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65 lines
2.0 KiB
C
65 lines
2.0 KiB
C
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/**
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******************************************************************************
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* @addtogroup PIOS PIOS Core hardware abstraction layer
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* @{
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* @addtogroup PIOS_DELTATIME time measurement Functions
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* @brief PiOS Delay functionality
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* @{
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*
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* @file pios_deltatime.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Settings functions header
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include <pios.h>
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void PIOS_DELTATIME_Init(PiOSDeltatimeConfig *config, float average, float min, float max, float alpha)
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{
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PIOS_Assert(config);
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config->average = average;
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config->min = min;
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config->max = max;
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config->alpha = alpha;
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config->last = PIOS_DELAY_GetRaw();
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};
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float PIOS_DELTATIME_GetAverageSeconds(PiOSDeltatimeConfig *config)
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{
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PIOS_Assert(config);
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float dT = PIOS_DELAY_DiffuS(config->last) * 1.0e-6f;
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config->last = PIOS_DELAY_GetRaw();
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if (dT < config->min) {
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dT = config->min;
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}
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if (dT > config->max) {
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dT = config->max;
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}
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config->average = config->average * (1.0f - config->alpha) + dT * config->alpha;
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return config->average;
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}
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/**
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* @}
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* @}
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*/
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