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@@ -0,0 +1,682 @@
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+//xyzcal.cpp - xyz calibration with image processing
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+
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+#include "Configuration_prusa.h"
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+#ifdef NEW_XYZCAL
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+
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+#include "xyzcal.h"
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+#include <avr/wdt.h>
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+#include "stepper.h"
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+#include "temperature.h"
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+#include "sm4.h"
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+
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+
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+#define XYZCAL_PINDA_HYST_MIN 20 //50um
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+#define XYZCAL_PINDA_HYST_MAX 100 //250um
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+#define XYZCAL_PINDA_HYST_DIF 5 //12.5um
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+
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+#define ENABLE_FANCHECK_INTERRUPT() EIMSK |= (1<<7)
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+#define DISABLE_FANCHECK_INTERRUPT() EIMSK &= ~(1<<7)
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+
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+#define _PINDA ((READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING)?1:0)
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+
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+//#define DBG(args...) printf_P(args)
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+#define DBG(args...)
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+#define _n PSTR
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+
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+#define _X ((int16_t)count_position[X_AXIS])
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+#define _Y ((int16_t)count_position[Y_AXIS])
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+#define _Z ((int16_t)count_position[Z_AXIS])
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+#define _E ((int16_t)count_position[E_AXIS])
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+
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+#define _PI 3.14159265F
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+
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+extern long count_position[NUM_AXIS];
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+
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+uint8_t check_pinda_0();
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+uint8_t check_pinda_1();
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+void xyzcal_update_pos(uint16_t dx, uint16_t dy, uint16_t dz, uint16_t de);
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+uint16_t xyzcal_calc_delay(uint16_t nd, uint16_t dd);
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+
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+
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+void xyzcal_meassure_enter(void)
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+{
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+ DBG(_n("xyzcal_meassure_enter\n"));
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+ disable_heater();
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+ DISABLE_TEMPERATURE_INTERRUPT();
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+#if (defined(FANCHECK) && defined(TACH_1) && (TACH_1 >-1))
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+ DISABLE_FANCHECK_INTERRUPT();
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+#endif //(defined(FANCHECK) && defined(TACH_1) && (TACH_1 >-1))
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+ DISABLE_STEPPER_DRIVER_INTERRUPT();
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+#ifdef WATCHDOG
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+ wdt_disable();
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+#endif //WATCHDOG
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+ sm4_stop_cb = 0;
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+ sm4_update_pos_cb = xyzcal_update_pos;
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+ sm4_calc_delay_cb = xyzcal_calc_delay;
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+}
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+
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+void xyzcal_meassure_leave(void)
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+{
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+ DBG(_n("xyzcal_meassure_leave\n"));
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+ planner_abort_hard();
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+ ENABLE_TEMPERATURE_INTERRUPT();
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+#if (defined(FANCHECK) && defined(TACH_1) && (TACH_1 >-1))
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+ ENABLE_FANCHECK_INTERRUPT();
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+#endif //(defined(FANCHECK) && defined(TACH_1) && (TACH_1 >-1))
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+ ENABLE_STEPPER_DRIVER_INTERRUPT();
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+#ifdef WATCHDOG
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+ wdt_enable(WDTO_4S);
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+#endif //WATCHDOG
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+ sm4_stop_cb = 0;
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+ sm4_update_pos_cb = 0;
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+ sm4_calc_delay_cb = 0;
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+}
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+
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+
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+uint8_t check_pinda_0()
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+{
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+ return _PINDA?0:1;
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+}
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+
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+uint8_t check_pinda_1()
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+{
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+ return _PINDA?1:0;
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+}
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+
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+uint8_t xyzcal_dm = 0;
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+
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+void xyzcal_update_pos(uint16_t dx, uint16_t dy, uint16_t dz, uint16_t de)
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+{
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+ DBG(_n("xyzcal_update_pos dx=%d dy=%d dz=%d dir=%02x\n"), dx, dy, dz, xyzcal_dm);
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+ if (xyzcal_dm&1) count_position[0] -= dx; else count_position[0] += dx;
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+ if (xyzcal_dm&2) count_position[1] -= dy; else count_position[1] += dy;
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+ if (xyzcal_dm&4) count_position[2] -= dz; else count_position[2] += dz;
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+ DBG(_n(" after xyzcal_update_pos x=%ld y=%ld z=%ld\n"), count_position[0], count_position[1], count_position[2]);
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+}
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+
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+uint16_t xyzcal_sm4_delay = 0;
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+
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+//#define SM4_ACCEL_TEST
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+#ifdef SM4_ACCEL_TEST
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+uint16_t xyzcal_sm4_v0 = 2000;
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+uint16_t xyzcal_sm4_vm = 45000;
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+uint16_t xyzcal_sm4_v = xyzcal_sm4_v0;
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+uint16_t xyzcal_sm4_ac = 2000;
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+uint16_t xyzcal_sm4_ac2 = (uint32_t)xyzcal_sm4_ac * 1024 / 10000;
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+//float xyzcal_sm4_vm = 10000;
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+#endif //SM4_ACCEL_TEST
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+
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+uint16_t xyzcal_calc_delay(uint16_t nd, uint16_t dd)
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+{
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+ return xyzcal_sm4_delay;
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+#ifdef SM4_ACCEL_TEST
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+
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+ uint16_t del_us = 0;
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+ if (xyzcal_sm4_v & 0xf000) //>=4096
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+ {
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+ del_us = (uint16_t)62500 / (uint16_t)(xyzcal_sm4_v >> 4);
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+ xyzcal_sm4_v += (xyzcal_sm4_ac2 * del_us + 512) >> 10;
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+ if (xyzcal_sm4_v > xyzcal_sm4_vm) xyzcal_sm4_v = xyzcal_sm4_vm;
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+ if (del_us > 25) return del_us - 25;
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+ }
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+ else
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+ {
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+ del_us = (uint32_t)1000000 / xyzcal_sm4_v;
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+ xyzcal_sm4_v += ((uint32_t)xyzcal_sm4_ac2 * del_us + 512) >> 10;
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+ if (xyzcal_sm4_v > xyzcal_sm4_vm) xyzcal_sm4_v = xyzcal_sm4_vm;
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+ if (del_us > 50) return del_us - 50;
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+ }
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+
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+// uint16_t del_us = (uint16_t)(((float)1000000 / xyzcal_sm4_v) + 0.5);
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+// uint16_t del_us = (uint32_t)1000000 / xyzcal_sm4_v;
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+// uint16_t del_us = 100;
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+// uint16_t del_us = (uint16_t)10000 / xyzcal_sm4_v;
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+// v += (ac * del_us + 500) / 1000;
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+// xyzcal_sm4_v += (xyzcal_sm4_ac * del_us) / 1000;
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+// return xyzcal_sm4_delay;
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+// DBG(_n("xyzcal_calc_delay nd=%d dd=%d v=%d del_us=%d\n"), nd, dd, xyzcal_sm4_v, del_us);
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+ return 0;
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+#endif //SM4_ACCEL_TEST
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+}
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+
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+
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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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+ x -= (int16_t)count_position[0];
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+ y -= (int16_t)count_position[1];
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+ z -= (int16_t)count_position[2];
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+ xyzcal_dm = ((x<0)?1:0) | ((y<0)?2:0) | ((z<0)?4:0);
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+ sm4_set_dir_bits(xyzcal_dm);
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+ sm4_stop_cb = check_pinda?((check_pinda<0)?check_pinda_0:check_pinda_1):0;
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+ xyzcal_sm4_delay = delay_us;
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+// uint32_t u = micros();
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+ bool ret = sm4_line_xyze_ui(abs(x), abs(y), abs(z), 0)?true:false;
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+// u = micros() - u;
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+ return ret;
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+}
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+
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+bool xyzcal_spiral2(int16_t cx, int16_t cy, int16_t z0, int16_t dz, int16_t radius, int16_t rotation, uint16_t delay_us, int8_t check_pinda, uint16_t* pad)
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+{
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+ bool ret = false;
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+ float r = 0; //radius
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+ uint8_t n = 0; //point number
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+ uint16_t ad = 0; //angle [deg]
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+ float ar; //angle [rad]
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+ uint8_t dad = 0; //delta angle [deg]
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+ uint8_t dad_min = 4; //delta angle min [deg]
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+ uint8_t dad_max = 16; //delta angle max [deg]
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+ uint8_t k = 720 / (dad_max - dad_min); //delta calculation constant
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+ ad = 0;
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+ if (pad) ad = *pad % 720;
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+ DBG(_n("xyzcal_spiral2 cx=%d cy=%d z0=%d dz=%d radius=%d ad=%d\n"), cx, cy, z0, dz, radius, ad);
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+ for (; ad < 720; ad++)
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+ {
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+ if (radius > 0)
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+ {
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+ dad = dad_max - (ad / k);
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+ r = (float)(((uint32_t)ad) * radius) / 720;
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+ }
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+ else
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+ {
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+ dad = dad_max - ((719 - ad) / k);
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+ r = (float)(((uint32_t)(719 - ad)) * (-radius)) / 720;
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+ }
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+ ar = (ad + rotation)* (float)_PI / 180;
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+ float _cos = cos(ar);
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+ float _sin = sin(ar);
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+ int x = (int)(cx + (_cos * r));
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+ int y = (int)(cy + (_sin * r));
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+ int z = (int)(z0 - ((float)((int32_t)dz * ad) / 720));
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+ if (xyzcal_lineXYZ_to(x, y, z, delay_us, check_pinda))
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+ {
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+ ad += dad + 1;
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+ ret = true;
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+ break;
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+ }
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+ n++;
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+ ad += dad;
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+ }
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+ if (pad) *pad = ad;
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+ return ret;
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+}
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+
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+bool xyzcal_spiral8(int16_t cx, int16_t cy, int16_t z0, int16_t dz, int16_t radius, uint16_t delay_us, int8_t check_pinda, uint16_t* pad)
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+{
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+ bool ret = false;
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+ uint16_t ad = 0;
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+ if (pad) ad = *pad;
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+ DBG(_n("xyzcal_spiral8 cx=%d cy=%d z0=%d dz=%d radius=%d ad=%d\n"), cx, cy, z0, dz, radius, ad);
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+ if (!ret && (ad < 720))
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+ if (ret = xyzcal_spiral2(cx, cy, z0 - 0*dz, dz, radius, 0, delay_us, check_pinda, &ad))
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+ ad += 0;
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+ if (!ret && (ad < 1440))
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+ if (ret = xyzcal_spiral2(cx, cy, z0 - 1*dz, dz, -radius, 0, delay_us, check_pinda, &ad))
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+ ad += 720;
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+ if (!ret && (ad < 2160))
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+ if (ret = xyzcal_spiral2(cx, cy, z0 - 2*dz, dz, radius, 180, delay_us, check_pinda, &ad))
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+ ad += 1440;
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+ if (!ret && (ad < 2880))
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+ if (ret = xyzcal_spiral2(cx, cy, z0 - 3*dz, dz, -radius, 180, delay_us, check_pinda, &ad))
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+ ad += 2160;
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+ if (pad) *pad = ad;
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+ return ret;
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+}
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+
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+#ifdef XYZCAL_MEASSURE_PINDA_HYSTEREZIS
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+int8_t xyzcal_meassure_pinda_hysterezis(int16_t min_z, int16_t max_z, uint16_t delay_us, uint8_t samples)
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+{
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+ DBG(_n("xyzcal_meassure_pinda_hysterezis\n"));
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+ int8_t ret = -1; // PINDA signal error
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+ int16_t z = _Z;
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+ int16_t sum_up = 0;
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+ int16_t sum_dn = 0;
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+ int16_t up;
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+ int16_t dn;
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+ uint8_t sample;
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+ xyzcal_lineXYZ_to(_X, _Y, min_z, delay_us, 1);
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+ xyzcal_lineXYZ_to(_X, _Y, max_z, delay_us, -1);
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+ if (!_PINDA)
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+ {
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+ for (sample = 0; sample < samples; sample++)
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+ {
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+ dn = _Z;
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+ if (!xyzcal_lineXYZ_to(_X, _Y, min_z, delay_us, 1)) break;
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+ dn = dn - _Z;
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+ up = _Z;
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+ if (!xyzcal_lineXYZ_to(_X, _Y, max_z, delay_us, -1)) break;
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+ up = _Z - up;
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+ DBG(_n("%d. up=%d dn=%d\n"), sample, up, dn);
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+ sum_up += up;
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+ sum_dn += dn;
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+ if (abs(up - dn) > XYZCAL_PINDA_HYST_DIF)
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+ {
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+ ret = -2; // difference between up-dn to high
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+ break;
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+ }
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+ }
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+ if (sample == samples)
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+ {
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+ up = sum_up / samples;
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+ dn = sum_dn / samples;
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+ uint16_t hyst = (up + dn) / 2;
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+ if (abs(up - dn) > XYZCAL_PINDA_HYST_DIF)
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+ ret = -2; // difference between up-dn to high
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+ else if ((hyst < XYZCAL_PINDA_HYST_MIN) || (hyst > XYZCAL_PINDA_HYST_MAX))
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+ ret = -3; // hysterezis out of range
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+ else
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+ ret = hyst;
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+ }
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+ }
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+ xyzcal_lineXYZ_to(_X, _Y, z, delay_us, 0);
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+ return ret;
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+}
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+#endif //XYZCAL_MEASSURE_PINDA_HYSTEREZIS
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+
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+
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+void xyzcal_scan_pixels_32x32(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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+{
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+ DBG(_n("xyzcal_scan_pixels_32x32 cx=%d cy=%d min_z=%d max_z=%d\n"), cx, cy, min_z, max_z);
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+// xyzcal_lineXYZ_to(cx - 1024, cy - 1024, max_z, 2*delay_us, 0);
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+// xyzcal_lineXYZ_to(cx, cy, max_z, delay_us, 0);
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+ int16_t z = (int16_t)count_position[2];
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+ xyzcal_lineXYZ_to(cx, cy, z, 2*delay_us, 0);
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+ for (uint8_t r = 0; r < 32; r++)
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+ {
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+ int8_t _pinda = _PINDA;
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+ xyzcal_lineXYZ_to((r&1)?(cx+1024):(cx-1024), cy - 1024 + r*64, z, 2*delay_us, 0);
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+ xyzcal_lineXYZ_to(_X, _Y, min_z, delay_us, 1);
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+ xyzcal_lineXYZ_to(_X, _Y, max_z, delay_us, -1);
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+ z = (int16_t)count_position[2];
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+ sm4_set_dir(X_AXIS, (r&1)?1:0);
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+ for (uint8_t c = 0; c < 32; c++)
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+ {
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+ uint16_t sum = 0;
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+ int16_t z_sum = 0;
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+ for (uint8_t i = 0; i < 64; i++)
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+ {
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+ int8_t pinda = _PINDA;
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+ int16_t pix = z - min_z;
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+ pix += (pinda)?23:-24;
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+ if (pix < 0) pix = 0;
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+ if (pix > 255) pix = 255;
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+ sum += pix;
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+ z_sum += z;
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+// if (_pinda != pinda)
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+// {
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+// if (pinda)
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+// DBG(_n("!1 x=%d z=%d\n"), c*64+i, z+23);
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+// else
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+// DBG(_n("!0 x=%d z=%d\n"), c*64+i, z-24);
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+// }
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+ sm4_set_dir(Z_AXIS, !pinda);
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+ if (!pinda)
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+ {
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+ if (z > min_z)
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+ {
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+ sm4_do_step(Z_AXIS_MASK);
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+ z--;
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+ }
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+ }
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+ else
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+ {
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+ if (z < max_z)
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+ {
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+ sm4_do_step(Z_AXIS_MASK);
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+ z++;
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+ }
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+ }
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+ sm4_do_step(X_AXIS_MASK);
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+ delayMicroseconds(600);
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+ _pinda = pinda;
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+ }
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+ sum >>= 6; //div 64
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+ if (z_sum < 0)
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+ {
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+ z_sum = -z_sum;
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+ z_sum >>= 6; //div 64
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+ z_sum = -z_sum;
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+ }
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+ else
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+ z_sum >>= 6; //div 64
|
|
|
+ if (pixels) pixels[((uint16_t)r<<5) + ((r&1)?(31-c):c)] = sum;
|
|
|
+// DBG(_n("c=%d r=%d l=%d z=%d\n"), c, r, sum, z_sum);
|
|
|
+ count_position[0] += (r&1)?-64:64;
|
|
|
+ count_position[2] = z;
|
|
|
+ }
|
|
|
+ if (pixels)
|
|
|
+ for (uint8_t c = 0; c < 32; c++)
|
|
|
+ DBG(_n("%02x"), pixels[((uint16_t)r<<5) + c]);
|
|
|
+ DBG(_n("\n"));
|
|
|
+ }
|
|
|
+// xyzcal_lineXYZ_to(cx, cy, z, 2*delay_us, 0);
|
|
|
+}
|
|
|
+
|
|
|
+void xyzcal_histo_pixels_32x32(uint8_t* pixels, uint16_t* histo)
|
|
|
+{
|
|
|
+ for (uint8_t l = 0; l < 16; l++)
|
|
|
+ histo[l] = 0;
|
|
|
+ for (uint8_t r = 0; r < 32; r++)
|
|
|
+ for (uint8_t c = 0; c < 32; c++)
|
|
|
+ {
|
|
|
+ uint8_t pix = pixels[((uint16_t)r<<5) + c];
|
|
|
+ histo[pix >> 4]++;
|
|
|
+ }
|
|
|
+ for (uint8_t l = 0; l < 16; l++)
|
|
|
+ DBG(_n(" %2d %d\n"), l, histo[l]);
|
|
|
+}
|
|
|
+
|
|
|
+void xyzcal_adjust_pixels(uint8_t* pixels, uint16_t* histo)
|
|
|
+{
|
|
|
+ uint8_t l;
|
|
|
+ uint16_t max_c = histo[0];
|
|
|
+ uint8_t max_l = 0;
|
|
|
+ for (l = 1; l < 16; l++)
|
|
|
+ {
|
|
|
+ uint16_t c = histo[l];
|
|
|
+ if (c > max_c)
|
|
|
+ {
|
|
|
+ max_c = c;
|
|
|
+ max_l = l;
|
|
|
+ }
|
|
|
+ }
|
|
|
+ DBG(_n("max_c=%2d max_l=%d\n"), max_c, max_l);
|
|
|
+ for (l = 15; l > 8; l--)
|
|
|
+ if (histo[l] >= 10)
|
|
|
+ break;
|
|
|
+ uint8_t pix_min = (max_l + 3) << 4;
|
|
|
+ uint8_t pix_max = l << 4;
|
|
|
+ uint8_t pix_dif = pix_max - pix_min;
|
|
|
+ DBG(_n(" min=%d max=%d dif=%d\n"), pix_min, pix_max, pix_dif);
|
|
|
+ for (int16_t i = 0; i < 32*32; i++)
|
|
|
+ {
|
|
|
+ uint16_t pix = pixels[i];
|
|
|
+ if (pix > pix_min) pix -= pix_min;
|
|
|
+ else pix = 0;
|
|
|
+ pix <<= 8;
|
|
|
+ pix /= pix_dif;
|
|
|
+// if (pix < 0) pix = 0;
|
|
|
+ if (pix > 255) pix = 255;
|
|
|
+ pixels[i] = (uint8_t)pix;
|
|
|
+ }
|
|
|
+ for (uint8_t r = 0; r < 32; r++)
|
|
|
+ {
|
|
|
+ for (uint8_t c = 0; c < 32; c++)
|
|
|
+ DBG(_n("%02x"), pixels[((uint16_t)r<<5) + c]);
|
|
|
+ DBG(_n("\n"));
|
|
|
+ }
|
|
|
+}
|
|
|
+
|
|
|
+/*
|
|
|
+void xyzcal_draw_pattern_12x12_in_32x32(uint8_t* pattern, uint32_t* pixels, int w, int h, uint8_t x, uint8_t y, uint32_t and, uint32_t or)
|
|
|
+{
|
|
|
+ for (int i = 0; i < 8; i++)
|
|
|
+ for (int j = 0; j < 8; j++)
|
|
|
+ {
|
|
|
+ int idx = (x + j) + w * (y + i);
|
|
|
+ if (pattern[i] & (1 << j))
|
|
|
+ {
|
|
|
+ pixels[idx] &= and;
|
|
|
+ pixels[idx] |= or;
|
|
|
+ }
|
|
|
+ }
|
|
|
+}
|
|
|
+*/
|
|
|
+
|
|
|
+int16_t xyzcal_match_pattern_12x12_in_32x32(uint16_t* pattern, uint8_t* pixels, uint8_t c, uint8_t r)
|
|
|
+{
|
|
|
+ uint8_t thr = 64;
|
|
|
+ int16_t match = 0;
|
|
|
+ for (uint8_t i = 0; i < 12; i++)
|
|
|
+ for (uint8_t j = 0; j < 12; j++)
|
|
|
+ {
|
|
|
+ if (((i == 0) || (i == 11)) && ((j < 2) || (j >= 10))) continue; //skip corners
|
|
|
+ if (((j == 0) || (j == 11)) && ((i < 2) || (i >= 10))) continue;
|
|
|
+ uint16_t idx = (c + j) + 32 * (r + i);
|
|
|
+ uint8_t val = pixels[idx];
|
|
|
+ if (pattern[i] & (1 << j))
|
|
|
+ {
|
|
|
+ if (val > thr) match ++;
|
|
|
+ else match --;
|
|
|
+ }
|
|
|
+ else
|
|
|
+ {
|
|
|
+ if (val <= thr) match ++;
|
|
|
+ else match --;
|
|
|
+ }
|
|
|
+ }
|
|
|
+ return match;
|
|
|
+}
|
|
|
+
|
|
|
+int16_t xyzcal_find_pattern_12x12_in_32x32(uint8_t* pixels, uint16_t* pattern, uint8_t* pc, uint8_t* pr)
|
|
|
+{
|
|
|
+ uint8_t max_c = 0;
|
|
|
+ uint8_t max_r = 0;
|
|
|
+ int16_t max_match = 0;
|
|
|
+ for (uint8_t r = 0; r < (32 - 12); r++)
|
|
|
+ for (uint8_t c = 0; c < (32 - 12); c++)
|
|
|
+ {
|
|
|
+ int16_t match = xyzcal_match_pattern_12x12_in_32x32(pattern, pixels, c, r);
|
|
|
+ if (max_match < match)
|
|
|
+ {
|
|
|
+ max_c = c;
|
|
|
+ max_r = r;
|
|
|
+ max_match = match;
|
|
|
+ }
|
|
|
+ }
|
|
|
+ DBG(_n("max_c=%d max_r=%d max_match=%d\n"), max_c, max_r, max_match);
|
|
|
+ if (pc) *pc = max_c;
|
|
|
+ if (pr) *pr = max_r;
|
|
|
+ return max_match;
|
|
|
+}
|
|
|
+
|
|
|
+#ifdef XYZCAL_FIND_POINT_CENTER
|
|
|
+int8_t xyzcal_find_point_center(int16_t x0, int16_t y0, int16_t z0, int16_t min_z, int16_t max_z, uint16_t delay_us, uint8_t turns)
|
|
|
+{
|
|
|
+ uint8_t n;
|
|
|
+ uint16_t ad;
|
|
|
+ float ar;
|
|
|
+ float _cos;
|
|
|
+ float _sin;
|
|
|
+ int16_t r_min = 0;
|
|
|
+ int16_t r_max = 0;
|
|
|
+ int16_t x_min = 0;
|
|
|
+ int16_t x_max = 0;
|
|
|
+ int16_t y_min = 0;
|
|
|
+ int16_t y_max = 0;
|
|
|
+ int16_t r = 10;
|
|
|
+ int16_t x = x0;
|
|
|
+ int16_t y = y0;
|
|
|
+ int16_t z = z0;
|
|
|
+ int8_t _pinda = _PINDA;
|
|
|
+ for (n = 0; n < turns; n++)
|
|
|
+ {
|
|
|
+ uint32_t r_sum = 0;
|
|
|
+ for (ad = 0; ad < 720; ad++)
|
|
|
+ {
|
|
|
+ ar = ad * _PI / 360;
|
|
|
+ _cos = cos(ar);
|
|
|
+ _sin = sin(ar);
|
|
|
+ x = x0 + (int)(_cos * r);
|
|
|
+ y = y0 + (int)(_sin * r);
|
|
|
+ xyzcal_lineXYZ_to(x, y, z, 1000, 0);
|
|
|
+ int8_t pinda = _PINDA;
|
|
|
+ if (pinda)
|
|
|
+ r += 1;
|
|
|
+ else
|
|
|
+ {
|
|
|
+ r -= 1;
|
|
|
+ ad--;
|
|
|
+ r_sum -= r;
|
|
|
+ }
|
|
|
+ if (ad == 0)
|
|
|
+ {
|
|
|
+ x_min = x0;
|
|
|
+ x_max = x0;
|
|
|
+ y_min = y0;
|
|
|
+ y_max = y0;
|
|
|
+ r_min = r;
|
|
|
+ r_max = r;
|
|
|
+ }
|
|
|
+ else if (pinda)
|
|
|
+ {
|
|
|
+ if (x_min > x) x_min = (2*x + x_min) / 3;
|
|
|
+ if (x_max < x) x_max = (2*x + x_max) / 3;
|
|
|
+ if (y_min > y) y_min = (2*y + y_min) / 3;
|
|
|
+ if (y_max < y) y_max = (2*y + y_max) / 3;
|
|
|
+/* if (x_min > x) x_min = x;
|
|
|
+ if (x_max < x) x_max = x;
|
|
|
+ if (y_min > y) y_min = y;
|
|
|
+ if (y_max < y) y_max = y;*/
|
|
|
+ if (r_min > r) r_min = r;
|
|
|
+ if (r_max < r) r_max = r;
|
|
|
+ }
|
|
|
+ r_sum += r;
|
|
|
+/* if (_pinda != pinda)
|
|
|
+ {
|
|
|
+ if (pinda)
|
|
|
+ DBG(_n("!1 x=%d y=%d\n"), x, y);
|
|
|
+ else
|
|
|
+ DBG(_n("!0 x=%d y=%d\n"), x, y);
|
|
|
+ }*/
|
|
|
+ _pinda = pinda;
|
|
|
+// DBG(_n("x=%d y=%d rx=%d ry=%d\n"), x, y, rx, ry);
|
|
|
+ }
|
|
|
+ DBG(_n("x_min=%d x_max=%d y_min=%d y_max=%d r_min=%d r_max=%d r_avg=%d\n"), x_min, x_max, y_min, y_max, r_min, r_max, r_sum / 720);
|
|
|
+ if ((n > 2) && (n & 1))
|
|
|
+ {
|
|
|
+ x0 += (x_min + x_max);
|
|
|
+ y0 += (y_min + y_max);
|
|
|
+ x0 /= 3;
|
|
|
+ y0 /= 3;
|
|
|
+ int rx = (x_max - x_min) / 2;
|
|
|
+ int ry = (y_max - y_min) / 2;
|
|
|
+ r = (rx + ry) / 3;//(rx < ry)?rx:ry;
|
|
|
+ DBG(_n("x0=%d y0=%d r=%d\n"), x0, y0, r);
|
|
|
+ }
|
|
|
+ }
|
|
|
+ xyzcal_lineXYZ_to(x0, y0, z, 200, 0);
|
|
|
+}
|
|
|
+#endif //XYZCAL_FIND_POINT_CENTER
|
|
|
+
|
|
|
+
|
|
|
+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 == 303) || (MOTHERBOARD == 304))
|
|
|
+const int16_t PROGMEM xyzcal_point_xcoords[4] = {1200, 22000, 22000, 1200};
|
|
|
+const int16_t PROGMEM xyzcal_point_ycoords[4] = {600, 600, 19800, 19800};
|
|
|
+#endif //((MOTHERBOARD == 303) || (MOTHERBOARD == 304))
|
|
|
+
|
|
|
+//MK2.5
|
|
|
+#if ((MOTHERBOARD == 200) || (MOTHERBOARD == 203))
|
|
|
+const int16_t PROGMEM xyzcal_point_xcoords[4] = {1200, 22000, 22000, 1200};
|
|
|
+const int16_t PROGMEM xyzcal_point_ycoords[4] = {700, 700, 19800, 19800};
|
|
|
+#endif //((MOTHERBOARD == 200) || (MOTHERBOARD == 203))
|
|
|
+
|
|
|
+const uint16_t PROGMEM xyzcal_point_pattern[12] = {0x000, 0x0f0, 0x1f8, 0x3fc, 0x7fe, 0x7fe, 0x7fe, 0x7fe, 0x3fc, 0x1f8, 0x0f0, 0x000};
|
|
|
+
|
|
|
+bool xyzcal_searchZ(void)
|
|
|
+{
|
|
|
+ DBG(_n("xyzcal_searchZ x=%ld y=%ld z=%ld\n"), count_position[X_AXIS], count_position[Y_AXIS], count_position[Z_AXIS]);
|
|
|
+ int16_t x0 = _X;
|
|
|
+ int16_t y0 = _Y;
|
|
|
+ int16_t z0 = _Z;
|
|
|
+// int16_t min_z = -6000;
|
|
|
+// int16_t dz = 100;
|
|
|
+ int16_t z = z0;
|
|
|
+ while (z > -2300) //-6mm + 0.25mm
|
|
|
+ {
|
|
|
+ uint16_t ad = 0;
|
|
|
+ if (xyzcal_spiral8(x0, y0, z, 100, 900, 320, 1, &ad)) //dz=100 radius=900 delay=400
|
|
|
+ {
|
|
|
+ int16_t x_on = _X;
|
|
|
+ int16_t y_on = _Y;
|
|
|
+ int16_t z_on = _Z;
|
|
|
+ DBG(_n(" ON-SIGNAL at x=%d y=%d z=%d ad=%d\n"), x_on, y_on, z_on, ad);
|
|
|
+ return true;
|
|
|
+ }
|
|
|
+ z -= 400;
|
|
|
+ }
|
|
|
+ DBG(_n("xyzcal_searchZ no signal\n x=%ld y=%ld z=%ld\n"), count_position[X_AXIS], count_position[Y_AXIS], count_position[Z_AXIS]);
|
|
|
+ return false;
|
|
|
+}
|
|
|
+
|
|
|
+bool xyzcal_scan_and_process(void)
|
|
|
+{
|
|
|
+ DBG(_n("sizeof(block_buffer)=%d\n"), sizeof(block_t)*BLOCK_BUFFER_SIZE);
|
|
|
+// DBG(_n("sizeof(pixels)=%d\n"), 32*32);
|
|
|
+// DBG(_n("sizeof(histo)=%d\n"), 2*16);
|
|
|
+// DBG(_n("sizeof(pattern)=%d\n"), 2*12);
|
|
|
+ DBG(_n("sizeof(total)=%d\n"), 32*32+2*16+2*12);
|
|
|
+ bool ret = false;
|
|
|
+ int16_t x = _X;
|
|
|
+ int16_t y = _Y;
|
|
|
+ int16_t z = _Z;
|
|
|
+
|
|
|
+ uint8_t* pixels = (uint8_t*)block_buffer;
|
|
|
+ xyzcal_scan_pixels_32x32(x, y, z - 128, 2400, 200, pixels);
|
|
|
+
|
|
|
+ uint16_t* histo = (uint16_t*)(pixels + 32*32);
|
|
|
+ xyzcal_histo_pixels_32x32(pixels, histo);
|
|
|
+
|
|
|
+ xyzcal_adjust_pixels(pixels, histo);
|
|
|
+
|
|
|
+ uint16_t* pattern = (uint16_t*)(histo + 2*16);
|
|
|
+ for (uint8_t i = 0; i < 12; i++)
|
|
|
+ {
|
|
|
+ pattern[i] = pgm_read_word_far((uint16_t*)(xyzcal_point_pattern + i));
|
|
|
+// DBG(_n(" pattern[%d]=%d\n"), i, pattern[i]);
|
|
|
+ }
|
|
|
+ uint8_t c = 0;
|
|
|
+ uint8_t r = 0;
|
|
|
+ if (xyzcal_find_pattern_12x12_in_32x32(pixels, pattern, &c, &r) > 66) //total pixels=144, corner=12 (1/2 = 66)
|
|
|
+ {
|
|
|
+ DBG(_n(" pattern found at %d %d\n"), c, r);
|
|
|
+ c += 6;
|
|
|
+ r += 6;
|
|
|
+ x += ((int16_t)c - 16) << 6;
|
|
|
+ y += ((int16_t)r - 16) << 6;
|
|
|
+ DBG(_n(" x=%d y=%d z=%d\n"), x, y, z);
|
|
|
+ xyzcal_lineXYZ_to(x, y, z, 200, 0);
|
|
|
+ ret = true;
|
|
|
+ }
|
|
|
+ for (uint16_t i = 0; i < sizeof(block_t)*BLOCK_BUFFER_SIZE; i++)
|
|
|
+ pixels[i] = 0;
|
|
|
+ return ret;
|
|
|
+}
|
|
|
+
|
|
|
+bool xyzcal_find_bed_induction_sensor_point_xy(void)
|
|
|
+{
|
|
|
+ DBG(_n("xyzcal_find_bed_induction_sensor_point_xy x=%ld y=%ld z=%ld\n"), count_position[X_AXIS], count_position[Y_AXIS], count_position[Z_AXIS]);
|
|
|
+ bool ret = false;
|
|
|
+ st_synchronize();
|
|
|
+ int16_t x = _X;
|
|
|
+ int16_t y = _Y;
|
|
|
+ int16_t z = _Z;
|
|
|
+ uint8_t point = xyzcal_xycoords2point(x, y);
|
|
|
+ x = pgm_read_word_far((uint16_t*)(xyzcal_point_xcoords + point));
|
|
|
+ y = pgm_read_word_far((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())
|
|
|
+ {
|
|
|
+ int16_t z = _Z;
|
|
|
+ xyzcal_lineXYZ_to(x, y, z, 200, 0);
|
|
|
+ if (xyzcal_scan_and_process())
|
|
|
+ {
|
|
|
+ ret = true;
|
|
|
+ }
|
|
|
+ }
|
|
|
+ xyzcal_meassure_leave();
|
|
|
+ return ret;
|
|
|
+}
|
|
|
+
|
|
|
+
|
|
|
+#endif //NEW_XYZCAL
|
Robert Pelnar