1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
|
/* sane - Scanner Access Now Easy.
Copyright (C) 2019 Povilas Kanapickas <povilas@radix.lt>
This file is part of the SANE package.
This program is free software; you can redistribute it and/or
modify it under the terms of the GNU General Public License as
published by the Free Software Foundation; either version 2 of the
License, or (at your option) any later version.
This program is distributed in the hope that it will be useful, but
WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
#define DEBUG_DECLARE_ONLY
#include "low.h"
#include "motor.h"
#include "utilities.h"
#include <cmath>
#include <numeric>
namespace genesys {
unsigned MotorSlope::get_table_step_shifted(unsigned step, StepType step_type) const
{
// first two steps are always equal to the initial speed
if (step < 2) {
return initial_speed_w >> static_cast<unsigned>(step_type);
}
step--;
float initial_speed_v = 1.0f / initial_speed_w;
float speed_v = std::sqrt(initial_speed_v * initial_speed_v + 2 * acceleration * step);
return static_cast<unsigned>(1.0f / speed_v) >> static_cast<unsigned>(step_type);
}
float compute_acceleration_for_steps(unsigned initial_w, unsigned max_w, unsigned steps)
{
float initial_speed_v = 1.0f / static_cast<float>(initial_w);
float max_speed_v = 1.0f / static_cast<float>(max_w);
return (max_speed_v * max_speed_v - initial_speed_v * initial_speed_v) / (2 * steps);
}
MotorSlope MotorSlope::create_from_steps(unsigned initial_w, unsigned max_w,
unsigned steps)
{
MotorSlope slope;
slope.initial_speed_w = initial_w;
slope.max_speed_w = max_w;
slope.acceleration = compute_acceleration_for_steps(initial_w, max_w, steps);
return slope;
}
void MotorSlopeTable::slice_steps(unsigned count, unsigned step_multiplier)
{
if (count > table.size() || count < step_multiplier) {
throw SaneException("Invalid steps count");
}
count = align_multiple_floor(count, step_multiplier);
table.resize(count);
generate_pixeltime_sum();
}
void MotorSlopeTable::expand_table(unsigned count, unsigned step_multiplier)
{
if (table.empty()) {
throw SaneException("Can't expand empty table");
}
count = align_multiple_ceil(count, step_multiplier);
table.resize(table.size() + count, table.back());
generate_pixeltime_sum();
}
void MotorSlopeTable::generate_pixeltime_sum()
{
pixeltime_sum_ = std::accumulate(table.begin(), table.end(),
std::size_t{0}, std::plus<std::size_t>());
}
unsigned get_slope_table_max_size(AsicType asic_type)
{
switch (asic_type) {
case AsicType::GL646:
case AsicType::GL841:
case AsicType::GL842: return 255;
case AsicType::GL843:
case AsicType::GL845:
case AsicType::GL846:
case AsicType::GL847:
case AsicType::GL124: return 1024;
default:
throw SaneException("Unknown asic type");
}
}
MotorSlopeTable create_slope_table_for_speed(const MotorSlope& slope, unsigned target_speed_w,
StepType step_type, unsigned steps_alignment,
unsigned min_size, unsigned max_size)
{
DBG_HELPER_ARGS(dbg, "target_speed_w: %d, step_type: %d, steps_alignment: %d, min_size: %d",
target_speed_w, static_cast<unsigned>(step_type), steps_alignment, min_size);
MotorSlopeTable table;
unsigned step_shift = static_cast<unsigned>(step_type);
unsigned target_speed_shifted_w = target_speed_w >> step_shift;
unsigned max_speed_shifted_w = slope.max_speed_w >> step_shift;
if (target_speed_shifted_w < max_speed_shifted_w) {
dbg.vlog(DBG_warn, "failed to reach target speed %d %d", target_speed_w,
slope.max_speed_w);
}
if (target_speed_shifted_w >= std::numeric_limits<std::uint16_t>::max()) {
throw SaneException("Target motor speed is too low");
}
unsigned final_speed = std::max(target_speed_shifted_w, max_speed_shifted_w);
table.table.reserve(max_size);
while (table.table.size() < max_size - 1) {
unsigned current = slope.get_table_step_shifted(table.table.size(), step_type);
if (current <= final_speed) {
break;
}
table.table.push_back(current);
}
// make sure the target speed (or the max speed if target speed is too high) is present in
// the table
table.table.push_back(final_speed);
// fill the table up to the specified size
while (table.table.size() < max_size - 1 &&
(table.table.size() % steps_alignment != 0 || table.table.size() < min_size))
{
table.table.push_back(table.table.back());
}
table.generate_pixeltime_sum();
return table;
}
std::ostream& operator<<(std::ostream& out, const MotorSlope& slope)
{
out << "MotorSlope{\n"
<< " initial_speed_w: " << slope.initial_speed_w << '\n'
<< " max_speed_w: " << slope.max_speed_w << '\n'
<< " a: " << slope.acceleration << '\n'
<< '}';
return out;
}
std::ostream& operator<<(std::ostream& out, const MotorProfile& profile)
{
out << "MotorProfile{\n"
<< " max_exposure: " << profile.max_exposure << '\n'
<< " step_type: " << profile.step_type << '\n'
<< " motor_vref: " << profile.motor_vref << '\n'
<< " resolutions: " << format_indent_braced_list(4, profile.resolutions) << '\n'
<< " scan_methods: " << format_indent_braced_list(4, profile.scan_methods) << '\n'
<< " slope: " << format_indent_braced_list(4, profile.slope) << '\n'
<< '}';
return out;
}
std::ostream& operator<<(std::ostream& out, const Genesys_Motor& motor)
{
out << "Genesys_Motor{\n"
<< " id: " << motor.id << '\n'
<< " base_ydpi: " << motor.base_ydpi << '\n'
<< " profiles: "
<< format_indent_braced_list(4, format_vector_indent_braced(4, "MotorProfile",
motor.profiles)) << '\n'
<< " fast_profiles: "
<< format_indent_braced_list(4, format_vector_indent_braced(4, "MotorProfile",
motor.fast_profiles)) << '\n'
<< '}';
return out;
}
} // namespace genesys
|
