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@@ -442,13 +442,13 @@ bool more_zeros(uint8_t* pixels, int16_t &min_z){
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++hist[pixels[i]];
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}
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- /// print histogram
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- i = 0;
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- DBG(_n("hist: "));
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- do {
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- DBG(_n("%d "), hist[i]);
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- } while (i++ < 255);
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- DBG(_n("\n"));
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+ // /// print histogram
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+ // i = 0;
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+ // DBG(_n("hist: "));
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+ // do {
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+ // DBG(_n("%d "), hist[i]);
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+ // } while (i++ < 255);
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+ // DBG(_n("\n"));
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/// already more zeros on the line
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@@ -471,12 +471,18 @@ bool more_zeros(uint8_t* pixels, int16_t &min_z){
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--i;
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DBG(_n("sum %d, index %d\n"), sum, i);
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- DBG(_n("min_z %d\n"), min_z);
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+ // DBG(_n("min_z %d\n"), min_z);
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min_z += i;
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- DBG(_n("min_z %d\n"), min_z);
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+ // DBG(_n("min_z %d\n"), min_z);
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return false;
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}
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+enum {
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+ RESTART_INIT,
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+ DO_RESTART,
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+ WAS_RESTARTED
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+};
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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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@@ -487,22 +493,23 @@ void xyzcal_scan_pixels_32x32_Zhop(int16_t cx, int16_t cy, int16_t min_z, int16_
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xyzcal_lineXYZ_to(cx - 1024, cy - 1024, min_z, delay_us, 0);
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int16_t start_z;
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uint16_t steps_to_go;
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- uint8_t restart = 0; ///< restart if needed but just once
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- int16_t corr_min_z = min_z; ///< shifted min_z if it's too low
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+ /// restart if needed but just once
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+ /// 0 = init, 1 = do restart, 2 = restart was done, don't restart any more
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+ uint8_t restart = RESTART_INIT;
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do {
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- if (restart == 1)
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- restart = 2;
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+ if (restart == DO_RESTART)
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+ restart = WAS_RESTARTED;
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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, corr_min_z, delay_us, 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_trig = corr_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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@@ -532,7 +539,7 @@ void xyzcal_scan_pixels_32x32_Zhop(int16_t cx, int16_t cy, int16_t min_z, int16_
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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 > (corr_min_z + start_z) / 2; --z){
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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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@@ -541,27 +548,27 @@ void xyzcal_scan_pixels_32x32_Zhop(int16_t cx, int16_t cy, int16_t min_z, int16_
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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 - corr_min_z);
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- while (!_PINDA && z > corr_min_z){
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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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z_trig = z;
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}
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/// slow down to stop
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- while (z > corr_min_z && current_delay_us < MAX_DELAY){
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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 - corr_min_z);
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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 - corr_min_z)) / 2);
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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 - corr_min_z)) / 2);
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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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@@ -593,15 +600,16 @@ void xyzcal_scan_pixels_32x32_Zhop(int16_t cx, int16_t cy, int16_t min_z, int16_
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count_position[2] = z;
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}
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}
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- if (r == 0 && restart == 0){
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- if (!more_zeros(pixels, corr_min_z))
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- restart = 1;
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+ /// do this in the first row only
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+ if (r == 0 && restart == RESTART_INIT){
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+ if (!more_zeros(pixels, min_z))
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+ restart = DO_RESTART;
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}
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- if (restart == 1)
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+ if (restart == DO_RESTART)
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break;
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// DBG(_n("\n\n"));
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}
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- } while (restart == 1);
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+ } while (restart == DO_RESTART);
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}
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/// Returns rate of match
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