Merge pull request #138 from Frix-x/develop

v4.1.0

.github/workflows/test.yml

@@ -0,0 +1,69 @@
+name: Smoke Tests
+on:
+  workflow_dispatch:
+  push:
+
+jobs:
+  klippy_testing:
+    name: Klippy Tests
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        klipper_repo:
+          - klipper3d/klipper
+          - DangerKlippers/danger-klipper
+    steps: 
+      - name: Checkout shaketune
+        uses: actions/checkout@v4
+        with:
+          path: shaketune
+      - name: Checkout Klipper
+        uses: actions/checkout@v4
+        with:
+          path: klipper
+          repository: ${{ matrix.klipper_repo }}
+          ref: master
+      - name: Install build dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y build-essential
+      - name: Build klipper dict
+        run: |
+          pushd klipper
+          cp ../shaketune/ci/smoke-test/klipper-smoketest.kconfig .config
+          make olddefconfig
+          make out/compile_time_request.o
+          popd
+      - name: Setup klippy env
+        run: |
+          python3 -m venv --prompt klippy klippy-env
+          ./klippy-env/bin/python -m pip install -r klipper/scripts/klippy-requirements.txt
+          ./klippy-env/bin/python -m pip install -r shaketune/requirements.txt
+      - name: Install shaketune
+        run: |
+          ln -s $PWD/shaketune/shaketune $PWD/klipper/klippy/extras/shaketune
+      - name: Klipper import test
+        run: |
+          ./klippy-env/bin/python klipper/klippy/klippy.py --import-test
+      - name: Klipper integrated test
+        run: |
+          pushd klipper
+          mkdir ../dicts
+          cp ../klipper/out/klipper.dict ../dicts/linux_basic.dict
+          ../klippy-env/bin/python scripts/test_klippy.py -d ../dicts ../shaketune/ci/smoke-test/klippy-tests/simple.test
+  lint:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+        with:
+          cache: 'pip'
+      - name: install ruff
+        run: |
+          pip install ruff
+      - name: run ruff tests
+        run: |
+          ruff check
+
+      

ci/smoke-test/klipper-smoketest.kconfig

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

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

@@ -0,0 +1,9 @@
+[mcu]
+serial: /tmp/klipper_host_mcu
+
+[printer]
+kinematics: none
+max_velocity: 300
+max_accel: 300
+
+[shaketune]

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

@@ -0,0 +1,4 @@
+DICTIONARY linux_basic.dict
+CONFIG simple.cfg
+
+G4 P1000

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|

pyproject.toml

@@ -1,5 +1,5 @@
 [project]
-name = "Shake&Tune"
+name = "shake_n_tune"
 description = "Klipper streamlined input shaper workflow and calibration tools"
 readme = "README.md"
 requires-python = ">= 3.9"

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
-    gcode.run_script_from_command(
-        f'SET_VELOCITY_LIMIT ACCEL={old_accel} MINIMUM_CRUISE_RATIO={old_mcr} SQUARE_CORNER_VELOCITY={old_sqv}'
-    )
+    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']
-    old_mcr = toolhead_info['minimum_cruise_ratio']
-    gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={max_accel} MINIMUM_CRUISE_RATIO=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={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
-    gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={old_accel} MINIMUM_CRUISE_RATIO={old_mcr}')
+    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']
-    old_mcr = toolhead_info['minimum_cruise_ratio']
-    gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={max_accel} MINIMUM_CRUISE_RATIO=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={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
-    gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={old_accel} MINIMUM_CRUISE_RATIO={old_mcr}')
+    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()
 
-    # Restore the previous acceleration values
-    gcode.run_script_from_command(
-        f'SET_VELOCITY_LIMIT ACCEL={old_accel} MINIMUM_CRUISE_RATIO={old_mcr} SQUARE_CORNER_VELOCITY={old_sqv}'
-    )
+        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
@@ -194,35 +193,39 @@ 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
-    ax.plot(
-        time,
-        accel_x,
-        label='X' if i == 0 else '',
-        color=KLIPPAIN_COLORS['purple'],
-        linewidth=0.5,
-        zorder=50 if i == 0 else 10,
-    )
-    ax.plot(
-        time,
-        accel_y,
-        label='Y' if i == 0 else '',
-        color=KLIPPAIN_COLORS['orange'],
-        linewidth=0.5,
-        zorder=50 if i == 1 else 10,
-    )
-    ax.plot(
-        time,
-        accel_z,
-        label='Z' if i == 0 else '',
-        color=KLIPPAIN_COLORS['red_pink'],
-        linewidth=0.5,
-        zorder=50 if i == 2 else 10,
-    )
+    for i, (time, (accel_x, accel_y, accel_z)) in enumerate(zip(time_data, accel_data)):
+        ax.plot(
+            time,
+            accel_x,
+            label='X' if i == 0 else '',
+            color=KLIPPAIN_COLORS['purple'],
+            linewidth=0.5,
+            zorder=50 if i == 0 else 10,
+        )
+        ax.plot(
+            time,
+            accel_y,
+            label='Y' if i == 0 else '',
+            color=KLIPPAIN_COLORS['orange'],
+            linewidth=0.5,
+            zorder=50 if i == 1 else 10,
+        )
+        ax.plot(
+            time,
+            accel_z,
+            label='Z' if i == 0 else '',
+            color=KLIPPAIN_COLORS['red_pink'],
+            linewidth=0.5,
+            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)')
 
@@ -242,53 +245,52 @@ 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
-        ax2.yaxis.set_visible(False)
-        ax2.plot([], [], ' ', label=f'Measured gravity: {offset / 1000:0.3f} m/s²')
-        ax2.legend(loc='upper right', prop=fontP)
+    # 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:
-    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(
-        position_x[0] + 1,
-        position_y[0],
-        position_z[0],
-        str(i + 1),
-        color='black',
-        fontsize=16,
-        fontweight='bold',
-        zorder=20,
-    )
+    # 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(
+            position_x[0] + 1,
+            position_y[0],
+            position_z[0],
+            str(i + 1),
+            color='black',
+            fontsize=16,
+            fontweight='bold',
+            zorder=20,
+        )
 
-    # Plot the average direction vector
-    start_position = np.array([position_x[0], position_y[0], position_z[0]])
-    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}°',
-        color=KLIPPAIN_COLORS['purple'],
-        linestyle='-',
-        linewidth=2,
-    )
+        # Plot the average direction vector
+        start_position = np.array([position_x[0], position_y[0], position_z[0]])
+        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]]
+        )
+        ax.plot(
+            [start_position[0], end_position[0]],
+            [start_position[1], end_position[1]],
+            [start_position[2], end_position[2]],
+            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

@@ -19,6 +19,7 @@ import matplotlib.font_manager
 import matplotlib.pyplot as plt
 import matplotlib.ticker
 import numpy as np
+from scipy.stats import pearsonr
 
 matplotlib.use('Agg')
 
@@ -210,8 +211,8 @@ def plot_compare_frequency(
     ax: plt.Axes, signal1: SignalData, signal2: SignalData, signal1_belt: str, signal2_belt: str, max_freq: float
 ) -> None:
     # Plot the two belts PSD signals
-    ax.plot(signal1.freqs, signal1.psd, label='Belt ' + signal1_belt, color=KLIPPAIN_COLORS['purple'])
-    ax.plot(signal2.freqs, signal2.psd, label='Belt ' + signal2_belt, color=KLIPPAIN_COLORS['orange'])
+    ax.plot(signal1.freqs, signal1.psd, label='Belt ' + signal1_belt, color=KLIPPAIN_COLORS['orange'])
+    ax.plot(signal2.freqs, signal2.psd, label='Belt ' + signal2_belt, color=KLIPPAIN_COLORS['purple'])
 
     psd_highest_max = max(signal1.psd.max(), signal2.psd.max())
 
@@ -296,7 +297,7 @@ 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()
@@ -343,14 +344,12 @@ def plot_versus_belts(
     common_freqs: np.ndarray,
     signal1: SignalData,
     signal2: SignalData,
-    interp_psd1: np.ndarray,
-    interp_psd2: np.ndarray,
     signal1_belt: str,
     signal2_belt: str,
 ) -> None:
     ax.set_title('Cross-belts comparison plot', fontsize=14, color=KLIPPAIN_COLORS['dark_orange'], weight='bold')
 
-    max_psd = max(np.max(interp_psd1), np.max(interp_psd2))
+    max_psd = max(np.max(signal1.psd), np.max(signal2.psd))
     ideal_line = np.linspace(0, max_psd * 1.1, 500)
     green_boundary = ideal_line + (0.35 * max_psd * np.exp(-ideal_line / (0.6 * max_psd)))
     ax.fill_betweenx(ideal_line, ideal_line, green_boundary, color='green', alpha=0.15)
@@ -364,8 +363,8 @@ def plot_versus_belts(
         linewidth=2,
     )
 
-    ax.plot(interp_psd1, interp_psd2, color='dimgrey', marker='o', markersize=1.5)
-    ax.fill_betweenx(interp_psd2, interp_psd1, color=KLIPPAIN_COLORS['red_pink'], alpha=0.1)
+    ax.plot(signal1.psd, signal2.psd, color='dimgrey', marker='o', markersize=1.5)
+    ax.fill_betweenx(signal2.psd, signal1.psd, color=KLIPPAIN_COLORS['red_pink'], alpha=0.1)
 
     paired_peak_count = 0
     unpaired_peak_count = 0
@@ -374,31 +373,27 @@ def plot_versus_belts(
         label = ALPHABET[paired_peak_count]
         freq1 = signal1.freqs[peak1[0]]
         freq2 = signal2.freqs[peak2[0]]
-        nearest_idx1 = np.argmin(np.abs(common_freqs - freq1))
-        nearest_idx2 = np.argmin(np.abs(common_freqs - freq2))
 
-        if nearest_idx1 == nearest_idx2:
-            psd1_peak_value = interp_psd1[nearest_idx1]
-            psd2_peak_value = interp_psd2[nearest_idx1]
-            ax.plot(psd1_peak_value, psd2_peak_value, marker='o', color='black', markersize=7)
+        if abs(freq1 - freq2) < 1:
+            ax.plot(signal1.psd[peak1[0]], signal2.psd[peak2[0]], marker='o', color='black', markersize=7)
             ax.annotate(
                 f'{label}1/{label}2',
-                (psd1_peak_value, psd2_peak_value),
+                (signal1.psd[peak1[0]], signal2.psd[peak2[0]]),
                 textcoords='offset points',
                 xytext=(-7, 7),
                 fontsize=13,
                 color='black',
             )
         else:
-            psd1_peak_value = interp_psd1[nearest_idx1]
-            psd1_on_peak = interp_psd1[nearest_idx2]
-            psd2_peak_value = interp_psd2[nearest_idx2]
-            psd2_on_peak = interp_psd2[nearest_idx1]
-            ax.plot(psd1_on_peak, psd2_peak_value, marker='o', color=KLIPPAIN_COLORS['orange'], markersize=7)
-            ax.plot(psd1_peak_value, psd2_on_peak, marker='o', color=KLIPPAIN_COLORS['purple'], markersize=7)
+            ax.plot(
+                signal1.psd[peak2[0]], signal2.psd[peak2[0]], marker='o', color=KLIPPAIN_COLORS['orange'], markersize=7
+            )
+            ax.plot(
+                signal1.psd[peak1[0]], signal2.psd[peak1[0]], marker='o', color=KLIPPAIN_COLORS['purple'], markersize=7
+            )
             ax.annotate(
                 f'{label}1',
-                (psd1_peak_value, psd2_on_peak),
+                (signal1.psd[peak1[0]], signal2.psd[peak1[0]]),
                 textcoords='offset points',
                 xytext=(0, 7),
                 fontsize=13,
@@ -406,7 +401,7 @@ def plot_versus_belts(
             )
             ax.annotate(
                 f'{label}2',
-                (psd1_on_peak, psd2_peak_value),
+                (signal1.psd[peak2[0]], signal2.psd[peak2[0]]),
                 textcoords='offset points',
                 xytext=(0, 7),
                 fontsize=13,
@@ -415,16 +410,12 @@ def plot_versus_belts(
         paired_peak_count += 1
 
     for _, peak_index in enumerate(signal1.unpaired_peaks):
-        freq1 = signal1.freqs[peak_index]
-        freq2 = signal2.freqs[peak_index]
-        nearest_idx1 = np.argmin(np.abs(common_freqs - freq1))
-        nearest_idx2 = np.argmin(np.abs(common_freqs - freq2))
-        psd1_peak_value = interp_psd1[nearest_idx1]
-        psd2_peak_value = interp_psd2[nearest_idx1]
-        ax.plot(psd1_peak_value, psd2_peak_value, marker='o', color=KLIPPAIN_COLORS['purple'], markersize=7)
+        ax.plot(
+            signal1.psd[peak_index], signal2.psd[peak_index], marker='o', color=KLIPPAIN_COLORS['purple'], markersize=7
+        )
         ax.annotate(
             str(unpaired_peak_count + 1),
-            (psd1_peak_value, psd2_peak_value),
+            (signal1.psd[peak_index], signal2.psd[peak_index]),
             textcoords='offset points',
             fontsize=13,
             weight='bold',
@@ -434,16 +425,12 @@ def plot_versus_belts(
         unpaired_peak_count += 1
 
     for _, peak_index in enumerate(signal2.unpaired_peaks):
-        freq1 = signal1.freqs[peak_index]
-        freq2 = signal2.freqs[peak_index]
-        nearest_idx1 = np.argmin(np.abs(common_freqs - freq1))
-        nearest_idx2 = np.argmin(np.abs(common_freqs - freq2))
-        psd1_peak_value = interp_psd1[nearest_idx1]
-        psd2_peak_value = interp_psd2[nearest_idx1]
-        ax.plot(psd1_peak_value, psd2_peak_value, marker='o', color=KLIPPAIN_COLORS['orange'], markersize=7)
+        ax.plot(
+            signal1.psd[peak_index], signal2.psd[peak_index], marker='o', color=KLIPPAIN_COLORS['orange'], markersize=7
+        )
         ax.annotate(
             str(unpaired_peak_count + 1),
-            (psd1_peak_value, psd2_peak_value),
+            (signal1.psd[peak_index], signal2.psd[peak_index]),
             textcoords='offset points',
             fontsize=13,
             weight='bold',
@@ -459,7 +446,7 @@ 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')
 
@@ -476,16 +463,21 @@ def plot_versus_belts(
 
 
 # Original Klipper function to get the PSD data of a raw accelerometer signal
-def compute_signal_data(data: np.ndarray, max_freq: float) -> SignalData:
+def compute_signal_data(data: np.ndarray, common_freqs: np.ndarray, max_freq: float) -> SignalData:
     helper = shaper_calibrate.ShaperCalibrate(printer=None)
     calibration_data = helper.process_accelerometer_data(data)
 
     freqs = calibration_data.freq_bins[calibration_data.freq_bins <= max_freq]
     psd = calibration_data.get_psd('all')[calibration_data.freq_bins <= max_freq]
 
-    _, peaks, _ = detect_peaks(psd, freqs, PEAKS_DETECTION_THRESHOLD * psd.max())
+    # Re-interpolate the PSD signal to a common frequency range to be able to plot them one against the other
+    interp_psd = np.interp(common_freqs, freqs, psd)
 
-    return SignalData(freqs=freqs, psd=psd, peaks=peaks)
+    _, peaks, _ = detect_peaks(
+        interp_psd, common_freqs, PEAKS_DETECTION_THRESHOLD * interp_psd.max(), window_size=20, vicinity=15
+    )
+
+    return SignalData(freqs=common_freqs, psd=interp_psd, peaks=peaks)
 
 
 ######################################################################
@@ -517,8 +509,9 @@ def belts_calibration(
     signal2_belt += belt_info.get(signal2_belt, '')
 
     # Compute calibration data for the two datasets with automatic peaks detection
-    signal1 = compute_signal_data(datas[0], max_freq)
-    signal2 = compute_signal_data(datas[1], max_freq)
+    common_freqs = np.linspace(0, max_freq, 500)
+    signal1 = compute_signal_data(datas[0], common_freqs, max_freq)
+    signal2 = compute_signal_data(datas[1], common_freqs, max_freq)
     del datas
 
     # Pair the peaks across the two datasets
@@ -526,18 +519,13 @@ def belts_calibration(
     signal1 = signal1._replace(paired_peaks=pairing_result.paired_peaks, unpaired_peaks=pairing_result.unpaired_peaks1)
     signal2 = signal2._replace(paired_peaks=pairing_result.paired_peaks, unpaired_peaks=pairing_result.unpaired_peaks2)
 
-    # Re-interpolate the PSD signals to a common frequency range to be able to plot them one against the other point by point
-    common_freqs = np.linspace(0, max_freq, 500)
-    interp_psd1 = np.interp(common_freqs, signal1.freqs, signal1.psd)
-    interp_psd2 = np.interp(common_freqs, signal2.freqs, signal2.psd)
-
-    # Calculating R^2 to y=x line to compute the similarity between the two belts
-    ss_res = np.sum((interp_psd2 - interp_psd1) ** 2)
-    ss_tot = np.sum((interp_psd2 - np.mean(interp_psd2)) ** 2)
-    similarity_factor = (1 - (ss_res / ss_tot)) * 100
+    # R² proved to be pretty instable to compute the similarity between the two belts
+    # So now, we use the Pearson correlation coefficient to compute the similarity
+    correlation, _ = pearsonr(signal1.psd, signal2.psd)
+    similarity_factor = correlation * 100
+    similarity_factor = np.clip(similarity_factor, 0, 100)
     ConsoleOutput.print(f'Belts estimated similarity: {similarity_factor:.1f}%')
 
-    # mhi = compute_mhi(similarity_factor, num_peaks, num_unpaired_peaks)
     mhi = compute_mhi(similarity_factor, signal1, signal2)
     ConsoleOutput.print(f'[experimental] Mechanical health: {mhi}')
 
@@ -582,11 +570,11 @@ def belts_calibration(
 
     # Add the accel_per_hz value to the title
     title_line5 = f'| Accel per Hz used: {accel_per_hz} mm/s²/Hz'
-    fig.text(0.55, 0.915, title_line5, ha='left', va='top', fontsize=14, color=KLIPPAIN_COLORS['dark_purple'])
+    fig.text(0.551, 0.915, title_line5, ha='left', va='top', fontsize=10, color=KLIPPAIN_COLORS['dark_purple'])
 
     # Plot the graphs
     plot_compare_frequency(ax1, signal1, signal2, signal1_belt, signal2_belt, max_freq)
-    plot_versus_belts(ax3, common_freqs, signal1, signal2, interp_psd1, interp_psd2, signal1_belt, signal2_belt)
+    plot_versus_belts(ax3, common_freqs, signal1, signal2, signal1_belt, signal2_belt)
 
     # 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/shaketune.py

@@ -29,6 +29,8 @@ from .helpers.console_output import ConsoleOutput
 from .shaketune_config import ShakeTuneConfig
 from .shaketune_process import ShakeTuneProcess
 
+IN_DANGER = False
+
 
 class ShakeTune:
     def __init__(self, config) -> None:
@@ -51,21 +53,31 @@ class ShakeTune:
         self._config = ShakeTuneConfig(result_folder_path, keep_n_results, keep_csv, dpi)
         ConsoleOutput.register_output_callback(gcode.respond_info)
 
-        commands = [
+        # Register Shake&Tune's measurement commands
+        measurement_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',
+                (
+                    'Maintain a specified excitation frequency for a period '
+                    'of time to diagnose and locate a source of vibrations'
+                ),
             ),
             (
                 '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',
+                (
+                    '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',
+                (
+                    'Perform a custom half-axis test to analyze and compare the '
+                    'frequency profiles of individual belts on CoreXY or CoreXZ printers'
+                ),
             ),
             (
                 'AXES_SHAPER_CALIBRATION',
@@ -75,12 +87,14 @@ class ShakeTune:
             (
                 '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',
+                (
+                    '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'
+                ),
             ),
         ]
-        command_descriptions = {name: desc for name, _, desc in commands}
-
-        for name, command, description in commands:
+        command_descriptions = {name: desc for name, _, desc in measurement_commands}
+        for name, command, description in measurement_commands:
             gcode.register_command(f'_{name}' if show_macros else name, command, desc=description)
 
         # Load the dummy macros with their description in order to show them in the web interfaces
@@ -117,29 +131,54 @@ class ShakeTune:
     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)
+        st_process = ShakeTuneProcess(
+            self._config,
+            self._printer.get_reactor(),
+            static_freq_graph_creator,
+            self.timeout,
+        )
         excitate_axis_at_freq(gcmd, self._pconfig, 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)
+        st_process = ShakeTuneProcess(
+            self._config,
+            self._printer.get_reactor(),
+            axes_map_graph_creator,
+            self.timeout,
+        )
         axes_map_calibration(gcmd, self._pconfig, 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)
+        st_process = ShakeTuneProcess(
+            self._config,
+            self._printer.get_reactor(),
+            belt_graph_creator,
+            self.timeout,
+        )
         compare_belts_responses(gcmd, self._pconfig, 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)
+        st_process = ShakeTuneProcess(
+            self._config,
+            self._printer.get_reactor(),
+            shaper_graph_creator,
+            self.timeout,
+        )
         axes_shaper_calibration(gcmd, self._pconfig, 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)
+        st_process = ShakeTuneProcess(
+            self._config,
+            self._printer.get_reactor(),
+            vibration_profile_creator,
+            self.timeout,
+        )
         create_vibrations_profile(gcmd, self._pconfig, st_process)

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...')