Revert both directions, refactor code
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espr14
parent
e86ba5e26d
commit
c11e8654da
1 changed files with 157 additions and 101 deletions
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@ -29,6 +29,11 @@
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#define _Z ((int16_t)count_position[Z_AXIS])
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#define _E ((int16_t)count_position[E_AXIS])
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#define _X_ (count_position[X_AXIS])
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#define _Y_ (count_position[Y_AXIS])
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#define _Z_ (count_position[Z_AXIS])
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#define _E_ (count_position[E_AXIS])
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#ifndef M_PI
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const constexpr float M_PI = 3.1415926535897932384626433832795f;
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#endif
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@ -40,6 +45,13 @@ const constexpr uint8_t Y_MINUS = 1;
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const constexpr uint8_t Z_PLUS = 0;
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const constexpr uint8_t Z_MINUS = 1;
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const constexpr uint8_t X_PLUS_MASK = 0;
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const constexpr uint8_t X_MINUS_MASK = X_AXIS_MASK;
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const constexpr uint8_t Y_PLUS_MASK = 0;
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const constexpr uint8_t Y_MINUS_MASK = Y_AXIS_MASK;
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const constexpr uint8_t Z_PLUS_MASK = 0;
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const constexpr uint8_t Z_MINUS_MASK = Z_AXIS_MASK;
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/// Max. jerk in PrusaSlicer, 10000 = 1 mm/s
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const constexpr uint16_t MAX_DELAY = 10000;
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const constexpr float MIN_SPEED = 0.01f / (MAX_DELAY * 0.000001f);
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@ -393,8 +405,28 @@ void print_hysterezis(int16_t min_z, int16_t max_z, int16_t step){
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}
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}
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void update_position_1_step(uint8_t axis, uint8_t dir){
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int8_t add = dir ? -1 : 1;
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if (axis & X_AXIS_MASK)
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_X_ += dir & X_AXIS_MASK ? -1 : 1;
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if (axis & Y_AXIS_MASK)
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_Y_ += dir & Y_AXIS_MASK ? -1 : 1;
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if (axis & Z_AXIS_MASK)
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_Z_ += dir & Z_AXIS_MASK ? -1 : 1;
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}
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void set_axis_dir(uint8_t axis, uint8_t dir){
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if (axis & X_AXIS_MASK)
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sm4_set_dir(X_AXIS_MASK, dir & X_AXIS_MASK);
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if (axis & Y_AXIS_MASK)
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sm4_set_dir(Y_AXIS_MASK, dir & Y_AXIS_MASK);
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if (axis & Z_AXIS_MASK)
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sm4_set_dir(Z_AXIS_MASK, dir & Z_AXIS_MASK);
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}
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/// Accelerate up to max.speed (defined by @min_delay_us)
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void accelerate(uint8_t axis, int16_t acc, uint16_t &delay_us, uint16_t min_delay_us){
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/// does not update global positions
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void accelerate_1_step(uint8_t axis, int16_t acc, uint16_t &delay_us, uint16_t min_delay_us){
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sm4_do_step(axis);
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/// keep max speed (avoid extra computation)
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@ -429,9 +461,24 @@ void accelerate(uint8_t axis, int16_t acc, uint16_t &delay_us, uint16_t min_dela
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delay_us = t1;
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}
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void go_and_stop(uint8_t axis, int16_t dec, uint16_t &delay_us, uint16_t &steps){
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/// Goes defined number of steps while accelerating
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/// updates global positions
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void accelerate(uint8_t axis, uint8_t dir, int16_t acc, uint16_t &delay_us, uint16_t min_delay_us, uint16_t steps){
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set_axis_dir(axis, dir);
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while (steps--){
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accelerate_1_step(axis, acc, delay_us, min_delay_us);
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update_position_1_step(axis, dir);
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}
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}
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/// keeps speed and then it decelerates to a complete stop (if possible)
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/// it goes defined number of steps
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/// returns after each step
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/// \returns true if step was done
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/// does not update global positions
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bool go_and_stop_1_step(uint8_t axis, int16_t dec, uint16_t &delay_us, uint16_t &steps){
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if (steps <= 0 || dec <= 0)
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return;
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return false;
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/// deceleration distance in steps, s = 1/2 v^2 / a
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uint16_t s = round_to_u16(100 * 0.5f * SQR(0.01f) / (SQR((float)delay_us) * dec));
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@ -441,27 +488,37 @@ void go_and_stop(uint8_t axis, int16_t dec, uint16_t &delay_us, uint16_t &steps)
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delayMicroseconds(delay_us);
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} else {
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/// decelerate
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accelerate(axis, -dec, delay_us, delay_us);
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accelerate_1_step(axis, -dec, delay_us, delay_us);
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}
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--steps;
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return true;
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}
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/// \returns steps done
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uint16_t stop_smoothly(uint8_t axis, int16_t dec, uint16_t &delay_us, uint16_t min_delay_us){
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if (dec <= 0)
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return 0;
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uint16_t steps = 0;
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while (delay_us < MAX_DELAY){
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accelerate(axis, -dec, delay_us, min_delay_us);
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++steps;
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/// \param dir sets direction of movement
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/// updates global positions
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void go_and_stop(uint8_t axis, uint8_t dir, int16_t dec, uint16_t &delay_us, uint16_t steps){
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set_axis_dir(axis, dir);
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while (go_and_stop_1_step(axis, dec, delay_us, steps)){
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update_position_1_step(axis, dir);
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}
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}
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/// goes all the way to stop
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/// \returns steps done
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/// updates global positions
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void stop_smoothly(uint8_t axis, uint8_t dir, int16_t dec, uint16_t &delay_us){
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if (dec <= 0)
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return;
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set_axis_dir(axis, dir);
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while (delay_us < MAX_DELAY){
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accelerate_1_step(axis, -dec, delay_us, delay_us);
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update_position_1_step(axis, dir);
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}
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return steps;
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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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int16_t z = _Z;
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int16_t z_trig;
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uint16_t line_buffer[32];
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uint16_t current_delay_us = MAX_DELAY; ///< defines current speed
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@ -470,104 +527,103 @@ void xyzcal_scan_pixels_32x32_Zhop(int16_t cx, int16_t cy, int16_t min_z, int16_
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uint16_t steps_to_go;
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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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int8_t d = r % 2 ? 1 : 0;
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xyzcal_lineXYZ_to((d & 1) ? (cx + 1024) : (cx - 1024), _Y, min_z, delay_us, 0);
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xyzcal_lineXYZ_to(_X, cy - 1024 + r * 64, _Z, delay_us, 0);
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for (uint8_t d = 0; d < 2; ++d){
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xyzcal_lineXYZ_to((d & 1) ? (cx + 1024) : (cx - 1024), _Y, min_z, delay_us, 0);
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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 = _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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/// 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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/// 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_1_step(Z_AXIS_MASK, Z_ACCEL, current_delay_us, Z_MIN_DELAY);
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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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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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z += stop_smoothly(Z_AXIS_MASK, Z_ACCEL, current_delay_us, Z_MIN_DELAY);
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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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steps_to_go = MAX(0, max_z - _Z);
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while (_PINDA && _Z < max_z){
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go_and_stop_1_step(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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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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stop_smoothly(Z_AXIS_MASK, Z_PLUS_MASK, Z_ACCEL, current_delay_us);
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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_1_step(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_1_step(Z_AXIS_MASK, Z_ACCEL, current_delay_us, steps_to_go);
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--_Z_;
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}
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z_trig = _Z;
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}
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/// slow down to stop but not lower than min_z
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while (_Z > min_z && current_delay_us < MAX_DELAY){
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accelerate_1_step(Z_AXIS_MASK, -Z_ACCEL, current_delay_us, Z_MIN_DELAY);
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--_Z_;
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}
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z_trig = z;
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}
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/// slow down to stop but not lower than min_z
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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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// 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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uint8_t dir = Z_PLUS_MASK | (d & 1 ? X_MINUS_MASK : X_PLUS_MASK);
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pixels[(uint16_t)r * 32 + (r % 2 ? (31 - c) : c)] = (uint8_t)MIN((uint32_t)255, (uint32_t)z_trig - min_z);
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// sm4_set_dir(Z_AXIS, Z_PLUS);
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/// speed up
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accelerate(axis, dir, Z_ACCEL, current_delay_us, Z_MIN_DELAY, half_x);
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// for (x = 0; x <= half_x; ++x)
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// {
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// accelerate_1_step(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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go_and_stop(axis, dir, Z_ACCEL, current_delay_us, length_x - half_x);
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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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// steps_to_go = length_x - x;
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// for (; x < length_x; ++x){
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// go_and_stop_1_step(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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}
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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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// }
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}
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// DBG(_n("\n\n"));
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}
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}
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