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https://github.com/betaflight/betaflight.git
synced 2025-07-16 12:55:19 +03:00
Split filter into separate file for future reuse
This commit is contained in:
Joel Fuster
parent
4f0af41e79
commit
ec946ea7d5
8 changed files with 210 additions and 209 deletions
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@ -18,11 +18,6 @@
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#include <stdbool.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include <math.h>
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#ifdef UNIT_TEST
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#include <stdio.h>
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#endif
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#include "platform.h"
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@ -30,12 +25,11 @@
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#include "common/axis.h"
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#include "common/maths.h"
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#ifndef UNIT_TEST
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#include "drivers/gpio.h"
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#include "drivers/timer.h"
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#include "drivers/pwm_output.h"
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#include "drivers/pwm_mapping.h"
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#endif
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#include "rx/rx.h"
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#include "io/gimbal.h"
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@ -44,6 +38,7 @@
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#include "flight/mixer.h"
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#include "flight/flight.h"
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#include "flight/lowpass.h"
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#include "config/runtime_config.h"
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#include "config/config.h"
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@ -55,19 +50,16 @@
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//#define MIXER_DEBUG
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#include "drivers/system.h"
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extern int16_t debug[4];
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#ifndef UNIT_TEST
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uint8_t motorCount = 0;
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static int useServo;
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static uint8_t servoCount;
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#endif
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int16_t motor[MAX_SUPPORTED_MOTORS];
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int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
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int16_t servo[MAX_SUPPORTED_SERVOS];
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static int useServo;
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static uint8_t servoCount;
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static servoParam_t *servoConf;
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static mixerConfig_t *mixerConfig;
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@ -77,10 +69,8 @@ static airplaneConfig_t *airplaneConfig;
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static rxConfig_t *rxConfig;
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static gimbalConfig_t *gimbalConfig;
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#ifndef UNIT_TEST
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static motorMixer_t currentMixer[MAX_SUPPORTED_MOTORS];
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static mixerMode_e currentMixerMode;
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#endif
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static lowpass_t lowpassFilters[MAX_SUPPORTED_SERVOS];
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static const motorMixer_t mixerQuadX[] = {
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@ -244,7 +234,6 @@ void mixerUseConfigs(servoParam_t *servoConfToUse, flight3DConfig_t *flight3DCon
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gimbalConfig = gimbalConfigToUse;
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}
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#ifndef UNIT_TEST
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int16_t determineServoMiddleOrForwardFromChannel(int nr)
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{
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uint8_t channelToForwardFrom = servoConf[nr].forwardFromChannel;
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@ -524,7 +513,7 @@ void mixTable(void)
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int16_t maxMotor;
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uint32_t i;
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// paranoia: give all servos a default command; prevents drift on unused servos with lowpass enabled
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// paranoia: give all servos a default command
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for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
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servo[i] = DEFAULT_SERVO_MIDDLE;
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}
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@ -676,99 +665,6 @@ bool isMixerUsingServos(void)
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return useServo;
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}
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#endif
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void generate_lowpass_coeffs2(int16_t freq, lowpass_t *filter)
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{
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float fixedScaler;
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int i;
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// generates coefficients for a 2nd-order butterworth low-pass filter
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float freqf = (float)freq*0.001f;
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float omega = tanf(M_PI*freqf/2.0f);
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float scaling = 1.0f / (omega*omega + 1.4142136f*omega + 1.0f);
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#ifdef UNIT_TEST
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printf("lowpass cutoff: %f, omega: %f\n", freqf, omega);
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#endif
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filter->bf[0] = scaling * omega*omega;
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filter->bf[1] = 2.0f * filter->bf[0];
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filter->bf[2] = filter->bf[0];
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filter->af[0] = 1.0f;
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filter->af[1] = scaling * (2.0f * omega*omega - 2.0f);
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filter->af[2] = scaling * (omega*omega - 1.4142136f * omega + 1.0f);
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// Scale for fixed-point
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filter->input_bias = 1500; // Typical servo range is 1500 +/- 500
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filter->input_shift = 16;
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filter->coeff_shift = 24;
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fixedScaler = (float)(1ULL << filter->coeff_shift);
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for (i = 0; i < LOWPASS_NUM_COEF; i++) {
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filter->a[i] = LPF_ROUND(filter->af[i] * fixedScaler);
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filter->b[i] = LPF_ROUND(filter->bf[i] * fixedScaler);
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#ifdef UNIT_TEST
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printf("(%d) bf: %f af: %f b: %ld a: %ld\n", i,
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filter->bf[i], filter->af[i], filter->b[i], filter->a[i]);
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#endif
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}
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filter->freq = freq;
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}
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static int32_t lowpass_fixed(lowpass_t *filter, int32_t in, int16_t freq)
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{
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int16_t coefIdx;
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int64_t out;
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int32_t in_s;
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// Check to see if cutoff frequency changed
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if (freq != filter->freq) {
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filter->init = false;
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}
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// Initialize if needed
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if (!filter->init) {
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generate_lowpass_coeffs2(freq, filter);
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for (coefIdx = 0; coefIdx < LOWPASS_NUM_COEF; coefIdx++) {
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filter->x[coefIdx] = (in - filter->input_bias) << filter->input_shift;
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filter->y[coefIdx] = (in - filter->input_bias) << filter->input_shift;
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}
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filter->init = true;
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}
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// Unbias input and scale
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in_s = (in - filter->input_bias) << filter->input_shift;
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// Delays
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for (coefIdx = LOWPASS_NUM_COEF-1; coefIdx > 0; coefIdx--) {
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filter->x[coefIdx] = filter->x[coefIdx-1];
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filter->y[coefIdx] = filter->y[coefIdx-1];
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}
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filter->x[0] = in_s;
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// Accumulate result
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out = filter->x[0] * filter->b[0];
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for (coefIdx = 1; coefIdx < LOWPASS_NUM_COEF; coefIdx++) {
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out -= filter->y[coefIdx] * filter->a[coefIdx];
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out += filter->x[coefIdx] * filter->b[coefIdx];
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}
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// Scale output by coefficient shift
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out >>= filter->coeff_shift;
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filter->y[0] = (int32_t)out;
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// Scale output by input shift and round
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out = (out + (1 << (filter->input_shift-1))) >> filter->input_shift;
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// Reapply bias
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out += filter->input_bias;
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return (int32_t)out;
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}
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void filterServos(void)
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{
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int16_t servoIdx;
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@ -779,7 +675,7 @@ void filterServos(void)
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if (mixerConfig->servo_lowpass_enable) {
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for (servoIdx = 0; servoIdx < MAX_SUPPORTED_SERVOS; servoIdx++) {
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servo[servoIdx] = (int16_t)lowpass_fixed(&lowpassFilters[servoIdx], servo[servoIdx], mixerConfig->servo_lowpass_freq);
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servo[servoIdx] = (int16_t)lowpassFixed(&lowpassFilters[servoIdx], servo[servoIdx], mixerConfig->servo_lowpass_freq);
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// Sanity check
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servo[servoIdx] = constrain(servo[servoIdx], servoConf[servoIdx].min, servoConf[servoIdx].max);
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