 @@ class GraphCreator(abc.ABC):
             new_file = self._folder / f'{self._type}_{self._graph_date}_{custom_name}.csv'
             # shutil.move() is needed to move the file across filesystems (mainly for BTT CB1 Pi default OS image)
             shutil.move(filename, new_file)
-            fm.wait_file_ready(new_file)
             lognames.append(new_file)
         return lognames
 
@@ -98,9 +97,9 @@ class BeltsGraphCreator(GraphCreator):
 
     def create_graph(self) -> None:
         lognames = self._move_and_prepare_files(
-            glob_pattern='raw_data_axis*.csv',
+            glob_pattern='shaketune-belt_*.csv',
             min_files_required=2,
-            custom_name_func=lambda f: f.stem.split('_')[3].upper(),
+            custom_name_func=lambda f: f.stem.split('_')[1].upper(),
         )
         fig = belts_calibration(
             lognames=[str(path) for path in lognames],
@@ -245,15 +244,13 @@ class AxesMapFinder(GraphCreator):
 
     def find_axesmap(self) -> None:
         tmp_folder = Path('/tmp')
-        globbed_files = list(tmp_folder.glob(f'{self._chip_name}-*.csv'))
+        globbed_files = list(tmp_folder.glob('shaketune-axemap_*.csv'))
 
         if not globbed_files:
             raise FileNotFoundError('no CSV files found in the /tmp folder to find the axes map!')
 
-        # Find the CSV files with the latest timestamp and wait for it to be released by Klipper
+        # Find the CSV files with the latest timestamp and process it
         logname = sorted(globbed_files, key=lambda f: f.stat().st_mtime, reverse=True)[0]
-        fm.wait_file_ready(logname)
-
         results = axesmap_calibration(
             lognames=[str(logname)],
             accel=self._accel,
@@ -271,6 +268,6 @@ class AxesMapFinder(GraphCreator):
 
     def clean_old_files(self, keep_results: int) -> None:
         tmp_folder = Path('/tmp')
-        globbed_files = list(tmp_folder.glob(f'{self._chip_name}-*.csv'))
+        globbed_files = list(tmp_folder.glob('shaketune-axemap_*.csv'))
         for csv_file in globbed_files:
             csv_file.unlink()

shaketune/macros/__init__.py

@@ -5,6 +5,13 @@ from .axes_map import axes_map_calibration as axes_map_calibration
 from .belts_comparison import compare_belts_responses as compare_belts_responses
 from .static_freq import excitate_axis_at_freq as excitate_axis_at_freq
 
+AXIS_CONFIG = [
+    {'axis': 'x', 'direction': (1, 0, 0), 'label': 'axis_X'},
+    {'axis': 'y', 'direction': (0, 1, 0), 'label': 'axis_Y'},
+    {'axis': 'a', 'direction': (1, -1, 0), 'label': 'belt_A'},
+    {'axis': 'b', 'direction': (1, 1, 0), 'label': 'belt_B'},
+]
+
 # graph_creators = {
 #     'axesmap': (AxesMapFinder, lambda gc: gc.configure(options.accel_used, options.chip_name)),
 #     'belts': (BeltsGraphCreator, None),

shaketune/macros/accelerometer.py

@@ -1,36 +1,56 @@
 #!/usr/bin/env python3
 
+# This file provides a custom and internal Shake&Tune Accelerometer helper that is
+# an interface to Klipper's own accelerometer classes. It is used to start and
+# stop accelerometer measurements and write the data to a file in a blocking manner.
+
 import time
 
-from ..helpers.console_output import ConsoleOutput
+# from ..helpers.console_output import ConsoleOutput
 
 
 class Accelerometer:
     def __init__(self, klipper_accelerometer):
         self._k_accelerometer = klipper_accelerometer
+        self._bg_client = None
+
+    @staticmethod
+    def find_axis_accelerometer(printer, axis: str = 'xy'):
+        accel_chip_names = printer.lookup_object('resonance_tester').accel_chip_names
+        for chip_axis, chip_name in accel_chip_names:
+            if axis in ['x', 'y'] and chip_axis == 'xy':
+                return chip_name
+            elif chip_axis == axis:
+                return chip_name
+        return None
 
     def start_measurement(self):
-        if self._k_accelerometer.bg_client is None:
+        if self._bg_client is None:
-            self._k_accelerometer.bg_client = self._k_accelerometer.chip.start_internal_client()
+            self._bg_client = self._k_accelerometer.start_internal_client()
-            ConsoleOutput.print('accelerometer measurements started')
+            # ConsoleOutput.print('Accelerometer measurements started')
         else:
             raise ValueError('measurements already started!')
 
-    def stop_measurement(self, name: str = None):
+    def stop_measurement(self, name: str = None, append_time: bool = True):
-        if self._k_accelerometer.bg_client is not None:
+        if self._bg_client is None:
-            name = name or time.strftime('%Y%m%d_%H%M%S')
+            raise ValueError('measurements need to be started first!')
+
+        timestamp = time.strftime('%Y%m%d_%H%M%S')
+        if name is None:
+            name = timestamp
+        elif append_time:
+            name += f'_{timestamp}'
+
         if not name.replace('-', '').replace('_', '').isalnum():
             raise ValueError('invalid file name!')
 
-            bg_client = self._k_accelerometer.bg_client
+        bg_client = self._bg_client
-            self._k_accelerometer.bg_client = None
+        self._bg_client = None
         bg_client.finish_measurements()
 
         filename = f'/tmp/shaketune-{name}.csv'
         self._write_to_file(bg_client, filename)
-            ConsoleOutput.print(f'Measurements stopped. Data written to {filename}')
+        # ConsoleOutput.print(f'Accelerometer measurements stopped. Data written to {filename}')
-        else:
-            raise ValueError('measurements need to be started first!')
 
     def _write_to_file(self, bg_client, filename):
         with open(filename, 'w') as f:

shaketune/macros/axes_input_shaper.py

@@ -3,33 +3,102 @@
 
 from ..helpers.console_output import ConsoleOutput
 from ..shaketune_thread import ShakeTuneThread
+from . import AXIS_CONFIG
+from .accelerometer import Accelerometer
+from .resonance_test import vibrate_axis
 
 
 def axes_shaper_calibration(gcmd, gcode, printer, st_thread: ShakeTuneThread) -> None:
     min_freq = gcmd.get_float('FREQ_START', default=5, minval=1)
     max_freq = gcmd.get_float('FREQ_END', default=133.33, minval=1)
     hz_per_sec = gcmd.get_float('HZ_PER_SEC', default=1, minval=1)
-    axis = gcmd.get('AXIS', default='all')
+    accel_per_hz = gcmd.get_float('ACCEL_PER_HZ', default=None)
-    if axis not in ['x', 'y', 'all']:
+    axis_input = gcmd.get('AXIS', default='all').lower()
+    if axis_input not in ['x', 'y', 'all']:
         gcmd.error('AXIS selection invalid. Should be either x, y, or all!')
     scv = gcmd.get_float('SCV', default=None, minval=0)
     max_sm = gcmd.get_float('MAX_SMOOTHING', default=None, minval=0)
+    feedrate_travel = gcmd.get_float('TRAVEL_SPEED', default=120.0, minval=20.0)
+    z_height = gcmd.get_float('Z_HEIGHT', default=None, minval=1)
 
-    if scv is None:
     systime = printer.get_reactor().monotonic()
     toolhead = printer.lookup_object('toolhead')
+    res_tester = printer.lookup_object('resonance_tester')
+
+    if scv is None:
         toolhead_info = toolhead.get_status(systime)
         scv = toolhead_info['square_corner_velocity']
 
+    if accel_per_hz is None:
+        accel_per_hz = res_tester.test.accel_per_hz
+    max_accel = max_freq * accel_per_hz
+
+    # Move to the starting point
+    test_points = res_tester.test.get_start_test_points()
+    if len(test_points) > 1:
+        gcmd.error('Only one test point in the [resonance_tester] section is supported by Shake&Tune.')
+    if test_points[0] == (-1, -1, -1):
+        if z_height is None:
+            gcmd.error(
+                'Z_HEIGHT parameter is required if the test_point in [resonance_tester] section is set to -1,-1,-1'
+            )
+        # Use center of bed in case the test point in [resonance_tester] is set to -1,-1,-1
+        # This is usefull to get something automatic and is also used in the Klippain modular config
+        kin_info = toolhead.kin.get_status(systime)
+        mid_x = (kin_info['axis_minimum'].x + kin_info['axis_maximum'].x) / 2
+        mid_y = (kin_info['axis_minimum'].y + kin_info['axis_maximum'].y) / 2
+        point = (mid_x, mid_y, z_height)
+    else:
+        x, y, z = test_points[0]
+        if z_height is not None:
+            z = z_height
+        point = (x, y, z)
+
+    toolhead.manual_move(point, feedrate_travel)
+
+    # Configure the graph creator
     creator = st_thread.get_graph_creator()
     creator.configure(scv, max_sm)
 
-    axis_flags = {'x': axis in ('x', 'all'), 'y': axis in ('y', 'all')}
+    # set the needed acceleration values for the test
-    for axis in ['x', 'y']:
+    toolhead_info = toolhead.get_status(systime)
-        if axis_flags[axis]:
+    old_accel = toolhead_info['max_accel']
-            gcode.run_script_from_command(
+    old_mcr = toolhead_info['minimum_cruise_ratio']
-                f'TEST_RESONANCES AXIS={axis.upper()} OUTPUT=raw_data NAME={axis} FREQ_START={min_freq} FREQ_END={max_freq} HZ_PER_SEC={hz_per_sec}'
+    gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={max_accel} MINIMUM_CRUISE_RATIO=0')
+
+    # Deactivate input shaper if it is active to get raw movements
+    input_shaper = printer.lookup_object('input_shaper', None)
+    if input_shaper is not None:
+        input_shaper.disable_shaping()
+    else:
+        input_shaper = None
+
+    # Filter axis configurations based on user input, assuming 'axis_input' can be 'x', 'y', 'all' (that means 'x' and 'y')
+    filtered_config = [
+        a for a in AXIS_CONFIG if a['axis'] == axis_input or (axis_input == 'all' and a['axis'] in ('x', 'y'))
+    ]
+    for config in filtered_config:
+        # First we need to find the accelerometer chip suited for the axis
+        accel_chip = Accelerometer.find_axis_accelerometer(printer, config['axis'])
+        if accel_chip is None:
+            gcmd.error(
+                'No suitable accelerometer found for measurement! Multi-accelerometer configurations are not supported for this macro.'
             )
-            ConsoleOutput.print(f'{axis.upper()} axis frequency profile generation...')
+        accelerometer = Accelerometer(printer.lookup_object(accel_chip))
+
+        # Then do the actual measurements
+        accelerometer.start_measurement()
+        vibrate_axis(toolhead, gcode, config['direction'], min_freq, max_freq, hz_per_sec, accel_per_hz)
+        accelerometer.stop_measurement(config['label'], append_time=True)
+
+        # And finally generate the graph for each measured axis
+        ConsoleOutput.print(f'{config['axis'].upper()} axis frequency profile generation...')
         ConsoleOutput.print('This may take some time (1-3min)')
         st_thread.run()
+
+    # Re-enable the input shaper if it was active
+    if input_shaper is not None:
+        input_shaper.enable_shaping()
+
+    # Restore the previous acceleration values
+    gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={old_accel} MINIMUM_CRUISE_RATIO={old_mcr}')

shaketune/macros/axes_map.py

@@ -6,16 +6,6 @@ from ..shaketune_thread import ShakeTuneThread
 from .accelerometer import Accelerometer
 
 
-def find_axis_accelerometer(printer, axis: str = 'xy'):
-    accel_chip_names = printer.lookup_object('resonance_tester').accel_chip_names
-    for chip_axis, chip_name in accel_chip_names:
-        if axis in ['x', 'y'] and chip_axis == 'xy':
-            return chip_name
-        elif chip_axis == axis:
-            return chip_name
-    return None
-
-
 def axes_map_calibration(gcmd, gcode, printer, st_thread: ShakeTuneThread) -> None:
     z_height = gcmd.get_float('Z_HEIGHT', default=20.0)
     speed = gcmd.get_float('SPEED', default=80.0, minval=20.0)
@@ -24,11 +14,12 @@ def axes_map_calibration(gcmd, gcode, printer, st_thread: ShakeTuneThread) -> No
     accel_chip = gcmd.get('ACCEL_CHIP', default=None)
 
     if accel_chip is None:
-        accel_chip = find_axis_accelerometer(printer, 'xy')
+        accel_chip = Accelerometer.find_axis_accelerometer(printer, 'xy')
         if accel_chip is None:
             gcmd.error(
                 'No accelerometer specified for measurement! Multi-accelerometer configurations are not supported for this macro.'
             )
+        accelerometer = Accelerometer(printer.lookup_object(accel_chip))
 
     systime = printer.get_reactor().monotonic()
     toolhead = printer.lookup_object('toolhead')
@@ -57,10 +48,7 @@ def axes_map_calibration(gcmd, gcode, printer, st_thread: ShakeTuneThread) -> No
     toolhead.dwell(0.5)
 
     # Start the measurements and do the movements (+X, +Y and then +Z)
-    accelerometer = Accelerometer(printer.lookup_object(accel_chip))
     accelerometer.start_measurement()
-    # gcode.run_script_from_command(f'ACCELEROMETER_MEASURE CHIP={accel_chip}')
-
     toolhead.dwell(1)
     toolhead.move([mid_x + 15, mid_y - 15, z_height, E], speed)
     toolhead.dwell(1)
@@ -68,9 +56,7 @@ def axes_map_calibration(gcmd, gcode, printer, st_thread: ShakeTuneThread) -> No
     toolhead.dwell(1)
     toolhead.move([mid_x + 15, mid_y + 15, z_height + 15, E], speed)
     toolhead.dwell(1)
-
     accelerometer.stop_measurement('axemap')
-    # gcode.run_script_from_command(f'ACCELEROMETER_MEASURE CHIP={accel_chip} NAME=axemap')
 
     # Re-enable the input shaper if it was active
     if input_shaper is not None:

shaketune/macros/belts_comparison.py

@@ -3,24 +3,83 @@
 
 from ..helpers.console_output import ConsoleOutput
 from ..shaketune_thread import ShakeTuneThread
+from . import AXIS_CONFIG
+from .accelerometer import Accelerometer
+from .resonance_test import vibrate_axis
 
 
 def compare_belts_responses(gcmd, gcode, printer, st_thread: ShakeTuneThread) -> None:
-    min_freq = gcmd.get_float('FREQ_START', default=5, minval=1)
+    min_freq = gcmd.get_float('FREQ_START', default=5.0, minval=1)
     max_freq = gcmd.get_float('FREQ_END', default=133.33, minval=1)
-    hz_per_sec = gcmd.get_float('HZ_PER_SEC', default=1, minval=1)
+    hz_per_sec = gcmd.get_float('HZ_PER_SEC', default=1.0, minval=1)
+    accel_per_hz = gcmd.get_float('ACCEL_PER_HZ', default=None)
+    feedrate_travel = gcmd.get_float('TRAVEL_SPEED', default=120.0, minval=20.0)
+    z_height = gcmd.get_float('Z_HEIGHT', default=None, minval=1)
 
+    systime = printer.get_reactor().monotonic()
     toolhead = printer.lookup_object('toolhead')
+    res_tester = printer.lookup_object('resonance_tester')
 
-    gcode.run_script_from_command(
+    accel_chip = Accelerometer.find_axis_accelerometer(printer, 'xy')
-        f'TEST_RESONANCES AXIS=1,1 OUTPUT=raw_data NAME=b FREQ_START={min_freq} FREQ_END={max_freq} HZ_PER_SEC={hz_per_sec}'
+    if accel_chip is None:
+        gcmd.error(
+            'No suitable accelerometer found for measurement! Multi-accelerometer configurations are not supported for this macro.'
         )
-    toolhead.wait_moves()
+    accelerometer = Accelerometer(printer.lookup_object(accel_chip))
 
-    gcode.run_script_from_command(
+    if accel_per_hz is None:
-        f'TEST_RESONANCES AXIS=1,-1 OUTPUT=raw_data NAME=a FREQ_START={min_freq} FREQ_END={max_freq} HZ_PER_SEC={hz_per_sec}'
+        accel_per_hz = res_tester.test.accel_per_hz
+    max_accel = max_freq * accel_per_hz
+
+    # Move to the starting point
+    test_points = res_tester.test.get_start_test_points()
+    if len(test_points) > 1:
+        gcmd.error('Only one test point in the [resonance_tester] section is supported by Shake&Tune.')
+    if test_points[0] == (-1, -1, -1):
+        if z_height is None:
+            gcmd.error(
+                'Z_HEIGHT parameter is required if the test_point in [resonance_tester] section is set to -1,-1,-1'
             )
-    toolhead.wait_moves()
+        # Use center of bed in case the test point in [resonance_tester] is set to -1,-1,-1
+        # This is usefull to get something automatic and is also used in the Klippain modular config
+        kin_info = toolhead.kin.get_status(systime)
+        mid_x = (kin_info['axis_minimum'].x + kin_info['axis_maximum'].x) / 2
+        mid_y = (kin_info['axis_minimum'].y + kin_info['axis_maximum'].y) / 2
+        point = (mid_x, mid_y, z_height)
+    else:
+        x, y, z = test_points[0]
+        if z_height is not None:
+            z = z_height
+        point = (x, y, z)
+
+    toolhead.manual_move(point, feedrate_travel)
+
+    # set the needed acceleration values for the test
+    toolhead_info = toolhead.get_status(systime)
+    old_accel = toolhead_info['max_accel']
+    old_mcr = toolhead_info['minimum_cruise_ratio']
+    gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={max_accel} MINIMUM_CRUISE_RATIO=0')
+
+    # Deactivate input shaper if it is active to get raw movements
+    input_shaper = printer.lookup_object('input_shaper', None)
+    if input_shaper is not None:
+        input_shaper.disable_shaping()
+    else:
+        input_shaper = None
+
+    # Filter axis configurations to get the A and B axis only
+    filtered_config = [a for a in AXIS_CONFIG if a['axis'] in ('x', 'y')]
+    for config in filtered_config:
+        accelerometer.start_measurement()
+        vibrate_axis(toolhead, gcode, config['direction'], min_freq, max_freq, hz_per_sec, accel_per_hz)
+        accelerometer.stop_measurement(config['label'], append_time=True)
+
+    # Re-enable the input shaper if it was active
+    if input_shaper is not None:
+        input_shaper.enable_shaping()
+
+    # Restore the previous acceleration values
+    gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={old_accel} MINIMUM_CRUISE_RATIO={old_mcr}')
 
     # Run post-processing
     ConsoleOutput.print('Belts comparative frequency profile generation...')

shaketune/macros/resonance_test.py

@@ -0,0 +1,50 @@
+#!/usr/bin/env python3
+
+# The logic in this file was "extracted" from Klipper's orignal resonance_tester.py file
+# Courtesy of Dmitry Butyugin <dmbutyugin@google.com> for the original implementation
+
+# This derive a bit from Klipper's implementation as there are two main changes:
+# 1. Original code doesn't use euclidean distance for the moves calculation with projection. The new approach implemented here
+#    ensures that the vector's total length remains constant (= L), regardless of the direction components. It's especially
+#    important when the direction vector involves combinations of movements along multiple axes like for the diagonal belt tests.
+# 2. Original code doesn't allow Z axis movement that was added here for later use
+
+import math
+
+from ..helpers.console_output import ConsoleOutput
+
+
+# This function is used to vibrate the toolhead in a specific axis direction
+# to test the resonance frequency of the printer and its components
+def vibrate_axis(toolhead, gcode, axis_direction, min_freq, max_freq, hz_per_sec, accel_per_hz):
+    freq = min_freq
+    X, Y, Z, E = toolhead.get_position()  # Get current position
+    sign = 1.0
+
+    while freq <= max_freq + 0.000001:
+        t_seg = 0.25 / freq  # Time segment for one vibration cycle
+        accel = accel_per_hz * freq  # Acceleration for each half-cycle
+        max_v = accel * t_seg  # Max velocity for each half-cycle
+        toolhead.cmd_M204(gcode.create_gcode_command('M204', 'M204', {'S': accel}))
+        L = 0.5 * accel * t_seg**2  # Distance for each half-cycle
+
+        # Calculate move points based on axis direction (X, Y and Z)
+        magnitude = math.sqrt(sum([component**2 for component in axis_direction]))
+        normalized_direction = tuple(component / magnitude for component in axis_direction)
+        dX, dY, dZ = normalized_direction[0] * L, normalized_direction[1] * L, normalized_direction[2] * L
+        nX = X + sign * dX
+        nY = Y + sign * dY
+        nZ = Z + sign * dZ
+
+        # Execute movement
+        toolhead.move([nX, nY, nZ, E], max_v)
+        toolhead.move([X, Y, Z, E], max_v)
+        sign *= -1
+
+        # Increase frequency for next cycle
+        old_freq = freq
+        freq += 2 * t_seg * hz_per_sec
+        if int(freq) > int(old_freq):
+            ConsoleOutput.print(f'Testing frequency: {freq:.0f} Hz')
+
+    toolhead.wait_moves()

shaketune/macros/static_freq.py

@@ -1,22 +1,55 @@
 #!/usr/bin/env python3
 
 from ..helpers.console_output import ConsoleOutput
+from . import AXIS_CONFIG
+from .resonance_test import vibrate_axis
 
 
-def excitate_axis_at_freq(gcmd, gcode) -> None:
+def excitate_axis_at_freq(gcmd, printer, gcode) -> None:
     freq = gcmd.get_int('FREQUENCY', default=25, minval=1)
     duration = gcmd.get_int('DURATION', default=10, minval=1)
-    axis = gcmd.get('AXIS', default='x')
+    accel_per_hz = gcmd.get_float('ACCEL_PER_HZ', default=None)
-    if axis not in ['x', 'y', 'a', 'b']:
+    axis = gcmd.get('AXIS', default='x').lower()
+    feedrate_travel = gcmd.get_float('TRAVEL_SPEED', default=120.0, minval=20.0)
+    z_height = gcmd.get_float('Z_HEIGHT', default=None, minval=1)
+
+    axis_config = next((item for item in AXIS_CONFIG if item['axis'] == axis), None)
+    if axis_config is None:
         gcmd.error('AXIS selection invalid. Should be either x, y, a or b!')
 
     ConsoleOutput.print(f'Excitating {axis.upper()} axis at {freq}Hz for {duration} seconds')
 
-    if axis == 'a':
+    systime = printer.get_reactor().monotonic()
-        axis = '1,-1'
+    toolhead = printer.lookup_object('toolhead')
-    elif axis == 'b':
+    res_tester = printer.lookup_object('resonance_tester')
-        axis = '1,1'
 
-    gcode.run_script_from_command(
+    if accel_per_hz is None:
-        f'TEST_RESONANCES OUTPUT=raw_data AXIS={axis} FREQ_START={freq-1} FREQ_END={freq+1} HZ_PER_SEC={1/(duration/3)}'
+        accel_per_hz = res_tester.test.accel_per_hz
+
+    # Move to the starting point
+    test_points = res_tester.test.get_start_test_points()
+    if len(test_points) > 1:
+        gcmd.error('Only one test point in the [resonance_tester] section is supported by Shake&Tune.')
+    if test_points[0] == (-1, -1, -1):
+        if z_height is None:
+            gcmd.error(
+                'Z_HEIGHT parameter is required if the test_point in [resonance_tester] section is set to -1,-1,-1'
             )
+        # Use center of bed in case the test point in [resonance_tester] is set to -1,-1,-1
+        # This is usefull to get something automatic and is also used in the Klippain modular config
+        kin_info = toolhead.kin.get_status(systime)
+        mid_x = (kin_info['axis_minimum'].x + kin_info['axis_maximum'].x) / 2
+        mid_y = (kin_info['axis_minimum'].y + kin_info['axis_maximum'].y) / 2
+        point = (mid_x, mid_y, z_height)
+    else:
+        x, y, z = test_points[0]
+        if z_height is not None:
+            z = z_height
+        point = (x, y, z)
+
+    toolhead.manual_move(point, feedrate_travel)
+
+    min_freq = freq - 1
+    max_freq = freq + 1
+    hz_per_sec = 1 / (duration / 3)
+    vibrate_axis(toolhead, gcode, axis_config['direction'], min_freq, max_freq, hz_per_sec, accel_per_hz)