Clean the code

This commit is contained in:
espr14 2020-12-22 13:59:50 +01:00
parent 20659ec818
commit 90c8045f7d

View file

@ -442,13 +442,13 @@ bool more_zeros(uint8_t* pixels, int16_t &min_z){
++hist[pixels[i]]; ++hist[pixels[i]];
} }
/// print histogram // /// print histogram
i = 0; // i = 0;
DBG(_n("hist: ")); // DBG(_n("hist: "));
do { // do {
DBG(_n("%d "), hist[i]); // DBG(_n("%d "), hist[i]);
} while (i++ < 255); // } while (i++ < 255);
DBG(_n("\n")); // DBG(_n("\n"));
/// already more zeros on the line /// already more zeros on the line
@ -471,12 +471,18 @@ bool more_zeros(uint8_t* pixels, int16_t &min_z){
--i; --i;
DBG(_n("sum %d, index %d\n"), sum, 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; min_z += i;
DBG(_n("min_z %d\n"), min_z); // DBG(_n("min_z %d\n"), min_z);
return false; 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){ 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) if (!pixels)
return; 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); xyzcal_lineXYZ_to(cx - 1024, cy - 1024, min_z, delay_us, 0);
int16_t start_z; int16_t start_z;
uint16_t steps_to_go; uint16_t steps_to_go;
uint8_t restart = 0; ///< restart if needed but just once /// restart if needed but just once
int16_t corr_min_z = min_z; ///< shifted min_z if it's too low /// 0 = init, 1 = do restart, 2 = restart was done, don't restart any more
uint8_t restart = RESTART_INIT;
do { do {
if (restart == 1) if (restart == DO_RESTART)
restart = 2; restart = WAS_RESTARTED;
for (uint8_t r = 0; r < 32; r++){ ///< Y axis for (uint8_t r = 0; r < 32; r++){ ///< Y axis
xyzcal_lineXYZ_to(_X, cy - 1024 + r * 64, z, delay_us, 0); xyzcal_lineXYZ_to(_X, cy - 1024 + r * 64, z, delay_us, 0);
for (int8_t d = 0; d < 2; ++d){ ///< direction 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; z = _Z;
sm4_set_dir(X_AXIS, d); sm4_set_dir(X_AXIS, d);
for (uint8_t c = 0; c < 32; c++){ ///< X axis 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) /// move up to un-trigger (surpress hysteresis)
sm4_set_dir(Z_AXIS, Z_PLUS); 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); sm4_set_dir(Z_AXIS, Z_MINUS);
/// speed up /// speed up
current_delay_us = MAX_DELAY; 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){ if (_PINDA){
z_trig = z; z_trig = z;
break; break;
@ -541,27 +548,27 @@ void xyzcal_scan_pixels_32x32_Zhop(int16_t cx, int16_t cy, int16_t min_z, int16_
} }
/// slow down /// slow down
if(!_PINDA){ if(!_PINDA){
steps_to_go = MAX(0, z - corr_min_z); steps_to_go = MAX(0, z - min_z);
while (!_PINDA && z > corr_min_z){ while (!_PINDA && z > min_z){
go_and_stop(Z_AXIS_MASK, Z_ACCEL, current_delay_us, steps_to_go); go_and_stop(Z_AXIS_MASK, Z_ACCEL, current_delay_us, steps_to_go);
--z; --z;
} }
z_trig = z; z_trig = z;
} }
/// slow down to stop /// 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); accelerate(Z_AXIS_MASK, -Z_ACCEL, current_delay_us, Z_MIN_DELAY);
--z; --z;
} }
count_position[2] = z; count_position[2] = z;
if (d == 0){ if (d == 0){
line_buffer[c] = (uint16_t)(z_trig - corr_min_z); line_buffer[c] = (uint16_t)(z_trig - min_z);
} else { } else {
/// data reversed in X /// 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 /// 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) /// 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; count_position[2] = z;
} }
} }
if (r == 0 && restart == 0){ /// do this in the first row only
if (!more_zeros(pixels, corr_min_z)) if (r == 0 && restart == RESTART_INIT){
restart = 1; if (!more_zeros(pixels, min_z))
restart = DO_RESTART;
} }
if (restart == 1) if (restart == DO_RESTART)
break; break;
// DBG(_n("\n\n")); // DBG(_n("\n\n"));
} }
} while (restart == 1); } while (restart == DO_RESTART);
} }
/// Returns rate of match /// Returns rate of match