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introduce (crude) false-reading detection

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master
Eggert Jung 4 years ago
parent f8f515dc59
commit 54572ac7f2
1 changed files with 24 additions and 1 deletions
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25
kraftsensor.c
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@ -1,4 +1,6 @@
#include <avr/io.h> #include <avr/io.h>
#include <stdint.h>
#include <stdlib.h>
#include <util/delay.h> #include <util/delay.h>
#include <stdio.h> #include <stdio.h>
#include <avr/interrupt.h> #include <avr/interrupt.h>
@ -25,7 +27,10 @@ void kraftsensor_init(){
} }
void do_kraftsensor(){ void do_kraftsensor(){
static int32_t last_read;
static int32_t old_value;
uint16_t m_data[4]; uint16_t m_data[4];
int32_t kraftsensor_read;
/* read 2 16bit values and merge to 32bit signed integer */ /* read 2 16bit values and merge to 32bit signed integer */
readReg(1,0,2); readReg(1,0,2);
@ -38,8 +43,26 @@ void do_kraftsensor(){
int32_t tmp = (uint32_t)m_data[1]<<16; int32_t tmp = (uint32_t)m_data[1]<<16;
tmp |= m_data[0]; tmp |= m_data[0];
//kraftsensor_value = tmp;
/* conversion magic to milliNewton */ /* conversion magic to milliNewton */
kraftsensor_value = ((tmp + 539363)*9.81)/177.380; kraftsensor_read = ((tmp + 197700 /*539363*/)*9.81)/177.380;
if(abs(kraftsensor_read - old_value) > 10000){
if(abs(last_read - kraftsensor_read) > 10000){
kraftsensor_value = old_value;
printf("delta: %d\tvalue:%ld\n", kraftsensor_read - old_value, kraftsensor_read);
printf("spike\n");
}
else{
kraftsensor_value = kraftsensor_read;
printf("jump\n");
}
}
else{
kraftsensor_value = kraftsensor_read;
}
last_read = kraftsensor_read;
old_value = kraftsensor_value;
} }
} }