openpilot v0.9.6 release

date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6

system/sensord/sensors/bmx055_gyro.h

@@ -0,0 +1,41 @@
+#pragma once
+
+#include "system/sensord/sensors/i2c_sensor.h"
+
+// Address of the chip on the bus
+#define BMX055_GYRO_I2C_ADDR        0x68
+
+// Registers of the chip
+#define BMX055_GYRO_I2C_REG_ID         0x00
+#define BMX055_GYRO_I2C_REG_RATE_X_LSB 0x02
+#define BMX055_GYRO_I2C_REG_RANGE      0x0F
+#define BMX055_GYRO_I2C_REG_BW         0x10
+#define BMX055_GYRO_I2C_REG_LPM1       0x11
+#define BMX055_GYRO_I2C_REG_HBW        0x13
+#define BMX055_GYRO_I2C_REG_FIFO       0x3F
+
+// Constants
+#define BMX055_GYRO_CHIP_ID         0x0F
+
+#define BMX055_GYRO_HBW_ENABLE       0b10000000
+#define BMX055_GYRO_HBW_DISABLE      0b00000000
+#define BMX055_GYRO_DEEP_SUSPEND     0b00100000
+#define BMX055_GYRO_NORMAL_MODE      0b00000000
+
+#define BMX055_GYRO_RANGE_2000      0b000
+#define BMX055_GYRO_RANGE_1000      0b001
+#define BMX055_GYRO_RANGE_500       0b010
+#define BMX055_GYRO_RANGE_250       0b011
+#define BMX055_GYRO_RANGE_125       0b100
+
+#define BMX055_GYRO_BW_116HZ 0b0010
+
+
+class BMX055_Gyro : public I2CSensor {
+  uint8_t get_device_address() {return BMX055_GYRO_I2C_ADDR;}
+public:
+  BMX055_Gyro(I2CBus *bus);
+  int init();
+  bool get_event(MessageBuilder &msg, uint64_t ts = 0);
+  int shutdown();
+};