65 lines
1.6 KiB
C++
65 lines
1.6 KiB
C++
#include "lsm6ds3_gyro.h"
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#include <cassert>
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#include <cmath>
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#include "selfdrive/common/swaglog.h"
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#include "selfdrive/common/timing.h"
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#define DEG2RAD(x) ((x) * M_PI / 180.0)
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LSM6DS3_Gyro::LSM6DS3_Gyro(I2CBus *bus) : I2CSensor(bus) {}
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int LSM6DS3_Gyro::init() {
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int ret = 0;
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uint8_t buffer[1];
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ret = read_register(LSM6DS3_GYRO_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_GYRO_CHIP_ID) {
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LOGE("Chip ID wrong. Got: %d, Expected %d", buffer[0], LSM6DS3_GYRO_CHIP_ID);
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ret = -1;
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goto fail;
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}
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// TODO: set scale. Default is +- 250 deg/s
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ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL2_G, LSM6DS3_GYRO_ODR_104HZ);
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if (ret < 0) {
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goto fail;
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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_Gyro::get_event(cereal::SensorEventData::Builder &event) {
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uint64_t start_time = nanos_since_boot();
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uint8_t buffer[6];
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int len = read_register(LSM6DS3_GYRO_I2C_REG_OUTX_L_G, buffer, sizeof(buffer));
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assert(len == sizeof(buffer));
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float scale = 8.75 / 1000.0;
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float x = DEG2RAD(read_16_bit(buffer[0], buffer[1]) * scale);
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float y = DEG2RAD(read_16_bit(buffer[2], buffer[3]) * scale);
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float z = DEG2RAD(read_16_bit(buffer[4], buffer[5]) * scale);
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event.setSource(cereal::SensorEventData::SensorSource::LSM6DS3);
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event.setVersion(2);
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event.setSensor(SENSOR_GYRO_UNCALIBRATED);
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event.setType(SENSOR_TYPE_GYROSCOPE_UNCALIBRATED);
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event.setTimestamp(start_time);
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float xyz[] = {y, -x, z};
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auto svec = event.initGyroUncalibrated();
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svec.setV(xyz);
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svec.setStatus(true);
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}
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