Lowpass filter tested
This commit is contained in:
Joel Fuster
parent
3eee9eb079
commit
a3cc92347b
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@ -1,104 +1,103 @@
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#define LOWPASS_FILTER_NUM 100
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#define LOWPASS_FILTER_NUM 100
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#define LOWPASS_NUM_COEF 6
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static float lowpass_table[][12] = {
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static float lowpass_table[][12] = {
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{ 2.500000e-03, -3.425227e-02, 1.065271e-01, -8.631566e-02, -3.905318e-02, 8.220568e-02, -2.911187e-02, -4.356644e+00, 7.533406e+00, -6.457224e+00, 2.740841e+00, -4.603782e-01 },
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{ 2.500000e-03, 9.221512e-13, 4.610756e-12, 9.221512e-12, 9.221512e-12, 4.610756e-12, 9.221512e-13, -4.974584e+00, 9.898659e+00, -9.848470e+00, 4.899299e+00, -9.749042e-01 },
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{ 5.000000e-03, 9.594949e-04, -3.757786e-03, 5.699713e-03, -4.135192e-03, 1.404994e-03, -1.712205e-04, -4.818173e+00, 9.277064e+00, -8.922091e+00, 4.285685e+00, -8.224846e-01 },
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{ 5.000000e-03, 2.913775e-11, 1.456887e-10, 2.913775e-10, 2.913775e-10, 1.456887e-10, 2.913775e-11, -4.949168e+00, 9.797962e+00, -9.698857e+00, 4.800501e+00, -9.504377e-01 },
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{ 7.500000e-03, 1.743498e-04, -4.836488e-04, 4.240127e-04, -7.912133e-05, -5.077890e-05, 1.520828e-05, -4.768018e+00, 9.080466e+00, -8.633118e+00, 4.096914e+00, -7.762436e-01 },
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{ 7.500000e-03, 2.184986e-10, 1.092493e-09, 2.184986e-09, 2.184986e-09, 1.092493e-09, 2.184986e-10, -4.923752e+00, 9.697909e+00, -9.551143e+00, 4.703571e+00, -9.265843e-01 },
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{ 1.000000e-02, 2.786778e-05, -1.048774e-04, 1.567428e-04, -1.169318e-04, 4.382585e-05, -6.624334e-06, -4.969154e+00, 9.877940e+00, -9.818872e+00, 4.880540e+00, -9.704543e-01 },
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{ 1.000000e-02, 9.092865e-10, 4.546433e-09, 9.092865e-09, 9.092865e-09, 4.546433e-09, 9.092865e-10, -4.898337e+00, 9.598497e+00, -9.405308e+00, 4.608476e+00, -9.033283e-01 },
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{ 1.250000e-02, 3.771678e-04, -1.059885e-03, 1.107245e-03, -5.459644e-04, 1.253553e-04, -3.589356e-06, -4.553322e+00, 8.240587e+00, -7.400896e+00, 3.293345e+00, -5.797131e-01 },
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{ 1.250000e-02, 2.740509e-09, 1.370255e-08, 2.740509e-08, 2.740509e-08, 1.370255e-08, 2.740509e-09, -4.872922e+00, 9.499726e+00, -9.261332e+00, 4.515183e+00, -8.806542e-01 },
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{ 1.500000e-02, 3.641343e-04, -1.670771e-03, 3.089786e-03, -2.876643e-03, 1.346476e-03, -2.529602e-04, -4.953038e+00, 9.815151e+00, -9.727146e+00, 4.820991e+00, -9.559584e-01 },
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{ 1.500000e-02, 6.735032e-09, 3.367516e-08, 6.735032e-08, 6.735032e-08, 3.367516e-08, 6.735032e-09, -4.847508e+00, 9.401594e+00, -9.119197e+00, 4.423658e+00, -8.585473e-01 },
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{ 1.750000e-02, 1.620037e-03, -7.258472e-03, 1.291276e-02, -1.136920e-02, 4.934118e-03, -8.391887e-04, -4.943426e+00, 9.777900e+00, -9.673006e+00, 4.786021e+00, -9.474886e-01 },
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{ 1.750000e-02, 1.437797e-08, 7.188984e-08, 1.437797e-07, 1.437797e-07, 7.188984e-08, 1.437797e-08, -4.822094e+00, 9.304100e+00, -8.978882e+00, 4.333870e+00, -8.369928e-01 },
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{ 2.000000e-02, 3.101550e-04, -1.237727e-03, 1.926983e-03, -1.432888e-03, 4.853767e-04, -5.180650e-05, -4.936123e+00, 9.749890e+00, -9.632735e+00, 4.760297e+00, -9.413297e-01 },
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{ 2.000000e-02, 2.768871e-08, 1.384436e-07, 2.768871e-07, 2.768871e-07, 1.384436e-07, 2.768871e-08, -4.796682e+00, 9.207242e+00, -8.840370e+00, 4.245786e+00, -8.159767e-01 },
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{ 2.250000e-02, 5.534977e-04, -2.260520e-03, 3.607053e-03, -2.758637e-03, 9.713944e-04, -1.126195e-04, -4.927408e+00, 9.716508e+00, -9.584794e+00, 4.729704e+00, -9.340104e-01 },
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{ 2.250000e-02, 4.928701e-08, 2.464350e-07, 4.928701e-07, 4.928701e-07, 2.464350e-07, 4.928701e-08, -4.771270e+00, 9.111019e+00, -8.703641e+00, 4.159377e+00, -7.954852e-01 },
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{ 2.500000e-02, 5.408189e-04, -2.373426e-03, 4.248880e-03, -3.870097e-03, 1.784493e-03, -3.303950e-04, -4.919587e+00, 9.686785e+00, -9.542449e+00, 4.702905e+00, -9.276541e-01 },
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{ 2.500000e-02, 8.245336e-08, 4.122668e-07, 8.245336e-07, 8.245336e-07, 4.122668e-07, 8.245336e-08, -4.745859e+00, 9.015430e+00, -8.568676e+00, 4.074612e+00, -7.755049e-01 },
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{ 2.750000e-02, 3.502801e-04, -1.361984e-03, 2.079191e-03, -1.509031e-03, 4.785137e-04, -3.652179e-05, -4.910569e+00, 9.652561e+00, -9.493750e+00, 4.672115e+00, -9.203566e-01 },
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{ 2.750000e-02, 1.311842e-07, 6.559210e-07, 1.311842e-06, 1.311842e-06, 6.559210e-07, 1.311842e-07, -4.720449e+00, 8.920473e+00, -8.435457e+00, 3.991461e+00, -7.560228e-01 },
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{ 3.000000e-02, 1.453611e-03, -5.612347e-03, 8.217122e-03, -5.417332e-03, 1.368011e-03, -8.318679e-06, -4.899744e+00, 9.611505e+00, -9.435349e+00, 4.635192e+00, -9.116028e-01 },
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{ 3.000000e-02, 2.002421e-07, 1.001210e-06, 2.002421e-06, 2.002421e-06, 1.001210e-06, 2.002421e-07, -4.695041e+00, 8.826146e+00, -8.303967e+00, 3.909894e+00, -7.370262e-01 },
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{ 3.250000e-02, 1.074577e-03, -3.989564e-03, 5.517087e-03, -3.244842e-03, 5.280205e-04, 1.158066e-04, -4.891322e+00, 9.579953e+00, -9.391041e+00, 4.607554e+00, -9.051436e-01 },
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{ 3.250000e-02, 2.952011e-07, 1.476005e-06, 2.952011e-06, 2.952011e-06, 1.476005e-06, 2.952011e-07, -4.669634e+00, 8.732448e+00, -8.174185e+00, 3.829883e+00, -7.185027e-01 },
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{ 3.500000e-02, 2.005131e-03, -7.736833e-03, 1.123183e-02, -7.164746e-03, 1.561016e-03, 1.052714e-04, -4.880244e+00, 9.538327e+00, -9.332365e+00, 4.570791e+00, -8.965060e-01 },
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{ 3.500000e-02, 4.224882e-07, 2.112441e-06, 4.224882e-06, 4.224882e-06, 2.112441e-06, 4.224882e-07, -4.644228e+00, 8.639378e+00, -8.046096e+00, 3.751399e+00, -7.004404e-01 },
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{ 3.750000e-02, 1.311003e-03, -4.668294e-03, 6.054300e-03, -3.080307e-03, 1.247654e-04, 2.607561e-04, -4.872694e+00, 9.510470e+00, -9.293865e+00, 4.547176e+00, -8.910848e-01 },
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{ 3.750000e-02, 5.894198e-07, 2.947099e-06, 5.894198e-06, 5.894198e-06, 2.947099e-06, 5.894198e-07, -4.618824e+00, 8.546934e+00, -7.919679e+00, 3.674415e+00, -6.828274e-01 },
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{ 4.000000e-02, 2.516459e-03, -1.023862e-02, 1.640094e-02, -1.270471e-02, 4.590988e-03, -5.619403e-04, -4.862729e+00, 9.473496e+00, -9.242415e+00, 4.515363e+00, -8.837123e-01 },
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{ 4.000000e-02, 8.042356e-07, 4.021178e-06, 8.042356e-06, 8.042356e-06, 4.021178e-06, 8.042356e-07, -4.593421e+00, 8.455115e+00, -7.794918e+00, 3.598903e+00, -6.656525e-01 },
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{ 4.250000e-02, 3.998376e-03, -1.431055e-02, 1.806231e-02, -7.926506e-03, -1.066708e-03, 1.248077e-03, -4.846160e+00, 9.411465e+00, -9.155203e+00, 4.460800e+00, -8.708966e-01 },
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{ 4.250000e-02, 1.076127e-06, 5.380637e-06, 1.076127e-05, 1.076127e-05, 5.380637e-06, 1.076127e-06, -4.568021e+00, 8.363919e+00, -7.671796e+00, 3.524836e+00, -6.489046e-01 },
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{ 4.500000e-02, -4.348069e-03, 1.480567e-02, -1.677925e-02, 4.499779e-03, 3.831973e-03, -2.016955e-03, -4.834516e+00, 9.368539e+00, -9.095813e+00, 4.424264e+00, -8.624668e-01 },
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{ 4.500000e-02, 1.415266e-06, 7.076329e-06, 1.415266e-05, 1.415266e-05, 7.076329e-06, 1.415266e-06, -4.542622e+00, 8.273345e+00, -7.550293e+00, 3.452189e+00, -6.325728e-01 },
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{ 4.750000e-02, 3.535345e-03, -1.324834e-02, 1.871796e-02, -1.156596e-02, 2.323784e-03, 2.450004e-04, -4.830814e+00, 9.356017e+00, -9.080188e+00, 4.415799e+00, -8.608062e-01 },
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{ 4.750000e-02, 1.832823e-06, 9.164113e-06, 1.832823e-05, 1.832823e-05, 9.164113e-06, 1.832823e-06, -4.517225e+00, 8.183391e+00, -7.430394e+00, 3.380934e+00, -6.166466e-01 },
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{ 5.000000e-02, 5.595668e-03, -2.078517e-02, 2.858994e-02, -1.637592e-02, 2.183922e-03, 8.027722e-04, -4.815366e+00, 9.299016e+00, -9.001167e+00, 4.367034e+00, -8.495060e-01 },
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{ 5.000000e-02, 2.340991e-06, 1.170496e-05, 2.340991e-05, 2.340991e-05, 1.170496e-05, 2.340991e-06, -4.491831e+00, 8.094055e+00, -7.312081e+00, 3.311048e+00, -6.011158e-01 },
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{ 5.250000e-02, -6.249993e-03, 2.101144e-02, -2.299353e-02, 4.533406e-03, 7.073653e-03, -3.391119e-03, -4.797826e+00, 9.234405e+00, -8.911684e+00, 4.311829e+00, -8.367090e-01 },
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{ 5.250000e-02, 2.953005e-06, 1.476502e-05, 2.953005e-05, 2.953005e-05, 1.476502e-05, 2.953005e-06, -4.466439e+00, 8.005337e+00, -7.195337e+00, 3.242504e+00, -5.859705e-01 },
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{ 5.500000e-02, -6.072127e-03, 1.947955e-02, -1.896575e-02, -2.760329e-04, 9.832365e-03, -4.018237e-03, -4.787198e+00, 9.196202e+00, -8.860144e+00, 4.280925e+00, -8.297648e-01 },
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{ 5.500000e-02, 3.683149e-06, 1.841574e-05, 3.683149e-05, 3.683149e-05, 1.841574e-05, 3.683149e-06, -4.441049e+00, 7.917234e+00, -7.080145e+00, 3.175278e+00, -5.712009e-01 },
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{ 5.750000e-02, -6.744602e-03, 2.253293e-02, -2.449972e-02, 4.596967e-03, 7.829719e-03, -3.740525e-03, -4.776084e+00, 9.156358e+00, -8.806519e+00, 4.248835e+00, -8.225667e-01 },
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{ 5.750000e-02, 4.546774e-06, 2.273387e-05, 4.546774e-05, 4.546774e-05, 2.273387e-05, 4.546774e-06, -4.415661e+00, 7.829746e+00, -6.966488e+00, 3.109346e+00, -5.567976e-01 },
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{ 6.000000e-02, 5.831348e-03, -1.721135e-02, 1.276161e-02, 7.999284e-03, -1.450428e-02, 5.154550e-03, -4.764866e+00, 9.116354e+00, -8.752950e+00, 4.216944e+00, -8.154510e-01 },
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{ 6.000000e-02, 5.560309e-06, 2.780155e-05, 5.560309e-05, 5.560309e-05, 2.780155e-05, 5.560309e-06, -4.390276e+00, 7.742870e+00, -6.854349e+00, 3.044685e+00, -5.427514e-01 },
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{ 6.250000e-02, -5.829863e-03, 1.683686e-02, -1.140031e-02, -1.001138e-02, 1.592147e-02, -5.554742e-03, -4.753981e+00, 9.077766e+00, -8.701582e+00, 4.186544e+00, -8.087097e-01 },
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{ 6.250000e-02, 6.741264e-06, 3.370632e-05, 6.741264e-05, 6.741264e-05, 3.370632e-05, 6.741264e-06, -4.364894e+00, 7.656604e+00, -6.743713e+00, 2.981271e+00, -5.290533e-01 },
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{ 6.500000e-02, -6.396675e-03, 1.935953e-02, -1.591036e-02, -6.118638e-03, 1.439645e-02, -5.376342e-03, -4.742702e+00, 9.037914e+00, -8.648691e+00, 4.155331e+00, -8.018065e-01 },
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{ 6.500000e-02, 8.108240e-06, 4.054120e-05, 8.108240e-05, 8.108240e-05, 4.054120e-05, 8.108240e-06, -4.339514e+00, 7.570949e+00, -6.634562e+00, 2.919082e+00, -5.156946e-01 },
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{ 6.750000e-02, -6.124160e-03, 1.754505e-02, -1.159011e-02, -1.111439e-02, 1.730100e-02, -6.072763e-03, -4.731360e+00, 8.998035e+00, -8.596011e+00, 4.124385e+00, -7.949945e-01 },
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{ 6.750000e-02, 9.680930e-06, 4.840465e-05, 9.680930e-05, 9.680930e-05, 4.840465e-05, 9.680930e-06, -4.314138e+00, 7.485901e+00, -6.526881e+00, 2.858094e+00, -5.026668e-01 },
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{ 7.000000e-02, -6.487342e-03, 1.882125e-02, -1.338584e-02, -9.970211e-03, 1.708311e-02, -6.127115e-03, -4.719920e+00, 8.957991e+00, -8.543337e+00, 4.093571e+00, -7.882396e-01 },
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{ 7.000000e-02, 1.148013e-05, 5.740063e-05, 1.148013e-04, 1.148013e-04, 5.740063e-05, 1.148013e-05, -4.288764e+00, 7.401459e+00, -6.420653e+00, 2.798287e+00, -4.899617e-01 },
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{ 7.250000e-02, -7.902875e-03, 2.519387e-02, -2.524474e-02, 1.280493e-03, 1.170741e-02, -5.112626e-03, -4.708425e+00, 8.917950e+00, -8.490911e+00, 4.063044e+00, -7.815793e-01 },
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{ 7.250000e-02, 1.352771e-05, 6.763857e-05, 1.352771e-04, 1.352771e-04, 6.763857e-05, 1.352771e-05, -4.263393e+00, 7.317622e+00, -6.315862e+00, 2.739638e+00, -4.775711e-01 },
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{ 7.500000e-02, 7.246073e-03, -2.142761e-02, 1.702449e-02, 7.602053e-03, -1.655766e-02, 6.205297e-03, -4.696766e+00, 8.877511e+00, -8.438177e+00, 4.032454e+00, -7.749310e-01 },
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{ 7.500000e-02, 1.584668e-05, 7.923340e-05, 1.584668e-04, 1.584668e-04, 7.923340e-05, 1.584668e-05, -4.238025e+00, 7.234388e+00, -6.212494e+00, 2.682125e+00, -4.654872e-01 },
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{ 7.750000e-02, -8.872072e-03, 2.886006e-02, -3.106564e-02, 5.907475e-03, 1.001469e-02, -4.953130e-03, -4.685044e+00, 8.837029e+00, -8.385595e+00, 4.002069e+00, -7.683518e-01 },
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{ 7.750000e-02, 1.846110e-05, 9.230551e-05, 1.846110e-04, 1.846110e-04, 9.230551e-05, 1.846110e-05, -4.212661e+00, 7.151755e+00, -6.110531e+00, 2.625730e+00, -4.537024e-01 },
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{ 8.000000e-02, -7.166812e-03, 2.011757e-02, -1.316371e-02, -1.265740e-02, 1.985163e-02, -7.108202e-03, -4.673121e+00, 8.796033e+00, -8.332558e+00, 3.971537e+00, -7.617657e-01 },
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{ 8.000000e-02, 2.139615e-05, 1.069808e-04, 2.139615e-04, 2.139615e-04, 1.069808e-04, 2.139615e-05, -4.187300e+00, 7.069723e+00, -6.009958e+00, 2.570429e+00, -4.422092e-01 },
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{ 8.250000e-02, -9.426945e-03, 3.047025e-02, -3.283879e-02, 6.510128e-03, 1.035978e-02, -5.221667e-03, -4.661315e+00, 8.755664e+00, -8.280619e+00, 3.941806e+00, -7.553910e-01 },
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{ 8.250000e-02, 2.467809e-05, 1.233904e-04, 2.467809e-04, 2.467809e-04, 1.233904e-04, 2.467809e-05, -4.161942e+00, 6.988289e+00, -5.910761e+00, 2.516205e+00, -4.310003e-01 },
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{ 8.500000e-02, 8.222838e-03, -2.416405e-02, 1.977743e-02, 7.181679e-03, -1.771974e-02, 6.872273e-03, -4.649176e+00, 8.714288e+00, -8.227518e+00, 3.911470e+00, -7.488967e-01 },
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{ 8.500000e-02, 2.833425e-05, 1.416713e-04, 2.833425e-04, 2.833425e-04, 1.416713e-04, 2.833425e-05, -4.136588e+00, 6.907451e+00, -5.812923e+00, 2.463036e+00, -4.200687e-01 },
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{ 8.750000e-02, -8.173960e-03, 2.316192e-02, -1.691800e-02, -1.061759e-02, 1.969645e-02, -7.344939e-03, -4.637129e+00, 8.673467e+00, -8.175430e+00, 3.881889e+00, -7.426047e-01 },
|
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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|
||||||
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|
||||||
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|
||||||
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|
||||||
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{ 1.575000e-01, 4.568540e-04, 2.284270e-03, 4.568540e-03, 4.568540e-03, 2.284270e-03, 4.568540e-04, -3.403223e+00, 4.815464e+00, -3.503216e+00, 1.303135e+00, -1.975406e-01 },
|
||||||
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|
||||||
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{ 1.625000e-01, 5.237228e-04, 2.618614e-03, 5.237228e-03, 5.237228e-03, 2.618614e-03, 5.237228e-04, -3.352805e+00, 4.688633e+00, -3.377160e+00, 1.245455e+00, -1.873647e-01 },
|
||||||
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{ 1.650000e-01, 5.597706e-04, 2.798853e-03, 5.597706e-03, 5.597706e-03, 2.798853e-03, 5.597706e-04, -3.327605e+00, 4.626036e+00, -3.315544e+00, 1.217491e+00, -1.824659e-01 },
|
||||||
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{ 1.675000e-01, 5.976365e-04, 2.988183e-03, 5.976365e-03, 5.976365e-03, 2.988183e-03, 5.976365e-04, -3.302410e+00, 4.563982e+00, -3.254854e+00, 1.190095e+00, -1.776890e-01 },
|
||||||
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{ 1.700000e-01, 6.373785e-04, 3.186893e-03, 6.373785e-03, 6.373785e-03, 3.186893e-03, 6.373785e-04, -3.277221e+00, 4.502470e+00, -3.195080e+00, 1.163258e+00, -1.730312e-01 },
|
||||||
{ 1.725000e-01, -1.555365e-02, 3.459256e-02, -2.513730e-02, -1.303459e-02, 2.789146e-02, -1.388429e-02, -4.165199e+00, 7.196683e+00, -6.411274e+00, 2.937850e+00, -5.530119e-01 },
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{ 1.725000e-01, 6.790551e-04, 3.395275e-03, 6.790551e-03, 6.790551e-03, 3.395275e-03, 6.790551e-04, -3.252038e+00, 4.441498e+00, -3.136210e+00, 1.136969e+00, -1.684894e-01 },
|
||||||
{ 1.750000e-01, -1.541292e-02, 3.311801e-02, -2.222737e-02, -1.607977e-02, 2.956644e-02, -1.445204e-02, -4.149692e+00, 7.151808e+00, -6.360922e+00, 2.912388e+00, -5.481766e-01 },
|
{ 1.750000e-01, 7.227254e-04, 3.613627e-03, 7.227254e-03, 7.227254e-03, 3.613627e-03, 7.227254e-04, -3.226861e+00, 4.381065e+00, -3.078233e+00, 1.111218e+00, -1.640609e-01 },
|
||||||
{ 1.775000e-01, -1.565984e-02, 3.348376e-02, -2.293462e-02, -1.548756e-02, 2.935457e-02, -1.462610e-02, -4.134013e+00, 7.106605e+00, -6.310310e+00, 2.886822e+00, -5.433216e-01 },
|
{ 1.775000e-01, 7.684494e-04, 3.842247e-03, 7.684494e-03, 7.684494e-03, 3.842247e-03, 7.684494e-04, -3.201690e+00, 4.321169e+00, -3.021139e+00, 1.085993e+00, -1.597429e-01 },
|
||||||
{ 1.800000e-01, -1.578969e-02, 3.315306e-02, -2.221304e-02, -1.632402e-02, 2.982330e-02, -1.492128e-02, -4.118298e+00, 7.061541e+00, -6.260061e+00, 2.861537e+00, -5.385405e-01 },
|
{ 1.800000e-01, 8.162875e-04, 4.081438e-03, 8.162875e-03, 8.162875e-03, 4.081438e-03, 8.162875e-04, -3.176525e+00, 4.261808e+00, -2.964916e+00, 1.061287e+00, -1.555327e-01 },
|
||||||
{ 1.825000e-01, -1.610868e-02, 3.359472e-02, -2.293283e-02, -1.571058e-02, 2.948937e-02, -1.502614e-02, -4.102523e+00, 7.016532e+00, -6.210061e+00, 2.836462e+00, -5.338152e-01 },
|
{ 1.825000e-01, 8.663011e-04, 4.331505e-03, 8.663011e-03, 8.663011e-03, 4.331505e-03, 8.663011e-04, -3.151366e+00, 4.202982e+00, -2.909555e+00, 1.037088e+00, -1.514277e-01 },
|
||||||
{ 1.850000e-01, -1.620434e-02, 3.321041e-02, -2.225371e-02, -1.649290e-02, 2.995913e-02, -1.535787e-02, -4.086605e+00, 6.971300e+00, -6.159931e+00, 2.811356e+00, -5.290861e-01 },
|
{ 1.850000e-01, 9.185519e-04, 4.592759e-03, 9.185519e-03, 9.185519e-03, 4.592759e-03, 9.185519e-04, -3.126212e+00, 4.144688e+00, -2.855043e+00, 1.013387e+00, -1.474253e-01 },
|
||||||
{ 1.875000e-01, -1.642493e-02, 3.322489e-02, -2.224394e-02, -1.660129e-02, 3.000431e-02, -1.556614e-02, -4.070597e+00, 6.926031e+00, -6.109929e+00, 2.786386e+00, -5.243956e-01 },
|
{ 1.875000e-01, 9.731024e-04, 4.865512e-03, 9.731024e-03, 9.731024e-03, 4.865512e-03, 9.731024e-04, -3.101065e+00, 4.086924e+00, -2.801372e+00, 9.901752e-01, -1.435231e-01 },
|
||||||
{ 1.900000e-01, -1.722250e-02, 3.557102e-02, -2.650956e-02, -1.241280e-02, 2.766324e-02, -1.518434e-02, -4.054651e+00, 6.881214e+00, -6.060677e+00, 2.761917e+00, -5.198281e-01 },
|
{ 1.900000e-01, 1.030016e-03, 5.150079e-03, 1.030016e-02, 1.030016e-02, 5.150079e-03, 1.030016e-03, -3.075924e+00, 4.029691e+00, -2.748530e+00, 9.674428e-01, -1.397185e-01 },
|
||||||
{ 1.925000e-01, -1.698009e-02, 3.374138e-02, -2.323041e-02, -1.580890e-02, 2.954188e-02, -1.587667e-02, -4.038414e+00, 6.835734e+00, -6.010761e+00, 2.737118e+00, -5.151907e-01 },
|
{ 1.925000e-01, 1.089356e-03, 5.446778e-03, 1.089356e-02, 1.089356e-02, 5.446778e-03, 1.089356e-03, -3.050790e+00, 3.972985e+00, -2.696507e+00, 9.451809e-01, -1.360093e-01 },
|
||||||
{ 1.950000e-01, -1.794867e-02, 3.665316e-02, -2.850630e-02, -1.058606e-02, 2.655377e-02, -1.531475e-02, -4.022282e+00, 6.790811e+00, -5.961683e+00, 2.712845e+00, -5.106765e-01 },
|
{ 1.950000e-01, 1.151186e-03, 5.755932e-03, 1.151186e-02, 1.151186e-02, 5.755932e-03, 1.151186e-03, -3.025661e+00, 3.916805e+00, -2.645294e+00, 9.233807e-01, -1.323931e-01 },
|
||||||
{ 1.975000e-01, -1.794329e-02, 3.564865e-02, -2.669683e-02, -1.249809e-02, 2.753918e-02, -1.576577e-02, -4.005909e+00, 6.745390e+00, -5.912154e+00, 2.688366e+00, -5.061204e-01 },
|
{ 1.975000e-01, 1.215573e-03, 6.077865e-03, 1.215573e-02, 1.215573e-02, 6.077865e-03, 1.215573e-03, -3.000538e+00, 3.861150e+00, -2.594879e+00, 9.020332e-01, -1.288676e-01 },
|
||||||
{ 2.000000e-01, -1.729883e-02, 3.239010e-02, -2.107865e-02, -1.822635e-02, 3.076672e-02, -1.686497e-02, -3.989444e+00, 6.699957e+00, -5.862791e+00, 2.664047e+00, -5.016085e-01 },
|
{ 2.000000e-01, 1.282581e-03, 6.412905e-03, 1.282581e-02, 1.282581e-02, 6.412905e-03, 1.282581e-03, -2.975422e+00, 3.806018e+00, -2.545253e+00, 8.811301e-01, -1.254306e-01 },
|
||||||
{ 2.025000e-01, -1.772871e-02, 3.299156e-02, -2.214640e-02, -1.725004e-02, 3.007854e-02, -1.687813e-02, -3.972902e+00, 6.654508e+00, -5.813535e+00, 2.639820e+00, -4.971175e-01 },
|
{ 2.025000e-01, 1.352277e-03, 6.761383e-03, 1.352277e-02, 1.352277e-02, 6.761383e-03, 1.352277e-03, -2.950312e+00, 3.751408e+00, -2.496406e+00, 8.606627e-01, -1.220800e-01 },
|
||||||
{ 2.050000e-01, -1.812021e-02, 3.354211e-02, -2.324432e-02, -1.623752e-02, 2.940495e-02, -1.692692e-02, -3.956327e+00, 6.609220e+00, -5.764646e+00, 2.615859e+00, -4.926929e-01 },
|
{ 2.050000e-01, 1.424727e-03, 7.123633e-03, 1.424727e-02, 1.424727e-02, 7.123633e-03, 1.424727e-03, -2.925208e+00, 3.697318e+00, -2.448328e+00, 8.406230e-01, -1.188137e-01 },
|
||||||
{ 2.075000e-01, 1.788185e-02, -3.174846e-02, 2.027018e-02, 1.929588e-02, -3.104556e-02, 1.760706e-02, -3.939654e+00, 6.563892e+00, -5.715873e+00, 2.592019e+00, -4.883019e-01 },
|
{ 2.075000e-01, 1.499998e-03, 7.499990e-03, 1.499998e-02, 1.499998e-02, 7.499990e-03, 1.499998e-03, -2.900111e+00, 3.643747e+00, -2.401010e+00, 8.210026e-01, -1.156296e-01 },
|
||||||
{ 2.100000e-01, -1.809079e-02, 3.160317e-02, -2.020966e-02, -1.944542e-02, 3.101663e-02, -1.784396e-02, -3.922903e+00, 6.518573e+00, -5.667257e+00, 2.568311e+00, -4.839435e-01 },
|
{ 2.100000e-01, 1.578159e-03, 7.890794e-03, 1.578159e-02, 1.578159e-02, 7.890794e-03, 1.578159e-03, -2.875019e+00, 3.590694e+00, -2.354441e+00, 8.017937e-01, -1.125258e-01 },
|
||||||
{ 2.125000e-01, 1.864039e-02, -3.270708e-02, 2.236978e-02, 1.737444e-02, -2.970854e-02, 1.774041e-02, -3.906098e+00, 6.473353e+00, -5.618918e+00, 2.544811e+00, -4.796365e-01 },
|
{ 2.125000e-01, 1.659277e-03, 8.296387e-03, 1.659277e-02, 1.659277e-02, 8.296387e-03, 1.659277e-03, -2.849934e+00, 3.538156e+00, -2.308613e+00, 7.829884e-01, -1.095002e-01 },
|
||||||
{ 2.150000e-01, -1.877347e-02, 3.222307e-02, -2.174713e-02, -1.809644e-02, 2.997232e-02, -1.806193e-02, -3.889128e+00, 6.427872e+00, -5.570394e+00, 2.521237e+00, -4.753135e-01 },
|
{ 2.150000e-01, 1.743423e-03, 8.717115e-03, 1.743423e-02, 1.743423e-02, 8.717115e-03, 1.743423e-03, -2.824855e+00, 3.486132e+00, -2.263516e+00, 7.645791e-01, -1.065509e-01 },
|
||||||
{ 2.175000e-01, 1.879223e-02, -3.136265e-02, 2.054185e-02, 1.939502e-02, -3.057001e-02, 1.849238e-02, -3.872156e+00, 6.382660e+00, -5.522366e+00, 2.498004e+00, -4.710742e-01 },
|
{ 2.175000e-01, 1.830665e-03, 9.153325e-03, 1.830665e-02, 1.830665e-02, 9.153325e-03, 1.830665e-03, -2.799783e+00, 3.434622e+00, -2.219139e+00, 7.465581e-01, -1.036762e-01 },
|
||||||
{ 2.200000e-01, -1.898487e-02, 3.109918e-02, -2.038745e-02, -1.965261e-02, 3.055183e-02, -1.875616e-02, -3.855041e+00, 6.337266e+00, -5.474250e+00, 2.474755e+00, -4.668318e-01 },
|
{ 2.200000e-01, 1.921074e-03, 9.605368e-03, 1.921074e-02, 1.921074e-02, 9.605368e-03, 1.921074e-03, -2.774717e+00, 3.383623e+00, -2.175475e+00, 7.289181e-01, -1.008741e-01 },
|
||||||
{ 2.225000e-01, -1.998622e-02, 3.371540e-02, -2.524977e-02, -1.488762e-02, 2.760887e-02, -1.820435e-02, -3.837875e+00, 6.291959e+00, -5.426363e+00, 2.451662e+00, -4.626245e-01 },
|
{ 2.225000e-01, 2.014719e-03, 1.007360e-02, 2.014719e-02, 2.014719e-02, 1.007360e-02, 2.014719e-03, -2.749657e+00, 3.333133e+00, -2.132514e+00, 7.116518e-01, -9.814302e-02 },
|
||||||
{ 2.250000e-01, -1.953616e-02, 3.104349e-02, -2.091980e-02, -1.934576e-02, 2.996614e-02, -1.912690e-02, -3.820577e+00, 6.246554e+00, -5.378533e+00, 2.428663e+00, -4.584451e-01 },
|
{ 2.250000e-01, 2.111673e-03, 1.055837e-02, 2.111673e-02, 2.111673e-02, 1.055837e-02, 2.111673e-03, -2.724604e+00, 3.283153e+00, -2.090246e+00, 6.947520e-01, -9.548109e-02 },
|
||||||
{ 2.275000e-01, -1.993634e-02, 3.144058e-02, -2.197981e-02, -1.838341e-02, 2.916658e-02, -1.917183e-02, -3.803316e+00, 6.201503e+00, -5.331263e+00, 2.406016e+00, -4.543469e-01 },
|
{ 2.275000e-01, 2.212008e-03, 1.106004e-02, 2.212008e-02, 2.212008e-02, 1.106004e-02, 2.212008e-03, -2.699556e+00, 3.233679e+00, -2.048664e+00, 6.782117e-01, -9.288667e-02 },
|
||||||
{ 2.300000e-01, -2.062113e-02, 3.290716e-02, -2.497414e-02, -1.550239e-02, 2.728267e-02, -1.894095e-02, -3.785947e+00, 6.156395e+00, -5.284061e+00, 2.383446e+00, -4.502683e-01 },
|
{ 2.300000e-01, 2.315794e-03, 1.157897e-02, 2.315794e-02, 2.315794e-02, 1.157897e-02, 2.315794e-03, -2.674515e+00, 3.184711e+00, -2.007756e+00, 6.620241e-01, -9.035810e-02 },
|
||||||
{ 2.325000e-01, -2.040561e-02, 3.106166e-02, -2.218764e-02, -1.844447e-02, 2.873613e-02, -1.964192e-02, -3.768338e+00, 6.110843e+00, -5.236451e+00, 2.360671e+00, -4.461417e-01 },
|
{ 2.325000e-01, 2.423106e-03, 1.211553e-02, 2.423106e-02, 2.423106e-02, 1.211553e-02, 2.423106e-03, -2.649481e+00, 3.136248e+00, -1.967516e+00, 6.461824e-01, -8.789379e-02 },
|
||||||
{ 2.350000e-01, -2.147974e-02, 3.374553e-02, -2.726145e-02, -1.349154e-02, 2.556251e-02, -1.901871e-02, -3.750842e+00, 6.065879e+00, -5.189689e+00, 2.338420e+00, -4.421382e-01 },
|
{ 2.350000e-01, 2.534016e-03, 1.267008e-02, 2.534016e-02, 2.534016e-02, 1.267008e-02, 2.534016e-03, -2.624453e+00, 3.088287e+00, -1.927933e+00, 6.306799e-01, -8.549216e-02 },
|
||||||
{ 2.375000e-01, -2.076940e-02, 3.024688e-02, -2.177075e-02, -1.916061e-02, 2.861687e-02, -2.022414e-02, -3.733061e+00, 6.020365e+00, -5.142400e+00, 2.315901e+00, -4.380720e-01 },
|
{ 2.375000e-01, 2.648598e-03, 1.324299e-02, 2.648598e-02, 2.648598e-02, 1.324299e-02, 2.648598e-03, -2.599431e+00, 3.040828e+00, -1.889000e+00, 6.155102e-01, -8.315169e-02 },
|
||||||
{ 2.400000e-01, -2.195591e-02, 3.331885e-02, -2.761338e-02, -1.343554e-02, 2.495900e-02, -1.947444e-02, -3.715492e+00, 5.975720e+00, -5.096290e+00, 2.294091e+00, -4.341720e-01 },
|
{ 2.400000e-01, 2.766928e-03, 1.383464e-02, 2.766928e-02, 2.766928e-02, 1.383464e-02, 2.766928e-03, -2.574415e+00, 2.993869e+00, -1.850707e+00, 6.006667e-01, -8.087089e-02 },
|
||||||
{ 2.425000e-01, -2.231199e-02, 3.332121e-02, -2.808680e-02, -1.313027e-02, 2.440305e-02, -1.959056e-02, -3.697675e+00, 5.930614e+00, -5.049733e+00, 2.272043e+00, -4.302134e-01 },
|
{ 2.425000e-01, 2.889078e-03, 1.444539e-02, 2.889078e-02, 2.889078e-02, 1.444539e-02, 2.889078e-03, -2.549406e+00, 2.947408e+00, -1.813047e+00, 5.861434e-01, -7.864829e-02 },
|
||||||
{ 2.450000e-01, -2.228158e-02, 3.210347e-02, -2.658983e-02, -1.483176e-02, 2.507443e-02, -2.011776e-02, -3.679676e+00, 5.885265e+00, -5.003027e+00, 2.249948e+00, -4.262448e-01 },
|
{ 2.450000e-01, 3.015126e-03, 1.507563e-02, 3.015126e-02, 3.015126e-02, 1.507563e-02, 3.015126e-03, -2.524403e+00, 2.901445e+00, -1.776010e+00, 5.719340e-01, -7.648247e-02 },
|
||||||
{ 2.475000e-01, -2.156202e-02, 2.855235e-02, -2.115712e-02, -2.049027e-02, 2.806173e-02, -2.134410e-02, -3.661604e+00, 5.840003e+00, -4.956574e+00, 2.228042e+00, -4.223228e-01 },
|
{ 2.475000e-01, 3.145146e-03, 1.572573e-02, 3.145146e-02, 3.145146e-02, 1.572573e-02, 3.145146e-03, -2.499407e+00, 2.855979e+00, -1.739588e+00, 5.580324e-01, -7.437205e-02 },
|
||||||
{ 2.500000e-01, -2.218616e-02, 2.947092e-02, -2.334593e-02, -1.850965e-02, 2.649985e-02, -2.120181e-02, -3.643553e+00, 5.795039e+00, -4.910570e+00, 2.206402e+00, -4.184580e-01 }
|
{ 2.500000e-01, 3.279216e-03, 1.639608e-02, 3.279216e-02, 3.279216e-02, 1.639608e-02, 3.279216e-03, -2.474416e+00, 2.811006e+00, -1.703772e+00, 5.444327e-01, -7.231567e-02 }
|
||||||
};
|
};
|
||||||
|
|
|
||||||
|
|
@ -714,28 +714,29 @@ static float lowpass(lowpass_t *filter, float in, int16_t freqIdx )
|
||||||
if (!filter->init) {
|
if (!filter->init) {
|
||||||
filter->freqIdx = freqIdx;
|
filter->freqIdx = freqIdx;
|
||||||
filter->freq = lowpass_table[filter->freqIdx][0];
|
filter->freq = lowpass_table[filter->freqIdx][0];
|
||||||
filter->pCoef = &lowpass_table[filter->freqIdx][1];
|
filter->b = &lowpass_table[filter->freqIdx][1];
|
||||||
|
filter->a = &lowpass_table[filter->freqIdx][1 + LOWPASS_NUM_COEF];
|
||||||
for (coefIdx = 0; coefIdx < LOWPASS_NUM_COEF; coefIdx++) {
|
for (coefIdx = 0; coefIdx < LOWPASS_NUM_COEF; coefIdx++) {
|
||||||
filter->in[coefIdx] = in;
|
filter->x[coefIdx] = in;
|
||||||
filter->out[coefIdx] = in;
|
filter->y[coefIdx] = in;
|
||||||
}
|
}
|
||||||
filter->init = true;
|
filter->init = true;
|
||||||
}
|
}
|
||||||
|
|
||||||
// Delays
|
// Delays
|
||||||
for (coefIdx = LOWPASS_NUM_COEF-1; coefIdx > 0; coefIdx--) {
|
for (coefIdx = LOWPASS_NUM_COEF-1; coefIdx > 0; coefIdx--) {
|
||||||
filter->in[coefIdx] = filter->in[coefIdx-1];
|
filter->x[coefIdx] = filter->x[coefIdx-1];
|
||||||
filter->out[coefIdx] = filter->out[coefIdx-1];
|
filter->y[coefIdx] = filter->y[coefIdx-1];
|
||||||
}
|
}
|
||||||
filter->in[0] = in;
|
filter->x[0] = in;
|
||||||
|
|
||||||
// Accumulate result
|
// Accumulate result
|
||||||
out = filter->in[0] * filter->pCoef[0];
|
out = filter->x[0] * filter->b[0];
|
||||||
for (coefIdx = 1; coefIdx < LOWPASS_NUM_COEF; coefIdx++) {
|
for (coefIdx = 1; coefIdx < LOWPASS_NUM_COEF; coefIdx++) {
|
||||||
out += filter->in[coefIdx] * filter->pCoef[coefIdx];
|
out += filter->x[coefIdx] * filter->b[coefIdx];
|
||||||
out -= filter->out[coefIdx] * filter->pCoef[coefIdx + LOWPASS_NUM_COEF - 1];
|
out -= filter->y[coefIdx] * filter->a[coefIdx-1];
|
||||||
}
|
}
|
||||||
filter->out[0] = out;
|
filter->y[0] = out;
|
||||||
|
|
||||||
return out;
|
return out;
|
||||||
}
|
}
|
||||||
|
|
@ -747,6 +748,8 @@ void filterServos(void)
|
||||||
if (mixerConfig->servo_lowpass_enable) {
|
if (mixerConfig->servo_lowpass_enable) {
|
||||||
for (servoIdx = 0; servoIdx < MAX_SUPPORTED_SERVOS; servoIdx++) {
|
for (servoIdx = 0; servoIdx < MAX_SUPPORTED_SERVOS; servoIdx++) {
|
||||||
servo[servoIdx] = (int16_t)lowpass(&lowpassFilters[servoIdx], (float)servo[servoIdx], mixerConfig->servo_lowpass_freq_idx);
|
servo[servoIdx] = (int16_t)lowpass(&lowpassFilters[servoIdx], (float)servo[servoIdx], mixerConfig->servo_lowpass_freq_idx);
|
||||||
|
// Sanity check
|
||||||
|
servo[servoIdx] = constrain(servo[servoIdx], servoConf[servoIdx].min, servoConf[servoIdx].max);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -97,9 +97,10 @@ typedef struct lowpass_t {
|
||||||
bool init;
|
bool init;
|
||||||
int16_t freqIdx;
|
int16_t freqIdx;
|
||||||
float freq;
|
float freq;
|
||||||
float *pCoef;
|
const float *b;
|
||||||
float in[LOWPASS_NUM_COEF];
|
const float *a;
|
||||||
float out[LOWPASS_NUM_COEF];
|
float x[LOWPASS_NUM_COEF];
|
||||||
|
float y[LOWPASS_NUM_COEF];
|
||||||
} lowpass_t;
|
} lowpass_t;
|
||||||
|
|
||||||
extern int16_t motor[MAX_SUPPORTED_MOTORS];
|
extern int16_t motor[MAX_SUPPORTED_MOTORS];
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue