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Merge pull request from espr14/PFW-1178

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Calibration: code cleaning PFW-1178
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DRracer 2021-01-22 12:41:24 +01:00 committed by GitHub
commit 4c952a0a9c
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1 changed files with 20 additions and 18 deletions

38
Firmware/xyzcal.cpp
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@ -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));
@ -682,7 +682,7 @@ uint8_t xyzcal_find_pattern_12x12_in_32x32(uint8_t* pixels, uint16_t* pattern, u
}
// DBG(_n("\n"));
}
DBG(_n("max_c=%d max_r=%d max_match=%d pixel\n"), max_c, max_r, max_match);
DBG(_n("Pattern center [%f %f], match %f%%\n"), max_c + 5.5f, max_r + 5.5f, max_match / 1.32f);
*pc = max_c;
*pr = max_r;
@ -831,16 +831,15 @@ 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];
float shifts_y[blocks];
float shifts_r[blocks];
DBG(_n(" [%f, %f][%f] start circle\n"), x, y, r);
// DBG(_n(" [%f, %f][%f] start circle\n"), x, y, r);
for (int8_t i = iterations; i > 0; --i){
@ -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);
@ -912,35 +912,35 @@ 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));
}
xyzcal_scan_pixels_32x32_Zhop(x, y, z, 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 = 5; ///< default radius
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){
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;
@ -970,7 +970,9 @@ bool xyzcal_find_bed_induction_sensor_point_xy(void){
st_synchronize();
pos_i16_t x = _X;
pos_i16_t y = _Y;
pos_i16_t z = _Z;
const pos_i16_t z = _Z;
///< magic constant, lowers min_z after searchZ to obtain more dense data in scan
const pos_i16_t lower_z = 72;
uint8_t point = xyzcal_xycoords2point(x, y);
x = pgm_read_word((uint16_t *)(xyzcal_point_xcoords + point));
@ -980,7 +982,7 @@ bool xyzcal_find_bed_induction_sensor_point_xy(void){
xyzcal_lineXYZ_to(x, y, z, 200, 0);
if (xyzcal_searchZ()){
xyzcal_lineXYZ_to(x, y, _Z, 200, 0);
xyzcal_lineXYZ_to(_X, _Y, _Z - lower_z, 200, 0);
ret = xyzcal_scan_and_process();
}
xyzcal_meassure_leave();