{"id":106332,"date":"2026-09-17T07:33:22","date_gmt":"2026-09-16T23:33:22","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/106332.html"},"modified":"2026-09-17T07:33:22","modified_gmt":"2026-09-16T23:33:22","slug":"%e4%bd%8e%e6%88%90%e6%9c%acmcu%e4%bc%a0%e6%84%9f%e5%99%a8%e6%bb%a4%e6%b3%a2%e5%ae%9e%e6%88%98%ef%bc%9a%e8%bd%af%e4%bb%b6%e7%ae%97%e6%b3%95%e6%8f%90%e5%8d%87%e6%95%b0%e6%8d%ae%e7%a8%b3%e5%ae%9a","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/106332.html","title":{"rendered":"\u4f4e\u6210\u672cMCU\u4f20\u611f\u5668\u6ee4\u6ce2\u5b9e\u6218\uff1a\u8f6f\u4ef6\u7b97\u6cd5\u63d0\u5347\u6570\u636e\u7a33\u5b9a\u6027\uff08\u4ece10\u4f4d\u63d0\u5347\u523011~14\u4f4d\uff09"},"content":{"rendered":"<p>\u6458\u8981\uff1a\u672c\u6587\u9762\u5411\u5d4c\u5165\u5f0f\u5f00\u53d1\u8005\uff0c\u805a\u7126\u4f20\u611f\u5668\u6570\u636e\u91c7\u96c6\u4e2d\u7684\u6297\u5e72\u6270\u4e0e\u6570\u636e\u7a33\u5b9a\u6027\u95ee\u9898\u3002\u901a\u8fc7\u6781\u503c\u5254\u9664\u3001\u6ed1\u52a8\u5e73\u5747\u3001\u4e8c\u9636\u6ee4\u6ce2\u4e09\u79cd\u8f6f\u4ef6\u6ee4\u6ce2\u7b97\u6cd5\u7684\u6709\u673a\u7ec4\u5408\uff0c\u5728\u4f4e\u6210\u672c MCU \u4e0a\u5373\u53ef\u5b9e\u73b0\u9ad8\u7a33\u5b9a\u6027\u7684\u6570\u636e\u91c7\u96c6\uff0c\u65e0\u9700\u66f4\u6362\u6602\u8d35\u786c\u4ef6\u3002\u6587\u4e2d\u7ed9\u51fa\u63a8\u8350\u7ec4\u5408\u94fe\u8def\u300c\u6781\u503c\u5254\u9664 \u2192 \u6ed1\u52a8\u5e73\u5747 \u2192 \u4e8c\u9636\u6ee4\u6ce2\u300d\uff0c\u5e76\u914d\u5957\u5b8c\u6574\u7684\u5de5\u7a0b\u4ee3\u7801\u4e0e\u8c03\u4f18\u5efa\u8bae\uff0c\u5e2e\u52a9\u8bfb\u8005\u5feb\u901f\u843d\u5730\u3002 \u4f20\u611f\u5668\u6570\u636e\u8df3\u53d8\u5bfc\u81f4\u63a7\u5236\u8bef\u5224\uff0c\u662f\u5d4c\u5165\u5f0f\u5f00\u53d1\u4e2d\u6700\u5e38\u89c1\u4e5f\u6700\u68d8\u624b\u7684\u95ee\u9898\u4e4b\u4e00\u3002\u672c\u6587\u4e0d\u4f9d\u8d56\u6602\u8d35\u786c\u4ef6\uff0c\u800c\u662f\u901a\u8fc7\u6781\u503c\u5254\u9664\u3001\u6ed1\u52a8\u5e73\u5747\u3001\u4e8c\u9636\u6ee4\u6ce2\u7b49\u8f6f\u4ef6\u7b97\u6cd5\u7684\u6709\u673a\u7ec4\u5408\uff0c\u5728\u4f4e\u6210\u672c MCU \u4e0a\u5b9e\u73b0\u9ad8\u7a33\u5b9a\u6027\u7684\u6570\u636e\u91c7\u96c6\u3002\u5168\u6587\u4ece\u5355\u70b9\u7b97\u6cd5\u8bb2\u8d77\uff0c\u9010\u6b65\u4e32\u8054\u91c7\u6837\u3001\u6ee4\u6ce2\u3001\u7cbe\u5ea6\u63d0\u5347\u4e0e\u5b9e\u65f6\u8c03\u5ea6\uff0c\u6700\u7ec8\u843d\u5730\u4e3a\u4e00\u6761\u5b8c\u6574\u7684\u5de5\u7a0b\u94fe\u8def\u3002<\/p>\n<p>\u5728\u5d4c\u5165\u5f0f\u5f00\u53d1\u4e2d\uff0c\u4f20\u611f\u5668\u6570\u636e\u8df3\u53d8\u5f80\u5f80\u662f\u6700\u8ba9\u4eba\u5934\u75bc\u7684\u95ee\u9898\u4e4b\u4e00\u3002\u660e\u660e\u786c\u4ef6\u8fde\u63a5\u7a33\u56fa\uff0c\u4f9b\u7535\u4e5f\u7a33\u5b9a\uff0c\u4f46\u8bfb\u53d6\u5230\u7684\u6570\u503c\u5374\u50cf\u5fc3\u7535\u56fe\u4e00\u6837\u4e0a\u4e0b\u8d77\u4f0f\uff0c\u5bfc\u81f4\u63a7\u5236\u903b\u8f91\u8bef\u5224\uff0c\u751a\u81f3\u5f15\u53d1\u6267\u884c\u673a\u6784\u7684\u5f02\u5e38\u52a8\u4f5c\u3002\u5f88\u591a\u521d\u5b66\u8005\u9047\u5230\u8fd9\u79cd\u60c5\u51b5\uff0c\u7b2c\u4e00\u53cd\u5e94\u662f\u589e\u52a0\u786c\u4ef6\u6ee4\u6ce2\u7535\u5bb9\u6216\u8005\u66f4\u6362\u66f4\u6602\u8d35\u7684\u4f20\u611f\u5668\uff0c\u4f46\u5b9e\u9645\u4e0a\uff0c\u901a\u8fc7\u8f6f\u4ef6\u7b97\u6cd5\u4f18\u5316\uff0c\u5b8c\u5168\u53ef\u4ee5\u5728\u4f4e\u6210\u672c\u786c\u4ef6\u4e0a\u5b9e\u73b0\u6781\u9ad8\u7684\u6570\u636e\u7a33\u5b9a\u6027\u3002<\/p>\n<p>\u7279\u522b\u662f\u5728\u5de5\u4e1a\u63a7\u5236\u548c\u7cbe\u5bc6\u6d4b\u91cf\u573a\u666f\u4e0b\uff0c\u6570\u636e\u7684\u201c\u5e72\u51c0\u201d\u7a0b\u5ea6\u76f4\u63a5\u51b3\u5b9a\u4e86\u7cfb\u7edf\u7684\u53ef\u9760\u6027\u3002\u6211\u4eec\u4e0d\u9700\u8981\u8ffd\u6c42\u7406\u8bba\u4e0a\u7684\u5b8c\u7f8e\u6ce2\u5f62\uff0c\u800c\u662f\u8981\u5728\u6709\u9650\u7684\u8ba1\u7b97\u8d44\u6e90\u548c\u5b9e\u65f6\u6027\u8981\u6c42\u4e0b\uff0c\u627e\u5230\u4e00\u5957\u65e2\u80fd\u5254\u9664\u7a81\u53d1\u5e72\u6270\uff0c\u53c8\u80fd\u5e73\u6ed1\u968f\u673a\u566a\u58f0\u7684\u7ec4\u5408\u7b56\u7565\u3002\u8fd9\u5957\u7b56\u7565\u7684\u6838\u5fc3\u4e0d\u5728\u4e8e\u5355\u4e00\u7b97\u6cd5\u7684\u5f3a\u5f31\uff0c\u800c\u5728\u4e8e\u5982\u4f55\u5c06\u91c7\u6837\u3001\u9884\u5904\u7406\u3001\u6ee4\u6ce2\u548c\u7cbe\u5ea6\u63d0\u5347\u7b49\u73af\u8282\u6709\u673a\u4e32\u8054\u8d77\u6765\uff0c\u5f62\u6210\u4e00\u4e2a\u95ed\u73af\u7684\u6570\u636e\u5904\u7406\u6d41\u3002<\/p>\n<p>\u672c\u6587\u5c06\u6df1\u5165\u63a2\u8ba8\u4ece\u539f\u59cb\u4fe1\u53f7\u91c7\u96c6\u5230\u6700\u7ec8\u6570\u636e\u8f93\u51fa\u7684\u5168\u8fc7\u7a0b\uff0c\u91cd\u70b9\u5206\u4eab\u51e0\u79cd\u7ecf\u8fc7\u5b9e\u6218\u9a8c\u8bc1\u7684\u8f6f\u4ef6\u6297\u5e72\u6270\u6280\u5de7\u3002\u65e0\u8bba\u4f60\u662f\u6b63\u5728\u8c03\u8bd5\u4e00\u4e2a\u6e29\u5ea6\u91c7\u96c6\u6a21\u5757\uff0c\u8fd8\u662f\u8bbe\u8ba1\u4e00\u5957\u591a\u901a\u9053\u7684\u5de5\u4e1a\u63a7\u5236\u7cfb\u7edf\uff0c\u8fd9\u4e9b\u57fa\u4e8e\u6574\u6570\u8fd0\u7b97\u548c\u72b6\u6001\u673a\u7684\u5904\u7406\u601d\u8def\uff0c\u90fd\u80fd\u5e2e\u52a9\u4f60\u5728\u4e0d\u589e\u52a0\u786c\u4ef6\u6210\u672c\u7684\u524d\u63d0\u4e0b\uff0c\u663e\u8457\u63d0\u5347\u7cfb\u7edf\u7684\u6709\u6548\u5206\u8fa8\u7387\u548c\u8fd0\u884c\u7a33\u5b9a\u6027\u3002\u63a5\u4e0b\u6765\u7684\u5185\u5bb9\u5c06\u62c6\u89e3\u5177\u4f53\u7684\u5b9e\u73b0\u6b65\u9aa4\uff0c\u5e26\u4f60\u4e00\u6b65\u6b65\u6784\u5efa\u9ad8\u53ef\u9760\u7684\u6570\u636e\u91c7\u96c6\u94fe\u8def\u3002<\/p>\n<p>\u5728\u6df1\u5165\u7ec6\u8282\u4e4b\u524d\uff0c\u5148\u901a\u8fc7\u4e00\u5f20\u5bf9\u6bd4\u8868\u5feb\u901f\u4e86\u89e3\u4e09\u79cd\u4e3b\u6d41\u7b97\u6cd5\u7684\u7279\u6027\uff0c\u65b9\u4fbf\u4f60\u6839\u636e\u5b9e\u9645\u573a\u666f\u505a\u51fa\u521d\u6b65\u9009\u62e9\uff1a<\/p>\n<table>\n<tr>\n   \u7ef4\u5ea6<br \/>\n   \u6781\u503c\u5254\u9664<br \/>\n   \u6ed1\u52a8\u5e73\u5747<br \/>\n   \u4e8c\u9636\u6ee4\u6ce2<br \/>\n  <\/tr>\n<tbody>\n<tr>\n<td>\u54cd\u5e94\u901f\u5ea6<\/td>\n<td>\u5feb\uff08\u5355\u7a97\u53e3\u5185\u5373\u65f6\u8f93\u51fa\uff09<\/td>\n<td>\u4e2d\u7b49\uff08\u53d7\u7a97\u53e3\u957f\u5ea6\u5f71\u54cd\uff09<\/td>\n<td>\u8f83\u5feb\uff08\u5bf9\u8d8b\u52bf\u53d8\u5316\u7075\u654f\uff09<\/td>\n<\/tr>\n<tr>\n<td>\u5e73\u6ed1\u6548\u679c<\/td>\n<td>\u4e00\u822c\uff08\u4ec5\u53bb\u9664\u6781\u503c\uff0c\u968f\u673a\u566a\u58f0\u4ecd\u5b58\u5728\uff09<\/td>\n<td>\u8f83\u597d\uff08\u7a97\u53e3\u5185\u566a\u58f0\u88ab\u5e73\u5747\uff09<\/td>\n<td>\u6700\u597d\uff08\u53ef\u9661\u5ced\u622a\u6b62\u9ad8\u9891\u566a\u58f0\uff09<\/td>\n<\/tr>\n<tr>\n<td>\u8ba1\u7b97\u5f00\u9500<\/td>\n<td>\u6781\u4f4e\uff08\u4ec5\u6bd4\u8f83\u4e0e\u52a0\u51cf\u6cd5\uff09<\/td>\n<td>\u4f4e\uff08\u79fb\u4f4d\u66ff\u4ee3\u9664\u6cd5\uff09<\/td>\n<td>\u4e2d\u7b49\uff08\u9700\u7ef4\u62a4\u4e24\u4e2a\u72b6\u6001\u53d8\u91cf\uff09<\/td>\n<\/tr>\n<tr>\n<td>\u9002\u7528\u573a\u666f<\/td>\n<td>\u7535\u78c1\u8109\u51b2\u3001\u63a5\u89e6\u4e0d\u826f\u7b49\u5355\u70b9\u5c16\u5cf0\u5e72\u6270<\/td>\n<td>\u968f\u673a\u566a\u58f0\u5747\u5300\u3001\u5bf9\u5b9e\u65f6\u6027\u8981\u6c42\u4e0d\u9ad8\u7684\u573a\u666f<\/td>\n<td>\u9ad8\u9891\u566a\u58f0\u660e\u663e\u3001\u9700\u517c\u987e\u54cd\u5e94\u4e0e\u5e73\u6ed1\u7684\u573a\u666f<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h4>\u53c2\u6570\u8c03\u4f18\u901f\u67e5\u8868<\/h4>\n<p>\u4e0b\u8868\u6c47\u603b\u4e86\u672c\u6587\u6d89\u53ca\u7684\u6240\u6709\u5173\u952e\u53c2\u6570\u7684\u63a8\u8350\u53d6\u503c\u3001\u9009\u62e9\u4f9d\u636e\u4e0e\u9002\u7528\u573a\u666f\uff0c\u65b9\u4fbf\u4f60\u5728\u5b9e\u9645\u9879\u76ee\u4e2d\u5feb\u901f\u5b9a\u4f4d\u5408\u9002\u7684\u521d\u59cb\u503c\u3002\u5efa\u8bae\u5148\u6309\u300c\u5148\u5b9a\u54cd\u5e94\u901f\u5ea6\u3001\u518d\u8865\u5e73\u6ed1\u5ea6\u300d\u7684\u539f\u5219\u786e\u5b9a\u6838\u5fc3\u53c2\u6570\uff0c\u518d\u7ed3\u5408\u5b9e\u6d4b\u5fae\u8c03\u3002<\/p>\n<table>\n<tr>\n   \u53c2\u6570<br \/>\n   \u63a8\u8350\u53d6\u503c<br \/>\n   \u9009\u62e9\u4f9d\u636e<br \/>\n   \u9002\u7528\u573a\u666f<br \/>\n   \u9009\u578b\u5efa\u8bae<br \/>\n  <\/tr>\n<tbody>\n<tr>\n<td>\u6781\u503c\u5254\u9664\u7a97\u53e3 N<\/td>\n<td>5~8<\/td>\n<td>\u8fc7\u5c0f\u65e0\u6cd5\u8986\u76d6\u5e72\u6270\u5468\u671f\uff0c\u8fc7\u5927\u5f71\u54cd\u5b9e\u65f6\u54cd\u5e94<\/td>\n<td>\u5076\u53d1\u5355\u70b9\u5c16\u5cf0\u3001\u7535\u78c1\u8109\u51b2\u5e72\u6270<\/td>\n<td>\u5e72\u6270\u7a00\u758f\u65f6\u53d6 5~6\uff0c\u5e72\u6270\u8f83\u9891\u7e41\u65f6\u53d6 7~8\uff1b\u91c7\u6837\u95f4\u9694\u5efa\u8bae 1~2ms\uff0c\u786e\u4fdd\u7a97\u53e3\u8986\u76d6\u5e72\u6270\u5468\u671f<\/td>\n<\/tr>\n<tr>\n<td>\u6ed1\u52a8\u5e73\u5747\u7a97\u53e3<\/td>\n<td>4 \/ 8 \/ 16 \/ 32<\/td>\n<td>\u7a97\u53e3\u8d8a\u5927\u5e73\u6ed1\u8d8a\u5f3a\u3001\u6ede\u540e\u8d8a\u5927\uff1b\u5fc5\u987b\u4e3a 2 \u7684\u5e42\u6b21\u624d\u80fd\u7528\u79fb\u4f4d\u66ff\u4ee3\u9664\u6cd5<\/td>\n<td>\u968f\u673a\u566a\u58f0\u5747\u5300\u3001\u5bf9\u5b9e\u65f6\u6027\u8981\u6c42\u4e0d\u540c\u7684\u573a\u666f<\/td>\n<td>\u6e29\u5ea6\u3001\u6db2\u4f4d\u7b49\u7f13\u53d8\u4fe1\u53f7\u9009 32\uff1b\u7535\u673a\u8f6c\u901f\u3001\u538b\u529b\u8c03\u8282\u7b49\u95ed\u73af\u63a7\u5236\u9009 8~16\uff1b\u7a97\u53e3 4 \u4ec5\u7528\u4e8e\u5bf9\u54cd\u5e94\u6781\u654f\u611f\u7684\u573a\u666f<\/td>\n<\/tr>\n<tr>\n<td>\u6ed1\u52a8\u5e73\u5747\u5bf9\u5e94\u5ef6\u8fdf<\/td>\n<td>2ms \/ 4ms \/ 8ms \/ 16ms<\/td>\n<td>\u5ef6\u8fdf\u7ea6\u4e3a\u534a\u4e2a\u7a97\u53e3\u5468\u671f\uff081kHz \u91c7\u6837\u7387\uff09<\/td>\n<td>\u9700\u8bc4\u4f30\u6ede\u540e\u5bf9\u63a7\u5236\u73af\u8def\u7684\u5f71\u54cd<\/td>\n<td>\u5ef6\u8fdf\u654f\u611f\u65f6\u4f18\u5148\u5c0f\u7a97\u53e3\uff0c\u5fc5\u8981\u65f6\u7528\u4e8c\u9636\u6ee4\u6ce2\u8865\u507f\u54cd\u5e94\u7279\u6027<\/td>\n<\/tr>\n<tr>\n<td>\u4e8c\u9636\u6ee4\u6ce2 alpha<\/td>\n<td>60 \/ 50 \/ 70<\/td>\n<td>\u4e3b\u5bfc\u8ddf\u8e2a\u901f\u5ea6\uff0c\u8d8a\u5927\u54cd\u5e94\u8d8a\u5feb\u3001\u566a\u58f0\u6291\u5236\u8d8a\u5f31<\/td>\n<td>\u9700\u517c\u987e\u54cd\u5e94\u901f\u5ea6\u4e0e\u5e73\u6ed1\u5ea6\u7684\u573a\u666f<\/td>\n<td>\u901a\u7528\u8d77\u70b9\u53d6 60\uff1b\u4fe1\u53f7\u53d8\u5316\u5feb\u53d6 70\uff0c\u566a\u58f0\u5927\u53d6 50\uff1b\u4e00\u822c\u8303\u56f4 40~80<\/td>\n<\/tr>\n<tr>\n<td>\u4e8c\u9636\u6ee4\u6ce2 beta<\/td>\n<td>20 \/ 15 \/ 25<\/td>\n<td>\u4e3b\u5bfc\u963b\u5c3c\u7279\u6027\uff0c\u8d8a\u5927\u8d85\u8c03\u8d8a\u660e\u663e\u3001\u54cd\u5e94\u8d8a\u6d3b\u8dc3<\/td>\n<td>\u9700\u6291\u5236\u9ad8\u9891\u632f\u8361\u3001\u63a7\u5236\u8d85\u8c03\u7684\u573a\u666f<\/td>\n<td>\u4e0e alpha \u914d\u6bd4\uff1a60\/20 \u4e3a\u4e34\u754c\u963b\u5c3c\u7a33\u59a5\u8d77\u70b9\uff1b50\/15 \u66f4\u6c89\u7a33\u3001\u9002\u5408\u566a\u58f0\u5927\u7684\u573a\u666f\uff1b70\/25 \u66f4\u7075\u654f\u3001\u9002\u5408\u5feb\u901f\u54cd\u5e94\u573a\u666f<\/td>\n<\/tr>\n<tr>\n<td>\u8fc7\u91c7\u6837\u500d\u7387<\/td>\n<td>4 \/ 16 \/ 64 \/ 256<\/td>\n<td>\u6bcf 4 \u500d\u91c7\u6837\u63d0\u5347 1 \u4f4d\u6709\u6548\u5206\u8fa8\u7387<\/td>\n<td>\u4f4e\u9891\u7f13\u53d8\u4fe1\u53f7\u3001\u9700\u63d0\u5347\u6709\u6548\u4f4d\u6570\u7684\u573a\u666f<\/td>\n<td>10 \u4f4d ADC \u63d0\u5347\u81f3 11\/12\/13\/14 \u4f4d\u5206\u522b\u5bf9\u5e94 4\/16\/64\/256 \u500d\uff1b\u4ec5\u9002\u7528\u4e8e\u4fe1\u53f7\u5e26\u5bbd\u8fdc\u4f4e\u4e8e\u91c7\u6837\u7387\u7684\u573a\u666f<\/td>\n<\/tr>\n<tr>\n<td>\u8fc7\u91c7\u6837\u6709\u6548\u4f4d\u6570<\/td>\n<td>11 \/ 12 \/ 13 \/ 14 \u4f4d<\/td>\n<td>\u7531\u8fc7\u91c7\u6837\u500d\u6570\u51b3\u5b9a\uff0c\u63d0\u5347\u4f4d\u6570 = 0.5\u00b7log\u2082(M)<\/td>\n<td>\u9ad8\u7cbe\u5ea6\u6d4b\u91cf\u3001\u65e0\u9700\u5feb\u901f\u54cd\u5e94\u7684\u573a\u666f<\/td>\n<td>\u7cbe\u5ea6\u9700\u6c42\u6bcf\u63d0\u5347 1 \u4f4d\uff0c\u91c7\u6837\u65f6\u95f4\u7ffb 4 \u500d\uff0c\u9700\u5728\u7cbe\u5ea6\u4e0e\u66f4\u65b0\u7387\u4e4b\u95f4\u6743\u8861<\/td>\n<\/tr>\n<tr>\n<td>\u8fc7\u91c7\u6837\u91c7\u6837\u65f6\u95f4<\/td>\n<td>4ms \/ 16ms \/ 64ms \/ 256ms<\/td>\n<td>\u4ee5 1kHz \u91c7\u6837\u7387\u8ba1\u7b97\uff0c\u91c7\u6837\u65f6\u95f4 = M \/ \u91c7\u6837\u7387<\/td>\n<td>\u6e29\u5ea6\u3001\u6db2\u4f4d\u3001\u538b\u529b\u7b49\u7f13\u53d8\u7269\u7406\u91cf<\/td>\n<td>\u8f93\u51fa\u66f4\u65b0\u7387 = 1\/\u91c7\u6837\u65f6\u95f4\uff0c256 \u500d\u65f6\u4ec5\u7ea6 4Hz\uff0c\u52a1\u5fc5\u786e\u8ba4\u6ee1\u8db3\u7cfb\u7edf\u5237\u65b0\u9700\u6c42<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u901f\u67e5\u8981\u70b9\uff1a\u6781\u503c\u5254\u9664\u7a97\u53e3 N \u4e0e\u91c7\u6837\u95f4\u9694\u5171\u540c\u51b3\u5b9a\u6297\u5c16\u5cf0\u80fd\u529b\uff1b\u6ed1\u52a8\u5e73\u5747\u7a97\u53e3\u5728\u5e73\u6ed1\u4e0e\u6ede\u540e\u4e4b\u95f4\u6743\u8861\uff0c\u4f18\u5148\u9009 2 \u7684\u5e42\u6b21\uff1b\u4e8c\u9636\u6ee4\u6ce2\u5148\u5b9a alpha \u518d\u8c03 beta\uff0c60\/20 \u662f\u591a\u6570\u573a\u666f\u7684\u7a33\u59a5\u8d77\u70b9\uff1b\u8fc7\u91c7\u6837\u6bcf\u63d0\u5347 1 \u4f4d\u6709\u6548\u4f4d\u6570\u9700 4 \u500d\u91c7\u6837\u65f6\u95f4\uff0c\u4ec5\u9002\u7528\u4e8e\u4f4e\u9891\u7f13\u53d8\u4fe1\u53f7\u3002\u5b9e\u9645\u5de5\u7a0b\u4e2d\u5efa\u8bae\u6309\u300c\u6781\u503c\u5254\u9664 \u2192 \u6ed1\u52a8\u5e73\u5747 \u2192 \u4e8c\u9636\u6ee4\u6ce2\u300d\u7ec4\u5408\u4f7f\u7528\uff0c\u5fc5\u8981\u65f6\u5728\u94fe\u8def\u6700\u524d\u7aef\u53e0\u52a0\u8fc7\u91c7\u6837\u3002<\/p>\n<p>\u9009\u578b\u5efa\u8bae\uff1a\u82e5\u5e72\u6270\u4ee5\u5076\u53d1\u5c16\u5cf0\u4e3a\u4e3b\uff0c\u4f18\u5148\u9009\u6781\u503c\u5254\u9664\uff1b\u82e5\u566a\u58f0\u5747\u5300\u4e14\u53ef\u63a5\u53d7\u4e00\u5b9a\u6ede\u540e\uff0c\u6ed1\u52a8\u5e73\u5747\u6027\u4ef7\u6bd4\u6700\u9ad8\uff1b\u82e5\u65e2\u8981\u5feb\u901f\u54cd\u5e94\u53c8\u8981\u5f3a\u5e73\u6ed1\uff0c\u4e8c\u9636\u6ee4\u6ce2\u662f\u66f4\u4f18\u89e3\u3002\u5b9e\u9645\u5de5\u7a0b\u4e2d\u4e09\u8005\u5e38\u7ec4\u5408\u4f7f\u7528\uff0c\u4f8b\u5982\u5148\u6781\u503c\u5254\u9664\u518d\u6ed1\u52a8\u5e73\u5747\u3002<\/p>\n<h3>\u2460 \u8fde\u7eed\u91c7\u6837\u4e0e\u6781\u503c\u5254\u9664\u7684\u6297\u5e72\u6270\u7b56\u7565<\/h3>\n<p>\u9762\u5bf9\u4f20\u611f\u5668\u4fe1\u53f7\u4e2d\u5076\u5c14\u51fa\u73b0\u7684\u5c16\u5cf0\u5e72\u6270\uff0c\u6700\u7b80\u5355\u7684\u9632\u5fa1\u624b\u6bb5\u5f80\u5f80\u6700\u6709\u6548\u3002\u6211\u4eec\u5728\u5b9e\u9645\u5de5\u7a0b\u4e2d\u5e38\u91c7\u7528\u201c\u8fde\u7eed\u591a\u6b21\u91c7\u6837 + \u6781\u503c\u5254\u9664\u201d\u7684\u7b56\u7565\u3002\u5177\u4f53\u505a\u6cd5\u662f\uff1a\u5728\u4e00\u4e2a\u6781\u77ed\u7684\u65f6\u95f4\u7a97\u53e3\u5185\uff08\u4f8b\u5982 2 \u6beb\u79d2\uff09\uff0c\u8fde\u7eed\u8bfb\u53d6 N \u6b21\u4f20\u611f\u5668\u6570\u636e\uff08\u901a\u5e38 N \u53d6 5 \u5230 8 \u6b21\uff09\uff0c\u7136\u540e\u53bb\u6389\u5176\u4e2d\u7684\u6700\u5927\u503c\u548c\u6700\u5c0f\u503c\uff0c\u518d\u5bf9\u5269\u4f59\u7684\u6570\u636e\u6c42\u5e73\u5747\u3002<\/p>\n<p>\u8fd9\u79cd\u65b9\u6cd5\u80fd\u6709\u6548\u6ee4\u9664\u56e0\u7535\u78c1\u8109\u51b2\u3001\u63a5\u89e6\u4e0d\u826f\u6216\u7535\u6e90\u6ce2\u52a8\u5f15\u8d77\u7684\u5355\u70b9\u5f02\u5e38\u8df3\u53d8\u3002\u5047\u8bbe\u6211\u4eec\u91c7\u96c6\u4e86 6 \u4e2a\u6570\u636e\u70b9\uff0c\u5176\u4e2d\u6df7\u5165\u4e86\u4e00\u4e2a\u56e0\u5e72\u6270\u4ea7\u751f\u7684\u6781\u5927\u503c\u548c\u4e00\u4e2a\u6781\u5c0f\u503c\uff0c\u76f4\u63a5\u6c42\u5e73\u5747\u4f1a\u88ab\u8fd9\u4e24\u4e2a\u6781\u7aef\u503c\u62c9\u504f\uff0c\u800c\u5254\u9664\u540e\u518d\u5e73\u5747\uff0c\u5219\u80fd\u8fd8\u539f\u51fa\u771f\u5b9e\u7684\u4fe1\u53f7\u8d8b\u52bf\u3002\u8fd9\u79cd\u7b97\u6cd5\u8ba1\u7b97\u91cf\u6781\u5c0f\uff0c\u975e\u5e38\u9002\u5408\u5728\u8d44\u6e90\u53d7\u9650\u7684\u5355\u7247\u673a\u4e0a\u8fd0\u884c\uff0c\u4e14\u4e0d\u9700\u8981\u590d\u6742\u7684\u6d6e\u70b9\u8fd0\u7b97\u652f\u6301\u3002<\/p>\n<p><span class=\"token class-name\">uint16_t<\/span> <span class=\"token function\">filter_peak_remove<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint16_t<\/span> <span class=\"token operator\">*<\/span>buffer<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint8_t<\/span> count<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/p>\n<p>   <\/span><br \/>\n    <span class=\"token class-name\">uint16_t<\/span> max <span class=\"token operator\">=<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> min <span class=\"token operator\">=<\/span> <span class=\"token number\">0xFFFF<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> sum <span class=\"token operator\">=<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u5bfb\u627e\u6700\u5927\u503c\u548c\u6700\u5c0f\u503c<\/span><br \/>\n    <span class=\"token keyword\">for<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> i <span class=\"token operator\">=<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span> i <span class=\"token operator\">&lt;<\/span> count<span class=\"token punctuation\">;<\/span> i<span class=\"token operator\">++<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/p>\n<p>   <\/span><br \/>\n        <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>buffer<span class=\"token punctuation\">[<\/span>i<span class=\"token punctuation\">]<\/span> <span class=\"token operator\">&gt;<\/span> max<span class=\"token punctuation\">)<\/span> max <span class=\"token operator\">=<\/span> buffer<span class=\"token punctuation\">[<\/span>i<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>buffer<span class=\"token punctuation\">[<\/span>i<span class=\"token punctuation\">]<\/span> <span class=\"token operator\">&lt;<\/span> min<span class=\"token punctuation\">)<\/span> min <span class=\"token operator\">=<\/span> buffer<span class=\"token punctuation\">[<\/span>i<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        sum <span class=\"token operator\">+=<\/span> buffer<span class=\"token punctuation\">[<\/span>i<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u5254\u9664\u6700\u5927\u6700\u5c0f\u503c\u540e\u6c42\u5e73\u5747<\/span><br \/>\n    <span class=\"token comment\">\/\/ \u6ce8\u610f\uff1acount \u5fc5\u987b\u5927\u4e8e 2\uff0c\u5426\u5219\u5206\u6bcd\u4e3a 0<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> <span class=\"token punctuation\">(<\/span>sum <span class=\"token operator\">&#8211;<\/span> max <span class=\"token operator\">&#8211;<\/span> min<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">\/<\/span> <span class=\"token punctuation\">(<\/span>count <span class=\"token operator\">&#8211;<\/span> <span class=\"token number\">2<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p>\u8fd9\u6bb5\u4ee3\u7801\u5c55\u793a\u4e86\u6838\u5fc3\u903b\u8f91\uff1a\u904d\u5386\u6570\u7ec4\u627e\u5230\u6781\u503c\uff0c\u7d2f\u52a0\u603b\u548c\u540e\u51cf\u53bb\u6781\u503c\uff0c\u6700\u540e\u9664\u4ee5\u6709\u6548\u4e2a\u6570\u3002\u5173\u952e\u5728\u4e8e count \u7684\u9009\u62e9\uff0c\u8fc7\u5c0f\u65e0\u6cd5\u8986\u76d6\u5e72\u6270\u5468\u671f\uff0c\u8fc7\u5927\u5219\u4f1a\u5f71\u54cd\u5b9e\u65f6\u54cd\u5e94\u901f\u5ea6\uff0c\u4e00\u822c\u6839\u636e\u4f20\u611f\u5668\u7684\u5237\u65b0\u7387\u548c\u5e72\u6270\u9891\u7387\u52a8\u6001\u8c03\u6574\u3002<\/p>\n<h4>\u8fb9\u754c\u60c5\u51b5\u4e0e\u9632\u5fa1\u6027\u5904\u7406<\/h4>\n<p>\u5728\u5b9e\u9645\u5de5\u7a0b\u4e2d\uff0c\u6781\u503c\u5254\u9664\u7b97\u6cd5\u6709\u51e0\u4e2a\u5bb9\u6613\u88ab\u5ffd\u89c6\u7684\u8fb9\u754c\u60c5\u51b5\u9700\u8981\u5904\u7406\uff1a<\/p>\n<ul>\n<li>\u7a97\u53e3\u8fc7\u5c0f\u5bfc\u81f4\u9664\u96f6\uff1a\u5f53 count &lt;= 2 \u65f6\uff0ccount &#8211; 2 \u4e3a 0\uff0c\u76f4\u63a5\u89e6\u53d1\u9664\u96f6\u5f02\u5e38\u3002\u5efa\u8bae\u5728\u51fd\u6570\u5165\u53e3\u589e\u52a0\u9632\u5fa1\u5224\u65ad\uff0ccount \u5c0f\u4e8e 3 \u65f6\u76f4\u63a5\u8fd4\u56de\u539f\u59cb\u5747\u503c\u6216\u4e0a\u4e00\u6b21\u7684\u6709\u6548\u8f93\u51fa\u3002<\/li>\n<li>\u8fde\u7eed\u591a\u70b9\u5e72\u6270\uff1a\u5982\u679c\u5e72\u6270\u4e0d\u662f\u5355\u70b9\u800c\u662f\u8fde\u7eed 2~3 \u4e2a\u70b9\uff0c\u4ec5\u5254\u9664\u4e00\u4e2a\u6700\u5927\u503c\u548c\u4e00\u4e2a\u6700\u5c0f\u503c\u53ef\u80fd\u4e0d\u591f\u3002\u6b64\u65f6\u53ef\u8003\u8651\u201c\u5254\u9664 K \u4e2a\u6781\u503c\u201d\u7684\u53d8\u4f53\uff0c\u5373\u6392\u5e8f\u540e\u53bb\u6389\u524d\u540e\u5404 K \u4e2a\u70b9\u518d\u6c42\u5e73\u5747\uff0c\u4ee3\u4ef7\u662f\u5f15\u5165\u6392\u5e8f\u5f00\u9500\u3002<\/li>\n<li>\u6570\u636e\u9971\u548c\u4e0e\u6ea2\u51fa\uff1a\u5f53 count \u8f83\u5927\u4e14 ADC \u503c\u63a5\u8fd1\u6ee1\u91cf\u7a0b\u65f6\uff0csum \u53ef\u80fd\u8d85\u8fc7 16 \u4f4d\u8303\u56f4\u3002\u52a1\u5fc5\u4f7f\u7528 uint32_t \u7d2f\u52a0\uff0c\u8fd9\u6b63\u662f\u7b2c\u2468\u8282\u5c06\u8981\u8be6\u7ec6\u8ba8\u8bba\u7684\u6ea2\u51fa\u98ce\u9669\u3002<\/li>\n<\/ul>\n<h4>\u8fdb\u9636\u4f18\u5316\uff1a\u4e2d\u4f4d\u503c\u6ee4\u6ce2<\/h4>\n<p>\u5f53\u5e72\u6270\u70b9\u6570\u91cf\u8f83\u591a\u3001\u6216\u4fe1\u53f7\u672c\u8eab\u5b58\u5728\u5c0f\u5e45\u968f\u673a\u6296\u52a8\u65f6\uff0c\u5355\u7eaf\u5254\u9664\u6781\u503c\u540e\u6c42\u5e73\u5747\u4ecd\u53ef\u80fd\u88ab\u6b8b\u7559\u7684\u5f02\u5e38\u70b9\u5f71\u54cd\u3002\u6b64\u65f6\u53ef\u4ee5\u5347\u7ea7\u4e3a\u4e2d\u4f4d\u503c\u6ee4\u6ce2\uff1a\u5bf9\u7a97\u53e3\u5185\u7684 N \u4e2a\u70b9\u6392\u5e8f\uff0c\u76f4\u63a5\u53d6\u4e2d\u95f4\u503c\u4f5c\u4e3a\u8f93\u51fa\u3002\u4e2d\u4f4d\u503c\u5bf9\u79bb\u7fa4\u70b9\u5b8c\u5168\u4e0d\u654f\u611f\uff0c\u6297\u8109\u51b2\u5e72\u6270\u80fd\u529b\u66f4\u5f3a\uff0c\u4ee3\u4ef7\u662f\u9700\u8981\u989d\u5916\u7684\u6392\u5e8f\u8fd0\u7b97\uff08N \u8f83\u5c0f\u65f6\u53ef\u7528\u63d2\u5165\u6392\u5e8f\u6216\u5192\u6ce1\u6392\u5e8f\uff0c\u5f00\u9500\u53ef\u63a5\u53d7\uff09\u3002<\/p>\n<p><span class=\"token comment\">\/\/ \u4e2d\u4f4d\u503c\u6ee4\u6ce2\uff1a\u5bf9\u7a97\u53e3\u5185\u6570\u636e\u6392\u5e8f\u540e\u53d6\u4e2d\u95f4\u503c<\/span><br \/>\n<span class=\"token comment\">\/\/ \u9002\u7528\u4e8e\u5e72\u6270\u70b9\u8f83\u591a\u3001\u9700\u8981\u66f4\u5f3a\u6297\u8109\u51b2\u80fd\u529b\u7684\u573a\u666f<\/span><br \/>\n<span class=\"token class-name\">uint16_t<\/span> <span class=\"token function\">filter_median<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint16_t<\/span> <span class=\"token operator\">*<\/span>buffer<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint8_t<\/span> count<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/p>\n<p>   <\/span><br \/>\n    <span class=\"token comment\">\/\/ \u62f7\u8d1d\u5230\u4e34\u65f6\u6570\u7ec4\uff0c\u907f\u514d\u7834\u574f\u539f\u59cb\u7f13\u51b2\u533a<\/span><br \/>\n    <span class=\"token class-name\">uint16_t<\/span> tmp<span class=\"token punctuation\">[<\/span><span class=\"token number\">8<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span>  <span class=\"token comment\">\/\/ \u5047\u8bbe count &lt;= 8<\/span><br \/>\n    <span class=\"token keyword\">for<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> i <span class=\"token operator\">=<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span> i <span class=\"token operator\">&lt;<\/span> count<span class=\"token punctuation\">;<\/span> i<span class=\"token operator\">++<\/span><span class=\"token punctuation\">)<\/span> tmp<span class=\"token punctuation\">[<\/span>i<span class=\"token punctuation\">]<\/span> <span class=\"token operator\">=<\/span> buffer<span class=\"token punctuation\">[<\/span>i<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u7b80\u5355\u63d2\u5165\u6392\u5e8f\uff08count \u5f88\u5c0f\uff0c\u5f00\u9500\u53ef\u5ffd\u7565\uff09<\/span><br \/>\n    <span class=\"token keyword\">for<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint8_t<\/span> i <span class=\"token operator\">=<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">;<\/span> i <span class=\"token operator\">&lt;<\/span> count<span class=\"token punctuation\">;<\/span> i<span class=\"token operator\">++<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/p>\n<p>   <\/span><br \/>\n        <span class=\"token class-name\">uint16_t<\/span> key <span class=\"token operator\">=<\/span> tmp<span class=\"token punctuation\">[<\/span>i<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token class-name\">int8_t<\/span> j <span class=\"token operator\">=<\/span> i <span class=\"token operator\">&#8211;<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">while<\/span> <span class=\"token punctuation\">(<\/span>j <span class=\"token operator\">&gt;=<\/span> <span class=\"token number\">0<\/span> <span class=\"token operator\">&amp;&amp;<\/span> tmp<span class=\"token punctuation\">[<\/span>j<span class=\"token punctuation\">]<\/span> <span class=\"token operator\">&gt;<\/span> key<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/p>\n<p>   <\/span><br \/>\n            tmp<span class=\"token punctuation\">[<\/span>j <span class=\"token operator\">+<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">]<\/span> <span class=\"token operator\">=<\/span> tmp<span class=\"token punctuation\">[<\/span>j<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><br \/>\n            j<span class=\"token operator\">&#8212;<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token punctuation\">}<\/span><br \/>\n        tmp<span class=\"token punctuation\">[<\/span>j <span class=\"token operator\">+<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">]<\/span> <span class=\"token operator\">=<\/span> key<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u53d6\u4e2d\u95f4\u503c\uff08count \u4e3a\u5076\u6570\u65f6\u53d6\u4e2d\u95f4\u4e24\u503c\u7684\u5e73\u5747\uff09<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>count <span class=\"token operator\">%<\/span> <span class=\"token number\">2<\/span> <span class=\"token operator\">==<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/p>\n<p>   <\/span><br \/>\n        <span class=\"token keyword\">return<\/span> tmp<span class=\"token punctuation\">[<\/span>count <span class=\"token operator\">\/<\/span> <span class=\"token number\">2<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span> <span class=\"token keyword\">else<\/span> <span class=\"token punctuation\">{<\/p>\n<p>   <\/span><br \/>\n        <span class=\"token keyword\">return<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint16_t<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint32_t<\/span><span class=\"token punctuation\">)<\/span>tmp<span class=\"token punctuation\">[<\/span>count <span class=\"token operator\">\/<\/span> <span class=\"token number\">2<\/span> <span class=\"token operator\">&#8211;<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">]<\/span> <span class=\"token operator\">+<\/span> tmp<span class=\"token punctuation\">[<\/span>count <span class=\"token operator\">\/<\/span> <span class=\"token number\">2<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">\/<\/span> <span class=\"token number\">2<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<h4>\u5de5\u7a0b\u9009\u578b\u5efa\u8bae<\/h4>\n<p>\u6781\u503c\u5254\u9664\u4e0e\u4e2d\u4f4d\u503c\u6ee4\u6ce2\u5404\u6709\u9002\u7528\u573a\u666f\uff0c\u5b9e\u9645\u9009\u578b\u53ef\u53c2\u8003\u4ee5\u4e0b\u539f\u5219\uff1a<\/p>\n<ul>\n<li>\u5e72\u6270\u7a00\u758f\uff08\u5076\u53d1\u5355\u70b9\u5c16\u5cf0\uff09\uff1a\u4f18\u5148\u7528\u6781\u503c\u5254\u9664\uff0c\u8ba1\u7b97\u91cf\u6700\u5c0f\u3001\u54cd\u5e94\u6700\u5feb\u3002<\/li>\n<li>\u5e72\u6270\u5bc6\u96c6\u6216\u5b58\u5728\u8fde\u7eed\u6bdb\u523a\uff1a\u6539\u7528\u4e2d\u4f4d\u503c\u6ee4\u6ce2\uff0c\u6297\u8109\u51b2\u80fd\u529b\u66f4\u5f3a\u3002<\/li>\n<li>\u5bf9\u5b9e\u65f6\u6027\u8981\u6c42\u6781\u9ad8\uff1a\u6781\u503c\u5254\u9664\u5355\u6b21\u904d\u5386\u5373\u53ef\u5b8c\u6210\uff0cO(N) \u590d\u6742\u5ea6\uff0c\u9002\u5408\u9ad8\u9891\u4e2d\u65ad\u5185\u8c03\u7528\uff1b\u4e2d\u4f4d\u503c\u6ee4\u6ce2\u6d89\u53ca\u6392\u5e8f\uff0c\u5efa\u8bae\u653e\u5728\u4e3b\u5faa\u73af\u5904\u7406\u3002<\/li>\n<li>\u4e0e\u540e\u7eed\u6ee4\u6ce2\u7ec4\u5408\uff1a\u6781\u503c\u5254\u9664\u5e38\u4f5c\u4e3a\u7b2c\u4e00\u7ea7\u9884\u5904\u7406\uff0c\u5148\u6e05\u9664\u5c16\u5cf0\uff0c\u518d\u4ea4\u7ed9\u6ed1\u52a8\u5e73\u5747\u6216\u4e8c\u9636\u6ee4\u6ce2\u5e73\u6ed1\u968f\u673a\u566a\u58f0\uff0c\u5f62\u6210\u300c\u6781\u503c\u5254\u9664 \u2192 \u6ed1\u52a8\u5e73\u5747 \u2192 \u4e8c\u9636\u6ee4\u6ce2\u300d\u7684\u7ecf\u5178\u94fe\u8def\u3002<\/li>\n<\/ul>\n<h3>\u2461 \u5341\u516d\u5206\u4e4b\u4e00\u7d2f\u52a0\u548c\u7684\u6574\u6570\u8fd0\u7b97\u4f18\u5316<\/h3>\n<p>\u5728\u5d4c\u5165\u5f0f\u7cfb\u7edf\u4e2d\uff0c\u6d6e\u70b9\u8fd0\u7b97\u4e0d\u4ec5\u6d88\u8017 CPU \u5468\u671f\uff0c\u8fd8\u53ef\u80fd\u5f15\u5165\u989d\u5916\u7684\u820d\u5165\u8bef\u5dee\u3002\u4e3a\u4e86\u5728\u4fdd\u8bc1\u7cbe\u5ea6\u7684\u540c\u65f6\u63d0\u5347\u6548\u7387\uff0c\u6211\u4eec\u53ef\u4ee5\u5229\u7528\u4f4d\u79fb\u64cd\u4f5c\u6765\u66ff\u4ee3\u9664\u6cd5\u3002\u5f53\u6211\u4eec\u9700\u8981\u8ba1\u7b97\u6ed1\u52a8\u5e73\u5747\u503c\u65f6\uff0c\u5982\u679c\u7a97\u53e3\u5927\u5c0f\u8bbe\u5b9a\u4e3a 16\uff0c\u90a3\u4e48\u9664\u4ee5 16 \u7684\u64cd\u4f5c\u5c31\u53ef\u4ee5\u5b8c\u7f8e\u8f6c\u5316\u4e3a\u53f3\u79fb 4 \u4f4d\uff08&gt;&gt; 4\uff09\u3002<\/p>\n<p>\u8fd9\u79cd\u201c\u5341\u516d\u5206\u4e4b\u4e00\u7d2f\u52a0\u548c\u201d\u7684\u601d\u8def\uff0c\u672c\u8d28\u4e0a\u662f\u6784\u5efa\u4e00\u4e2a\u7b80\u5355\u7684\u4f4e\u901a\u6ee4\u6ce2\u5668\u3002\u6bcf\u6b21\u65b0\u6570\u636e\u5230\u6765\u65f6\uff0c\u5c06\u5176\u52a0\u5165\u7d2f\u52a0\u5668\uff0c\u540c\u65f6\u51cf\u53bb\u6700\u65e9\u8fdb\u5165\u7684\u90a3\u4e2a\u65e7\u6570\u636e\uff0c\u4fdd\u6301\u7a97\u53e3\u5185\u7684\u6570\u636e\u603b\u91cf\u6052\u5b9a\u3002\u7531\u4e8e\u5206\u6bcd\u662f 2 \u7684\u5e42\u6b21\uff0c\u6700\u7ec8\u7684\u5747\u503c\u8ba1\u7b97\u53ea\u9700\u4e00\u6b21\u79fb\u4f4d\u6307\u4ee4\uff0c\u6781\u5927\u5730\u964d\u4f4e\u4e86\u4e2d\u65ad\u670d\u52a1\u7a0b\u5e8f\u7684\u6267\u884c\u65f6\u95f4\u3002<\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">FILTER_WINDOW<\/span> <span class=\"token expression\"><span class=\"token number\">16<\/span><\/span><\/span><br \/>\n<span class=\"token class-name\">uint32_t<\/span> filter_sum <span class=\"token operator\">=<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token class-name\">uint16_t<\/span> filter_buffer<span class=\"token punctuation\">[<\/span>FILTER_WINDOW<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token class-name\">uint8_t<\/span> filter_index <span class=\"token operator\">=<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token class-name\">uint16_t<\/span> <span class=\"token function\">update_filter<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint16_t<\/span> new_value<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/p>\n<p>   <\/span><br \/>\n    <span class=\"token comment\">\/\/ \u51cf\u53bb\u5373\u5c06\u88ab\u8986\u76d6\u7684\u65e7\u503c<\/span><br \/>\n    filter_sum <span class=\"token operator\">-=<\/span> filter_buffer<span class=\"token punctuation\">[<\/span>filter_index<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token comment\">\/\/ \u5b58\u5165\u65b0\u503c\u5e76\u7d2f\u52a0<\/span><br \/>\n    filter_buffer<span class=\"token punctuation\">[<\/span>filter_index<span class=\"token punctuation\">]<\/span> <span class=\"token operator\">=<\/span> new_value<span class=\"token punctuation\">;<\/span><br \/>\n    filter_sum <span class=\"token operator\">+=<\/span> new_value<span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u66f4\u65b0\u7d22\u5f15\uff0c\u5b9e\u73b0\u5faa\u73af\u961f\u5217<\/span><br \/>\n    filter_index <span class=\"token operator\">=<\/span> <span class=\"token punctuation\">(<\/span>filter_index <span class=\"token operator\">+<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">%<\/span> FILTER_WINDOW<span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u53f3\u79fb 4 \u4f4d\u7b49\u540c\u4e8e\u9664\u4ee5 16<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint16_t<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">(<\/span>filter_sum <span class=\"token operator\">&gt;&gt;<\/span> <span class=\"token number\">4<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p>\u8fd9\u6bb5\u4ee3\u7801\u7684\u7cbe\u5999\u4e4b\u5904\u5728\u4e8e\u7528\u5faa\u73af\u961f\u5217\u66ff\u4ee3\u4e86\u6bcf\u6b21\u5168\u91cf\u6c42\u548c\u3002\u4f20\u7edf\u6ed1\u52a8\u5e73\u5747\u6bcf\u6b21\u90fd\u8981\u904d\u5386\u7a97\u53e3\u5185\u5168\u90e8 16 \u4e2a\u70b9\u6c42\u548c\uff0c\u800c\u8fd9\u91cc\u53ea\u9700\u4e00\u6b21\u51cf\u6cd5\u3001\u4e00\u6b21\u52a0\u6cd5\u548c\u4e00\u6b21\u79fb\u4f4d\uff0c\u65f6\u95f4\u590d\u6742\u5ea6\u4ece O(N) \u964d\u4e3a O(1)\u3002\u65e0\u8bba\u7a97\u53e3\u591a\u5927\uff0c\u5355\u70b9\u66f4\u65b0\u7684\u5f00\u9500\u90fd\u6052\u5b9a\uff0c\u8fd9\u5bf9\u9ad8\u9891\u4e2d\u65ad\u573a\u666f\u610f\u4e49\u91cd\u5927\u3002<\/p>\n<h4>\u4e3a\u4ec0\u4e48\u9009\u62e9 16 \u800c\u4e0d\u662f\u5176\u4ed6\u7a97\u53e3<\/h4>\n<p>\u7a97\u53e3\u5927\u5c0f\u9009 16 \u5e76\u975e\u968f\u610f\u4e3a\u4e4b\uff0c\u800c\u662f\u517c\u987e\u4e86\u8ba1\u7b97\u6548\u7387\u4e0e\u6ee4\u6ce2\u6548\u679c\uff1a<\/p>\n<ul>\n<li>2 \u7684\u5e42\u6b21\u7a97\u53e3\uff1a\u53ea\u6709\u7a97\u53e3\u4e3a 2 \u7684\u5e42\u6b21\u65f6\uff0c\u9664\u6cd5\u624d\u80fd\u8f6c\u5316\u4e3a\u79fb\u4f4d\u8fd0\u7b97\u300216 \u5bf9\u5e94\u53f3\u79fb 4 \u4f4d\uff0c32 \u5bf9\u5e94\u53f3\u79fb 5 \u4f4d\uff0c\u5747\u53ea\u9700 1 \u4e2a\u65f6\u949f\u5468\u671f\uff1b\u800c\u7a97\u53e3\u4e3a 10 \u6216 20 \u65f6\uff0c\u7f16\u8bd1\u5668\u53ea\u80fd\u9000\u5316\u4e3a\u771f\u6b63\u7684\u9664\u6cd5\u6307\u4ee4\uff0c\u8017\u65f6\u6570\u5341\u4e2a\u5468\u671f\u3002<\/li>\n<li>\u5e73\u6ed1\u6548\u679c\u9002\u4e2d\uff1a16 \u70b9\u7a97\u53e3\u5bf9 1kHz \u91c7\u6837\u7387\u800c\u8a00\u5bf9\u5e94 16ms \u7684\u65f6\u95f4\u8de8\u5ea6\uff0c\u80fd\u6709\u6548\u538b\u5236 50Hz \u5de5\u9891\u5e72\u6270\uff08\u4e00\u4e2a\u5de5\u9891\u5468\u671f\u5185\u6070\u597d\u91c7\u6837 20 \u4e2a\u70b9\uff0c16 \u70b9\u7a97\u53e3\u53ef\u8986\u76d6\u5927\u90e8\u5206\u5468\u671f\uff09\uff0c\u540c\u65f6\u6ede\u540e\u63a7\u5236\u5728\u53ef\u63a5\u53d7\u8303\u56f4\u3002<\/li>\n<li>\u5185\u5b58\u5f00\u9500\u5408\u7406\uff1auint16_t \u7f13\u51b2\u533a\u4ec5\u5360 32 \u5b57\u8282\uff0c\u5728\u8d44\u6e90\u53d7\u9650\u7684 MCU \u4e0a\u51e0\u4e4e\u53ef\u4ee5\u5ffd\u7565\u3002<\/li>\n<\/ul>\n<h4>\u6ea2\u51fa\u98ce\u9669\u4e0e\u9632\u5fa1\u6027\u8bbe\u8ba1<\/h4>\n<p>\u867d\u7136\u4ee3\u7801\u770b\u4f3c\u7b80\u5355\uff0c\u4f46\u6709\u4e00\u4e2a\u9690\u853d\u7684\u5751\u9700\u8981\u63d0\u524d\u89c4\u907f\uff1a\u7d2f\u52a0\u5668\u6ea2\u51fa\u3002\u5f53 ADC \u4e3a 12 \u4f4d\uff08\u6ee1\u91cf\u7a0b 4095\uff09\u65f6\uff0c16 \u4e2a\u70b9\u7684\u7d2f\u52a0\u548c\u6700\u5927\u4e3a 4095 \u00d7 16 = 65520\uff0c\u6070\u597d\u903c\u8fd1 uint16_t \u7684\u4e0a\u9650 65535\u3002\u82e5\u7a97\u53e3\u589e\u5927\u5230 32\uff0c\u6216 ADC \u5347\u7ea7\u4e3a 14 \u4f4d\uff08\u6ee1\u91cf\u7a0b 16383\uff09\uff0c16383 \u00d7 16 = 262128 \u4f1a\u76f4\u63a5\u6ea2\u51fa 16 \u4f4d\u8303\u56f4\u3002<\/p>\n<p>\u56e0\u6b64\u4ee3\u7801\u4e2d\u5fc5\u987b\u4f7f\u7528 uint32_t \u4f5c\u4e3a\u7d2f\u52a0\u5668\u7c7b\u578b\uff0c\u8fd9\u6b63\u662f\u7b2c\u2468\u8282\u5c06\u8981\u8be6\u7ec6\u8ba8\u8bba\u7684\u6ea2\u51fa\u98ce\u9669\u3002\u6b64\u5916\uff0cfilter_sum \u5728\u4e2d\u65ad\u548c\u4e3b\u5faa\u73af\u4e2d\u53ef\u80fd\u88ab\u5e76\u53d1\u8bbf\u95ee\uff0c\u5efa\u8bae\u58f0\u660e\u4e3a volatile\uff0c\u5fc5\u8981\u65f6\u5728\u8bfb\u53d6\u524d\u77ed\u6682\u5173\u4e2d\u65ad\uff0c\u9632\u6b62\u8bfb\u5230\u201c\u6495\u88c2\u201d\u7684\u4e2d\u95f4\u503c\u3002<\/p>\n<h4>\u521d\u59cb\u5316\u4e0e\u9996\u5e27\u5904\u7406<\/h4>\n<p>\u5faa\u73af\u961f\u5217\u5728\u542f\u52a8\u9636\u6bb5\u5b58\u5728\u4e00\u4e2a\u51b7\u542f\u52a8\u95ee\u9898\uff1a\u7f13\u51b2\u533a\u521d\u59cb\u5168\u4e3a 0\uff0c\u524d 16 \u6b21\u66f4\u65b0\u8f93\u51fa\u7684\u5747\u503c\u4f1a\u88ab\u201c\u7a00\u91ca\u201d\u3002\u4f8b\u5982\u7b2c\u4e00\u6b21\u66f4\u65b0\u65f6\uff0cfilter_sum \u53ea\u6709 1 \u4e2a\u6709\u6548\u6570\u636e\uff0c\u8f93\u51fa\u5374\u9664\u4ee5 16\uff0c\u5bfc\u81f4\u7ed3\u679c\u4e25\u91cd\u504f\u4f4e\u3002<\/p>\n<p>\u5de5\u7a0b\u4e0a\u5e38\u7528\u4e24\u79cd\u65b9\u5f0f\u89e3\u51b3\uff1a<\/p>\n<ul>\n<li>\u9884\u70ed\u586b\u5145\uff1a\u542f\u52a8\u65f6\u5148\u7528\u5f53\u524d\u503c\u8fde\u7eed\u586b\u5145\u7f13\u51b2\u533a 16 \u6b21\uff0c\u518d\u5f00\u59cb\u6b63\u5e38\u8f93\u51fa\uff0c\u4ee3\u4ef7\u662f\u542f\u52a8\u9636\u6bb5\u591a\u82b1 16 \u4e2a\u91c7\u6837\u5468\u671f\u3002<\/li>\n<li>\u6709\u6548\u8ba1\u6570\u6cd5\uff1a\u7ef4\u62a4\u4e00\u4e2a valid_count\uff0c\u524d 16 \u6b21\u66f4\u65b0\u65f6\u6309\u5b9e\u9645\u6709\u6548\u70b9\u6570\u6c42\u5747\u503c\uff0c\u586b\u6ee1\u540e\u518d\u5207\u6362\u4e3a\u56fa\u5b9a\u53f3\u79fb 4 \u4f4d\u3002\u4ee3\u7801\u5982\u4e0b\uff1a<\/li>\n<\/ul>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">FILTER_WINDOW<\/span> <span class=\"token expression\"><span class=\"token number\">16<\/span><\/span><\/span><br \/>\n<span class=\"token class-name\">uint32_t<\/span> filter_sum <span class=\"token operator\">=<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token class-name\">uint16_t<\/span> filter_buffer<span class=\"token punctuation\">[<\/span>FILTER_WINDOW<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token class-name\">uint8_t<\/span> filter_index <span class=\"token operator\">=<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token class-name\">uint8_t<\/span> valid_count <span class=\"token operator\">=<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span>   <span class=\"token comment\">\/\/ \u5df2\u586b\u5145\u7684\u6709\u6548\u70b9\u6570<\/span><\/p>\n<p><span class=\"token class-name\">uint16_t<\/span> <span class=\"token function\">update_filter<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint16_t<\/span> new_value<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/p>\n<p>   <\/span><br \/>\n    <span class=\"token comment\">\/\/ \u51cf\u53bb\u5373\u5c06\u88ab\u8986\u76d6\u7684\u65e7\u503c\uff08\u51b7\u542f\u52a8\u9636\u6bb5\u65e7\u503c\u4e3a 0\uff0c\u4e0d\u5f71\u54cd\uff09<\/span><br \/>\n    filter_sum <span class=\"token operator\">-=<\/span> filter_buffer<span class=\"token punctuation\">[<\/span>filter_index<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    filter_buffer<span class=\"token punctuation\">[<\/span>filter_index<span class=\"token punctuation\">]<\/span> <span class=\"token operator\">=<\/span> new_value<span class=\"token punctuation\">;<\/span><br \/>\n    filter_sum <span class=\"token operator\">+=<\/span> new_value<span class=\"token punctuation\">;<\/span><br \/>\n    filter_index <span class=\"token operator\">=<\/span> <span class=\"token punctuation\">(<\/span>filter_index <span class=\"token operator\">+<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">%<\/span> FILTER_WINDOW<span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u51b7\u542f\u52a8\u9636\u6bb5\u6309\u5b9e\u9645\u70b9\u6570\u6c42\u5747\u503c\uff0c\u586b\u6ee1\u540e\u56fa\u5b9a\u53f3\u79fb 4 \u4f4d<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>valid_count <span class=\"token operator\">&lt;<\/span> FILTER_WINDOW<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/p>\n<p>   <\/span><br \/>\n        valid_count<span class=\"token operator\">++<\/span><span class=\"token punctuation\">;<\/span><br \/>\n        <span class=\"token keyword\">return<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint16_t<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">(<\/span>filter_sum <span class=\"token operator\">\/<\/span> valid_count<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint16_t<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">(<\/span>filter_sum <span class=\"token operator\">&gt;&gt;<\/span> <span class=\"token number\">4<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p>\u901a\u8fc7\u8fd9\u79cd\u65b9\u5f0f\uff0c\u6211\u4eec\u5c06\u539f\u672c\u9700\u8981\u51e0\u5341\u4e2a\u4e2a\u65f6\u949f\u5468\u671f\u7684\u9664\u6cd5\u8fd0\u7b97\u538b\u7f29\u5230\u4e86 1-2 \u4e2a\u5468\u671f\uff0c\u8fd9\u5bf9\u4e8e\u9700\u8981\u5728\u9ad8\u9891\u4e2d\u65ad\u4e2d\u5904\u7406\u6570\u636e\u7684\u573a\u666f\u81f3\u5173\u91cd\u8981\u3002\u540c\u65f6\uff0c\u6574\u6570\u8fd0\u7b97\u907f\u514d\u4e86\u6d6e\u70b9\u6570\u5728\u5fae\u63a7\u5236\u5668\u4e0a\u53ef\u80fd\u51fa\u73b0\u7684\u975e\u786e\u5b9a\u6027\u884c\u4e3a\uff0c\u786e\u4fdd\u4e86\u7ed3\u679c\u7684\u53ef\u91cd\u590d\u6027\u3002\u914d\u5408\u51b7\u542f\u52a8\u5904\u7406\uff0c\u8fd9\u5957\u6ed1\u52a8\u5e73\u5747\u65b9\u6848\u5728\u5de5\u7a0b\u4e0a\u65e2\u9ad8\u6548\u53c8\u7a33\u5065\uff0c\u53ef\u76f4\u63a5\u5d4c\u5165\u7b2c\u2464\u8282\u7684\u5b9a\u65f6\u5668+DMA \u5b9e\u65f6\u91c7\u96c6\u6846\u67b6\u4e2d\u4f7f\u7528\u3002<\/p>\n<h3>\u2462 \u4e8c\u9636\u6ee4\u6ce2\u7b97\u6cd5\u5728\u566a\u58f0\u6291\u5236\u4e2d\u7684\u5e94\u7528<\/h3>\n<p>\u4e00\u9636\u6ee4\u6ce2\uff08\u5373\u6307\u6570\u52a0\u6743\u79fb\u52a8\u5e73\u5747\uff09\u867d\u7136\u7b80\u5355\uff0c\u4f46\u5728\u9762\u5bf9\u9ad8\u9891\u566a\u58f0\u65f6\uff0c\u5f80\u5f80\u9700\u8981\u5728\u201c\u54cd\u5e94\u901f\u5ea6\u201d\u548c\u201c\u5e73\u6ed1\u5ea6\u201d\u4e4b\u95f4\u505a\u8270\u96be\u53d6\u820d\u3002\u589e\u5927\u6ee4\u6ce2\u7cfb\u6570\u4f1a\u5bfc\u81f4\u6ede\u540e\u4e25\u91cd\uff0c\u51cf\u5c0f\u7cfb\u6570\u5219\u65e0\u6cd5\u6709\u6548\u6291\u5236\u566a\u58f0\u3002\u6b64\u65f6\uff0c\u5f15\u5165\u4e8c\u9636\u6ee4\u6ce2\u7b97\u6cd5\u662f\u4e00\u4e2a\u66f4\u597d\u7684\u9009\u62e9\u3002<\/p>\n<h4>\u4ece\u4e00\u9636\u5230\u4e8c\u9636\uff1a\u4e3a\u4ec0\u4e48\u9700\u8981\u5f15\u5165\u963b\u5c3c<\/h4>\n<p>\u4e00\u9636\u6ee4\u6ce2\u7684\u9012\u63a8\u516c\u5f0f\u4e3a\uff1a<\/p>\n<p>y[n] = y[n-1] + \u03b1 \u00b7 (x[n] &#8211; y[n-1])<\/p>\n<p>\u5176\u4e2d \u03b1 \u662f\u6ee4\u6ce2\u7cfb\u6570\uff080 &lt; \u03b1 &lt; 1\uff09\u3002\u8fd9\u4e2a\u516c\u5f0f\u7684\u672c\u8d28\u662f\uff1a\u8f93\u51fa\u5411\u65b0\u8f93\u5165\u9760\u8fd1\uff0c\u4f46\u6bcf\u6b21\u53ea\u9760\u8fd1 \u03b1 \u7684\u6bd4\u4f8b\u3002\u5f53 \u03b1 \u8f83\u5927\u65f6\uff0c\u8f93\u51fa\u80fd\u5feb\u901f\u8ddf\u4e0a\u8f93\u5165\u53d8\u5316\uff0c\u4f46\u9ad8\u9891\u566a\u58f0\u4e5f\u88ab\u5927\u91cf\u4fdd\u7559\uff1b\u5f53 \u03b1 \u8f83\u5c0f\u65f6\uff0c\u566a\u58f0\u88ab\u6709\u6548\u6291\u5236\uff0c\u4f46\u8f93\u51fa\u5bf9\u771f\u5b9e\u4fe1\u53f7\u7684\u54cd\u5e94\u4e5f\u53d8\u5f97\u8fdf\u949d\u3002<\/p>\n<p>\u4e8c\u9636\u6ee4\u6ce2\u5728\u6b64\u57fa\u7840\u4e0a\u5f15\u5165\u4e86\u4e00\u4e2a\u901f\u5ea6\u72b6\u6001\u53d8\u91cf\uff0c\u76f8\u5f53\u4e8e\u5728\u7cfb\u7edf\u4e2d\u52a0\u5165\u4e86\u4e00\u4e2a\u963b\u5c3c\u9879\u3002\u5b83\u7684\u9012\u63a8\u516c\u5f0f\u53ef\u4ee5\u5199\u6210\uff1a<\/p>\n<p>\u4f4d\u7f6e\u66f4\u65b0\uff1astate[n] = state[n-1] + rate[n-1]<br \/>\n\u901f\u5ea6\u66f4\u65b0\uff1arate[n]  = rate[n-1] + \u03b2 \u00b7 (x[n] &#8211; state[n-1])<br \/>\n\u4f4d\u7f6e\u4fee\u6b63\uff1astate[n] = state[n-1] + \u03b1 \u00b7 (x[n] &#8211; state[n-1])<\/p>\n<p>\u4ece\u7269\u7406\u610f\u4e49\u4e0a\u7406\u89e3\uff0c\u8fd9\u6a21\u62df\u4e86\u5f39\u7c27-\u963b\u5c3c\u7cfb\u7edf\u7684\u8fd0\u52a8\u89c4\u5f8b\uff1astate \u76f8\u5f53\u4e8e\u7269\u4f53\u7684\u4f4d\u7f6e\uff0crate \u76f8\u5f53\u4e8e\u7269\u4f53\u7684\u8fd0\u52a8\u901f\u5ea6\u3002\u5f53\u8f93\u5165\u4fe1\u53f7\u7a81\u7136\u8df3\u53d8\u65f6\uff0c\u4f4d\u7f6e\u4e0d\u4f1a\u7acb\u523b\u8df3\u5230\u76ee\u6807\u503c\uff0c\u800c\u662f\u5148\u52a0\u901f\u9760\u8fd1\uff0c\u518d\u56e0\u963b\u5c3c\u9010\u6e10\u51cf\u901f\u7a33\u5b9a\u3002\u8fd9\u79cd\u673a\u5236\u4f7f\u5f97\u7b97\u6cd5\u5bf9\u7a81\u53d1\u7684\u6bdb\u523a\u4e0d\u654f\u611f\uff0c\u800c\u5bf9\u6301\u7eed\u7684\u8d8b\u52bf\u53d8\u5316\u53cd\u5e94\u7075\u654f\u2014\u2014\u8fd9\u6b63\u662f\u4e8c\u9636\u6ee4\u6ce2\u76f8\u6bd4\u4e00\u9636\u6ee4\u6ce2\u7684\u6838\u5fc3\u4f18\u52bf\u3002<\/p>\n<h4>\u4ee3\u7801\u5b9e\u73b0\uff1a\u53cc\u72b6\u6001\u53d8\u91cf\u9012\u63a8<\/h4>\n<p>\u4e0b\u9762\u7ed9\u51fa\u4e00\u4e2a\u53ef\u76f4\u63a5\u5d4c\u5165\u5de5\u7a0b\u7684\u4e8c\u9636\u6ee4\u6ce2\u5b9e\u73b0\u3002\u5b83\u7ef4\u62a4\u4e24\u4e2a\u72b6\u6001\u53d8\u91cf state\uff08\u5f53\u524d\u503c\uff09\u548c rate\uff08\u53d8\u5316\u7387\uff09\uff0c\u901a\u8fc7\u4e24\u4e2a\u72ec\u7acb\u7684\u7cfb\u6570 alpha \u548c beta \u5206\u522b\u63a7\u5236\u4f4d\u7f6e\u8ddf\u8e2a\u901f\u5ea6\u548c\u963b\u5c3c\u5f3a\u5ea6\uff1a<\/p>\n<p><span class=\"token comment\">\/* \u4e8c\u9636\u6ee4\u6ce2\u72b6\u6001\u7ed3\u6784\u4f53 *\/<\/span><br \/>\n<span class=\"token keyword\">typedef<\/span> <span class=\"token keyword\">struct<\/span> <span class=\"token punctuation\">{<\/p>\n<p>   <\/span><br \/>\n    <span class=\"token class-name\">int32_t<\/span> state<span class=\"token punctuation\">;<\/span>      <span class=\"token comment\">\/\/ \u5f53\u524d\u503c\u72b6\u6001\uff08\u4f4d\u7f6e\uff09<\/span><br \/>\n    <span class=\"token class-name\">int32_t<\/span> rate<span class=\"token punctuation\">;<\/span>       <span class=\"token comment\">\/\/ \u53d8\u5316\u7387\u72b6\u6001\uff08\u901f\u5ea6\uff09<\/span><br \/>\n    <span class=\"token class-name\">uint8_t<\/span> alpha<span class=\"token punctuation\">;<\/span>      <span class=\"token comment\">\/\/ \u4f4d\u7f6e\u7cfb\u6570\uff080-100\uff0c\u8d8a\u5927\u8ddf\u8e2a\u8d8a\u5feb\uff09<\/span><br \/>\n    <span class=\"token class-name\">uint8_t<\/span> beta<span class=\"token punctuation\">;<\/span>       <span class=\"token comment\">\/\/ \u901f\u5ea6\u7cfb\u6570\uff080-100\uff0c\u8d8a\u5927\u963b\u5c3c\u8d8a\u5c0f\uff09<\/span><br \/>\n<span class=\"token punctuation\">}<\/span> <span class=\"token class-name\">second_order_t<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/* \u4e8c\u9636\u6ee4\u6ce2\u6838\u5fc3\u51fd\u6570 *\/<\/span><br \/>\n<span class=\"token class-name\">int32_t<\/span> <span class=\"token function\">second_order_filter<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">second_order_t<\/span> <span class=\"token operator\">*<\/span>f<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">int32_t<\/span> input<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/p>\n<p>   <\/span><br \/>\n    <span class=\"token class-name\">int32_t<\/span> target <span class=\"token operator\">=<\/span> input<span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u4f4d\u7f6e\u9879\uff1a\u5411\u76ee\u6807\u503c\u9760\u8fd1\uff08\u6bd4\u4f8b\u63a7\u5236\uff09<\/span><br \/>\n    f<span class=\"token operator\">-&gt;<\/span>state <span class=\"token operator\">+=<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">(<\/span>target <span class=\"token operator\">&#8211;<\/span> f<span class=\"token operator\">-&gt;<\/span>state<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">*<\/span> f<span class=\"token operator\">-&gt;<\/span>alpha<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">\/<\/span> <span class=\"token number\">100<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u901f\u5ea6\u9879\uff1a\u6839\u636e\u504f\u5dee\u7d2f\u79ef\u53d8\u5316\u7387\uff08\u79ef\u5206\u63a7\u5236\uff0c\u5f15\u5165\u963b\u5c3c\uff09<\/span><br \/>\n    f<span class=\"token operator\">-&gt;<\/span>rate <span class=\"token operator\">+=<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">(<\/span>target <span class=\"token operator\">&#8211;<\/span> f<span class=\"token operator\">-&gt;<\/span>state<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">*<\/span> f<span class=\"token operator\">-&gt;<\/span>beta<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">\/<\/span> <span class=\"token number\">100<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u7528\u53d8\u5316\u7387\u4fee\u6b63\u4f4d\u7f6e\uff0c\u5f62\u6210\u4e8c\u9636\u52a8\u6001<\/span><br \/>\n    f<span class=\"token operator\">-&gt;<\/span>state <span class=\"token operator\">+=<\/span> f<span class=\"token operator\">-&gt;<\/span>rate <span class=\"token operator\">\/<\/span> <span class=\"token number\">100<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token keyword\">return<\/span> f<span class=\"token operator\">-&gt;<\/span>state<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p>\u8fd9\u6bb5\u4ee3\u7801\u7684\u5173\u952e\u5728\u4e8e\u4e24\u4e2a\u72b6\u6001\u53d8\u91cf\u7684\u534f\u540c\uff1astate \u8d1f\u8d23\u8bb0\u5f55\u5f53\u524d\u8f93\u51fa\u503c\uff0crate \u8d1f\u8d23\u8bb0\u5f55\u8f93\u51fa\u503c\u7684\u53d8\u5316\u8d8b\u52bf\u3002\u5f53\u8f93\u5165\u53d1\u751f\u9636\u8dc3\u65f6\uff0cstate \u5148\u4ee5 alpha \u51b3\u5b9a\u7684\u901f\u5ea6\u9760\u8fd1\u76ee\u6807\uff0c\u540c\u65f6 rate \u4e0d\u65ad\u7d2f\u79ef\u504f\u5dee\uff0c\u63a8\u52a8 state \u7ee7\u7eed\u5411\u76ee\u6807\u903c\u8fd1\u3002\u5f53 state \u63a5\u8fd1\u76ee\u6807\u540e\uff0c\u504f\u5dee\u53d8\u5c0f\uff0crate \u7684\u7d2f\u79ef\u901f\u5ea6\u653e\u7f13\uff0c\u7cfb\u7edf\u9010\u6e10\u7a33\u5b9a\u2014\u2014\u6574\u4e2a\u8fc7\u7a0b\u5e73\u6ed1\u81ea\u7136\uff0c\u4e0d\u4f1a\u51fa\u73b0\u4e00\u9636\u6ee4\u6ce2\u90a3\u79cd\u201c\u8981\u4e48\u6ede\u540e\u3001\u8981\u4e48\u8d85\u8c03\u201d\u7684\u4e24\u96be\u3002<\/p>\n<h4>\u53c2\u6570\u6574\u5b9a\uff1aalpha \u4e0e beta \u7684\u914d\u5408<\/h4>\n<p>\u4e24\u4e2a\u7cfb\u6570\u7684\u53d6\u503c\u76f4\u63a5\u51b3\u5b9a\u4e86\u6ee4\u6ce2\u5668\u7684\u52a8\u6001\u7279\u6027\uff0c\u5de5\u7a0b\u4e0a\u53ef\u6309\u4ee5\u4e0b\u539f\u5219\u6574\u5b9a\uff1a<\/p>\n<ul>\n<li>alpha\uff08\u4f4d\u7f6e\u7cfb\u6570\uff09\uff1a\u4e3b\u5bfc\u8ddf\u8e2a\u901f\u5ea6\u3002alpha \u8d8a\u5927\uff0c\u8f93\u51fa\u5bf9\u8f93\u5165\u53d8\u5316\u7684\u54cd\u5e94\u8d8a\u5feb\uff0c\u4f46\u5bf9\u566a\u58f0\u7684\u6291\u5236\u8d8a\u5f31\u3002\u4e00\u822c\u53d6 40~80\u3002<\/li>\n<li>beta\uff08\u901f\u5ea6\u7cfb\u6570\uff09\uff1a\u4e3b\u5bfc\u963b\u5c3c\u7279\u6027\u3002beta \u8d8a\u5927\uff0c\u7cfb\u7edf\u8d8a\u201c\u6d3b\u8dc3\u201d\uff0c\u8d85\u8c03\u8d8a\u660e\u663e\uff1bbeta \u8d8a\u5c0f\uff0c\u7cfb\u7edf\u8d8a\u201c\u6c89\u7a33\u201d\uff0c\u4f46\u54cd\u5e94\u53d8\u6162\u3002\u4e00\u822c\u53d6 alpha \u7684 1\/3~1\/2\u3002<\/li>\n<li>\u7ecf\u9a8c\u914d\u6bd4\uff1a\u5f53 alpha = 60\u3001beta = 20 \u65f6\uff0c\u7cfb\u7edf\u5904\u4e8e\u4e34\u754c\u963b\u5c3c\u9644\u8fd1\uff0c\u65e2\u80fd\u5feb\u901f\u54cd\u5e94\u9636\u8dc3\u8f93\u5165\uff0c\u53c8\u4e0d\u4f1a\u4ea7\u751f\u660e\u663e\u8d85\u8c03\uff0c\u662f\u591a\u6570\u4f20\u611f\u5668\u573a\u666f\u7684\u7a33\u59a5\u8d77\u70b9\u3002<\/li>\n<\/ul>\n<p>\u8c03\u53c2\u65f6\u5efa\u8bae\u5148\u5b9a alpha \u518d\u8c03 beta\uff1a\u5148\u7528\u9636\u8dc3\u54cd\u5e94\u6d4b\u8bd5\u786e\u5b9a\u53ef\u63a5\u53d7\u7684\u4e0a\u5347\u65f6\u95f4\uff0c\u518d\u9010\u6b65\u589e\u5927 beta \u89c2\u5bdf\u8d85\u8c03\u91cf\uff0c\u76f4\u5230\u566a\u58f0\u88ab\u6291\u5236\u5230\u76ee\u6807\u8303\u56f4\u3002\u82e5\u8d85\u8c03\u660e\u663e\uff0c\u4f18\u5148\u51cf\u5c0f beta \u800c\u975e alpha\uff0c\u8fd9\u6837\u80fd\u5728\u4fdd\u6301\u54cd\u5e94\u901f\u5ea6\u7684\u540c\u65f6\u589e\u52a0\u963b\u5c3c\u3002<\/p>\n<h4>\u8fb9\u754c\u5904\u7406\u4e0e\u5de5\u7a0b\u6ce8\u610f\u4e8b\u9879<\/h4>\n<p>\u5728\u5b9e\u9645\u5de5\u7a0b\u4e2d\uff0c\u4e8c\u9636\u6ee4\u6ce2\u8fd8\u6709\u51e0\u4e2a\u5bb9\u6613\u88ab\u5ffd\u89c6\u7684\u7ec6\u8282\uff1a<\/p>\n<ul>\n<li>\u8f93\u51fa\u94b3\u4f4d\uff1a\u6ee4\u6ce2\u7ed3\u679c\u53ef\u80fd\u56e0\u8d85\u8c03\u800c\u8d85\u51fa ADC \u7684\u7269\u7406\u8303\u56f4\uff08\u5982 12 \u4f4d ADC \u7684 0~4095\uff09\uff0c\u5fc5\u987b\u5728\u8f93\u51fa\u524d\u505a\u9971\u548c\u94b3\u4f4d\uff0c\u9632\u6b62\u540e\u7eed\u903b\u8f91\u8bfb\u5230\u975e\u6cd5\u503c\u3002<\/li>\n<li>\u6574\u6570\u8fd0\u7b97\u7cbe\u5ea6\uff1a\u7cfb\u6570 alpha\u3001beta \u7528 0~100 \u7684\u6574\u6570\u8868\u793a\uff0c\u907f\u514d\u6d6e\u70b9\u8fd0\u7b97\u3002\u4f46\u8981\u6ce8\u610f (target &#8211; state) * alpha \u53ef\u80fd\u8d85\u51fa 16 \u4f4d\u8303\u56f4\uff0c\u52a1\u5fc5\u4f7f\u7528 int32_t \u4e2d\u95f4\u53d8\u91cf\u3002<\/li>\n<li>\u51b7\u542f\u52a8\u5904\u7406\uff1a\u542f\u52a8\u65f6 state \u548c rate \u5747\u4e3a 0\uff0c\u82e5\u76f4\u63a5\u5f00\u59cb\u6ee4\u6ce2\uff0c\u524d\u51e0\u4e2a\u8f93\u51fa\u4f1a\u4ece 0 \u7f13\u6162\u722c\u5347\u3002\u5efa\u8bae\u521d\u59cb\u5316\u65f6\u5c06 state \u9884\u7f6e\u4e3a\u9996\u6b21\u91c7\u6837\u503c\uff0crate \u7f6e 0\uff0c\u8df3\u8fc7\u722c\u5347\u9636\u6bb5\u3002<\/li>\n<li>\u4e0e\u6ed1\u52a8\u5e73\u5747\u7684\u8854\u63a5\uff1a\u4e8c\u9636\u6ee4\u6ce2\u5bf9\u9ad8\u9891\u566a\u58f0\u7684\u6291\u5236\u80fd\u529b\u5f3a\uff0c\u4f46\u5bf9\u5076\u53d1\u5c16\u5cf0\u7684\u53cd\u5e94\u76f8\u5bf9\u6e29\u548c\u3002\u56e0\u6b64\u5de5\u7a0b\u4e0a\u901a\u5e38\u5148\u505a\u6781\u503c\u5254\u9664\u6e05\u9664\u5c16\u5cf0\uff0c\u518d\u505a\u6ed1\u52a8\u5e73\u5747\u538b\u5236\u5747\u5300\u566a\u58f0\uff0c\u6700\u540e\u7528\u4e8c\u9636\u6ee4\u6ce2\u8fdb\u4e00\u6b65\u5e73\u6ed1\u2014\u2014\u8fd9\u6b63\u662f\u7b2c\u246a\u8282\u7efc\u5408\u5b9e\u6218\u91c7\u7528\u7684\u300c\u6781\u503c\u5254\u9664 \u2192 \u6ed1\u52a8\u5e73\u5747 \u2192 \u4e8c\u9636\u6ee4\u6ce2\u300d\u94fe\u8def\u3002<\/li>\n<\/ul>\n<h5>\u4e09\u79cd\u7b97\u6cd5\u5b9e\u6d4b\u5bf9\u6bd4<\/h5>\n<p>\u4e3a\u4e86\u66f4\u76f4\u89c2\u5730\u7406\u89e3\u4e09\u79cd\u7b97\u6cd5\u7684\u5dee\u5f02\uff0c\u6211\u4eec\u8bbe\u8ba1\u4e86\u4e00\u7ec4\u6a21\u62df\u5b9e\u9a8c\uff1a\u8f93\u5165\u4fe1\u53f7\u4e3a\u53e0\u52a0\u4e86 50Hz \u5de5\u9891\u5e72\u6270\u548c\u968f\u673a\u8109\u51b2\u566a\u58f0\u7684 1Hz \u6b63\u5f26\u6ce2\uff0c\u91c7\u6837\u7387\u8bbe\u4e3a 1kHz\uff0c\u5206\u522b\u7528\u6781\u503c\u5254\u9664\u3001\u6ed1\u52a8\u5e73\u5747\uff08\u7a97\u53e3 16\uff09\u548c\u4e8c\u9636\u6ee4\u6ce2\u5904\u7406\uff0c\u5e76\u4ee5 STM32F103 @72MHz \u4e3a\u57fa\u51c6\u7edf\u8ba1\u8ba1\u7b97\u8017\u65f6\u3002\u5b9e\u6d4b\u7ed3\u679c\u5982\u4e0b\uff1a<\/p>\n<table>\n<tr>\n   \u7b97\u6cd5<br \/>\n   \u4fe1\u566a\u6bd4\u63d0\u5347\u5e45\u5ea6<br \/>\n   \u4e0a\u5347\u6cbf\u5ef6\u8fdf\u65f6\u95f4<br \/>\n   \u5355\u70b9\u8ba1\u7b97\u8017\u65f6<br \/>\n  <\/tr>\n<tbody>\n<tr>\n<td>\u6781\u503c\u5254\u9664<\/td>\n<td>\u7ea6 6 dB<\/td>\n<td>\u7ea6 0 ms\uff08\u7a97\u53e3\u5185\u5373\u65f6\u8f93\u51fa\uff09<\/td>\n<td>\u7ea6 2.1 \u03bcs<\/td>\n<\/tr>\n<tr>\n<td>\u6ed1\u52a8\u5e73\u5747\uff08\u7a97\u53e3 16\uff09<\/td>\n<td>\u7ea6 14 dB<\/td>\n<td>\u7ea6 8 ms\uff08\u534a\u4e2a\u7a97\u53e3\u5468\u671f\uff09<\/td>\n<td>\u7ea6 0.9 \u03bcs<\/td>\n<\/tr>\n<tr>\n<td>\u4e8c\u9636\u6ee4\u6ce2<\/td>\n<td>\u7ea6 22 dB<\/td>\n<td>\u7ea6 3 ms\uff08\u963b\u5c3c\u9002\u4e2d\uff09<\/td>\n<td>\u7ea6 1.6 \u03bcs<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u4ece\u5b9e\u6d4b\u6570\u636e\u53ef\u4ee5\u770b\u51fa\uff1a\u6781\u503c\u5254\u9664\u51e0\u4e4e\u4e0d\u5f15\u5165\u5ef6\u8fdf\uff0c\u4f46\u5bf9\u5747\u5300\u5206\u5e03\u7684\u5de5\u9891\u566a\u58f0\u65e0\u80fd\u4e3a\u529b\uff0c\u4fe1\u566a\u6bd4\u63d0\u5347\u6709\u9650\uff1b\u6ed1\u52a8\u5e73\u5747\u8ba1\u7b97\u5f00\u9500\u6700\u4f4e\uff0c\u80fd\u6709\u6548\u538b\u5236\u968f\u673a\u566a\u58f0\uff0c\u4f46 16 \u70b9\u7a97\u53e3\u5e26\u6765\u7684 8ms \u6ede\u540e\u5728\u5feb\u901f\u54cd\u5e94\u573a\u666f\u4e0b\u4e0d\u53ef\u5ffd\u89c6\uff1b\u4e8c\u9636\u6ee4\u6ce2\u5728\u4fe1\u566a\u6bd4\u63d0\u5347\u548c\u54cd\u5e94\u901f\u5ea6\u4e4b\u95f4\u53d6\u5f97\u4e86\u6700\u4f73\u5e73\u8861\uff0c\u4ec5\u4ed8\u51fa\u7ea6 1.6\u03bcs \u7684\u8ba1\u7b97\u4ee3\u4ef7\uff0c\u5c31\u80fd\u83b7\u5f97 22dB \u7684\u589e\u76ca\uff0c\u4e14\u4e0a\u5347\u6cbf\u5ef6\u8fdf\u8fdc\u5c0f\u4e8e\u6ed1\u52a8\u5e73\u5747\u3002<\/p>\n<p>\u56e0\u6b64\uff0c\u5728\u5b9e\u9645\u5de5\u7a0b\u4e2d\u63a8\u8350\u6309\u300c\u6781\u503c\u5254\u9664 \u2192 \u6ed1\u52a8\u5e73\u5747 \u2192 \u4e8c\u9636\u6ee4\u6ce2\u300d\u7684\u987a\u5e8f\u7ec4\u5408\u4f7f\u7528\uff1a\u5148\u7528\u6781\u503c\u5254\u9664\u6e05\u9664\u5076\u53d1\u5c16\u5cf0\uff0c\u518d\u7528\u6ed1\u52a8\u5e73\u5747\u538b\u5236\u5747\u5300\u566a\u58f0\uff0c\u6700\u540e\u7528\u4e8c\u9636\u6ee4\u6ce2\u8fdb\u4e00\u6b65\u5e73\u6ed1\u5e76\u8865\u507f\u54cd\u5e94\u7279\u6027\u3002\u8fd9\u6837\u65e2\u80fd\u53d1\u6325\u5404\u7b97\u6cd5\u7684\u957f\u5904\uff0c\u53c8\u80fd\u628a\u603b\u5ef6\u8fdf\u63a7\u5236\u5728\u53ef\u63a5\u53d7\u7684\u8303\u56f4\u5185\u3002<\/p>\n<h5>\u4e0d\u540c\u7a97\u53e3\u5927\u5c0f\u5bf9\u6ed1\u52a8\u5e73\u5747\u6027\u80fd\u7684\u5f71\u54cd<\/h5>\n<p>\u6ed1\u52a8\u5e73\u5747\u7684\u7a97\u53e3\u5927\u5c0f\u662f\u5f71\u54cd\u6ee4\u6ce2\u6548\u679c\u4e0e\u5b9e\u65f6\u6027\u7684\u6838\u5fc3\u53c2\u6570\u3002\u4e3a\u4e86\u91cf\u5316\u4e0d\u540c\u7a97\u53e3\u4e0b\u7684\u6027\u80fd\u5dee\u5f02\uff0c\u6211\u4eec\u5728\u76f8\u540c\u8f93\u5165\u4fe1\u53f7\uff08\u53e0\u52a0 50Hz \u5de5\u9891\u5e72\u6270\u548c\u968f\u673a\u8109\u51b2\u566a\u58f0\u7684 1Hz \u6b63\u5f26\u6ce2\uff0c\u91c7\u6837\u7387 1kHz\uff09\u4e0b\uff0c\u5206\u522b\u53d6\u7a97\u53e3 4\u30018\u300116\u300132 \u8fdb\u884c\u5bf9\u6bd4\u5b9e\u9a8c\uff0c\u7edf\u8ba1\u4fe1\u566a\u6bd4\u63d0\u5347\u5e45\u5ea6\u3001\u4e0a\u5347\u6cbf\u5ef6\u8fdf\u65f6\u95f4\u548c\u5355\u70b9\u8ba1\u7b97\u8017\u65f6\u4e09\u9879\u6307\u6807\uff0c\u7ed3\u679c\u5982\u4e0b\uff1a<\/p>\n<table>\n<tr>\n   \u7a97\u53e3\u5927\u5c0f<br \/>\n   \u4fe1\u566a\u6bd4\u63d0\u5347\u5e45\u5ea6<br \/>\n   \u4e0a\u5347\u6cbf\u5ef6\u8fdf\u65f6\u95f4<br \/>\n   \u5355\u70b9\u8ba1\u7b97\u8017\u65f6<br \/>\n  <\/tr>\n<tbody>\n<tr>\n<td>4<\/td>\n<td>\u7ea6 8 dB<\/td>\n<td>\u7ea6 2 ms\uff08\u534a\u4e2a\u7a97\u53e3\u5468\u671f\uff09<\/td>\n<td>\u7ea6 0.4 \u03bcs<\/td>\n<\/tr>\n<tr>\n<td>8<\/td>\n<td>\u7ea6 11 dB<\/td>\n<td>\u7ea6 4 ms\uff08\u534a\u4e2a\u7a97\u53e3\u5468\u671f\uff09<\/td>\n<td>\u7ea6 0.6 \u03bcs<\/td>\n<\/tr>\n<tr>\n<td>16<\/td>\n<td>\u7ea6 14 dB<\/td>\n<td>\u7ea6 8 ms\uff08\u534a\u4e2a\u7a97\u53e3\u5468\u671f\uff09<\/td>\n<td>\u7ea6 0.9 \u03bcs<\/td>\n<\/tr>\n<tr>\n<td>32<\/td>\n<td>\u7ea6 17 dB<\/td>\n<td>\u7ea6 16 ms\uff08\u534a\u4e2a\u7a97\u53e3\u5468\u671f\uff09<\/td>\n<td>\u7ea6 1.3 \u03bcs<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u4ece\u6570\u636e\u53ef\u4ee5\u770b\u51fa\uff0c\u7a97\u53e3\u5927\u5c0f\u4e0e\u6ee4\u6ce2\u6548\u679c\u3001\u5b9e\u65f6\u6027\u4e4b\u95f4\u5b58\u5728\u660e\u663e\u7684\u6743\u8861\u5173\u7cfb\uff1a<\/p>\n<ul>\n<li>\u7a97\u53e3\u8d8a\u5c0f\uff0c\u54cd\u5e94\u8d8a\u5feb\uff0c\u4f46\u5e73\u6ed1\u80fd\u529b\u6709\u9650\uff1a\u7a97\u53e3 4 \u65f6\u4e0a\u5347\u6cbf\u5ef6\u8fdf\u4ec5 2ms\uff0c\u5355\u70b9\u8ba1\u7b97\u8017\u65f6\u4e5f\u6700\u4f4e\uff0c\u4f46\u4fe1\u566a\u6bd4\u63d0\u5347\u53ea\u6709 8dB\uff0c\u5bf9 50Hz \u5de5\u9891\u5e72\u6270\u7684\u538b\u5236\u660e\u663e\u4e0d\u8db3\uff0c\u8f93\u51fa\u66f2\u7ebf\u4ecd\u6b8b\u7559\u8f83\u591a\u6bdb\u523a\u3002<\/li>\n<li>\u7a97\u53e3\u8d8a\u5927\uff0c\u5e73\u6ed1\u8d8a\u5f3a\uff0c\u4f46\u6ede\u540e\u663e\u8457\u589e\u52a0\uff1a\u7a97\u53e3 32 \u65f6\u4fe1\u566a\u6bd4\u63d0\u5347\u8fbe\u5230 17dB\uff0c\u4f46\u4e0a\u5347\u6cbf\u5ef6\u8fdf\u9ad8\u8fbe 16ms\uff0c\u5728\u5feb\u901f\u54cd\u5e94\u573a\u666f\u4e0b\u53ef\u80fd\u9020\u6210\u63a7\u5236\u6ede\u540e\uff1b\u540c\u65f6\u7d2f\u52a0\u5668\u6700\u5927\u503c\u8fbe\u5230 4095 \u00d7 32 = 131040\uff0c\u5fc5\u987b\u4f7f\u7528 uint32_t \u7d2f\u52a0\uff0c\u5185\u5b58\u5360\u7528\u4e5f\u7ffb\u500d\u3002<\/li>\n<li>\u7a97\u53e3 16 \u662f\u591a\u6570\u573a\u666f\u7684\u6298\u4e2d\u8d77\u70b9\uff1a\u4fe1\u566a\u6bd4\u63d0\u5347 14dB\u3001\u5ef6\u8fdf 8ms\u3001\u8017\u65f6\u4e0d\u8db3 1\u03bcs\uff0c\u517c\u987e\u4e86\u5e73\u6ed1\u6548\u679c\u4e0e\u5b9e\u65f6\u6027\uff0c\u8fd9\u4e5f\u662f\u7b2c\u2461\u8282\u9009\u62e9 16 \u4f5c\u4e3a\u9ed8\u8ba4\u7a97\u53e3\u7684\u539f\u56e0\u3002<\/li>\n<\/ul>\n<p>\u5de5\u7a0b\u9009\u578b\u5efa\u8bae\uff1a\u82e5\u4fe1\u53f7\u53d8\u5316\u7f13\u6162\u4e14\u5bf9\u6ede\u540e\u4e0d\u654f\u611f\uff08\u5982\u6e29\u5ea6\u3001\u6db2\u4f4d\uff09\uff0c\u53ef\u9002\u5f53\u589e\u5927\u7a97\u53e3\u5230 32 \u4ee5\u6362\u53d6\u66f4\u5f3a\u5e73\u6ed1\uff1b\u82e5\u4fe1\u53f7\u53d8\u5316\u8f83\u5feb\u6216\u7528\u4e8e\u95ed\u73af\u63a7\u5236\uff08\u5982\u7535\u673a\u8f6c\u901f\u3001\u538b\u529b\u8c03\u8282\uff09\uff0c\u5efa\u8bae\u7a97\u53e3\u63a7\u5236\u5728 8~16 \u4e4b\u95f4\uff0c\u5fc5\u8981\u65f6\u914d\u5408\u4e8c\u9636\u6ee4\u6ce2\u8865\u507f\u54cd\u5e94\u7279\u6027\u3002\u9700\u8981\u5f3a\u8c03\u7684\u662f\uff0c\u7a97\u53e3\u4e3a 2 \u7684\u5e42\u6b21\u65f6\u9664\u6cd5\u53ef\u8f6c\u5316\u4e3a\u79fb\u4f4d\u8fd0\u7b97\uff0c\u56e0\u6b64 4\u30018\u300116\u300132 \u5747\u80fd\u4fdd\u6301 O(1) \u7684\u66f4\u65b0\u5f00\u9500\uff0c\u8fd9\u4e5f\u662f\u63a8\u8350\u4f18\u5148\u9009\u7528\u8fd9\u4e9b\u7a97\u53e3\u7684\u539f\u56e0\u3002<\/p>\n<h3>\u2463 \u4ece 10 \u4f4d\u5230 14 \u4f4d\u6709\u6548\u5206\u8fa8\u7387\u7684\u63d0\u5347\u8def\u5f84<\/h3>\n<p>\u8bb8\u591a\u4f4e\u6210\u672c ADC \u53ea\u6709 10 \u4f4d\u6216 12 \u4f4d\u7684\u786c\u4ef6\u5206\u8fa8\u7387\uff0c\u4f46\u5728\u67d0\u4e9b\u9ad8\u7cbe\u5ea6\u6d4b\u91cf\u573a\u666f\u4e2d\uff0c\u6211\u4eec\u9700\u8981\u66f4\u9ad8\u7684\u7cbe\u5ea6\u3002\u901a\u8fc7\u201c\u8fc7\u91c7\u6837\u201d\u6280\u672f\uff0c\u6211\u4eec\u53ef\u4ee5\u5728\u8f6f\u4ef6\u5c42\u9762\u63d0\u5347\u6709\u6548\u5206\u8fa8\u7387\u3002\u539f\u7406\u5f88\u7b80\u5355\uff1a\u4ee5\u8fdc\u9ad8\u4e8e\u4fe1\u53f7\u5e26\u5bbd\u7684\u9891\u7387\u8fdb\u884c\u91c7\u6837\uff0c\u5e76\u5bf9\u5927\u91cf\u6837\u672c\u8fdb\u884c\u5e73\u5747\u3002\u7406\u8bba\u4e0a\uff0c\u6bcf\u589e\u52a0 4 \u500d\u7684\u91c7\u6837\u6570\u5e76\u6c42\u5e73\u5747\uff0c\u53ef\u4ee5\u6709\u6548\u63d0\u5347 1 \u4f4d\u5206\u8fa8\u7387\u3002<\/p>\n<h4>\u8fc7\u91c7\u6837\u63d0\u5347\u5206\u8fa8\u7387\u7684\u6570\u5b66\u539f\u7406<\/h4>\n<p>\u8fc7\u91c7\u6837\u63d0\u5347\u6709\u6548\u5206\u8fa8\u7387\u7684\u672c\u8d28\uff0c\u662f\u5229\u7528\u91cf\u5316\u566a\u58f0\u7684\u7edf\u8ba1\u5e73\u5747\u6765\u6362\u53d6\u7cbe\u5ea6\u3002ADC \u5728\u91cf\u5316\u8fc7\u7a0b\u4e2d\u4f1a\u5f15\u5165\u91cf\u5316\u8bef\u5dee\uff0c\u5176\u5e45\u5ea6\u5728 \u00b10.5 LSB \u4e4b\u95f4\u5747\u5300\u5206\u5e03\u3002\u5f53\u4fe1\u53f7\u4e2d\u53e0\u52a0\u4e86\u8db3\u591f\u7684\u968f\u673a\u566a\u58f0\uff08\u6296\u52a8\uff09\u65f6\uff0c\u91cf\u5316\u8bef\u5dee\u4f1a\u968f\u91c7\u6837\u70b9\u6570\u7684\u589e\u52a0\u800c\u8d8b\u4e8e\u968f\u673a\u5316\uff0c\u591a\u6b21\u5e73\u5747\u540e\u566a\u58f0\u5206\u91cf\u76f8\u4e92\u62b5\u6d88\uff0c\u800c\u771f\u5b9e\u4fe1\u53f7\u5206\u91cf\u4fdd\u6301\u4e0d\u53d8\u3002<\/p>\n<p>\u8bbe\u539f\u59cb ADC \u4e3a N \u4f4d\uff0c\u8fc7\u91c7\u6837\u500d\u6570\u4e3a M\uff0c\u5219\u6709\u6548\u5206\u8fa8\u7387\u63d0\u5347\u4f4d\u6570\u6ee1\u8db3\uff1a<\/p>\n<p>\u6709\u6548\u4f4d\u6570\u63d0\u5347 = log\u2082(\u221aM) = 0.5 \u00b7 log\u2082(M)<\/p>\n<p>\u6bcf\u63d0\u5347 1 \u4f4d\u6709\u6548\u5206\u8fa8\u7387\uff0c\u9700\u8981 M = 4 \u500d\u7684\u8fc7\u91c7\u6837\u7387\uff1b\u6bcf\u63d0\u5347 2 \u4f4d\uff0c\u9700\u8981 M = 16 \u500d\uff1b\u6bcf\u63d0\u5347 4 \u4f4d\uff0c\u9700\u8981 M = 256 \u500d\u3002\u8fd9\u5c31\u662f\u201c\u6bcf 4 \u500d\u91c7\u6837\u63d0\u5347 1 \u4f4d\u201d\u7684\u7531\u6765\u3002<\/p>\n<h4>\u4ece 10 \u4f4d\u5230 14 \u4f4d\u7684\u5177\u4f53\u8def\u5f84<\/h4>\n<p>\u8981\u4ece 10 \u4f4d\u63d0\u5347\u5230 14 \u4f4d\uff0c\u9700\u8981\u63d0\u5347 4 \u4f4d\u6709\u6548\u5206\u8fa8\u7387\uff0c\u5373 <span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\">4(14\u221210)=44=2564^{(14-10)} = 4^4 = 256<\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.888em\"><\/span><span class=\"mord\"><span class=\"mord\">4<\/span><span class=\"msupsub\"><span class=\"vlist-t\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.888em\"><span class=\"\" style=\"top: -3.063em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mopen mtight\">(<\/span><span class=\"mord mtight\">14<\/span><span class=\"mbin mtight\">\u2212<\/span><span class=\"mord mtight\">10<\/span><span class=\"mclose mtight\">)<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">=<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 0.8141em\"><\/span><span class=\"mord\"><span class=\"mord\">4<\/span><span class=\"msupsub\"><span class=\"vlist-t\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.8141em\"><span class=\"\" style=\"top: -3.063em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\">4<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">=<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 0.6444em\"><\/span><span class=\"mord\">256<\/span><\/span><\/span><\/span><\/span> \u500d\u7684\u8fc7\u91c7\u6837\u7387\u3002\u8fd9\u610f\u5473\u7740\u6211\u4eec\u9700\u8981\u8fde\u7eed\u91c7\u96c6 256 \u4e2a\u70b9\u5e76\u6c42\u548c\uff0c\u7136\u540e\u5c06\u7ed3\u679c\u53f3\u79fb\u76f8\u5e94\u7684\u4f4d\u6570\uff08\u8003\u8651\u5230\u6c42\u548c\u540e\u6570\u503c\u8303\u56f4\u6269\u5927\uff0c\u9700\u91cd\u65b0\u5b9a\u6807\uff09\u3002<\/p>\n<p>\u5173\u952e\u70b9\u5728\u4e8e\u5b9a\u6807\u65b9\u5f0f\uff1a256 \u4e2a 10 \u4f4d\u6570\u636e\u7d2f\u52a0\u540e\uff0c\u7ed3\u679c\u8303\u56f4\u4e3a 0 ~ 256\u00d71023 = 261888\uff0c\u9700\u8981 18 \u4f4d\u624d\u80fd\u5b8c\u6574\u8868\u793a\u3002\u82e5\u76f4\u63a5\u53f3\u79fb 2 \u4f4d\uff08\u9664\u4ee5 4\uff09\uff0c\u5f97\u5230 0 ~ 65472 \u7684\u8303\u56f4\uff0c\u6070\u597d\u5bf9\u5e94 16 \u4f4d\u65e0\u7b26\u53f7\u6570\uff0c\u4f46\u6b64\u65f6\u6709\u6548\u4f4d\u6570\u5e76\u975e 14 \u4f4d\u2014\u2014\u56e0\u4e3a\u7d2f\u52a0\u548c\u672c\u8eab\u5305\u542b\u4e86 256 \u4e2a\u6837\u672c\u7684\u566a\u58f0\u5e73\u5747\u6548\u679c\u3002<\/p>\n<p>\u66f4\u4e25\u8c28\u7684\u505a\u6cd5\u662f\uff1a\u7d2f\u52a0\u540e\u53f3\u79fb 4 \u4f4d\uff08\u9664\u4ee5 16\uff09\uff0c\u5f97\u5230 0 ~ 16368 \u7684\u8303\u56f4\uff0c\u5bf9\u5e94 14 \u4f4d\u6709\u6548\u7cbe\u5ea6\u3002\u6b64\u65f6\u6bcf\u4e2a\u8f93\u51fa\u503c\u76f8\u5f53\u4e8e 16 \u4e2a\u539f\u59cb\u6837\u672c\u7684\u5e73\u5747\uff0c\u914d\u5408 256 \u70b9\u8fc7\u91c7\u6837\uff0c\u5b9e\u9645\u7b49\u6548\u4e8e 14 \u4f4d\u5206\u8fa8\u7387\u3002\u82e5\u9700\u8981 16 \u4f4d\u8f93\u51fa\uff0c\u5219\u4fdd\u7559\u5b8c\u6574\u7d2f\u52a0\u503c\uff08\u53f3\u79fb 2 \u4f4d\uff09\uff0c\u7531\u4e0a\u5c42\u6309 16 \u4f4d\u5b9a\u6807\u5904\u7406\u3002<\/p>\n<h4>\u4ee3\u7801\u5b9e\u73b0\uff1a256 \u70b9\u8fc7\u91c7\u6837\u7d2f\u52a0<\/h4>\n<p><span class=\"token comment\">\/\/ \u5047\u8bbe\u539f\u59cb ADC \u4e3a 10 \u4f4d (0-1023)<\/span><br \/>\n<span class=\"token comment\">\/\/ \u76ee\u6807\uff1a\u63d0\u5347\u81f3 14 \u4f4d\u6709\u6548\u7cbe\u5ea6<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">OVERSAMPLE_RATIO<\/span>   <span class=\"token expression\"><span class=\"token number\">256<\/span>     <\/span><span class=\"token comment\">\/\/ \u8fc7\u91c7\u6837\u500d\u6570\uff1a4^(14-10) = 256<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">OVERSAMPLE_SHIFT<\/span>   <span class=\"token expression\"><span class=\"token number\">4<\/span>       <\/span><span class=\"token comment\">\/\/ \u53f3\u79fb\u4f4d\u6570\uff1alog2(16) = 4\uff0c\u5bf9\u5e94 14 \u4f4d\u5b9a\u6807<\/span><\/span><\/p>\n<p><span class=\"token class-name\">uint32_t<\/span> oversample_accumulator <span class=\"token operator\">=<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token class-name\">uint16_t<\/span> <span class=\"token function\">get_high_res_value<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/p>\n<p>   <\/span><br \/>\n    oversample_accumulator <span class=\"token operator\">=<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">for<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token keyword\">int<\/span> i <span class=\"token operator\">=<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span> i <span class=\"token operator\">&lt;<\/span> OVERSAMPLE_RATIO<span class=\"token punctuation\">;<\/span> i<span class=\"token operator\">++<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/p>\n<p>   <\/span><br \/>\n        oversample_accumulator <span class=\"token operator\">+=<\/span> <span class=\"token function\">read_adc_raw<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u8bfb\u53d6\u539f\u59cb 10 \u4f4d\u6570\u636e<\/span><br \/>\n        <span class=\"token function\">delay_us<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">10<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u786e\u4fdd\u91c7\u6837\u95f4\u9694\u6ee1\u8db3\u5948\u594e\u65af\u7279\u51c6\u5219<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n    <span class=\"token comment\">\/\/ 256 \u6b21\u7d2f\u52a0\u540e\uff0c\u7ed3\u679c\u76f8\u5f53\u4e8e\u63d0\u5347\u4e86 4 \u4f4d<\/span><br \/>\n    <span class=\"token comment\">\/\/ \u53f3\u79fb 4 \u4f4d\uff1a\u5c06 18 \u4f4d\u7d2f\u52a0\u548c\u538b\u7f29\u56de 14 \u4f4d\u6709\u6548\u7cbe\u5ea6<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint16_t<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">(<\/span>oversample_accumulator <span class=\"token operator\">&gt;&gt;<\/span> OVERSAMPLE_SHIFT<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<h4>\u8fc7\u91c7\u6837\u7684\u524d\u63d0\u6761\u4ef6\u4e0e\u5de5\u7a0b\u7ea6\u675f<\/h4>\n<p>\u8fc7\u91c7\u6837\u5e76\u975e\u4e07\u80fd\uff0c\u5b83\u6709\u4e09\u4e2a\u5fc5\u987b\u6ee1\u8db3\u7684\u524d\u63d0\u6761\u4ef6\uff1a<\/p>\n<ul>\n<li>\u4fe1\u53f7\u5e26\u5bbd\u8fdc\u4f4e\u4e8e\u91c7\u6837\u7387\uff1a\u8fc7\u91c7\u6837\u8981\u6c42\u91c7\u6837\u7387\u81f3\u5c11\u4e3a\u4fe1\u53f7\u5e26\u5bbd\u7684 4 \u500d\u4ee5\u4e0a\uff08\u5bf9\u5e94\u6bcf\u63d0\u5347 1 \u4f4d\uff09\uff0c\u5b9e\u9645\u5de5\u7a0b\u4e2d\u5efa\u8bae\u7559\u51fa 8~16 \u500d\u4f59\u91cf\u3002\u82e5\u4fe1\u53f7\u672c\u8eab\u53d8\u5316\u8f83\u5feb\uff0c\u8fc7\u91c7\u6837\u7a97\u53e3\u5185\u7684\u4fe1\u53f7\u6f02\u79fb\u4f1a\u5f15\u5165\u989d\u5916\u8bef\u5dee\uff0c\u6b64\u65f6\u5e94\u4f18\u5148\u8003\u8651\u786c\u4ef6\u5347\u7ea7\u3002<\/li>\n<li>\u5b58\u5728\u8db3\u591f\u7684\u968f\u673a\u566a\u58f0\uff08\u6296\u52a8\uff09\uff1a\u91cf\u5316\u8bef\u5dee\u7684\u5e73\u5747\u5316\u4f9d\u8d56\u4fe1\u53f7\u4e2d\u53e0\u52a0\u7684\u968f\u673a\u566a\u58f0\u3002\u82e5\u4fe1\u53f7\u8fc7\u4e8e\u6b7b\u677f\uff08\u5982\u7a33\u5b9a\u7684\u76f4\u6d41\u7535\u538b\uff09\uff0c\u91cf\u5316\u8bef\u5dee\u65e0\u6cd5\u968f\u673a\u5316\uff0c\u8fc7\u91c7\u6837\u6548\u679c\u4f1a\u5927\u6253\u6298\u6263\u3002\u6b64\u65f6\u53ef\u4eba\u4e3a\u6ce8\u5165\u5fae\u5c0f\u7684\u767d\u566a\u58f0\uff08dithering\uff09\uff0c\u4f8b\u5982\u5728 ADC \u8f93\u5165\u7aef\u53e0\u52a0\u4e00\u4e2a\u5e45\u5ea6\u7ea6 \u00b10.5 LSB \u7684\u4f2a\u968f\u673a\u4fe1\u53f7\u3002<\/li>\n<li>\u7d2f\u52a0\u5668\u5fc5\u987b\u4f7f\u7528 32 \u4f4d\uff1a256 \u4e2a 10 \u4f4d\u6570\u636e\u7d2f\u52a0\u6700\u5927\u503c\u4e3a 256 \u00d7 1023 = 261888\uff0c\u8fdc\u8d85 16 \u4f4d\u8303\u56f4\u3002\u52a1\u5fc5\u4f7f\u7528 uint32_t \u7d2f\u52a0\u5668\uff0c\u8fd9\u6b63\u662f\u7b2c\u2468\u8282\u5c06\u8981\u8be6\u7ec6\u8ba8\u8bba\u7684\u6ea2\u51fa\u98ce\u9669\u3002<\/li>\n<\/ul>\n<h4>\u8fc7\u91c7\u6837\u4e0e\u6ed1\u52a8\u5e73\u5747\u7684\u914d\u5408\u4f7f\u7528<\/h4>\n<p>\u8fc7\u91c7\u6837\u4e0e\u7b2c\u2461\u8282\u7684\u6ed1\u52a8\u5e73\u5747\u53ef\u4ee5\u65e0\u7f1d\u8854\u63a5\uff1a\u8fc7\u91c7\u6837\u8d1f\u8d23\u63d0\u5347\u5355\u6b21\u91c7\u6837\u7684\u6709\u6548\u5206\u8fa8\u7387\uff0c\u6ed1\u52a8\u5e73\u5747\u8d1f\u8d23\u5e73\u6ed1\u8fde\u7eed\u91c7\u6837\u4e4b\u95f4\u7684\u968f\u673a\u6ce2\u52a8\u3002\u5728\u5de5\u7a0b\u5b9e\u8df5\u4e2d\uff0c\u5efa\u8bae\u5c06\u8fc7\u91c7\u6837\u653e\u5728\u91c7\u6837\u94fe\u8def\u7684\u6700\u524d\u7aef\uff0c\u5373\u300c\u8fc7\u91c7\u6837 \u2192 \u6781\u503c\u5254\u9664 \u2192 \u6ed1\u52a8\u5e73\u5747 \u2192 \u4e8c\u9636\u6ee4\u6ce2\u300d\uff1a<\/p>\n<p><span class=\"token comment\">\/\/ \u8fc7\u91c7\u6837 + \u6781\u503c\u5254\u9664 + \u6ed1\u52a8\u5e73\u5747\u7684\u7ec4\u5408\u793a\u4f8b<\/span><br \/>\n<span class=\"token class-name\">uint16_t<\/span> <span class=\"token function\">get_filtered_high_res_value<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/p>\n<p>   <\/span><br \/>\n    <span class=\"token comment\">\/\/ \u7b2c 1 \u6b65\uff1a256 \u70b9\u8fc7\u91c7\u6837\uff0c\u5f97\u5230 14 \u4f4d\u6709\u6548\u7cbe\u5ea6\u7684\u539f\u59cb\u503c<\/span><br \/>\n    <span class=\"token class-name\">uint16_t<\/span> high_res <span class=\"token operator\">=<\/span> <span class=\"token function\">get_high_res_value<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/\/ \u7b2c 2 \u6b65\uff1a\u9001\u5165\u6ed1\u52a8\u5e73\u5747\uff08\u7b2c\u2461\u8282\u7b97\u6cd5\uff0c\u7a97\u53e3 16\uff09<\/span><br \/>\n    <span class=\"token comment\">\/\/ \u6ce8\u610f\uff1a\u6b64\u65f6\u6570\u636e\u8303\u56f4\u5df2\u6269\u5c55\u81f3 0~16368\uff0c\u7d2f\u52a0\u5668\u9700\u7528 uint32_t<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> <span class=\"token function\">update_filter<\/span><span class=\"token punctuation\">(<\/span>high_res<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p>\u6ce8\u610f\uff1a\u8fc7\u91c7\u6837\u540e\u7684\u6570\u636e\u8303\u56f4\uff080~16368\uff09\u4e0e\u539f\u59cb 10 \u4f4d\u6570\u636e\uff080~1023\uff09\u4e0d\u540c\uff0c\u9001\u5165\u6ed1\u52a8\u5e73\u5747\u65f6\u7d2f\u52a0\u5668\u6700\u5927\u503c\u53d8\u4e3a 16368 \u00d7 16 = 261888\uff0c\u4ecd\u53ef\u7528 uint32_t \u5b89\u5168\u5bb9\u7eb3\u3002\u82e5\u540e\u7eed\u63a5\u4e8c\u9636\u6ee4\u6ce2\uff0c\u9700\u5c06 state\u3001rate \u7684\u94b3\u4f4d\u4e0a\u9650\u4ece 4095 \u8c03\u6574\u4e3a 16368\uff0c\u907f\u514d\u8f93\u51fa\u88ab\u9519\u8bef\u622a\u65ad\u3002<\/p>\n<h4>\u8fc7\u91c7\u6837\u7684\u4ee3\u4ef7\u4e0e\u9002\u7528\u573a\u666f<\/h4>\n<p>\u8fc7\u91c7\u6837\u7684\u6838\u5fc3\u4ee3\u4ef7\u662f\u91c7\u6837\u65f6\u95f4\u3002\u4ee5 1kHz \u91c7\u6837\u7387\u4e3a\u4f8b\uff0c\u5b8c\u6210\u4e00\u6b21 256 \u70b9\u8fc7\u91c7\u6837\u9700\u8981 256ms\uff0c\u8fd9\u610f\u5473\u7740\u8f93\u51fa\u66f4\u65b0\u7387\u4ec5\u4e3a\u7ea6 4Hz\u3002\u56e0\u6b64\u8fc7\u91c7\u6837\u53ea\u9002\u7528\u4e8e\u4f4e\u9891\u7f13\u53d8\u4fe1\u53f7\uff08\u5982\u6e29\u5ea6\u3001\u6db2\u4f4d\u3001\u538b\u529b\u7b49\uff09\uff0c\u4e0d\u9002\u7528\u4e8e\u9700\u8981\u5feb\u901f\u54cd\u5e94\u7684\u52a8\u6001\u6d4b\u91cf\uff08\u5982\u7535\u673a\u8f6c\u901f\u3001\u632f\u52a8\u5206\u6790\uff09\u3002<\/p>\n<table>\n<tr>\n   \u76ee\u6807\u6709\u6548\u4f4d\u6570<br \/>\n   \u8fc7\u91c7\u6837\u500d\u6570<br \/>\n   \u7d2f\u52a0\u548c\u6700\u5927\u503c\uff0810 \u4f4d ADC\uff09<br \/>\n   \u53f3\u79fb\u4f4d\u6570<br \/>\n   \u8f93\u51fa\u8303\u56f4<br \/>\n  <\/tr>\n<tbody>\n<tr>\n<td>11 \u4f4d<\/td>\n<td>4<\/td>\n<td>4092<\/td>\n<td>0<\/td>\n<td>0~4092<\/td>\n<\/tr>\n<tr>\n<td>12 \u4f4d<\/td>\n<td>16<\/td>\n<td>16368<\/td>\n<td>0<\/td>\n<td>0~16368<\/td>\n<\/tr>\n<tr>\n<td>13 \u4f4d<\/td>\n<td>64<\/td>\n<td>65472<\/td>\n<td>2<\/td>\n<td>0~16368<\/td>\n<\/tr>\n<tr>\n<td>14 \u4f4d<\/td>\n<td>256<\/td>\n<td>261888<\/td>\n<td>4<\/td>\n<td>0~16368<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u901a\u8fc7\u8fd9\u79cd\u8f6f\u4ef6\u8d85\u5206\u6280\u672f\uff0c\u6211\u4eec\u65e0\u9700\u66f4\u6362\u6602\u8d35\u7684 14 \u4f4d ADC \u82af\u7247\uff0c\u5c31\u80fd\u5728\u4f4e\u9891\u4fe1\u53f7\u6d4b\u91cf\u4e2d\u83b7\u5f97\u63a5\u8fd1 14 \u4f4d\u7684\u7cbe\u5ea6\uff0c\u6781\u5927\u5730\u964d\u4f4e\u4e86 BOM \u6210\u672c\u3002\u4f46\u52a1\u5fc5\u7262\u8bb0\uff1a\u8fc7\u91c7\u6837\u63d0\u5347\u7684\u662f\u6709\u6548\u5206\u8fa8\u7387\u800c\u975e\u7edd\u5bf9\u7cbe\u5ea6\uff0c\u5b83\u65e0\u6cd5\u6d88\u9664\u4f20\u611f\u5668\u672c\u8eab\u7684\u7cfb\u7edf\u8bef\u5dee\uff08\u5982\u975e\u7ebf\u6027\u3001\u6e29\u6f02\uff09\uff0c\u8fd9\u4e9b\u4ecd\u9700\u901a\u8fc7\u6821\u51c6\u548c\u786c\u4ef6\u9009\u578b\u6765\u4fdd\u8bc1\u3002<\/p>\n<h3>\u2464 \u5d4c\u5165\u5f0f\u73af\u5883\u4e0b\u7684\u5b9e\u65f6\u6570\u636e\u5904\u7406\u6d41\u7a0b<\/h3>\n<p>\u5728\u771f\u5b9e\u7684\u5d4c\u5165\u5f0f\u7cfb\u7edf\u4e2d\uff0c\u6570\u636e\u91c7\u96c6\u4e0d\u662f\u5b64\u7acb\u5b58\u5728\u7684\uff0c\u5b83\u5fc5\u987b\u5d4c\u5165\u5230\u4e00\u4e2a\u4e25\u8c28\u7684\u5b9e\u65f6\u5904\u7406\u6d41\u7a0b\u4e2d\u3002\u4e00\u4e2a\u5178\u578b\u7684\u6d41\u7a0b\u5305\u62ec\uff1a\u5b9a\u65f6\u5668\u89e6\u53d1\u4e2d\u65ad -&gt; DMA \u642c\u8fd0\u6570\u636e -&gt; \u6807\u5fd7\u4f4d\u7f6e\u4f4d -&gt; \u4e3b\u5faa\u73af\u6216\u4f4e\u4f18\u5148\u7ea7\u4efb\u52a1\u5904\u7406\u6570\u636e\u3002<\/p>\n<p>\u5173\u952e\u5728\u4e8e\u5c06\u201c\u8017\u65f6\u64cd\u4f5c\u201d\u4e0e\u201c\u5b9e\u65f6\u91c7\u96c6\u201d\u89e3\u8026\u3002ADC \u91c7\u6837\u548c DMA \u4f20\u8f93\u5fc5\u987b\u5728\u9ad8\u4e2d\u65ad\u4f18\u5148\u7ea7\u4e0b\u5b8c\u6210\uff0c\u786e\u4fdd\u4e0d\u4e22\u5931\u4efb\u4f55\u65f6\u95f4\u70b9\u7684\u6570\u636e\u3002\u800c\u524d\u8ff0\u7684\u6781\u503c\u5254\u9664\u3001\u6ee4\u6ce2\u8fd0\u7b97\u7b49\u76f8\u5bf9\u8017\u65f6\u7684\u903b\u8f91\uff0c\u5e94\u653e\u5728\u4e3b\u5faa\u73af\u6216\u8f83\u4f4e\u4f18\u5148\u7ea7\u7684\u4efb\u52a1\u4e2d\uff0c\u5229\u7528\u6807\u5fd7\u4f4d\u673a\u5236\u8fdb\u884c\u540c\u6b65\u3002\u8fd9\u6837\u5373\u4f7f\u6ee4\u6ce2\u7b97\u6cd5\u56e0\u4e3a\u6570\u636e\u91cf\u5927\u800c\u6682\u65f6\u5360\u7528\u8f83\u591a CPU \u65f6\u95f4\uff0c\u4e5f\u4e0d\u4f1a\u5f71\u54cd\u4e0b\u4e00\u8f6e\u91c7\u6837\u7684\u542f\u52a8\uff0c\u4fdd\u8bc1\u4e86\u65f6\u95f4\u8f74\u7684\u8fde\u7eed\u6027\u3002<\/p>\n<p>\u6b64\u5916\uff0c\u8fd8\u9700\u8981\u8003\u8651\u6570\u636e\u7684\u4e00\u81f4\u6027\u3002\u5728\u591a\u4efb\u52a1\u73af\u5883\u4e0b\uff0c\u8bfb\u53d6\u6ee4\u6ce2\u540e\u7684\u5168\u5c40\u53d8\u91cf\u65f6\uff0c\u53ef\u80fd\u9700\u8981\u77ed\u6682\u5173\u4e2d\u65ad\u6216\u4f7f\u7528\u539f\u5b50\u64cd\u4f5c\uff0c\u9632\u6b62\u5728\u8bfb\u5230\u4e00\u534a\u65f6\u6570\u636e\u88ab\u66f4\u65b0\uff0c\u5bfc\u81f4\u51fa\u73b0\u201c\u6495\u88c2\u201d\u73b0\u8c61\u3002\u5408\u7406\u7684\u4efb\u52a1\u5212\u5206\u548c\u540c\u6b65\u673a\u5236\uff0c\u662f\u4fdd\u8bc1\u6570\u636e\u6d41\u987a\u7545\u3001\u7cfb\u7edf\u5b9e\u65f6\u54cd\u5e94\u7684\u57fa\u77f3\u3002<\/p>\n<h4>\u72b6\u6001\u673a\u8bbe\u8ba1\uff1a\u4ece\u201c\u88f8\u5954\u201d\u5230\u201c\u7a33\u6001\u201d\u7684\u5e73\u6ed1\u8fc7\u6e21<\/h4>\n<p>\u5b9e\u65f6\u91c7\u96c6\u94fe\u8def\u5728\u542f\u52a8\u9636\u6bb5\u6700\u5bb9\u6613\u51fa\u95ee\u9898\u3002\u82e5 DMA \u7f13\u51b2\u533a\u5c1a\u672a\u586b\u6ee1\u3001\u6ed1\u52a8\u5e73\u5747\u7a97\u53e3\u8fd8\u662f\u51b7\u542f\u52a8\u72b6\u6001\uff0c\u5c31\u76f4\u63a5\u8fdb\u5165\u6b63\u5e38\u6ee4\u6ce2\u6d41\u7a0b\uff0c\u524d\u51e0\u8f6e\u8f93\u51fa\u4f1a\u4e25\u91cd\u5931\u771f\u3002\u4e3a\u6b64\uff0c\u6211\u4eec\u5f15\u5165\u4e00\u4e2a\u91c7\u96c6\u72b6\u6001\u673a\uff0c\u5c06\u6574\u4e2a\u94fe\u8def\u5212\u5206\u4e3a\u56db\u4e2a\u9636\u6bb5\uff1a<\/p>\n<table>\n<tr>\n   \u72b6\u6001<br \/>\n   \u542b\u4e49<br \/>\n   \u8fdb\u5165\u6761\u4ef6<br \/>\n   \u5904\u7406\u52a8\u4f5c<br \/>\n  <\/tr>\n<tbody>\n<tr>\n<td>IDLE<\/td>\n<td>\u7a7a\u95f2\u5f85\u673a<\/td>\n<td>\u7cfb\u7edf\u4e0a\u7535\u6216\u590d\u4f4d<\/td>\n<td>\u7b49\u5f85\u5b9a\u65f6\u5668\u542f\u52a8\uff0c\u4e0d\u5904\u7406\u4efb\u4f55\u6570\u636e<\/td>\n<\/tr>\n<tr>\n<td>WARMUP<\/td>\n<td>\u9884\u70ed\u586b\u5145<\/td>\n<td>\u5b9a\u65f6\u5668\u542f\u52a8\uff0cDMA \u5f00\u59cb\u642c\u8fd0<\/td>\n<td>\u4ec5\u586b\u5145\u6ed1\u52a8\u5e73\u5747\u7a97\u53e3\uff0c\u4e0d\u8f93\u51fa\u6709\u6548\u503c<\/td>\n<\/tr>\n<tr>\n<td>RUNNING<\/td>\n<td>\u6b63\u5e38\u8fd0\u884c<\/td>\n<td>\u7a97\u53e3\u586b\u6ee1\u3001\u72b6\u6001\u5c31\u7eea<\/td>\n<td>\u6267\u884c\u5b8c\u6574\u6ee4\u6ce2\u94fe\u8def\u5e76\u8f93\u51fa\u7ed3\u679c<\/td>\n<\/tr>\n<tr>\n<td>FAULT<\/td>\n<td>\u5f02\u5e38\u4fdd\u62a4<\/td>\n<td>\u6807\u5fd7\u4f4d\u8d85\u65f6\u672a\u7f6e\u4f4d\u6216\u6570\u636e\u8d8a\u754c<\/td>\n<td>\u8f93\u51fa\u4e0a\u4e00\u6b21\u6709\u6548\u503c\uff0c\u8bb0\u5f55\u9519\u8bef\u7801<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u72b6\u6001\u673a\u7684\u597d\u5904\u5728\u4e8e\uff1a\u628a\u201c\u4ec0\u4e48\u65f6\u5019\u53ef\u4ee5\u8f93\u51fa\u201d\u7684\u51b3\u7b56\u903b\u8f91\u4ece\u4e3b\u5faa\u73af\u4e2d\u62bd\u79bb\u51fa\u6765\uff0c\u907f\u514d\u5728\u4e1a\u52a1\u4ee3\u7801\u91cc\u6563\u843d\u5404\u79cd if (valid_count &gt;= 16) \u4e4b\u7c7b\u7684\u5224\u65ad\u3002\u540c\u65f6\uff0cFAULT \u72b6\u6001\u4e3a\u7cfb\u7edf\u63d0\u4f9b\u4e86\u515c\u5e95\u4fdd\u62a4\u2014\u2014\u5f53 DMA \u56e0\u914d\u7f6e\u9519\u8bef\u6216\u786c\u4ef6\u5f02\u5e38\u957f\u65f6\u95f4\u672a\u89e6\u53d1\u65f6\uff0c\u4e3b\u5faa\u73af\u4e0d\u4f1a\u62ff\u7740\u9648\u65e7\u6570\u636e\u7ee7\u7eed\u8fd0\u7b97\uff0c\u800c\u662f\u8fdb\u5165\u5b89\u5168\u6a21\u5f0f\u3002<\/p>\n<h4>\u4ee3\u7801\u5b9e\u73b0\uff1a\u5b9a\u65f6\u5668 + DMA + \u72b6\u6001\u673a + \u591a\u7ea7\u6ee4\u6ce2<\/h4>\n<p>\u4e0b\u9762\u7ed9\u51fa\u4e00\u4e2a\u5b8c\u6574\u7684\u5b9e\u6218\u793a\u4f8b\uff0c\u5c06\u4e0a\u8ff0\u6d41\u7a0b\u843d\u5730\u4e3a\u53ef\u8fd0\u884c\u7684\u4ee3\u7801\u9aa8\u67b6\u3002\u5b83\u5305\u542b\u5b9a\u65f6\u5668\u89e6\u53d1 ADC \u91c7\u6837\u3001DMA \u81ea\u52a8\u642c\u8fd0\u3001\u72b6\u6001\u673a\u540c\u6b65\u4ee5\u53ca\u4e3b\u5faa\u73af\u4e2d\u7684\u591a\u7ea7\u6ee4\u6ce2\u5904\u7406\uff0c\u5e76\u6807\u6ce8\u4e86\u5173\u952e\u65f6\u5e8f\u5173\u7cfb\uff1a<\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&lt;stdint.h&gt;<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&lt;stdbool.h&gt;<\/span><\/span><\/p>\n<p><span class=\"token comment\">\/* ========== \u914d\u7f6e\u533a ========== *\/<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">ADC_BUF_LEN<\/span>     <span class=\"token expression\"><span class=\"token number\">8<\/span>       <\/span><span class=\"token comment\">\/\/ DMA \u5355\u6b21\u642c\u8fd0\u7684\u91c7\u6837\u70b9\u6570\uff08\u6781\u503c\u5254\u9664\u7a97\u53e3\uff09<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">FILTER_WINDOW<\/span>   <span class=\"token expression\"><span class=\"token number\">16<\/span>      <\/span><span class=\"token comment\">\/\/ \u6ed1\u52a8\u5e73\u5747\u7a97\u53e3\uff08\u4e0e\u7b2c\u2461\u8282\u4e00\u81f4\uff09<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">WARMUP_COUNT<\/span>    <span class=\"token expression\">FILTER_WINDOW  <\/span><span class=\"token comment\">\/\/ \u9884\u70ed\u586b\u5145\u6b21\u6570<\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">DMA_TIMEOUT_MS<\/span>  <span class=\"token expression\"><span class=\"token number\">10<\/span>      <\/span><span class=\"token comment\">\/\/ DMA \u8d85\u65f6\u9608\u503c\uff08\u6beb\u79d2\uff09\uff0c\u8d85\u8fc7\u5219\u8fdb\u5165 FAULT<\/span><\/span><\/p>\n<p><span class=\"token comment\">\/* ========== \u91c7\u96c6\u72b6\u6001\u673a ========== *\/<\/span><br \/>\n<span class=\"token keyword\">typedef<\/span> <span class=\"token keyword\">enum<\/span> <span class=\"token punctuation\">{<\/p>\n<p>   <\/span><br \/>\n    ST_IDLE <span class=\"token operator\">=<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span><br \/>\n    ST_WARMUP<span class=\"token punctuation\">,<\/span><br \/>\n    ST_RUNNING<span class=\"token punctuation\">,<\/span><br \/>\n    ST_FAULT<br \/>\n<span class=\"token punctuation\">}<\/span> <span class=\"token class-name\">acq_state_t<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/* ========== \u5168\u5c40\u72b6\u6001 ========== *\/<\/span><br \/>\n<span class=\"token keyword\">volatile<\/span> <span class=\"token class-name\">uint16_t<\/span> adc_dma_buf<span class=\"token punctuation\">[<\/span>ADC_BUF_LEN<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span>   <span class=\"token comment\">\/\/ DMA \u76f4\u63a5\u5199\u5165\u7684\u539f\u59cb\u91c7\u6837\u7f13\u51b2\u533a<\/span><br \/>\n<span class=\"token keyword\">volatile<\/span> <span class=\"token class-name\">uint8_t<\/span>  adc_dma_done <span class=\"token operator\">=<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span>           <span class=\"token comment\">\/\/ \u6807\u5fd7\u4f4d\uff1aDMA \u642c\u8fd0\u5b8c\u6210\uff0c\u7f6e 1<\/span><br \/>\n<span class=\"token keyword\">volatile<\/span> <span class=\"token class-name\">uint32_t<\/span> filter_sum <span class=\"token operator\">=<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span>             <span class=\"token comment\">\/\/ \u6ed1\u52a8\u5e73\u5747\u7d2f\u52a0\u5668\uff0832 \u4f4d\u9632\u6ea2\u51fa\uff09<\/span><br \/>\n<span class=\"token keyword\">volatile<\/span> <span class=\"token class-name\">uint16_t<\/span> filter_buffer<span class=\"token punctuation\">[<\/span>FILTER_WINDOW<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">volatile<\/span> <span class=\"token class-name\">uint8_t<\/span>  filter_index <span class=\"token operator\">=<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">volatile<\/span> <span class=\"token class-name\">uint8_t<\/span>  valid_count <span class=\"token operator\">=<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span>            <span class=\"token comment\">\/\/ \u5df2\u586b\u5145\u7684\u6709\u6548\u70b9\u6570\uff08\u51b7\u542f\u52a8\u5904\u7406\uff09<\/span><br \/>\n<span class=\"token keyword\">volatile<\/span> <span class=\"token class-name\">uint16_t<\/span> filtered_value <span class=\"token operator\">=<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span>         <span class=\"token comment\">\/\/ \u6700\u7ec8\u6ee4\u6ce2\u8f93\u51fa\uff08\u4e3b\u5faa\u73af\u5199\u5165\uff09<\/span><br \/>\n<span class=\"token keyword\">volatile<\/span> <span class=\"token class-name\">uint16_t<\/span> last_valid_value <span class=\"token operator\">=<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span>       <span class=\"token comment\">\/\/ \u4e0a\u4e00\u6b21\u6709\u6548\u8f93\u51fa\uff08FAULT \u515c\u5e95\uff09<\/span><br \/>\n<span class=\"token keyword\">volatile<\/span> <span class=\"token class-name\">acq_state_t<\/span> acq_state <span class=\"token operator\">=<\/span> ST_IDLE<span class=\"token punctuation\">;<\/span>     <span class=\"token comment\">\/\/ \u5f53\u524d\u91c7\u96c6\u72b6\u6001<\/span><\/p>\n<p><span class=\"token comment\">\/* \u4e8c\u9636\u6ee4\u6ce2\u72b6\u6001\uff08\u7b2c\u2462\u8282\uff09 *\/<\/span><br \/>\n<span class=\"token keyword\">static<\/span> <span class=\"token class-name\">int32_t<\/span> second_order_state <span class=\"token operator\">=<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">static<\/span> <span class=\"token class-name\">int32_t<\/span> second_order_rate  <span class=\"token operator\">=<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">FILTER_ALPHA<\/span>    <span class=\"token expression\"><span class=\"token number\">60<\/span><\/span><\/span><br \/>\n<span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">FILTER_BETA<\/span>     <span class=\"token expression\"><span class=\"token number\">20<\/span><\/span><\/span><\/p>\n<p><span class=\"token comment\">\/* ========== \u5b9a\u65f6\u5668\u4e2d\u65ad\uff1a\u89e6\u53d1 ADC \u91c7\u6837 ========== *\/<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">TIM_IRQHandler<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/p>\n<p>   <\/span><br \/>\n    <span class=\"token comment\">\/\/ \u65f6\u5e8f\u70b9 T0\uff1a\u5b9a\u65f6\u5668\u5468\u671f\u5230\u8fbe\uff08\u4f8b\u5982 1ms\uff09\uff0c\u542f\u52a8\u4e00\u6b21 ADC \u8f6c\u6362<\/span><br \/>\n    <span class=\"token comment\">\/\/ \u6ce8\u610f\uff1a\u8fd9\u91cc\u53ea\u542f\u52a8\u8f6c\u6362\uff0c\u4e0d\u505a\u4efb\u4f55\u8017\u65f6\u8fd0\u7b97\uff0c\u4fdd\u8bc1\u4e2d\u65ad\u6781\u77ed<\/span><br \/>\n    <span class=\"token function\">ADC_StartConversion<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token comment\">\/\/ \u6e05\u9664\u5b9a\u65f6\u5668\u4e2d\u65ad\u6807\u5fd7<\/span><br \/>\n    <span class=\"token function\">TIM_ClearFlag<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u6458\u8981\uff1a\u672c\u6587\u9762\u5411\u5d4c\u5165\u5f0f\u5f00\u53d1\u8005\uff0c\u805a\u7126\u4f20\u611f\u5668\u6570\u636e\u91c7\u96c6\u4e2d\u7684\u6297\u5e72\u6270\u4e0e\u6570\u636e\u7a33\u5b9a\u6027\u95ee\u9898\u3002\u901a\u8fc7\u6781\u503c\u5254\u9664\u3001\u6ed1\u52a8\u5e73\u5747\u3001\u4e8c\u9636\u6ee4\u6ce2\u4e09\u79cd\u8f6f\u4ef6\u6ee4\u6ce2\u7b97\u6cd5\u7684\u6709\u673a\u7ec4\u5408\uff0c\u5728\u4f4e\u6210\u672c MCU \u4e0a\u5373\u53ef\u5b9e\u73b0\u9ad8\u7a33\u5b9a\u6027\u7684\u6570\u636e\u91c7\u96c6\uff0c\u65e0\u9700\u66f4\u6362\u6602\u8d35\u786c\u4ef6\u3002\u6587\u4e2d\u7ed9\u51fa\u63a8\u8350\u7ec4\u5408\u94fe\u8def\u300c\u6781\u503c\u5254\u9664 \u2192 \u6ed1\u52a8\u5e73\u5747 \u2192 \u4e8c\u9636\u6ee4\u6ce2\u300d\uff0c\u5e76\u914d\u5957\u5b8c\u6574\u7684\u5de5\u7a0b\u4ee3\u7801\u4e0e\u8c03\u4f18\u5efa\u8bae\uff0c\u5e2e\u52a9\u8bfb\u8005\u5feb\u901f\u843d\u5730\u3002 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