一阶低通滤波器方程_请教一阶二阶低通滤波器

请教一下，这个滤波器的代码在下面，是根据什么公式写出的代码？滤波器是什么类型的滤波器？原理是什么？

typedef struct

{

double PrevOut;

double PrevIn;

double Frequency;

double delta;

double par;

}FIRST_ORDER_FILTER;

typedef struct

{

double PreIn1;

double PreIn2;

double PreOut1;

double PreOut2;

double fWn;

double fKesai;

double k, k1, k2, k3, k4, k5, k6;

}SECOND_ORDER_FILTER;

void ResetFirstOrderFilter(FIRST_ORDER_FILTER *pFilter, double Frequency)

{

double delta, par;

delta = 1.0/(2.0*PI*Frequency);

par = 1.0/(2.0*delta + Ts);

pFilter->Frequency = Frequency;

pFilter->delta = delta;

pFilter->par = par;

pFilter->PrevIn = 0.0;

pFilter->PrevOut = 0.0;

}

void ResetSecondOrderFilter(SECOND_ORDER_FILTER *pFilter, double ffWn, double ffKesai)

{

double k;

pFilter->PreIn1 = 0.0;

pFilter->PreIn2 = 0.0;

pFilter->PreOut1 = 0.0;

pFilter->PreOut2 = 0.0;

pFilter->fWn = ffWn;

pFilter->fKesai = ffKesai;

k = ffWn * ffWn;

pFilter->k = k;

pFilter->k1 = 4.0 - 4.0*ffWn*Ts*ffKesai + Ts*Ts*ffWn*ffWn;

pFilter->k2 = 2.0*Ts*Ts*ffWn*ffWn - 8.0;

pFilter->k3 = 4.0 + 4.0*ffWn*Ts*ffKesai + Ts*Ts*ffWn*ffWn;

pFilter->k4 = k*Ts*Ts;

pFilter->k5 = 2.0*k*Ts*Ts;

pFilter->k6 = k*Ts*Ts;

}

double FirstOrderFilterOutput(FIRST_ORDER_FILTER *pFilter, double fIn)

{

double fPrevOut, fPrevIn;

double delt, par;

double fOut;

delt = pFilter->delta;

par = pFilter->par;

fPrevIn = pFilter->PrevIn;

fPrevOut = pFilter->PrevOut;

fOut = par*((2.0*delt - Ts)*fPrevOut + Ts*fPrevIn + Ts*fIn);

pFilter->PrevIn = fIn;

pFilter->PrevOut = fOut;

return fOut;

}

double SecondOrderFilterOutput(SECOND_ORDER_FILTER *pFilter, double fIn)

{

double mfOut;

mfOut = (pFilter->k4 * pFilter->PreIn2 +

pFilter->k5 * pFilter->PreIn1 +

pFilter->k6 * fIn -

pFilter->k1 * pFilter->PreOut2 -

pFilter->k2 * pFilter->PreOut1)/pFilter->k3;

pFilter->PreOut2 = pFilter->PreOut1;

pFilter->PreOut1 = mfOut;

pFilter->PreIn2 = pFilter->PreIn1;

pFilter->PreIn1 = fIn;

return  mfOut;

}