3DPrinting/Prusa-Firmware
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Try double height

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This commit is contained in:
espr14 2021-01-12 00:27:06 +01:00
parent 333526f65d
commit 180af46fe4
2 changed files with 42 additions and 39 deletions
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2
Firmware/mesh_bed_calibration.cpp
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@ -372,7 +372,7 @@ BedSkewOffsetDetectionResultType calculate_machine_skew_and_offset_LS(
{
angleDiff = fabs(a2 - a1);
/// XY skew and Y-bed skew
DBG(_n("Measured skews: %f° %f°\n"), degrees(a2 - a1), degrees(a2));
DBG(_n("Measured skews: %f %f\n"), degrees(a2 - a1), degrees(a2));
eeprom_update_float((float *)(EEPROM_XYZ_CAL_SKEW), angleDiff); //storing xyz cal. skew to be able to show in support menu later
if (angleDiff > bed_skew_angle_mild)
result = (angleDiff > bed_skew_angle_extreme) ?

79
Firmware/xyzcal.cpp
View File

@ -293,7 +293,7 @@ bool xyzcal_spiral2(int16_t cx, int16_t cy, int16_t z0, int16_t dz, int16_t radi
dad = dad_max - ((719 - ad) / k);
r = (float)(((uint32_t)(719 - ad)) * (-radius)) / 720;
}
ar = (ad + rotation)* (float)M_PI / 180;
ar = radians(ad + rotation);
int x = (int)(cx + (cos(ar) * r));
int y = (int)(cy + (sin(ar) * r));
int z = (int)(z0 - ((float)((int32_t)dz * ad) / 720));
@ -831,9 +831,8 @@ float median(float *points, const uint8_t num_points){
void dynamic_circle(uint8_t *matrix_32x32, float &x, float &y, float &r, uint8_t iterations){
/// circle of 10.5 diameter has 33 in circumference, don't go much above
const constexpr uint8_t num_points = 33;
float pi_2_div_num_points = 2 * M_PI / num_points;
const float pi_2_div_num_points = 2 * M_PI / num_points;
const constexpr uint8_t target_z = 32; ///< target z height of the circle
float angle;
float max_change = 0.5f; ///< avoids too fast changes (avoid oscillation)
const uint8_t blocks = num_points;
float shifts_x[blocks];
@ -848,7 +847,7 @@ void dynamic_circle(uint8_t *matrix_32x32, float &x, float &y, float &r, uint8_t
/// read points on the circle
for (uint8_t p = 0; p < num_points; ++p){
angle = p * pi_2_div_num_points;
const float angle = p * pi_2_div_num_points;
const float height = get_value(matrix_32x32, r * cos(angle) + x, r * sin(angle) + y) - target_z;
// DBG(_n("%f "), point);
@ -858,7 +857,8 @@ void dynamic_circle(uint8_t *matrix_32x32, float &x, float &y, float &r, uint8_t
}
// DBG(_n(" points\n"));
const float norm = 1.f / 32.f;
const float reducer = 32.f; ///< reduces speed of convergency to avoid oscillation
const float norm = 1.f / reducer;
x += CLAMP(median(shifts_x, blocks) * norm, -max_change, max_change);
y += CLAMP(median(shifts_y, blocks) * norm, -max_change, max_change);
r += CLAMP(median(shifts_r, blocks) * norm * .5f, -max_change, max_change);
@ -912,49 +912,52 @@ bool xyzcal_scan_and_process(void){
bool ret = false;
int16_t x = _X;
int16_t y = _Y;
int16_t z = _Z;
const int16_t z = _Z;
uint8_t *matrix32 = (uint8_t *)block_buffer;
uint16_t *pattern08 = (uint16_t *)(matrix32 + 32 * 32);
uint16_t *pattern10 = (uint16_t *)(pattern08 + 12);
xyzcal_scan_pixels_32x32_Zhop(x, y, z - 72, 2400, 200, matrix32);
print_image(matrix32);
for (uint8_t i = 0; i < 12; i++){
pattern08[i] = pgm_read_word((uint16_t*)(xyzcal_point_pattern_08 + i));
pattern10[i] = pgm_read_word((uint16_t*)(xyzcal_point_pattern_10 + i));
}
/// SEARCH FOR BINARY CIRCLE
uint8_t uc = 0;
uint8_t ur = 0;
/// max match = 132, 1/2 good = 66, 2/3 good = 88
if (find_patterns(matrix32, pattern08, pattern10, uc, ur) >= 88){
/// find precise circle
/// move to the center of the pattern (+5.5)
float xf = uc + 5.5f;
float yf = ur + 5.5f;
float radius = 5; ///< default radius
const uint8_t iterations = 20;
dynamic_circle(matrix32, xf, yf, radius, iterations);
if (ABS(xf - (uc + 5.5f)) > 3 || ABS(yf - (ur + 5.5f)) > 3 || ABS(radius - 5) > 3){
DBG(_n(" [%f %f][%f] mm divergence\n"), xf - (uc + 5.5f), yf - (ur + 5.5f), radius - 5);
/// dynamic algorithm diverged, use original position instead
xf = uc + 5.5f;
yf = ur + 5.5f;
}
/// move to the center of area and convert to position
xf = (float)x + (xf - 15.5f) * 64;
yf = (float)y + (yf - 15.5f) * 64;
DBG(_n(" [%f %f] mm pattern center\n"), pos_2_mm(xf), pos_2_mm(yf));
x = round_to_i16(xf);
y = round_to_i16(yf);
xyzcal_lineXYZ_to(x, y, z, 200, 0);
ret = true;
/// Lower z if pattern not found
for (int8_t lower = 0; lower < 60; lower += 50){
xyzcal_scan_pixels_32x32_Zhop(x, y, z - lower, 2400, 200, matrix32);
print_image(matrix32);
/// SEARCH FOR BINARY CIRCLE
uint8_t uc = 0;
uint8_t ur = 0;
/// max match = 132, 1/2 good = 66, 2/3 good = 88
if (find_patterns(matrix32, pattern08, pattern10, uc, ur) >= 88){
/// find precise circle
/// move to the center of the pattern (+5.5)
float xf = uc + 5.5f;
float yf = ur + 5.5f;
float radius = 4.5f; ///< default radius
const uint8_t iterations = 20;
dynamic_circle(matrix32, xf, yf, radius, iterations);
if (ABS(xf - (uc + 5.5f)) > 3 || ABS(yf - (ur + 5.5f)) > 3 || ABS(radius - 5) > 3){
DBG(_n(" [%f %f][%f] mm divergence\n"), xf - (uc + 5.5f), yf - (ur + 5.5f), radius - 5);
/// dynamic algorithm diverged, use original position instead
xf = uc + 5.5f;
yf = ur + 5.5f;
}
/// move to the center of area and convert to position
xf = (float)x + (xf - 15.5f) * 64;
yf = (float)y + (yf - 15.5f) * 64;
DBG(_n(" [%f %f] mm pattern center\n"), pos_2_mm(xf), pos_2_mm(yf));
x = round_to_i16(xf);
y = round_to_i16(yf);
xyzcal_lineXYZ_to(x, y, z, 200, 0);
ret = true;
break;
}
}
/// wipe buffer