51 lines
1.3 KiB
C++
51 lines
1.3 KiB
C++
#include "lsm6ds3_temp.h"
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#include <cassert>
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#include "selfdrive/common/swaglog.h"
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#include "selfdrive/common/timing.h"
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LSM6DS3_Temp::LSM6DS3_Temp(I2CBus *bus) : I2CSensor(bus) {}
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int LSM6DS3_Temp::init() {
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int ret = 0;
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uint8_t buffer[1];
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ret = read_register(LSM6DS3_TEMP_I2C_REG_ID, buffer, 1);
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if(ret < 0) {
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LOGE("Reading chip ID failed: %d", ret);
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goto fail;
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}
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if(buffer[0] != LSM6DS3_TEMP_CHIP_ID && buffer[0] != LSM6DS3TRC_TEMP_CHIP_ID) {
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LOGE("Chip ID wrong. Got: %d, Expected %d", buffer[0], LSM6DS3_TEMP_CHIP_ID);
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ret = -1;
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goto fail;
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}
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if (buffer[0] == LSM6DS3TRC_TEMP_CHIP_ID) {
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source = cereal::SensorEventData::SensorSource::LSM6DS3TRC;
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}
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fail:
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return ret;
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}
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void LSM6DS3_Temp::get_event(cereal::SensorEventData::Builder &event) {
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uint64_t start_time = nanos_since_boot();
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uint8_t buffer[2];
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int len = read_register(LSM6DS3_TEMP_I2C_REG_OUT_TEMP_L, buffer, sizeof(buffer));
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assert(len == sizeof(buffer));
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float scale = (source == cereal::SensorEventData::SensorSource::LSM6DS3TRC) ? 256.0f : 16.0f;
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float temp = 25.0f + read_16_bit(buffer[0], buffer[1]) / scale;
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event.setSource(source);
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event.setVersion(1);
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event.setType(SENSOR_TYPE_AMBIENT_TEMPERATURE);
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event.setTimestamp(start_time);
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event.setTemperature(temp);
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}
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