ema.h

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/*
 * Copyright (c) 2026 Nordic Semiconductor ASA
 *
 * SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
 */
 
#ifndef ACCEL_TO_ANGLE_FILTER_EMA_H_
#define ACCEL_TO_ANGLE_FILTER_EMA_H_
 
#ifdef __cplusplus
extern "C" {
#endif
 
#include <accel_to_angle/accel_to_angle.h>
 
#define ACCEL_TO_ANGLE_FILTER_EMA_DEFINE(_instance_name, _odr_hz, _tau_s)       \
        BUILD_ASSERT(_odr_hz > 0.0f,                                            \
                "The output data rate has to be greater than 0");               \
        BUILD_ASSERT(_tau_s > 0.0f,                                             \
                "The time constant has to be greater than 0");                  \
        static struct accel_to_angle_ema_ctx _instance_name##_ctx = {           \
                .odr_hz = _odr_hz,                                              \
                .tau_s = _tau_s,                                                \
                .alpha = 0.0f,                                                  \
        };                                                                      \
                                                                                \
        static ACCEL_TO_ANGLE_FILTER_DEFINE(                                    \
                _instance_name,                                                 \
                &_instance_name##_ctx,                                          \
                filter_ema_data_process_request,                                \
                filter_ema_data_clean_request                                   \
        )
 
struct accel_to_angle_ema_ctx {
        struct accel_to_angle_accel_data filtered_data;
 
        float odr_hz;
 
        float tau_s;
 
        float alpha;
};
 
void filter_ema_data_process_request(void *ctx, struct accel_to_angle_accel_data *data);
 
void filter_ema_data_clean_request(void *ctx);
 
#ifdef __cplusplus
}
#endif
 
#endif /* ACCEL_TO_ANGLE_FILTER_EMA_H_ */