|
|
|
@ -28,8 +28,8 @@ |
|
|
|
|
#include "timefilter.h" |
|
|
|
|
|
|
|
|
|
struct TimeFilter { |
|
|
|
|
/// Delay Locked Loop data. These variables refer to mathematical
|
|
|
|
|
/// concepts described in: http://www.kokkinizita.net/papers/usingdll.pdf
|
|
|
|
|
// Delay Locked Loop data. These variables refer to mathematical
|
|
|
|
|
// concepts described in: http://www.kokkinizita.net/papers/usingdll.pdf
|
|
|
|
|
double cycle_time; |
|
|
|
|
double feedback2_factor; |
|
|
|
|
double feedback3_factor; |
|
|
|
@ -62,15 +62,12 @@ double ff_timefilter_update(TimeFilter *self, double system_time, double period) |
|
|
|
|
{ |
|
|
|
|
self->count++; |
|
|
|
|
if (self->count == 1) { |
|
|
|
|
/// init loop
|
|
|
|
|
self->cycle_time = system_time; |
|
|
|
|
} else { |
|
|
|
|
double loop_error; |
|
|
|
|
self->cycle_time += self->clock_period * period; |
|
|
|
|
/// calculate loop error
|
|
|
|
|
loop_error = system_time - self->cycle_time; |
|
|
|
|
|
|
|
|
|
/// update loop
|
|
|
|
|
self->cycle_time += FFMAX(self->feedback2_factor, 1.0 / self->count) * loop_error; |
|
|
|
|
self->clock_period += self->feedback3_factor * loop_error / period; |
|
|
|
|
} |
|
|
|
|