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@@ -426,8 +426,41 @@ 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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+/// Count number of zeros on the 32 byte array
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+/// If the number is less than 16, it changes @min_z so it will be next time
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+bool more_zeros(uint8_t* pixels, int16_t &min_z){
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+ uint8_t hist[256];
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+ uint8_t i = 0;
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+
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+ /// clear
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+ do {
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+ hist[i] = 0;
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+ } while (i++ < 255);
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+
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+ /// fill
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+ for (i = 0; i < 32; ++i){
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+ ++hist[pixels[i]];
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+ }
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+
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+ /// already more zeros on the line
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+ if (hist[0] >= 16)
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+ return true;
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+
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+ /// find threshold
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+ uint8_t sum = 0;
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+ i = 0;
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+ do {
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+ sum += hist[i];
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+ if (sum >= 16)
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+ break;
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+ } while (i++ < 255);
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+
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+ min_z += i;
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+ return false;
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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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+ if (!pixels)
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return;
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int16_t z = _Z;
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int16_t z_trig;
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@@ -436,109 +469,121 @@ 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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-
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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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-
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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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-
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- z_trig = min_z;
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-
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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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+ 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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+
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+ do {
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+ if (restart == 1)
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+ restart = 2;
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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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+
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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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+
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+ z_trig = corr_min_z;
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+
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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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- 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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+ 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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++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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- ++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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+ /// 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 > (corr_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 - corr_min_z);
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+ while (!_PINDA && z > corr_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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- 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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+ /// slow down to stop
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+ while (z > corr_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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- z_trig = z;
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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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- --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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+ 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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+ } 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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+ /// 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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+ }
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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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-
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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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+ /// 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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+
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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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- count_position[0] = end_x;
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- count_position[2] = z;
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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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+ }
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+ if (restart == 1)
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+ break;
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+ // DBG(_n("\n\n"));
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}
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- // DBG(_n("\n\n"));
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- }
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+ } while (restart == 1);
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}
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/// Returns rate of match
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