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38 lines
1.1 KiB
38 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_GYRO_I2C_ADDR 0x68
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// Registers of the chip
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#define BMX055_GYRO_I2C_REG_ID 0x00
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#define BMX055_GYRO_I2C_REG_RATE_X_LSB 0x02
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#define BMX055_GYRO_I2C_REG_RANGE 0x0F
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#define BMX055_GYRO_I2C_REG_BW 0x10
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#define BMX055_GYRO_I2C_REG_HBW 0x13
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#define BMX055_GYRO_I2C_REG_FIFO 0x3F
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// Constants
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#define BMX055_GYRO_CHIP_ID 0x0F
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#define BMX055_GYRO_HBW_ENABLE 0b10000000
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#define BMX055_GYRO_HBW_DISABLE 0b00000000
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#define BMX055_GYRO_RANGE_2000 0b000
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#define BMX055_GYRO_RANGE_1000 0b001
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#define BMX055_GYRO_RANGE_500 0b010
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#define BMX055_GYRO_RANGE_250 0b011
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#define BMX055_GYRO_RANGE_125 0b100
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#define BMX055_GYRO_BW_116HZ 0b0010
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class BMX055_Gyro : public I2CSensor {
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uint8_t get_device_address() {return BMX055_GYRO_I2C_ADDR;}
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public:
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BMX055_Gyro(I2CBus *bus);
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int init();
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bool get_event(cereal::SensorEventData::Builder &event);
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int shutdown() { return 0; }
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};
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