code cleanup

README.md

@@ -31,6 +31,27 @@ Follow these steps to install Shake&Tune on your printer:
      #    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.
+
+     # motor_freq:
+     #    /!\ This option has limitations in stock Klipper and is best used with DangerKlipper /!\
+     #    Frequencies of X and Y motor resonances to filter them by using
+     #    composite shapers. This requires the `[input_shaper]` config
+     #    section to be defined in your printer.cfg file to work.
+     # motor_freq_x:
+     # motor_freq_y:
+     #   /!\ This option has limitations in stock Klipper and is best used with DangerKlipper /!\
+     #   If motor_freq is not set, these two parameters can be used
+     #   to configure different filters for X and Y motors. The same
+     #   values are supported as for motor_freq parameter.
+     # motor_damping_ratio: 0.05
+     #   /!\ This option has limitations in stock Klipper and is best used with DangerKlipper /!\
+     #   Damping ratios for X and Y motor resonances. 
+     # motor_damping_ratio_x:
+     # motor_damping_ratio_y:
+     #   /!\ This option has limitations in stock Klipper and is best used with DangerKlipper /!\
+     #   If motor_damping_ratio is not set, these two parameters can be used
+     #   to configure different filters for X and Y motors. The same values
+     #   are supported as for motor_damping_ratio parameter.
      ```
 
 Don't forget to check out **[Shake&Tune documentation here](./docs/README.md)**.

docs/macros/axes_map_calibration.md

@@ -36,9 +36,9 @@ axes_map: -z,y,x
 
 This plot shows the acceleration data over time for the X, Y, and Z axes after removing the gravity offset. Look for patterns in the acceleration data for each axis: you should have exactly 2 spikes for each subplot (for the start and stop of the motion) that break away from the global noise. This can help identify any anomalies or inconsistencies in your accelerometer behavior.
 
-The detected gravity offset is printed in the legend to give some context to the readings and their scale: if it's too far from the standard 9.8-10 m/s², this means that your accelerometer is not working properly and should be fixed or calibrated.
+The dynamic noise and background vibrations measured by the accelerometer are extracted from the signal (using wavelet transform decomposition) and printed in the legend. **Usually values below about 500mm/s² are ok**, but Shake&Tune will automatically add a note if too much noise is recorded. **Be careful because this value is very different from Klipper's `MEASURE_AXES_NOISE` command, as Shake&Tune measures everything during the motion**, such as accelerometer noise, but also vibrations and motor noise, axis and toolhead oscillations, etc. If you want to record your axes_map correctly, you may need to use about 10 times this value in the `ACCEL` parameter to get a good signal-to-noise ratio and allow Shake&Tune to correctly detect the toolhead acceleration and deceleration phases.
 
-The average noise in the accelerometer measurement is calculated (using wavelet transform decomposition) and displayed at the top of the image. Usually values <500mm/s² are ok, but a note is automatically added by Shake&Tune in case your accelerometer has too much noise.
+The detected gravity offset is printed in the legend to give some context to the readings and their scale: if it's too far from the standard 9.8-10 m/s², this means that your accelerometer is not working properly and should be fixed or calibrated.
 
 ### Estimated 3D movement path
 

docs/macros/axes_shaper_calibrations.md

@@ -11,10 +11,10 @@ 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_END|133|maximum excitation frequency|
+|FREQ_START|None (default to `[resonance_tester]` value)|starting excitation frequency|
+|FREQ_END|None (default to `[resonance_tester]` value)|maximum excitation frequency|
 |HZ_PER_SEC|1|number of Hz per seconds for the test|
-|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)|
+|ACCEL_PER_HZ|None (default to `[resonance_tester]` value)|accel per Hz value used for the test|
 |AXIS|"all"|axis you want to test in the list of "all", "X" or "Y"|
 |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|
 |MAX_SMOOTHING|None|max smoothing allowed when calculating shaper recommendations|

docs/macros/compare_belts_responses.md

@@ -15,10 +15,10 @@ 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_END|133|maximum excitation frequency|
+|FREQ_START|None (default to `[resonance_tester]` value)|starting excitation frequency|
+|FREQ_END|None (default to `[resonance_tester]` value)|maximum excitation frequency|
 |HZ_PER_SEC|1|number of Hz per seconds for the test|
-|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)|
+|ACCEL_PER_HZ|None (default to `[resonance_tester]` value)|accel per Hz value used for the test|
 |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|
 

docs/macros/excitate_axis_at_freq.md

@@ -12,7 +12,7 @@ Here are the parameters available:
 |CREATE_GRAPH|0|whether or not to record the accelerometer data and create an associated graph during the excitation|
 |FREQUENCY|25|excitation frequency (in Hz) that you want to maintain. Usually, it's the frequency of a peak on one of the graphs|
 |DURATION|30|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)|
+|ACCEL_PER_HZ|None (default to `[resonance_tester]` value)|accel per Hz value used for the test|
 |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|

shaketune/commands/accelerometer.py

@@ -9,15 +9,21 @@
 #              accelerometer measurements and write the data to a file in a blocking manner.
 
 
+import os
 import time
+from multiprocessing import Process, Queue
 
-# from ..helpers.console_output import ConsoleOutput
+FILE_WRITE_TIMEOUT = 10  # seconds
 
 
 class Accelerometer:
-    def __init__(self, klipper_accelerometer):
+    def __init__(self, reactor, klipper_accelerometer):
         self._k_accelerometer = klipper_accelerometer
+        self._reactor = reactor
+
         self._bg_client = None
+        self._write_queue = Queue()
+        self._write_processes = []
 
     @staticmethod
     def find_axis_accelerometer(printer, axis: str = 'xy'):
@@ -32,7 +38,6 @@ class Accelerometer:
     def start_measurement(self):
         if self._bg_client is None:
             self._bg_client = self._k_accelerometer.start_internal_client()
-            # ConsoleOutput.print('Accelerometer measurements started')
         else:
             raise ValueError('measurements already started!')
 
@@ -54,12 +59,49 @@ class Accelerometer:
         bg_client.finish_measurements()
 
         filename = f'/tmp/shaketune-{name}.csv'
-        self._write_to_file(bg_client, filename)
-        # ConsoleOutput.print(f'Accelerometer measurements stopped. Data written to {filename}')
+        self._queue_file_write(bg_client, filename)
+
+    def _queue_file_write(self, bg_client, filename):
+        self._write_queue.put(filename)
+        write_proc = Process(target=self._write_to_file, args=(bg_client, filename))
+        write_proc.daemon = True
+        write_proc.start()
+        self._write_processes.append(write_proc)
 
     def _write_to_file(self, bg_client, filename):
+        try:
+            os.nice(20)
+        except Exception:
+            pass
+
         with open(filename, 'w') as f:
             f.write('#time,accel_x,accel_y,accel_z\n')
             samples = bg_client.samples or bg_client.get_samples()
             for t, accel_x, accel_y, accel_z in samples:
                 f.write(f'{t:.6f},{accel_x:.6f},{accel_y:.6f},{accel_z:.6f}\n')
+
+        self._write_queue.get()
+
+    def wait_for_file_writes(self):
+        while not self._write_queue.empty():
+            eventtime = self._reactor.monotonic()
+            self._reactor.pause(eventtime + 0.1)
+
+        for proc in self._write_processes:
+            if proc is None:
+                continue
+            eventtime = self._reactor.monotonic()
+            endtime = eventtime + FILE_WRITE_TIMEOUT
+            complete = False
+            while eventtime < endtime:
+                eventtime = self._reactor.pause(eventtime + 0.05)
+                if not proc.is_alive():
+                    complete = True
+                    break
+            if not complete:
+                raise TimeoutError(
+                    'Shake&Tune was not able to write the accelerometer data into the CSV file. '
+                    'This might be due to a slow SD card or a busy or full filesystem.'
+                )
+
+        self._write_processes = []

shaketune/commands/axes_map_calibration.py

@@ -37,15 +37,21 @@ def axes_map_calibration(gcmd, config, st_process: ShakeTuneProcess) -> None:
         raise gcmd.error(
             f'The parameter axes_map is already set in your {accel_chip} configuration! Please remove it (or set it to "x,y,z")!'
         )
-    accelerometer = Accelerometer(k_accelerometer)
+    accelerometer = Accelerometer(printer.get_reactor(), k_accelerometer)
 
     toolhead_info = toolhead.get_status(systime)
     old_accel = toolhead_info['max_accel']
-    old_mcr = toolhead_info['minimum_cruise_ratio']
     old_sqv = toolhead_info['square_corner_velocity']
 
     # set the wanted acceleration values
-    gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={accel} MINIMUM_CRUISE_RATIO=0 SQUARE_CORNER_VELOCITY=5.0')
+    if 'minimum_cruise_ratio' in toolhead_info:
+        old_mcr = toolhead_info['minimum_cruise_ratio']  # minimum_cruise_ratio found: Klipper >= v0.12.0-239
+        gcode.run_script_from_command(
+            f'SET_VELOCITY_LIMIT ACCEL={accel} MINIMUM_CRUISE_RATIO=0 SQUARE_CORNER_VELOCITY=5.0'
+        )
+    else:  # minimum_cruise_ratio not found: Klipper < v0.12.0-239
+        old_mcr = None
+        gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={accel} SQUARE_CORNER_VELOCITY=5.0')
 
     # Deactivate input shaper if it is active to get raw movements
     input_shaper = printer.lookup_object('input_shaper', None)
@@ -82,14 +88,20 @@ def axes_map_calibration(gcmd, config, st_process: ShakeTuneProcess) -> None:
     toolhead.dwell(0.5)
     accelerometer.stop_measurement('axesmap_Z', append_time=True)
 
+    accelerometer.wait_for_file_writes()
+
     # Re-enable the input shaper if it was active
     if input_shaper is not None:
         input_shaper.enable_shaping()
 
     # Restore the previous acceleration values
+    if old_mcr is not None:  # minimum_cruise_ratio found: Klipper >= v0.12.0-239
         gcode.run_script_from_command(
             f'SET_VELOCITY_LIMIT ACCEL={old_accel} MINIMUM_CRUISE_RATIO={old_mcr} SQUARE_CORNER_VELOCITY={old_sqv}'
         )
+    else:  # minimum_cruise_ratio not found: Klipper < v0.12.0-239
+        gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={old_accel} SQUARE_CORNER_VELOCITY={old_sqv}')
+
     toolhead.wait_moves()
 
     # Run post-processing

shaketune/commands/axes_shaper_calibration.py

@@ -17,14 +17,20 @@ from .accelerometer import Accelerometer
 
 
 def axes_shaper_calibration(gcmd, config, st_process: ShakeTuneProcess) -> None:
-    min_freq = gcmd.get_float('FREQ_START', default=5, minval=1)
-    max_freq = gcmd.get_float('FREQ_END', default=133.33, minval=1)
+    printer = config.get_printer()
+    toolhead = printer.lookup_object('toolhead')
+    res_tester = printer.lookup_object('resonance_tester')
+    systime = printer.get_reactor().monotonic()
+    toolhead_info = toolhead.get_status(systime)
+
+    min_freq = gcmd.get_float('FREQ_START', default=res_tester.test.min_freq, minval=1)
+    max_freq = gcmd.get_float('FREQ_END', default=res_tester.test.max_freq, minval=1)
     hz_per_sec = gcmd.get_float('HZ_PER_SEC', default=1, minval=1)
     accel_per_hz = gcmd.get_float('ACCEL_PER_HZ', default=None)
     axis_input = gcmd.get('AXIS', default='all').lower()
     if axis_input not in {'x', 'y', 'all'}:
         raise gcmd.error('AXIS selection invalid. Should be either x, y, or all!')
-    scv = gcmd.get_float('SCV', default=None, minval=0)
+    scv = gcmd.get_float('SCV', default=toolhead_info['square_corner_velocity'], 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)
@@ -32,18 +38,11 @@ def axes_shaper_calibration(gcmd, config, st_process: ShakeTuneProcess) -> None:
     if accel_per_hz == '':
         accel_per_hz = None
 
-    printer = config.get_printer()
-    gcode = printer.lookup_object('gcode')
-    toolhead = printer.lookup_object('toolhead')
-    res_tester = printer.lookup_object('resonance_tester')
-    systime = printer.get_reactor().monotonic()
-
-    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
+
+    gcode = printer.lookup_object('gcode')
+
     max_accel = max_freq * accel_per_hz
 
     # Move to the starting point
@@ -77,8 +76,12 @@ def axes_shaper_calibration(gcmd, config, st_process: ShakeTuneProcess) -> None:
     # set the needed acceleration values for the test
     toolhead_info = toolhead.get_status(systime)
     old_accel = toolhead_info['max_accel']
+    if 'minimum_cruise_ratio' in toolhead_info:  # minimum_cruise_ratio found: Klipper >= v0.12.0-239
         old_mcr = toolhead_info['minimum_cruise_ratio']
         gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={max_accel} MINIMUM_CRUISE_RATIO=0')
+    else:  # minimum_cruise_ratio not found: Klipper < v0.12.0-239
+        old_mcr = None
+        gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={max_accel}')
 
     # Deactivate input shaper if it is active to get raw movements
     input_shaper = printer.lookup_object('input_shaper', None)
@@ -96,13 +99,15 @@ def axes_shaper_calibration(gcmd, config, st_process: ShakeTuneProcess) -> None:
         accel_chip = Accelerometer.find_axis_accelerometer(printer, config['axis'])
         if accel_chip is None:
             raise gcmd.error('No suitable accelerometer found for measurement!')
-        accelerometer = Accelerometer(printer.lookup_object(accel_chip))
+        accelerometer = Accelerometer(printer.get_reactor(), 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)
 
+        accelerometer.wait_for_file_writes()
+
         # 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)')
@@ -116,4 +121,7 @@ def axes_shaper_calibration(gcmd, config, st_process: ShakeTuneProcess) -> None:
         input_shaper.enable_shaping()
 
     # Restore the previous acceleration values
+    if old_mcr is not None:  # minimum_cruise_ratio found: Klipper >= v0.12.0-239
         gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={old_accel} MINIMUM_CRUISE_RATIO={old_mcr}')
+    else:  # minimum_cruise_ratio not found: Klipper < v0.12.0-239
+        gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={old_accel}')

shaketune/commands/compare_belts_responses.py

@@ -18,9 +18,14 @@ from .accelerometer import Accelerometer
 
 
 def compare_belts_responses(gcmd, config, st_process: ShakeTuneProcess) -> None:
-    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=1.0, minval=1)
+    printer = config.get_printer()
+    toolhead = printer.lookup_object('toolhead')
+    res_tester = printer.lookup_object('resonance_tester')
+    systime = printer.get_reactor().monotonic()
+
+    min_freq = gcmd.get_float('FREQ_START', default=res_tester.test.min_freq, minval=1)
+    max_freq = gcmd.get_float('FREQ_END', default=res_tester.test.max_freq, minval=1)
+    hz_per_sec = gcmd.get_float('HZ_PER_SEC', default=1, 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)
@@ -28,14 +33,11 @@ def compare_belts_responses(gcmd, config, st_process: ShakeTuneProcess) -> None:
     if accel_per_hz == '':
         accel_per_hz = None
 
-    printer = config.get_printer()
-    gcode = printer.lookup_object('gcode')
-    toolhead = printer.lookup_object('toolhead')
-    res_tester = printer.lookup_object('resonance_tester')
-    systime = printer.get_reactor().monotonic()
-
     if accel_per_hz is None:
         accel_per_hz = res_tester.test.accel_per_hz
+
+    gcode = printer.lookup_object('gcode')
+
     max_accel = max_freq * accel_per_hz
 
     # Configure the graph creator
@@ -58,7 +60,7 @@ def compare_belts_responses(gcmd, config, st_process: ShakeTuneProcess) -> None:
         raise gcmd.error(
             'No suitable accelerometer found for measurement! Multi-accelerometer configurations are not supported for this macro.'
         )
-    accelerometer = Accelerometer(printer.lookup_object(accel_chip))
+    accelerometer = Accelerometer(printer.get_reactor(), printer.lookup_object(accel_chip))
 
     # Move to the starting point
     test_points = res_tester.test.get_start_test_points()
@@ -87,8 +89,12 @@ def compare_belts_responses(gcmd, config, st_process: ShakeTuneProcess) -> None:
     # set the needed acceleration values for the test
     toolhead_info = toolhead.get_status(systime)
     old_accel = toolhead_info['max_accel']
+    if 'minimum_cruise_ratio' in toolhead_info:  # minimum_cruise_ratio found: Klipper >= v0.12.0-239
         old_mcr = toolhead_info['minimum_cruise_ratio']
         gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={max_accel} MINIMUM_CRUISE_RATIO=0')
+    else:  # minimum_cruise_ratio not found: Klipper < v0.12.0-239
+        old_mcr = None
+        gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={max_accel}')
 
     # Deactivate input shaper if it is active to get raw movements
     input_shaper = printer.lookup_object('input_shaper', None)
@@ -103,12 +109,17 @@ def compare_belts_responses(gcmd, config, st_process: ShakeTuneProcess) -> None:
         vibrate_axis(toolhead, gcode, config['direction'], min_freq, max_freq, hz_per_sec, accel_per_hz)
         accelerometer.stop_measurement(config['label'], append_time=True)
 
+    accelerometer.wait_for_file_writes()
+
     # Re-enable the input shaper if it was active
     if input_shaper is not None:
         input_shaper.enable_shaping()
 
     # Restore the previous acceleration values
+    if old_mcr is not None:  # minimum_cruise_ratio found: Klipper >= v0.12.0-239
         gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={old_accel} MINIMUM_CRUISE_RATIO={old_mcr}')
+    else:  # minimum_cruise_ratio not found: Klipper < v0.12.0-239
+        gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={old_accel}')
 
     # Run post-processing
     ConsoleOutput.print('Belts comparative frequency profile generation...')

shaketune/commands/create_vibrations_profile.py

@@ -59,11 +59,17 @@ def create_vibrations_profile(gcmd, config, st_process: ShakeTuneProcess) -> Non
 
     toolhead_info = toolhead.get_status(systime)
     old_accel = toolhead_info['max_accel']
-    old_mcr = toolhead_info['minimum_cruise_ratio']
     old_sqv = toolhead_info['square_corner_velocity']
 
     # set the wanted acceleration values
-    gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={accel} MINIMUM_CRUISE_RATIO=0 SQUARE_CORNER_VELOCITY=5.0')
+    if 'minimum_cruise_ratio' in toolhead_info:  # minimum_cruise_ratio found: Klipper >= v0.12.0-239
+        old_mcr = toolhead_info['minimum_cruise_ratio']
+        gcode.run_script_from_command(
+            f'SET_VELOCITY_LIMIT ACCEL={accel} MINIMUM_CRUISE_RATIO=0 SQUARE_CORNER_VELOCITY=5.0'
+        )
+    else:  # minimum_cruise_ratio not found: Klipper < v0.12.0-239
+        old_mcr = None
+        gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={accel} SQUARE_CORNER_VELOCITY=5.0')
 
     kin_info = toolhead.kin.get_status(systime)
     mid_x = (kin_info['axis_minimum'].x + kin_info['axis_maximum'].x) / 2
@@ -90,8 +96,8 @@ def create_vibrations_profile(gcmd, config, st_process: ShakeTuneProcess) -> Non
         k_accelerometer = printer.lookup_object(current_accel_chip, None)
         if k_accelerometer is None:
             raise gcmd.error(f'Accelerometer [{current_accel_chip}] not found!')
-        accelerometer = Accelerometer(k_accelerometer)
         ConsoleOutput.print(f'Accelerometer chip used for this angle: [{current_accel_chip}]')
+        accelerometer = Accelerometer(printer.get_reactor(), k_accelerometer)
 
         # Sweep the speed range to record the vibrations at different speeds
         for curr_speed_sample in range(nb_speed_samples):
@@ -131,10 +137,15 @@ def create_vibrations_profile(gcmd, config, st_process: ShakeTuneProcess) -> Non
             toolhead.dwell(0.3)
             toolhead.wait_moves()
 
+        accelerometer.wait_for_file_writes()
+
         # Restore the previous acceleration values
+    if old_mcr is not None:  # minimum_cruise_ratio found: Klipper >= v0.12.0-239
         gcode.run_script_from_command(
             f'SET_VELOCITY_LIMIT ACCEL={old_accel} MINIMUM_CRUISE_RATIO={old_mcr} SQUARE_CORNER_VELOCITY={old_sqv}'
         )
+    else:  # minimum_cruise_ratio not found: Klipper < v0.12.0-239
+        gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={old_accel} SQUARE_CORNER_VELOCITY={old_sqv}')
     toolhead.wait_moves()
 
     # Run post-processing

shaketune/commands/excitate_axis_at_freq.py

@@ -41,7 +41,7 @@ def excitate_axis_at_freq(gcmd, config, st_process: ShakeTuneProcess) -> None:
         k_accelerometer = printer.lookup_object(accel_chip, None)
         if k_accelerometer is None:
             raise gcmd.error(f'Accelerometer chip [{accel_chip}] was not found!')
-        accelerometer = Accelerometer(k_accelerometer)
+        accelerometer = Accelerometer(printer.get_reactor(), k_accelerometer)
 
     ConsoleOutput.print(f'Excitating {axis.upper()} axis at {freq}Hz for {duration} seconds')
 
@@ -100,6 +100,7 @@ def excitate_axis_at_freq(gcmd, config, st_process: ShakeTuneProcess) -> None:
     # If the user wanted to create a graph, we stop the recording and generate it
     if create_graph:
         accelerometer.stop_measurement(f'staticfreq_{axis.upper()}', append_time=True)
+        accelerometer.wait_for_file_writes()
 
         creator = st_process.get_graph_creator()
         creator.configure(freq, duration, accel_per_hz)

shaketune/dummy_macros.cfg

@@ -45,15 +45,15 @@ gcode:
 [gcode_macro COMPARE_BELTS_RESPONSES]
 description: dummy
 gcode:
-    {% set freq_start = params.FREQ_START|default(5) %}
-    {% set freq_end = params.FREQ_END|default(133.33) %}
+    {% set freq_start = params.FREQ_START %}
+    {% set freq_end = params.FREQ_END %}
     {% set hz_per_sec = params.HZ_PER_SEC|default(1) %}
     {% set accel_per_hz = params.ACCEL_PER_HZ %}
     {% set travel_speed = params.TRAVEL_SPEED|default(120) %}
     {% set z_height = params.Z_HEIGHT %}
     {% set params_filtered = {
-        "FREQ_START": freq_start,
-        "FREQ_END": freq_end,
+        "FREQ_START": freq_start if freq_start is not none else '',
+        "FREQ_END": freq_end if freq_end is not none else '',
         "HZ_PER_SEC": hz_per_sec,
         "ACCEL_PER_HZ": accel_per_hz if accel_per_hz is not none else '',
         "TRAVEL_SPEED": travel_speed,
@@ -65,8 +65,8 @@ gcode:
 [gcode_macro AXES_SHAPER_CALIBRATION]
 description: dummy
 gcode:
-    {% set freq_start = params.FREQ_START|default(5) %}
-    {% set freq_end = params.FREQ_END|default(133.33) %}
+    {% set freq_start = params.FREQ_START %}
+    {% set freq_end = params.FREQ_END %}
     {% set hz_per_sec = params.HZ_PER_SEC|default(1) %}
     {% set accel_per_hz = params.ACCEL_PER_HZ %}
     {% set axis = params.AXIS|default('all') %}
@@ -75,8 +75,8 @@ gcode:
     {% set travel_speed = params.TRAVEL_SPEED|default(120) %}
     {% set z_height = params.Z_HEIGHT %}
     {% set params_filtered = {
-        "FREQ_START": freq_start,
-        "FREQ_END": freq_end,
+        "FREQ_START": freq_start if freq_start is not none else '',
+        "FREQ_END": freq_end if freq_end is not none else '',
         "HZ_PER_SEC": hz_per_sec,
         "ACCEL_PER_HZ": accel_per_hz if accel_per_hz is not none else '',
         "AXIS": axis,

shaketune/graph_creators/axes_map_graph_creator.py

@@ -7,7 +7,6 @@
 # Description: Implements the axes map detection script for Shake&Tune, including
 #              calibration tools and graph creation for 3D printer vibration analysis.
 
-
 import optparse
 import os
 from datetime import datetime
@@ -194,9 +193,14 @@ def linear_regression_direction(
 
 
 def plot_compare_frequency(
-    ax: plt.Axes, time: np.ndarray, accel_x: np.ndarray, accel_y: np.ndarray, accel_z: np.ndarray, offset: float, i: int
+    ax: plt.Axes,
+    time_data: List[np.ndarray],
+    accel_data: List[Tuple[np.ndarray, np.ndarray, np.ndarray]],
+    offset: float,
+    noise_level: str,
 ) -> None:
     # Plot acceleration data
+    for i, (time, (accel_x, accel_y, accel_z)) in enumerate(zip(time_data, accel_data)):
         ax.plot(
             time,
             accel_x,
@@ -222,7 +226,6 @@ def plot_compare_frequency(
             zorder=50 if i == 2 else 10,
         )
 
-    # Setting axis parameters, grid and graph title
     ax.set_xlabel('Time (s)')
     ax.set_ylabel('Acceleration (mm/s²)')
 
@@ -242,23 +245,24 @@ def plot_compare_frequency(
 
     ax.legend(loc='upper left', prop=fontP)
 
-    # Add gravity offset to the graph
-    if i == 0:
-        ax2 = ax.twinx()  # To split the legends in two box
+    # Add the gravity and noise level to the graph legend
+    ax2 = ax.twinx()
     ax2.yaxis.set_visible(False)
+    ax2.plot([], [], ' ', label=noise_level)
     ax2.plot([], [], ' ', label=f'Measured gravity: {offset / 1000:0.3f} m/s²')
     ax2.legend(loc='upper right', prop=fontP)
 
 
 def plot_3d_path(
     ax: plt.Axes,
-    i: int,
-    position_x: np.ndarray,
-    position_y: np.ndarray,
-    position_z: np.ndarray,
-    average_direction_vector: np.ndarray,
-    angle_error: float,
+    position_data: List[Tuple[np.ndarray, np.ndarray, np.ndarray]],
+    direction_vectors: List[np.ndarray],
+    angle_errors: List[float],
 ) -> None:
+    # Plot the 3D path of the movement
+    for i, ((position_x, position_y, position_z), average_direction_vector, angle_error) in enumerate(
+        zip(position_data, direction_vectors, angle_errors)
+    ):
         ax.plot(position_x, position_y, position_z, color=KLIPPAIN_COLORS['orange'], linestyle=':', linewidth=2)
         ax.scatter(position_x[0], position_y[0], position_z[0], color=KLIPPAIN_COLORS['red_pink'], zorder=10)
         ax.text(
@@ -277,18 +281,16 @@ def plot_3d_path(
         end_position = start_position + average_direction_vector * np.linalg.norm(
             [position_x[-1] - position_x[0], position_y[-1] - position_y[0], position_z[-1] - position_z[0]]
         )
-    axes = ['X', 'Y', 'Z']
         ax.plot(
             [start_position[0], end_position[0]],
             [start_position[1], end_position[1]],
             [start_position[2], end_position[2]],
-        label=f'{axes[i]} angle: {angle_error:0.2f}°',
+            label=f'{["X", "Y", "Z"][i]} angle: {angle_error:0.2f}°',
             color=KLIPPAIN_COLORS['purple'],
             linestyle='-',
             linewidth=2,
         )
 
-    # Setting axis parameters, grid and graph title
     ax.set_xlabel('X Position (mm)')
     ax.set_ylabel('Y Position (mm)')
     ax.set_zlabel('Z Position (mm)')
@@ -311,14 +313,24 @@ def plot_3d_path(
 
 def format_direction_vector(vectors: List[np.ndarray]) -> str:
     formatted_vector = []
+    axes_count = {'x': 0, 'y': 0, 'z': 0}
+
     for vector in vectors:
         for i in range(len(vector)):
             if vector[i] > 0:
                 formatted_vector.append(MACHINE_AXES[i])
+                axes_count[MACHINE_AXES[i]] += 1
                 break
             elif vector[i] < 0:
                 formatted_vector.append(f'-{MACHINE_AXES[i]}')
+                axes_count[MACHINE_AXES[i]] += 1
                 break
+
+    # Check if all axes are present in the axes_map and return an error message if not
+    for _, count in axes_count.items():
+        if count != 1:
+            return 'unable to determine it correctly!'
+
     return ', '.join(formatted_vector)
 
 
@@ -360,8 +372,12 @@ def axesmap_calibration(
 
     cumulative_start_position = np.array([0, 0, 0])
     direction_vectors = []
+    angle_errors = []
     total_noise_intensity = 0.0
-    for i, machine_axis in enumerate(MACHINE_AXES):
+    acceleration_data = []
+    position_data = []
+    gravities = []
+    for _, machine_axis in enumerate(MACHINE_AXES):
         if machine_axis not in raw_datas:
             raise ValueError(f'Missing CSV file for axis {machine_axis}')
 
@@ -388,15 +404,19 @@ def axesmap_calibration(
             f'Machine axis {machine_axis.upper()} -> nearest accelerometer direction vector: {direction_vector} (angle error: {angle_error:.2f}°)'
         )
         direction_vectors.append(direction_vector)
+        angle_errors.append(angle_error)
 
         total_noise_intensity += noise_intensity
 
-        plot_compare_frequency(ax1, time, accel_x, accel_y, accel_z, gravity, i)
-        plot_3d_path(ax2, i, position_x, position_y, position_z, average_direction_vector, angle_error)
+        acceleration_data.append((time, (accel_x, accel_y, accel_z)))
+        position_data.append((position_x, position_y, position_z))
+        gravities.append(gravity)
 
         # Update the cumulative start position for the next segment
         cumulative_start_position = np.array([position_x[-1], position_y[-1], position_z[-1]])
 
+    gravity = np.mean(gravities)
+
     average_noise_intensity = total_noise_intensity / len(raw_datas)
     if average_noise_intensity <= 350:
         average_noise_intensity_text = '-> OK'
@@ -405,11 +425,25 @@ def axesmap_calibration(
     else:
         average_noise_intensity_text = '-> ERROR: accelerometer noise is too high!'
 
+    average_noise_intensity_label = (
+        f'Dynamic noise level: {average_noise_intensity:.2f} mm/s² {average_noise_intensity_text}'
+    )
+    ConsoleOutput.print(average_noise_intensity_label)
+
+    ConsoleOutput.print(f'--> Detected gravity: {gravity / 1000 :.2f} m/s²')
+
     formatted_direction_vector = format_direction_vector(direction_vectors)
     ConsoleOutput.print(f'--> Detected axes_map: {formatted_direction_vector}')
-    ConsoleOutput.print(
-        f'Average accelerometer noise level: {average_noise_intensity:.2f} mm/s² {average_noise_intensity_text}'
+
+    # Plot the differents graphs
+    plot_compare_frequency(
+        ax1,
+        [d[0] for d in acceleration_data],
+        [d[1] for d in acceleration_data],
+        gravity,
+        average_noise_intensity_label,
     )
+    plot_3d_path(ax2, position_data, direction_vectors, angle_errors)
 
     # Add title
     title_line1 = 'AXES MAP CALIBRATION TOOL'
@@ -430,9 +464,7 @@ def axesmap_calibration(
     fig.text(0.060, 0.939, title_line2, ha='left', va='top', fontsize=16, color=KLIPPAIN_COLORS['dark_purple'])
 
     title_line3 = f'| Detected axes_map: {formatted_direction_vector}'
-    title_line4 = f'| Accelerometer noise level: {average_noise_intensity:.2f} mm/s² {average_noise_intensity_text}'
-    fig.text(0.50, 0.985, title_line3, ha='left', va='top', fontsize=14, color=KLIPPAIN_COLORS['dark_purple'])
-    fig.text(0.50, 0.950, title_line4, ha='left', va='top', fontsize=11, color=KLIPPAIN_COLORS['dark_purple'])
+    fig.text(0.50, 0.985, title_line3, ha='left', va='top', fontsize=16, color=KLIPPAIN_COLORS['dark_purple'])
 
     # Adding a small Klippain logo to the top left corner of the figure
     ax_logo = fig.add_axes([0.001, 0.894, 0.105, 0.105], anchor='NW')

shaketune/graph_creators/belts_graph_creator.py

@@ -296,7 +296,7 @@ def plot_compare_frequency(
 
     ax.xaxis.set_minor_locator(matplotlib.ticker.AutoMinorLocator())
     ax.yaxis.set_minor_locator(matplotlib.ticker.AutoMinorLocator())
-    ax.ticklabel_format(axis='x', style='scientific', scilimits=(0, 0))
+    ax.ticklabel_format(axis='y', style='scientific', scilimits=(0, 0))
     ax.grid(which='major', color='grey')
     ax.grid(which='minor', color='lightgrey')
     fontP = matplotlib.font_manager.FontProperties()
@@ -459,7 +459,7 @@ def plot_versus_belts(
 
     ax.xaxis.set_minor_locator(matplotlib.ticker.AutoMinorLocator())
     ax.yaxis.set_minor_locator(matplotlib.ticker.AutoMinorLocator())
-    ax.ticklabel_format(axis='y', style='scientific', scilimits=(0, 0))
+    ax.ticklabel_format(style='scientific', scilimits=(0, 0))
     ax.grid(which='major', color='grey')
     ax.grid(which='minor', color='lightgrey')
 

shaketune/graph_creators/vibrations_graph_creator.py

@@ -39,6 +39,7 @@ from ..helpers.motors_config_parser import Motor, MotorsConfigParser
 from ..shaketune_config import ShakeTuneConfig
 from .graph_creator import GraphCreator
 
+DEFAULT_LOW_FREQ_MAX = 30
 PEAKS_DETECTION_THRESHOLD = 0.05
 PEAKS_RELATIVE_HEIGHT_THRESHOLD = 0.04
 CURVE_SIMILARITY_SIGMOID_K = 0.5
@@ -114,58 +115,61 @@ def calc_freq_response(data) -> Tuple[np.ndarray, np.ndarray]:
     return helper.process_accelerometer_data(data)
 
 
-# Calculate motor frequency profiles based on the measured Power Spectral Density (PSD) measurements for the machine kinematics
-# main angles and then create a global motor profile as a weighted average (from their own vibrations) of all calculated profiles
-def compute_motor_profiles(
-    freqs: np.ndarray,
-    psds: dict,
-    all_angles_energy: dict,
-    measured_angles: Optional[List[int]] = None,
-    energy_amplification_factor: int = 2,
-) -> Tuple[dict, np.ndarray]:
-    if measured_angles is None:
-        measured_angles = [0, 90]
+def find_motor_characteristics(motor: str, freqs: np.ndarray, psd: np.ndarray) -> Tuple[float, float, int]:
+    motor_fr, motor_zeta, motor_res_idx, lowfreq_max = compute_mechanical_parameters(psd, freqs, DEFAULT_LOW_FREQ_MAX)
 
+    if lowfreq_max:
+        ConsoleOutput.print(
+            (
+                f'[WARNING] {motor} motor has a lot of low frequency vibrations. This is '
+                'probably due to the test being performed at too high an acceleration!\n'
+                'Try lowering ACCEL and/or increasing SIZE before restarting the macro '
+                'to ensure that only constant speeds are being recorded and that the '
+                'dynamic behavior of the machine is not affecting the measurements.'
+            )
+        )
+    if motor_zeta is not None:
+        ConsoleOutput.print(
+            (
+                f'Motor {motor} have a main resonant frequency at {motor_fr:.1f}Hz '
+                f'with an estimated damping ratio of {motor_zeta:.3f}'
+            )
+        )
+    else:
+        ConsoleOutput.print(
+            (
+                f'Motor {motor} have a main resonant frequency at {motor_fr:.1f}Hz '
+                'but it was impossible to estimate its damping ratio.'
+            )
+        )
+
+    return motor_fr, motor_zeta, motor_res_idx
+
+
+# Calculate motor frequency profiles based on the measured Power Spectral Density (PSD) measurements
+# for the machine kinematics main angles
+def compute_motor_profiles(freqs: np.ndarray, psds: dict, measured_angles: Optional[List[int]] = (0, 90)) -> dict:
     motor_profiles = {}
-    weighted_sum_profiles = np.zeros_like(freqs)
-    total_weight = 0
     conv_filter = np.ones(20) / 20
 
-    # Creating the PSD motor profiles for each angles
+    # Creating the PSD motor profiles for each angle by summing the PSDs for each speed
     for angle in measured_angles:
-        # Calculate the sum of PSDs for the current angle and then convolve
         sum_curve = np.sum(np.array([psds[angle][speed] for speed in psds[angle]]), axis=0)
         motor_profiles[angle] = np.convolve(sum_curve / len(psds[angle]), conv_filter, mode='same')
 
-        # Calculate weights
-        angle_energy = (
-            all_angles_energy[angle] ** energy_amplification_factor
-        )  # First weighting factor is based on the total vibrations of the machine at the specified angle
-        curve_area = (
-            np.trapz(motor_profiles[angle], freqs) ** energy_amplification_factor
-        )  # Additional weighting factor is based on the area under the current motor profile at this specified angle
-        total_angle_weight = angle_energy * curve_area
-
-        # Update weighted sum profiles to get the global motor profile
-        weighted_sum_profiles += motor_profiles[angle] * total_angle_weight
-        total_weight += total_angle_weight
-
-    # Creating a global average motor profile that is the weighted average of all the PSD motor profiles
-    global_motor_profile = weighted_sum_profiles / total_weight if total_weight != 0 else weighted_sum_profiles
-
-    return motor_profiles, global_motor_profile
+    return motor_profiles
 
 
 # Since it was discovered that there is no non-linear mixing in the stepper "steps" vibrations, instead of measuring
 # the effects of each speeds at each angles, this function simplify it by using only the main motors axes (X/Y for Cartesian
-# printers and A/B for CoreXY) measurements and project each points on the [0,360] degrees range using trigonometry
+# printers and A/B for CoreXY) measurements and project each points on the [0, 360] degrees range using trigonometry
 # to "sum" the vibration impact of each axis at every points of the generated spectrogram. The result is very similar at the end.
 def compute_dir_speed_spectrogram(
-    measured_speeds: List[float], data: dict, kinematics: str = 'cartesian', measured_angles: Optional[List[int]] = None
+    measured_speeds: List[float],
+    data: dict,
+    kinematics: str = 'cartesian',
+    measured_angles: Optional[List[int]] = (0, 90),
 ) -> Tuple[np.ndarray, np.ndarray, np.ndarray]:
-    if measured_angles is None:
-        measured_angles = [0, 90]
-
     # We want to project the motor vibrations measured on their own axes on the [0, 360] range
     spectrum_angles = np.linspace(0, 360, 720)  # One point every 0.5 degrees
     spectrum_speeds = np.linspace(min(measured_speeds), max(measured_speeds), len(measured_speeds) * 6)
@@ -293,11 +297,8 @@ def filter_and_split_ranges(
 # This function allow the computation of a symmetry score that reflect the spectrogram apparent symmetry between
 # measured axes on both the shape of the signal and the energy level consistency across both side of the signal
 def compute_symmetry_analysis(
-    all_angles: np.ndarray, spectrogram_data: np.ndarray, measured_angles: Optional[List[int]] = None
+    all_angles: np.ndarray, spectrogram_data: np.ndarray, measured_angles: Optional[List[int]] = (0, 90)
 ) -> float:
-    if measured_angles is None:
-        measured_angles = [0, 90]
-
     total_spectrogram_angles = len(all_angles)
     half_spectrogram_angles = total_spectrogram_angles // 2
 
@@ -501,75 +502,40 @@ def plot_angular_speed_profiles(
 
 
 def plot_motor_profiles(
-    ax: plt.Axes,
-    freqs: np.ndarray,
-    main_angles: List[int],
-    motor_profiles: dict,
-    global_motor_profile: np.ndarray,
-    max_freq: float,
+    ax: plt.Axes, freqs: np.ndarray, main_angles: List[int], motor_profiles: dict, max_freq: float
 ) -> None:
-    ax.set_title('Motor frequency profile', fontsize=14, color=KLIPPAIN_COLORS['dark_orange'], weight='bold')
+    ax.set_title('Motors frequency profiles', fontsize=14, color=KLIPPAIN_COLORS['dark_orange'], weight='bold')
     ax.set_ylabel('Energy')
     ax.set_xlabel('Frequency (Hz)')
 
     ax2 = ax.twinx()
     ax2.yaxis.set_visible(False)
 
-    # Global weighted average motor profile
-    ax.plot(freqs, global_motor_profile, label='Combined', color=KLIPPAIN_COLORS['purple'], zorder=5)
-    max_value = global_motor_profile.max()
-
     # Mapping of angles to axis names
     angle_settings = {0: 'X', 90: 'Y', 45: 'A', 135: 'B'}
 
-    # And then plot the motor profiles at each measured angles
+    # And then plot the motor profiles at each measured angles with their characteristics
+    max_value = 0
     for angle in main_angles:
         profile_max = motor_profiles[angle].max()
         if profile_max > max_value:
             max_value = profile_max
         label = f'{angle_settings[angle]} ({angle} deg)' if angle in angle_settings else f'{angle} deg'
-        ax.plot(freqs, motor_profiles[angle], linestyle='--', label=label, zorder=2)
+        ax.plot(freqs, motor_profiles[angle], label=label, zorder=2)
+
+        motor_fr, motor_zeta, motor_res_idx = find_motor_characteristics(
+            angle_settings[angle], freqs, motor_profiles[angle]
+        )
+        ax2.plot([], [], ' ', label=f'{angle_settings[angle]} resonant frequency (ω0): {motor_fr:.1f}Hz')
+        if motor_zeta is not None:
+            ax2.plot([], [], ' ', label=f'{angle_settings[angle]} damping ratio (ζ): {motor_zeta:.3f}')
+        else:
+            ax2.plot([], [], ' ', label=f'{angle_settings[angle]} damping ratio (ζ): unknown')
 
     ax.set_xlim([0, max_freq])
     ax.set_ylim([0, max_value * 1.1])
     ax.ticklabel_format(axis='y', style='scientific', scilimits=(0, 0))
 
-    # Then add the motor resonance peak to the graph and print some infos about it
-    motor_fr, motor_zeta, motor_res_idx, lowfreq_max = compute_mechanical_parameters(global_motor_profile, freqs, 30)
-    if lowfreq_max:
-        ConsoleOutput.print(
-            '[WARNING] There are a lot of low frequency vibrations that can alter the readings. This is probably due to the test being performed at too high an acceleration!'
-        )
-        ConsoleOutput.print(
-            'Try lowering the ACCEL value and/or increasing the SIZE value before restarting the macro to ensure that only constant speeds are being recorded and that the dynamic behavior of the machine is not affecting the measurements'
-        )
-    if motor_zeta is not None:
-        ConsoleOutput.print(
-            f'Motors have a main resonant frequency at {motor_fr:.1f}Hz with an estimated damping ratio of {motor_zeta:.3f}'
-        )
-    else:
-        ConsoleOutput.print(
-            f'Motors have a main resonant frequency at {motor_fr:.1f}Hz but it was impossible to estimate a damping ratio.'
-        )
-
-    ax.plot(freqs[motor_res_idx], global_motor_profile[motor_res_idx], 'x', color='black', markersize=10)
-    ax.annotate(
-        'R',
-        (freqs[motor_res_idx], global_motor_profile[motor_res_idx]),
-        textcoords='offset points',
-        xytext=(15, 5),
-        ha='right',
-        fontsize=14,
-        color=KLIPPAIN_COLORS['red_pink'],
-        weight='bold',
-    )
-
-    ax2.plot([], [], ' ', label=f'Motor resonant frequency (ω0): {motor_fr:.1f}Hz')
-    if motor_zeta is not None:
-        ax2.plot([], [], ' ', label=f'Motor damping ratio (ζ): {motor_zeta:.3f}')
-    else:
-        ax2.plot([], [], ' ', label='No damping ratio computed')
-
     ax.xaxis.set_minor_locator(matplotlib.ticker.AutoMinorLocator())
     ax.yaxis.set_minor_locator(matplotlib.ticker.AutoMinorLocator())
     ax.grid(which='major', color='grey')
@@ -649,7 +615,7 @@ def plot_vibration_spectrogram(
 def plot_motor_config_txt(fig: plt.Figure, motors: List[MotorsConfigParser], differences: Optional[str]) -> None:
     motor_details = [(motors[0], 'X motor'), (motors[1], 'Y motor')]
 
-    distance = 0.12
+    distance = 0.15
     if motors[0].get_config('autotune_enabled'):
         distance = 0.27
         config_blocks = [
@@ -732,9 +698,9 @@ def vibrations_profile(
     shaper_calibrate = setup_klipper_import(klipperdir)
 
     if kinematics == 'cartesian' or kinematics == 'corexz':
-        main_angles = [0, 90]
+        main_angles = (0, 90)
     elif kinematics == 'corexy':
-        main_angles = [45, 135]
+        main_angles = (45, 135)
     else:
         raise ValueError('Only Cartesian, CoreXY and CoreXZ kinematics are supported by this tool at the moment!')
 
@@ -775,7 +741,7 @@ def vibrations_profile(
     )
     all_angles_energy = compute_angle_powers(spectrogram_data)
     sp_min_energy, sp_max_energy, sp_variance_energy, vibration_metric = compute_speed_powers(spectrogram_data)
-    motor_profiles, global_motor_profile = compute_motor_profiles(target_freqs, psds, all_angles_energy, main_angles)
+    motor_profiles = compute_motor_profiles(target_freqs, psds, main_angles)
 
     # symmetry_factor = compute_symmetry_analysis(all_angles, all_angles_energy)
     symmetry_factor = compute_symmetry_analysis(all_angles, spectrogram_data, main_angles)
@@ -884,7 +850,7 @@ def vibrations_profile(
     plot_angular_speed_profiles(ax3, all_speeds, all_angles, spectrogram_data, kinematics)
     plot_vibration_spectrogram(ax5, all_angles, all_speeds, spectrogram_data, vibration_peaks)
 
-    plot_motor_profiles(ax6, target_freqs, main_angles, motor_profiles, global_motor_profile, max_freq)
+    plot_motor_profiles(ax6, target_freqs, main_angles, motor_profiles, max_freq)
 
     # Adding a small Klippain logo to the top left corner of the figure
     ax_logo = fig.add_axes([0.001, 0.924, 0.075, 0.075], anchor='NW')

shaketune/motor_res_filter.py

@@ -0,0 +1,142 @@
+# Shake&Tune: 3D printer analysis tools
+#
+# Copyright (C) 2024 Félix Boisselier <felix@fboisselier.fr> (Frix_x on Discord)
+# Licensed under the GNU General Public License v3.0 (GPL-3.0)
+#
+# File: motor_res_filter.py
+# Description: This script defines the MotorResonanceFilter class that applies and removes motor resonance filters
+#              into the input shaper initial Klipper object. This is done by convolving a motor resonance targeted
+#              input shaper filter with the current configured axis input shapers.
+
+import math
+
+from .helpers.console_output import ConsoleOutput
+
+
+class MotorResonanceFilter:
+    def __init__(self, printer, freq_x: float, freq_y: float, damping_x: float, damping_y: float, in_danger: bool):
+        self._printer = printer
+        self.freq_x = freq_x
+        self.freq_y = freq_y
+        self.damping_x = damping_x
+        self.damping_y = damping_y
+        self._in_danger = in_danger
+
+        self._original_shapers = {}
+
+    # Convolve two Klipper shapers into a new custom composite input shaping filter
+    @staticmethod
+    def convolve_shapers(L, R):
+        As = [a * b for a in L[0] for b in R[0]]
+        Ts = [a + b for a in L[1] for b in R[1]]
+        C = sorted(list(zip(Ts, As)))
+        return ([a for _, a in C], [t for t, _ in C])
+
+    def apply_filters(self) -> None:
+        input_shaper = self._printer.lookup_object('input_shaper', None)
+        if input_shaper is None:
+            raise ValueError(
+                'Unable to apply Shake&Tune motor resonance filters: no [input_shaper] config section found!'
+            )
+
+        shapers = input_shaper.get_shapers()
+        for shaper in shapers:
+            axis = shaper.axis
+            shaper_type = shaper.params.get_status()['shaper_type']
+
+            # Ignore the motor resonance filters for smoothers from DangerKlipper
+            if shaper_type.startswith('smooth_'):
+                ConsoleOutput.print(
+                    (
+                        f'Warning: {shaper_type} type shaper on {axis} axis is a smoother from DangerKlipper '
+                        'Bleeding-Edge that already filters the motor resonance frequency range. Shake&Tune '
+                        'motor resonance filters will be ignored for this axis...'
+                    )
+                )
+                continue
+
+            # Ignore the motor resonance filters for custom shapers as users can set their own A&T values
+            if shaper_type == 'custom':
+                ConsoleOutput.print(
+                    (
+                        f'Warning: custom type shaper on {axis} axis is a manually crafted filter. So you have '
+                        'already set custom A&T values for this axis and you should be able to convolve the motor '
+                        'resonance frequency range to this custom shaper. Shake&Tune motor resonance filters will '
+                        'be ignored for this axis...'
+                    )
+                )
+                continue
+
+            # At the moment, when running stock Klipper, only ZV type shapers are supported to get combined with
+            # the motor resonance filters. This is due to the size of the pulse train that is too small and is not
+            # allowing the convolved shapers to be applied. This unless this PR is merged: https://github.com/Klipper3d/klipper/pull/6460
+            if not self._in_danger and shaper_type != 'zv':
+                ConsoleOutput.print(
+                    (
+                        f'Error: the {axis} axis is not a ZV type shaper. Shake&Tune motor resonance filters '
+                        'will be ignored for this axis... This is due to the size of the pulse train being too '
+                        'small and not allowing the convolved shapers to be applied... unless this PR is '
+                        'merged: https://github.com/Klipper3d/klipper/pull/6460'
+                    )
+                )
+                continue
+
+            # Get the current shaper parameters and store them for later restoration
+            _, axis_shaper_A, axis_shaper_T = shaper.get_shaper()
+            self._original_shapers[axis] = (axis_shaper_A, axis_shaper_T)
+
+            # Creating the new combined shapers that contains the motor resonance filters
+            if axis in {'x', 'y'}:
+                if self._in_danger:
+                    # In DangerKlipper, the pulse train is large enough to allow the
+                    # convolution of any shapers in order to craft the new combined shapers
+                    # so we can use the MZV shaper (that looks to be the best for this purpose)
+                    df = math.sqrt(1.0 - self.damping_x**2)
+                    K = math.exp(-0.75 * self.damping_x * math.pi / df)
+                    t_d = 1.0 / (self.freq_x * df)
+                    a1 = 1.0 - 1.0 / math.sqrt(2.0)
+                    a2 = (math.sqrt(2.0) - 1.0) * K
+                    a3 = a1 * K * K
+                    motor_filter_A = [a1, a2, a3]
+                    motor_filter_T = [0.0, 0.375 * t_d, 0.75 * t_d]
+                else:
+                    # In stock Klipper, the pulse train is too small for most shapers
+                    # to be convolved. So we need to use the ZV shaper instead for the
+                    # motor resonance filters... even if it's not the best for this purpose
+                    df = math.sqrt(1.0 - self.damping_x**2)
+                    K = math.exp(-self.damping_x * math.pi / df)
+                    t_d = 1.0 / (self.freq_x * df)
+                    motor_filter_A = [1.0, K]
+                    motor_filter_T = [0.0, 0.5 * t_d]
+
+                combined_filter_A, combined_filter_T = MotorResonanceFilter.convolve_shapers(
+                    (axis_shaper_A, axis_shaper_T),
+                    (motor_filter_A, motor_filter_T),
+                )
+
+                shaper.A = combined_filter_A
+                shaper.T = combined_filter_T
+                shaper.n = len(combined_filter_A)
+
+        # Update the running input shaper filter with the new parameters
+        input_shaper._update_input_shaping()
+
+    def remove_filters(self) -> None:
+        input_shaper = self._printer.lookup_object('input_shaper', None)
+        if input_shaper is None:
+            raise ValueError(
+                'Unable to deactivate Shake&Tune motor resonance filters: no [input_shaper] config section found!'
+            )
+
+        shapers = input_shaper.get_shapers()
+        for shaper in shapers:
+            axis = shaper.axis
+            if axis in self._original_shapers:
+                A, T = self._original_shapers[axis]
+                shaper.A = A
+                shaper.T = T
+                shaper.n = len(A)
+
+        # Update the running input shaper filter with the restored initial parameters
+        # to keep only standard axis input shapers activated
+        input_shaper._update_input_shaping()

shaketune/shaketune.py

@@ -8,6 +8,7 @@
 #              loading of the plugin, and the registration of the tuning commands
 
 
+import importlib
 import os
 from pathlib import Path
 
@@ -26,120 +27,234 @@ from .graph_creators import (
     VibrationsGraphCreator,
 )
 from .helpers.console_output import ConsoleOutput
+from .motor_res_filter import MotorResonanceFilter
 from .shaketune_config import ShakeTuneConfig
 from .shaketune_process import ShakeTuneProcess
 
+DEFAULT_MOTOR_DAMPING_RATIO = 0.05
+ST_COMMANDS = {
+    'EXCITATE_AXIS_AT_FREQ': (
+        'Maintain a specified excitation frequency for a period '
+        'of time to diagnose and locate a source of vibrations'
+    ),
+    'AXES_MAP_CALIBRATION': (
+        'Perform a set of movements to measure the orientation of the accelerometer '
+        'and help you set the best axes_map configuration for your printer'
+    ),
+    'COMPARE_BELTS_RESPONSES': (
+        'Perform a custom half-axis test to analyze and compare the '
+        'frequency profiles of individual belts on CoreXY or CoreXZ printers'
+    ),
+    'AXES_SHAPER_CALIBRATION': 'Perform standard axis input shaper tests on one or both XY axes to select the best input shaper filter',
+    'CREATE_VIBRATIONS_PROFILE': (
+        'Run a series of motions to find speed/angle ranges where the printer could be '
+        'exposed to VFAs to optimize your slicer speed profiles and TMC driver parameters'
+    ),
+}
+
 
 class ShakeTune:
     def __init__(self, config) -> None:
-        self._pconfig = config
+        self._config = config
         self._printer = config.get_printer()
+        self._printer.register_event_handler('klippy:connect', self._on_klippy_connect)
+
+        # Check if Shake&Tune is running in DangerKlipper
+        self.IN_DANGER = importlib.util.find_spec('extras.danger_options') is not None
+
+        # Register the console print output callback to the corresponding Klipper function
         gcode = self._printer.lookup_object('gcode')
+        ConsoleOutput.register_output_callback(gcode.respond_info)
 
-        res_tester = self._printer.lookup_object('resonance_tester', None)
-        if res_tester is None:
-            config.error('No [resonance_tester] config section found in printer.cfg! Please add one to use Shake&Tune.')
+        self._initialize_config(config)
+        self._register_commands()
+        self._initialize_motor_resonance_filter()
 
-        self.timeout = config.getfloat('timeout', 300, above=0.0)
+    # Initialize the ShakeTune object and its configuration
+    def _initialize_config(self, config) -> None:
         result_folder = config.get('result_folder', default='~/printer_data/config/ShakeTune_results')
         result_folder_path = Path(result_folder).expanduser() if result_folder else None
         keep_n_results = config.getint('number_of_results_to_keep', default=3, minval=0)
         keep_csv = config.getboolean('keep_raw_csv', default=False)
-        show_macros = config.getboolean('show_macros_in_webui', default=True)
         dpi = config.getint('dpi', default=150, minval=100, maxval=500)
+        self._st_config = ShakeTuneConfig(result_folder_path, keep_n_results, keep_csv, dpi)
 
-        self._config = ShakeTuneConfig(result_folder_path, keep_n_results, keep_csv, dpi)
-        ConsoleOutput.register_output_callback(gcode.respond_info)
+        self.timeout = config.getfloat('timeout', 300, above=0.0)
+        self._show_macros = config.getboolean('show_macros_in_webui', default=True)
 
-        commands = [
-            (
-                'EXCITATE_AXIS_AT_FREQ',
-                self.cmd_EXCITATE_AXIS_AT_FREQ,
-                'Maintain a specified excitation frequency for a period of time to diagnose and locate a source of vibration',
-            ),
-            (
-                'AXES_MAP_CALIBRATION',
-                self.cmd_AXES_MAP_CALIBRATION,
-                'Perform a set of movements to measure the orientation of the accelerometer and help you set the best axes_map configuration for your printer',
-            ),
-            (
-                'COMPARE_BELTS_RESPONSES',
-                self.cmd_COMPARE_BELTS_RESPONSES,
-                'Perform a custom half-axis test to analyze and compare the frequency profiles of individual belts on CoreXY printers',
-            ),
-            (
-                'AXES_SHAPER_CALIBRATION',
-                self.cmd_AXES_SHAPER_CALIBRATION,
-                'Perform standard axis input shaper tests on one or both XY axes to select the best input shaper filter',
-            ),
-            (
-                'CREATE_VIBRATIONS_PROFILE',
-                self.cmd_CREATE_VIBRATIONS_PROFILE,
-                'Perform a set of movements to measure the orientation of the accelerometer and help you set the best axes_map configuration for your printer',
-            ),
+        motor_freq = config.getfloat('motor_freq', None, minval=0.0)
+        self._motor_freq_x = config.getfloat('motor_freq_x', motor_freq, minval=0.0)
+        self._motor_freq_y = config.getfloat('motor_freq_y', motor_freq, minval=0.0)
+        motor_damping = config.getfloat('motor_damping_ratio', DEFAULT_MOTOR_DAMPING_RATIO, minval=0.0)
+        self._motor_damping_x = config.getfloat('motor_damping_ratio_x', motor_damping, minval=0.0)
+        self._motor_damping_y = config.getfloat('motor_damping_ratio_y', motor_damping, minval=0.0)
+
+    # Create the Klipper commands to allow the user to run Shake&Tune's tools
+    def _register_commands(self) -> None:
+        gcode = self._printer.lookup_object('gcode')
+        measurement_commands = [
+            ('EXCITATE_AXIS_AT_FREQ', self.cmd_EXCITATE_AXIS_AT_FREQ, ST_COMMANDS['EXCITATE_AXIS_AT_FREQ']),
+            ('AXES_MAP_CALIBRATION', self.cmd_AXES_MAP_CALIBRATION, ST_COMMANDS['AXES_MAP_CALIBRATION']),
+            ('COMPARE_BELTS_RESPONSES', self.cmd_COMPARE_BELTS_RESPONSES, ST_COMMANDS['COMPARE_BELTS_RESPONSES']),
+            ('AXES_SHAPER_CALIBRATION', self.cmd_AXES_SHAPER_CALIBRATION, ST_COMMANDS['AXES_SHAPER_CALIBRATION']),
+            ('CREATE_VIBRATIONS_PROFILE', self.cmd_CREATE_VIBRATIONS_PROFILE, ST_COMMANDS['CREATE_VIBRATIONS_PROFILE']),
         ]
-        command_descriptions = {name: desc for name, _, desc in commands}
 
-        for name, command, description in commands:
-            gcode.register_command(f'_{name}' if show_macros else name, command, desc=description)
+        # Register Shake&Tune's measurement commands using the official Klipper API (gcode.register_command)
+        # Doing this makes the commands available in Klipper but they are not shown in the web interfaces
+        # and are only available by typing the full name in the console (like all the other Klipper commands)
+        for name, command, description in measurement_commands:
+            gcode.register_command(f'_{name}' if self._show_macros else name, command, desc=description)
 
-        # Load the dummy macros with their description in order to show them in the web interfaces
-        if show_macros:
-            pconfig = self._printer.lookup_object('configfile')
+        # Then, a hack to inject the macros into Klipper's config system in order to show them in the web
+        # interfaces. This is not a good way to do it, but it's the only way to do it for now to get
+        # a good user experience while using Shake&Tune (it's indeed easier to just click a macro button)
+        if self._show_macros:
+            configfile = self._printer.lookup_object('configfile')
             dirname = os.path.dirname(os.path.realpath(__file__))
             filename = os.path.join(dirname, 'dummy_macros.cfg')
             try:
-                dummy_macros_cfg = pconfig.read_config(filename)
+                dummy_macros_cfg = configfile.read_config(filename)
             except Exception as err:
-                raise config.error(f'Cannot load Shake&Tune dummy macro {filename}') from err
+                raise self._config.error(f'Cannot load Shake&Tune dummy macro {filename}') from err
 
             for gcode_macro in dummy_macros_cfg.get_prefix_sections('gcode_macro '):
                 gcode_macro_name = gcode_macro.get_name()
 
-                # Replace the dummy description by the one here (to avoid code duplication and define it in only one place)
+                # Replace the dummy description by the one from ST_COMMANDS (to avoid code duplication and define it in only one place)
                 command = gcode_macro_name.split(' ', 1)[1]
-                description = command_descriptions.get(command, 'Shake&Tune macro')
+                description = ST_COMMANDS.get(command, 'Shake&Tune macro')
                 gcode_macro.fileconfig.set(gcode_macro_name, 'description', description)
 
                 # Add the section to the Klipper configuration object with all its options
-                if not config.fileconfig.has_section(gcode_macro_name.lower()):
-                    config.fileconfig.add_section(gcode_macro_name.lower())
+                if not self._config.fileconfig.has_section(gcode_macro_name.lower()):
+                    self._config.fileconfig.add_section(gcode_macro_name.lower())
                 for option in gcode_macro.fileconfig.options(gcode_macro_name):
                     value = gcode_macro.fileconfig.get(gcode_macro_name, option)
-                    config.fileconfig.set(gcode_macro_name.lower(), option, value)
-
+                    self._config.fileconfig.set(gcode_macro_name.lower(), option, value)
                     # Small trick to ensure the new injected sections are considered valid by Klipper config system
-                    config.access_tracking[(gcode_macro_name.lower(), option.lower())] = 1
+                    self._config.access_tracking[(gcode_macro_name.lower(), option.lower())] = 1
 
                 # Finally, load the section within the printer objects
-                self._printer.load_object(config, gcode_macro_name.lower())
+                self._printer.load_object(self._config, gcode_macro_name.lower())
+
+    # Register the motor resonance filters if they are defined in the config
+    # DangerKlipper is required for the full feature but a degraded system forcing the ZV filter for
+    # both input shaping and motor resonance filter will be used instead in stock Klipper. But this might
+    # be improved in the future if https://github.com/Klipper3d/klipper/pull/6460 get merged
+    # TODO: To mitigate this issue, add an automated patch to klippy/chelper/kin_shaper.c
+    #       (using a .diff file) to enable the motor filters in stock Klipper as well.
+    #       But this will make the Klipper repo dirty to moonraker update manager, so I'm not
+    #       sure how to handle this. Maybe with also a command to revert the patch? Or a
+    #       manual command to apply the patch with a required user action?
+    def _initialize_motor_resonance_filter(self) -> None:
+        if self._motor_freq_x is not None and self._motor_freq_y is not None:
+            self._printer.register_event_handler('klippy:ready', self._on_klippy_ready)
+            gcode = self._printer.lookup_object('gcode')
+            gcode.register_command(
+                'MOTOR_RESONANCE_FILTER',
+                self.cmd_MOTOR_RESONANCE_FILTER,
+                desc='Enable/disable the motor resonance filters',
+            )
+            self.motor_resonance_filter = MotorResonanceFilter(
+                self._printer,
+                self._motor_freq_x,
+                self._motor_freq_y,
+                self._motor_damping_x,
+                self._motor_damping_y,
+                self.IN_DANGER,
+            )
+
+    def _on_klippy_connect(self) -> None:
+        # Check if the resonance_tester object is available in the printer
+        # configuration as it is required for Shake&Tune to work properly
+        res_tester = self._printer.lookup_object('resonance_tester', None)
+        if res_tester is None:
+            raise self._config.error(
+                'No [resonance_tester] config section found in printer.cfg! Please add one to use Shake&Tune!'
+            )
+
+        # In case the user has configured a motor resonance filter, we need to make sure
+        # that the input shaper is configured as well in order to use them. This is because
+        # the input shaper object is the one used to actually applies the additional filters
+        if self._motor_freq_x is not None and self._motor_freq_y is not None:
+            input_shaper = self._printer.lookup_object('input_shaper', None)
+            if input_shaper is None:
+                raise self._config.error(
+                    (
+                        'No [input_shaper] config section found in printer.cfg! Please add one to use Shake&Tune '
+                        'motor resonance filters!'
+                    )
+                )
+
+    def _on_klippy_ready(self) -> None:
+        self.motor_resonance_filter.apply_filters()
+
+    # ------------------------------------------------------------------------------------------
+    # ------------------------------------------------------------------------------------------
+    # Following are all the Shake&Tune commands that are registered to the Klipper console
+    # ------------------------------------------------------------------------------------------
+    # ------------------------------------------------------------------------------------------
 
     def cmd_EXCITATE_AXIS_AT_FREQ(self, gcmd) -> None:
         ConsoleOutput.print(f'Shake&Tune version: {ShakeTuneConfig.get_git_version()}')
-        static_freq_graph_creator = StaticGraphCreator(self._config)
-        st_process = ShakeTuneProcess(self._config, static_freq_graph_creator, self.timeout)
-        excitate_axis_at_freq(gcmd, self._pconfig, st_process)
+        static_freq_graph_creator = StaticGraphCreator(self._st_config)
+        st_process = ShakeTuneProcess(
+            self._st_config,
+            self._printer.get_reactor(),
+            static_freq_graph_creator,
+            self.timeout,
+        )
+        excitate_axis_at_freq(gcmd, self._config, st_process)
 
     def cmd_AXES_MAP_CALIBRATION(self, gcmd) -> None:
         ConsoleOutput.print(f'Shake&Tune version: {ShakeTuneConfig.get_git_version()}')
-        axes_map_graph_creator = AxesMapGraphCreator(self._config)
-        st_process = ShakeTuneProcess(self._config, axes_map_graph_creator, self.timeout)
-        axes_map_calibration(gcmd, self._pconfig, st_process)
+        axes_map_graph_creator = AxesMapGraphCreator(self._st_config)
+        st_process = ShakeTuneProcess(
+            self._st_config,
+            self._printer.get_reactor(),
+            axes_map_graph_creator,
+            self.timeout,
+        )
+        axes_map_calibration(gcmd, self._config, st_process)
 
     def cmd_COMPARE_BELTS_RESPONSES(self, gcmd) -> None:
         ConsoleOutput.print(f'Shake&Tune version: {ShakeTuneConfig.get_git_version()}')
-        belt_graph_creator = BeltsGraphCreator(self._config)
-        st_process = ShakeTuneProcess(self._config, belt_graph_creator, self.timeout)
-        compare_belts_responses(gcmd, self._pconfig, st_process)
+        belt_graph_creator = BeltsGraphCreator(self._st_config)
+        st_process = ShakeTuneProcess(
+            self._st_config,
+            self._printer.get_reactor(),
+            belt_graph_creator,
+            self.timeout,
+        )
+        compare_belts_responses(gcmd, self._config, st_process)
 
     def cmd_AXES_SHAPER_CALIBRATION(self, gcmd) -> None:
         ConsoleOutput.print(f'Shake&Tune version: {ShakeTuneConfig.get_git_version()}')
-        shaper_graph_creator = ShaperGraphCreator(self._config)
-        st_process = ShakeTuneProcess(self._config, shaper_graph_creator, self.timeout)
-        axes_shaper_calibration(gcmd, self._pconfig, st_process)
+        shaper_graph_creator = ShaperGraphCreator(self._st_config)
+        st_process = ShakeTuneProcess(
+            self._st_config,
+            self._printer.get_reactor(),
+            shaper_graph_creator,
+            self.timeout,
+        )
+        axes_shaper_calibration(gcmd, self._config, st_process)
 
     def cmd_CREATE_VIBRATIONS_PROFILE(self, gcmd) -> None:
         ConsoleOutput.print(f'Shake&Tune version: {ShakeTuneConfig.get_git_version()}')
-        vibration_profile_creator = VibrationsGraphCreator(self._config)
-        st_process = ShakeTuneProcess(self._config, vibration_profile_creator, self.timeout)
-        create_vibrations_profile(gcmd, self._pconfig, st_process)
+        vibration_profile_creator = VibrationsGraphCreator(self._st_config)
+        st_process = ShakeTuneProcess(
+            self._st_config,
+            self._printer.get_reactor(),
+            vibration_profile_creator,
+            self.timeout,
+        )
+        create_vibrations_profile(gcmd, self._config, st_process)
+
+    def cmd_MOTOR_RESONANCE_FILTER(self, gcmd) -> None:
+        enable = gcmd.get_int('ENABLE', default=1, minval=0, maxval=1)
+        if enable:
+            self.motor_resonance_filter.apply_filters()
+        else:
+            self.motor_resonance_filter.remove_filters()
+        ConsoleOutput.print(f'Motor resonance filter {"enabled" if enable else "disabled"}.')

shaketune/shaketune_process.py

@@ -8,10 +8,10 @@
 #              vibration analysis processes in separate system processes.
 
 
-import multiprocessing
 import os
 import threading
 import traceback
+from multiprocessing import Process
 from typing import Optional
 
 from .helpers.console_output import ConsoleOutput
@@ -19,11 +19,11 @@ from .shaketune_config import ShakeTuneConfig
 
 
 class ShakeTuneProcess:
-    def __init__(self, config: ShakeTuneConfig, graph_creator, timeout: Optional[float] = None) -> None:
-        self._config = config
+    def __init__(self, st_config: ShakeTuneConfig, reactor, graph_creator, timeout: Optional[float] = None) -> None:
+        self._config = st_config
+        self._reactor = reactor
         self.graph_creator = graph_creator
         self._timeout = timeout
-
         self._process = None
 
     def get_graph_creator(self):
@@ -31,22 +31,32 @@ class ShakeTuneProcess:
 
     def run(self) -> None:
         # Start the target function in a new process (a thread is known to cause issues with Klipper and CANbus due to the GIL)
-        self._process = multiprocessing.Process(
-            target=self._shaketune_process_wrapper, args=(self.graph_creator, self._timeout)
-        )
+        self._process = Process(target=self._shaketune_process_wrapper, args=(self.graph_creator, self._timeout))
         self._process.start()
 
     def wait_for_completion(self) -> None:
-        if self._process is not None:
-            self._process.join()
+        if self._process is None:
+            return  # Nothing to wait for
+        eventtime = self._reactor.monotonic()
+        endtime = eventtime + self._timeout
+        complete = False
+        while eventtime < endtime:
+            eventtime = self._reactor.pause(eventtime + 0.05)
+            if not self._process.is_alive():
+                complete = True
+                break
+        if not complete:
+            self._handle_timeout()
 
     # This function is a simple wrapper to start the Shake&Tune process. It's needed in order to get the timeout
     # as a Timer in a thread INSIDE the Shake&Tune child process to not interfere with the main Klipper process
     def _shaketune_process_wrapper(self, graph_creator, timeout) -> None:
         if timeout is not None:
+            # Add 5 seconds to the timeout for safety. The goal is to avoid the Timer to finish before the
+            # Shake&Tune process is done in case we call the wait_for_completion() function that uses Klipper's reactor.
+            timeout += 5
             timer = threading.Timer(timeout, self._handle_timeout)
             timer.start()
-
         try:
             self._shaketune_process(graph_creator)
         finally:
@@ -58,10 +68,12 @@ class ShakeTuneProcess:
         os._exit(1)  # Forcefully exit the process
 
     def _shaketune_process(self, graph_creator) -> None:
-        # Trying to reduce Shake&Tune process priority to avoid slowing down the main Klipper process
-        # as this could lead to random "Timer too close" errors when already running CANbus, etc...
+        # Reducing Shake&Tune process priority by putting the scheduler into batch mode with low priority. This in order to avoid
+        # slowing down the main Klipper process as this can lead to random "Timer too close" or "Move queue overflow" errors
+        # when also already running CANbus, neopixels and other consumming stuff in Klipper's main process.
         try:
-            os.nice(19)
+            param = os.sched_param(os.sched_get_priority_min(os.SCHED_BATCH))
+            os.sched_setscheduler(0, os.SCHED_BATCH, param)
         except Exception:
             ConsoleOutput.print('Warning: failed reducing Shake&Tune process priority, continuing...')