Shao Rui / Joint_control_2AS5147_DRV8323RH_GR49_HJB_2020_8_10

1

Dependencies:   mbed-dev-f303 FastPWM3

PositionSensor/PositionSensor.cpp@53:32218a36df05, 2020-09-15 (annotated)

Committer:
shaorui
Date:
Tue Sep 15 08:59:03 2020 +0000
Revision:
53:32218a36df05
Parent:
52:d4d5e3414865 
1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 0:4e1c4df6aabd 1
benkatz 0:4e1c4df6aabd 2 #include "mbed.h"
benkatz 0:4e1c4df6aabd 3 #include "PositionSensor.h"
benkatz 45:aadebe074af6 4 #include "math_ops.h"
benkatz 22:60276ba87ac6 5 //#include "offset_lut.h"
benkatz 6:4ee1cdc43aa8 6 //#include <math.h>
benkatz 0:4e1c4df6aabd 7
benkatz 14:80ce59119d93 8 PositionSensorAM5147::PositionSensorAM5147(int CPR, float offset, int ppairs){
benkatz 14:80ce59119d93 9 //_CPR = CPR;
benkatz 14:80ce59119d93 10 _CPR = CPR;
benkatz 14:80ce59119d93 11 _ppairs = ppairs;
benkatz 22:60276ba87ac6 12 ElecOffset = offset;
benkatz 14:80ce59119d93 13 rotations = 0;
benkatz 14:80ce59119d93 14 spi = new SPI(PC_12, PC_11, PC_10);
benkatz 36:d88fd41f60a6 15 spi->format(16, 1); // mbed v>127 breaks 16-bit spi, so transaction is broken into 2 8-bit words
benkatz 26:2b865c00d7e9 16 spi->frequency(25000000);
benkatz 37:c0f352d6e8e3 17
benkatz 14:80ce59119d93 18 cs = new DigitalOut(PA_15);
benkatz 14:80ce59119d93 19 cs->write(1);
benkatz 22:60276ba87ac6 20 readAngleCmd = 0xffff;
benkatz 37:c0f352d6e8e3 21 MechOffset = offset;
benkatz 22:60276ba87ac6 22 modPosition = 0;
benkatz 22:60276ba87ac6 23 oldModPosition = 0;
benkatz 22:60276ba87ac6 24 oldVel = 0;
benkatz 22:60276ba87ac6 25 raw = 0;
Rushu 52:d4d5e3414865 26 first_sample = 0;
Rushu 52:d4d5e3414865 27 for(int i = 0; i<100; i++) // Initial measurement is really noisy
Rushu 52:d4d5e3414865 28 {
Rushu 52:d4d5e3414865 29 spi->write(0);
Rushu 52:d4d5e3414865 30 wait_us(100);
Rushu 52:d4d5e3414865 31 }
Rushu 52:d4d5e3414865 32
benkatz 22:60276ba87ac6 33 }
benkatz 22:60276ba87ac6 34
benkatz 45:aadebe074af6 35 void PositionSensorAM5147::Sample(float dt){
benkatz 37:c0f352d6e8e3 36 GPIOA->ODR &= ~(1 << 15);
benkatz 36:d88fd41f60a6 37 raw = spi->write(readAngleCmd);
Rushu 47:55bdc4d5096b 38 raw &= 0x3FFF;
Rushu 47:55bdc4d5096b 39 //raw = spi->write(0);
Rushu 47:55bdc4d5096b 40 //raw = raw>>1; //Extract last 14 bits
Rushu 47:55bdc4d5096b 41 //raw = raw>>2; //Extract last 14 bits
benkatz 37:c0f352d6e8e3 42 GPIOA->ODR |= (1 << 15);
benkatz 25:f5741040c4bb 43 int off_1 = offset_lut[raw>>7];
benkatz 25:f5741040c4bb 44 int off_2 = offset_lut[((raw>>7)+1)%128];
benkatz 25:f5741040c4bb 45 int off_interp = off_1 + ((off_2 - off_1)*(raw - ((raw>>7)<<7))>>7); // Interpolate between lookup table entries
benkatz 25:f5741040c4bb 46 int angle = raw + off_interp; // Correct for nonlinearity with lookup table from calibration
Rushu 52:d4d5e3414865 47
Rushu 52:d4d5e3414865 48 if(first_sample){
Rushu 52:d4d5e3414865 49 if(angle - old_counts > _CPR/2){
Rushu 52:d4d5e3414865 50 rotations -= 1;
Rushu 52:d4d5e3414865 51 }
Rushu 52:d4d5e3414865 52 else if (angle - old_counts < -_CPR/2){
Rushu 52:d4d5e3414865 53 rotations += 1;
Rushu 52:d4d5e3414865 54 }
Rushu 52:d4d5e3414865 55 }
Rushu 52:d4d5e3414865 56 if(!first_sample){first_sample = 1;}
benkatz 22:60276ba87ac6 57
benkatz 22:60276ba87ac6 58 old_counts = angle;
benkatz 22:60276ba87ac6 59 oldModPosition = modPosition;
benkatz 45:aadebe074af6 60 modPosition = ((2.0f*PI * ((float) angle))/ (float)_CPR);
benkatz 45:aadebe074af6 61 position = (2.0f*PI * ((float) angle+(_CPR*rotations)))/ (float)_CPR;
benkatz 22:60276ba87ac6 62 MechPosition = position - MechOffset;
benkatz 45:aadebe074af6 63 float elec = ((2.0f*PI/(float)_CPR) * (float) ((_ppairs*angle)%_CPR)) + ElecOffset;
benkatz 45:aadebe074af6 64 if(elec < 0) elec += 2.0f*PI;
benkatz 45:aadebe074af6 65 else if(elec > 2.0f*PI) elec -= 2.0f*PI ;
benkatz 22:60276ba87ac6 66 ElecPosition = elec;
benkatz 22:60276ba87ac6 67
benkatz 22:60276ba87ac6 68 float vel;
benkatz 45:aadebe074af6 69 //if(modPosition<.1f && oldModPosition>6.1f){
benkatz 45:aadebe074af6 70
benkatz 45:aadebe074af6 71 if((modPosition-oldModPosition) < -3.0f){
benkatz 45:aadebe074af6 72 vel = (modPosition - oldModPosition + 2.0f*PI)/dt;
benkatz 22:60276ba87ac6 73 }
benkatz 45:aadebe074af6 74 //else if(modPosition>6.1f && oldModPosition<0.1f){
benkatz 45:aadebe074af6 75 else if((modPosition - oldModPosition) > 3.0f){
benkatz 45:aadebe074af6 76 vel = (modPosition - oldModPosition - 2.0f*PI)/dt;
benkatz 22:60276ba87ac6 77 }
benkatz 22:60276ba87ac6 78 else{
benkatz 45:aadebe074af6 79 vel = (modPosition-oldModPosition)/dt;
benkatz 22:60276ba87ac6 80 }
benkatz 22:60276ba87ac6 81
benkatz 35:69b24894c11d 82 int n = 40;
benkatz 22:60276ba87ac6 83 float sum = vel;
benkatz 22:60276ba87ac6 84 for (int i = 1; i < (n); i++){
benkatz 22:60276ba87ac6 85 velVec[n - i] = velVec[n-i-1];
benkatz 22:60276ba87ac6 86 sum += velVec[n-i];
benkatz 22:60276ba87ac6 87 }
benkatz 22:60276ba87ac6 88 velVec[0] = vel;
benkatz 45:aadebe074af6 89 MechVelocity = sum/((float)n);
benkatz 22:60276ba87ac6 90 ElecVelocity = MechVelocity*_ppairs;
benkatz 34:51647c6c500d 91 ElecVelocityFilt = 0.99f*ElecVelocityFilt + 0.01f*ElecVelocity;
benkatz 14:80ce59119d93 92 }
benkatz 8:10ae7bc88d6e 93
benkatz 14:80ce59119d93 94 int PositionSensorAM5147::GetRawPosition(){
benkatz 22:60276ba87ac6 95 return raw;
benkatz 14:80ce59119d93 96 }
benkatz 38:67e4e1453a4b 97
benkatz 38:67e4e1453a4b 98 float PositionSensorAM5147::GetMechPositionFixed(){
benkatz 38:67e4e1453a4b 99 return MechPosition+MechOffset;
benkatz 38:67e4e1453a4b 100 }
benkatz 14:80ce59119d93 101
benkatz 14:80ce59119d93 102 float PositionSensorAM5147::GetMechPosition(){
benkatz 14:80ce59119d93 103 return MechPosition;
benkatz 14:80ce59119d93 104 }
benkatz 14:80ce59119d93 105
benkatz 14:80ce59119d93 106 float PositionSensorAM5147::GetElecPosition(){
benkatz 22:60276ba87ac6 107 return ElecPosition;
benkatz 14:80ce59119d93 108 }
benkatz 14:80ce59119d93 109
benkatz 37:c0f352d6e8e3 110 float PositionSensorAM5147::GetElecVelocity(){
benkatz 37:c0f352d6e8e3 111 return ElecVelocity;
benkatz 37:c0f352d6e8e3 112 }
benkatz 37:c0f352d6e8e3 113
benkatz 14:80ce59119d93 114 float PositionSensorAM5147::GetMechVelocity(){
benkatz 22:60276ba87ac6 115 return MechVelocity;
benkatz 14:80ce59119d93 116 }
benkatz 14:80ce59119d93 117
benkatz 14:80ce59119d93 118 void PositionSensorAM5147::ZeroPosition(){
benkatz 14:80ce59119d93 119 rotations = 0;
benkatz 28:8c7e29f719c5 120 MechOffset = 0;
benkatz 45:aadebe074af6 121 Sample(.00025f);
benkatz 14:80ce59119d93 122 MechOffset = GetMechPosition();
benkatz 14:80ce59119d93 123 }
benkatz 0:4e1c4df6aabd 124
benkatz 22:60276ba87ac6 125 void PositionSensorAM5147::SetElecOffset(float offset){
benkatz 22:60276ba87ac6 126 ElecOffset = offset;
benkatz 22:60276ba87ac6 127 }
benkatz 37:c0f352d6e8e3 128 void PositionSensorAM5147::SetMechOffset(float offset){
benkatz 37:c0f352d6e8e3 129 MechOffset = offset;
Rushu 52:d4d5e3414865 130 first_sample = 0;
benkatz 37:c0f352d6e8e3 131 }
benkatz 22:60276ba87ac6 132
benkatz 22:60276ba87ac6 133 int PositionSensorAM5147::GetCPR(){
benkatz 22:60276ba87ac6 134 return _CPR;
benkatz 22:60276ba87ac6 135 }
benkatz 22:60276ba87ac6 136
benkatz 22:60276ba87ac6 137
benkatz 22:60276ba87ac6 138 void PositionSensorAM5147::WriteLUT(int new_lut[128]){
benkatz 22:60276ba87ac6 139 memcpy(offset_lut, new_lut, sizeof(offset_lut));
benkatz 22:60276ba87ac6 140 }
benkatz 20:bf9ea5125d52 141
benkatz 22:60276ba87ac6 142
shaorui 48:1b51771c3647 143 /*
benkatz 10:370851e6e132 144 PositionSensorEncoder::PositionSensorEncoder(int CPR, float offset, int ppairs) {
benkatz 10:370851e6e132 145 _ppairs = ppairs;
benkatz 0:4e1c4df6aabd 146 _CPR = CPR;
benkatz 0:4e1c4df6aabd 147 _offset = offset;
benkatz 3:6a0015d88d06 148 MechPosition = 0;
benkatz 22:60276ba87ac6 149 out_old = 0;
benkatz 22:60276ba87ac6 150 oldVel = 0;
benkatz 22:60276ba87ac6 151 raw = 0;
benkatz 0:4e1c4df6aabd 152
benkatz 0:4e1c4df6aabd 153 // Enable clock for GPIOA
benkatz 0:4e1c4df6aabd 154 __GPIOA_CLK_ENABLE(); //equivalent from hal_rcc.h
benkatz 0:4e1c4df6aabd 155
shaorui 48:1b51771c3647 156 GPIOA->MODER |= GPIO_MODER_MODER6_1 | GPIO_MODER_MODER7_1 ; //PA6 & PA7 as Alternate Function //!< GPIO port mode register, Address offset: 0x00 //
shaorui 48:1b51771c3647 157 GPIOA->OTYPER |= GPIO_OTYPER_OT_6 | GPIO_OTYPER_OT_7 ; //PA6 & PA7 as Inputs //!< GPIO port output type register, Address offset: 0x04 //
shaorui 48:1b51771c3647 158 GPIOA->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR6 | GPIO_OSPEEDER_OSPEEDR7 ; //Low speed //!< GPIO port output speed register, Address offset: 0x08 //
shaorui 48:1b51771c3647 159 GPIOA->PUPDR |= GPIO_PUPDR_PUPDR6_1 | GPIO_PUPDR_PUPDR7_1 ; //Pull Down //!< GPIO port pull-up/pull-down register, Address offset: 0x0C //
shaorui 48:1b51771c3647 160 GPIOA->AFR[0] |= 0x22000000 ; //AF02 for PA6 & PA7 //!< GPIO alternate function registers, Address offset: 0x20-0x24 //
shaorui 48:1b51771c3647 161 GPIOA->AFR[1] |= 0x00000000 ; //nibbles here refer to gpio8..15 //!< GPIO alternate function registers, Address offset: 0x20-0x24 //
benkatz 0:4e1c4df6aabd 162
benkatz 0:4e1c4df6aabd 163 // configure TIM3 as Encoder input
benkatz 0:4e1c4df6aabd 164 // Enable clock for TIM3
benkatz 0:4e1c4df6aabd 165 __TIM3_CLK_ENABLE();
benkatz 0:4e1c4df6aabd 166
benkatz 22:60276ba87ac6 167 TIM3->CR1 = 0x0001; // CEN(Counter ENable)='1' < TIM control register 1
benkatz 22:60276ba87ac6 168 TIM3->SMCR = TIM_ENCODERMODE_TI12; // SMS='011' (Encoder mode 3) < TIM slave mode control register
benkatz 22:60276ba87ac6 169 TIM3->CCMR1 = 0x1111; // CC1S='01' CC2S='01' < TIM capture/compare mode register 1, maximum digital filtering
benkatz 22:60276ba87ac6 170 TIM3->CCMR2 = 0x0000; // < TIM capture/compare mode register 2
benkatz 22:60276ba87ac6 171 TIM3->CCER = 0x0011; // CC1P CC2P < TIM capture/compare enable register
benkatz 22:60276ba87ac6 172 TIM3->PSC = 0x0000; // Prescaler = (0+1) < TIM prescaler
benkatz 22:60276ba87ac6 173 TIM3->ARR = CPR; // IM auto-reload register
benkatz 0:4e1c4df6aabd 174
benkatz 7:dc5f27756e02 175 TIM3->CNT = 0x000; //reset the counter before we use it
benkatz 0:4e1c4df6aabd 176
benkatz 3:6a0015d88d06 177 // Extra Timer for velocity measurement
benkatz 9:d7eb815cb057 178
benkatz 3:6a0015d88d06 179 __TIM2_CLK_ENABLE();
benkatz 22:60276ba87ac6 180 TIM3->CR2 = 0x030; //MMS = 101
benkatz 3:6a0015d88d06 181
benkatz 3:6a0015d88d06 182 TIM2->PSC = 0x03;
benkatz 3:6a0015d88d06 183 //TIM2->CR2 |= TIM_CR2_TI1S;
benkatz 22:60276ba87ac6 184 TIM2->SMCR = 0x24; //TS = 010 for ITR2, SMS = 100 (reset counter at edge)
benkatz 22:60276ba87ac6 185 TIM2->CCMR1 = 0x3; // CC1S = 11, IC1 mapped on TRC
benkatz 3:6a0015d88d06 186
benkatz 3:6a0015d88d06 187 //TIM2->CR2 |= TIM_CR2_TI1S;
benkatz 3:6a0015d88d06 188 TIM2->CCER |= TIM_CCER_CC1P;
benkatz 3:6a0015d88d06 189 //TIM2->CCER |= TIM_CCER_CC1NP;
benkatz 3:6a0015d88d06 190 TIM2->CCER |= TIM_CCER_CC1E;
benkatz 3:6a0015d88d06 191
benkatz 3:6a0015d88d06 192
benkatz 22:60276ba87ac6 193 TIM2->CR1 = 0x01; //CEN, enable timer
benkatz 9:d7eb815cb057 194
benkatz 22:60276ba87ac6 195 TIM3->CR1 = 0x01; // CEN
benkatz 8:10ae7bc88d6e 196 ZPulse = new InterruptIn(PC_4);
benkatz 8:10ae7bc88d6e 197 ZSense = new DigitalIn(PC_4);
benkatz 8:10ae7bc88d6e 198 //ZPulse = new InterruptIn(PB_0);
benkatz 8:10ae7bc88d6e 199 //ZSense = new DigitalIn(PB_0);
benkatz 0:4e1c4df6aabd 200 ZPulse->enable_irq();
benkatz 0:4e1c4df6aabd 201 ZPulse->rise(this, &PositionSensorEncoder::ZeroEncoderCount);
benkatz 7:dc5f27756e02 202 //ZPulse->fall(this, &PositionSensorEncoder::ZeroEncoderCountDown);
benkatz 0:4e1c4df6aabd 203 ZPulse->mode(PullDown);
benkatz 7:dc5f27756e02 204 flag = 0;
benkatz 0:4e1c4df6aabd 205
benkatz 0:4e1c4df6aabd 206
benkatz 1:b8bceb4daed5 207 //ZTest = new DigitalOut(PC_2);
benkatz 1:b8bceb4daed5 208 //ZTest->write(1);
benkatz 22:60276ba87ac6 209 }
benkatz 0:4e1c4df6aabd 210
benkatz 45:aadebe074af6 211 void PositionSensorEncoder::Sample(float dt){
benkatz 0:4e1c4df6aabd 212
benkatz 22:60276ba87ac6 213 }
benkatz 22:60276ba87ac6 214
benkatz 0:4e1c4df6aabd 215
benkatz 22:60276ba87ac6 216 float PositionSensorEncoder::GetMechPosition() { //returns rotor angle in radians.
benkatz 8:10ae7bc88d6e 217 int raw = TIM3->CNT;
benkatz 7:dc5f27756e02 218 float unsigned_mech = (6.28318530718f/(float)_CPR) * (float) ((raw)%_CPR);
benkatz 7:dc5f27756e02 219 return (float) unsigned_mech;// + 6.28318530718f* (float) rotations;
benkatz 0:4e1c4df6aabd 220 }
benkatz 0:4e1c4df6aabd 221
benkatz 22:60276ba87ac6 222 float PositionSensorEncoder::GetElecPosition() { //returns rotor electrical angle in radians.
benkatz 7:dc5f27756e02 223 int raw = TIM3->CNT;
benkatz 10:370851e6e132 224 float elec = ((6.28318530718f/(float)_CPR) * (float) ((_ppairs*raw)%_CPR)) - _offset;
benkatz 8:10ae7bc88d6e 225 if(elec < 0) elec += 6.28318530718f;
benkatz 8:10ae7bc88d6e 226 return elec;
benkatz 0:4e1c4df6aabd 227 }
benkatz 0:4e1c4df6aabd 228
benkatz 13:a3fa0a31b114 229
benkatz 3:6a0015d88d06 230
benkatz 3:6a0015d88d06 231 float PositionSensorEncoder::GetMechVelocity(){
benkatz 22:60276ba87ac6 232
benkatz 9:d7eb815cb057 233 float out = 0;
benkatz 3:6a0015d88d06 234 float rawPeriod = TIM2->CCR1; //Clock Ticks
benkatz 22:60276ba87ac6 235 int currentTime = TIM2->CNT;
benkatz 22:60276ba87ac6 236 if(currentTime > 2000000){rawPeriod = currentTime;}
benkatz 3:6a0015d88d06 237 float dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f; // +/- 1
benkatz 22:60276ba87ac6 238 float meas = dir*180000000.0f*(6.28318530718f/(float)_CPR)/rawPeriod;
benkatz 22:60276ba87ac6 239 if(isinf(meas)){ meas = 1;}
benkatz 11:c83b18d41e54 240 out = meas;
benkatz 22:60276ba87ac6 241 //if(meas == oldVel){
benkatz 22:60276ba87ac6 242 // out = .9f*out_old;
benkatz 22:60276ba87ac6 243 // }
benkatz 22:60276ba87ac6 244
benkatz 22:60276ba87ac6 245
benkatz 22:60276ba87ac6 246 oldVel = meas;
benkatz 22:60276ba87ac6 247 out_old = out;
benkatz 22:60276ba87ac6 248 int n = 16;
benkatz 22:60276ba87ac6 249 float sum = out;
benkatz 22:60276ba87ac6 250 for (int i = 1; i < (n); i++){
benkatz 22:60276ba87ac6 251 velVec[n - i] = velVec[n-i-1];
benkatz 22:60276ba87ac6 252 sum += velVec[n-i];
benkatz 9:d7eb815cb057 253 }
benkatz 22:60276ba87ac6 254 velVec[0] = out;
benkatz 22:60276ba87ac6 255 return sum/(float)n;
benkatz 3:6a0015d88d06 256 }
benkatz 13:a3fa0a31b114 257
benkatz 13:a3fa0a31b114 258 float PositionSensorEncoder::GetElecVelocity(){
benkatz 13:a3fa0a31b114 259 return _ppairs*GetMechVelocity();
benkatz 13:a3fa0a31b114 260 }
benkatz 13:a3fa0a31b114 261
benkatz 0:4e1c4df6aabd 262 void PositionSensorEncoder::ZeroEncoderCount(void){
benkatz 7:dc5f27756e02 263 if (ZSense->read() == 1 & flag == 0){
benkatz 0:4e1c4df6aabd 264 if (ZSense->read() == 1){
benkatz 8:10ae7bc88d6e 265 GPIOC->ODR ^= (1 << 4);
benkatz 7:dc5f27756e02 266 TIM3->CNT = 0x000;
benkatz 1:b8bceb4daed5 267 //state = !state;
benkatz 1:b8bceb4daed5 268 //ZTest->write(state);
benkatz 7:dc5f27756e02 269 GPIOC->ODR ^= (1 << 4);
benkatz 7:dc5f27756e02 270 //flag = 1;
benkatz 7:dc5f27756e02 271 }
benkatz 7:dc5f27756e02 272 }
benkatz 7:dc5f27756e02 273 }
benkatz 22:60276ba87ac6 274
benkatz 22:60276ba87ac6 275 void PositionSensorEncoder::ZeroPosition(void){
benkatz 22:60276ba87ac6 276
benkatz 22:60276ba87ac6 277 }
benkatz 7:dc5f27756e02 278
benkatz 7:dc5f27756e02 279 void PositionSensorEncoder::ZeroEncoderCountDown(void){
benkatz 7:dc5f27756e02 280 if (ZSense->read() == 0){
benkatz 7:dc5f27756e02 281 if (ZSense->read() == 0){
benkatz 7:dc5f27756e02 282 GPIOC->ODR ^= (1 << 4);
benkatz 7:dc5f27756e02 283 flag = 0;
benkatz 7:dc5f27756e02 284 float dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f;
benkatz 7:dc5f27756e02 285 if(dir != dir){
benkatz 7:dc5f27756e02 286 dir = dir;
benkatz 7:dc5f27756e02 287 rotations += dir;
benkatz 7:dc5f27756e02 288 }
benkatz 7:dc5f27756e02 289
benkatz 7:dc5f27756e02 290 GPIOC->ODR ^= (1 << 4);
benkatz 7:dc5f27756e02 291
benkatz 0:4e1c4df6aabd 292 }
benkatz 0:4e1c4df6aabd 293 }
benkatz 22:60276ba87ac6 294 }
benkatz 22:60276ba87ac6 295 void PositionSensorEncoder::SetElecOffset(float offset){
benkatz 22:60276ba87ac6 296
benkatz 22:60276ba87ac6 297 }
benkatz 22:60276ba87ac6 298
benkatz 22:60276ba87ac6 299 int PositionSensorEncoder::GetRawPosition(void){
benkatz 22:60276ba87ac6 300 return 0;
benkatz 22:60276ba87ac6 301 }
benkatz 22:60276ba87ac6 302
benkatz 22:60276ba87ac6 303 int PositionSensorEncoder::GetCPR(){
benkatz 22:60276ba87ac6 304 return _CPR;
benkatz 22:60276ba87ac6 305 }
benkatz 22:60276ba87ac6 306
benkatz 22:60276ba87ac6 307
benkatz 22:60276ba87ac6 308 void PositionSensorEncoder::WriteLUT(int new_lut[128]){
benkatz 22:60276ba87ac6 309 memcpy(offset_lut, new_lut, sizeof(offset_lut));
benkatz 22:60276ba87ac6 310 }
shaorui 48:1b51771c3647 311 */