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