Alpesh Bhudia / Mbed 2 deprecated EquatorStrutDigitalMonitor

Merged to branch

Dependencies:   USBDevice mbed EquatorStrutController LightWeightSerialTransmit

Fork of EquatorStrutDigitalMonitor by Stewart Coulden-Smith

Files at this revision

API Documentation at this revision

Revision 10:088eeae4287c, committed 2014-08-07

Comitter:
pyrostew
Date:
Thu Aug 07 10:37:03 2014 +0000
Parent:
1:a33723b70582
Child:
11:b6958b3dbddf
Commit message:
Added smoothing algorithm to interrupt period value.

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Tue Aug 05 13:09:58 2014 +0000
+++ b/main.cpp	Thu Aug 07 10:37:03 2014 +0000
@@ -25,8 +25,33 @@
 int interruptPeriod = 0;
 int lastTime = 0;
 
+int intteruptPeriodArray[15];
+int arrayTotal = 0;
+char arrayPos = 0;
+
 char counter = 0;
 
+void SmoothingAdd(int input)
+{
+    arrayTotal -= intteruptPeriodArray[arrayPos];
+    arrayTotal += input;
+    intteruptPeriodArray[arrayPos] = input;
+    
+    if (arrayPos == 14)
+    {
+        arrayPos = 0;
+    }
+    else
+    {
+        arrayTotal++;
+    }
+}
+
+int SmoothedInterruptPeriod()
+{
+    return arrayTotal / 15;
+}
+
 void RGHSinHandler()
 {    
     if (PinState == 2)
@@ -41,7 +66,7 @@
         {
             direction = 1;
             position += 0.04 * direction;
-            interruptPeriod = RunningTime.read_us() - lastTime;
+            SmoothingAdd(RunningTime.read_us() - lastTime);
             lastTime = RunningTime.read_us();
         }
     }
@@ -65,7 +90,7 @@
         {        
             direction = -1;
             position += 0.04 * direction;
-            interruptPeriod = RunningTime.read_us() - lastTime;
+            SmoothingAdd(RunningTime.read_us() - lastTime);
             lastTime = RunningTime.read_us();
         }
     }
@@ -151,7 +176,7 @@
     {
         return 0.0;
     }
-    return (direction * 0.04)/((double)interruptPeriod / 1000000.0);
+    return (direction * 0.04)/((double)SmoothedInterruptPeriod() / 1000000.0);
 }
 
 void SerialTransmit()