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