You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
24 lines
614 B
24 lines
614 B
#pragma once
|
|
|
|
#include "sensors/i2c_sensor.hpp"
|
|
|
|
// Address of the chip on the bus
|
|
#define LSM6DS3_ACCEL_I2C_ADDR 0x6A
|
|
|
|
// Registers of the chip
|
|
#define LSM6DS3_ACCEL_I2C_REG_ID 0x0F
|
|
#define LSM6DS3_ACCEL_I2C_REG_CTRL1_XL 0x10
|
|
#define LSM6DS3_ACCEL_I2C_REG_OUTX_L_XL 0x28
|
|
|
|
// Constants
|
|
#define LSM6DS3_ACCEL_CHIP_ID 0x69
|
|
#define LSM6DS3_ACCEL_ODR_104HZ (0b0100 << 4)
|
|
|
|
|
|
class LSM6DS3_Accel : public I2CSensor {
|
|
uint8_t get_device_address() {return LSM6DS3_ACCEL_I2C_ADDR;}
|
|
public:
|
|
LSM6DS3_Accel(I2CBus *bus);
|
|
int init();
|
|
void get_event(cereal::SensorEventData::Builder &event);
|
|
};
|
|
|