You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
56 lines
2.2 KiB
56 lines
2.2 KiB
/* |
|
* 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, uint8_t harmonics) override; |
|
// start an FFT analysis with an ObjectBuffer |
|
virtual void fft_start(FFTWindowState* state, FloatBuffer& samples, uint16_t advance) override; |
|
// perform remaining steps of an FFT analysis |
|
virtual uint16_t fft_analyse(FFTWindowState* state, uint16_t start_bin, uint16_t end_bin, float noise_att_cutoff) override; |
|
|
|
// STM32-based FFT state |
|
class FFTWindowStateSITL : public AP_HAL::DSP::FFTWindowState { |
|
friend class HALSITL::DSP; |
|
|
|
public: |
|
FFTWindowStateSITL(uint16_t window_size, uint16_t sample_rate, uint8_t harmonics); |
|
virtual ~FFTWindowStateSITL(); |
|
|
|
private: |
|
complexf* buf; |
|
}; |
|
|
|
private: |
|
void step_hanning(FFTWindowStateSITL* fft, FloatBuffer& samples, uint16_t advance); |
|
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; |
|
float vector_mean_float(const float* vin, uint16_t len) const override; |
|
void calculate_fft(complexf* f, uint16_t length); |
|
};
|
|
|