3DPrinting/Prusa-Firmware
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Clean the code

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This commit is contained in:
espr14 2020-12-22 13:59:50 +01:00
parent 20659ec818
commit 90c8045f7d
1 changed files with 35 additions and 27 deletions
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62
Firmware/xyzcal.cpp
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@ -442,13 +442,13 @@ bool more_zeros(uint8_t* pixels, int16_t &min_z){
++hist[pixels[i]];
}
/// print histogram
i = 0;
DBG(_n("hist: "));
do {
DBG(_n("%d "), hist[i]);
} while (i++ < 255);
DBG(_n("\n"));
// /// print histogram
// i = 0;
// DBG(_n("hist: "));
// do {
// DBG(_n("%d "), hist[i]);
// } while (i++ < 255);
// DBG(_n("\n"));
/// already more zeros on the line
@ -471,12 +471,18 @@ bool more_zeros(uint8_t* pixels, int16_t &min_z){
--i;
DBG(_n("sum %d, index %d\n"), sum, i);
DBG(_n("min_z %d\n"), min_z);
// DBG(_n("min_z %d\n"), min_z);
min_z += i;
DBG(_n("min_z %d\n"), min_z);
// DBG(_n("min_z %d\n"), min_z);
return false;
}
enum {
RESTART_INIT,
DO_RESTART,
WAS_RESTARTED
};
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){
if (!pixels)
return;
@ -487,22 +493,23 @@ void xyzcal_scan_pixels_32x32_Zhop(int16_t cx, int16_t cy, int16_t min_z, int16_
xyzcal_lineXYZ_to(cx - 1024, cy - 1024, min_z, delay_us, 0);
int16_t start_z;
uint16_t steps_to_go;
uint8_t restart = 0; ///< restart if needed but just once
int16_t corr_min_z = min_z; ///< shifted min_z if it's too low
/// restart if needed but just once
/// 0 = init, 1 = do restart, 2 = restart was done, don't restart any more
uint8_t restart = RESTART_INIT;
do {
if (restart == 1)
restart = 2;
if (restart == DO_RESTART)
restart = WAS_RESTARTED;
for (uint8_t r = 0; r < 32; r++){ ///< Y axis
xyzcal_lineXYZ_to(_X, cy - 1024 + r * 64, z, delay_us, 0);
for (int8_t d = 0; d < 2; ++d){ ///< direction
xyzcal_lineXYZ_to((d & 1) ? (cx + 1024) : (cx - 1024), _Y, corr_min_z, delay_us, 0);
xyzcal_lineXYZ_to((d & 1) ? (cx + 1024) : (cx - 1024), _Y, min_z, delay_us, 0);
z = _Z;
sm4_set_dir(X_AXIS, d);
for (uint8_t c = 0; c < 32; c++){ ///< X axis
z_trig = corr_min_z;
z_trig = min_z;
/// move up to un-trigger (surpress hysteresis)
sm4_set_dir(Z_AXIS, Z_PLUS);
@ -532,7 +539,7 @@ void xyzcal_scan_pixels_32x32_Zhop(int16_t cx, int16_t cy, int16_t min_z, int16_
sm4_set_dir(Z_AXIS, Z_MINUS);
/// speed up
current_delay_us = MAX_DELAY;
for (start_z = z; z > (corr_min_z + start_z) / 2; --z){
for (start_z = z; z > (min_z + start_z) / 2; --z){
if (_PINDA){
z_trig = z;
break;
@ -541,27 +548,27 @@ void xyzcal_scan_pixels_32x32_Zhop(int16_t cx, int16_t cy, int16_t min_z, int16_
}
/// slow down
if(!_PINDA){
steps_to_go = MAX(0, z - corr_min_z);
while (!_PINDA && z > corr_min_z){
steps_to_go = MAX(0, z - min_z);
while (!_PINDA && z > min_z){
go_and_stop(Z_AXIS_MASK, Z_ACCEL, current_delay_us, steps_to_go);
--z;
}
z_trig = z;
}
/// slow down to stop
while (z > corr_min_z && current_delay_us < MAX_DELAY){
while (z > min_z && current_delay_us < MAX_DELAY){
accelerate(Z_AXIS_MASK, -Z_ACCEL, current_delay_us, Z_MIN_DELAY);
--z;
}
count_position[2] = z;
if (d == 0){
line_buffer[c] = (uint16_t)(z_trig - corr_min_z);
line_buffer[c] = (uint16_t)(z_trig - min_z);
} else {
/// data reversed in X
// DBG(_n("%04x"), (line_buffer[31 - c] + (z - corr_min_z)) / 2);
// DBG(_n("%04x"), (line_buffer[31 - c] + (z - min_z)) / 2);
/// save average of both directions
pixels[(uint16_t)r * 32 + (31 - c)] = (uint8_t)MIN((uint32_t)255, ((uint32_t)line_buffer[31 - c] + (z_trig - corr_min_z)) / 2);
pixels[(uint16_t)r * 32 + (31 - c)] = (uint8_t)MIN((uint32_t)255, ((uint32_t)line_buffer[31 - c] + (z_trig - min_z)) / 2);
}
/// move to the next point and move Z up diagonally (if needed)
@ -593,15 +600,16 @@ void xyzcal_scan_pixels_32x32_Zhop(int16_t cx, int16_t cy, int16_t min_z, int16_
count_position[2] = z;
}
}
if (r == 0 && restart == 0){
if (!more_zeros(pixels, corr_min_z))
restart = 1;
/// do this in the first row only
if (r == 0 && restart == RESTART_INIT){
if (!more_zeros(pixels, min_z))
restart = DO_RESTART;
}
if (restart == 1)
if (restart == DO_RESTART)
break;
// DBG(_n("\n\n"));
}
} while (restart == 1);
} while (restart == DO_RESTART);
}
/// Returns rate of match