74 lines
3.0 KiB
C++
74 lines
3.0 KiB
C++
/*
|
|
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;
|