#include "math/fix_math.h" 

/* Auto gen by my tools, and use matlab to desing a FIR filter-(MC100/Simulink/Fir_angle.m) */
/* Matlib Command: Fir=Fir_angle; angle_off=filter(Fir.Numerator, 1, angle_in); */
/* angle_in is the data, by plot MC_tools */
/* Use angle_out=single(angle_off) convert double to float */

#define FIR_PHASE_SHIFT 542
const static s16q10_t _encoder_off_map[] = {
-119,-112,-105,-99,-92,-85,-78,-72,-65,-59,-52,-46,-40,-34,-28,-22,
-16,-10,-4,0,6,11,17,22,27,32,37,42,47,51,56,60,65,69,73,77,
80,84,88,91,94,98,101,104,106,109,111,114,116,118,120,122,124,125,126,128,
129,130,130,131,132,132,132,132,132,131,131,130,129,128,127,126,124,123,121,119,
116,114,112,109,106,103,99,96,92,88,84,80,76,71,66,61,56,51,45,40,
34,28,21,15,8,1,-5,-12,-20,-27,-35,-43,-52,-60,-69,-78,-87,-96,-106,-116,
-126,-136,-146,-157,-167,-178,-189,-201,-212,-224,-236,-248,-261,-273,-286,-299,-312,-326,-339,-353,
-367,-382,-396,-411,-425,-441,-456,-471,-487,-503,-519,-535,-552,-568,-585,-602,-620,-637,-655,-673,
-691,-709,-727,-746,-765,-784,-803,-822,-842,-862,-882,-902,-922,-943,-963,-984,-1005,-1027,-1048,-1070,
-1091,-1113,-1135,-1158,-1180,-1203,-1225,-1248,-1271,-1295,-1318,-1342,-1365,-1389,-1413,-1437,-1462,-1486,-1511,-1535,
-1560,-1585,-1611,-1636,-1661,-1687,-1712,-1738,-1764,-1790,-1816,-1843,-1869,-1895,-1922,-1949,-1976,-2002,-2029,-2057,
-2084,-2111,-2138,-2166,-2193,-2221,-2249,-2276,-2304,-2332,-2360,-2388,-2416,-2444,-2473,-2501,-2529,-2558,-2586,-2615,
-2643,-2672,-2700,-2729,-2757,-2786,-2815,-2843,-2872,-2901,-2930,-2958,-2987,-3016,-3045,-3073,-3102,-3131,-3159,-3188,
-3217,-3245,-3274,-3303,-3331,-3360,-3388,-3417,-3445,-3473,-3502,-3530,-3558,-3586,-3614,-3642,-3670,-3698,-3726,-3754,
-3781,-3809,-3836,-3864,-3891,-3918,-3945,-3972,-3999,-4026,-4052,-4079,-4105,-4132,-4158,-4184,-4210,-4236,-4261,-4287,
-4312,-4338,-4363,-4388,-4413,-4437,-4462,-4486,-4511,-4535,-4559,-4582,-4606,-4629,-4653,-4676,-4699,-4721,-4744,-4766,
-4788,-4810,-4832,-4854,-4875,-4896,-4917,-4938,-4959,-4979,-4999,-5019,-5039,-5058,-5078,-5097,-5116,-5134,-5153,-5171,
-5189,-5207,-5224,-5242,-5259,-5276,-5292,-5309,-5325,-5341,-5356,-5372,-5387,-5402,-5417,-5431,-5445,-5459,-5473,-5486,
-5499,-5512,-5525,-5537,-5549,-5561,-5573,-5584,-5595,-5606,-5617,-5627,-5637,-5647,-5656,-5665,-5674,-5683,-5691,-5700,
-5708,-5715,-5722,-5729,-5736,-5743,-5749,-5755,-5761,-5766,-5771,-5776,-5781,-5785,-5789,-5793,-5796,-5799,-5802,-5805,
-5807,-5809,-5811,-5813,-5814,-5815,-5815,-5816,-5816,-5816,-5815,-5815,-5814,-5813,-5811,-5809,-5807,-5805,-5802,-5799,
-5796,-5793,-5789,-5785,-5781,-5776,-5771,-5766,-5761,-5755,-5750,-5743,-5737,-5730,-5724,-5716,-5709,-5701,-5693,-5685,
-5677,-5668,-5659,-5650,-5640,-5630,-5620,-5610,-5600,-5589,-5578,-5567,-5555,-5544,-5532,-5520,-5507,-5494,-5482,-5468,
-5455,-5442,-5428,-5414,-5399,-5385,-5370,-5355,-5340,-5325,-5309,-5293,-5277,-5261,-5245,-5228,-5211,-5194,-5177,-5160,
-5142,-5124,-5106,-5088,-5070,-5051,-5032,-5013,-4994,-4975,-4956,-4936,-4916,-4896,-4876,-4856,-4835,-4815,-4794,-4773,
-4752,-4731,-4709,-4688,-4666,-4644,-4622,-4600,-4578,-4556,-4533,-4511,-4488,-4465,-4442,-4419,-4396,-4373,-4349,-4326,
-4302,-4279,-4255,-4231,-4207,-4183,-4159,-4135,-4110,-4086,-4061,-4037,-4012,-3988,-3963,-3938,-3913,-3888,-3863,-3838,
-3813,-3788,-3763,-3738,-3713,-3688,-3662,-3637,-3612,-3586,-3561,-3536,-3510,-3485,-3459,-3434,-3408,-3383,-3358,-3332,
-3307,-3281,-3256,-3231,-3205,-3180,-3155,-3129,-3104,-3079,-3054,-3029,-3003,-2978,-2953,-2928,-2903,-2879,-2854,-2829,
-2804,-2780,-2755,-2730,-2706,-2682,-2657,-2633,-2609,-2585,-2561,-2537,-2513,-2489,-2466,-2442,-2418,-2395,-2372,-2349,
-2326,-2303,-2280,-2257,-2234,-2212,-2189,-2167,-2145,-2123,-2101,-2079,-2057,-2036,-2014,-1993,-1972,-1951,-1930,-1909,
-1888,-1868,-1847,-1827,-1807,-1787,-1767,-1747,-1728,-1708,-1689,-1670,-1651,-1632,-1614,-1595,-1577,-1559,-1541,-1523,
-1505,-1488,-1470,-1453,-1436,-1419,-1402,-1386,-1369,-1353,-1337,-1321,-1305,-1290,-1274,-1259,-1244,-1229,-1214,-1200,
-1185,-1171,-1157,-1143,-1130,-1116,-1103,-1089,-1076,-1064,-1051,-1038,-1026,-1014,-1002,-990,-978,-967,-956,-944,
-934,-923,-912,-902,-891,-881,-871,-862,-852,-843,-833,-824,-815,-806,-798,-789,-781,-773,-765,-757,
-750,-742,-735,-728,-721,-714,-708,-701,-695,-689,-683,-677,-671,-665,-660,-655,-650,-645,-640,-635,
-631,-627,-622,-618,-614,-611,-607,-603,-600,-597,-594,-591,-588,-585,-583,-580,-578,-576,-574,-572,
-570,-569,-567,-566,-565,-563,-562,-561,-561,-560,-559,-559,-559,-558,-558,-558,-558,-558,-559,-559,
-560,-560,-561,-562,-562,-563,-564,-566,-567,-568,-569,-571,-572,-574,-576,-578,-579,-581,-583,-585,
-587,-590,-592,-594,-597,-599,-602,-604,-607,-610,-612,-615,-618,-621,-624,-627,-630,-633,-636,-639,
-642,-645,-648,-652,-655,-658,-662,-665,-668,-672,-675,-678,-682,-685,-689,-692,-696,-699,-703,-706,
-710,-713,-717,-720,-723,-727,-730,-734,-737,-741,-744,-747,-751,-754,-757,-761,-764,-767,-770,-773,
-777,-780,-783,-786,-789,-792,-795,-798,-800,-803,-806,-808,-811,-814,-816,-819,-821,-823,-826,-828,
-830,-832,-834,-836,-838,-840,-842,-843,-845,-847,-848,-850,-851,-852,-853,-854,-855,-856,-857,-858,
-859,-859,-860,-860,-861,-861,-861,-861,-861,-861,-861,-861,-860,-860,-859,-859,-858,-857,-856,-855,
-854,-853,-852,-850,-849,-847,-845,-844,-842,-840,-838,-836,-833,-831,-828,-826,-823,-821,-818,-815,
-812,-809,-805,-802,-799,-795,-791,-788,-784,-780,-776,-772,-768,-763,-759,-755,-750,-746,-741,-736,
-731,-726,-721,-716,-711,-705,-700,-695,-689,-683,-678,-672,-666,-660,-654,-648,-642,-636,-630,-623,
-617,-610,-604,-597,-591,-584,-577,-571,-564,-557,-550,-543,-536,-529,-521,-514,-507,-500,-492,-485,
-478,-470,-463,-455,-448,-440,-433,-425,-417,-410,-402,-394,-387,-379,-371,-364,-356,-348,-341,-333,
-325,-317,-310,-302,-294,-286,-279,-271,-263,-256,-248,-241,-233,-225,-218,-210,-203,-196,-188,-181,
-173,-166,-159,-152,-145,-138,-130,-123,-116,-110,-103,-96,-89,-83,-76,-70,-63,-57,-50,-44,
-38,-32,-26,-20,-14,-8,-3,2,7,13,18,23,28,33,38,43,47,52,57,61,
65,69,73,77,81,85,88,91,95,98,101,104,107,109,112,114,116,118,120,122,
124,125,127,128,129,130,131,131,132,132,132,132,132,131,131,130,129,128,127,126,
124,123,121,119,116,114,112,109,106,103,99,96,92,88,84,80,76,71,66,61,
56,51,45,40,34,28,21,15,8,1,-5,-12,-20,-27,-35,-43,-52,-60,-69,-78,
-87,-96,-106,-116,-126,-136,-146,-157,-167,-178,-189,-201,-212,-224,-236,-248,-261,-273,-286,-299,
-312,-326,-339,-353,-367,-382,-396,-411,-425,-441,-456,-471,-487,-503,-519,-535,-552,-568,-585,-602,
-620,-637,-655,-673,-691,-709,-727,-746,-765,-784,-803,-822,-842,-862,-882,-902,-922,-943,-963,-984,
-1005,-1027,-1048,-1070,-1091,-1113,-1135,-1158,-1180,-1203,-1225,-1248,-1271,-1295,-1318,-1342,-1365,-1389,-1413,-1437,
-1462,-1486,-1511,-1535,-1560,-1585,-1611,-1636,-1661,-1687,-1712,-1738,-1764,-1790,-1816,-1843,-1869,-1895,-1922,-1949,
-1976,-2002,-2029,-2057,-2084,-2111,-2138,-2166,-2193,-2221,-2249,-2276,-2304,-2332,-2360,-2388,-2416,-2444,-2473,-2501,
-2529,-2558,-2586,-2615,-2643,-2672,-2700,-2729,-2757,-2786,-2815,-2843,-2872,-2901,-2930,-2958,-2987,-3016,-3045,-3073,
-3102,-3131,-3159,-3188,-3217,-3245,-3274,-3303,-3331,-3360,-3388,-3417,-3445,-3473,-3502,-3530,-3558,-3586,-3614,-3642,
-3670,-3698,-3726,-3754,-3781,-3809,-3836,-3864,-3891,-3918,-3945,-3972,-3999,-4026,-4052,-4079,-4105,-4132,-4158,-4184,
-4210,-4236,-4261,-4287,-4312,-4338,-4363,-4388,-4413,-4437,-4462,-4486,-4511,-4535,-4559,-4582,-4606,-4629,-4653,-4676,
-4699,-4721,-4744,-4766,-4788,-4810,-4832,-4854,-4875,-4896,-4917,-4938,-4959,-4979,-4999,-5019,-5039,-5058,-5078,-5097,
-5116,-5134,-5153,-5171,-5189,-5207,-5224,-5242,-5259,-5276,-5292,-5309,-5325,-5341,-5356,-5372,-5387,-5402,-5417,-5431,
-5445,-5459,-5473,-5486,-5499,-5512,-5525,-5537,-5549,-5561,-5573,-5584,-5595,-5606,-5617,-5627,-5637,-5647,-5656,-5665,
-5674,-5683,-5691,-5700,-5708,-5715,-5722,-5729,-5736,-5743,-5749,-5755,-5761,-5766,-5771,-5776,-5781,-5785,-5789,-5793,
-5796,-5799,-5802,-5805,-5807,-5809,-5811,-5813,-5814,-5815,-5815,-5816,-5816,-5816,-5815,-5815,-5814,-5813,-5811,-5809,
-5807,-5805,-5802,-5799,-5796,-5793,-5789,-5785,-5781,-5776,-5771,-5766,-5761,-5755,-5750,-5743,-5737,-5730,-5724,-5716,
-5709,-5701,-5693,-5685,-5677,-5668,-5659,-5650,-5640,-5630,-5620,-5610,-5600,-5589,-5578,-5567,-5555,-5544,-5532,-5520,
-5507,-5494,-5482,-5468,-5455,-5442,-5428,-5414,-5399,-5385,-5370,-5355,-5340,-5325,-5309,-5293,-5277,-5261,-5245,-5228,
-5211,-5194,-5177,-5160,-5142,-5124,-5106,-5088,-5070,-5051,-5032,-5013,-4994,-4975,-4956,-4936,-4916,-4896,-4876,-4856,
-4835,-4815,-4794,-4773,-4752,-4731,-4709,-4688,-4666,-4644,-4622,-4600,-4578,-4556,-4533,-4511,-4488,-4465,-4442,-4419,
-4396,-4373,-4349,-4326,-4302,-4279,-4255,-4231,-4207,-4183,-4159,-4135,-4110,-4086,-4061,-4037,-4012,-3988,-3963,-3938,
-3913,-3888,-3863,-3838,-3813,-3788,-3763,-3738,-3713,-3688,-3662,-3637,-3612,-3586,-3561,-3536,-3510,-3485,-3459,-3434,
-3408,-3383,-3358,-3332,-3307,-3281,-3256,-3231,-3205,-3180,-3155,-3129,-3104,-3079,-3054,-3029,-3003,-2978,-2953,-2928,
-2903,-2879,-2854,-2829,-2804,-2780,-2755,-2730,-2706,-2682,-2657,-2633,-2609,-2585,-2561,-2537,-2513,-2489,-2466,-2442,
-2418,-2395,-2372,-2349,-2326,-2303,-2280,-2257,-2234,-2212,-2189,-2167,-2145,-2123,-2101,-2079,-2057,-2036,-2014,-1993,
-1972,-1951,-1930,-1909,-1888,-1868,-1847,-1827,-1807,-1787,-1767,-1747,-1728,-1708,-1689,-1670,-1651,-1632,-1614,-1595,
-1577,-1559,-1541,-1523,-1505,-1488,-1470,-1453,-1436,-1419,-1402,-1386,-1369,-1353,-1337,-1321,-1305,-1290,-1274,-1259,
-1244,-1229,-1214,-1200,-1185,-1171,-1157,-1143,-1130,-1116,-1103,-1089,-1076,-1064,-1051,-1038,-1026,-1014,-1002,-990,
-978,-967,-956,-944,-934,-923,-912,-902,-891,-881,-871,-862,-852,-843,-833,-824,-815,-806,-798,-789,
-781,-773,-765,-757,-750,-742,-735,-728,-721,-714,-708,-701,-695,-689,-683,-677,-671,-665,-660,-655,
-650,-645,-640,-635,-631,-627,-622,-618,-614,-611,-607,-603,-600,-597,-594,-591,-588,-585,-583,-580,
-578,-576,-574,-572,-570,-569,-567,-566,-565,-563,-562,-561,-561,-560,-559,-559,-559,-558,-558,-558,
-558,-558,-559,-559,-560,-560,-561,-562,-562,-563,-564,-566,-567,-568,-569,-571,-572,-574,-576,-578,
-579,-581,-583,-585,-587,-590,-592,-594,-597,-599,-602,-604,-607,-610,-612,-615,-618,-621,-624,-627,
-630,-633,-636,-639,-642,-645,-648,-652,-655,-658,-662,-665,-668,-672,-675,-678,-682,-685,-689,-692,
-696,-699,-703,-706,-710,-713,-717,-720,-723,-727,-730,-734,-737,-741,-744,-747,-751,-754,-757,-761,
-764,-767,-770,-773,-777,-780,-783,-786,-789,-792,-795,-798,-800,-803,-806,-808,-811,-814,-816,-819,
-821,-823,-826,-828,-830,-832,-834,-836,-838,-840,-842,-843,-845,-847,-848,-850,-851,-852,-853,-854,
-855,-856,-857,-858,-859,-859,-860,-860,-861,-861,-861,-861,-861,-861,-861,-861,-860,-860,-859,-859,
-858,-857,-856,-855,-854,-853,-852,-850,-849,-847,-845,-844,-842,-840,-838,-836,-833,-831,-828,-826,
-823,-821,-818,-815,-812,-809,-805,-802,-799,-795,-791,-788,-784,-780,-776,-772,-768,-763,-759,-755,
-750,-746,-741,-736,-731,-726,-721,-716,-711,-705,-700,-695,-689,-683,-678,-672,-666,-660,-654,-648,
-642,-636,-630,-623,-617,-610,-604,-597,-591,-584,-577,-571,-564,-557,-550,-543,-536,-529,-521,-514,
-507,-500,-492,-485,-478,-470,-463,-455,-448,-440,-433,-425,-417,-410,-402,-394,-387,-379,-371,-364,
-356,-348,-341,-333,-325,-317,-310,-302,-294,-286,-279,-271,-263,-256,-248,-241,-233,-225,-218,-210,
-203,-196,-188,-181,-173,-166,-159,-152,-145,-138,-130,-123,
};