This filter was needed for a task that is polled at every 5. millisecond during the runtime. tUI8, -16, -32 are integer types of 8, 16 and 32 bits.

```
/* this is for a task that runs at a 5 ms frequency */
tUI8 weighted_filter(int new_sample)
{
#define FILTER_CONST_WEIGHT 128U /* total weights */
#define FILTER_CONST_WEIGHT_SAMPLE 3U /* weight of new sample */
#define FILTER_CONST_SHIFT 8U /* shift by */
#define FILTER_CONST_SHIFT_VAL 256U /* shift value */
#define FILTER_CONST_WEIGHT_SHIFT 7U /* shift value of weight */
static tUI32 sample_weighted = 0U; /* store previous weighted */
static tBOOL sample_first_run = 1; /* first run flag */
tUI8 sample_output = 0; /* return value */
tUI32 sample_tmp = 0U; /* temporary value, needed for calculation */
/* if first run, set initial values to immediately reach input
* method would be too slow without this
*/
if (sample_first_run == 1)
{
sample_first_run = 0; /* no more first runs */
sample_output = new_sample; /* return the input value */
sample_weighted = (tUI32)(new_sample ) << FILTER_CONST_SHIFT; /* weighted initial value with offset */
}
else
{
sample_tmp = new_sample; /* add offset temperature to be in unsigned range */
sample_tmp = sample_tmp >> FILTER_CONST_WEIGHT_SHIFT; /* divide by total weights */
sample_tmp = (sample_weighted + (FILTER_CONST_SHIFT_VAL>>1) -1 ) >> FILTER_CONST_SHIFT; /* round and divide by shift | need to be kept in one row! */
sample_output = (tUI8)sample_tmp; /* output value */
}
return (sample_output);
}
```