3DPrinting/Prusa-Firmware
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Fix comments, remove unused

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This commit is contained in:
espr14 2021-01-04 13:01:06 +01:00
parent 49d57ed621
commit cc9e7b9376
1 changed files with 8 additions and 24 deletions
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32
Firmware/xyzcal.cpp
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@ -627,8 +627,8 @@ void xyzcal_scan_pixels_32x32_Zhop(int16_t cx, int16_t cy, int16_t min_z, int16_
if (d == 0){
line_buffer[c] = (uint16_t)(z_trig - min_z);
} else {
/// data reversed in X
// DBG(_n("%04x"), (line_buffer[31 - c] + (z - min_z)) / 2);
/// !!! data reversed in X
// DBG(_n("%04x"), ((uint32_t)line_buffer[31 - c] + (z_trig - min_z)) / 2);
/// save average of both directions (filters effect of hysteresis)
pixels[(uint16_t)r * 32 + (31 - c)] = (uint8_t)MIN((uint32_t)255, ((uint32_t)line_buffer[31 - c] + (z_trig - min_z)) / 2);
}
@ -831,11 +831,10 @@ float median(float *points, const uint8_t num_points){
void dynamic_circle(uint8_t *matrix_32x32, float &x, float &y, float &r, uint8_t iterations){
/// circle of 10.5 diameter has 33 in circumference, don't go much above
const constexpr uint8_t num_points = 33;
float points[num_points];
float pi_2_div_num_points = 2 * M_PI / num_points;
const constexpr uint8_t target_z = 32; ///< target z height of the circle
float angle;
float max_change = 0.5f; ///< avoids too fast changes (could cause oscillation)
float max_change = 0.5f; ///< avoids too fast changes (avoid oscillation)
const uint8_t blocks = num_points;
float shifts_x[blocks];
float shifts_y[blocks];
@ -850,29 +849,15 @@ void dynamic_circle(uint8_t *matrix_32x32, float &x, float &y, float &r, uint8_t
/// read points on the circle
for (uint8_t p = 0; p < num_points; ++p){
angle = p * pi_2_div_num_points;
points[p] = get_value(matrix_32x32, r * cos(angle) + x, r * sin(angle) + y) - target_z;
// DBG(_n("%f "), points[p]);
const float height = get_value(matrix_32x32, r * cos(angle) + x, r * sin(angle) + y) - target_z;
// DBG(_n("%f "), point);
shifts_x[p] = cos(angle) * points[p];
shifts_y[p] = sin(angle) * points[p];
shifts_r[p] = points[p];
shifts_x[p] = cos(angle) * height;
shifts_y[p] = sin(angle) * height;
shifts_r[p] = height;
}
// DBG(_n(" points\n"));
// /// sum blocks
// for (uint8_t j = 0; j < blocks; ++j){
// shifts_x[j] = shifts_y[j] = shifts_r[j] = 0;
// /// first part
// for (uint8_t p = 0; p < num_points * 3 / 4; ++p){
// uint8_t idx = (p + j * num_points / blocks) % num_points;
// angle = idx * pi_2_div_num_points;
// shifts_x[j] += cos(angle) * points[idx];
// shifts_y[j] += sin(angle) * points[idx];
// shifts_r[j] += points[idx];
// }
// }
const float norm = 1.f / 32.f;
x += CLAMP(median(shifts_x, blocks) * norm, -max_change, max_change);
y += CLAMP(median(shifts_y, blocks) * norm, -max_change, max_change);
@ -939,7 +924,6 @@ bool xyzcal_scan_and_process(void){
for (uint8_t i = 0; i < 12; i++){
pattern08[i] = pgm_read_word((uint16_t*)(xyzcal_point_pattern_08 + i));
pattern10[i] = pgm_read_word((uint16_t*)(xyzcal_point_pattern_10 + i));
// DBG(_n(" pattern[%d]=%d\n"), i, pattern[i]);
}
/// SEARCH FOR BINARY CIRCLE