3DPrinting/Prusa-Firmware
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Basic acceleration

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This commit is contained in:
espr14 2020-12-18 20:04:00 +01:00
parent 9141aee916
commit ccf26e4e7a
1 changed files with 44 additions and 10 deletions
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50
Firmware/xyzcal.cpp
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@ -360,20 +360,36 @@ int8_t xyzcal_meassure_pinda_hysterezis(int16_t min_z, int16_t max_z, uint16_t d
}
#endif //XYZCAL_MEASSURE_PINDA_HYSTEREZIS
uint8_t slow_down_z(uint16_t delay_us){
sm4_do_step(Z_AXIS_MASK);
delayMicroseconds(delay_us / 3 * 4);
sm4_do_step(Z_AXIS_MASK);
delayMicroseconds(delay_us * 2);
sm4_do_step(Z_AXIS_MASK);
delayMicroseconds(delay_us * 4);
return 3;
}
uint8_t speed_up_z(int16_t &z, uint8_t direction, uint16_t delay_us){
sm4_do_step(Z_AXIS_MASK);
delayMicroseconds(delay_us * 4);
sm4_do_step(Z_AXIS_MASK);
delayMicroseconds(delay_us * 2);
sm4_do_step(Z_AXIS_MASK);
delayMicroseconds(delay_us / 3 * 4);
return 3;
}
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;
int16_t z = _Z;
int16_t z_trig;
uint16_t line_buffer[32];
xyzcal_lineXYZ_to(cx, cy, z, delay_us, 0);
xyzcal_lineXYZ_to(cx - 1024, cy - 1024, min_z, delay_us, 0);
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, z, 2 * delay_us, 0);
// xyzcal_lineXYZ_to(_X, _Y, min_z, delay_us, 1);
// xyzcal_lineXYZ_to(_X, _Y, max_z, delay_us, -1);
xyzcal_lineXYZ_to((d & 1) ? (cx + 1024) : (cx - 1024), _Y, min_z, delay_us, 0);
z = _Z;
@ -382,29 +398,47 @@ void xyzcal_scan_pixels_32x32_Zhop(int16_t cx, int16_t cy, int16_t min_z, int16_
/// move up to un-trigger (surpress hysteresis)
sm4_set_dir(Z_AXIS, Z_PLUS);
z += speed_up_z(delay_us);
while (z < max_z && _PINDA){
sm4_do_step(Z_AXIS_MASK);
delayMicroseconds(delay_us);
z++;
}
int16_t last_top_z = z;
z += slow_down_z(delay_us);
/// move down to trigger
sm4_set_dir(Z_AXIS, Z_MINUS);
/// speed up
do (){
if (z <= min_z || _PINDA) break;
sm4_do_step(Z_AXIS_MASK);
delayMicroseconds(delay_us * 4);
if (z <= min_z || _PINDA) break;
sm4_do_step(Z_AXIS_MASK);
delayMicroseconds(delay_us * 2);
if (z <= min_z || _PINDA) break;
sm4_do_step(Z_AXIS_MASK);
delayMicroseconds(delay_us / 3 * 4);
} while (0);
while (z > min_z && !_PINDA){
sm4_do_step(Z_AXIS_MASK);
delayMicroseconds(delay_us);
z--;
}
z_trig = z;
z -= slow_down_z(delay_us);
count_position[2] = z;
if (d == 0){
line_buffer[c] = (uint16_t)(z - min_z);
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);
/// 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 - 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