Turn off speed optimization due to MK2.5
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espr14
parent
e6eb3be247
commit
80e32ce1a5
1 changed files with 87 additions and 150 deletions
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@ -423,58 +423,6 @@ void go_and_stop(uint8_t axis, int16_t dec, uint16_t &delay_us, uint16_t &steps)
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--steps;
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}
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/// Count number of zeros in the 32 byte array
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/// If the number is less than 16, it moves @min_z up
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/// Zeros make measuring faster but there cannot be too much
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bool more_zeros(uint8_t* pixels, int16_t &min_z){
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uint8_t hist[256];
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uint8_t i = 0;
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/// clear
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do {
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hist[i] = 0;
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} while (i++ < 255);
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/// fill
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for (i = 0; i < 32; ++i){
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++hist[pixels[i]];
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}
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// /// print histogram
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// i = 0;
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// DBG(_n("hist: "));
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// do {
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// DBG(_n("%d "), hist[i]);
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// } while (i++ < 255);
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// DBG(_n("\n"));
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/// already more zeros on the line
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if (hist[0] >= 16){
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DBG(_n("zeros %d\n"), hist[0]);
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return true;
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}
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/// find threshold
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uint8_t sum = 0;
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i = 0;
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do {
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sum += hist[i];
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if (sum >= 16)
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break;
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} while (i++ < 255);
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/// avoid too much zeros
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if (sum >= 24)
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--i;
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DBG(_n("zeros %d, index %d\n"), sum, i);
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// DBG(_n("min_z %d\n"), min_z);
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min_z += i;
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// DBG(_n("min_z %d\n"), min_z);
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return false;
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}
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void xyzcal_scan_pixels_32x32_Zhop(int16_t cx, int16_t cy, int16_t min_z, int16_t max_z, uint16_t delay_us, uint8_t* pixels){
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if (!pixels)
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return;
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@ -485,120 +433,109 @@ void xyzcal_scan_pixels_32x32_Zhop(int16_t cx, int16_t cy, int16_t min_z, int16_
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xyzcal_lineXYZ_to(cx - 1024, cy - 1024, min_z, delay_us, 0);
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int16_t start_z;
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uint16_t steps_to_go;
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/// available restarts (if needed)
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uint8_t restarts = 2;
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do {
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for (uint8_t r = 0; r < 32; r++){ ///< Y axis
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xyzcal_lineXYZ_to(_X, cy - 1024 + r * 64, z, delay_us, 0);
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for (int8_t d = 0; d < 2; ++d){ ///< direction
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xyzcal_lineXYZ_to((d & 1) ? (cx + 1024) : (cx - 1024), _Y, min_z, delay_us, 0);
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for (uint8_t r = 0; r < 32; r++){ ///< Y axis
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xyzcal_lineXYZ_to(_X, cy - 1024 + r * 64, z, delay_us, 0);
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for (int8_t d = 0; d < 2; ++d){ ///< direction
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xyzcal_lineXYZ_to((d & 1) ? (cx + 1024) : (cx - 1024), _Y, min_z, delay_us, 0);
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z = _Z;
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sm4_set_dir(X_AXIS, d);
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for (uint8_t c = 0; c < 32; c++){ ///< X axis
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z = _Z;
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sm4_set_dir(X_AXIS, d);
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for (uint8_t c = 0; c < 32; c++){ ///< X axis
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z_trig = min_z;
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z_trig = min_z;
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/// move up to un-trigger (surpress hysteresis)
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sm4_set_dir(Z_AXIS, Z_PLUS);
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/// speed up from stop, go half the way
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current_delay_us = MAX_DELAY;
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for (start_z = z; z < (max_z + start_z) / 2; ++z){
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if (!_PINDA){
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break;
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}
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accelerate(Z_AXIS_MASK, Z_ACCEL, current_delay_us, Z_MIN_DELAY);
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/// move up to un-trigger (surpress hysteresis)
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sm4_set_dir(Z_AXIS, Z_PLUS);
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/// speed up from stop, go half the way
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current_delay_us = MAX_DELAY;
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for (start_z = z; z < (max_z + start_z) / 2; ++z){
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if (!_PINDA){
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break;
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}
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accelerate(Z_AXIS_MASK, Z_ACCEL, current_delay_us, Z_MIN_DELAY);
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}
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if(_PINDA){
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uint16_t steps_to_go = MAX(0, max_z - z);
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while (_PINDA && z < max_z){
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go_and_stop(Z_AXIS_MASK, Z_ACCEL, current_delay_us, steps_to_go);
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++z;
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}
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}
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/// slow down to stop
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while (current_delay_us < MAX_DELAY){
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accelerate(Z_AXIS_MASK, -Z_ACCEL, current_delay_us, Z_MIN_DELAY);
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if(_PINDA){
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uint16_t steps_to_go = MAX(0, max_z - z);
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while (_PINDA && z < max_z){
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go_and_stop(Z_AXIS_MASK, Z_ACCEL, current_delay_us, steps_to_go);
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++z;
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}
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}
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/// slow down to stop
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while (current_delay_us < MAX_DELAY){
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accelerate(Z_AXIS_MASK, -Z_ACCEL, current_delay_us, Z_MIN_DELAY);
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++z;
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}
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/// move down to trigger
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sm4_set_dir(Z_AXIS, Z_MINUS);
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/// speed up
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current_delay_us = MAX_DELAY;
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for (start_z = z; z > (min_z + start_z) / 2; --z){
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if (_PINDA){
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z_trig = z;
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break;
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}
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accelerate(Z_AXIS_MASK, Z_ACCEL, current_delay_us, Z_MIN_DELAY);
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}
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/// slow down
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if(!_PINDA){
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steps_to_go = MAX(0, z - min_z);
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while (!_PINDA && z > min_z){
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go_and_stop(Z_AXIS_MASK, Z_ACCEL, current_delay_us, steps_to_go);
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--z;
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}
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/// move down to trigger
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sm4_set_dir(Z_AXIS, Z_MINUS);
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/// speed up
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current_delay_us = MAX_DELAY;
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for (start_z = z; z > (min_z + start_z) / 2; --z){
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if (_PINDA){
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z_trig = z;
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break;
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}
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/// slow down to stop
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while (z > min_z && current_delay_us < MAX_DELAY){
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accelerate(Z_AXIS_MASK, -Z_ACCEL, current_delay_us, Z_MIN_DELAY);
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accelerate(Z_AXIS_MASK, Z_ACCEL, current_delay_us, Z_MIN_DELAY);
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}
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/// slow down
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if(!_PINDA){
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steps_to_go = MAX(0, z - min_z);
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while (!_PINDA && z > min_z){
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go_and_stop(Z_AXIS_MASK, Z_ACCEL, current_delay_us, steps_to_go);
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--z;
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}
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count_position[2] = z;
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if (d == 0){
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line_buffer[c] = (uint16_t)(z_trig - min_z);
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} else {
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/// data reversed in X
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// DBG(_n("%04x"), (line_buffer[31 - c] + (z - min_z)) / 2);
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/// save average of both directions
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pixels[(uint16_t)r * 32 + (31 - c)] = (uint8_t)MIN((uint32_t)255, ((uint32_t)line_buffer[31 - c] + (z_trig - min_z)) / 2);
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}
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/// move to the next point and move Z up diagonally (if needed)
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current_delay_us = MAX_DELAY;
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// const int8_t dir = (d & 1) ? -1 : 1;
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const int16_t end_x = ((d & 1) ? 1 : -1) * (64 * (16 - c) - 32) + cx;
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const int16_t length_x = ABS(end_x - _X);
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const int16_t half_x = length_x / 2;
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int16_t x = 0;
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/// don't go up if PINDA not triggered
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const bool up = _PINDA;
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int8_t axis = up ? X_AXIS_MASK | Z_AXIS_MASK : X_AXIS_MASK;
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sm4_set_dir(Z_AXIS, Z_PLUS);
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/// speed up
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for (x = 0; x <= half_x; ++x){
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accelerate(axis, Z_ACCEL, current_delay_us, Z_MIN_DELAY);
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if (up)
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++z;
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}
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/// slow down
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steps_to_go = length_x - x;
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for (; x < length_x; ++x){
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go_and_stop(axis, Z_ACCEL, current_delay_us, steps_to_go);
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if (up)
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++z;
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}
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count_position[0] = end_x;
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count_position[2] = z;
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z_trig = z;
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}
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/// slow down to stop
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while (z > min_z && current_delay_us < MAX_DELAY){
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accelerate(Z_AXIS_MASK, -Z_ACCEL, current_delay_us, Z_MIN_DELAY);
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--z;
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}
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count_position[2] = z;
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if (d == 0){
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line_buffer[c] = (uint16_t)(z_trig - min_z);
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} else {
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/// data reversed in X
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// DBG(_n("%04x"), (line_buffer[31 - c] + (z - min_z)) / 2);
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/// save average of both directions
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pixels[(uint16_t)r * 32 + (31 - c)] = (uint8_t)MIN((uint32_t)255, ((uint32_t)line_buffer[31 - c] + (z_trig - min_z)) / 2);
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}
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/// move to the next point and move Z up diagonally (if needed)
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current_delay_us = MAX_DELAY;
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// const int8_t dir = (d & 1) ? -1 : 1;
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const int16_t end_x = ((d & 1) ? 1 : -1) * (64 * (16 - c) - 32) + cx;
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const int16_t length_x = ABS(end_x - _X);
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const int16_t half_x = length_x / 2;
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int16_t x = 0;
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/// don't go up if PINDA not triggered
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const bool up = _PINDA;
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int8_t axis = up ? X_AXIS_MASK | Z_AXIS_MASK : X_AXIS_MASK;
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sm4_set_dir(Z_AXIS, Z_PLUS);
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/// speed up
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for (x = 0; x <= half_x; ++x){
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accelerate(axis, Z_ACCEL, current_delay_us, Z_MIN_DELAY);
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if (up)
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++z;
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}
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/// slow down
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steps_to_go = length_x - x;
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for (; x < length_x; ++x){
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go_and_stop(axis, Z_ACCEL, current_delay_us, steps_to_go);
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if (up)
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++z;
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}
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count_position[0] = end_x;
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count_position[2] = z;
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}
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/// do the min_z addjusting in the first row only
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if (r == 0 && restarts){
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if (more_zeros(pixels, min_z))
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restarts = 0;
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}
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if (restarts)
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break;
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// DBG(_n("\n\n"));
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}
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} while (restarts--);
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// DBG(_n("\n\n"));
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}
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}
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/// Returns rate of match
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