mirror of https://github.com/m-labs/artiq.git
coredevice/suservo: Fix {get,set}_y_mu() scaling
Previously, Channel.set_y(1) would set the output to -1 instead.
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@ -6,6 +6,7 @@ from artiq.coredevice import urukul, sampler
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COEFF_WIDTH = 18
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Y_FULL_SCALE_MU = (1 << (COEFF_WIDTH - 1)) - 1
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COEFF_DEPTH = 10 + 1
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WE = 1 << COEFF_DEPTH + 1
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STATE_SEL = 1 << COEFF_DEPTH
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@ -18,7 +19,7 @@ COEFF_SHIFT = 11
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@portable
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def y_mu_to_full_scale(y):
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"""Convert servo Y data from machine units to units of full scale."""
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return y*(1./(1 << COEFF_WIDTH - 1))
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return y / Y_FULL_SCALE_MU
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@portable
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@ -508,4 +509,6 @@ class Channel:
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:param profile: Profile number (0-31)
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:param y: IIR state in units of full scale
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"""
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self.set_y_mu(profile, int(round((1 << COEFF_WIDTH - 1)*y)))
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y_mu = int(round(y * Y_FULL_SCALE_MU))
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self.set_y_mu(profile, y_mu)
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return y_mu
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