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BMX055 dont use FIFO registers (#20374)

pull/20376/head
Willem Melching 2021-03-16 14:37:14 +01:00 committed by GitHub
parent 7aa379e123
commit 1c83ae8722
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GPG Key ID: 4AEE18F83AFDEB23
4 changed files with 9 additions and 7 deletions
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2
selfdrive/sensord/sensors/bmx055_accel.cc
View File

@ -46,7 +46,7 @@ fail:
void BMX055_Accel::get_event(cereal::SensorEventData::Builder &event){
uint64_t start_time = nanos_since_boot();
uint8_t buffer[6];
int len = read_register(BMX055_ACCEL_I2C_REG_FIFO, buffer, sizeof(buffer));
int len = read_register(BMX055_ACCEL_I2C_REG_X_LSB, buffer, sizeof(buffer));
assert(len == 6);
// 12 bit = +-2g

1
selfdrive/sensord/sensors/bmx055_accel.hpp
View File

@ -7,6 +7,7 @@
// Registers of the chip
#define BMX055_ACCEL_I2C_REG_ID 0x00
#define BMX055_ACCEL_I2C_REG_X_LSB 0x02
#define BMX055_ACCEL_I2C_REG_TEMP 0x08
#define BMX055_ACCEL_I2C_REG_BW 0x10
#define BMX055_ACCEL_I2C_REG_HBW 0x13

2
selfdrive/sensord/sensors/bmx055_gyro.cc
View File

@ -56,7 +56,7 @@ fail:
void BMX055_Gyro::get_event(cereal::SensorEventData::Builder &event){
uint64_t start_time = nanos_since_boot();
uint8_t buffer[6];
int len = read_register(BMX055_GYRO_I2C_REG_FIFO, buffer, sizeof(buffer));
int len = read_register(BMX055_GYRO_I2C_REG_RATE_X_LSB, buffer, sizeof(buffer));
assert(len == 6);
// 16 bit = +- 125 deg/s

11
selfdrive/sensord/sensors/bmx055_gyro.hpp
View File

@ -6,11 +6,12 @@
#define BMX055_GYRO_I2C_ADDR 0x68
// Registers of the chip
#define BMX055_GYRO_I2C_REG_ID 0x00
#define BMX055_GYRO_I2C_REG_RANGE 0x0F
#define BMX055_GYRO_I2C_REG_BW 0x10
#define BMX055_GYRO_I2C_REG_HBW 0x13
#define BMX055_GYRO_I2C_REG_FIFO 0x3F
#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_HBW 0x13
#define BMX055_GYRO_I2C_REG_FIFO 0x3F
// Constants
#define BMX055_GYRO_CHIP_ID 0x0F