diff options
Diffstat (limited to 'driver/mag_bmm150.h')
| -rw-r--r-- | driver/mag_bmm150.h | 46 |
1 files changed, 42 insertions, 4 deletions
diff --git a/driver/mag_bmm150.h b/driver/mag_bmm150.h index a76c68cf3d..984ec0c492 100644 --- a/driver/mag_bmm150.h +++ b/driver/mag_bmm150.h @@ -91,16 +91,53 @@ struct bmm150_comp_registers { uint16_t dig_xyz1; }; -struct bmm150_private_data { - struct bmm150_comp_registers comp; - struct mag_cal_t cal; -}; #define BMM150_COMP_REG(_s) \ (&BMI160_GET_DATA(_s)->compass.comp) #define BMM150_CAL(_s) \ (&BMI160_GET_DATA(_s)->compass.cal) +/* compass data may need to be filtered to remove internal noise */ +#define BMI160_SMOOTH_ACC_NAME(_axis) CONCAT2(smooth_acc_, _axis) +#define DECLATE_BMI_SMOOTH_AXIS_VAR(_axis) \ + fp_t BMI160_SMOOTH_ACC_NAME(_axis) +#define BMI160_SMOOTH_GET_ACC(_s, _axis) \ + (BMI160_GET_DATA(_s)->compass.BMI160_SMOOTH_ACC_NAME(_axis)) + +#define BMI160_SMOOTH_ALPA(_axis) \ + (fp_div(INT_TO_FP(1), \ + INT_TO_FP(CONCAT3(CONFIG_MAG_, _axis, _SMOOTH_WEIGHT_INV)))) + +#define DECLARE_BMI160_SMOOTH_FUNC(_axis) \ + static inline int CONCAT2(bmi160_smooth_axis_, _axis)( \ + const struct motion_sensor_t \ + *s, int raw_data) { \ + EXP_MOVING_AVG(BMI160_SMOOTH_GET_ACC(s, _axis), \ + BMI160_SMOOTH_ALPA(_axis), raw_data); \ + return BMI160_SMOOTH_GET_ACC(s, _axis); \ + } + +#define DECLARE_BMI160_NO_SMOOTH_FUNC(_axis) \ + static inline int CONCAT2(bmi160_smooth_axis_, _axis)( \ + const struct motion_sensor_t \ + *s, int raw_data) { \ + return raw_data; \ + } + +struct bmm150_private_data { + struct bmm150_comp_registers comp; + struct mag_cal_t cal; +#ifdef CONFIG_MAG_X_SMOOTH_WEIGHT_INV + DECLATE_BMI_SMOOTH_AXIS_VAR(X); +#endif +#ifdef CONFIG_MAG_Y_SMOOTH_WEIGHT_INV + DECLATE_BMI_SMOOTH_AXIS_VAR(Y); +#endif +#ifdef CONFIG_MAG_Z_SMOOTH_WEIGHT_INV + DECLATE_BMI_SMOOTH_AXIS_VAR(Z); +#endif +}; + /* Specific initialization of BMM150 when behing BMI160 */ int bmm150_init(const struct motion_sensor_t *s); @@ -115,4 +152,5 @@ int bmm150_set_offset(const struct motion_sensor_t *s, int bmm150_get_offset(const struct motion_sensor_t *s, vector_3_t offset); + #endif /* __CROS_EC_MAG_BMM150_H */ |