Nuke treeset

filters/Makefile

@@ -0,0 +1,12 @@
+CC ?= gcc
+CFLAGS ?= -Wall -O2
+
+TARGET = main.elf
+SRC = message.c main_demo.c
+
+$(TARGET): $(SRC)
+	@echo CC $@
+	@$(CC) $(CFLAGS) -o $@ $^ $(LDFLAGS)
+
+clean:
+	rm -f $(TARGET)

filters/filters.c

@@ -0,0 +1,71 @@
+#include <stdint.h>
+#include <stdlib.h>
+#include <string.h>
+
+#define N 8
+
+uint16_t buffer[N];
+uint8_t  idx = 0;
+
+/*
+ * Pros: Simple and smooths well.
+ * Cons: Lag, slow to respond to real changes.
+ */
+uint16_t moving_average(uint16_t new_sample) {
+    buffer[idx++] = new_sample;
+    if (idx >= N)
+        idx = 0;
+
+    uint32_t sum = 0;
+    for (int i = 0; i < N; i++) sum += buffer[i];
+    return sum / N;
+}
+
+float alpha = 0.1f; // Between 0 (more smoothing) and 1 (less)
+float filtered = 0;
+
+/*
+ * Pros: Very lightweight, tunable.
+ * Cons: Might not remove all burst noise
+ */
+uint16_t low_pass_filter(uint16_t new_sample) {
+    filtered = alpha * new_sample + (1 - alpha) * filtered;
+    return (uint16_t)filtered;
+}
+
+int compare_uint16(const void *a, const void *b) {
+    return (*(uint16_t *)a - *(uint16_t *)b);
+}
+
+uint16_t median_filter(uint16_t new_sample) {
+    static uint16_t window[N];
+    static uint8_t  index = 0;
+    window[index++] = new_sample;
+    if (index >= N)
+        index = 0;
+
+    // Copy and sort
+    uint16_t sorted[N];
+    memcpy(sorted, window, sizeof(sorted));
+    qsort(sorted, N, sizeof(uint16_t), compare_uint16);
+    return sorted[N / 2];
+}
+
+#undef N
+#define N 5
+float coeffs[N] = {0.1, 0.15, 0.5, 0.15, 0.1};  // Symmetric LPF
+float buffer[N] = {0};
+int index = 0;
+
+float fir_filter(float sample) {
+    buffer[index] = sample;
+    float result = 0;
+    int i, j = index;
+    for (i = 0; i < N; i++) {
+        result += coeffs[i] * buffer[j];
+        j = (j - 1 + N) % N;
+    }
+    index = (index + 1) % N;
+    return result;
+}
+

lua_advanced/esc.c

@@ -0,0 +1,70 @@
+#include <lauxlib.h>
+#include <lua.h>
+#include <lualib.h>
+#include <stdbool.h>
+
+struct EscConfig {
+    int   maxspeed;
+    float odometer;
+    bool  started;
+};
+
+static struct EscConfig esc_config = {
+    .maxspeed = 100,
+    .odometer = 12.5f,
+    .started = false,
+};
+
+/* Lua: get_esc_config() -> table */
+static int l_get_esc_config(lua_State *L) {
+    lua_newtable(L);
+
+    lua_pushstring(L, "maxspeed");
+    lua_pushinteger(L, esc_config.maxspeed);
+    lua_settable(L, -3);
+
+    lua_pushstring(L, "odometer");
+    lua_pushnumber(L, esc_config.odometer);
+    lua_settable(L, -3);
+
+    lua_pushstring(L, "started");
+    lua_pushboolean(L, esc_config.started);
+    lua_settable(L, -3);
+
+    return 1; // return the table
+}
+
+/* Lua: set_maxspeed(value) */
+static int l_set_maxspeed(lua_State *L) {
+    int maxspeed = luaL_checkinteger(L, 1);
+    esc_config.maxspeed = maxspeed;
+    return 0;
+}
+
+/* Lua: set_started(value) */
+static int l_set_started(lua_State *L) {
+    int started = lua_toboolean(L, 1);
+    esc_config.started = started;
+    return 0;
+}
+
+/* Lua: add_odometer(delta) */
+static int l_add_odometer(lua_State *L) {
+    float delta = luaL_checknumber(L, 1);
+    esc_config.odometer += delta;
+    return 0;
+}
+
+static const struct luaL_Reg esc_funcs[] = {
+    {"get_esc_config", l_get_esc_config},
+    {"set_maxspeed", l_set_maxspeed},
+    {"set_started", l_set_started},
+    {"add_odometer", l_add_odometer},
+    {NULL, NULL},
+};
+
+/* Register the functions into Lua as global "esc" */
+void register_esc(lua_State *L) {
+    luaL_newlib(L, esc_funcs); // create table with all funcs
+    lua_setglobal(L, "esc");   // set global "esc"
+}

lua_advanced/esc.h

@@ -0,0 +1,4 @@
+#pragma once
+#include <lua.h>
+
+void register_esc(lua_State *L);

lua_advanced/esc.lua

@@ -0,0 +1,27 @@
+---@meta
+
+---@class EscConfig
+---@field maxspeed integer
+---@field odometer number
+---@field started boolean
+
+---@class esc
+esc = {}
+
+---Get current ESC config
+---@return EscConfig
+function esc.get_esc_config() end
+
+---Set maximum speed
+---@param value integer
+function esc.set_maxspeed(value) end
+
+---Set started flag
+---@param value boolean
+function esc.set_started(value) end
+
+---Add to odometer
+---@param delta number
+function esc.add_odometer(delta) end
+
+return esc