#include "LowPassFilter.h"#define M_2PI 6.283185307179586f/**設(shè)置低通濾波的頻率sample_freq 和 截止頻率cutoff_freq*/ void LowPassFilter_Init(lowFilter_t *filter, float sample_freq, float cutoff_freq) {filter->sample_freq = sample_freq;filter->cutoff_freq = cutoff_freq;if (filter->cutoff_freq <= 0.0f || filter->sample_freq <= 0.0f) {filter->alpha = 1.0;} else {float dt = 1.0f/filter->sample_freq;float rc = 1.0f/(M_2PI*filter->cutoff_freq);filter->alpha = constrain_float(dt/(dt+rc), 0.0f, 1.0f);} }/*需要濾波的信號sample 上次的輸出信號_output*/ float LowPassFilter_apply(lowFilter_t *filter, float sample) {filter->oupt += (sample - filter->oupt) * filter->alpha;return filter->oupt; }low_filter_t lowPassFilter = {LowPassFilter_Init,LowPassFilter_apply, }; #ifndef __FILTER_H #define __FILTER_H#include "stdint.h"/* 濾波器結(jié)構(gòu)體 */ typedef struct {float sample_freq; //輸入信號頻率float cutoff_freq; //截止頻率float alpha; //系數(shù)float oupt; //低通濾波器輸出 }lowFilter_t;typedef struct {void (* init)(lowFilter_t *filter, float sample_freq, float cutoff_freq);float (* apply)(lowFilter_t *filter, float sample) ; }low_filter_t;extern low_filter_t lowPassFilter;#endif //__INERTIAL_H

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