kopia lustrzana https://github.com/OpenRTX/OpenRTX
100 wiersze
3.1 KiB
C++
100 wiersze
3.1 KiB
C++
/***************************************************************************
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* Copyright (C) 2022 - 2025 by Federico Amedeo Izzo IU2NUO, *
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* Niccolò Izzo IU2KIN *
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* Frederik Saraci IU2NRO *
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* Silvano Seva IU2KWO *
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* *
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* This program is free software; you can redistribute it and/or modify *
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* it under the terms of the GNU General Public License as published by *
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* the Free Software Foundation; either version 3 of the License, or *
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* (at your option) any later version. *
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* *
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* This program is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU General Public License for more details. *
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* *
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* You should have received a copy of the GNU General Public License *
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* along with this program; if not, see <http://www.gnu.org/licenses/> *
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***************************************************************************/
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#ifndef PWMCOMPENSATOR_H
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#define PWMCOMPENSATOR_H
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#ifndef __cplusplus
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#error This header is C++ only!
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#endif
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#include <array>
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#include <cstddef>
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#include <cstdint>
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/**
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* Compensation filter for MDx PWM-based baseband output.
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*/
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class PwmCompensator
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{
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public:
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/**
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* Constructor.
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*/
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PwmCompensator()
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{
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reset();
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}
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/**
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* Destructor.
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*/
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~PwmCompensator() { }
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/**
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* Perform one step of the filter, computing a new output value given
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* the input value and the history of previous input values.
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*
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* @param input: input value for the current time step.
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* @return output as a function of the current and past input values.
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*/
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float operator()(const float& input)
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{
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u[0] = input;
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y[0] = (a/d)*(u[0])
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+ (b/d)*(u[1])
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+ (c/d)*(u[2])
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- (e/d)*(y[1])
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- (f/d)*(y[2]);
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for(size_t i = 2; i > 0; i--)
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{
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u[i] = u[i - 1];
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y[i] = y[i - 1];
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}
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return y[0] * 0.5f;
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}
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/**
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* Reset history, clearing the memory of past values.
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*/
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void reset()
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{
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u.fill(0.0f);
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y.fill(0.0f);
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}
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private:
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static constexpr float a = 4982680082321166792352.0f;
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static constexpr float b = -6330013275146484168000.0f;
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static constexpr float c = 1871109008789062500000.0f;
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static constexpr float d = 548027992248535162477.0f;
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static constexpr float e = -24496793746948241250.0f;
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static constexpr float f = 244617462158203125.0f;
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std::array< float, 3 > u; ///< History of past inputs.
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std::array< float, 3 > y; ///< History of past outputs.
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};
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#endif /* PWMCOMPENSATOR_H */
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