text: #include <cassert>
  #include "selfdrive/common/swaglog.h"
  #include "selfdrive/common/timing.h"
  
  #include "lsm6ds3_temp.hpp"
  
  
  LSM6DS3_Temp::LSM6DS3_Temp(I2CBus *bus) : I2CSensor(bus) {}
  
  int LSM6DS3_Temp::init(){
    int ret = 0;
    uint8_t buffer[1];
  
    ret = read_register(LSM6DS3_TEMP_I2C_REG_ID, buffer, 1);
    if(ret < 0){
      LOGE("Reading chip ID failed: %d", ret);
      goto fail;
    }
  
    if(buffer[0] != LSM6DS3_TEMP_CHIP_ID){
      LOGE("Chip ID wrong. Got: %d, Expected %d", buffer[0], LSM6DS3_TEMP_CHIP_ID);
      ret = -1;
      goto fail;
    }
  
  fail:
    return ret;
  }
  
  void LSM6DS3_Temp::get_event(cereal::SensorEventData::Builder &event){
  
    uint64_t start_time = nanos_since_boot();
    uint8_t buffer[2];
    int len = read_register(LSM6DS3_TEMP_I2C_REG_OUT_TEMP_L, buffer, sizeof(buffer));
    assert(len == sizeof(buffer));
  
    float temp = 25.0f + read_16_bit(buffer[0], buffer[1]) / 16.0f;
  
    event.setSource(cereal::SensorEventData::SensorSource::LSM6DS3);
    event.setVersion(1);
    event.setType(SENSOR_TYPE_AMBIENT_TEMPERATURE);
    event.setTimestamp(start_time);
    event.setTemperature(temp);
  
  }
  