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espr14 2020-12-28 16:45:39 +01:00
parent 7e02a7f118
commit e86ba5e26d
1 changed files with 121 additions and 88 deletions
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209
Firmware/xyzcal.cpp
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@ -226,6 +226,9 @@ uint16_t xyzcal_calc_delay(uint16_t, uint16_t)
#endif //SM4_ACCEL_TEST #endif //SM4_ACCEL_TEST
/// Moves printer to absolute position [x,y,z] defined in integer position system /// Moves printer to absolute position [x,y,z] defined in integer position system
/// check_pinda == 0: ordinary move
/// check_pinda == 1: stop when PINDA triggered
/// check_pinda == -1: stop when PINDA untriggered
bool xyzcal_lineXYZ_to(int16_t x, int16_t y, int16_t z, uint16_t delay_us, int8_t check_pinda) bool xyzcal_lineXYZ_to(int16_t x, int16_t y, int16_t z, uint16_t delay_us, int8_t check_pinda)
{ {
// DBG(_n("xyzcal_lineXYZ_to x=%d y=%d z=%d check=%d\n"), x, y, z, check_pinda); // DBG(_n("xyzcal_lineXYZ_to x=%d y=%d z=%d check=%d\n"), x, y, z, check_pinda);
@ -370,6 +373,26 @@ int8_t xyzcal_meassure_pinda_hysterezis(int16_t min_z, int16_t max_z, uint16_t d
} }
#endif //XYZCAL_MEASSURE_PINDA_HYSTEREZIS #endif //XYZCAL_MEASSURE_PINDA_HYSTEREZIS
void print_hysterezis(int16_t min_z, int16_t max_z, int16_t step){
int16_t delay_us = 600;
int16_t trigger = 0;
int16_t untrigger = 0;
DBG(_n("Hysterezis\n"));
xyzcal_lineXYZ_to(_X, _Y, min_z, delay_us, 0);
for (int16_t z = min_z; z <= max_z; z += step){
xyzcal_lineXYZ_to(_X, _Y, z, delay_us, -1);
untrigger = _Z;
xyzcal_lineXYZ_to(_X, _Y, z, delay_us, 0);
xyzcal_lineXYZ_to(_X, _Y, min_z, delay_us, 1);
trigger = _Z;
//xyzcal_lineXYZ_to(_X, _Y, min_z, delay_us, 0);
DBG(_n("min, trigger, untrigger, max: [%d %d %d %d]\n"), _Z, trigger, untrigger, z);
}
}
/// Accelerate up to max.speed (defined by @min_delay_us) /// Accelerate up to max.speed (defined by @min_delay_us)
void accelerate(uint8_t axis, int16_t acc, uint16_t &delay_us, uint16_t min_delay_us){ void accelerate(uint8_t axis, int16_t acc, uint16_t &delay_us, uint16_t min_delay_us){
sm4_do_step(axis); sm4_do_step(axis);
@ -423,7 +446,19 @@ void go_and_stop(uint8_t axis, int16_t dec, uint16_t &delay_us, uint16_t &steps)
--steps; --steps;
} }
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){ /// \returns steps done
uint16_t stop_smoothly(uint8_t axis, int16_t dec, uint16_t &delay_us, uint16_t min_delay_us){
if (dec <= 0)
return 0;
uint16_t steps = 0;
while (delay_us < MAX_DELAY){
accelerate(axis, -dec, delay_us, min_delay_us);
++steps;
}
return steps;
}
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) if (!pixels)
return; return;
int16_t z = _Z; int16_t z = _Z;
@ -436,104 +471,103 @@ void xyzcal_scan_pixels_32x32_Zhop(int16_t cx, int16_t cy, int16_t min_z, int16_
for (uint8_t r = 0; r < 32; r++){ ///< Y axis for (uint8_t r = 0; r < 32; r++){ ///< Y axis
xyzcal_lineXYZ_to(_X, cy - 1024 + r * 64, z, delay_us, 0); xyzcal_lineXYZ_to(_X, cy - 1024 + r * 64, z, delay_us, 0);
for (int8_t d = 0; d < 2; ++d){ ///< direction int8_t d = r % 2 ? 1 : 0;
xyzcal_lineXYZ_to((d & 1) ? (cx + 1024) : (cx - 1024), _Y, min_z, delay_us, 0); xyzcal_lineXYZ_to((d & 1) ? (cx + 1024) : (cx - 1024), _Y, min_z, delay_us, 0);
z = _Z; z = _Z;
sm4_set_dir(X_AXIS, d); sm4_set_dir(X_AXIS, d);
for (uint8_t c = 0; c < 32; c++){ ///< X axis for (uint8_t c = 0; c < 32; c++){ ///< X axis
z_trig = min_z; z_trig = min_z;
/// move up to un-trigger (surpress hysteresis) /// move up to un-trigger (surpress hysteresis)
sm4_set_dir(Z_AXIS, Z_PLUS); sm4_set_dir(Z_AXIS, Z_PLUS);
/// speed up from stop, go half the way /// speed up from stop, go half the way
current_delay_us = MAX_DELAY; current_delay_us = MAX_DELAY;
for (start_z = z; z < (max_z + start_z) / 2; ++z){ for (start_z = z; z < (max_z + start_z) / 2; ++z){
if (!_PINDA){ if (!_PINDA){
break; break;
}
accelerate(Z_AXIS_MASK, Z_ACCEL, current_delay_us, Z_MIN_DELAY);
} }
accelerate(Z_AXIS_MASK, Z_ACCEL, current_delay_us, Z_MIN_DELAY);
}
if(_PINDA){ if (_PINDA){
uint16_t steps_to_go = MAX(0, max_z - z); steps_to_go = MAX(0, max_z - z);
while (_PINDA && z < max_z){ while (_PINDA && z < max_z){
go_and_stop(Z_AXIS_MASK, Z_ACCEL, current_delay_us, steps_to_go); go_and_stop(Z_AXIS_MASK, Z_ACCEL, current_delay_us, steps_to_go);
++z;
}
}
/// slow down to stop
while (current_delay_us < MAX_DELAY){
accelerate(Z_AXIS_MASK, -Z_ACCEL, current_delay_us, Z_MIN_DELAY);
++z; ++z;
} }
}
z += stop_smoothly(Z_AXIS_MASK, Z_ACCEL, current_delay_us, Z_MIN_DELAY);
/// move down to trigger /// move down to trigger
sm4_set_dir(Z_AXIS, Z_MINUS); sm4_set_dir(Z_AXIS, Z_MINUS);
/// speed up /// speed up
current_delay_us = MAX_DELAY; current_delay_us = MAX_DELAY;
for (start_z = z; z > (min_z + start_z) / 2; --z){ for (start_z = z; z > (min_z + start_z) / 2; --z){
if (_PINDA){ if (_PINDA){
z_trig = z;
break;
}
accelerate(Z_AXIS_MASK, Z_ACCEL, current_delay_us, Z_MIN_DELAY);
}
/// slow down
if(!_PINDA){
steps_to_go = MAX(0, z - min_z);
while (!_PINDA && z > min_z){
go_and_stop(Z_AXIS_MASK, Z_ACCEL, current_delay_us, steps_to_go);
--z;
}
z_trig = z; z_trig = z;
break;
} }
/// slow down to stop accelerate(Z_AXIS_MASK, Z_ACCEL, current_delay_us, Z_MIN_DELAY);
while (z > min_z && current_delay_us < MAX_DELAY){ }
accelerate(Z_AXIS_MASK, -Z_ACCEL, current_delay_us, Z_MIN_DELAY); /// slow down
if (!_PINDA){
steps_to_go = MAX(0, z - min_z);
while (!_PINDA && z > min_z){
go_and_stop(Z_AXIS_MASK, Z_ACCEL, current_delay_us, steps_to_go);
--z; --z;
} }
z_trig = z;
count_position[2] = z;
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);
/// 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_trig - min_z)) / 2);
}
/// move to the next point and move Z up diagonally (if needed)
current_delay_us = MAX_DELAY;
// const int8_t dir = (d & 1) ? -1 : 1;
const int16_t end_x = ((d & 1) ? 1 : -1) * (64 * (16 - c) - 32) + cx;
const int16_t length_x = ABS(end_x - _X);
const int16_t half_x = length_x / 2;
int16_t x = 0;
/// don't go up if PINDA not triggered
const bool up = _PINDA;
int8_t axis = up ? X_AXIS_MASK | Z_AXIS_MASK : X_AXIS_MASK;
sm4_set_dir(Z_AXIS, Z_PLUS);
/// speed up
for (x = 0; x <= half_x; ++x){
accelerate(axis, Z_ACCEL, current_delay_us, Z_MIN_DELAY);
if (up)
++z;
}
/// slow down
steps_to_go = length_x - x;
for (; x < length_x; ++x){
go_and_stop(axis, Z_ACCEL, current_delay_us, steps_to_go);
if (up)
++z;
}
count_position[0] = end_x;
count_position[2] = z;
} }
} /// slow down to stop but not lower than min_z
while (z > min_z && current_delay_us < MAX_DELAY){
accelerate(Z_AXIS_MASK, -Z_ACCEL, current_delay_us, Z_MIN_DELAY);
--z;
}
count_position[2] = z;
// 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);
// /// 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_trig - min_z)) / 2);
// }
pixels[(uint16_t)r * 32 + (r % 2 ? (31 - c) : c)] = (uint8_t)MIN((uint32_t)255, (uint32_t)z_trig - min_z);
/// move to the next point and move Z up diagonally (if needed)
current_delay_us = MAX_DELAY;
// const int8_t dir = (d & 1) ? -1 : 1;
const int16_t end_x = ((d & 1) ? 1 : -1) * (64 * (16 - c) - 32) + cx;
const int16_t length_x = ABS(end_x - _X);
const int16_t half_x = length_x / 2;
int16_t x = 0;
/// don't go up if PINDA not triggered
const bool up = _PINDA;
int8_t axis = up ? X_AXIS_MASK | Z_AXIS_MASK : X_AXIS_MASK;
sm4_set_dir(Z_AXIS, Z_PLUS);
/// speed up
for (x = 0; x <= half_x; ++x){
accelerate(axis, Z_ACCEL, current_delay_us, Z_MIN_DELAY);
if (up)
++z;
}
/// slow down
steps_to_go = length_x - x;
for (; x < length_x; ++x){
go_and_stop(axis, Z_ACCEL, current_delay_us, steps_to_go);
if (up)
++z;
}
count_position[0] = end_x;
count_position[2] = z;
}
// }
// DBG(_n("\n\n")); // DBG(_n("\n\n"));
} }
} }
@ -846,8 +880,7 @@ bool xyzcal_find_bed_induction_sensor_point_xy(void){
xyzcal_lineXYZ_to(x, y, z, 200, 0); xyzcal_lineXYZ_to(x, y, z, 200, 0);
if (xyzcal_searchZ()){ if (xyzcal_searchZ()){
int16_t z = _Z; xyzcal_lineXYZ_to(x, y, _Z, 200, 0);
xyzcal_lineXYZ_to(x, y, z, 200, 0);
ret = xyzcal_scan_and_process(); ret = xyzcal_scan_and_process();
} }
xyzcal_meassure_leave(); xyzcal_meassure_leave();