filter.h

 
#ifndef RC_FILTER_H
#define RC_FILTER_H
 
#ifdef __cplusplus
extern "C" {
#endif
 
#include <stdint.h>
#include <rc/math/vector.h>
#include <rc/math/ring_buffer.h>
 
typedef struct rc_filter_t{
    int order;      
    double dt;      
    double gain;        
    rc_vector_t num;    
    rc_vector_t den;    
 
    int sat_en;     
    double sat_min;     
    double sat_max;     
    int sat_flag;       
 
    int ss_en;      
    double ss_steps;        
 
    rc_ringbuf_t in_buf;
    rc_ringbuf_t out_buf;
 
    double newest_input;    
    double newest_output;   
    uint64_t step;      
    int initialized;    
} rc_filter_t;
 
#define RC_FILTER_INITIALIZER {\
    .order      = 0,\
    .dt     = 0.0,\
    .gain       = 1.0,\
    .num        = RC_VECTOR_INITIALIZER,\
    .den        = RC_VECTOR_INITIALIZER,\
    .sat_en     = 0,\
    .sat_min    = 0.0,\
    .sat_max    = 0.0,\
    .sat_flag   = 0,\
    .ss_en      = 0,\
    .ss_steps   = 0,\
    .in_buf     = RC_RINGBUF_INITIALIZER,\
    .out_buf    = RC_RINGBUF_INITIALIZER,\
    .newest_input   = 0.0,\
    .newest_output  = 0.0,\
    .step       = 0,\
    .initialized    = 0}
 
rc_filter_t rc_filter_empty(void);
 
int rc_filter_alloc(rc_filter_t* f, rc_vector_t num, rc_vector_t den, double dt);
 
int rc_filter_alloc_from_arrays(rc_filter_t* f,double dt,double* num,int numlen,\
                            double* den,int denlen);
 
int rc_filter_duplicate(rc_filter_t* f, rc_filter_t old);
 
int rc_filter_free(rc_filter_t* f);
 
int rc_filter_print(rc_filter_t f);
 
double rc_filter_march(rc_filter_t* f, double new_input);
 
int rc_filter_reset(rc_filter_t* f);
 
int rc_filter_enable_saturation(rc_filter_t* f, double min, double max);
 
int rc_filter_get_saturation_flag(rc_filter_t* f);
 
int rc_filter_enable_soft_start(rc_filter_t* f, double seconds);
 
double rc_filter_previous_input(rc_filter_t* f, int steps);
 
double rc_filter_previous_output(rc_filter_t* f, int steps);
 
int rc_filter_prefill_inputs(rc_filter_t* f, double in);
 
int rc_filter_prefill_outputs(rc_filter_t* f, double out);
 
int rc_filter_multiply(rc_filter_t f1, rc_filter_t f2, rc_filter_t* out);
int rc_filter_multiply_three(rc_filter_t f1, rc_filter_t f2, rc_filter_t f3, rc_filter_t* out);
 
int rc_filter_c2d_tustin(rc_filter_t* f, double dt,rc_vector_t num,rc_vector_t den,double w);
 
int rc_filter_normalize(rc_filter_t* f);
 
int rc_filter_first_order_lowpass(rc_filter_t* f, double dt, double tc);
 
int rc_filter_first_order_highpass(rc_filter_t* f, double dt, double tc);
 
int rc_filter_butterworth_lowpass(rc_filter_t* f, int order, double dt, double wc);
 
int rc_filter_butterworth_highpass(rc_filter_t* f, int order, double dt, double wc);
 
int rc_filter_moving_average(rc_filter_t* f, int samples, double dt);
 
int rc_filter_integrator(rc_filter_t *f, double dt);
 
int rc_filter_double_integrator(rc_filter_t* f, double dt);
 
int rc_filter_pid(rc_filter_t* f,double kp,double ki,double kd,double Tf,double dt);
 
 
int rc_filter_third_order_complement(rc_filter_t* lp, rc_filter_t* hp, double freq, double damp, double dt);
 
 
#ifdef __cplusplus
}
#endif
 
#endif // RC_FILTER_H