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Merge pull request #2968 from espr14/PFW-1186

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Calibration: reduce code size PFW-1186
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DRracer 2021-01-22 14:05:13 +01:00 committed by GitHub
commit f809691003
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 99 additions and 84 deletions
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40
Firmware/sm4.c
View File

@ -191,5 +191,45 @@ uint16_t sm4_line_xyze_ui(uint16_t dx, uint16_t dy, uint16_t dz, uint16_t de)
return nd;
}
uint16_t sm4_line_xyz_ui(uint16_t dx, uint16_t dy, uint16_t dz){
uint16_t dd = (uint16_t)(sqrt((float)(((uint32_t)dx)*dx + ((uint32_t)dy*dy) + ((uint32_t)dz*dz))) + 0.5);
uint16_t nd = dd;
uint16_t cx = dd;
uint16_t cy = dd;
uint16_t cz = dd;
uint16_t x = 0;
uint16_t y = 0;
uint16_t z = 0;
while (nd){
if (sm4_stop_cb && (*sm4_stop_cb)()) break;
uint8_t sm = 0; //step mask
if (cx <= dx){
sm |= 1;
cx += dd;
x++;
}
if (cy <= dy){
sm |= 2;
cy += dd;
y++;
}
if (cz <= dz){
sm |= 4;
cz += dd;
z++;
}
cx -= dx;
cy -= dy;
cz -= dz;
sm4_do_step(sm);
uint16_t delay = SM4_DEFDELAY;
if (sm4_calc_delay_cb) delay = (*sm4_calc_delay_cb)(nd, dd);
if (delay) delayMicroseconds(delay);
nd--;
}
if (sm4_update_pos_cb)
(*sm4_update_pos_cb)(x, y, z, 0);
return nd;
}
#endif //NEW_XYZCAL

113
Firmware/sm4.h
View File

@ -1,56 +1,57 @@
//sm4.h - simple 4-axis stepper control
#ifndef _SM4_H
#define _SM4_H
#include <inttypes.h>
#include "config.h"
#if defined(__cplusplus)
extern "C" {
#endif //defined(__cplusplus)
// callback prototype for stop condition (return 0 - continue, return 1 - stop)
typedef uint8_t (*sm4_stop_cb_t)();
// callback prototype for updating position counters
typedef void (*sm4_update_pos_cb_t)(uint16_t dx, uint16_t dy, uint16_t dz, uint16_t de);
// callback prototype for calculating delay
typedef uint16_t (*sm4_calc_delay_cb_t)(uint16_t nd, uint16_t dd);
// callback pointer - stop
extern sm4_stop_cb_t sm4_stop_cb;
// callback pointer - update_pos
extern sm4_update_pos_cb_t sm4_update_pos_cb;
// callback pointer - calc_delay
extern sm4_calc_delay_cb_t sm4_calc_delay_cb;
// returns direction for single axis (0 - positive, 1 - negative)
extern uint8_t sm4_get_dir(uint8_t axis);
// set direction for single axis (0 - positive, 1 - negative)
extern void sm4_set_dir(uint8_t axis, uint8_t dir);
// returns direction of all axes as bitmask (0 - positive, 1 - negative)
extern uint8_t sm4_get_dir_bits(void);
// set direction for all axes as bitmask (0 - positive, 1 - negative)
extern void sm4_set_dir_bits(uint8_t dir_bits);
// step axes by bitmask
extern void sm4_do_step(uint8_t axes_mask);
// xyze linear-interpolated relative move, returns remaining diagonal steps (>0 means stoped)
extern uint16_t sm4_line_xyze_ui(uint16_t dx, uint16_t dy, uint16_t dz, uint16_t de);
#if defined(__cplusplus)
}
#endif //defined(__cplusplus)
#endif //_SM4_H
//sm4.h - simple 4-axis stepper control
#ifndef _SM4_H
#define _SM4_H
#include <inttypes.h>
#include "config.h"
#if defined(__cplusplus)
extern "C" {
#endif //defined(__cplusplus)
// callback prototype for stop condition (return 0 - continue, return 1 - stop)
typedef uint8_t (*sm4_stop_cb_t)();
// callback prototype for updating position counters
typedef void (*sm4_update_pos_cb_t)(uint16_t dx, uint16_t dy, uint16_t dz, uint16_t de);
// callback prototype for calculating delay
typedef uint16_t (*sm4_calc_delay_cb_t)(uint16_t nd, uint16_t dd);
// callback pointer - stop
extern sm4_stop_cb_t sm4_stop_cb;
// callback pointer - update_pos
extern sm4_update_pos_cb_t sm4_update_pos_cb;
// callback pointer - calc_delay
extern sm4_calc_delay_cb_t sm4_calc_delay_cb;
// returns direction for single axis (0 - positive, 1 - negative)
extern uint8_t sm4_get_dir(uint8_t axis);
// set direction for single axis (0 - positive, 1 - negative)
extern void sm4_set_dir(uint8_t axis, uint8_t dir);
// returns direction of all axes as bitmask (0 - positive, 1 - negative)
extern uint8_t sm4_get_dir_bits(void);
// set direction for all axes as bitmask (0 - positive, 1 - negative)
extern void sm4_set_dir_bits(uint8_t dir_bits);
// step axes by bitmask
extern void sm4_do_step(uint8_t axes_mask);
// xyze linear-interpolated relative move, returns remaining diagonal steps (>0 means stoped)
extern uint16_t sm4_line_xyze_ui(uint16_t dx, uint16_t dy, uint16_t dz, uint16_t de);
extern uint16_t sm4_line_xyz_ui(uint16_t dx, uint16_t dy, uint16_t dz);
#if defined(__cplusplus)
}
#endif //defined(__cplusplus)
#endif //_SM4_H

30
Firmware/xyzcal.cpp
View File

@ -252,7 +252,7 @@ bool xyzcal_lineXYZ_to(int16_t x, int16_t y, int16_t z, uint16_t delay_us, int8_
sm4_stop_cb = check_pinda?((check_pinda<0)?check_pinda_0:check_pinda_1):0;
xyzcal_sm4_delay = delay_us;
// uint32_t u = _micros();
bool ret = sm4_line_xyze_ui(abs(x), abs(y), abs(z), 0) ? true : false;
bool ret = sm4_line_xyz_ui(abs(x), abs(y), abs(z)) ? true : false;
// u = _micros() - u;
return ret;
}
@ -689,25 +689,6 @@ uint8_t xyzcal_find_pattern_12x12_in_32x32(uint8_t* pixels, uint16_t* pattern, u
return max_match;
}
uint8_t xyzcal_xycoords2point(int16_t x, int16_t y)
{
uint8_t ix = (x > 10000)?1:0;
uint8_t iy = (y > 10000)?1:0;
return iy?(3-ix):ix;
}
//MK3
#if ((MOTHERBOARD == BOARD_EINSY_1_0a))
const int16_t xyzcal_point_xcoords[4] PROGMEM = {1200, 22000, 22000, 1200};
const int16_t xyzcal_point_ycoords[4] PROGMEM = {600, 600, 19800, 19800};
#endif //((MOTHERBOARD == BOARD_EINSY_1_0a))
//MK2.5
#if ((MOTHERBOARD == BOARD_RAMBO_MINI_1_0) || (MOTHERBOARD == BOARD_RAMBO_MINI_1_3))
const int16_t xyzcal_point_xcoords[4] PROGMEM = {1200, 22000, 22000, 1200};
const int16_t xyzcal_point_ycoords[4] PROGMEM = {700, 700, 19800, 19800};
#endif //((MOTHERBOARD == BOARD_RAMBO_MINI_1_0) || (MOTHERBOARD == BOARD_RAMBO_MINI_1_3))
const uint16_t xyzcal_point_pattern_10[12] PROGMEM = {0x000, 0x0f0, 0x1f8, 0x3fc, 0x7fe, 0x7fe, 0x7fe, 0x7fe, 0x3fc, 0x1f8, 0x0f0, 0x000};
const uint16_t xyzcal_point_pattern_08[12] PROGMEM = {0x000, 0x000, 0x0f0, 0x1f8, 0x3fc, 0x3fc, 0x3fc, 0x3fc, 0x1f8, 0x0f0, 0x000, 0x000};
@ -939,8 +920,7 @@ bool xyzcal_scan_and_process(void){
float radius = 4.5f; ///< default radius
const uint8_t iterations = 20;
dynamic_circle(matrix32, xf, yf, radius, iterations);
if (ABS(xf - (uc + 5.5f)) > 3 || ABS(yf - (ur + 5.5f)) > 3 || ABS(radius - 5) > 3)
{
if (fabs(xf - (uc + 5.5f)) > 3 || fabs(yf - (ur + 5.5f)) > 3 || fabs(radius - 5) > 3){
DBG(_n(" [%f %f][%f] mm divergence\n"), xf - (uc + 5.5f), yf - (ur + 5.5f), radius - 5);
/// dynamic algorithm diverged, use original position instead
xf = uc + 5.5f;
@ -974,13 +954,7 @@ bool xyzcal_find_bed_induction_sensor_point_xy(void){
///< magic constant, lowers min_z after searchZ to obtain more dense data in scan
const pos_i16_t lower_z = 72;
uint8_t point = xyzcal_xycoords2point(x, y);
x = pgm_read_word((uint16_t *)(xyzcal_point_xcoords + point));
y = pgm_read_word((uint16_t *)(xyzcal_point_ycoords + point));
DBG(_n("point=%d x=%d y=%d z=%d\n"), point, x, y, z);
xyzcal_meassure_enter();
xyzcal_lineXYZ_to(x, y, z, 200, 0);
if (xyzcal_searchZ()){
xyzcal_lineXYZ_to(_X, _Y, _Z - lower_z, 200, 0);
ret = xyzcal_scan_and_process();