At now yes, they add it in frimware, but they don't use close loop control system (like klipper). So i think it's can be adding in gcode by slicer it's can open this technique to 8 bit boards and so on.
In start it was only gcode modify:
The specific parameters for the correction above was f_n=40.4 Hz, zeta=0.
I got these results without making any FW changes. I instead abused the motion planner by feeding it G-code that simulated the required motion profiles. I think the results look pretty interesting and this is probably worth pursuing further.