wip

system/sensord/sensors/lsm6ds3_gyro.h

@@ -0,0 +1,45 @@
+#pragma once
+
+#include "system/sensord/sensors/i2c_sensor.h"
+
+// Address of the chip on the bus
+#define LSM6DS3_GYRO_I2C_ADDR       0x6A
+
+// Registers of the chip
+#define LSM6DS3_GYRO_I2C_REG_DRDY_CFG  0x0B
+#define LSM6DS3_GYRO_I2C_REG_ID        0x0F
+#define LSM6DS3_GYRO_I2C_REG_INT1_CTRL 0x0D
+#define LSM6DS3_GYRO_I2C_REG_CTRL2_G   0x11
+#define LSM6DS3_GYRO_I2C_REG_CTRL5_C   0x14
+#define LSM6DS3_GYRO_I2C_REG_STAT_REG  0x1E
+#define LSM6DS3_GYRO_I2C_REG_OUTX_L_G  0x22
+#define LSM6DS3_GYRO_POSITIVE_TEST   (0b01 << 2)
+#define LSM6DS3_GYRO_NEGATIVE_TEST   (0b11 << 2)
+
+// Constants
+#define LSM6DS3_GYRO_CHIP_ID         0x69
+#define LSM6DS3TRC_GYRO_CHIP_ID      0x6A
+#define LSM6DS3_GYRO_FS_2000dps      (0b11 << 2)
+#define LSM6DS3_GYRO_ODR_104HZ       (0b0100 << 4)
+#define LSM6DS3_GYRO_ODR_208HZ       (0b0101 << 4)
+#define LSM6DS3_GYRO_INT1_DRDY_G     0b10
+#define LSM6DS3_GYRO_DRDY_GDA        0b10
+#define LSM6DS3_GYRO_DRDY_PULSE_MODE (1 << 7)
+#define LSM6DS3_GYRO_MIN_ST_LIMIT_mdps 150000.0f
+#define LSM6DS3_GYRO_MAX_ST_LIMIT_mdps 700000.0f
+
+
+class LSM6DS3_Gyro : public I2CSensor {
+  uint8_t get_device_address() {return LSM6DS3_GYRO_I2C_ADDR;}
+  cereal::SensorEventData::SensorSource source = cereal::SensorEventData::SensorSource::LSM6DS3;
+
+  // self test functions
+  int self_test(int test_type);
+  void wait_for_data_ready();
+  void read_and_avg_data(float* val_st_off);
+public:
+  LSM6DS3_Gyro(I2CBus *bus, int gpio_nr = 0, bool shared_gpio = false);
+  int init();
+  bool get_event(MessageBuilder &msg, uint64_t ts = 0);
+  int shutdown();
+};