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AP_HAL_SITL: save a sliding window of frequency bins

This commit is contained in:
Andy Piper 2022-03-12 14:46:24 +00:00 committed by Peter Hall
parent 58b04db242
commit 061ddf7a3f
2 changed files with 7 additions and 7 deletions
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10
libraries/AP_HAL_SITL/DSP.cpp
View File

@ -35,9 +35,9 @@ extern const AP_HAL::HAL& hal;
// important as frequency resolution. Referred to as [Heinz] throughout the code. // important as frequency resolution. Referred to as [Heinz] throughout the code.
// initialize the FFT state machine // initialize the FFT state machine
AP_HAL::DSP::FFTWindowState* DSP::fft_init(uint16_t window_size, uint16_t sample_rate) AP_HAL::DSP::FFTWindowState* DSP::fft_init(uint16_t window_size, uint16_t sample_rate, uint8_t sliding_window_size)
{ {
DSP::FFTWindowStateSITL* fft = new DSP::FFTWindowStateSITL(window_size, sample_rate); DSP::FFTWindowStateSITL* fft = new DSP::FFTWindowStateSITL(window_size, sample_rate, sliding_window_size);
if (fft == nullptr || fft->_hanning_window == nullptr || fft->_rfft_data == nullptr || fft->_freq_bins == nullptr || fft->_derivative_freq_bins == nullptr) { if (fft == nullptr || fft->_hanning_window == nullptr || fft->_rfft_data == nullptr || fft->_freq_bins == nullptr || fft->_derivative_freq_bins == nullptr) {
delete fft; delete fft;
return nullptr; return nullptr;
@ -61,8 +61,8 @@ uint16_t DSP::fft_analyse(AP_HAL::DSP::FFTWindowState* state, uint16_t start_bin
} }
// create an instance of the FFT state machine // create an instance of the FFT state machine
DSP::FFTWindowStateSITL::FFTWindowStateSITL(uint16_t window_size, uint16_t sample_rate) DSP::FFTWindowStateSITL::FFTWindowStateSITL(uint16_t window_size, uint16_t sample_rate, uint8_t sliding_window_size)
: AP_HAL::DSP::FFTWindowState::FFTWindowState(window_size, sample_rate) : AP_HAL::DSP::FFTWindowState::FFTWindowState(window_size, sample_rate, sliding_window_size)
{ {
if (_freq_bins == nullptr || _hanning_window == nullptr || _rfft_data == nullptr || _derivative_freq_bins == nullptr) { if (_freq_bins == nullptr || _hanning_window == nullptr || _rfft_data == nullptr || _derivative_freq_bins == nullptr) {
GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Failed to allocate window for DSP"); GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Failed to allocate window for DSP");
@ -91,7 +91,7 @@ void DSP::step_hanning(FFTWindowStateSITL* fft, FloatBuffer& samples, uint16_t a
mult_f32(&fft->_freq_bins[0], &fft->_hanning_window[0], &fft->_freq_bins[0], fft->_window_size); mult_f32(&fft->_freq_bins[0], &fft->_hanning_window[0], &fft->_freq_bins[0], fft->_window_size);
} }
// step 2: performm an in-place FFT on the windowed data // step 2: perform an in-place FFT on the windowed data
void DSP::step_fft(FFTWindowStateSITL* fft) void DSP::step_fft(FFTWindowStateSITL* fft)
{ {
for (uint16_t i = 0; i < fft->_window_size; i++) { for (uint16_t i = 0; i < fft->_window_size; i++) {

4
libraries/AP_HAL_SITL/DSP.h
View File

@ -27,7 +27,7 @@ typedef std::complex<float> complexf;
class HALSITL::DSP : public AP_HAL::DSP { class HALSITL::DSP : public AP_HAL::DSP {
public: public:
// initialise an FFT instance // initialise an FFT instance
virtual FFTWindowState* fft_init(uint16_t window_size, uint16_t sample_rate) override; virtual FFTWindowState* fft_init(uint16_t window_size, uint16_t sample_rate, uint8_t sliding_window_size) override;
// start an FFT analysis with an ObjectBuffer // start an FFT analysis with an ObjectBuffer
virtual void fft_start(FFTWindowState* state, FloatBuffer& samples, uint16_t advance) override; virtual void fft_start(FFTWindowState* state, FloatBuffer& samples, uint16_t advance) override;
// perform remaining steps of an FFT analysis // perform remaining steps of an FFT analysis
@ -38,7 +38,7 @@ public:
friend class HALSITL::DSP; friend class HALSITL::DSP;
public: public:
FFTWindowStateSITL(uint16_t window_size, uint16_t sample_rate); FFTWindowStateSITL(uint16_t window_size, uint16_t sample_rate, uint8_t sliding_window_size);
virtual ~FFTWindowStateSITL(); virtual ~FFTWindowStateSITL();
private: private: