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37 lines
1.1 KiB
37 lines
1.1 KiB
#pragma once
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#include "selfdrive/sensord/sensors/i2c_sensor.h"
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// Address of the chip on the bus
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#define BMX055_ACCEL_I2C_ADDR 0x18
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// Registers of the chip
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#define BMX055_ACCEL_I2C_REG_ID 0x00
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#define BMX055_ACCEL_I2C_REG_X_LSB 0x02
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#define BMX055_ACCEL_I2C_REG_TEMP 0x08
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#define BMX055_ACCEL_I2C_REG_BW 0x10
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#define BMX055_ACCEL_I2C_REG_HBW 0x13
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#define BMX055_ACCEL_I2C_REG_FIFO 0x3F
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// Constants
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#define BMX055_ACCEL_CHIP_ID 0xFA
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#define BMX055_ACCEL_HBW_ENABLE 0b10000000
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#define BMX055_ACCEL_HBW_DISABLE 0b00000000
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#define BMX055_ACCEL_BW_7_81HZ 0b01000
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#define BMX055_ACCEL_BW_15_63HZ 0b01001
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#define BMX055_ACCEL_BW_31_25HZ 0b01010
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#define BMX055_ACCEL_BW_62_5HZ 0b01011
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#define BMX055_ACCEL_BW_125HZ 0b01100
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#define BMX055_ACCEL_BW_250HZ 0b01101
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#define BMX055_ACCEL_BW_500HZ 0b01110
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#define BMX055_ACCEL_BW_1000HZ 0b01111
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class BMX055_Accel : public I2CSensor {
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uint8_t get_device_address() {return BMX055_ACCEL_I2C_ADDR;}
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public:
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BMX055_Accel(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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