/* This program 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 program 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/>. */ // /// @file ModeFilter.h /// @brief A class to apply a mode filter which is basically picking the median value from the last x samples /// the filter size (i.e buffer size) should always be an odd number #pragma once #include <inttypes.h> #include "FilterClass.h" #include "FilterWithBuffer.h" template <class T, uint8_t FILTER_SIZE> class ModeFilter : public FilterWithBuffer<T,FILTER_SIZE> { public: ModeFilter(uint8_t return_element); // apply - Add a new raw value to the filter, retrieve the filtered result virtual T apply(T sample) override; // get - get latest filtered value from filter (equal to the value returned by latest call to apply method) virtual T get() const { return _output; } private: // private methods uint8_t _return_element; T _output; void isort(T sample, bool drop_high_sample); bool drop_high_sample; // switch to determine whether to drop the highest or lowest sample when new value arrives }; // Typedef for convenience typedef ModeFilter<int8_t,3> ModeFilterInt8_Size3; typedef ModeFilter<int8_t,4> ModeFilterInt8_Size4; typedef ModeFilter<int8_t,5> ModeFilterInt8_Size5; typedef ModeFilter<int8_t,6> ModeFilterInt8_Size6; typedef ModeFilter<int8_t,7> ModeFilterInt8_Size7; typedef ModeFilter<uint8_t,3> ModeFilterUInt8_Size3; typedef ModeFilter<uint8_t,4> ModeFilterUInt8_Size4; typedef ModeFilter<uint8_t,5> ModeFilterUInt8_Size5; typedef ModeFilter<uint8_t,6> ModeFilterUInt8_Size6; typedef ModeFilter<uint8_t,7> ModeFilterUInt8_Size7; typedef ModeFilter<int16_t,3> ModeFilterInt16_Size3; typedef ModeFilter<int16_t,4> ModeFilterInt16_Size4; typedef ModeFilter<int16_t,5> ModeFilterInt16_Size5; typedef ModeFilter<int16_t,6> ModeFilterInt16_Size6; typedef ModeFilter<int16_t,7> ModeFilterInt16_Size7; typedef ModeFilter<uint16_t,3> ModeFilterUInt16_Size3; typedef ModeFilter<uint16_t,4> ModeFilterUInt16_Size4; typedef ModeFilter<uint16_t,5> ModeFilterUInt16_Size5; typedef ModeFilter<uint16_t,6> ModeFilterUInt16_Size6; typedef ModeFilter<uint16_t,7> ModeFilterUInt16_Size7; typedef ModeFilter<float,3> ModeFilterFloat_Size3; typedef ModeFilter<float,4> ModeFilterFloat_Size4; typedef ModeFilter<float,5> ModeFilterFloat_Size5; typedef ModeFilter<float,6> ModeFilterFloat_Size6; typedef ModeFilter<float,7> ModeFilterFloat_Size7;