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单元测试

APstack

#include <stdio.h>#define APstacksize 10     //stack size 和滤波时间要不要关联起来typedef unsigned int Uint32;typedef unsigned short int Uint16;//要求一段时间的变化量，还是必须有个栈能保存这段时间的样本的//需要自己内部构造一个采样器typedef struct{    Uint16 samplefreq;       //采样频率       Uint16 sample;    Uint16 samplepre;        //上一次采样值    Uint16 DeltaSamplePst;   //每两次采样间隔样本变化量    Uint16 DeltaSampleAT;    Uint16 samplefiltered;    Uint16 filterTime;       //数据量累计的时间}ST_lpf;Uint16 samplestack[APstacksize];Uint16 p21st,p2last;void lpfinit(ST_lpf *lpf,Uint16 frq,Uint16 T);     void AimposLpf(ST_lpf *lpf); int main(void) {    static stackfullflag;    static ST_lpf stlpf_Aimpos;    Uint16 runtime;    Uint16 Tperiod = 0;     Uint16 Tcount = 0;    Uint16 filtereddata[100];    stackfullflag = 0;    lpfinit(&stlpf_Aimpos,2,5);    Tperiod = 20*stlpf_Aimpos.samplefreq;    for(runtime=0;runtime<100;runtime++)    {      if(0 == runtime%stlpf_Aimpos.samplefreq)      {        Tcount++;        if(Tcount >= APstacksize-1)        {            Tcount = APstacksize-1;        }        stlpf_Aimpos.samplepre = stlpf_Aimpos.sample;        stlpf_Aimpos.sample = runtime<<3;        stlpf_Aimpos.DeltaSamplePst = stlpf_Aimpos.sample - stlpf_Aimpos.samplepre;        samplestack[p2last] =  stlpf_Aimpos.sample;        stlpf_Aimpos.DeltaSampleAT = samplestack[p2last]-samplestack[p21st];        stlpf_Aimpos.DeltaSamplePst = stlpf_Aimpos.DeltaSampleAT*100/Tperiod;        filtereddata[runtime] = stlpf_Aimpos.samplefiltered;    //      printf("%d %d %d %d\n", stlpf_Aimpos.sample,p21st,p2last,samplestack[p2last]);                printf("%d %d %d %d %d %d\n", runtime,samplestack[p2last],samplestack[p21st],stlpf_Aimpos.DeltaSampleAT,stlpf_Aimpos.DeltaSamplePst,stlpf_Aimpos.samplefiltered);        p2last++;        if(p2last < APstacksize - 1 && Tcount >= APstacksize-1 )   //注意与matlab的区别        {            p21st = p2last+1;        }        else if(p2last == APstacksize - 1)        {            p21st = 0;        }        else if(p2last > APstacksize - 1)        {            p2last = 0;            p21st = p2last+1;        }      }      AimposLpf(&stlpf_Aimpos);    }    return 0;}void lpfinit(ST_lpf *lpf,Uint16 frq,Uint16 T){    lpf->samplefreq = frq;    lpf->sample = 0;    lpf->samplepre = 0;    lpf->DeltaSamplePst = 0;    lpf->DeltaSampleAT=0;    lpf->samplefiltered = 0;    lpf->filterTime = T;}void AimposLpf(ST_lpf *lpf){    lpf->samplefiltered = lpf->samplefiltered + lpf->DeltaSamplePst;}