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45 lines
1.1 KiB
45 lines
1.1 KiB
#include "bmx055_temp.h"
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#include <cassert>
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#include "selfdrive/sensord/sensors/bmx055_accel.h"
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#include "common/swaglog.h"
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#include "common/timing.h"
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BMX055_Temp::BMX055_Temp(I2CBus *bus) : I2CSensor(bus) {}
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int BMX055_Temp::init() {
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int ret = 0;
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uint8_t buffer[1];
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ret = read_register(BMX055_ACCEL_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_ACCEL_CHIP_ID) {
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LOGE("Chip ID wrong. Got: %d, Expected %d", buffer[0], BMX055_ACCEL_CHIP_ID);
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ret = -1;
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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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bool BMX055_Temp::get_event(cereal::SensorEventData::Builder &event) {
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uint64_t start_time = nanos_since_boot();
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uint8_t buffer[1];
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int len = read_register(BMX055_ACCEL_I2C_REG_TEMP, buffer, sizeof(buffer));
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assert(len == sizeof(buffer));
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float temp = 23.0f + int8_t(buffer[0]) / 2.0f;
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event.setSource(cereal::SensorEventData::SensorSource::BMX055);
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event.setVersion(1);
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event.setType(SENSOR_TYPE_AMBIENT_TEMPERATURE);
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event.setTimestamp(start_time);
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event.setTemperature(temp);
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return true;
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}
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