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encoder_off.h

encoder_off.h 11 KB
Historia Czysty

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  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 477
    9. 

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

  10. 1645,1646,1648,1649,1649,1650,1651,1651,1651,1651,1651,1651,1651,1650,1650,1649,
    11. 

  11. 1648,1647,1646,1644,1643,1641,1639,1637,1635,1632,1630,1627,1624,1621,1618,1615,1611,1607,1603,1599,
    12. 

  12. 1595,1591,1586,1581,1576,1571,1565,1560,1554,1548,1542,1536,1529,1523,1516,1509,1502,1494,1487,1479,
    13. 

  13. 1471,1463,1455,1446,1437,1428,1419,1410,1400,1391,1381,1371,1360,1350,1339,1328,1317,1306,1294,1283,
    14. 

  14. 1271,1259,1246,1234,1221,1208,1195,1182,1169,1155,1141,1127,1113,1099,1084,1069,1054,1039,1024,1008,
    15. 

  15. 992,976,960,944,927,910,894,876,859,842,824,806,788,770,751,732,714,695,676,656,
    16. 

  16. 637,617,597,577,557,537,516,495,475,453,432,411,389,368,346,324,301,279,257,234,
    17. 

  17. 211,188,165,142,118,95,71,47,23,0,-24,-48,-73,-97,-122,-147,-172,-197,-222,-248,
    18. 

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    20. 

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    27. 

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    28. 

  28. -4087,-4086,-4084,-4082,-4080,-4078,-4075,-4072,-4069,-4065,-4062,-4057,-4053,-4049,-4044,-4039,-4033,-4027,-4021,-4015,
    29. 

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    30. 

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    31. 

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    32. 

  32. -3182,-3161,-3141,-3121,-3100,-3079,-3058,-3037,-3016,-2994,-2973,-2951,-2929,-2907,-2885,-2863,-2840,-2818,-2795,-2772,
    33. 

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    34. 

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    36. 

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    37. 

  37. -762,-739,-715,-691,-668,-645,-621,-598,-575,-552,-529,-507,-484,-461,-439,-417,-395,-373,-351,-329,
    38. 

  38. -308,-286,-265,-244,-222,-201,-181,-160,-139,-119,-99,-78,-59,-39,-19,0,19,38,57,76,
    39. 

  39. 95,114,132,151,169,187,205,222,240,257,274,291,308,325,341,358,374,390,406,422,
    40. 

  40. 437,453,468,483,498,513,527,542,556,570,584,597,611,624,637,650,663,676,688,700,
    41. 

  41. 713,724,736,748,759,770,781,792,803,814,824,834,844,854,864,874,883,892,901,910,
    42. 

  42. 919,927,936,944,952,960,968,975,983,990,997,1004,1011,1017,1024,1030,1036,1042,1048,1053,
    43. 

  43. 1059,1064,1069,1074,1079,1084,1088,1093,1097,1101,1105,1109,1112,1116,1119,1122,1125,1128,1131,1134,
    44. 

  44. 1136,1139,1141,1143,1145,1147,1149,1150,1152,1153,1154,1155,1156,1157,1157,1158,1158,1159,1159,1159,
    45. 

  45. 1159,1159,1159,1158,1158,1157,1157,1156,1155,1154,1153,1152,1151,1149,1148,1146,1145,1143,1141,1139,
    46. 

  46. 1137,1135,1133,1130,1128,1126,1123,1120,1118,1115,1112,1109,1107,1104,1100,1097,1094,1091,1088,1084,
    47. 

  47. 1081,1078,1074,1070,1067,1063,1060,1056,1052,1048,1044,1041,1037,1033,1029,1025,1021,1017,1012,1008,
    48. 

  48. 1004,1000,996,992,988,983,979,975,971,967,962,958,954,950,946,942,937,933,929,925,
    49. 

  49. 921,917,913,909,905,901,897,893,889,885,881,877,874,870,866,863,859,855,852,848,
    50. 

  50. 845,842,838,835,832,829,826,823,820,817,814,811,809,806,803,801,798,796,794,792,
    51. 

  51. 789,787,785,784,782,780,778,777,775,774,772,771,770,769,768,767,766,766,765,765,
    52. 

  52. 764,764,764,764,764,764,764,764,765,765,766,766,767,768,769,770,771,773,774,775,
    53. 

  53. 777,779,780,782,784,786,788,791,793,796,798,801,804,807,809,813,816,819,822,826,
    54. 

  54. 829,833,837,840,844,848,852,857,861,865,870,874,879,883,888,893,898,903,908,913,
    55. 

  55. 918,923,929,934,940,945,951,957,963,968,974,980,986,993,999,1005,1011,1018,1024,1030,
    56. 

  56. 1037,1043,1050,1057,1063,1070,1077,1083,1090,1097,1104,1111,1118,1125,1132,1139,1146,1153,1160,1167,
    57. 

  57. 1174,1181,1189,1196,1203,1210,1217,1224,1231,1239,1246,1253,1260,1267,1274,1282,1289,1296,1303,1310,
    58. 

  58. 1317,1324,1331,1338,1345,1352,1358,1365,1372,1379,1385,1392,1399,1405,1412,1418,1425,1431,1438,1444,
    59. 

  59. 1450,1456,1462,1468,1474,1480,1486,1492,1497,1503,1509,1514,1519,1525,1530,1535,1540,1545,1550,1554,
    60. 

  60. 1559,1564,1568,1572,1577,1581,1585,1589,1593,1597,1600,1604,1607,1610,1614,1617,1620,1623,1625,1628,
    61. 

  61. 1630,1633,1635,1637,1639,1641,1642,1644,1645,1646,1648,1649,1649,1650,1651,1651,1651,1651,1651,1651,
    62. 

  62. 1651,1650,1650,1649,1648,1647,1646,1644,1643,1641,1639,1637,1635,1632,1630,1627,1624,1621,1618,1615,
    63. 

  63. 1611,1607,1603,1599,1595,1591,1586,1581,1576,1571,1565,1560,1554,1548,1542,1536,1529,1523,1516,1509,
    64. 

  64. 1502,1494,1487,1479,1471,1463,1455,1446,1437,1428,1419,1410,1400,1391,1381,1371,1360,1350,1339,1328,
    65. 

  65. 1317,1306,1294,1283,1271,1259,1246,1234,1221,1208,1195,1182,1169,1155,1141,1127,1113,1099,1084,1069,
    66. 

  66. 1054,1039,1024,1008,992,976,960,944,927,910,894,876,859,842,824,806,788,770,751,732,
    67. 

  67. 714,695,676,656,637,617,597,577,557,537,516,495,475,453,432,411,389,368,346,324,
    68. 

  68. 301,279,257,234,211,188,165,142,118,95,71,47,23,0,-24,-48,-73,-97,-122,-147,
    69. 

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    70. 

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    71. 

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    72. 

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    73. 

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    75. 

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    90. 

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    91. 

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    92. 

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    93. 

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    94. 

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    95. 

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    96. 

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    97. 

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    98. 

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    99. 

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    100. 

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    101. 

  101. 859,855,852,848,845,842,838,835,832,829,826,823,820,817,814,811,809,806,803,801,
    102. 

  102. 798,796,794,792,789,787,785,784,782,780,778,777,775,774,772,771,770,769,768,767,
    103. 

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    104. 

  104. 771,773,774,775,777,779,780,782,784,786,788,791,793,796,798,801,804,807,809,813,
    105. 

  105. 816,819,822,826,829,833,837,840,844,848,852,857,861,865,870,874,879,883,888,893,
    106. 

  106. 898,903,908,913,918,923,929,934,940,945,951,957,963,968,974,980,986,993,999,1005,
    107. 

  107. 1011,1018,1024,1030,1037,1043,1050,1057,1063,1070,1077,1083,1090,1097,1104,1111,1118,1125,1132,1139,
    108. 

  108. 1146,1153,1160,1167,1174,1181,1189,1196,1203,1210,1217,1224,1231,1239,1246,1253,1260,1267,1274,1282,
    109. 

  109. 1289,1296,1303,1310,1317,1324,1331,1338,1345,1352,1358,1365,1372,1379,1385,1392,1399,1405,1412,1418,
    110. 

  110. 1425,1431,1438,1444,1450,1456,1462,1468,1474,1480,1486,1492,1497,1503,1509,1514,1519,1525,1530,1535,
    111. 

  111. 1540,1545,1550,1554,1559,1564,1568,1572,1577,1581,1585,1589,1593,1597,1600,1604,1607,1610,1614,1617,
    112. 

  112. 1620,1623,1625,1628,1630,1633,1635,1637,1639,1641,1642,1644,
    113. 

  113. };
    114.