diff options
| -rw-r--r-- | driver/accelgyro_bmi160.c | 16 |
1 files changed, 9 insertions, 7 deletions
diff --git a/driver/accelgyro_bmi160.c b/driver/accelgyro_bmi160.c index ecf41d32af..ef84781a5a 100644 --- a/driver/accelgyro_bmi160.c +++ b/driver/accelgyro_bmi160.c @@ -807,7 +807,7 @@ static uint8_t bmi160_buffer[BMI160_FIFO_BUFFER]; * @bp: current pointer in the buffer, updated when processing the header. * @ep: pointer to the end of the valid data in the buffer. */ -static int bmi160_decode_header(struct motion_sensor_t *s, +static int bmi160_decode_header(struct motion_sensor_t *accel, enum fifo_header hdr, uint32_t last_ts, uint8_t **bp, uint8_t *ep) { @@ -827,20 +827,22 @@ static int bmi160_decode_header(struct motion_sensor_t *s, } for (i = MOTIONSENSE_TYPE_MAG; i >= MOTIONSENSE_TYPE_ACCEL; i--) { + struct motion_sensor_t *s = accel + i; + if (hdr & (1 << (i + BMI160_FH_PARM_OFFSET))) { struct ec_response_motion_sensor_data vector; - int *v = (s + i)->raw_xyz; + int *v = s->raw_xyz; vector.flags = 0; - normalize(s + i, v, *bp); + normalize(s, v, *bp); #ifdef CONFIG_ACCEL_SPOOF_MODE - if ((s+i)->in_spoof_mode) - v = (s+i)->spoof_xyz; + if (s->in_spoof_mode) + v = s->spoof_xyz; #endif /* defined(CONFIG_ACCEL_SPOOF_MODE) */ vector.data[X] = v[X]; vector.data[Y] = v[Y]; vector.data[Z] = v[Z]; - vector.sensor_num = i + (s - motion_sensors); - motion_sense_fifo_add_data(&vector, s + i, 3, + vector.sensor_num = s - motion_sensors; + motion_sense_fifo_add_data(&vector, s, 3, last_ts); *bp += (i == MOTIONSENSE_TYPE_MAG ? 8 : 6); } |