From 0eacf34e15cd65146e1122006bd77b7f669ef9d1 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 22 Apr 2026 16:49:29 -0700 Subject: [PATCH] sensord: add note about shared IRQ --- system/sensord/sensord.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/system/sensord/sensord.py b/system/sensord/sensord.py index d17d29695..ce6fb9ccb 100755 --- a/system/sensord/sensord.py +++ b/system/sensord/sensord.py @@ -22,6 +22,10 @@ I2C_BUS_IMU = 1 def interrupt_loop(sensors: list[tuple[Sensor, str, bool]], event) -> None: pm = messaging.PubMaster([service for sensor, service, interrupt in sensors if interrupt]) + # NOTE: the gyro and accelerometer share an IRQ due to the comma three + # routing only one GPIO from the LSM to the SOC, but comma 3X and four + # have two. if we want better timestamps in the future, we can use both. + # Requesting both edges as the data ready pulse from the lsm6ds sensor is # very short (75us) and is mostly detected as falling edge instead of rising. # So if it is detected as rising the following falling edge is skipped.