move filter to utils namespace

rtlopez · Nov 2, 2024 · 42aad6a · 42aad6a
1 parent dbdd69d
commit 42aad6a
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Showing 14 changed files with 48 additions and 39 deletions.
diff --git a/lib/Espfc/src/Control/Controller.h b/lib/Espfc/src/Control/Controller.h
@@ -26,7 +26,7 @@ class Controller
   private:
     Model& _model;
     Rates _rates;
-    Filter _speedFilter;
+    Utils::Filter _speedFilter;
 };
 
 }

diff --git a/lib/Espfc/src/Control/Pid.h b/lib/Espfc/src/Control/Pid.h
@@ -1,7 +1,7 @@
 #pragma once
 
 #include <cstdint>
-#include "Filter.h"
+#include "Utils/Filter.h"
 #include "Math/Utils.h"
 
 namespace Espfc {
@@ -64,12 +64,12 @@ class Pid
     float dTerm;
     float fTerm;
 
-    Filter dtermFilter;
-    Filter dtermFilter2;
-    Filter dtermNotchFilter;
-    Filter ptermFilter;
-    Filter ftermFilter;
-    Filter itermRelaxFilter;
+    Utils::Filter dtermFilter;
+    Utils::Filter dtermFilter2;
+    Utils::Filter dtermNotchFilter;
+    Utils::Filter ptermFilter;
+    Utils::Filter ftermFilter;
+    Utils::Filter itermRelaxFilter;
 
     float prevMeasurement;
     float prevError;

diff --git a/lib/Espfc/src/Input.h b/lib/Espfc/src/Input.h
@@ -58,7 +58,7 @@ class Input
     Model& _model;
     TelemetryManager& _telemetry;
     Device::InputDevice * _device;
-    Filter _filter[INPUT_CHANNELS];
+    Utils::Filter _filter[INPUT_CHANNELS];
     float _step;
     Device::InputPPM _ppm;
     Device::InputSBUS _sbus;

diff --git a/lib/Espfc/src/Math/FFTAnalyzer.h b/lib/Espfc/src/Math/FFTAnalyzer.h
@@ -4,7 +4,7 @@
 // https://github.com/espressif/esp-dsp/blob/5f2bfe1f3ee7c9b024350557445b32baf6407a08/examples/fft4real/main/dsps_fft4real_main.c
 
 #include "Math/Utils.h"
-#include "Filter.h"
+#include "Utils/Filter.h"
 #include "dsps_fft4r.h"
 #include "dsps_wind_hann.h"
 #include <algorithm>

diff --git a/lib/Espfc/src/Math/FreqAnalyzer.h b/lib/Espfc/src/Math/FreqAnalyzer.h
@@ -2,7 +2,7 @@
 #define _ESPFC_MATH_FREQ_ANALYZER_H_
 
 #include "Math/Utils.h"
-#include "Filter.h"
+#include "Utils/Filter.h"
 
 namespace Espfc {
 
@@ -57,7 +57,7 @@ class FreqAnalyzer
     float noise;
 
   private:
-    Filter _bpf;
+    Utils::Filter _bpf;
     float _rate;
 
     float _freq_min;

diff --git a/lib/Espfc/src/ModelConfig.h b/lib/Espfc/src/ModelConfig.h
@@ -3,7 +3,7 @@
 
 #include "Target/Target.h"
 #include "EscDriver.h"
-#include "Filter.h"
+#include "Utils/Filter.h"
 #include "Device/BusDevice.h"
 #include "Device/GyroDevice.h"
 #include "Device/MagDevice.h"

diff --git a/lib/Espfc/src/ModelState.h b/lib/Espfc/src/ModelState.h
@@ -11,7 +11,7 @@
 #include "helper_3dmath.h"
 #include "Control/Pid.h"
 #include "Kalman.h"
-#include "Filter.h"
+#include "Utils/Filter.h"
 #include "Stats.h"
 #include "Timer.h"
 #include "Device/SerialDevice.h"
@@ -194,7 +194,7 @@ struct InputState
   float us[INPUT_CHANNELS];
   float ch[INPUT_CHANNELS];
 
-  Filter filter[AXIS_COUNT_RPYT];
+  Utils::Filter filter[AXIS_COUNT_RPYT];
 
   Timer timer;
 };
@@ -218,7 +218,7 @@ struct MagState
 
   VectorInt16 raw;
   VectorFloat adc;
-  Filter filter[3];
+  Utils::Filter filter[3];
   Timer timer;
 
   int calibrationSamples;
@@ -268,14 +268,14 @@ struct GyroState
   int calibrationState;
   int calibrationRate;
 
-  Filter filter[AXIS_COUNT_RPY];
-  Filter filter2[AXIS_COUNT_RPY];
-  Filter filter3[AXIS_COUNT_RPY];
-  Filter notch1Filter[AXIS_COUNT_RPY];
-  Filter notch2Filter[AXIS_COUNT_RPY];
-  Filter dynNotchFilter[DYN_NOTCH_COUNT_MAX][AXIS_COUNT_RPY];
-  Filter rpmFilter[RPM_FILTER_MOTOR_MAX][RPM_FILTER_HARMONICS_MAX][AXIS_COUNT_RPY];
-  Filter rpmFreqFilter[RPM_FILTER_MOTOR_MAX];
+  Utils::Filter filter[AXIS_COUNT_RPY];
+  Utils::Filter filter2[AXIS_COUNT_RPY];
+  Utils::Filter filter3[AXIS_COUNT_RPY];
+  Utils::Filter notch1Filter[AXIS_COUNT_RPY];
+  Utils::Filter notch2Filter[AXIS_COUNT_RPY];
+  Utils::Filter dynNotchFilter[DYN_NOTCH_COUNT_MAX][AXIS_COUNT_RPY];
+  Utils::Filter rpmFilter[RPM_FILTER_MOTOR_MAX][RPM_FILTER_HARMONICS_MAX][AXIS_COUNT_RPY];
+  Utils::Filter rpmFreqFilter[RPM_FILTER_MOTOR_MAX];
 
   Timer timer;
   Timer dynamicFilterTimer;
@@ -287,7 +287,7 @@ struct AccelState
   VectorInt16 raw;
   VectorFloat adc;
   VectorFloat prev;
-  Filter filter[AXIS_COUNT_RPY];
+  Utils::Filter filter[AXIS_COUNT_RPY];
   Timer timer;
 
   float scale;
@@ -300,7 +300,7 @@ struct AccelState
 struct AttitudeState
 {
   VectorFloat rate;
-  Filter filter[AXIS_COUNT_RPY];
+  Utils::Filter filter[AXIS_COUNT_RPY];
   VectorFloat euler;
   Quaternion quaternion;
 };

diff --git a/lib/Espfc/src/Sensor/AccelSensor.h b/lib/Espfc/src/Sensor/AccelSensor.h
@@ -23,7 +23,7 @@ class AccelSensor: public BaseSensor
 
     Model& _model;
     Device::GyroDevice * _gyro;
-    Filter _filter[AXIS_COUNT_RPY];
+    Utils::Filter _filter[AXIS_COUNT_RPY];
 };
 
 }

diff --git a/lib/Espfc/src/Sensor/BaroSensor.h b/lib/Espfc/src/Sensor/BaroSensor.h
@@ -4,7 +4,7 @@
 #include "BaseSensor.h"
 #include "Model.h"
 #include "Device/BaroDevice.h"
-#include "Filter.h"
+#include "Utils/Filter.h"
 
 namespace Espfc {
 
@@ -34,9 +34,9 @@ class BaroSensor: public BaseSensor
     Model& _model;
     Device::BaroDevice * _baro;
     BaroState _state;
-    Filter _temperatureFilter;
-    Filter _pressureFilter;
-    Filter _altitudeFilter;
+    Utils::Filter _temperatureFilter;
+    Utils::Filter _pressureFilter;
+    Utils::Filter _altitudeFilter;
     uint32_t _wait;
     int32_t _counter;
 };

diff --git a/lib/Espfc/src/Sensor/VoltageSensor.h b/lib/Espfc/src/Sensor/VoltageSensor.h
@@ -2,7 +2,7 @@
 
 #include "Model.h"
 #include "BaseSensor.h"
-#include "Filter.h"
+#include "Utils/Filter.h"
 
 namespace Espfc {
 
@@ -23,10 +23,10 @@ class VoltageSensor: public BaseSensor
 
   private:
     Model& _model;
-    Filter _vFilterFast;
-    Filter _vFilter;
-    Filter _iFilterFast;
-    Filter _iFilter;
+    Utils::Filter _vFilterFast;
+    Utils::Filter _vFilter;
+    Utils::Filter _iFilterFast;
+    Utils::Filter _iFilter;
     State _state;
 };
 

diff --git a/lib/Espfc/src/Filter.cpp → lib/Espfc/src/Utils/Filter.cpp b/lib/Espfc/src/Filter.cpp → lib/Espfc/src/Utils/Filter.cpp
@@ -1,5 +1,5 @@
 #include <cmath>
-#include "Filter.h"
+#include "Utils/Filter.h"
 #include "Math/Utils.h"
 #include "Utils/MemoryHelper.h"
 
@@ -28,6 +28,8 @@ FilterConfig FAST_CODE_ATTR FilterConfig::sanitize(int rate) const
   return FilterConfig(t, f, c);
 }
 
+namespace Utils {
+
 void FilterStatePt1::reset()
 {
   v = 0.f;
@@ -480,3 +482,5 @@ float FAST_CODE_ATTR Filter::getNotchQ(float freq, float cutoff)
 }
 
 }
+
+}
diff --git a/lib/Espfc/src/Filter.h → lib/Espfc/src/Utils/Filter.h b/lib/Espfc/src/Filter.h → lib/Espfc/src/Utils/Filter.h
@@ -50,6 +50,8 @@ class DynamicFilterConfig {
     static const int MIN_FREQ = 1000;
 };
 
+namespace Utils {
+
 class FilterStatePt1 {
   public:
     void reset();
@@ -165,3 +167,5 @@ class Filter
 };
 
 }
+
+}
diff --git a/lib/Espfc/src/Utils/FilterHelper.h b/lib/Espfc/src/Utils/FilterHelper.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "Filter.h"
+#include "Utils/Filter.h"
 #include <helper_3dmath.h>
 
 namespace Espfc {

diff --git a/test/test_math/test_math.cpp b/test/test_math/test_math.cpp
@@ -5,7 +5,7 @@
 #include "msp/msp_protocol.h"
 #include "Math/Utils.h"
 #include "Math/Bits.h"
-#include "Filter.h"
+#include "Utils/Filter.h"
 #include "Control/Pid.h"
 #include "Target/QueueAtomic.h"
 #include "Utils/RingBuf.h"
@@ -21,6 +21,7 @@
 
 using namespace Espfc;
 using namespace Espfc::Control;
+using namespace Espfc::Utils;
 
 void test_math_map()
 {