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
193
194
195
196
197
198
|
/* 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/>.
*/
#ifndef BACKEND_GENESYS_MOTOR_H
#define BACKEND_GENESYS_MOTOR_H
#include <algorithm>
#include <cstdint>
#include <vector>
#include "enums.h"
#include "sensor.h"
#include "value_filter.h"
namespace genesys {
/* Describes a motor acceleration curve.
Definitions:
v - speed in steps per pixeltime
w - speed in pixel times per step. w = 1 / v
a - acceleration in steps per pixeltime squared
s - distance travelled in steps
t - time in pixeltime
The physical mode defines the curve in physical quantities. We assume that the scanner head
accelerates from standstill to the target speed uniformly. Then:
v(t) = v(0) + a * t (2)
Where `a` is acceleration, `t` is time. Also we can calculate the travelled distance `s`:
s(t) = v(0) * t + a * t^2 / 2 (3)
The actual motor slope is defined as the duration of each motor step. That means we need to
define speed in terms of travelled distance.
Solving (3) for `t` gives:
sqrt( v(0)^2 + 2 * a * s ) - v(0)
t(s) = --------------------------------- (4)
a
Combining (4) and (2) will yield:
v(s) = sqrt( v(0)^2 + 2 * a * s ) (5)
The data in the slope struct MotorSlope corresponds to the above in the following way:
maximum_start_speed is `w(0) = 1/v(0)`
maximum_speed is defines maximum speed which should not be exceeded
minimum_steps is not used
g is `a`
Given the start and target speeds on a known motor curve, `a` can be computed as follows:
v(t1)^2 - v(t0)^2
a = ----------------- (6)
2 * s
Here `v(t0)` and `v(t1)` are the start and target speeds and `s` is the number of step required
to reach the target speeds.
*/
struct MotorSlope
{
// initial speed in pixeltime per step
unsigned initial_speed_w = 0;
// max speed in pixeltime per step
unsigned max_speed_w = 0;
// maximum number of steps in the table
unsigned max_step_count;
// acceleration in steps per pixeltime squared.
float acceleration = 0;
unsigned get_table_step_shifted(unsigned step, StepType step_type) const;
static MotorSlope create_from_steps(unsigned initial_w, unsigned max_w,
unsigned steps);
};
struct MotorSlopeTable
{
std::vector<std::uint16_t> table;
void slice_steps(unsigned count, unsigned step_multiplier);
// expands the table by the given number of steps
void expand_table(unsigned count, unsigned step_multiplier);
std::uint64_t pixeltime_sum() const { return pixeltime_sum_; }
void generate_pixeltime_sum();
private:
std::uint64_t pixeltime_sum_ = 0;
};
unsigned get_slope_table_max_size(AsicType 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);
std::ostream& operator<<(std::ostream& out, const MotorSlope& slope);
struct MotorProfile
{
MotorProfile() = default;
MotorProfile(const MotorSlope& a_slope, StepType a_step_type, unsigned a_max_exposure) :
slope{a_slope}, step_type{a_step_type}, max_exposure{a_max_exposure}
{}
MotorSlope slope;
StepType step_type = StepType::FULL;
int motor_vref = -1;
// the resolutions this profile is good for
ValueFilterAny<unsigned> resolutions = VALUE_FILTER_ANY;
// the scan method this profile is good for. If the list is empty, good for any method.
ValueFilterAny<ScanMethod> scan_methods = VALUE_FILTER_ANY;
unsigned max_exposure = 0; // 0 - any exposure
};
std::ostream& operator<<(std::ostream& out, const MotorProfile& profile);
struct Genesys_Motor
{
Genesys_Motor() = default;
// id of the motor description
MotorId id = MotorId::UNKNOWN;
// motor base steps. Unit: 1/inch
int base_ydpi = 0;
// slopes to derive individual slopes from
std::vector<MotorProfile> profiles;
// slopes to derive individual slopes from for fast moving
std::vector<MotorProfile> fast_profiles;
MotorSlope& get_slope_with_step_type(StepType step_type)
{
for (auto& p : profiles) {
if (p.step_type == step_type)
return p.slope;
}
throw SaneException("No motor profile with step type");
}
const MotorSlope& get_slope_with_step_type(StepType step_type) const
{
for (const auto& p : profiles) {
if (p.step_type == step_type)
return p.slope;
}
throw SaneException("No motor profile with step type");
}
StepType max_step_type() const
{
if (profiles.empty()) {
throw std::runtime_error("Profiles table is empty");
}
StepType step_type = StepType::FULL;
for (const auto& p : profiles) {
step_type = static_cast<StepType>(
std::max(static_cast<unsigned>(step_type),
static_cast<unsigned>(p.step_type)));
}
return step_type;
}
};
std::ostream& operator<<(std::ostream& out, const Genesys_Motor& motor);
} // namespace genesys
#endif // BACKEND_GENESYS_MOTOR_H
|
