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.
45 lines
1.5 KiB
45 lines
1.5 KiB
#pragma once
|
|
|
|
#include "selfdrive/sensord/sensors/i2c_sensor.h"
|
|
|
|
// Address of the chip on the bus
|
|
#define LSM6DS3_GYRO_I2C_ADDR 0x6A
|
|
|
|
// Registers of the chip
|
|
#define LSM6DS3_GYRO_I2C_REG_DRDY_CFG 0x0B
|
|
#define LSM6DS3_GYRO_I2C_REG_ID 0x0F
|
|
#define LSM6DS3_GYRO_I2C_REG_INT1_CTRL 0x0D
|
|
#define LSM6DS3_GYRO_I2C_REG_CTRL2_G 0x11
|
|
#define LSM6DS3_GYRO_I2C_REG_CTRL5_C 0x14
|
|
#define LSM6DS3_GYRO_I2C_REG_STAT_REG 0x1E
|
|
#define LSM6DS3_GYRO_I2C_REG_OUTX_L_G 0x22
|
|
#define LSM6DS3_GYRO_POSITIVE_TEST (0b01 << 2)
|
|
#define LSM6DS3_GYRO_NEGATIVE_TEST (0b11 << 2)
|
|
|
|
// Constants
|
|
#define LSM6DS3_GYRO_CHIP_ID 0x69
|
|
#define LSM6DS3TRC_GYRO_CHIP_ID 0x6A
|
|
#define LSM6DS3_GYRO_FS_2000dps (0b11 << 2)
|
|
#define LSM6DS3_GYRO_ODR_104HZ (0b0100 << 4)
|
|
#define LSM6DS3_GYRO_ODR_208HZ (0b0101 << 4)
|
|
#define LSM6DS3_GYRO_INT1_DRDY_G 0b10
|
|
#define LSM6DS3_GYRO_DRDY_GDA 0b10
|
|
#define LSM6DS3_GYRO_DRDY_PULSE_MODE (1 << 7)
|
|
#define LSM6DS3_GYRO_MIN_ST_LIMIT_mdps 150000.0f
|
|
#define LSM6DS3_GYRO_MAX_ST_LIMIT_mdps 700000.0f
|
|
|
|
|
|
class LSM6DS3_Gyro : public I2CSensor {
|
|
uint8_t get_device_address() {return LSM6DS3_GYRO_I2C_ADDR;}
|
|
cereal::SensorEventData::SensorSource source = cereal::SensorEventData::SensorSource::LSM6DS3;
|
|
|
|
// self test functions
|
|
int self_test(int test_type);
|
|
void wait_for_data_ready();
|
|
void read_and_avg_data(float* val_st_off);
|
|
public:
|
|
LSM6DS3_Gyro(I2CBus *bus, int gpio_nr = 0, bool shared_gpio = false);
|
|
int init();
|
|
bool get_event(MessageBuilder &msg, uint64_t ts = 0);
|
|
int shutdown();
|
|
};
|
|
|