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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])
- #define _PI 3.14159265F
- 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);
- 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
- 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;
- }
- 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
- uint8_t n = 0; //point number
- 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);
- 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)_PI / 180;
- float _cos = cos(ar);
- float _sin = sin(ar);
- int x = (int)(cx + (_cos * r));
- int y = (int)(cy + (_sin * 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;
- }
- n++;
- ad += dad;
- }
- if (pad) *pad = ad;
- 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
- 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)
- {
- DBG(_n("xyzcal_scan_pixels_32x32 cx=%d cy=%d min_z=%d max_z=%d\n"), cx, cy, min_z, max_z);
- // xyzcal_lineXYZ_to(cx - 1024, cy - 1024, max_z, 2*delay_us, 0);
- // xyzcal_lineXYZ_to(cx, cy, max_z, delay_us, 0);
- int16_t z = (int16_t)count_position[2];
- xyzcal_lineXYZ_to(cx, cy, z, 2*delay_us, 0);
- for (uint8_t r = 0; r < 32; r++)
- {
- // int8_t _pinda = _PINDA;
- xyzcal_lineXYZ_to((r&1)?(cx+1024):(cx-1024), cy - 1024 + r*64, z, 2*delay_us, 0);
- xyzcal_lineXYZ_to(_X, _Y, min_z, delay_us, 1);
- xyzcal_lineXYZ_to(_X, _Y, max_z, delay_us, -1);
- z = (int16_t)count_position[2];
- sm4_set_dir(X_AXIS, (r&1)?1:0);
- for (uint8_t c = 0; c < 32; c++)
- {
- uint16_t sum = 0;
- int16_t z_sum = 0;
- for (uint8_t i = 0; i < 64; i++)
- {
- int8_t pinda = _PINDA;
- int16_t pix = z - min_z;
- pix += (pinda)?23:-24;
- if (pix < 0) pix = 0;
- if (pix > 255) pix = 255;
- sum += pix;
- z_sum += z;
- // if (_pinda != pinda)
- // {
- // if (pinda)
- // DBG(_n("!1 x=%d z=%d\n"), c*64+i, z+23);
- // else
- // DBG(_n("!0 x=%d z=%d\n"), c*64+i, z-24);
- // }
- sm4_set_dir(Z_AXIS, !pinda);
- if (!pinda)
- {
- if (z > min_z)
- {
- sm4_do_step(Z_AXIS_MASK);
- z--;
- }
- }
- else
- {
- if (z < max_z)
- {
- sm4_do_step(Z_AXIS_MASK);
- z++;
- }
- }
- sm4_do_step(X_AXIS_MASK);
- delayMicroseconds(600);
- // _pinda = pinda;
- }
- sum >>= 6; //div 64
- if (z_sum < 0)
- {
- z_sum = -z_sum;
- z_sum >>= 6; //div 64
- z_sum = -z_sum;
- }
- else
- 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[1];
- uint8_t max_l = 1;
- 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 = 14; l > 8; l--)
- if (histo[l] >= 10)
- break;
- uint8_t pix_min = 0;
- uint8_t pix_max = l << 4;
- if (histo[0] < (32*32 - 144))
- {
- pix_min = (max_l << 4) / 2;
- }
- 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 = 16;
- 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;
- }
- #define MAX_DIAMETR 600
- #define XYZCAL_FIND_CENTER_DIAGONAL
- int8_t xyzcal_find_point_center2A(int16_t x0, int16_t y0, int16_t z0, uint16_t delay_us);
- int8_t xyzcal_find_point_center2(uint16_t delay_us)
- {
- printf_P(PSTR("xyzcal_find_point_center2\n"));
- int16_t x0 = _X;
- int16_t y0 = _Y;
- int16_t z0 = _Z;
- printf_P(PSTR(" x0=%d\n"), x0);
- printf_P(PSTR(" y0=%d\n"), y0);
- printf_P(PSTR(" z0=%d\n"), z0);
- xyzcal_lineXYZ_to(_X, _Y, z0 + 400, 500, -1);
- xyzcal_lineXYZ_to(_X, _Y, z0 - 400, 500, 1);
- xyzcal_lineXYZ_to(_X, _Y, z0 + 400, 500, -1);
- xyzcal_lineXYZ_to(_X, _Y, z0 - 400, 500, 1);
- if (has_temperature_compensation()){
- z0 = _Z - 20; // normal PINDA
- return xyzcal_find_point_center2A(x0, y0, z0, delay_us);
- } else {
- // try searching harder, each PINDA is different
- for(z0 = _Z - 20; z0 <= _Z + 140; z0 += 20 ){ // alternate PINDA
- int8_t rv = xyzcal_find_point_center2A(x0, y0, z0, delay_us);
- printf_P(PSTR(" z0=%d"), z0);
- if( rv != 0 ){
- printf_P(PSTR("ok\n"));
- return rv;
- } else {
- printf_P(PSTR("fail\n"));
- }
- }
- }
- }
- int8_t xyzcal_find_point_center2A(int16_t x0, int16_t y0, int16_t z0, uint16_t delay_us){
- xyzcal_lineXYZ_to(_X, _Y, z0, 500, 0);
- // xyzcal_lineXYZ_to(x0, y0, z0 - 100, 500, 1);
- // z0 = _Z;
- // printf_P(PSTR(" z0=%d\n"), z0);
- // xyzcal_lineXYZ_to(x0, y0, z0 + 100, 500, -1);
- // z0 += _Z;
- // z0 /= 2;
- printf_P(PSTR(" z0=%d\n"), z0);
- // xyzcal_lineXYZ_to(x0, y0, z0 - 100, 500, 1);
- // z0 = _Z - 10;
- int8_t ret = 1;
- #ifdef XYZCAL_FIND_CENTER_DIAGONAL
- int32_t xc = 0;
- int32_t yc = 0;
- int16_t ad = 45;
- for (; ad < 360; ad += 90)
- {
- float ar = (float)ad * _PI / 180;
- int16_t x = x0 + MAX_DIAMETR * cos(ar);
- int16_t y = y0 + MAX_DIAMETR * sin(ar);
- if (!xyzcal_lineXYZ_to(x, y, z0, delay_us, -1))
- {
- printf_P(PSTR("ERROR ad=%d\n"), ad);
- ret = 0;
- break;
- }
- xc += _X;
- yc += _Y;
- xyzcal_lineXYZ_to(x0, y0, z0, delay_us, 0);
- }
- if (ret)
- {
- printf_P(PSTR("OK\n"), ad);
- x0 = xc / 4;
- y0 = yc / 4;
- printf_P(PSTR(" x0=%d\n"), x0);
- printf_P(PSTR(" y0=%d\n"), y0);
- }
- #else //XYZCAL_FIND_CENTER_DIAGONAL
- xyzcal_lineXYZ_to(x0 - MAX_DIAMETR, y0, z0, delay_us, -1);
- int16_t dx1 = x0 - _X;
- if (dx1 >= MAX_DIAMETR)
- {
- printf_P(PSTR("!!! dx1 = %d\n"), dx1);
- return 0;
- }
- xyzcal_lineXYZ_to(x0, y0, z0, delay_us, 0);
- xyzcal_lineXYZ_to(x0 + MAX_DIAMETR, y0, z0, delay_us, -1);
- int16_t dx2 = _X - x0;
- if (dx2 >= MAX_DIAMETR)
- {
- printf_P(PSTR("!!! dx2 = %d\n"), dx2);
- return 0;
- }
- xyzcal_lineXYZ_to(x0, y0, z0, delay_us, 0);
- xyzcal_lineXYZ_to(x0 , y0 - MAX_DIAMETR, z0, delay_us, -1);
- int16_t dy1 = y0 - _Y;
- if (dy1 >= MAX_DIAMETR)
- {
- printf_P(PSTR("!!! dy1 = %d\n"), dy1);
- return 0;
- }
- xyzcal_lineXYZ_to(x0, y0, z0, delay_us, 0);
- xyzcal_lineXYZ_to(x0, y0 + MAX_DIAMETR, z0, delay_us, -1);
- int16_t dy2 = _Y - y0;
- if (dy2 >= MAX_DIAMETR)
- {
- printf_P(PSTR("!!! dy2 = %d\n"), dy2);
- return 0;
- }
- printf_P(PSTR("dx1=%d\n"), dx1);
- printf_P(PSTR("dx2=%d\n"), dx2);
- printf_P(PSTR("dy1=%d\n"), dy1);
- printf_P(PSTR("dy2=%d\n"), dy2);
- x0 += (dx2 - dx1) / 2;
- y0 += (dy2 - dy1) / 2;
- printf_P(PSTR(" x0=%d\n"), x0);
- printf_P(PSTR(" y0=%d\n"), y0);
- #endif //XYZCAL_FIND_CENTER_DIAGONAL
- xyzcal_lineXYZ_to(x0, y0, z0, delay_us, 0);
- return ret;
- }
- #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 == 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;
- }
- 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 - 72, 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((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((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);
- if (xyzcal_scan_and_process())
- {
- if (xyzcal_find_point_center2(500))
- {
- uint32_t x_avg = 0;
- uint32_t y_avg = 0;
- uint8_t n; for (n = 0; n < 4; n++)
- {
- if (!xyzcal_find_point_center2(1000)) break;
- x_avg += _X;
- y_avg += _Y;
- }
- if (n == 4)
- {
- xyzcal_lineXYZ_to(x_avg >> 2, y_avg >> 2, _Z, 200, 0);
- ret = true;
- }
- }
- }
- }
- xyzcal_meassure_leave();
- return ret;
- }
- #endif //NEW_XYZCAL
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