Line data    Source code

       1             : /*
       2             :    This program is free software: you can redistribute it and/or modify
       3             :    it under the terms of the GNU General Public License as published by
       4             :    the Free Software Foundation, either version 3 of the License, or
       5             :    (at your option) any later version.
       6             : 
       7             :    This program is distributed in the hope that it will be useful,
       8             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      10             :    GNU General Public License for more details.
      11             : 
      12             :    You should have received a copy of the GNU General Public License
      13             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  */
      15             : 
      16             : //
      17             : /// @file       ModeFilter.h
      18             : /// @brief      A class to apply a mode filter which is basically picking the median value from the last x samples
      19             : ///         the filter size (i.e buffer size) should always be an odd number
      20             : #pragma once
      21             : 
      22             : #include <inttypes.h>
      23             : #include "FilterClass.h"
      24             : #include "FilterWithBuffer.h"
      25             : 
      26             : template <class T, uint8_t FILTER_SIZE>
      27             : class ModeFilter : public FilterWithBuffer<T,FILTER_SIZE>
      28             : {
      29             : public:
      30             :     ModeFilter(uint8_t return_element);
      31             : 
      32             :     // apply - Add a new raw value to the filter, retrieve the filtered result
      33             :     virtual T        apply(T sample) override;
      34             : 
      35             :     // get - get latest filtered value from filter (equal to the value returned by latest call to apply method)
      36           4 :     virtual T        get() const {
      37           4 :         return _output;
      38             :     }
      39             : 
      40             : private:
      41             :     // private methods
      42             :     uint8_t         _return_element;
      43             :     T               _output;
      44             :     void            isort(T sample, bool drop_high_sample);
      45             :     bool            drop_high_sample; // switch to determine whether to drop the highest or lowest sample when new value arrives
      46             : };
      47             : 
      48             : // Typedef for convenience
      49             : typedef ModeFilter<int8_t,3> ModeFilterInt8_Size3;
      50             : typedef ModeFilter<int8_t,4> ModeFilterInt8_Size4;
      51             : typedef ModeFilter<int8_t,5> ModeFilterInt8_Size5;
      52             : typedef ModeFilter<int8_t,6> ModeFilterInt8_Size6;
      53             : typedef ModeFilter<int8_t,7> ModeFilterInt8_Size7;
      54             : typedef ModeFilter<uint8_t,3> ModeFilterUInt8_Size3;
      55             : typedef ModeFilter<uint8_t,4> ModeFilterUInt8_Size4;
      56             : typedef ModeFilter<uint8_t,5> ModeFilterUInt8_Size5;
      57             : typedef ModeFilter<uint8_t,6> ModeFilterUInt8_Size6;
      58             : typedef ModeFilter<uint8_t,7> ModeFilterUInt8_Size7;
      59             : typedef ModeFilter<int16_t,3> ModeFilterInt16_Size3;
      60             : typedef ModeFilter<int16_t,4> ModeFilterInt16_Size4;
      61             : typedef ModeFilter<int16_t,5> ModeFilterInt16_Size5;
      62             : typedef ModeFilter<int16_t,6> ModeFilterInt16_Size6;
      63             : typedef ModeFilter<int16_t,7> ModeFilterInt16_Size7;
      64             : typedef ModeFilter<uint16_t,3> ModeFilterUInt16_Size3;
      65             : typedef ModeFilter<uint16_t,4> ModeFilterUInt16_Size4;
      66             : typedef ModeFilter<uint16_t,5> ModeFilterUInt16_Size5;
      67             : typedef ModeFilter<uint16_t,6> ModeFilterUInt16_Size6;
      68             : typedef ModeFilter<uint16_t,7> ModeFilterUInt16_Size7;
      69             : typedef ModeFilter<float,3> ModeFilterFloat_Size3;
      70             : typedef ModeFilter<float,4> ModeFilterFloat_Size4;
      71             : typedef ModeFilter<float,5> ModeFilterFloat_Size5;
      72             : typedef ModeFilter<float,6> ModeFilterFloat_Size6;
      73             : typedef ModeFilter<float,7> ModeFilterFloat_Size7;