rc_test_filters.c

/**
 * @example    rc_test_filters.c
 *
 * @brief      Demonstrates the use of the discrete time SISO filters.
 *
 *             It sets up three filters, a complentary low & high pass filter
 *             along with an integrator. It varies a common input u from 0 to 1
 *             through time and show the output of each filter. It also displays
 *             the sum of the complementary high and low pass filters to
 *             demonstrate how they sum to 1
 *
 * @author     James Strawson
 * @date       1/29/2018
 */
 
#include <signal.h>
#include <stdio.h>
#include <math.h> // for M_PI
#include <rc/math.h>
#include <rc/time.h>
 
#define SAMPLE_RATE     50
#define TIME_CONSTANT   2.0
 
static int running = 0;
 
// interrupt handler to catch ctrl-c
static void __signal_handler(__attribute__ ((unused)) int dummy)
{
        running=0;
        return;
}
 
int main()
{
        rc_filter_t low_pass    = RC_FILTER_INITIALIZER;
        rc_filter_t high_pass   = RC_FILTER_INITIALIZER;
        rc_filter_t integrator  = RC_FILTER_INITIALIZER;
        rc_filter_t lp_butter   = RC_FILTER_INITIALIZER;
        rc_filter_t hp_butter   = RC_FILTER_INITIALIZER;
 
        const double dt = 1.0/SAMPLE_RATE;
        double lp,hp,i,u,lpb,hpb;
        int counter = 0;
 
        printf("\nSample Rate: %dhz\n", SAMPLE_RATE);
        printf("Time Constant: %5.2f\n", TIME_CONSTANT);
 
        rc_filter_first_order_lowpass(&low_pass, dt, TIME_CONSTANT);
        rc_filter_first_order_highpass(&high_pass, dt, TIME_CONSTANT);
        rc_filter_integrator(&integrator, dt);
        rc_filter_butterworth_lowpass(&lp_butter, 2, dt, 2.0*M_PI/TIME_CONSTANT);
        rc_filter_butterworth_highpass(&hp_butter, 2, dt, 2.0*M_PI/TIME_CONSTANT);
 
        printf("\nLow Pass:\n");
        rc_filter_print(low_pass);
        printf("\nHigh Pass:\n");
        rc_filter_print(high_pass);
        printf("\nIntegrator:\n");
        rc_filter_print(integrator);
        printf("\nLow Pass Butterworth:\n");
        rc_filter_print(lp_butter);
        printf("\nHigh Pass Butterworth:\n");
        rc_filter_print(hp_butter);
        printf("\n\n");
 
        // print header
        printf("  input u |");
        printf("  lowpass |");
        printf(" highpass |");
        printf("complement|");
        printf("integrator|");
        printf(" lp_butter|");
        printf("hp_butter |");
        printf("\n");
 
        // set signal handler so the loop can exit cleanly
        signal(SIGINT, __signal_handler);
        running = 1;
 
        // start filter input at 1, the loop will toggle this later
        u=1.0;
 
        // Keep Running until program state changes to 0
        while(running){
                // march all filters one step forward with u as the common input.
                // new outputs saved as lp,hp,and i. complement is lp+hp
                lp = rc_filter_march(&low_pass, u);
                hp = rc_filter_march(&high_pass, u);
                i  = rc_filter_march(&integrator, u);
                lpb = rc_filter_march(&lp_butter, u);
                hpb = rc_filter_march(&hp_butter, u);
 
                printf("\r");
                printf("%8.3f  |", u);
                printf("%8.3f  |", lp);
                printf("%8.3f  |", hp);
                printf("%8.3f  |", lp+hp);
                printf("%8.3f  |", i);
                printf("%8.3f  |", lpb);
                printf("%8.3f  |", hpb);
                fflush(stdout);
 
                // toggle u between 0 and 1 every 10 seconds
                counter++;
                if(counter >= SAMPLE_RATE*10){
                        counter = 0.0;
                        if(u>0.0) u = 0.0;
                        else u = 1.0;
                }
 
                // sleep enough for a rough timed loop
                rc_usleep(1000000/SAMPLE_RATE);
        }
 
        printf("\n");
        return 0;
}