Scan only once
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espr14
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7e02a7f118
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@ -226,6 +226,9 @@ uint16_t xyzcal_calc_delay(uint16_t, uint16_t)
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#endif //SM4_ACCEL_TEST
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/// Moves printer to absolute position [x,y,z] defined in integer position system
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/// check_pinda == 0: ordinary move
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/// check_pinda == 1: stop when PINDA triggered
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/// check_pinda == -1: stop when PINDA untriggered
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bool xyzcal_lineXYZ_to(int16_t x, int16_t y, int16_t z, uint16_t delay_us, int8_t check_pinda)
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{
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// DBG(_n("xyzcal_lineXYZ_to x=%d y=%d z=%d check=%d\n"), x, y, z, check_pinda);
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@ -370,6 +373,26 @@ int8_t xyzcal_meassure_pinda_hysterezis(int16_t min_z, int16_t max_z, uint16_t d
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}
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#endif //XYZCAL_MEASSURE_PINDA_HYSTEREZIS
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void print_hysterezis(int16_t min_z, int16_t max_z, int16_t step){
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int16_t delay_us = 600;
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int16_t trigger = 0;
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int16_t untrigger = 0;
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DBG(_n("Hysterezis\n"));
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xyzcal_lineXYZ_to(_X, _Y, min_z, delay_us, 0);
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for (int16_t z = min_z; z <= max_z; z += step){
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xyzcal_lineXYZ_to(_X, _Y, z, delay_us, -1);
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untrigger = _Z;
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xyzcal_lineXYZ_to(_X, _Y, z, delay_us, 0);
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xyzcal_lineXYZ_to(_X, _Y, min_z, delay_us, 1);
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trigger = _Z;
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//xyzcal_lineXYZ_to(_X, _Y, min_z, delay_us, 0);
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DBG(_n("min, trigger, untrigger, max: [%d %d %d %d]\n"), _Z, trigger, untrigger, z);
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}
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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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sm4_do_step(axis);
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@ -423,7 +446,19 @@ void go_and_stop(uint8_t axis, int16_t dec, uint16_t &delay_us, uint16_t &steps)
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--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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/// \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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}
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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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@ -436,104 +471,103 @@ void xyzcal_scan_pixels_32x32_Zhop(int16_t cx, int16_t cy, int16_t min_z, int16_
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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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for (int8_t d = 0; d < 2; ++d){ ///< direction
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xyzcal_lineXYZ_to((d & 1) ? (cx + 1024) : (cx - 1024), _Y, min_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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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 = _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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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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}
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accelerate(Z_AXIS_MASK, Z_ACCEL, current_delay_us, Z_MIN_DELAY);
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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(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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uint16_t 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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/// slow down to stop
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while (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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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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}
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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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}
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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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/// slow down to stop
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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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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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}
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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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/// 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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}
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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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z_trig = z;
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}
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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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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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/// 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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}
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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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// DBG(_n("\n\n"));
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}
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}
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@ -846,8 +880,7 @@ bool xyzcal_find_bed_induction_sensor_point_xy(void){
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xyzcal_lineXYZ_to(x, y, z, 200, 0);
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if (xyzcal_searchZ()){
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int16_t z = _Z;
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xyzcal_lineXYZ_to(x, y, z, 200, 0);
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xyzcal_lineXYZ_to(x, y, _Z, 200, 0);
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ret = xyzcal_scan_and_process();
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}
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xyzcal_meassure_leave();
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