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Calibration: adapt for M92 PFW-1181 #2963

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Calibration: adapt for M92 PFW-1181 #2963

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e4e1eca
Start conversion to 32b
espr14 Jan 12, 2021
1d2c52c
Finish 32b positioning
espr14 Jan 12, 2021
8a8682b
Fix bugs
espr14 Jan 12, 2021
8373a64
Remove extra move
espr14 Jan 12, 2021
ec14abc
Fix spirals
espr14 Jan 13, 2021
9a60439
Change spiral to 32b
espr14 Jan 13, 2021
e6b9b60
Fix spiral radius
espr14 Jan 13, 2021
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40 changes: 40 additions & 0 deletions Firmware/sm4.c
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Original file line number Diff line number Diff line change
Expand Up @@ -191,5 +191,45 @@ uint16_t sm4_line_xyze_ui(uint16_t dx, uint16_t dy, uint16_t dz, uint16_t de)
return nd;
}

/// Move to position specified in microsteps
uint32_t sm4_line_xyze_32(int32_t dx, int32_t dy, int32_t dz){
int32_t dd = (int32_t)(sqrt((float)dx*dx + (float)dy*dy + (float)dz*dz) + 0.5);
int32_t nd = dd;
int32_t cx = dd;
int32_t cy = dd;
int32_t cz = dd;
int32_t x = 0;
int32_t y = 0;
int32_t z = 0;
while (nd){
if (sm4_stop_cb && (*sm4_stop_cb)()) break;
uint8_t sm = 0; //step mask
if (cx <= dx){
sm |= 1;
cx += dd;
x++;
}
if (cy <= dy){
sm |= 2;
cy += dd;
y++;
}
if (cz <= dz){
sm |= 4;
cz += dd;
z++;
}
cx -= dx;
cy -= dy;
cz -= dz;
sm4_do_step(sm);
uint16_t delay = SM4_DEFDELAY;
if (sm4_calc_delay_cb) delay = (*sm4_calc_delay_cb)(nd, dd);
if (delay) delayMicroseconds(delay);
nd--;
}
if (sm4_update_pos_cb) (*sm4_update_pos_cb)(x, y, z, 0);
return nd;
}

#endif //NEW_XYZCAL
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