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coredevice/suservo: Fix {get,set}_y_mu() scaling 

Previously, Channel.set_y(1) would set the output to -1 instead.
This commit is contained in:
David Nadlinger 2019-06-20 17:38:48 +01:00 committed by Robert Jördens
parent f6edceb23d
commit 34f48f57cc
1 changed files with 5 additions and 2 deletions
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7
artiq/coredevice/suservo.py
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@ -6,6 +6,7 @@ from artiq.coredevice import urukul, sampler
COEFF_WIDTH = 18 COEFF_WIDTH = 18
Y_FULL_SCALE_MU = (1 << (COEFF_WIDTH - 1)) - 1
COEFF_DEPTH = 10 + 1 COEFF_DEPTH = 10 + 1
WE = 1 << COEFF_DEPTH + 1 WE = 1 << COEFF_DEPTH + 1
STATE_SEL = 1 << COEFF_DEPTH STATE_SEL = 1 << COEFF_DEPTH
@ -18,7 +19,7 @@ COEFF_SHIFT = 11
@portable @portable
def y_mu_to_full_scale(y): def y_mu_to_full_scale(y):
"""Convert servo Y data from machine units to units of full scale.""" """Convert servo Y data from machine units to units of full scale."""
return y*(1./(1 << COEFF_WIDTH - 1)) return y / Y_FULL_SCALE_MU
@portable @portable
@ -508,4 +509,6 @@ class Channel:
:param profile: Profile number (0-31) :param profile: Profile number (0-31)
:param y: IIR state in units of full scale :param y: IIR state in units of full scale
""" """
self.set_y_mu(profile, int(round((1 << COEFF_WIDTH - 1)*y))) y_mu = int(round(y * Y_FULL_SCALE_MU))
self.set_y_mu(profile, y_mu)
return y_mu