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Merge pull request #1625 from martinbudden/bf_gyro_filter_calls 

Use function pointers to simplify gyro filter calls
This commit is contained in:
borisbstyle 2016-11-23 13:19:36 +01:00 committed by GitHub
parent 35d291325b d76d65f19b
commit 12e7d3ad8d
5 changed files with 64 additions and 32 deletions
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17
src/main/common/filter.c
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@ -22,6 +22,7 @@
#include "common/filter.h"
#include "common/maths.h"
#include "common/utils.h"
#define M_LN2_FLOAT 0.69314718055994530942f
#define M_PI_FLOAT 3.14159265358979323846f
@ -29,6 +30,16 @@
#define BIQUAD_BANDWIDTH 1.9f /* bandwidth in octaves */
#define BIQUAD_Q 1.0f / sqrtf(2.0f) /* quality factor - butterworth*/
// NULL filter
float nullFilterApply(void *filter, float input)
{
UNUSED(filter);
return input;
}
// PT1 Low Pass filter
void pt1FilterInit(pt1Filter_t *filter, uint8_t f_cut, float dT)
@ -178,6 +189,12 @@ float firFilterApply(const firFilter_t *filter)
return ret;
}
float firFilterUpdateAndApply(firFilter_t *filter, float input)
{
firFilterUpdate(filter, input);
return firFilterApply(filter);
}
/*
* Returns average of the last <count> items.
*/

4
src/main/common/filter.h
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@ -62,6 +62,9 @@ typedef struct firFilter_s {
uint8_t coeffsLength;
} firFilter_t;
typedef float (*filterApplyFnPtr)(void *filter, float input);
float nullFilterApply(void *filter, float input);
void biquadFilterInitLPF(biquadFilter_t *filter, float filterFreq, uint32_t refreshRate);
void biquadFilterInit(biquadFilter_t *filter, float filterFreq, uint32_t refreshRate, float Q, biquadFilterType_e filterType);
@ -77,6 +80,7 @@ void firFilterInit2(firFilter_t *filter, float *buf, uint8_t bufLength, const fl
void firFilterUpdate(firFilter_t *filter, float input);
void firFilterUpdateAverage(firFilter_t *filter, float input);
float firFilterApply(const firFilter_t *filter);
float firFilterUpdateAndApply(firFilter_t *filter, float input);
float firFilterCalcPartialAverage(const firFilter_t *filter, uint8_t count);
float firFilterCalcMovingAverage(const firFilter_t *filter);
float firFilterLastInput(const firFilter_t *filter);

2
src/main/common/utils.h
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@ -32,7 +32,7 @@
#define EXPAND_I(x) x
#define EXPAND(x) EXPAND_I(x)
#if !defined(USE_HAL_DRIVER)
#if !defined(UNUSED)
#define UNUSED(x) (void)(x)
#endif
#define BUILD_BUG_ON(condition) ((void)sizeof(char[1 - 2*!!(condition)]))

4
src/main/drivers/io.c
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@ -15,12 +15,12 @@
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#include "common/utils.h"
#include "io.h"
#include "io_impl.h"
#include "rcc.h"
#include "common/utils.h"
#include "target.h"
// io ports defs are stored in array by index now

69
src/main/sensors/gyro.c
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@ -53,7 +53,10 @@ static uint16_t gyroSoftNotchHz1, gyroSoftNotchHz2;
static float gyroSoftNotchQ1, gyroSoftNotchQ2;
static uint8_t gyroSoftLpfHz;
static uint16_t calibratingG = 0;
static float gyroDt;
static filterApplyFnPtr softLpfFilterApplyFn;
static filterApplyFnPtr notchFilter1ApplyFn;
static filterApplyFnPtr notchFilter2ApplyFn;
void gyroUseConfig(const gyroConfig_t *gyroConfigToUse,
uint8_t gyro_soft_lpf_hz,
@ -74,20 +77,40 @@ void gyroUseConfig(const gyroConfig_t *gyroConfigToUse,
void gyroInit(void)
{
if (gyroSoftLpfHz && gyro.targetLooptime) { // Initialisation needs to happen once samplingrate is known
for (int axis = 0; axis < 3; axis++) {
if (gyroSoftLpfType == FILTER_BIQUAD)
softLpfFilterApplyFn = nullFilterApply;
notchFilter1ApplyFn = nullFilterApply;
notchFilter2ApplyFn = nullFilterApply;
if (gyroSoftLpfHz) { // Initialisation needs to happen once samplingrate is known
if (gyroSoftLpfType == FILTER_BIQUAD) {
softLpfFilterApplyFn = (filterApplyFnPtr)biquadFilterApply;
for (int axis = 0; axis < 3; axis++) {
biquadFilterInitLPF(&gyroFilterLPF[axis], gyroSoftLpfHz, gyro.targetLooptime);
else if (gyroSoftLpfType == FILTER_PT1)
gyroDt = (float) gyro.targetLooptime * 0.000001f;
else
}
} else if (gyroSoftLpfType == FILTER_PT1) {
softLpfFilterApplyFn = (filterApplyFnPtr)pt1FilterApply;
const float gyroDt = (float) gyro.targetLooptime * 0.000001f;
for (int axis = 0; axis < 3; axis++) {
pt1FilterInit(&gyroFilterPt1[axis], gyroSoftLpfHz, gyroDt);
}
} else {
softLpfFilterApplyFn = (filterApplyFnPtr)firFilterDenoiseUpdate;
for (int axis = 0; axis < 3; axis++) {
firFilterDenoiseInit(&gyroDenoiseState[axis], gyroSoftLpfHz, gyro.targetLooptime);
}
}
}
if ((gyroSoftNotchHz1 || gyroSoftNotchHz2) && gyro.targetLooptime) {
if (gyroSoftNotchHz1) {
notchFilter1ApplyFn = (filterApplyFnPtr)biquadFilterApply;
for (int axis = 0; axis < 3; axis++) {
biquadFilterInit(&gyroFilterNotch_1[axis], gyroSoftNotchHz1, gyro.targetLooptime, gyroSoftNotchQ1, FILTER_NOTCH);
}
}
if (gyroSoftNotchHz1) {
notchFilter2ApplyFn = (filterApplyFnPtr)biquadFilterApply;
for (int axis = 0; axis < 3; axis++) {
biquadFilterInit(&gyroFilterNotch_2[axis], gyroSoftNotchHz2, gyro.targetLooptime, gyroSoftNotchQ2, FILTER_NOTCH);
}
}
@ -180,32 +203,20 @@ void gyroUpdate(void)
gyroADC[Y] -= gyroZero[Y];
gyroADC[Z] -= gyroZero[Z];
if (gyroSoftLpfHz) {
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
if (debugMode == DEBUG_GYRO)
debug[axis] = gyroADC[axis];
if (debugMode == DEBUG_GYRO)
debug[axis] = gyroADC[axis];
if (gyroSoftLpfType == FILTER_BIQUAD)
gyroADCf[axis] = biquadFilterApply(&gyroFilterLPF[axis], (float) gyroADC[axis]);
else if (gyroSoftLpfType == FILTER_PT1)
gyroADCf[axis] = pt1FilterApply4(&gyroFilterPt1[axis], (float) gyroADC[axis], gyroSoftLpfHz, gyroDt);
else
gyroADCf[axis] = firFilterDenoiseUpdate(&gyroDenoiseState[axis], (float) gyroADC[axis]);
gyroADCf[axis] = softLpfFilterApplyFn(&gyroDenoiseState[axis], (float) gyroADC[axis]);
if (debugMode == DEBUG_NOTCH)
debug[axis] = lrintf(gyroADCf[axis]);
if (debugMode == DEBUG_NOTCH)
debug[axis] = lrintf(gyroADCf[axis]);
if (gyroSoftNotchHz1)
gyroADCf[axis] = biquadFilterApply(&gyroFilterNotch_1[axis], gyroADCf[axis]);
gyroADCf[axis] = notchFilter1ApplyFn(&gyroFilterNotch_1[axis], gyroADCf[axis]);
if (gyroSoftNotchHz2)
gyroADCf[axis] = biquadFilterApply(&gyroFilterNotch_2[axis], gyroADCf[axis]);
gyroADCf[axis] = notchFilter2ApplyFn(&gyroFilterNotch_2[axis], gyroADCf[axis]);
gyroADC[axis] = lrintf(gyroADCf[axis]);
}
} else {
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++)
gyroADCf[axis] = gyroADC[axis];
gyroADC[axis] = lrintf(gyroADCf[axis]);
}
}