accel_to_angle.h

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/*
 * Copyright (c) 2026 Nordic Semiconductor ASA
 *
 * SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
 */
 
#ifndef ACCEL_TO_ANGLE_H_
#define ACCEL_TO_ANGLE_H_
 
#ifdef __cplusplus
extern "C" {
#endif
 
#include <zephyr/drivers/sensor.h>
 
#define ACCEL_TO_ANGLE_AXIS_NUM 3
 
#define ACCEL_TO_ANGLE_CTX_DEFINE(_instance_name, _filter)      \
        struct accel_to_angle_ctx _instance_name = {            \
                .filter = _filter,                              \
                .pr_last = {0},                                 \
                .pr_diff = {0},                                 \
        }
 
#define ACCEL_TO_ANGLE_FILTER_DEFINE(_instance_name, _ctx, _process_request, _clean_request)    \
        struct accel_to_angle_filter _instance_name = {                                         \
                .ctx = _ctx,                                                                    \
                .data_process_request = _process_request,                                       \
                .data_clean_request = _clean_request                                            \
        }
 
struct accel_to_angle_accel_data {
        float x;
 
        float y;
 
        float z;
};
 
struct accel_to_angle_pr_data {
        float pitch;
 
        float roll;
};
 
struct accel_to_angle_filter {
        void *ctx;
 
        void (*data_process_request)(void *filter_ctx, struct accel_to_angle_accel_data *data);
 
        void (*data_clean_request)(void *filter_ctx);
};
 
struct accel_to_angle_ctx {
        struct accel_to_angle_filter *filter;
 
        struct accel_to_angle_pr_data pr_last;
 
        struct accel_to_angle_pr_data pr_diff;
};
 
int accel_to_angle_filter_set(struct accel_to_angle_ctx *ctx,
                              struct accel_to_angle_filter *filter);
 
int accel_to_angle_calc(struct accel_to_angle_ctx *ctx,
                        const struct sensor_value vals[ACCEL_TO_ANGLE_AXIS_NUM],
                        struct accel_to_angle_pr_data *pr);
 
bool accel_to_angle_diff_check(struct accel_to_angle_ctx *ctx,
                               const struct accel_to_angle_pr_data *pr_threshold_deg,
                               const uint8_t axis_threshold_num);
 
int accel_to_angle_state_clean(struct accel_to_angle_ctx *ctx);
 
#ifdef __cplusplus
}
#endif
 
#endif /* ACCEL_TO_ANGLE_H_ */