kopia lustrzana https://gitlab.com/sane-project/backends
178 wiersze
5.8 KiB
C++
178 wiersze
5.8 KiB
C++
/* sane - Scanner Access Now Easy.
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Copyright (C) 2019 Povilas Kanapickas <povilas@radix.lt>
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This file is part of the SANE package.
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This program is free software; you can redistribute it and/or
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modify it under the terms of the GNU General Public License as
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published by the Free Software Foundation; either version 2 of the
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License, or (at your option) any later version.
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This program is distributed in the hope that it will be useful, but
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WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place - Suite 330, Boston,
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MA 02111-1307, USA.
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As a special exception, the authors of SANE give permission for
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additional uses of the libraries contained in this release of SANE.
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The exception is that, if you link a SANE library with other files
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to produce an executable, this does not by itself cause the
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resulting executable to be covered by the GNU General Public
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License. Your use of that executable is in no way restricted on
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account of linking the SANE library code into it.
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This exception does not, however, invalidate any other reasons why
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the executable file might be covered by the GNU General Public
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License.
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If you submit changes to SANE to the maintainers to be included in
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a subsequent release, you agree by submitting the changes that
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those changes may be distributed with this exception intact.
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If you write modifications of your own for SANE, it is your choice
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whether to permit this exception to apply to your modifications.
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If you do not wish that, delete this exception notice.
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*/
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#ifndef BACKEND_GENESYS_MOTOR_H
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#define BACKEND_GENESYS_MOTOR_H
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#include <cstdint>
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#include <vector>
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#include "enums.h"
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namespace genesys {
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/* Describes a motor acceleration curve.
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Definitions:
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v - speed in steps per pixeltime
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w - speed in pixel times per step. w = 1 / v
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a - acceleration in steps per pixeltime squared
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s - distance travelled in steps
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t - time in pixeltime
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The physical mode defines the curve in physical quantities. We asssume that the scanner head
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accelerates from standstill to the target speed uniformly. Then:
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v(t) = v(0) + a * t (2)
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Where `a` is acceleration, `t` is time. Also we can calculate the travelled distance `s`:
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s(t) = v(0) * t + a * t^2 / 2 (3)
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The actual motor slope is defined as the duration of each motor step. That means we need to
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define speed in terms of travelled distance.
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Solving (3) for `t` gives:
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sqrt( v(0)^2 + 2 * a * s ) - v(0)
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t(s) = --------------------------------- (4)
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a
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Combining (4) and (2) will yield:
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v(s) = sqrt( v(0)^2 + 2 * a * s ) (5)
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The data in the slope struct MotorSlope corresponds to the above in the following way:
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maximum_start_speed is `w(0) = 1/v(0)`
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maximum_speed is defines maximum speed which should not be exceeded
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minimum_steps is not used
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g is `a`
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Given the start and target speeds on a known motor curve, `a` can be computed as follows:
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v(t1)^2 - v(t0)^2
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a = ----------------- (6)
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2 * s
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Here `v(t0)` and `v(t1)` are the start and target speeds and `s` is the number of step required
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to reach the target speeds.
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*/
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struct MotorSlope
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{
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// initial speed in pixeltime per step
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unsigned initial_speed_w = 0;
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// max speed in pixeltime per step
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unsigned max_speed_w = 0;
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// maximum number of steps in the table
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unsigned max_step_count;
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// acceleration in steps per pixeltime squared.
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float acceleration = 0;
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unsigned get_table_step_shifted(unsigned step, StepType step_type) const;
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static MotorSlope create_from_steps(unsigned initial_w, unsigned max_w,
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unsigned steps);
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};
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struct MotorSlopeTable
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{
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std::vector<std::uint16_t> table;
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unsigned steps_count = 0;
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unsigned pixeltime_sum = 0;
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void slice_steps(unsigned count);
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};
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unsigned get_slope_table_max_size(AsicType asic_type);
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MotorSlopeTable create_slope_table(const MotorSlope& slope, unsigned target_speed_w,
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StepType step_type, unsigned steps_alignment,
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unsigned min_size, unsigned max_size);
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std::ostream& operator<<(std::ostream& out, const MotorSlope& slope);
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struct Genesys_Motor
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{
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Genesys_Motor() = default;
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// id of the motor description
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MotorId id = MotorId::UNKNOWN;
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// motor base steps. Unit: 1/inch
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int base_ydpi = 0;
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// maximum resolution in y-direction. Unit: 1/inch
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int optical_ydpi = 0;
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// slopes to derive individual slopes from
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std::vector<MotorSlope> slopes;
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MotorSlope& get_slope(StepType step_type)
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{
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return slopes[static_cast<unsigned>(step_type)];
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}
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const MotorSlope& get_slope(StepType step_type) const
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{
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return slopes[static_cast<unsigned>(step_type)];
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}
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StepType max_step_type() const
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{
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if (slopes.empty()) {
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throw std::runtime_error("Slopes table is empty");
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}
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return static_cast<StepType>(slopes.size() - 1);
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}
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};
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std::ostream& operator<<(std::ostream& out, const Genesys_Motor& motor);
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} // namespace genesys
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#endif // BACKEND_GENESYS_MOTOR_H
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