resonance_tester: Disable input shaping for resonance testing

Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>

3 files changed, 18 insertions, 13 deletions

diff --git a/docs/Config_Changes.md b/docs/Config_Changes.md
index 2e2375f2..19b745d2 100644
--- a/docs/Config_Changes.md
+++ b/docs/Config_Changes.md
@@ -6,6 +6,11 @@ All dates in this document are approximate.
 
 # Changes
 
+20210201: The `TEST_RESONANCES` command will now disable input shaping
+if it was previously enabled (and re-enable it after the test). In order
+to override this behavior and keep the input shaping enabled, one can
+pass an additional parameter `INPUT_SHAPING=1` to the command.
+
 20210201: The `ACCELEROMETER_MEASURE` command will now append the name
 of the accelerometer chip to the output file name if the chip was given
 a name in the corresponding adxl345 section of the printer.cfg.
diff --git a/docs/G-Codes.md b/docs/G-Codes.md
index c6f99658..c656c416 100644
--- a/docs/G-Codes.md
+++ b/docs/G-Codes.md
@@ -728,12 +728,15 @@ is enabled (also see the
   all enabled accelerometer chips.
 - `TEST_RESONANCES AXIS=<axis> OUTPUT=<resonances,raw_data>
   [NAME=<name>] [FREQ_START=<min_freq>] [FREQ_END=<max_freq>]
-  [HZ_PER_SEC=<hz_per_sec>]`: Runs the resonance test in all
-  configured probe points for the requested axis (X or Y) and measures
-  the acceleration using the accelerometer chips configured for the
-  respective axis. `OUTPUT` parameter is a comma-separated list of
-  which outputs will be written. If `raw_data` is requested, then the
-  raw accelerometer data is written into a file or a series of files
+  [HZ_PER_SEC=<hz_per_sec>] [INPUT_SHAPING=[<0:1>]]`: Runs the resonance
+  test in all configured probe points for the requested axis (X or Y)
+  and measures the acceleration using the accelerometer chips configured
+  for the respective axis. If `INPUT_SHAPING=0` or not set (default),
+  disables input shaping for the resonance testing, because it is not valid
+  to run the resonance testing with the input shaper enabled.
+  `OUTPUT` parameter is a comma-separated list of which outputs will be
+  written. If `raw_data` is requested, then the raw accelerometer data
+  is written into a file or a series of files
   `/tmp/raw_data_<axis>_[<point>_]<name>.csv` with (`<point>_` part of
   the name generated only if more than 1 probe point is configured).
   If `resonances` is specified, the frequency response is calculated
diff --git a/docs/Measuring_Resonances.md b/docs/Measuring_Resonances.md
index cf11d46e..ec1cbbfe 100644
--- a/docs/Measuring_Resonances.md
+++ b/docs/Measuring_Resonances.md
@@ -130,18 +130,15 @@ max_accel: 7000
 max_accel_to_decel: 7000
 ```
 (after you are done with the measurements, revert these values to their old,
-or the newly suggested values). Also, if you have enabled input shaper already,
-you will need to disable it prior to this test as follows:
-```
-SET_INPUT_SHAPER SHAPER_FREQ_X=0 SHAPER_FREQ_Y=0
-```
-as it is not valid to run the resonance testing with the input shaper enabled.
+or the newly suggested values).
 
 Run the following command:
 ```
 TEST_RESONANCES AXIS=X
 ```
-Note that it will create vibrations on X axis.
+Note that it will create vibrations on X axis. It will also disable input
+shaping if it was enabled previously, as it is not valid to run the resonance
+testing with the input shaper enabled.
 
 **Attention!** Be sure to observe the printer for the first time, to make sure
 the vibrations do not become too violent (`M112` command can be used to abort