fusion-zauberstab/firmware/include/biquad.h

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#pragma once
template <class T>
struct Biquad
{
T b0;
T b1;
T b2;
T a1;
T a2;
T xn1;
T xn2;
T yn1;
T yn2;
Biquad() = default;
Biquad(T a1, T a2, T b0, T b1, T b2) : b0(b0), b1(b1), b2(b2), a1(a1), a2(a2){};
Biquad(T a0, T a1, T a2, T b0, T b1, T b2)
{
this->a1 = a1 / a0;
this->a2 = a2 / a0;
this->b0 = b0 / a0;
this->b1 = b1 / a0;
this->b2 = b2 / a0;
}
T update(T x)
{
T y = this->b0 * x + this->b1 * this->xn1 + this->b2 * this->xn2 - this->yn1 * this->a1 - this->yn2 * this->a2;
this->xn2 = this->xn1;
this->xn1 = x;
this->yn2 = this->yn1;
this->yn1 = y;
return y;
}
void reset() {
this->xn1 = 0.0;
this->xn2 = 0.0;
this->yn1 = 0.0;
this->yn1 = 0.0;
}
};