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24 lines
603 B
24 lines
603 B
#pragma once
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#include "sensors/i2c_sensor.h"
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// Address of the chip on the bus
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#define LSM6DS3_GYRO_I2C_ADDR 0x6A
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// Registers of the chip
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#define LSM6DS3_GYRO_I2C_REG_ID 0x0F
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#define LSM6DS3_GYRO_I2C_REG_CTRL2_G 0x11
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#define LSM6DS3_GYRO_I2C_REG_OUTX_L_G 0x22
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// Constants
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#define LSM6DS3_GYRO_CHIP_ID 0x69
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#define LSM6DS3_GYRO_ODR_104HZ (0b0100 << 4)
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class LSM6DS3_Gyro : public I2CSensor {
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uint8_t get_device_address() {return LSM6DS3_GYRO_I2C_ADDR;}
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public:
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LSM6DS3_Gyro(I2CBus *bus);
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int init();
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void get_event(cereal::SensorEventData::Builder &event);
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};
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