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openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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openpilot_comma/system/sensord/SConscript

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Tici sensord (#2072) * tici sensord: WIP * add sensor constants * rename files * base class * init sensors * publish something * dont leak memory * try reading from accel * Accel works * add time and sensor source * Update release files * If we want low BW we want 125hz * this should run gyro as well * add filter on gyro * also filter accel data * Add i2c files * cast makes macos unhappy * Same outputs as android sensord Co-authored-by: Tici <robbe@comma.ai> Co-authored-by: Willem Melching <willem.melching@gmail.com> old-commit-hash: 622e42d504458ebfbb23e945beb1a60bbfd0e63b
5 years ago
Import('env', 'arch', 'common', 'cereal', 'messaging')
remove gpsd (#20027) old-commit-hash: fe7f3f0ec6b66e42b26451e180e3cde241e749bb
5 years ago
remove comma two support (#24248) * remove comma two support * cleanup release files * little more * more libs * no more gralloc * add snpe back old-commit-hash: 5c48e7bc86a621dd35f4ff25da7a26ee506bac76
4 years ago
sensors = [
'sensors/i2c_sensor.cc',
'sensors/bmx055_accel.cc',
'sensors/bmx055_gyro.cc',
'sensors/bmx055_magn.cc',
'sensors/bmx055_temp.cc',
'sensors/lsm6ds3_accel.cc',
'sensors/lsm6ds3_gyro.cc',
'sensors/lsm6ds3_temp.cc',
'sensors/mmc5603nj_magn.cc',
]
sensord: use interrupts to improve LSM6DS3 timing accuracy (#24525) * change LSM6DS3TR(-c) gyroscope and accelerometer to interrupt * add pthread for linking * add interrupt collector thread to fetch in parallel to non interrupt based sensors * change get_event interface to return true on successful read * fetch sensor interrupts via gpiochip * avoid sending empty messages (interrupt only, non interupt magn can leave a gap in the orphan block) * add verifier script to sensor interrupts (sensor_data_to_hist.py) * add/update sensord testsweet (test_sensord.py) * add poll timed out check * unexport interrupt gpio pins * gpiochip on both edges, but skip falling edge if rising edge is detected, this is handled in the sensor as the status flag is checked if new data is availble * add test to sensord to verify 100Hz interrupt frequency * add sensor shutdown/low power mode functionality on sensord exit * relax test, will be readded in the splitup PR Co-authored-by: Kurt Nistelberger <kurt.nistelberger@gmail.com> old-commit-hash: 84a3c355e5fdb7bb2f50847f925e894eecfa8918
3 years ago
libs = [common, cereal, messaging, 'capnp', 'zmq', 'kj', 'pthread']
remove comma two support (#24248) * remove comma two support * cleanup release files * little more * more libs * no more gralloc * add snpe back old-commit-hash: 5c48e7bc86a621dd35f4ff25da7a26ee506bac76
4 years ago
if arch == "larch64":
libs.append('i2c')
env.Program('_sensord', ['sensors_qcom2.cc'] + sensors, LIBS=libs)