test/kalmanTools/makePTPhiLUTs.py

0001 from math import pi,floor
0002
0003
0004 print(int(((-330+1024)*pi/(6.0*2048.0))/(0.625*pi/180.0)))
0005
0006
0007
0008 #phi=[]
0009 #for i in range(0,2048):
0010 #    p = int((i*pi/(6.0*2048.0)+15.0*pi/180.0)/(0.625*pi/180.0))
0011 #    p = int((i*2*pi/(6.0*2048.0))/(0.625*pi/180.0))
0012 #    phi.append(str(p))
0013
0014 #print('const ap_int<8> phiLUT[2047] = {'+','.join(phi)+'};')
0015 #import pdb;pdb.set_trace()
0016
0017
0018
0019
0020
0021
0022
0023
0024
0025 def bits(number, size_in_bits):
0026     """
0027     The bin() function is *REALLY* unhelpful when working with negative numbers.
0028     It outputs the binary representation of the positive version of that number
0029     with a '-' at the beginning. Woop-di-do. Here's how to derive the two's-
0030     complement binary of a negative number:
0031
0032         complement(bin(+n - 1))
0033
0034     `complement` is a function that flips each bit. `+n` is the negative number
0035     made positive.
0036
0037     """
0038     if number < 0:
0039         return compliment(bin(abs(number) - 1)[2:]).rjust(size_in_bits, '1')
0040     else:
0041         return bin(number)[2:].rjust(size_in_bits, '0')
0042
0043 def compliment(value):
0044     return ''.join(COMPLEMENT[x] for x in value)
0045
0046 COMPLEMENT = {'1': '0', '0': '1'}
0047
0048
0049
0050
0051
0052
0053
0054 phiLUT=[]
0055 kPHI = 57.2958/0.625/1024.;
0056
0057 for i in range(0,1024):
0058     phiLUT.append(0)
0059 for phi in range(-512,512):
0060     address = int(bits(phi,10),2)
0061     phiF=float(phi)
0062     phiNew = 24+int(floor(kPHI*phiF));
0063     if phiNew >  69:
0064         phiNew =  69;
0065     if phiNew < -8:
0066         phiNew = -8;
0067     phiLUT[address]=(str(phiNew))
0068 print('const ap_int<8> phiLUT[1024] = {'+','.join(phiLUT)+'};')
0069
0070
0071
0072 ptLUT=[]
0073 lsb = 1.25/(1<<13)
0074 for i in range(0,4096):
0075     ptLUT.append(6)
0076 for K in range(-2048,2048):
0077     address = int(bits(K,12),2)
0078     if K>=0:
0079         charge=1
0080     else:
0081         charge=-1
0082
0083
0084
0085     FK=lsb*abs(K)
0086
0087     if abs(K)>2047:
0088         FK=lsb*2047
0089
0090     if abs(K)<26:
0091         FK=lsb*26
0092
0093     FK = 0.898*FK/(1.0-0.6*FK);
0094     FK=FK-26.382*FK*FK*FK*FK*FK;
0095     FK=FK-charge*1.408e-3;
0096     FK=FK/1.17;
0097     if (FK!=0.0):
0098         pt=int(2.0/FK)
0099     else:
0100         pt=511
0101
0102     if pt>511:
0103         pt=511
0104
0105     if pt<6:
0106         pt=6;
0107     ptLUT[address]=str(pt)
0108
0109
0110
0111
0112 print('const ap_uint<9> ptLUT[4096] = {'+','.join(ptLUT)+'};')