mirror of https://github.com/ArduPilot/ardupilot
56 lines
2.2 KiB
C
56 lines
2.2 KiB
C
|
/*
|
||
|
|
* This file is free software: you can redistribute it and/or modify it
|
||
|
|
* under the terms of the GNU General Public License as published by the
|
||
|
|
* Free Software Foundation, either version 3 of the License, or
|
||
|
|
* (at your option) any later version.
|
||
|
|
*
|
||
|
|
* This file is distributed in the hope that it will be useful, but
|
||
|
|
* WITHOUT ANY WARRANTY; without even the implied warranty of
|
||
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
|
||
|
|
* See the GNU General Public License for more details.
|
||
|
|
*
|
||
|
|
* You should have received a copy of the GNU General Public License along
|
||
|
|
* with this program. If not, see <http://www.gnu.org/licenses/>.
|
||
|
|
*
|
||
|
|
* Code by Andy Piper
|
||
|
|
*/
|
||
|
|
#pragma once
|
||
|
|
|
||
|
|
#include <AP_HAL/AP_HAL.h>
|
||
|
|
#include "AP_HAL_SITL.h"
|
||
|
|
|
||
|
|
#include <complex>
|
||
|
|
|
||
|
|
typedef std::complex<float> complexf;
|
||
|
|
|
||
|
|
// ChibiOS implementation of FFT analysis to run on STM32 processors
|
||
|
|
class HALSITL::DSP : public AP_HAL::DSP {
|
||
|
|
public:
|
||
|
|
// initialise an FFT instance
|
||
|
|
virtual FFTWindowState* fft_init(uint16_t window_size, uint16_t sample_rate) override;
|
||
|
|
// start an FFT analysis
|
||
|
|
virtual void fft_start(FFTWindowState* state, const float* samples, uint16_t buffer_index, uint16_t buffer_size) override;
|
||
|
|
// perform remaining steps of an FFT analysis
|
||
|
|
virtual uint16_t fft_analyse(FFTWindowState* state, uint16_t start_bin, uint16_t end_bin, uint8_t harmonics, float noise_att_cutoff) override;
|
||
|
|
|
||
|
|
// STM32-based FFT state
|
||
|
|
class FFTWindowStateSITL : public AP_HAL::DSP::FFTWindowState {
|
||
|
|
friend class HALSITL::DSP;
|
||
|
|
|
||
|
|
protected:
|
||
|
|
FFTWindowStateSITL(uint16_t window_size, uint16_t sample_rate);
|
||
|
|
~FFTWindowStateSITL();
|
||
|
|
|
||
|
|
private:
|
||
|
|
complexf* buf;
|
||
|
|
};
|
||
|
|
|
||
|
|
private:
|
||
|
|
void step_hanning(FFTWindowStateSITL* fft, const float* samples, uint16_t buffer_index, uint16_t buffer_size);
|
||
|
|
void step_fft(FFTWindowStateSITL* fft);
|
||
|
|
void mult_f32(const float* v1, const float* v2, float* vout, uint16_t len);
|
||
|
|
void vector_max_float(const float* vin, uint16_t len, float* maxValue, uint16_t* maxIndex) const override;
|
||
|
|
void vector_scale_float(const float* vin, float scale, float* vout, uint16_t len) const override;
|
||
|
|
void calculate_fft(complexf* f, uint16_t length);
|
||
|
|
};
|