From 0ae6f17ecd59d9071abf4d0de7a6481280ecd792 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E8=AE=B8=E6=99=9F=E6=98=8A?= <xushenghao@wuxismart.com>
Date: Wed, 30 Apr 2025 15:36:20 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E5=A4=8D=E6=BB=91=E5=8A=A8=E6=BB=A4?=
 =?UTF-8?q?=E6=B3=A2=E5=99=A8?=
MIME-Version: 1.0
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Content-Transfer-Encoding: 8bit

---
 src/filter.c | 18 ++++++++++++------
 1 file changed, 12 insertions(+), 6 deletions(-)

diff --git a/src/filter.c b/src/filter.c
index 1a907ce..c92ffd0 100644
--- a/src/filter.c
+++ b/src/filter.c
@@ -57,6 +57,7 @@ float32 kalman_update(kalman_t *cfg, float32 input)
 // 一阶滞后滤波法
 void lpf_init(lpf_t *cfg)
 {
+    DBG_ASSERT(cfg != NULL __DBG_LINE);
     cfg->fisrt_flag = TRUE;
     cfg->last_value = 0;
     if (cfg->alpha <= 0 || cfg->alpha > 1)
@@ -67,6 +68,7 @@ void lpf_init(lpf_t *cfg)
 
 float32 lpf_update(lpf_t *cfg, float32 input)
 {
+    DBG_ASSERT(cfg != NULL __DBG_LINE);
     float32 out;
 
     /***************** 如果第一次进入，则给 out_last 赋值 ******************/
@@ -85,6 +87,7 @@ float32 lpf_update(lpf_t *cfg, float32 input)
 
 void lpf_reset(lpf_t *cfg)
 {
+    DBG_ASSERT(cfg != NULL __DBG_LINE);
     cfg->fisrt_flag = TRUE;
 }
 
@@ -94,6 +97,7 @@ void lpf_reset(lpf_t *cfg)
 void lpf_window_init(lpf_window_t *cfg, uint16_t size)
 {
     DBG_ASSERT(cfg != NULL __DBG_LINE);
+    DBG_ASSERT(size != 0 __DBG_LINE);
     if (cfg->window != NULL)
     {
         osel_mem_free(cfg->window);
@@ -108,13 +112,10 @@ void lpf_window_init(lpf_window_t *cfg, uint16_t size)
 
 void lpf_window_dinit(lpf_window_t *cfg)
 {
-    if (cfg != NULL)
+    DBG_ASSERT(cfg != NULL __DBG_LINE);
+    if (cfg->window != NULL)
     {
-        if (cfg->window != NULL)
-        {
-            osel_mem_free(cfg->window);
-        }
-        osel_mem_free(cfg);
+        osel_mem_free(cfg->window);
     }
 }
 
@@ -122,6 +123,8 @@ void lpf_window_dinit(lpf_window_t *cfg)
 void lpf_window_reset(lpf_window_t *cfg)
 {
     DBG_ASSERT(cfg != NULL __DBG_LINE);
+    DBG_ASSERT(cfg->window != NULL __DBG_LINE);
+    DBG_ASSERT(cfg->size != 0 __DBG_LINE);
     cfg->index = 0;
     cfg->sum = 0;
     osel_memset((uint8_t *)cfg->window, 0, sizeof(float32) * cfg->size);
@@ -130,6 +133,8 @@ void lpf_window_reset(lpf_window_t *cfg)
 float32 lpf_window_update(lpf_window_t *cfg, float32 input)
 {
     DBG_ASSERT(cfg != NULL __DBG_LINE);
+    DBG_ASSERT(cfg->window != NULL __DBG_LINE);
+    DBG_ASSERT(cfg->size != 0 __DBG_LINE);
     cfg->sum = 0;
     // 如果窗口未满，直接添加新值到当前索引位置
     if (cfg->index < cfg->size)
@@ -151,6 +156,7 @@ float32 lpf_window_update(lpf_window_t *cfg, float32 input)
         cfg->sum += cfg->window[i];
     }
     // 计算平均值
+    DBG_ASSERT(cfg->index != 0 __DBG_LINE);
     cfg->out = cfg->sum / cfg->index;
     return cfg->out;
 }