Diff: BiQuad.cpp

Revision:

5:519e9002b10e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BiQuad.cpp	Sun Oct 02 20:45:07 2016 +0000
@@ -0,0 +1,151 @@
+#include "BiQuad.h"
+#include <stdlib.h>
+#include <stddef.h>
+
+BiQuad::BiQuad() {
+    resetStateOnGainChange = true;
+    set( 1.0, 0.0, 0.0, 0.0, 0.0 );
+}
+
+BiQuad::BiQuad(double b0, double b1, double b2, double a1, double a2) {
+    resetStateOnGainChange = true;
+    set( b0, b1, b2, a1, a2 );
+}
+
+BiQuad::BiQuad(double b0, double b1, double b2, double a0, double a1, double a2) {
+    resetStateOnGainChange = true;
+    set( b0/a0, b1/a0, b2/a0, a1/a0, a2/a0 );
+}
+
+void BiQuad::PIDF( double Kp, double Ki, double Kd, double N, double Ts  ) {
+
+    double b0, b1, b2, bd, a1, a2;
+
+    a1 = -4.0/(N*Ts+2.0);
+    a2 = -(N*Ts-2.0)/(N*Ts+2.0);
+
+    bd = ( N*Ts+2.0 );
+
+    b0 = ( 4.0*Kp + 4.0*Kd*N + 2.0*Ki*Ts + 2.0*Kp*N*Ts + Ki*N*Ts*Ts )/(2.0*bd);
+    b1 = ( Ki*N*Ts*Ts - 4.0*Kp - 4.0*Kd*N )/bd;
+    b2 = ( 4.0*Kp + 4.0*Kd*N - 2*Ki*Ts - 2*Kp*N*Ts + Ki*N*Ts*Ts )/(2.0*bd);
+
+    set( b0, b1, b2, a1, a2 );
+
+};
+
+void BiQuad::set(double b0, double b1, double b2, double a1, double a2) {
+
+    B[0] = b0; B[1] = b1; B[2] = b2;
+    A[0] = a1; A[1] = a2;
+
+    if( resetStateOnGainChange )
+        wz[0] = 0; wz[1] = 0;
+
+}
+
+double BiQuad::step(double x) {
+
+    double y,w;
+
+    /* Direct form II */
+    w =      x - A[0]*wz[0] - A[1]*wz[1];
+    y = B[0]*w + B[1]*wz[0] + B[2]*wz[1];
+
+    /* Shift */
+    wz[1] = wz[0];
+    wz[0] = w;
+
+    return y;
+
+}
+
+std::vector< std::complex<double> > BiQuad::poles() {
+
+    std::vector< std::complex<double> > poles;
+
+    std::complex<double> b2(A[0]*A[0],0);
+    std::complex<double> ds = std::sqrt( b2-4*A[1] );
+
+    poles.push_back( 0.5*(-A[0]+ds) );
+    poles.push_back( 0.5*(-A[0]-ds) );
+
+    return poles;
+
+}
+
+std::vector< std::complex<double> > BiQuad::zeros() {
+
+    std::vector< std::complex<double> > zeros;
+
+    std::complex<double> b2(B[1]*B[1],0);
+    std::complex<double> ds = std::sqrt( b2-4*B[0]*B[2] );
+
+    zeros.push_back( 0.5*(-B[1]+ds)/B[0] );
+    zeros.push_back( 0.5*(-B[1]-ds)/B[0] );
+
+    return zeros;
+
+}
+
+bool BiQuad::stable() {
+    bool stable = true;
+    std::vector< std::complex<double> > ps = poles();
+    for( size_t i = 0; i < ps.size(); i++ )
+        stable = stable & ( std::abs( ps[i] ) < 1 );
+    return stable;
+}
+
+void BiQuad::setResetStateOnGainChange( bool v ){
+    resetStateOnGainChange = v;
+}
+
+BiQuadChain &BiQuadChain::add(BiQuad *bq) {
+    biquads.push_back( bq );
+    return *this;
+}
+
+double BiQuadChain::step(double x) {
+
+    int i;
+    size_t bqs;
+
+    bqs = biquads.size();
+
+    for( i = 0; i < bqs; i++ )
+        x = biquads[i]->step( x );
+
+    return x;
+}
+
+std::vector< std::complex<double> > BiQuadChain::poles_zeros( bool zeros ) {
+
+    std::vector< std::complex<double> > chain, bq;
+    int i;
+    size_t bqs;
+
+    bqs = biquads.size();
+
+    for( i = 0; i < bqs; i++ ){
+        bq = ( zeros ) ? biquads[ i ]->zeros() : biquads[ i ]->poles();
+        chain.insert( chain.end(), bq.begin(), bq.end() );
+    }
+
+    return chain;
+
+}
+
+std::vector< std::complex<double> > BiQuadChain::poles() {
+    return poles_zeros( false );
+}
+
+std::vector< std::complex<double> > BiQuadChain::zeros() {
+    return poles_zeros( true );
+}
+
+bool BiQuadChain::stable() {
+    bool stable = true;
+    for( size_t i = 0; i < biquads.size(); i++ )
+        stable = stable & biquads[i]->stable();
+    return stable;
+}
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