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80 lines
1.9 KiB
80 lines
1.9 KiB
#include "bmx055_gyro.h"
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#include <cassert>
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#include <cmath>
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#include "selfdrive/common/swaglog.h"
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#define DEG2RAD(x) ((x) * M_PI / 180.0)
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BMX055_Gyro::BMX055_Gyro(I2CBus *bus) : I2CSensor(bus) {}
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int BMX055_Gyro::init() {
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int ret = 0;
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uint8_t buffer[1];
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ret =read_register(BMX055_GYRO_I2C_REG_ID, buffer, 1);
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if(ret < 0) {
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LOGE("Reading chip ID failed: %d", ret);
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goto fail;
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}
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if(buffer[0] != BMX055_GYRO_CHIP_ID) {
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LOGE("Chip ID wrong. Got: %d, Expected %d", buffer[0], BMX055_GYRO_CHIP_ID);
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ret = -1;
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goto fail;
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}
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// High bandwidth
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// ret = set_register(BMX055_GYRO_I2C_REG_HBW, BMX055_GYRO_HBW_ENABLE);
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// if (ret < 0) {
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// goto fail;
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// }
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// Low bandwidth
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ret = set_register(BMX055_GYRO_I2C_REG_HBW, BMX055_GYRO_HBW_DISABLE);
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if (ret < 0) {
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goto fail;
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}
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// 116 Hz filter
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ret = set_register(BMX055_GYRO_I2C_REG_BW, BMX055_GYRO_BW_116HZ);
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if (ret < 0) {
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goto fail;
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}
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// +- 125 deg/s range
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ret = set_register(BMX055_GYRO_I2C_REG_RANGE, BMX055_GYRO_RANGE_125);
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if (ret < 0) {
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goto fail;
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}
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fail:
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return ret;
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}
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void BMX055_Gyro::get_event(cereal::SensorEventData::Builder &event) {
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uint64_t start_time = nanos_since_boot();
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uint8_t buffer[6];
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int len = read_register(BMX055_GYRO_I2C_REG_RATE_X_LSB, buffer, sizeof(buffer));
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assert(len == 6);
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// 16 bit = +- 125 deg/s
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float scale = 125.0f / (1 << 15);
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float x = -DEG2RAD(read_16_bit(buffer[0], buffer[1]) * scale);
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float y = -DEG2RAD(read_16_bit(buffer[2], buffer[3]) * scale);
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float z = DEG2RAD(read_16_bit(buffer[4], buffer[5]) * scale);
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event.setSource(cereal::SensorEventData::SensorSource::BMX055);
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event.setVersion(1);
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event.setSensor(SENSOR_GYRO_UNCALIBRATED);
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event.setType(SENSOR_TYPE_GYROSCOPE_UNCALIBRATED);
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event.setTimestamp(start_time);
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float xyz[] = {x, y, z};
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auto svec = event.initGyroUncalibrated();
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svec.setV(xyz);
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svec.setStatus(true);
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}
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