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- //xyzcal.cpp - xyz calibration with image processing
- #include "Configuration_prusa.h"
- #ifdef NEW_XYZCAL
- #include "xyzcal.h"
- #include <avr/wdt.h>
- #include "stepper.h"
- #include "temperature.h"
- #include "sm4.h"
- #define XYZCAL_PINDA_HYST_MIN 20 //50um
- #define XYZCAL_PINDA_HYST_MAX 100 //250um
- #define XYZCAL_PINDA_HYST_DIF 5 //12.5um
- #define ENABLE_FANCHECK_INTERRUPT() EIMSK |= (1<<7)
- #define DISABLE_FANCHECK_INTERRUPT() EIMSK &= ~(1<<7)
- #define _PINDA ((READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING)?1:0)
- #define DBG(args...) printf_P(args)
- //#define DBG(args...)
- #ifndef _n
- #define _n PSTR
- #endif //_n
- #define _X ((int16_t)count_position[X_AXIS])
- #define _Y ((int16_t)count_position[Y_AXIS])
- #define _Z ((int16_t)count_position[Z_AXIS])
- #define _E ((int16_t)count_position[E_AXIS])
- #ifndef M_PI
- const constexpr float M_PI = 3.1415926535897932384626433832795f;
- #endif
- const constexpr uint8_t X_PLUS = 0;
- const constexpr uint8_t X_MINUS = 1;
- const constexpr uint8_t Y_PLUS = 0;
- const constexpr uint8_t Y_MINUS = 1;
- const constexpr uint8_t Z_PLUS = 0;
- const constexpr uint8_t Z_MINUS = 1;
- /// Max. jerk in PrusaSlicer, 10000 = 1 mm/s
- const constexpr uint16_t MAX_DELAY = 1000;
- const constexpr float MIN_SPEED = 0.01f / (MAX_DELAY * 0.000001f);
- /// 200 = 50 mm/s
- const constexpr uint16_t Z_MIN_DELAY = 200;
- const constexpr uint16_t Z_ACCEL = 5000;
- /// \returns positive value always
- #define ABS(a) \
- ({ __typeof__ (a) _a = (a); \
- _a >= 0 ? _a : (-_a); })
- /// \returns maximum of the two
- #define MAX(a, b) \
- ({ __typeof__ (a) _a = (a); \
- __typeof__ (b) _b = (b); \
- _a >= _b ? _a : _b; })
- /// \returns minimum of the two
- #define MIN(a, b) \
- ({ __typeof__ (a) _a = (a); \
- __typeof__ (b) _b = (b); \
- _a <= _b ? _a : _b; })
- /// swap values
- #define SWAP(a, b) \
- ({ __typeof__ (a) c = (a); \
- a = (b); \
- b = c; })
- /// Saturates value
- /// \returns min if value is less than min
- /// \returns max if value is more than min
- /// \returns value otherwise
- #define CLAMP(value, min, max) \
- ({ __typeof__ (value) a_ = (value); \
- __typeof__ (min) min_ = (min); \
- __typeof__ (max) max_ = (max); \
- ( a_ < min_ ? min_ : (a_ <= max_ ? a_ : max_)); })
- /// \returns square of the value
- #define SQR(a) \
- ({ __typeof__ (a) a_ = (a); \
- (a_ * a_); })
- /// position types
- typedef int16_t pos_i16_t;
- typedef long pos_i32_t;
- typedef float pos_mm_t;
- typedef int16_t usteps_t;
- uint8_t check_pinda_0();
- uint8_t check_pinda_1();
- void xyzcal_update_pos(uint16_t dx, uint16_t dy, uint16_t dz, uint16_t de);
- uint16_t xyzcal_calc_delay(uint16_t nd, uint16_t dd);
- uint8_t round_to_u8(float f){
- return (uint8_t)(f + .5f);
- }
- uint16_t round_to_u16(float f){
- return (uint16_t)(f + .5f);
- }
- int16_t round_to_i16(float f){
- return (int16_t)(f + .5f);
- }
- /// converts millimeters to integer position
- pos_i16_t mm_2_pos(pos_mm_t mm){
- return (pos_i16_t)(0.5f + mm * 100);
- }
- /// converts integer position to millimeters
- pos_mm_t pos_2_mm(pos_i16_t pos){
- return pos * 0.01f;
- }
- pos_mm_t pos_2_mm(float pos){
- return pos * 0.01f;
- }
- void xyzcal_meassure_enter(void)
- {
- DBG(_n("xyzcal_meassure_enter\n"));
- disable_heater();
- DISABLE_TEMPERATURE_INTERRUPT();
- #if (defined(FANCHECK) && defined(TACH_1) && (TACH_1 >-1))
- DISABLE_FANCHECK_INTERRUPT();
- #endif //(defined(FANCHECK) && defined(TACH_1) && (TACH_1 >-1))
- DISABLE_STEPPER_DRIVER_INTERRUPT();
- #ifdef WATCHDOG
- wdt_disable();
- #endif //WATCHDOG
- sm4_stop_cb = 0;
- sm4_update_pos_cb = xyzcal_update_pos;
- sm4_calc_delay_cb = xyzcal_calc_delay;
- }
- void xyzcal_meassure_leave(void)
- {
- DBG(_n("xyzcal_meassure_leave\n"));
- planner_abort_hard();
- ENABLE_TEMPERATURE_INTERRUPT();
- #if (defined(FANCHECK) && defined(TACH_1) && (TACH_1 >-1))
- ENABLE_FANCHECK_INTERRUPT();
- #endif //(defined(FANCHECK) && defined(TACH_1) && (TACH_1 >-1))
- ENABLE_STEPPER_DRIVER_INTERRUPT();
- #ifdef WATCHDOG
- wdt_enable(WDTO_4S);
- #endif //WATCHDOG
- sm4_stop_cb = 0;
- sm4_update_pos_cb = 0;
- sm4_calc_delay_cb = 0;
- }
- uint8_t check_pinda_0()
- {
- return _PINDA?0:1;
- }
- uint8_t check_pinda_1()
- {
- return _PINDA?1:0;
- }
- uint8_t xyzcal_dm = 0;
- void xyzcal_update_pos(uint16_t dx, uint16_t dy, uint16_t dz, uint16_t)
- {
- // DBG(_n("xyzcal_update_pos dx=%d dy=%d dz=%d dir=%02x\n"), dx, dy, dz, xyzcal_dm);
- if (xyzcal_dm&1) count_position[0] -= dx; else count_position[0] += dx;
- if (xyzcal_dm&2) count_position[1] -= dy; else count_position[1] += dy;
- if (xyzcal_dm&4) count_position[2] -= dz; else count_position[2] += dz;
- // DBG(_n(" after xyzcal_update_pos x=%ld y=%ld z=%ld\n"), count_position[0], count_position[1], count_position[2]);
- }
- uint16_t xyzcal_sm4_delay = 0;
- //#define SM4_ACCEL_TEST
- #ifdef SM4_ACCEL_TEST
- uint16_t xyzcal_sm4_v0 = 2000;
- uint16_t xyzcal_sm4_vm = 45000;
- uint16_t xyzcal_sm4_v = xyzcal_sm4_v0;
- uint16_t xyzcal_sm4_ac = 2000;
- uint16_t xyzcal_sm4_ac2 = (uint32_t)xyzcal_sm4_ac * 1024 / 10000;
- //float xyzcal_sm4_vm = 10000;
- #endif //SM4_ACCEL_TEST
- #ifdef SM4_ACCEL_TEST
- uint16_t xyzcal_calc_delay(uint16_t nd, uint16_t dd)
- {
- uint16_t del_us = 0;
- if (xyzcal_sm4_v & 0xf000) //>=4096
- {
- del_us = (uint16_t)62500 / (uint16_t)(xyzcal_sm4_v >> 4);
- xyzcal_sm4_v += (xyzcal_sm4_ac2 * del_us + 512) >> 10;
- if (xyzcal_sm4_v > xyzcal_sm4_vm) xyzcal_sm4_v = xyzcal_sm4_vm;
- if (del_us > 25) return del_us - 25;
- }
- else
- {
- del_us = (uint32_t)1000000 / xyzcal_sm4_v;
- xyzcal_sm4_v += ((uint32_t)xyzcal_sm4_ac2 * del_us + 512) >> 10;
- if (xyzcal_sm4_v > xyzcal_sm4_vm) xyzcal_sm4_v = xyzcal_sm4_vm;
- if (del_us > 50) return del_us - 50;
- }
- // uint16_t del_us = (uint16_t)(((float)1000000 / xyzcal_sm4_v) + 0.5);
- // uint16_t del_us = (uint32_t)1000000 / xyzcal_sm4_v;
- // uint16_t del_us = 100;
- // uint16_t del_us = (uint16_t)10000 / xyzcal_sm4_v;
- // v += (ac * del_us + 500) / 1000;
- // xyzcal_sm4_v += (xyzcal_sm4_ac * del_us) / 1000;
- // return xyzcal_sm4_delay;
- // DBG(_n("xyzcal_calc_delay nd=%d dd=%d v=%d del_us=%d\n"), nd, dd, xyzcal_sm4_v, del_us);
- return 0;
- }
- #else //SM4_ACCEL_TEST
- uint16_t xyzcal_calc_delay(uint16_t, uint16_t)
- {
- return xyzcal_sm4_delay;
- }
- #endif //SM4_ACCEL_TEST
- /// Moves printer to absolute position [x,y,z] defined in integer position system
- bool xyzcal_lineXYZ_to(int16_t x, int16_t y, int16_t z, uint16_t delay_us, int8_t check_pinda)
- {
- // DBG(_n("xyzcal_lineXYZ_to x=%d y=%d z=%d check=%d\n"), x, y, z, check_pinda);
- x -= (int16_t)count_position[0];
- y -= (int16_t)count_position[1];
- z -= (int16_t)count_position[2];
- xyzcal_dm = ((x<0)?1:0) | ((y<0)?2:0) | ((z<0)?4:0);
- sm4_set_dir_bits(xyzcal_dm);
- 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;
- // u = _micros() - u;
- return ret;
- }
- /// Moves printer to absolute position [x,y,z] defined in millimeters
- bool xyzcal_lineXYZ_to_float(pos_mm_t x, pos_mm_t y, pos_mm_t z, uint16_t delay_us, int8_t check_pinda){
- return xyzcal_lineXYZ_to(mm_2_pos(x), mm_2_pos(y), mm_2_pos(z), delay_us, check_pinda);
- }
- 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)
- {
- bool ret = false;
- float r = 0; //radius
- uint16_t ad = 0; //angle [deg]
- float ar; //angle [rad]
- uint8_t dad = 0; //delta angle [deg]
- uint8_t dad_min = 4; //delta angle min [deg]
- uint8_t dad_max = 16; //delta angle max [deg]
- uint8_t k = 720 / (dad_max - dad_min); //delta calculation constant
- ad = 0;
- if (pad) ad = *pad % 720;
-
- DBG(_n("xyzcal_spiral2 cx=%d cy=%d z0=%d dz=%d radius=%d ad=%d\n"), cx, cy, z0, dz, radius, ad);
- // lcd_set_cursor(0, 4);
- // char text[10];
- // snprintf(text, 10, "%4d", z0);
- // lcd_print(text);
- for (; ad < 720; ad++)
- {
- if (radius > 0)
- {
- dad = dad_max - (ad / k);
- r = (float)(((uint32_t)ad) * radius) / 720;
- }
- else
- {
- dad = dad_max - ((719 - ad) / k);
- r = (float)(((uint32_t)(719 - ad)) * (-radius)) / 720;
- }
- ar = (ad + rotation)* (float)M_PI / 180;
- int x = (int)(cx + (cos(ar) * r));
- int y = (int)(cy + (sin(ar) * r));
- int z = (int)(z0 - ((float)((int32_t)dz * ad) / 720));
- if (xyzcal_lineXYZ_to(x, y, z, delay_us, check_pinda))
- {
- ad += dad + 1;
- ret = true;
- break;
- }
- ad += dad;
- }
- if (pad) *pad = ad;
- // if(ret){
- // lcd_set_cursor(0, 4);
- // lcd_print(" ");
- // }
- return ret;
- }
- 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)
- {
- bool ret = false;
- uint16_t ad = 0;
- if (pad) ad = *pad;
- DBG(_n("xyzcal_spiral8 cx=%d cy=%d z0=%d dz=%d radius=%d ad=%d\n"), cx, cy, z0, dz, radius, ad);
- if (!ret && (ad < 720))
- if ((ret = xyzcal_spiral2(cx, cy, z0 - 0*dz, dz, radius, 0, delay_us, check_pinda, &ad)) != 0)
- ad += 0;
- if (!ret && (ad < 1440))
- if ((ret = xyzcal_spiral2(cx, cy, z0 - 1*dz, dz, -radius, 0, delay_us, check_pinda, &ad)) != 0)
- ad += 720;
- if (!ret && (ad < 2160))
- if ((ret = xyzcal_spiral2(cx, cy, z0 - 2*dz, dz, radius, 180, delay_us, check_pinda, &ad)) != 0)
- ad += 1440;
- if (!ret && (ad < 2880))
- if ((ret = xyzcal_spiral2(cx, cy, z0 - 3*dz, dz, -radius, 180, delay_us, check_pinda, &ad)) != 0)
- ad += 2160;
- if (pad) *pad = ad;
- return ret;
- }
- #ifdef XYZCAL_MEASSURE_PINDA_HYSTEREZIS
- int8_t xyzcal_meassure_pinda_hysterezis(int16_t min_z, int16_t max_z, uint16_t delay_us, uint8_t samples)
- {
- DBG(_n("xyzcal_meassure_pinda_hysterezis\n"));
- int8_t ret = -1; // PINDA signal error
- int16_t z = _Z;
- int16_t sum_up = 0;
- int16_t sum_dn = 0;
- int16_t up;
- int16_t dn;
- uint8_t sample;
- xyzcal_lineXYZ_to(_X, _Y, min_z, delay_us, 1);
- xyzcal_lineXYZ_to(_X, _Y, max_z, delay_us, -1);
- if (!_PINDA)
- {
- for (sample = 0; sample < samples; sample++)
- {
- dn = _Z;
- if (!xyzcal_lineXYZ_to(_X, _Y, min_z, delay_us, 1)) break;
- dn = dn - _Z;
- up = _Z;
- if (!xyzcal_lineXYZ_to(_X, _Y, max_z, delay_us, -1)) break;
- up = _Z - up;
- DBG(_n("%d. up=%d dn=%d\n"), sample, up, dn);
- sum_up += up;
- sum_dn += dn;
- if (abs(up - dn) > XYZCAL_PINDA_HYST_DIF)
- {
- ret = -2; // difference between up-dn to high
- break;
- }
- }
- if (sample == samples)
- {
- up = sum_up / samples;
- dn = sum_dn / samples;
- uint16_t hyst = (up + dn) / 2;
- if (abs(up - dn) > XYZCAL_PINDA_HYST_DIF)
- ret = -2; // difference between up-dn to high
- else if ((hyst < XYZCAL_PINDA_HYST_MIN) || (hyst > XYZCAL_PINDA_HYST_MAX))
- ret = -3; // hysterezis out of range
- else
- ret = hyst;
- }
- }
- xyzcal_lineXYZ_to(_X, _Y, z, delay_us, 0);
- return ret;
- }
- #endif //XYZCAL_MEASSURE_PINDA_HYSTEREZIS
- /// Accelerate up to max.speed (defined by @min_delay_us)
- void accelerate(uint8_t axis, int16_t acc, uint16_t &delay_us, uint16_t min_delay_us){
- sm4_do_step(axis);
- /// keep max speed (avoid extra computation)
- if (acc > 0 && delay_us == min_delay_us){
- delayMicroseconds(delay_us);
- return;
- }
- // v1 = v0 + a * t
- // 0.01 = length of a step
- const float t0 = delay_us * 0.000001f;
- const float v1 = (0.01f / t0 + acc * t0);
- uint16_t t1;
- if (v1 <= 0.16f){ ///< slowest speed convertible to uint16_t delay
- t1 = MAX_DELAY; ///< already too slow so it wants to move back
- } else {
- /// don't exceed max.speed
- t1 = MAX(min_delay_us, round_to_u16(0.01f / v1 * 1000000.f));
- }
- /// make sure delay has changed a bit at least
- if (t1 == delay_us && acc != 0){
- if (acc > 0)
- t1--;
- else
- t1++;
- }
-
- //DBG(_n("%d "), t1);
- delayMicroseconds(t1);
- delay_us = t1;
- }
- void go_and_stop(uint8_t axis, int16_t dec, uint16_t &delay_us, uint16_t &steps){
- if (steps <= 0 || dec <= 0)
- return;
- /// deceleration distance in steps, s = 1/2 v^2 / a
- uint16_t s = round_to_u16(100 * 0.5f * SQR(0.01f) / (SQR((float)delay_us) * dec));
- if (steps > s){
- /// go steady
- sm4_do_step(axis);
- delayMicroseconds(delay_us);
- } else {
- /// decelerate
- accelerate(axis, -dec, delay_us, delay_us);
- }
- --steps;
- }
- /// Count number of zeros in the 32 byte array
- /// If the number is less than 16, it moves @min_z up
- /// Zeros make measuring faster but there cannot be too much
- bool more_zeros(uint8_t* pixels, int16_t &min_z){
- uint8_t hist[256];
- uint8_t i = 0;
-
- /// clear
- do {
- hist[i] = 0;
- } while (i++ < 255);
- /// fill
- for (i = 0; i < 32; ++i){
- ++hist[pixels[i]];
- }
- // /// print histogram
- // i = 0;
- // DBG(_n("hist: "));
- // do {
- // DBG(_n("%d "), hist[i]);
- // } while (i++ < 255);
- // DBG(_n("\n"));
- /// already more zeros on the line
- if (hist[0] >= 16){
- DBG(_n("zeros %d\n"), hist[0]);
- return true;
- }
- /// find threshold
- uint8_t sum = 0;
- i = 0;
- do {
- sum += hist[i];
- if (sum >= 16)
- break;
- } while (i++ < 255);
- /// avoid too much zeros
- if (sum >= 24)
- --i;
- DBG(_n("zeros %d, index %d\n"), sum, i);
- // DBG(_n("min_z %d\n"), min_z);
- min_z += i;
- // DBG(_n("min_z %d\n"), min_z);
- return false;
- }
- enum {
- RESTART_INIT,
- DO_RESTART,
- WAS_RESTARTED
- };
- 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){
- if (!pixels)
- return;
- int16_t z = _Z;
- int16_t z_trig;
- uint16_t line_buffer[32];
- uint16_t current_delay_us = MAX_DELAY; ///< defines current speed
- xyzcal_lineXYZ_to(cx - 1024, cy - 1024, min_z, delay_us, 0);
- int16_t start_z;
- uint16_t steps_to_go;
- /// restart if needed but just once
- /// 0 = init, 1 = do restart, 2 = restart was done, don't restart any more
- uint8_t restart = RESTART_INIT;
- do {
- if (restart == DO_RESTART)
- restart = WAS_RESTARTED;
- for (uint8_t r = 0; r < 32; r++){ ///< Y axis
- xyzcal_lineXYZ_to(_X, cy - 1024 + r * 64, z, delay_us, 0);
- for (int8_t d = 0; d < 2; ++d){ ///< direction
- xyzcal_lineXYZ_to((d & 1) ? (cx + 1024) : (cx - 1024), _Y, min_z, delay_us, 0);
- z = _Z;
- sm4_set_dir(X_AXIS, d);
- for (uint8_t c = 0; c < 32; c++){ ///< X axis
- z_trig = min_z;
- /// move up to un-trigger (surpress hysteresis)
- sm4_set_dir(Z_AXIS, Z_PLUS);
- /// speed up from stop, go half the way
- current_delay_us = MAX_DELAY;
- for (start_z = z; z < (max_z + start_z) / 2; ++z){
- if (!_PINDA){
- break;
- }
- accelerate(Z_AXIS_MASK, Z_ACCEL, current_delay_us, Z_MIN_DELAY);
- }
- if(_PINDA){
- uint16_t steps_to_go = MAX(0, max_z - z);
- while (_PINDA && z < max_z){
- go_and_stop(Z_AXIS_MASK, Z_ACCEL, current_delay_us, steps_to_go);
- ++z;
- }
- }
- /// slow down to stop
- while (current_delay_us < MAX_DELAY){
- accelerate(Z_AXIS_MASK, -Z_ACCEL, current_delay_us, Z_MIN_DELAY);
- ++z;
- }
- /// move down to trigger
- sm4_set_dir(Z_AXIS, Z_MINUS);
- /// speed up
- current_delay_us = MAX_DELAY;
- for (start_z = z; z > (min_z + start_z) / 2; --z){
- if (_PINDA){
- z_trig = z;
- break;
- }
- accelerate(Z_AXIS_MASK, Z_ACCEL, current_delay_us, Z_MIN_DELAY);
- }
- /// slow down
- if(!_PINDA){
- steps_to_go = MAX(0, z - min_z);
- while (!_PINDA && z > min_z){
- go_and_stop(Z_AXIS_MASK, Z_ACCEL, current_delay_us, steps_to_go);
- --z;
- }
- z_trig = z;
- }
- /// slow down to stop
- while (z > min_z && current_delay_us < MAX_DELAY){
- accelerate(Z_AXIS_MASK, -Z_ACCEL, current_delay_us, Z_MIN_DELAY);
- --z;
- }
- count_position[2] = z;
- if (d == 0){
- line_buffer[c] = (uint16_t)(z_trig - min_z);
- } else {
- /// data reversed in X
- // DBG(_n("%04x"), (line_buffer[31 - c] + (z - min_z)) / 2);
- /// save average of both directions
- pixels[(uint16_t)r * 32 + (31 - c)] = (uint8_t)MIN((uint32_t)255, ((uint32_t)line_buffer[31 - c] + (z_trig - min_z)) / 2);
- }
- /// move to the next point and move Z up diagonally (if needed)
- current_delay_us = MAX_DELAY;
- // const int8_t dir = (d & 1) ? -1 : 1;
- const int16_t end_x = ((d & 1) ? 1 : -1) * (64 * (16 - c) - 32) + cx;
- const int16_t length_x = ABS(end_x - _X);
- const int16_t half_x = length_x / 2;
- int16_t x = 0;
- /// don't go up if PINDA not triggered
- const bool up = _PINDA;
- int8_t axis = up ? X_AXIS_MASK | Z_AXIS_MASK : X_AXIS_MASK;
- sm4_set_dir(Z_AXIS, Z_PLUS);
- /// speed up
- for (x = 0; x <= half_x; ++x){
- accelerate(axis, Z_ACCEL, current_delay_us, Z_MIN_DELAY);
- if (up)
- ++z;
- }
- /// slow down
- steps_to_go = length_x - x;
- for (; x < length_x; ++x){
- go_and_stop(axis, Z_ACCEL, current_delay_us, steps_to_go);
- if (up)
- ++z;
- }
- count_position[0] = end_x;
- count_position[2] = z;
- }
- }
- /// do this in the first row only
- if (r == 0 && restart == RESTART_INIT){
- if (!more_zeros(pixels, min_z))
- restart = DO_RESTART;
- }
- if (restart == DO_RESTART)
- break;
- // DBG(_n("\n\n"));
- }
- } while (restart == DO_RESTART);
- }
- /// Returns rate of match
- /// max match = 132, min match = 0
- uint8_t xyzcal_match_pattern_12x12_in_32x32(uint16_t* pattern, uint8_t* pixels, uint8_t c, uint8_t r){
- uint8_t thr = 16;
- uint8_t match = 0;
- for (uint8_t i = 0; i < 12; ++i){
- for (uint8_t j = 0; j < 12; ++j){
- /// skip corners (3 pixels in each)
- if (((i == 0) || (i == 11)) && ((j < 2) || (j >= 10))) continue;
- if (((j == 0) || (j == 11)) && ((i < 2) || (i >= 10))) continue;
- const uint16_t idx = (c + j) + 32 * ((uint16_t)r + i);
- const bool high_pix = pixels[idx] > thr;
- const bool high_pat = pattern[i] & (1 << j);
- if (high_pix == high_pat)
- match++;
- }
- }
- return match;
- }
- /// Searches for best match of pattern by shifting it
- /// Returns rate of match and the best location
- /// max match = 132, min match = 0
- uint8_t xyzcal_find_pattern_12x12_in_32x32(uint8_t* pixels, uint16_t* pattern, uint8_t* pc, uint8_t* pr){
- if (!pixels || !pattern || !pc || !pr)
- return -1;
- uint8_t max_c = 0;
- uint8_t max_r = 0;
- uint8_t max_match = 0;
- // DBG(_n("Matching:\n"));
- /// pixel precision
- for (uint8_t r = 0; r < (32 - 12); ++r){
- for (uint8_t c = 0; c < (32 - 12); ++c){
- const uint8_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("%d "), match);
- }
- // DBG(_n("\n"));
- }
- DBG(_n("max_c=%d max_r=%d max_match=%d pixel\n"), max_c, max_r, max_match);
- *pc = max_c;
- *pr = max_r;
- 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[12] PROGMEM = {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;
- }
- /// returns value of any location within data
- /// uses bilinear interpolation
- float get_value(uint8_t * matrix_32x32, float c, float r){
- if (c <= 0 || r <= 0 || c >= 31 || r >= 31)
- return 0;
- /// calculate weights of nearby points
- const float wc1 = c - floor(c);
- const float wr1 = r - floor(r);
- const float wc0 = 1 - wc1;
- const float wr0 = 1 - wr1;
- const float w00 = wc0 * wr0;
- const float w01 = wc0 * wr1;
- const float w10 = wc1 * wr0;
- const float w11 = wc1 * wr1;
- const uint16_t c0 = c;
- const uint16_t c1 = c0 + 1;
- const uint16_t r0 = r;
- const uint16_t r1 = r0 + 1;
- const uint16_t idx00 = c0 + 32 * r0;
- const uint16_t idx01 = c0 + 32 * r1;
- const uint16_t idx10 = c1 + 32 * r0;
- const uint16_t idx11 = c1 + 32 * r1;
- /// bilinear resampling
- return w00 * matrix_32x32[idx00] + w01 * matrix_32x32[idx01] + w10 * matrix_32x32[idx10] + w11 * matrix_32x32[idx11];
- }
- const constexpr float m_infinity = -1000.f;
- /// replaces the highest number by m_infinity
- void remove_highest(float *points, const uint8_t num_points){
- if (num_points <= 0)
- return;
- float max = points[0];
- uint8_t max_i = 0;
- for (uint8_t i = 0; i < num_points; ++i){
- if (max < points[i]){
- max = points[i];
- max_i = i;
- }
- }
- points[max_i] = m_infinity;
- }
- /// return the highest number in the list
- float highest(float *points, const uint8_t num_points){
- if (num_points <= 0)
- return 0;
- float max = points[0];
- for (uint8_t i = 0; i < num_points; ++i){
- if (max < points[i]){
- max = points[i];
- }
- }
- return max;
- }
- /// Searches for circle iteratively
- /// Uses points on the perimeter. If point is high it pushes circle out of the center (shift or change of radius),
- /// otherwise to the center.
- /// Algorithm is stopped after fixed number of iterations. Move is limited to 0.5 px per iteration.
- void dynamic_circle(uint8_t *matrix_32x32, float &x, float &y, float &r, uint8_t iterations){
- /// circle of 10.5 diameter has 33 in circumference, don't go much above
- const constexpr uint8_t num_points = 33;
- float points[num_points];
- float pi_2_div_num_points = 2 * M_PI / num_points;
- const constexpr uint8_t target_z = 32; ///< target z height of the circle
- float norm;
- float angle;
- float max_val = 0.5f;
- const uint8_t blocks = 7;
- float shifts_x[blocks];
- float shifts_y[blocks];
- float shifts_r[blocks];
- for (int8_t i = iterations; i > 0; --i){
-
- // DBG(_n(" [%f, %f][%f] circle\n"), x, y, r);
- /// read points on the circle
- for (uint8_t p = 0; p < num_points; ++p){
- angle = p * pi_2_div_num_points;
- points[p] = get_value(matrix_32x32, r * cos(angle) + x, r * sin(angle) + y) - target_z;
- // DBG(_n("%f "), points[p]);
- }
- // DBG(_n(" points\n"));
- /// sum blocks
- for (uint8_t j = 0; j < blocks; ++j){
- shifts_x[j] = shifts_y[j] = shifts_r[j] = 0;
- /// first part
- for (uint8_t p = 0; p < num_points * 3 / 4; ++p){
- uint8_t idx = (p + j * num_points / blocks) % num_points;
- angle = idx * pi_2_div_num_points;
- shifts_x[j] += cos(angle) * points[idx];
- shifts_y[j] += sin(angle) * points[idx];
- shifts_r[j] += points[idx];
- }
- }
- /// remove extreme values (slow but simple)
- for (uint8_t j = 0; j < blocks / 2; ++j){
- remove_highest(shifts_x, blocks);
- remove_highest(shifts_y, blocks);
- remove_highest(shifts_r, blocks);
- }
- /// median is the highest now
- norm = 1.f / (32.f * (num_points * 3 / 4));
- x += CLAMP(highest(shifts_x, blocks) * norm, -max_val, max_val);
- y += CLAMP(highest(shifts_y, blocks) * norm, -max_val, max_val);
- r += CLAMP(highest(shifts_r, blocks) * norm, -max_val, max_val);
- r = MAX(2, r);
- }
- DBG(_n(" [%f, %f][%f] final circle\n"), x, y, r);
- }
- /// Prints matrix in hex to debug output (serial line)
- void print_image(uint8_t *matrix_32x32){
- for (uint8_t y = 0; y < 32; ++y){
- const uint16_t idx_y = y * 32;
- for (uint8_t x = 0; x < 32; ++x){
- DBG(_n("%02x"), matrix_32x32[idx_y + x]);
- }
- DBG(_n("\n"));
- }
- DBG(_n("\n"));
- }
- /// scans area around the current head location and
- /// searches for the center of the calibration pin
- bool xyzcal_scan_and_process(void){
- DBG(_n("sizeof(block_buffer)=%d\n"), sizeof(block_t)*BLOCK_BUFFER_SIZE);
- bool ret = false;
- int16_t x = _X;
- int16_t y = _Y;
- int16_t z = _Z;
- uint8_t *matrix32 = (uint8_t *)block_buffer;
- uint16_t *pattern = (uint16_t *)(matrix32 + 32 * 32);
- xyzcal_scan_pixels_32x32_Zhop(x, y, z - 72, 2400, 200, matrix32);
- print_image(matrix32);
- for (uint8_t i = 0; i < 12; i++){
- pattern[i] = pgm_read_word((uint16_t*)(xyzcal_point_pattern + i));
- // DBG(_n(" pattern[%d]=%d\n"), i, pattern[i]);
- }
-
- /// SEARCH FOR BINARY CIRCLE
- uint8_t uc = 0;
- uint8_t ur = 0;
- /// max match = 132, 1/2 good = 66, 2/3 good = 88
- if (xyzcal_find_pattern_12x12_in_32x32(matrix32, pattern, &uc, &ur) >= 88){
- /// find precise circle
- /// move to the center of the pattern (+5.5)
- float xf = uc + 5.5f;
- float yf = ur + 5.5f;
- float radius = 5; ///< 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){
- 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;
- yf = ur + 5.5f;
- }
- /// move to the center of area and convert to position
- xf = (float)x + (xf - 15.5f) * 64;
- yf = (float)y + (yf - 15.5f) * 64;
- DBG(_n(" [%f %f] mm pattern center\n"), pos_2_mm(xf), pos_2_mm(yf));
- x = round_to_i16(xf);
- y = round_to_i16(yf);
- xyzcal_lineXYZ_to(x, y, z, 200, 0);
- ret = true;
- }
- /// wipe buffer
- for (uint16_t i = 0; i < sizeof(block_t)*BLOCK_BUFFER_SIZE; i++)
- matrix32[i] = 0;
- return ret;
- }
- bool xyzcal_find_bed_induction_sensor_point_xy(void){
- bool ret = false;
- 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]);
- st_synchronize();
- pos_i16_t x = _X;
- pos_i16_t y = _Y;
- pos_i16_t z = _Z;
- 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()){
- int16_t z = _Z;
- xyzcal_lineXYZ_to(x, y, z, 200, 0);
- ret = xyzcal_scan_and_process();
- }
- xyzcal_meassure_leave();
- return ret;
- }
- #endif //NEW_XYZCAL
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