1 /* sane - Scanner Access Now Easy.
2
3 Copyright (C) 2019 Povilas Kanapickas <povilas@radix.lt>
4
5 This file is part of the SANE package.
6
7 This program is free software; you can redistribute it and/or
8 modify it under the terms of the GNU General Public License as
9 published by the Free Software Foundation; either version 2 of the
10 License, or (at your option) any later version.
11
12 This program is distributed in the hope that it will be useful, but
13 WITHOUT ANY WARRANTY; without even the implied warranty of
14 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
15 General Public License for more details.
16
17 You should have received a copy of the GNU General Public License
18 along with this program. If not, see <https://www.gnu.org/licenses/>.
19
20 As a special exception, the authors of SANE give permission for
21 additional uses of the libraries contained in this release of SANE.
22
23 The exception is that, if you link a SANE library with other files
24 to produce an executable, this does not by itself cause the
25 resulting executable to be covered by the GNU General Public
26 License. Your use of that executable is in no way restricted on
27 account of linking the SANE library code into it.
28
29 This exception does not, however, invalidate any other reasons why
30 the executable file might be covered by the GNU General Public
31 License.
32
33 If you submit changes to SANE to the maintainers to be included in
34 a subsequent release, you agree by submitting the changes that
35 those changes may be distributed with this exception intact.
36
37 If you write modifications of your own for SANE, it is your choice
38 whether to permit this exception to apply to your modifications.
39 If you do not wish that, delete this exception notice.
40 */
41
42 #define DEBUG_DECLARE_ONLY
43
44 #include "low.h"
45 #include "motor.h"
46 #include "utilities.h"
47 #include <cmath>
48 #include <numeric>
49
50 namespace genesys {
51
get_table_step_shifted(unsigned step,StepType step_type) const52 unsigned MotorSlope::get_table_step_shifted(unsigned step, StepType step_type) const
53 {
54 // first two steps are always equal to the initial speed
55 if (step < 2) {
56 return initial_speed_w >> static_cast<unsigned>(step_type);
57 }
58 step--;
59
60 float initial_speed_v = 1.0f / initial_speed_w;
61 float speed_v = std::sqrt(initial_speed_v * initial_speed_v + 2 * acceleration * step);
62 return static_cast<unsigned>(1.0f / speed_v) >> static_cast<unsigned>(step_type);
63 }
64
compute_acceleration_for_steps(unsigned initial_w,unsigned max_w,unsigned steps)65 float compute_acceleration_for_steps(unsigned initial_w, unsigned max_w, unsigned steps)
66 {
67 float initial_speed_v = 1.0f / static_cast<float>(initial_w);
68 float max_speed_v = 1.0f / static_cast<float>(max_w);
69 return (max_speed_v * max_speed_v - initial_speed_v * initial_speed_v) / (2 * steps);
70 }
71
72
create_from_steps(unsigned initial_w,unsigned max_w,unsigned steps)73 MotorSlope MotorSlope::create_from_steps(unsigned initial_w, unsigned max_w,
74 unsigned steps)
75 {
76 MotorSlope slope;
77 slope.initial_speed_w = initial_w;
78 slope.max_speed_w = max_w;
79 slope.acceleration = compute_acceleration_for_steps(initial_w, max_w, steps);
80 return slope;
81 }
82
slice_steps(unsigned count,unsigned step_multiplier)83 void MotorSlopeTable::slice_steps(unsigned count, unsigned step_multiplier)
84 {
85 if (count > table.size() || count < step_multiplier) {
86 throw SaneException("Invalid steps count");
87 }
88 count = align_multiple_floor(count, step_multiplier);
89 table.resize(count);
90 generate_pixeltime_sum();
91 }
92
expand_table(unsigned count,unsigned step_multiplier)93 void MotorSlopeTable::expand_table(unsigned count, unsigned step_multiplier)
94 {
95 if (table.empty()) {
96 throw SaneException("Can't expand empty table");
97 }
98 count = align_multiple_ceil(count, step_multiplier);
99 table.resize(table.size() + count, table.back());
100 generate_pixeltime_sum();
101 }
102
generate_pixeltime_sum()103 void MotorSlopeTable::generate_pixeltime_sum()
104 {
105 pixeltime_sum_ = std::accumulate(table.begin(), table.end(),
106 std::size_t{0}, std::plus<std::size_t>());
107 }
108
get_slope_table_max_size(AsicType asic_type)109 unsigned get_slope_table_max_size(AsicType asic_type)
110 {
111 switch (asic_type) {
112 case AsicType::GL646:
113 case AsicType::GL841:
114 case AsicType::GL842: return 255;
115 case AsicType::GL843:
116 case AsicType::GL845:
117 case AsicType::GL846:
118 case AsicType::GL847:
119 case AsicType::GL124: return 1024;
120 default:
121 throw SaneException("Unknown asic type");
122 }
123 }
124
create_slope_table_for_speed(const MotorSlope & slope,unsigned target_speed_w,StepType step_type,unsigned steps_alignment,unsigned min_size,unsigned max_size)125 MotorSlopeTable create_slope_table_for_speed(const MotorSlope& slope, unsigned target_speed_w,
126 StepType step_type, unsigned steps_alignment,
127 unsigned min_size, unsigned max_size)
128 {
129 DBG_HELPER_ARGS(dbg, "target_speed_w: %d, step_type: %d, steps_alignment: %d, min_size: %d",
130 target_speed_w, static_cast<unsigned>(step_type), steps_alignment, min_size);
131 MotorSlopeTable table;
132
133 unsigned step_shift = static_cast<unsigned>(step_type);
134
135 unsigned target_speed_shifted_w = target_speed_w >> step_shift;
136 unsigned max_speed_shifted_w = slope.max_speed_w >> step_shift;
137
138 if (target_speed_shifted_w < max_speed_shifted_w) {
139 dbg.log(DBG_warn, "failed to reach target speed");
140 }
141
142 if (target_speed_shifted_w >= std::numeric_limits<std::uint16_t>::max()) {
143 throw SaneException("Target motor speed is too low");
144 }
145
146 unsigned final_speed = std::max(target_speed_shifted_w, max_speed_shifted_w);
147
148 table.table.reserve(max_size);
149
150 while (table.table.size() < max_size - 1) {
151 unsigned current = slope.get_table_step_shifted(table.table.size(), step_type);
152 if (current <= final_speed) {
153 break;
154 }
155 table.table.push_back(current);
156 }
157
158 // make sure the target speed (or the max speed if target speed is too high) is present in
159 // the table
160 table.table.push_back(final_speed);
161
162 // fill the table up to the specified size
163 while (table.table.size() < max_size - 1 &&
164 (table.table.size() % steps_alignment != 0 || table.table.size() < min_size))
165 {
166 table.table.push_back(table.table.back());
167 }
168
169 table.generate_pixeltime_sum();
170
171 return table;
172 }
173
operator <<(std::ostream & out,const MotorSlope & slope)174 std::ostream& operator<<(std::ostream& out, const MotorSlope& slope)
175 {
176 out << "MotorSlope{\n"
177 << " initial_speed_w: " << slope.initial_speed_w << '\n'
178 << " max_speed_w: " << slope.max_speed_w << '\n'
179 << " a: " << slope.acceleration << '\n'
180 << '}';
181 return out;
182 }
183
operator <<(std::ostream & out,const MotorProfile & profile)184 std::ostream& operator<<(std::ostream& out, const MotorProfile& profile)
185 {
186 out << "MotorProfile{\n"
187 << " max_exposure: " << profile.max_exposure << '\n'
188 << " step_type: " << profile.step_type << '\n'
189 << " motor_vref: " << profile.motor_vref << '\n'
190 << " resolutions: " << format_indent_braced_list(4, profile.resolutions) << '\n'
191 << " scan_methods: " << format_indent_braced_list(4, profile.scan_methods) << '\n'
192 << " slope: " << format_indent_braced_list(4, profile.slope) << '\n'
193 << '}';
194 return out;
195 }
196
operator <<(std::ostream & out,const Genesys_Motor & motor)197 std::ostream& operator<<(std::ostream& out, const Genesys_Motor& motor)
198 {
199 out << "Genesys_Motor{\n"
200 << " id: " << motor.id << '\n'
201 << " base_ydpi: " << motor.base_ydpi << '\n'
202 << " profiles: "
203 << format_indent_braced_list(4, format_vector_indent_braced(4, "MotorProfile",
204 motor.profiles)) << '\n'
205 << " fast_profiles: "
206 << format_indent_braced_list(4, format_vector_indent_braced(4, "MotorProfile",
207 motor.fast_profiles)) << '\n'
208 << '}';
209 return out;
210 }
211
212 } // namespace genesys
213