Don't use extrusion in XYZ calibration
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espr14
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9867ecd3f9
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ca4e638ea2
@ -191,5 +191,45 @@ uint16_t sm4_line_xyze_ui(uint16_t dx, uint16_t dy, uint16_t dz, uint16_t de)
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return nd;
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}
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uint16_t sm4_line_xyz_ui(uint16_t dx, uint16_t dy, uint16_t dz){
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uint16_t dd = (uint16_t)(sqrt((float)(((uint32_t)dx)*dx + ((uint32_t)dy*dy) + ((uint32_t)dz*dz))) + 0.5);
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uint16_t nd = dd;
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uint16_t cx = dd;
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uint16_t cy = dd;
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uint16_t cz = dd;
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uint16_t x = 0;
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uint16_t y = 0;
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uint16_t z = 0;
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while (nd){
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if (sm4_stop_cb && (*sm4_stop_cb)()) break;
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uint8_t sm = 0; //step mask
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if (cx <= dx){
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sm |= 1;
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cx += dd;
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x++;
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}
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if (cy <= dy){
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sm |= 2;
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cy += dd;
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y++;
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}
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if (cz <= dz){
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sm |= 4;
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cz += dd;
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z++;
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}
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cx -= dx;
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cy -= dy;
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cz -= dz;
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sm4_do_step(sm);
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uint16_t delay = SM4_DEFDELAY;
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if (sm4_calc_delay_cb) delay = (*sm4_calc_delay_cb)(nd, dd);
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if (delay) delayMicroseconds(delay);
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nd--;
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}
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if (sm4_update_pos_cb)
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(*sm4_update_pos_cb)(x, y, z, 0);
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return nd;
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}
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#endif //NEW_XYZCAL
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113
Firmware/sm4.h
113
Firmware/sm4.h
@ -1,56 +1,57 @@
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//sm4.h - simple 4-axis stepper control
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#ifndef _SM4_H
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#define _SM4_H
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#include <inttypes.h>
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#include "config.h"
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#if defined(__cplusplus)
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extern "C" {
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#endif //defined(__cplusplus)
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// callback prototype for stop condition (return 0 - continue, return 1 - stop)
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typedef uint8_t (*sm4_stop_cb_t)();
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// callback prototype for updating position counters
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typedef void (*sm4_update_pos_cb_t)(uint16_t dx, uint16_t dy, uint16_t dz, uint16_t de);
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// callback prototype for calculating delay
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typedef uint16_t (*sm4_calc_delay_cb_t)(uint16_t nd, uint16_t dd);
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// callback pointer - stop
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extern sm4_stop_cb_t sm4_stop_cb;
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// callback pointer - update_pos
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extern sm4_update_pos_cb_t sm4_update_pos_cb;
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// callback pointer - calc_delay
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extern sm4_calc_delay_cb_t sm4_calc_delay_cb;
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// returns direction for single axis (0 - positive, 1 - negative)
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extern uint8_t sm4_get_dir(uint8_t axis);
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// set direction for single axis (0 - positive, 1 - negative)
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extern void sm4_set_dir(uint8_t axis, uint8_t dir);
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// returns direction of all axes as bitmask (0 - positive, 1 - negative)
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extern uint8_t sm4_get_dir_bits(void);
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// set direction for all axes as bitmask (0 - positive, 1 - negative)
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extern void sm4_set_dir_bits(uint8_t dir_bits);
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// step axes by bitmask
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extern void sm4_do_step(uint8_t axes_mask);
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// xyze linear-interpolated relative move, returns remaining diagonal steps (>0 means stoped)
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extern uint16_t sm4_line_xyze_ui(uint16_t dx, uint16_t dy, uint16_t dz, uint16_t de);
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#if defined(__cplusplus)
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}
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#endif //defined(__cplusplus)
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#endif //_SM4_H
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//sm4.h - simple 4-axis stepper control
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#ifndef _SM4_H
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#define _SM4_H
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#include <inttypes.h>
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#include "config.h"
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#if defined(__cplusplus)
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extern "C" {
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#endif //defined(__cplusplus)
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// callback prototype for stop condition (return 0 - continue, return 1 - stop)
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typedef uint8_t (*sm4_stop_cb_t)();
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// callback prototype for updating position counters
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typedef void (*sm4_update_pos_cb_t)(uint16_t dx, uint16_t dy, uint16_t dz, uint16_t de);
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// callback prototype for calculating delay
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typedef uint16_t (*sm4_calc_delay_cb_t)(uint16_t nd, uint16_t dd);
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// callback pointer - stop
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extern sm4_stop_cb_t sm4_stop_cb;
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// callback pointer - update_pos
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extern sm4_update_pos_cb_t sm4_update_pos_cb;
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// callback pointer - calc_delay
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extern sm4_calc_delay_cb_t sm4_calc_delay_cb;
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// returns direction for single axis (0 - positive, 1 - negative)
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extern uint8_t sm4_get_dir(uint8_t axis);
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// set direction for single axis (0 - positive, 1 - negative)
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extern void sm4_set_dir(uint8_t axis, uint8_t dir);
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// returns direction of all axes as bitmask (0 - positive, 1 - negative)
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extern uint8_t sm4_get_dir_bits(void);
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// set direction for all axes as bitmask (0 - positive, 1 - negative)
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extern void sm4_set_dir_bits(uint8_t dir_bits);
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// step axes by bitmask
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extern void sm4_do_step(uint8_t axes_mask);
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// xyze linear-interpolated relative move, returns remaining diagonal steps (>0 means stoped)
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extern uint16_t sm4_line_xyze_ui(uint16_t dx, uint16_t dy, uint16_t dz, uint16_t de);
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extern uint16_t sm4_line_xyz_ui(uint16_t dx, uint16_t dy, uint16_t dz);
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#if defined(__cplusplus)
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}
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#endif //defined(__cplusplus)
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#endif //_SM4_H
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@ -252,7 +252,7 @@ bool xyzcal_lineXYZ_to(int16_t x, int16_t y, int16_t z, uint16_t delay_us, int8_
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sm4_stop_cb = check_pinda?((check_pinda<0)?check_pinda_0:check_pinda_1):0;
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xyzcal_sm4_delay = delay_us;
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// uint32_t u = _micros();
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bool ret = sm4_line_xyze_ui(abs(x), abs(y), abs(z), 0) ? true : false;
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bool ret = sm4_line_xyz_ui(abs(x), abs(y), abs(z)) ? true : false;
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// u = _micros() - u;
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return ret;
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}
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@ -951,7 +951,6 @@ bool xyzcal_find_bed_induction_sensor_point_xy(void){
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st_synchronize();
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pos_i16_t x = _X;
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pos_i16_t y = _Y;
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pos_i16_t z = _Z;
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xyzcal_meassure_enter();
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if (xyzcal_searchZ()){
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