|
|
|
|
#pragma once
|
|
|
|
|
|
|
|
|
|
#include <cstdint>
|
|
|
|
|
|
|
|
|
|
#include "cereal/gen/cpp/log.capnp.h"
|
|
|
|
|
#include "common/i2c.h"
|
|
|
|
|
#include "selfdrive/sensord/sensors/constants.h"
|
|
|
|
|
#include "selfdrive/sensord/sensors/sensor.h"
|
|
|
|
|
|
|
|
|
|
int16_t read_12_bit(uint8_t lsb, uint8_t msb);
|
|
|
|
|
int16_t read_16_bit(uint8_t lsb, uint8_t msb);
|
|
|
|
|
int32_t read_20_bit(uint8_t b2, uint8_t b1, uint8_t b0);
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
class I2CSensor : public Sensor {
|
|
|
|
|
private:
|
|
|
|
|
I2CBus *bus;
|
|
|
|
|
virtual uint8_t get_device_address() = 0;
|
|
|
|
|
|
|
|
|
|
public:
|
|
|
|
|
I2CSensor(I2CBus *bus);
|
|
|
|
|
int read_register(uint register_address, uint8_t *buffer, uint8_t len);
|
|
|
|
|
int set_register(uint register_address, uint8_t data);
|
|
|
|
|
virtual int init() = 0;
|
|
|
|
|
virtual void get_event(cereal::SensorEventData::Builder &event) = 0;
|
|
|
|
|
};
|
