45 lines
1.1 KiB
C++
45 lines
1.1 KiB
C++
#include "bmx055_temp.h"
|
|
|
|
#include <cassert>
|
|
|
|
#include "selfdrive/sensord/sensors/bmx055_accel.h"
|
|
#include "selfdrive/common/swaglog.h"
|
|
#include "selfdrive/common/timing.h"
|
|
|
|
BMX055_Temp::BMX055_Temp(I2CBus *bus) : I2CSensor(bus) {}
|
|
|
|
int BMX055_Temp::init(){
|
|
int ret = 0;
|
|
uint8_t buffer[1];
|
|
|
|
ret = read_register(BMX055_ACCEL_I2C_REG_ID, buffer, 1);
|
|
if(ret < 0){
|
|
LOGE("Reading chip ID failed: %d", ret);
|
|
goto fail;
|
|
}
|
|
|
|
if(buffer[0] != BMX055_ACCEL_CHIP_ID){
|
|
LOGE("Chip ID wrong. Got: %d, Expected %d", buffer[0], BMX055_ACCEL_CHIP_ID);
|
|
ret = -1;
|
|
goto fail;
|
|
}
|
|
|
|
fail:
|
|
return ret;
|
|
}
|
|
|
|
void BMX055_Temp::get_event(cereal::SensorEventData::Builder &event){
|
|
uint64_t start_time = nanos_since_boot();
|
|
uint8_t buffer[1];
|
|
int len = read_register(BMX055_ACCEL_I2C_REG_TEMP, buffer, sizeof(buffer));
|
|
assert(len == sizeof(buffer));
|
|
|
|
float temp = 23.0f + int8_t(buffer[0]) / 2.0f;
|
|
|
|
event.setSource(cereal::SensorEventData::SensorSource::BMX055);
|
|
event.setVersion(1);
|
|
event.setType(SENSOR_TYPE_AMBIENT_TEMPERATURE);
|
|
event.setTimestamp(start_time);
|
|
event.setTemperature(temp);
|
|
}
|