Marco Oehler / Mbed OS Lab3

ROME2 Lab3

LowpassFilter.h@0:6a4d3264c067, 2020-03-24 (annotated)

Committer:
oehlemar
Date:
Tue Mar 24 08:39:54 2020 +0000
Revision:
0:6a4d3264c067
Lab3

Who changed what in which revision?

UserRevisionLine numberNew contents of line
oehlemar 0:6a4d3264c067 1 /*
oehlemar 0:6a4d3264c067 2 * LowpassFilter.h
oehlemar 0:6a4d3264c067 3 * Copyright (c) 2020, ZHAW
oehlemar 0:6a4d3264c067 4 * All rights reserved.
oehlemar 0:6a4d3264c067 5 */
oehlemar 0:6a4d3264c067 6
oehlemar 0:6a4d3264c067 7 #ifndef LOWPASS_FILTER_H_
oehlemar 0:6a4d3264c067 8 #define LOWPASS_FILTER_H_
oehlemar 0:6a4d3264c067 9
oehlemar 0:6a4d3264c067 10 #include <cstdlib>
oehlemar 0:6a4d3264c067 11
oehlemar 0:6a4d3264c067 12 /**
oehlemar 0:6a4d3264c067 13 * This class implements a time-discrete 2nd order lowpass filter for a series of data values.
oehlemar 0:6a4d3264c067 14 * This filter can typically be used within a periodic task that takes measurements that need
oehlemar 0:6a4d3264c067 15 * to be filtered, like speed or position values.
oehlemar 0:6a4d3264c067 16 */
oehlemar 0:6a4d3264c067 17 class LowpassFilter {
oehlemar 0:6a4d3264c067 18
oehlemar 0:6a4d3264c067 19 public:
oehlemar 0:6a4d3264c067 20
oehlemar 0:6a4d3264c067 21 LowpassFilter();
oehlemar 0:6a4d3264c067 22 virtual ~LowpassFilter();
oehlemar 0:6a4d3264c067 23 void reset();
oehlemar 0:6a4d3264c067 24 void reset(float value);
oehlemar 0:6a4d3264c067 25 void setPeriod(float period);
oehlemar 0:6a4d3264c067 26 void setFrequency(float frequency);
oehlemar 0:6a4d3264c067 27 float getFrequency();
oehlemar 0:6a4d3264c067 28 float filter(float value);
oehlemar 0:6a4d3264c067 29
oehlemar 0:6a4d3264c067 30 private:
oehlemar 0:6a4d3264c067 31
oehlemar 0:6a4d3264c067 32 float period;
oehlemar 0:6a4d3264c067 33 float frequency;
oehlemar 0:6a4d3264c067 34 float a11, a12, a21, a22, b1, b2;
oehlemar 0:6a4d3264c067 35 float x1, x2;
oehlemar 0:6a4d3264c067 36 };
oehlemar 0:6a4d3264c067 37
oehlemar 0:6a4d3264c067 38 #endif /* LOWPASS_FILTER_H_ */
oehlemar 0:6a4d3264c067 39