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DrGFreemanDrGFreeman
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Merge pull request #13 from DrGFreeman/esp8266
Fixed compilation issues on ESP8266 boards
2 parents f190df9 + 6c235ec commit 5844049

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Lines changed: 217 additions & 181 deletions

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‎MedianFilter.cpp‎

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/*
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MedianFilter.cpp - Median Filter for the Arduino platform.
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Copyright (c) 2013 Phillip Schmidt. All right reserved.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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MedianFilter.cpp - Median Filter for the Arduino platform.
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Copyright (c) 2013 Phillip Schmidt. All right reserved.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*/
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/*
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A median filter object is created by by passing the desired filter window size on object creation.
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The window size should be an odd number between 3 and 255.
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New data is added to the median filter by passing the data through the in() function. The new medial value is returned.
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The new data will over-write the oldest data point, then be shifted in the array to place it in the correct location.
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The current median value is returned by the out() function for situations where the result is desired without passing in new data.
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!!! All data must be type INT. !!!
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Window Size / avg processing time [us]
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5 / 22
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7 / 30
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9 / 40
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11 / 49
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21 / 99
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/*
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A median filter object is created by by passing the desired filter window size on object creation.
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The window size should be an odd number between 3 and 255.
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New data is added to the median filter by passing the data through the in() function. The new medial value is returned.
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The new data will over-write the oldest data point, then be shifted in the array to place it in the correct location.
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The current median value is returned by the out() function for situations where the result is desired without passing in new data.
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!!! All data must be type INT. !!!
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Window Size / avg processing time [us]
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5 / 22
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7 / 30
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9 / 40
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11 / 49
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21 / 99
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*/
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#include "MedianFilter.h"
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MedianFilter::MedianFilter(const byte size, const int seed)
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MedianFilter::MedianFilter(int size, int seed)
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{
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medFilterWin = max(size, 3); // number of samples in sliding median filter window - usually odd #
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medDataPointer = size >> 1; // mid point of window
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data = (int*) calloc (size, sizeof(int)); // array for data
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sizeMap = (byte*) calloc (size, sizeof(byte)); // array for locations of data in sorted list
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locationMap = (byte*) calloc (size, sizeof(byte)); // array for locations of history data in map list
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oldestDataPoint = medDataPointer; // oldest data point location in data array
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for(byte i = 0; i < medFilterWin; i++) // initialize the arrays
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{
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sizeMap[i] = i; // start map with straight run
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locationMap[i] = i; // start map with straight run
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data[i] = seed; // populate with seed value
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}
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medFilterWin = constrain(size, 3, 255); // number of samples in sliding median filter window - usually odd #
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medDataPointer = size >> 1; // mid point of window
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data = (int*) calloc (size, sizeof(int)); // array for data
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sizeMap = (uint8_t*) calloc (size, sizeof(uint8_t)); // array for locations of data in sorted list
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locationMap = (uint8_t*) calloc (size, sizeof(uint8_t)); // array for locations of history data in map list
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oldestDataPoint = medDataPointer; // oldest data point location in data array
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totalSum = size * seed; // total of all values
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for(uint8_t i = 0; i < medFilterWin; i++) // initialize the arrays
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{
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sizeMap[i] = i; // start map with straight run
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locationMap[i] = i; // start map with straight run
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data[i] = seed; // populate with seed value
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}
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}
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int MedianFilter::in(int value)
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{
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// sort sizeMap
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// small vaues on the left (-)
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// larger values on the right (+)
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boolean dataMoved = false;
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const byte rightEdge = medFilterWin - 1; // adjusted for zero indexed array
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data[oldestDataPoint] = value; // store new data in location of oldest data in ring buffer
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// SORT LEFT (-) <======(n) (+)
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if(locationMap[oldestDataPoint] > 0){ // don't check left neighbours if at the extreme left
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for(byte i = locationMap[oldestDataPoint]; i > 0; i--){ //index through left adjacent data
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byte n = i - 1; // neighbour location
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if(data[oldestDataPoint] < data[sizeMap[n]]){ // find insertion point, move old data into position
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sizeMap[i] = sizeMap[n]; // move existing data right so the new data can go left
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locationMap[sizeMap[n]]++;
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sizeMap[n] = oldestDataPoint; // assign new data to neighbor position
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locationMap[oldestDataPoint]--;
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dataMoved = true;
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}
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else {
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break; // stop checking once a smaller value is found on the left
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}
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}
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}
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// SORT RIGHT (-) (n)======> (+)
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if(!dataMoved && locationMap[oldestDataPoint] < rightEdge){ // don't check right if at right border, or the data has already moved
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for(int i = locationMap[oldestDataPoint]; i < rightEdge; i++){ //index through left adjacent data
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int n = i + 1; // neighbour location
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if(data[oldestDataPoint] > data[sizeMap[n]]){ // find insertion point, move old data into position
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sizeMap[i] = sizeMap[n]; // move existing data left so the new data can go right
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locationMap[sizeMap[n]]--;
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sizeMap[n] = oldestDataPoint; // assign new data to neighbor position
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locationMap[oldestDataPoint]++;
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}
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else {
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break; // stop checking once a smaller value is found on the right
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}
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}
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}
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oldestDataPoint++; // increment and wrap
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if(oldestDataPoint == medFilterWin)
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oldestDataPoint = 0;
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return data[sizeMap[medDataPointer]];
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int MedianFilter::in(const int & value)
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{
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// sort sizeMap
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// small vaues on the left (-)
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// larger values on the right (+)
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boolean dataMoved = false;
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const uint8_t rightEdge = medFilterWin - 1; // adjusted for zero indexed array
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totalSum += value - data[oldestDataPoint]; // add new value and remove oldest value
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data[oldestDataPoint] = value; // store new data in location of oldest data in ring buffer
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// SORT LEFT (-) <======(n) (+)
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if(locationMap[oldestDataPoint] > 0) // don't check left neighbours if at the extreme left
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{
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for(uint8_t i = locationMap[oldestDataPoint]; i > 0; i--) //index through left adjacent data
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{
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uint8_t n = i - 1; // neighbour location
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if(data[oldestDataPoint] < data[sizeMap[n]]) // find insertion point, move old data into position
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{
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sizeMap[i] = sizeMap[n]; // move existing data right so the new data can go left
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locationMap[sizeMap[n]]++;
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sizeMap[n] = oldestDataPoint; // assign new data to neighbor position
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locationMap[oldestDataPoint]--;
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dataMoved = true;
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}
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else
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{
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break; // stop checking once a smaller value is found on the left
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}
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}
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}
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// SORT RIGHT (-) (n)======> (+)
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if(!dataMoved && locationMap[oldestDataPoint] < rightEdge) // don't check right if at right border, or the data has already moved
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{
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for(int i = locationMap[oldestDataPoint]; i < rightEdge; i++) //index through left adjacent data
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{
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int n = i + 1; // neighbour location
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if(data[oldestDataPoint] > data[sizeMap[n]]) // find insertion point, move old data into position
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{
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sizeMap[i] = sizeMap[n]; // move existing data left so the new data can go right
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locationMap[sizeMap[n]]--;
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sizeMap[n] = oldestDataPoint; // assign new data to neighbor position
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locationMap[oldestDataPoint]++;
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}
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else
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{
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break; // stop checking once a smaller value is found on the right
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}
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}
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}
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oldestDataPoint++; // increment and wrap
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if(oldestDataPoint == medFilterWin) oldestDataPoint = 0;
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return data[sizeMap[medDataPointer]];
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}
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int MedianFilter::out() // return the value of the median data sample
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{
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return data[sizeMap[medDataPointer]];
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return data[sizeMap[medDataPointer]];
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}
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int MedianFilter::getMin()
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{
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return data[sizeMap[ 0 ]];
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}
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int MedianFilter::getMax()
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{
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return data[sizeMap[ medFilterWin - 1 ]];
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}
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int MedianFilter::getMean()
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{
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return totalSum / medFilterWin;
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}
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int MedianFilter::getStDev() // Arduino run time [us]: filterSize * 2 + 131
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{
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int32_t diffSquareSum = 0;
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int mean = getMean();
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for( int i = 0; i < medFilterWin; i++ )
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{
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int diff = data[i] - mean;
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diffSquareSum += diff * diff;
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}
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return int( sqrtf( float(diffSquareSum) / float(medFilterWin - 1) ) + 0.5f );
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}
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// *** debug fuctions ***
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/*
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void MedianFilter::printData() // display sorting data for debugging
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{
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for(int i=0; i<medFilterWin; i++)
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{
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Serial.print(data[i]);
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Serial.print("\t");
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}
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Serial.println("Data in ring buffer");
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for(int i=0; i<medFilterWin; i++)
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{
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Serial.print(data[i]);
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Serial.print("\t");
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}
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Serial.println("Data in ring buffer");
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}
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void MedianFilter::printSizeMap()
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{
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for(int i=0; i<medFilterWin; i++)
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{
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Serial.print(sizeMap[i]);
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Serial.print("\t");
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}
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Serial.println("Size Map, data sorted by size");
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{
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for(int i=0; i<medFilterWin; i++)
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{
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Serial.print(sizeMap[i]);
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Serial.print("\t");
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}
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Serial.println("Size Map, data sorted by size");
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}
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void MedianFilter::printLocationMap()
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{
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for(int i=0; i<medFilterWin; i++)
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{
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Serial.print(locationMap[i]);
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Serial.print("\t");
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}
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Serial.println("Location Map, size data sorted by age");
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}
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{
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for(int i=0; i<medFilterWin; i++)
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{
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Serial.print(locationMap[i]);
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Serial.print("\t");
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}
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Serial.println("Location Map, size data sorted by age");
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}
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void MedianFilter::printSortedData() // display data for debugging
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{
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for(int i=0; i<medFilterWin; i++)
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{
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Serial.print(data[sizeMap[i]]);
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Serial.print("\t");
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}
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Serial.println("Data sorted by size");
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for(int i=0; i<medFilterWin; i++)
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{
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Serial.print(data[sizeMap[i]]);
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Serial.print("\t");
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}
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Serial.println("Data sorted by size");
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}
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*/

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