滑动滤波算法

思路

数据由队列管理，先减去头部的数，再加上新的数据到尾部，除以队列有效数据长度

代码实现

static int PowerMag_CaptureBatteryVoltage(RobotBatteryPowerInfo_typedef* BatteryInfor){    #define BATTERY_VOLTAGE_LENGTH (uint8_t)20    #define BATTERY_VOLTAGE_TOP_ERR (uint32_t)40000   //mV    static float s_fReadBatteryVoltage = 0.0;    static float s_fReadBatteryVoltageArry[BATTERY_VOLTAGE_LENGTH] = {0.0};    static float s_fReadBatteryVoltageTotoal = 0.0;    static uint8_t  s_ReadBatteryVoltageIndex = 0;    static uint8_t  s_TempCnt = 0;    s_fReadBatteryVoltage = ad74xx.readBatteryVoltage(BATTERY_VOL_SENSOR_1ST);    /* Judge the voltage is valid  */    if(s_fReadBatteryVoltage == 0)          return (-1);    if(s_fReadBatteryVoltage > BATTERY_VOLTAGE_TOP_ERR)         return (-2);    s_fReadBatteryVoltageTotoal -= s_fReadBatteryVoltageArry[s_ReadBatteryVoltageIndex];    s_fReadBatteryVoltageArry[s_ReadBatteryVoltageIndex] = s_fReadBatteryVoltage;    s_fReadBatteryVoltageTotoal += s_fReadBatteryVoltageArry[s_ReadBatteryVoltageIndex];    if(s_ReadBatteryVoltageIndex < (BATTERY_VOLTAGE_LENGTH-1)){        s_ReadBatteryVoltageIndex++;        s_TempCnt ++;    }else{        s_ReadBatteryVoltageIndex = 0;    }#if 1  /* This way is always to be avange */    if(s_TempCnt >= 1){        if(s_TempCnt >=  BATTERY_VOLTAGE_LENGTH){            s_TempCnt = BATTERY_VOLTAGE_LENGTH;        }        BatteryInfor->RobotVoltage = s_fReadBatteryVoltageTotoal/s_TempCnt;    }#else  /* This way RobotVoltage would be appeared after start 2s */    if(s_TempCnt >= BATTERY_VOLTAGE_LENGTH){        BatteryInfor->RobotVoltage = s_fReadBatteryVoltageTotoal / BATTERY_VOLTAGE_LENGTH;        s_TempCnt  = BATTERY_VOLTAGE_LENGTH;     }#endif      return 0;}