File content as of revision 42:030e0ec4eac5:

#include "DQMapper.h"

#include "config_motor.h"
#include "config_table.h"

#include "dtab_n_w25.h"
#include "dtab_p_w25.h"
#include "qtab_n_w25.h"
#include "qtab_p_w25.h"

void LutMapper::map(float torque_percent, float w, float *d, float *q) {
    w *= POLE_PAIRS;
    if (w < 0.f) {
        w = -w;
        torque_percent = -torque_percent;
    }
    if (torque_percent > 0) {
        int row = (int) (w / W_STEP);
        int col = (int) (torque_percent * COLUMNS);
        
        if (row >= ROWS) row = ROWS - 1;
        if (col >= COLUMNS) col = COLUMNS - 1;
        
        *d = (float) dtab_p_w25[row][col] / 128.f;
        *q = (float) qtab_p_w25[row][col] / 128.f; 
    } else {
        int row = (int) (w / W_STEP);
        int col = (int) (-torque_percent * COLUMNS);
        
        if (row >= ROWS) row = ROWS - 1;
        if (col >= COLUMNS) col = COLUMNS - 1;
        
        *d = (float) dtab_n_w25[row][col] / 128.f;
        *q = (float) qtab_n_w25[row][col] / 128.f;
    }
}