166 Solutions Manual for Real Time Embedded Systems, 2 Edition Chapter 15 Solutions Solution 18.1, Consider the following digital filter, yn)=(x(n)-x(n-2))/2 Part a) Using the Z-transform, we derive general expressions forthe gain and phase of the filter. L 5 Phase arg(H()) = are) for 2= els Part b) ALDC 2, 0 gain-O and phase~O At 60 Hz2~1, so gain~1 and the phase~0 Solution 152. Design 2 one pole high Q, fixed-point digital high pss filter. Let f,=100 Hz Part a) Show the pole/zero plot of the filter et jndepten 09 (e=09) 1-098 rieaeostm Part c) ‘yln) -0.9y(n-1) = x(n) -x(n-1) y(n)= x(n) - x(n) + 0 9y(n-1) Gain ae Svea) = got, ' He) Ciz09) =19 1.0526 So, we scale the x terms by 0.95 ¥(ny" 0.95x(n) - 0.95x(n-1) + 0. 9y(ne1) ar Shows fd on vern ft er ‘¥(0)™ (19x(n) « 19x(n-1) + 18y(n-1)}/20 Solution 153. Consier the use ofthe Z-transform inthe design and analysis of dial filters, Past a) The definition ofthe Z-vansform X(2)= J) x(n) Part b) We use the Z-ransform on a median filter because this iter is nonlinear Part c) Use the Z-ransform to determine the DC gain and phase ofthe following digital filter ¥10) =x(0)-x(0-2}¢ (01) 2 1- Ma = 2 1-2" ‘We can use L*Hospital’s Ld to calculate the DC gain. 2: Solution 15.4, Design a 10 Hz digital low pass filter with a sampling rate of 1000Hz Make the gain at DC equal to one, and the gain at 10Hz 0 707. A simple low pass filter with adjustable cutoff is y(n) =(x(n)-x(n-k) Vk +y(n-1) to get the cutoff at about 10 Hz we need the first notch at about 20 Hz (One half the sampling rate will be SOO Hz. The gain versus frequency is plotted below. This analysis shows that ak=45 yields a 10 Hz gain at about 0.7. The first notch is 1000/45, which equals 222 Ha Part a) Show the pole/zero plot of your filter. Same as section 15.7, with 44 zeros placed at 45 equally spaced positions, except at 2=1Jonathan W. Valvano 167 10 Hz Low pass filter g 6 0 40 20 30 40 frequency art) Show the H(2) wansform H@)=(1-2 7451-2") Part c) Show the floating-point version of the digital filter. y(n) =(xtn)-x(-45))/45 +y(0-1) Part d) Show the fixed-point version of the digital filter. y(n) *(x(n)-x(n-45))/45 +y(r-1) Solution 15.5. To get notches at 60 120, place zeros at 45° and 490° To get high Q, place poles near the zeros. 21 = cos(45)+ j sin(45)= 0 70714)*0 7071 12," c0s(45)- j sin(45) = 0 7071-j40 7071 237 cos(90) + j sin(90) 7470190), i pi 0.9%2, = 0.63644)90 6364 2% 0.922 =0.63645*0 6364 240 -120 Pas? +222 n+ ~0V22" +172? 082240729 ay NemmyNen2yXenz) (2? Ver Xe? +) = PiMe= Pale PsKE—P,) ON Iz+ OBIE” +05) N22" +1 712 ~0 siz? +0.7292" Taking te inverse transform of H(), yields the iter (0) = x0) -1 A142x(nr1) +2x{0-2)-} 8142x(0-3) #4) 2728 (0-11 Thy (0-2) #1.1455y(l) -0-7293(0-2) Solving H(2) for 2-1, gives the gain at DC Iev242-¥2+1 4-2 yet eveeet ta MO Toons i7i-o8ni+0n9 3439-1702 To get DC gun of, we mutply x terms by 08712175 Yo} OBEN) 2a2hate) 21 MDh2) 1232103) “087124 wr 2tsBycet Tigi) #1 18ssyi)-0 NG) Rewriting as a fixed-point filter, we get Ho) = Fda) 282) btn 2) 1232143) #8712404) +12728y(n-1)}-171 00y(n-2) +11455y(n-1) -7290y(n-2)10000- = 1.1478 Solution 15.6. Same approach as Solution 15.4. k=45 Jonathan W. Valvano168 Solutions Manual for Real Time Embedded Systems, 2™ Edition Solution 15.7. The general form this HPF filter is a constant term minus a LPF et ‘yka)= xtn 92 x(n —i) = x(nem)-x(n-m-l)-x(nyfkeix(arkye+y(n-1) arta) Consider the case with m=2, ke4 Itis a FIR, because there are no previous y tems (0) = x(0-2) -(x(n}x(nel}ix(n-2)44n-3))4 Part b) Derive the H(2) transform of this filer. The averaging filter is High Pass Fitter eee Solution 158. Part a) We need t calelate the slew rate ofthe input AV/at = 2a B cos(2xf, where the maximum slew rate is 2efB ‘The maximum voltage error is BV = Vide * Bt = nf Bt Patt b) The largest component of latency occurs while the software ran wit nterrups disabled 1) Redo the amount of ime te est uns with nts abled ‘Extra Question 15.9. The sampling rate of a real-time data acquisition system is 1000 Hz Assume there are large ampltode noise components above 1000 Hz. There is also a large amplitude noise component at 125 Ha Part ) Without changing the sampling rate, how do you remove aliasing? Pat b) Show pole-zro plot for the design of a high-Q 125-Hz digital reject filter. Just draw the positions of the poles and zeros. You do not have to caleulate the H(z) or show the filter equation Extra Solution 159 Part a) Alasing is prevented using an analog $00 Hz LPF, the euto is selected at f Part b) Put the zeros at 125-Hz and poles near it (ut inside) fosoriz 00K; -s00H2|Jonathan W. Valvano 169 Extra Question 15.10. The sampling rate ofa real-time data acquisition system is 2000 Ha Assume thee ae large amplitude noise components above 2000 Hz. Ther is also a large amplitude noise component at 750 He. Parta) Without changing the sampling rat, how do you remove aliasing? Put as much detail nto the space provided Part b) Show polezero plot forthe design of a high-Q 750-Hz digital reject filter. Just draw the positions ofthe poles and zeros. You do not have to calculate the H(2) or show the filter equation Extra Solution 15.10 Part) Aliasing is prevented using an analog 1000 Hz LPF, the eutoffis selected at f, ar by Purthe ares at 750 and poles near tout ise) oor Extra Question 15.11. The goal of this problem isto implement the following, digital filter. The sampling rate is 1000H, and the ADC is a 12-bit signed -5 to +5V range converter. . y(n) = 0.125x(n) + 0.75x(0-3) ~ 0.625y(n-2) art a) Show the C code to implement this fixed-point equation that implements this filte. No Sloating point is allowed. Choose integer constants that give an exact implementation with the smallest possible single denominator ‘Assume the input samples are 12-bit signed numbers (-2048 to +2047) Part b) Calculate the DC gain of this filter Extra Solution 15.11 The fixed-point equation that implements this ier The +4 implement rounding ¥) = (x) + 6x(0-3) Syn 2448 ‘We willie 16-bit signed match because 12°2047 is less than 32767 Part) Shore x{dls // zie aoe eat short y(3]7 // filter outpaes short iter (enort acs) | Bia) = £1217 x12) = x(2)s (21 = x10} x10) = cater yla) = yids yt) = yore Sto) = tata) erniay = Seyea) + 4) /85 Feturn y10}7 , Part) Calculate the DC gain ofthis fier Yy=hl25x-+ 0.75 0.625y ¥ + 0.628y= 0.1254 + 0.75 1425 = 0.875. DC gtinisyix = 0875/1625 = (718)(1348) = 7113 =0.538 Extra Question 15.12. The goal ofthis problem is to implement the following digital filter. The sampling rate is 1000, and the ADC isa 12-bit signed -5 to +5V range converter y(n) = 0.375x(n) + 0.628x(n-2)- 0.5y(n-1) Part a) Show the C code to implement this fixed-point equation that implements this filter. No floating point is allowed. Choose integer constants that give an exact implementation with the smallest possible single denominator ‘Assume the input samples are 12-bit signed numbers (-2048 to +2047) Part b) Calculate the DC gain ofthis filter Jonathan W.Valvano170 Solutions Manual for Real Time Embedded Systems, 2" Edition Extra Solution 15.12, ‘The fixed-point equation that implement this filter. The +4 implements rounding y(n) = x(n) + Sx(n-2)— dy(n-1)=48 ‘We will use 16-bit signed match because 12*2047 is less than 32767 Part) short x(3}7 // 12-bit ADC data short yi // filter output short Fitter (shore data) { (2) = x(a] eA) = x10}; x10) = datay y= (3*x[0] 4 5*x(2) - ary + 4)/87 _ eee HO Part b) Calculate the DC gain ofthis fier y= 0378x + 0.625x— 05y + 05Sy= 0.375% + 0.6254 15y DC gain is yx = 1/1.5"2/3 =0.667 Extra Question 15.13. Why do we place poles and zeros either onthe x-axis or as complex conjugate pais inthe 2- plene? Extra Solution 18.13 So the iter cooficients (and the filter output wil be real sumbers Extra Question 15.14 Consider the discrete derivative y(n)=(x(n)-x(n-1))/At, where At is 1/f,, Parta) Determine the H(2) transfer function fortis equation. ‘Part b) Draw a pole-2er plat ofthis funtion. Past.c) Draw its gain versus frequency response assuming f=1000H2 Extra Solution 15.14. So the filter coefficients (and the filter output) will be real numbers. arta) aking the transform ¥(2)=(X(2}-2°X¢2)/st, He2Y@VX(2) =(-2 Vt Part b) Zero.azl poe at =0 Je pole at ==0 erecta ‘ingle zero at ==1 oe eqwney te a bought this new spray, but Iean't get Games "rid ofmy but IW