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Dependencies:   HIDScope MODSERIAL QEI TextLCD mbed

Filter.cpp

Committer:
Bartvaart
Date:
2015-10-06
Revision:
1:98be4152a539
Parent:
0:557b1ff83a8a
Child:
2:ae55928ff00f

File content as of revision 1:98be4152a539:

#include "Filter.h"

double Filter(double u, double &v1, double &v2, const double a1, const double a2, const double b0, const double b1, const double b2){
    // volgens direct form 2, uit de embedded filtering and control sheets van T.J.W. Lankhorst
    // u = ingangssignaal (zonder filter)
    // v = tussentap
    // v1 = v bij u(x-1), dus v van 1 geleden
    // v2 = v bij u(x-2), dus v van 2 geleden
    // a1 en a2 variabele uit ASN filter, a0 =1
    // b0, b1, b2 variabele uit ASN filter
    // y = uitgangssignaal (gefilterd)
    
    double v = u - a1 * v1 - a2 * v2;
    double y = b0 * v + b1 * v1 + b2 * v2;
    
    v2 = v1; // signalen doorschuiven, zodat bij volgende input, de vorige waardes vsn v worden onthouden
    v1 = v; 
    
    return y;
    }