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36 lines
932 B
36 lines
932 B
#pragma once
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#include <cstdint>
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#include <unistd.h>
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#include "cereal/gen/cpp/log.capnp.h"
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#include "common/i2c.h"
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#include "common/gpio.h"
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#include "selfdrive/sensord/sensors/constants.h"
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#include "selfdrive/sensord/sensors/sensor.h"
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int16_t read_12_bit(uint8_t lsb, uint8_t msb);
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int16_t read_16_bit(uint8_t lsb, uint8_t msb);
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int32_t read_20_bit(uint8_t b2, uint8_t b1, uint8_t b0);
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class I2CSensor : public Sensor {
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private:
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I2CBus *bus;
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int gpio_nr;
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bool shared_gpio;
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virtual uint8_t get_device_address() = 0;
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public:
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I2CSensor(I2CBus *bus, int gpio_nr = 0, bool shared_gpio = false);
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~I2CSensor();
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int read_register(uint register_address, uint8_t *buffer, uint8_t len);
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int set_register(uint register_address, uint8_t data);
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int init_gpio();
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bool has_interrupt_enabled();
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virtual int init() = 0;
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virtual bool get_event(MessageBuilder &msg, uint64_t ts = 0) = 0;
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virtual int shutdown() = 0;
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};
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