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33 lines
1.0 KiB
33 lines
1.0 KiB
import time
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from cereal import log
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from openpilot.system.sensord.sensors.i2c_sensor import Sensor
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# https://content.arduino.cc/assets/st_imu_lsm6ds3_datasheet.pdf
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class LSM6DS3_Temp(Sensor):
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@property
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def device_address(self) -> int:
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return 0x6A
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def _read_temperature(self) -> float:
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scale = 16.0 if self.source == log.SensorEventData.SensorSource.lsm6ds3 else 256.0
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data = self.read(0x20, 2)
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return 25 + (self.parse_16bit(data[0], data[1]) / scale)
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def init(self):
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chip_id = self.verify_chip_id(0x0F, [0x69, 0x6A])
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if chip_id == 0x6A:
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self.source = log.SensorEventData.SensorSource.lsm6ds3trc
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else:
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self.source = log.SensorEventData.SensorSource.lsm6ds3
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def get_event(self, ts: int | None = None) -> log.SensorEventData:
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event = log.SensorEventData.new_message()
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event.version = 1
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event.timestamp = int(time.monotonic() * 1e9)
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event.source = self.source
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event.temperature = self._read_temperature()
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return event
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def shutdown(self) -> None:
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pass
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