Release 260111

system/sensord/sensors/lsm6ds3_temp.py

@@ -0,0 +1,33 @@
+import time
+
+from cereal import log
+from openpilot.system.sensord.sensors.i2c_sensor import Sensor
+
+# https://content.arduino.cc/assets/st_imu_lsm6ds3_datasheet.pdf
+class LSM6DS3_Temp(Sensor):
+  @property
+  def device_address(self) -> int:
+    return 0x6A
+
+  def _read_temperature(self) -> float:
+    scale = 16.0 if self.source == log.SensorEventData.SensorSource.lsm6ds3 else 256.0
+    data = self.read(0x20, 2)
+    return 25 + (self.parse_16bit(data[0], data[1]) / scale)
+
+  def init(self):
+    chip_id = self.verify_chip_id(0x0F, [0x69, 0x6A])
+    if chip_id == 0x6A:
+      self.source = log.SensorEventData.SensorSource.lsm6ds3trc
+    else:
+      self.source = log.SensorEventData.SensorSource.lsm6ds3
+
+  def get_event(self, ts: int | None = None) -> log.SensorEventData:
+    event = log.SensorEventData.new_message()
+    event.version = 1
+    event.timestamp = int(time.monotonic() * 1e9)
+    event.source = self.source
+    event.temperature = self._read_temperature()
+    return event
+
+  def shutdown(self) -> None:
+    pass