Sākums Izpētīt Palīdzība
Reģistrēties Pierakstīties
huhui
/
MC100
1
0
Atdalīts 0
Faili Problēmas 0 Izmaiņu pieprasījumi 0 Vikivietne
Koks: 0b560a2d02
Atzari Tagi
MC100
/
Applications
/
foc
/
motor
/
encoder_off.h

encoder_off.h 11 KB
Vēsture Neapstrādāts

123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107108109110111112113 
  1. #include "math/fix_math.h" 
    2. 

  2. 

  3. /* Auto gen by my tools, and use matlab to desing a FIR filter-(MC100/Simulink/Fir_angle.m) */
    4. 

  4. /* Matlib Command: Fir=Fir_angle; angle_off=filter(Fir.Numerator, 1, angle_in); */
    5. 

  5. /* angle_in is the data, by plot MC_tools */
    6. 

  6. /* Use angle_out=single(angle_off) convert double to float */
    7. 

  7. 

  8. #define FIR_PHASE_SHIFT 542
    9. 

  9. const static s16q10_t _encoder_off_map[] = {
    10. 

  10. -119,-112,-105,-99,-92,-85,-78,-72,-65,-59,-52,-46,-40,-34,-28,-22,
    11. 

  11. -16,-10,-4,0,6,11,17,22,27,32,37,42,47,51,56,60,65,69,73,77,
    12. 

  12. 80,84,88,91,94,98,101,104,106,109,111,114,116,118,120,122,124,125,126,128,
    13. 

  13. 129,130,130,131,132,132,132,132,132,131,131,130,129,128,127,126,124,123,121,119,
    14. 

  14. 116,114,112,109,106,103,99,96,92,88,84,80,76,71,66,61,56,51,45,40,
    15. 

  15. 34,28,21,15,8,1,-5,-12,-20,-27,-35,-43,-52,-60,-69,-78,-87,-96,-106,-116,
    16. 

  16. -126,-136,-146,-157,-167,-178,-189,-201,-212,-224,-236,-248,-261,-273,-286,-299,-312,-326,-339,-353,
    17. 

  17. -367,-382,-396,-411,-425,-441,-456,-471,-487,-503,-519,-535,-552,-568,-585,-602,-620,-637,-655,-673,
    18. 

  18. -691,-709,-727,-746,-765,-784,-803,-822,-842,-862,-882,-902,-922,-943,-963,-984,-1005,-1027,-1048,-1070,
    19. 

  19. -1091,-1113,-1135,-1158,-1180,-1203,-1225,-1248,-1271,-1295,-1318,-1342,-1365,-1389,-1413,-1437,-1462,-1486,-1511,-1535,
    20. 

  20. -1560,-1585,-1611,-1636,-1661,-1687,-1712,-1738,-1764,-1790,-1816,-1843,-1869,-1895,-1922,-1949,-1976,-2002,-2029,-2057,
    21. 

  21. -2084,-2111,-2138,-2166,-2193,-2221,-2249,-2276,-2304,-2332,-2360,-2388,-2416,-2444,-2473,-2501,-2529,-2558,-2586,-2615,
    22. 

  22. -2643,-2672,-2700,-2729,-2757,-2786,-2815,-2843,-2872,-2901,-2930,-2958,-2987,-3016,-3045,-3073,-3102,-3131,-3159,-3188,
    23. 

  23. -3217,-3245,-3274,-3303,-3331,-3360,-3388,-3417,-3445,-3473,-3502,-3530,-3558,-3586,-3614,-3642,-3670,-3698,-3726,-3754,
    24. 

  24. -3781,-3809,-3836,-3864,-3891,-3918,-3945,-3972,-3999,-4026,-4052,-4079,-4105,-4132,-4158,-4184,-4210,-4236,-4261,-4287,
    25. 

  25. -4312,-4338,-4363,-4388,-4413,-4437,-4462,-4486,-4511,-4535,-4559,-4582,-4606,-4629,-4653,-4676,-4699,-4721,-4744,-4766,
    26. 

  26. -4788,-4810,-4832,-4854,-4875,-4896,-4917,-4938,-4959,-4979,-4999,-5019,-5039,-5058,-5078,-5097,-5116,-5134,-5153,-5171,
    27. 

  27. -5189,-5207,-5224,-5242,-5259,-5276,-5292,-5309,-5325,-5341,-5356,-5372,-5387,-5402,-5417,-5431,-5445,-5459,-5473,-5486,
    28. 

  28. -5499,-5512,-5525,-5537,-5549,-5561,-5573,-5584,-5595,-5606,-5617,-5627,-5637,-5647,-5656,-5665,-5674,-5683,-5691,-5700,
    29. 

  29. -5708,-5715,-5722,-5729,-5736,-5743,-5749,-5755,-5761,-5766,-5771,-5776,-5781,-5785,-5789,-5793,-5796,-5799,-5802,-5805,
    30. 

  30. -5807,-5809,-5811,-5813,-5814,-5815,-5815,-5816,-5816,-5816,-5815,-5815,-5814,-5813,-5811,-5809,-5807,-5805,-5802,-5799,
    31. 

  31. -5796,-5793,-5789,-5785,-5781,-5776,-5771,-5766,-5761,-5755,-5750,-5743,-5737,-5730,-5724,-5716,-5709,-5701,-5693,-5685,
    32. 

  32. -5677,-5668,-5659,-5650,-5640,-5630,-5620,-5610,-5600,-5589,-5578,-5567,-5555,-5544,-5532,-5520,-5507,-5494,-5482,-5468,
    33. 

  33. -5455,-5442,-5428,-5414,-5399,-5385,-5370,-5355,-5340,-5325,-5309,-5293,-5277,-5261,-5245,-5228,-5211,-5194,-5177,-5160,
    34. 

  34. -5142,-5124,-5106,-5088,-5070,-5051,-5032,-5013,-4994,-4975,-4956,-4936,-4916,-4896,-4876,-4856,-4835,-4815,-4794,-4773,
    35. 

  35. -4752,-4731,-4709,-4688,-4666,-4644,-4622,-4600,-4578,-4556,-4533,-4511,-4488,-4465,-4442,-4419,-4396,-4373,-4349,-4326,
    36. 

  36. -4302,-4279,-4255,-4231,-4207,-4183,-4159,-4135,-4110,-4086,-4061,-4037,-4012,-3988,-3963,-3938,-3913,-3888,-3863,-3838,
    37. 

  37. -3813,-3788,-3763,-3738,-3713,-3688,-3662,-3637,-3612,-3586,-3561,-3536,-3510,-3485,-3459,-3434,-3408,-3383,-3358,-3332,
    38. 

  38. -3307,-3281,-3256,-3231,-3205,-3180,-3155,-3129,-3104,-3079,-3054,-3029,-3003,-2978,-2953,-2928,-2903,-2879,-2854,-2829,
    39. 

  39. -2804,-2780,-2755,-2730,-2706,-2682,-2657,-2633,-2609,-2585,-2561,-2537,-2513,-2489,-2466,-2442,-2418,-2395,-2372,-2349,
    40. 

  40. -2326,-2303,-2280,-2257,-2234,-2212,-2189,-2167,-2145,-2123,-2101,-2079,-2057,-2036,-2014,-1993,-1972,-1951,-1930,-1909,
    41. 

  41. -1888,-1868,-1847,-1827,-1807,-1787,-1767,-1747,-1728,-1708,-1689,-1670,-1651,-1632,-1614,-1595,-1577,-1559,-1541,-1523,
    42. 

  42. -1505,-1488,-1470,-1453,-1436,-1419,-1402,-1386,-1369,-1353,-1337,-1321,-1305,-1290,-1274,-1259,-1244,-1229,-1214,-1200,
    43. 

  43. -1185,-1171,-1157,-1143,-1130,-1116,-1103,-1089,-1076,-1064,-1051,-1038,-1026,-1014,-1002,-990,-978,-967,-956,-944,
    44. 

  44. -934,-923,-912,-902,-891,-881,-871,-862,-852,-843,-833,-824,-815,-806,-798,-789,-781,-773,-765,-757,
    45. 

  45. -750,-742,-735,-728,-721,-714,-708,-701,-695,-689,-683,-677,-671,-665,-660,-655,-650,-645,-640,-635,
    46. 

  46. -631,-627,-622,-618,-614,-611,-607,-603,-600,-597,-594,-591,-588,-585,-583,-580,-578,-576,-574,-572,
    47. 

  47. -570,-569,-567,-566,-565,-563,-562,-561,-561,-560,-559,-559,-559,-558,-558,-558,-558,-558,-559,-559,
    48. 

  48. -560,-560,-561,-562,-562,-563,-564,-566,-567,-568,-569,-571,-572,-574,-576,-578,-579,-581,-583,-585,
    49. 

  49. -587,-590,-592,-594,-597,-599,-602,-604,-607,-610,-612,-615,-618,-621,-624,-627,-630,-633,-636,-639,
    50. 

  50. -642,-645,-648,-652,-655,-658,-662,-665,-668,-672,-675,-678,-682,-685,-689,-692,-696,-699,-703,-706,
    51. 

  51. -710,-713,-717,-720,-723,-727,-730,-734,-737,-741,-744,-747,-751,-754,-757,-761,-764,-767,-770,-773,
    52. 

  52. -777,-780,-783,-786,-789,-792,-795,-798,-800,-803,-806,-808,-811,-814,-816,-819,-821,-823,-826,-828,
    53. 

  53. -830,-832,-834,-836,-838,-840,-842,-843,-845,-847,-848,-850,-851,-852,-853,-854,-855,-856,-857,-858,
    54. 

  54. -859,-859,-860,-860,-861,-861,-861,-861,-861,-861,-861,-861,-860,-860,-859,-859,-858,-857,-856,-855,
    55. 

  55. -854,-853,-852,-850,-849,-847,-845,-844,-842,-840,-838,-836,-833,-831,-828,-826,-823,-821,-818,-815,
    56. 

  56. -812,-809,-805,-802,-799,-795,-791,-788,-784,-780,-776,-772,-768,-763,-759,-755,-750,-746,-741,-736,
    57. 

  57. -731,-726,-721,-716,-711,-705,-700,-695,-689,-683,-678,-672,-666,-660,-654,-648,-642,-636,-630,-623,
    58. 

  58. -617,-610,-604,-597,-591,-584,-577,-571,-564,-557,-550,-543,-536,-529,-521,-514,-507,-500,-492,-485,
    59. 

  59. -478,-470,-463,-455,-448,-440,-433,-425,-417,-410,-402,-394,-387,-379,-371,-364,-356,-348,-341,-333,
    60. 

  60. -325,-317,-310,-302,-294,-286,-279,-271,-263,-256,-248,-241,-233,-225,-218,-210,-203,-196,-188,-181,
    61. 

  61. -173,-166,-159,-152,-145,-138,-130,-123,-116,-110,-103,-96,-89,-83,-76,-70,-63,-57,-50,-44,
    62. 

  62. -38,-32,-26,-20,-14,-8,-3,2,7,13,18,23,28,33,38,43,47,52,57,61,
    63. 

  63. 65,69,73,77,81,85,88,91,95,98,101,104,107,109,112,114,116,118,120,122,
    64. 

  64. 124,125,127,128,129,130,131,131,132,132,132,132,132,131,131,130,129,128,127,126,
    65. 

  65. 124,123,121,119,116,114,112,109,106,103,99,96,92,88,84,80,76,71,66,61,
    66. 

  66. 56,51,45,40,34,28,21,15,8,1,-5,-12,-20,-27,-35,-43,-52,-60,-69,-78,
    67. 

  67. -87,-96,-106,-116,-126,-136,-146,-157,-167,-178,-189,-201,-212,-224,-236,-248,-261,-273,-286,-299,
    68. 

  68. -312,-326,-339,-353,-367,-382,-396,-411,-425,-441,-456,-471,-487,-503,-519,-535,-552,-568,-585,-602,
    69. 

  69. -620,-637,-655,-673,-691,-709,-727,-746,-765,-784,-803,-822,-842,-862,-882,-902,-922,-943,-963,-984,
    70. 

  70. -1005,-1027,-1048,-1070,-1091,-1113,-1135,-1158,-1180,-1203,-1225,-1248,-1271,-1295,-1318,-1342,-1365,-1389,-1413,-1437,
    71. 

  71. -1462,-1486,-1511,-1535,-1560,-1585,-1611,-1636,-1661,-1687,-1712,-1738,-1764,-1790,-1816,-1843,-1869,-1895,-1922,-1949,
    72. 

  72. -1976,-2002,-2029,-2057,-2084,-2111,-2138,-2166,-2193,-2221,-2249,-2276,-2304,-2332,-2360,-2388,-2416,-2444,-2473,-2501,
    73. 

  73. -2529,-2558,-2586,-2615,-2643,-2672,-2700,-2729,-2757,-2786,-2815,-2843,-2872,-2901,-2930,-2958,-2987,-3016,-3045,-3073,
    74. 

  74. -3102,-3131,-3159,-3188,-3217,-3245,-3274,-3303,-3331,-3360,-3388,-3417,-3445,-3473,-3502,-3530,-3558,-3586,-3614,-3642,
    75. 

  75. -3670,-3698,-3726,-3754,-3781,-3809,-3836,-3864,-3891,-3918,-3945,-3972,-3999,-4026,-4052,-4079,-4105,-4132,-4158,-4184,
    76. 

  76. -4210,-4236,-4261,-4287,-4312,-4338,-4363,-4388,-4413,-4437,-4462,-4486,-4511,-4535,-4559,-4582,-4606,-4629,-4653,-4676,
    77. 

  77. -4699,-4721,-4744,-4766,-4788,-4810,-4832,-4854,-4875,-4896,-4917,-4938,-4959,-4979,-4999,-5019,-5039,-5058,-5078,-5097,
    78. 

  78. -5116,-5134,-5153,-5171,-5189,-5207,-5224,-5242,-5259,-5276,-5292,-5309,-5325,-5341,-5356,-5372,-5387,-5402,-5417,-5431,
    79. 

  79. -5445,-5459,-5473,-5486,-5499,-5512,-5525,-5537,-5549,-5561,-5573,-5584,-5595,-5606,-5617,-5627,-5637,-5647,-5656,-5665,
    80. 

  80. -5674,-5683,-5691,-5700,-5708,-5715,-5722,-5729,-5736,-5743,-5749,-5755,-5761,-5766,-5771,-5776,-5781,-5785,-5789,-5793,
    81. 

  81. -5796,-5799,-5802,-5805,-5807,-5809,-5811,-5813,-5814,-5815,-5815,-5816,-5816,-5816,-5815,-5815,-5814,-5813,-5811,-5809,
    82. 

  82. -5807,-5805,-5802,-5799,-5796,-5793,-5789,-5785,-5781,-5776,-5771,-5766,-5761,-5755,-5750,-5743,-5737,-5730,-5724,-5716,
    83. 

  83. -5709,-5701,-5693,-5685,-5677,-5668,-5659,-5650,-5640,-5630,-5620,-5610,-5600,-5589,-5578,-5567,-5555,-5544,-5532,-5520,
    84. 

  84. -5507,-5494,-5482,-5468,-5455,-5442,-5428,-5414,-5399,-5385,-5370,-5355,-5340,-5325,-5309,-5293,-5277,-5261,-5245,-5228,
    85. 

  85. -5211,-5194,-5177,-5160,-5142,-5124,-5106,-5088,-5070,-5051,-5032,-5013,-4994,-4975,-4956,-4936,-4916,-4896,-4876,-4856,
    86. 

  86. -4835,-4815,-4794,-4773,-4752,-4731,-4709,-4688,-4666,-4644,-4622,-4600,-4578,-4556,-4533,-4511,-4488,-4465,-4442,-4419,
    87. 

  87. -4396,-4373,-4349,-4326,-4302,-4279,-4255,-4231,-4207,-4183,-4159,-4135,-4110,-4086,-4061,-4037,-4012,-3988,-3963,-3938,
    88. 

  88. -3913,-3888,-3863,-3838,-3813,-3788,-3763,-3738,-3713,-3688,-3662,-3637,-3612,-3586,-3561,-3536,-3510,-3485,-3459,-3434,
    89. 

  89. -3408,-3383,-3358,-3332,-3307,-3281,-3256,-3231,-3205,-3180,-3155,-3129,-3104,-3079,-3054,-3029,-3003,-2978,-2953,-2928,
    90. 

  90. -2903,-2879,-2854,-2829,-2804,-2780,-2755,-2730,-2706,-2682,-2657,-2633,-2609,-2585,-2561,-2537,-2513,-2489,-2466,-2442,
    91. 

  91. -2418,-2395,-2372,-2349,-2326,-2303,-2280,-2257,-2234,-2212,-2189,-2167,-2145,-2123,-2101,-2079,-2057,-2036,-2014,-1993,
    92. 

  92. -1972,-1951,-1930,-1909,-1888,-1868,-1847,-1827,-1807,-1787,-1767,-1747,-1728,-1708,-1689,-1670,-1651,-1632,-1614,-1595,
    93. 

  93. -1577,-1559,-1541,-1523,-1505,-1488,-1470,-1453,-1436,-1419,-1402,-1386,-1369,-1353,-1337,-1321,-1305,-1290,-1274,-1259,
    94. 

  94. -1244,-1229,-1214,-1200,-1185,-1171,-1157,-1143,-1130,-1116,-1103,-1089,-1076,-1064,-1051,-1038,-1026,-1014,-1002,-990,
    95. 

  95. -978,-967,-956,-944,-934,-923,-912,-902,-891,-881,-871,-862,-852,-843,-833,-824,-815,-806,-798,-789,
    96. 

  96. -781,-773,-765,-757,-750,-742,-735,-728,-721,-714,-708,-701,-695,-689,-683,-677,-671,-665,-660,-655,
    97. 

  97. -650,-645,-640,-635,-631,-627,-622,-618,-614,-611,-607,-603,-600,-597,-594,-591,-588,-585,-583,-580,
    98. 

  98. -578,-576,-574,-572,-570,-569,-567,-566,-565,-563,-562,-561,-561,-560,-559,-559,-559,-558,-558,-558,
    99. 

  99. -558,-558,-559,-559,-560,-560,-561,-562,-562,-563,-564,-566,-567,-568,-569,-571,-572,-574,-576,-578,
    100. 

  100. -579,-581,-583,-585,-587,-590,-592,-594,-597,-599,-602,-604,-607,-610,-612,-615,-618,-621,-624,-627,
    101. 

  101. -630,-633,-636,-639,-642,-645,-648,-652,-655,-658,-662,-665,-668,-672,-675,-678,-682,-685,-689,-692,
    102. 

  102. -696,-699,-703,-706,-710,-713,-717,-720,-723,-727,-730,-734,-737,-741,-744,-747,-751,-754,-757,-761,
    103. 

  103. -764,-767,-770,-773,-777,-780,-783,-786,-789,-792,-795,-798,-800,-803,-806,-808,-811,-814,-816,-819,
    104. 

  104. -821,-823,-826,-828,-830,-832,-834,-836,-838,-840,-842,-843,-845,-847,-848,-850,-851,-852,-853,-854,
    105. 

  105. -855,-856,-857,-858,-859,-859,-860,-860,-861,-861,-861,-861,-861,-861,-861,-861,-860,-860,-859,-859,
    106. 

  106. -858,-857,-856,-855,-854,-853,-852,-850,-849,-847,-845,-844,-842,-840,-838,-836,-833,-831,-828,-826,
    107. 

  107. -823,-821,-818,-815,-812,-809,-805,-802,-799,-795,-791,-788,-784,-780,-776,-772,-768,-763,-759,-755,
    108. 

  108. -750,-746,-741,-736,-731,-726,-721,-716,-711,-705,-700,-695,-689,-683,-678,-672,-666,-660,-654,-648,
    109. 

  109. -642,-636,-630,-623,-617,-610,-604,-597,-591,-584,-577,-571,-564,-557,-550,-543,-536,-529,-521,-514,
    110. 

  110. -507,-500,-492,-485,-478,-470,-463,-455,-448,-440,-433,-425,-417,-410,-402,-394,-387,-379,-371,-364,
    111. 

  111. -356,-348,-341,-333,-325,-317,-310,-302,-294,-286,-279,-271,-263,-256,-248,-241,-233,-225,-218,-210,
    112. 

  112. -203,-196,-188,-181,-173,-166,-159,-152,-145,-138,-130,-123,
    113. 

  113. };
    114.