Revision 1826
Added Butterworth filtering code.
| rangefinder.h | ||
|---|---|---|
| 56 | 56 |
#define MIN_IR_ADC8 27 |
| 57 | 57 |
/** @brief largest meaningful rangefinder reading (logarithmic scale) **/ |
| 58 | 58 |
#define MAX_IR_ADC8 98 |
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/** @brief smallest meaningful rangefinder reading (linear scale) **/ |
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| 60 |
#define MIN_IR_LINEAR 78 |
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| 61 |
/** @brief largest meaningful rangefinder reading (linear scale) **/ |
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#define MAX_IR_LINEAR 327 |
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| 59 | 63 |
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| 60 | 64 |
/** @brief Initialize the rangefinders **/ |
| 61 | 65 |
void range_init(void); |
| 66 |
/** @brief Initialize the rangefinders with option to use filtering **/ |
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| 67 |
void range_init_filter(int filter); |
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| 62 | 68 |
/** @brief Read the distance from a rangefinder **/ |
| 63 | 69 |
int range_read_distance(int range_id); |
| 64 | 70 |
/** @brief Convert logarithmic-scale distance readings to a linear scale **/ |
| 65 | 71 |
int linearize_distance(int value); |
| 72 |
/** @brief Task that reads rangefinders and sends the values to the filter **/ |
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void butter_task(void); |
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/** @brief Initialize the butterworth filter **/ |
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void butter_init(void); |
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/** @brief Puts a raw rangefinder value through the Butterworth filter **/ |
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void butter_filter(int range_id, int16_t val); |
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/** @brief Returns the most recent filtered reading of the rangefinder **/ |
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int range_read_filtered_distance(int range_id); |
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| 66 | 80 |
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| 67 | 81 |
/** @} **/ //end addtogroup |
| 68 | 82 |
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