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63 lines
1.9 KiB
63 lines
1.9 KiB
#pragma once
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#include <tuple>
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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_MAGN_I2C_ADDR 0x10
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// Registers of the chip
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#define BMX055_MAGN_I2C_REG_ID 0x40
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#define BMX055_MAGN_I2C_REG_PWR_0 0x4B
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#define BMX055_MAGN_I2C_REG_MAG 0x4C
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#define BMX055_MAGN_I2C_REG_DATAX_LSB 0x42
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#define BMX055_MAGN_I2C_REG_RHALL_LSB 0x48
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#define BMX055_MAGN_I2C_REG_REPXY 0x51
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#define BMX055_MAGN_I2C_REG_REPZ 0x52
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#define BMX055_MAGN_I2C_REG_DIG_X1 0x5D
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#define BMX055_MAGN_I2C_REG_DIG_Y1 0x5E
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#define BMX055_MAGN_I2C_REG_DIG_Z4_LSB 0x62
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#define BMX055_MAGN_I2C_REG_DIG_Z4_MSB 0x63
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#define BMX055_MAGN_I2C_REG_DIG_X2 0x64
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#define BMX055_MAGN_I2C_REG_DIG_Y2 0x65
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#define BMX055_MAGN_I2C_REG_DIG_Z2_LSB 0x68
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#define BMX055_MAGN_I2C_REG_DIG_Z2_MSB 0x69
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#define BMX055_MAGN_I2C_REG_DIG_Z1_LSB 0x6A
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#define BMX055_MAGN_I2C_REG_DIG_Z1_MSB 0x6B
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#define BMX055_MAGN_I2C_REG_DIG_XYZ1_LSB 0x6C
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#define BMX055_MAGN_I2C_REG_DIG_XYZ1_MSB 0x6D
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#define BMX055_MAGN_I2C_REG_DIG_Z3_LSB 0x6E
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#define BMX055_MAGN_I2C_REG_DIG_Z3_MSB 0x6F
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#define BMX055_MAGN_I2C_REG_DIG_XY2 0x70
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#define BMX055_MAGN_I2C_REG_DIG_XY1 0x71
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// Constants
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#define BMX055_MAGN_CHIP_ID 0x32
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#define BMX055_MAGN_FORCED (0b01 << 1)
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struct trim_data_t {
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int8_t dig_x1;
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int8_t dig_y1;
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int8_t dig_x2;
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int8_t dig_y2;
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uint16_t dig_z1;
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int16_t dig_z2;
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int16_t dig_z3;
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int16_t dig_z4;
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uint8_t dig_xy1;
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int8_t dig_xy2;
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uint16_t dig_xyz1;
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};
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class BMX055_Magn : public I2CSensor{
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uint8_t get_device_address() {return BMX055_MAGN_I2C_ADDR;}
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trim_data_t trim_data = {0};
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bool perform_self_test();
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bool parse_xyz(uint8_t buffer[8], int16_t *x, int16_t *y, int16_t *z);
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public:
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BMX055_Magn(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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