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@@ -627,8 +627,8 @@ void xyzcal_scan_pixels_32x32_Zhop(int16_t cx, int16_t cy, int16_t min_z, int16_
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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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+ /// !!! data reversed in X
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+ // DBG(_n("%04x"), ((uint32_t)line_buffer[31 - c] + (z_trig - min_z)) / 2);
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/// save average of both directions (filters effect of hysteresis)
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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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@@ -831,11 +831,10 @@ float median(float *points, const uint8_t num_points){
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void dynamic_circle(uint8_t *matrix_32x32, float &x, float &y, float &r, uint8_t iterations){
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/// circle of 10.5 diameter has 33 in circumference, don't go much above
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const constexpr uint8_t num_points = 33;
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- float points[num_points];
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float pi_2_div_num_points = 2 * M_PI / num_points;
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const constexpr uint8_t target_z = 32; ///< target z height of the circle
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float angle;
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- float max_change = 0.5f; ///< avoids too fast changes (could cause oscillation)
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+ float max_change = 0.5f; ///< avoids too fast changes (avoid oscillation)
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const uint8_t blocks = num_points;
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float shifts_x[blocks];
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float shifts_y[blocks];
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@@ -850,29 +849,15 @@ void dynamic_circle(uint8_t *matrix_32x32, float &x, float &y, float &r, uint8_t
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/// read points on the circle
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for (uint8_t p = 0; p < num_points; ++p){
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angle = p * pi_2_div_num_points;
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- points[p] = get_value(matrix_32x32, r * cos(angle) + x, r * sin(angle) + y) - target_z;
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- // DBG(_n("%f "), points[p]);
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+ const float height = get_value(matrix_32x32, r * cos(angle) + x, r * sin(angle) + y) - target_z;
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+ // DBG(_n("%f "), point);
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- shifts_x[p] = cos(angle) * points[p];
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- shifts_y[p] = sin(angle) * points[p];
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- shifts_r[p] = points[p];
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+ shifts_x[p] = cos(angle) * height;
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+ shifts_y[p] = sin(angle) * height;
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+ shifts_r[p] = height;
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}
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// DBG(_n(" points\n"));
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- // /// sum blocks
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- // for (uint8_t j = 0; j < blocks; ++j){
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- // shifts_x[j] = shifts_y[j] = shifts_r[j] = 0;
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- // /// first part
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- // for (uint8_t p = 0; p < num_points * 3 / 4; ++p){
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- // uint8_t idx = (p + j * num_points / blocks) % num_points;
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-
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- // angle = idx * pi_2_div_num_points;
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- // shifts_x[j] += cos(angle) * points[idx];
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- // shifts_y[j] += sin(angle) * points[idx];
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- // shifts_r[j] += points[idx];
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- // }
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- // }
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-
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const float norm = 1.f / 32.f;
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x += CLAMP(median(shifts_x, blocks) * norm, -max_change, max_change);
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y += CLAMP(median(shifts_y, blocks) * norm, -max_change, max_change);
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@@ -939,7 +924,6 @@ bool xyzcal_scan_and_process(void){
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for (uint8_t i = 0; i < 12; i++){
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pattern08[i] = pgm_read_word((uint16_t*)(xyzcal_point_pattern_08 + i));
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pattern10[i] = pgm_read_word((uint16_t*)(xyzcal_point_pattern_10 + i));
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- // DBG(_n(" pattern[%d]=%d\n"), i, pattern[i]);
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}
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/// SEARCH FOR BINARY CIRCLE
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espr14