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Add skip_reset option to BMI270::begin* methods, preventing soft reset during init #4

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Add skip_reset option to BMI270::begin* methods, preventing soft reset during init #4

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38 changes: 19 additions & 19 deletions src/SparkFun_BMI270_Arduino_Library.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@ BMI270::BMI270()
/// @brief Checks whether sensor is connected, initializes sensor, then sets
/// default config parameters
/// @return Error code (0 is success, negative is failure, positive is warning)
int8_t BMI270::begin()
int8_t BMI270::begin(bool skip_reset)
{
// Variable to track errors returned by API calls
int8_t err = BMI2_OK;
Expand All @@ -22,7 +22,7 @@ int8_t BMI270::begin()
sensor.read_write_len = 32;

// Initialize the sensor
err = bmi270_init(&sensor);
err = bmi270_init(&sensor, skip_reset ? 1 : 0);
if(err != BMI2_OK) return err;

// Enable the accelerometer and gyroscope
Expand Down Expand Up @@ -50,7 +50,7 @@ int8_t BMI270::begin()
/// @param address I2C address of sensor
/// @param wirePort I2C port to use for communication, defaults to Wire
/// @return Error code (0 is success, negative is failure, positive is warning)
int8_t BMI270::beginI2C(uint8_t address, TwoWire& wirePort)
int8_t BMI270::beginI2C(uint8_t address, TwoWire& wirePort, bool skip_reset)
{
// Check whether address is valid option
if(address != BMI2_I2C_PRIM_ADDR && address != BMI2_I2C_SEC_ADDR)
Expand All @@ -68,15 +68,15 @@ int8_t BMI270::beginI2C(uint8_t address, TwoWire& wirePort)
interfaceData.interface = BMI2_I2C_INTF;

// Initialize sensor
return begin();
return begin(skip_reset);
}

/// @brief Begin communication with the sensor over SPI, initialize it, and set
/// default config parameters
/// @param csPin Chip select pin of sensor
/// @param clockFrequency SPI clock frequency
/// @return Error code (0 is success, negative is failure, positive is warning)
int8_t BMI270::beginSPI(uint8_t csPin, uint32_t clockFrequency)
int8_t BMI270::beginSPI(uint8_t csPin, uint32_t clockFrequency, bool skip_reset)
{
// Set up chip select pin
interfaceData.spiCSPin = csPin;
Expand All @@ -93,7 +93,7 @@ int8_t BMI270::beginSPI(uint8_t csPin, uint32_t clockFrequency)
sensor.dummy_byte = 1;

// Initialize sensor
return begin();
return begin(skip_reset);
}

/// @brief Performs a soft reset of the sensor
Expand Down Expand Up @@ -385,7 +385,7 @@ int8_t BMI270::enableAdvancedPowerSave(bool enable)
{
return bmi2_set_adv_power_save(BMI2_DISABLE, &sensor);
}

}

/// @brief Disables advanced power save mode
Expand Down Expand Up @@ -664,7 +664,7 @@ int8_t BMI270::setFIFOConfig(BMI270_FIFOConfig config)
// Set flag bits
err = setFIFOFlags(config.flags, BMI2_ENABLE);
if(err != BMI2_OK) return err;

// Clear unused flag bits
err = setFIFOFlags(~config.flags, BMI2_DISABLE);
if(err != BMI2_OK) return err;
Expand Down Expand Up @@ -727,7 +727,7 @@ int8_t BMI270::setFIFOFlags(uint16_t flags, bool enable)
{
fifoConfigFlags &= ~flags;
}

// Compute number of bytes per FIFO frame
bytesPerFIFOData = 0;
bytesPerFIFOData += ((fifoConfigFlags & BMI2_FIFO_ACC_EN) != 0) * 6;
Expand Down Expand Up @@ -827,13 +827,13 @@ int8_t BMI270::extractFIFOData(BMI270_SensorData* data, bmi2_fifo_frame* fifoDat
// Sensor is disabled in FIFO, just return
return BMI2_OK;
}

// Variable to track errors returned by API calls
int8_t err = BMI2_OK;

// Create buffer to hold raw data
bmi2_sens_axes_data* rawData = (bmi2_sens_axes_data*) malloc((*numFrames) * sizeof(bmi2_sens_axes_data));

// Extract raw data from the FIFO data
if(sensorSelect == BMI2_ACCEL)
{
Expand All @@ -848,7 +848,7 @@ int8_t BMI270::extractFIFOData(BMI270_SensorData* data, bmi2_fifo_frame* fifoDat
free(rawData);
return err;
}

// Convert raw data
for(int i = 0; i < (*numFrames); i++)
{
Expand All @@ -861,7 +861,7 @@ int8_t BMI270::extractFIFOData(BMI270_SensorData* data, bmi2_fifo_frame* fifoDat
convertRawGyroData(&(rawData[i]), &(data[i]));
}
}

free(rawData);
return err;
}
Expand Down Expand Up @@ -944,7 +944,7 @@ int8_t BMI270::getStepCount(uint32_t* count)
featureData.type = BMI2_STEP_COUNTER;
err = getFeatureData(&featureData);
if(err) return err;

*count = featureData.sens_data.step_counter_output;
return BMI2_OK;
}
Expand Down Expand Up @@ -1002,7 +1002,7 @@ int8_t BMI270::getStepActivity(uint8_t* activity)
featureData.type = BMI2_STEP_ACTIVITY;
err = getFeatureData(&featureData);
if(err) return err;

*activity = featureData.sens_data.activity_output;
return BMI2_OK;
}
Expand All @@ -1026,7 +1026,7 @@ int8_t BMI270::getWristGesture(uint8_t* gesture)
featureData.type = BMI2_WRIST_GESTURE;
err = getFeatureData(&featureData);
if(err) return err;

*gesture = featureData.sens_data.wrist_gesture_output;
return BMI2_OK;
}
Expand Down Expand Up @@ -1284,7 +1284,7 @@ BMI2_INTF_RETURN_TYPE BMI270::writeRegistersI2C(uint8_t regAddress, const uint8_

// Write the address
interfaceData->i2cPort->write(regAddress);

// Write all the data
for(uint32_t i = 0; i < numBytes; i++)
{
Expand All @@ -1311,10 +1311,10 @@ BMI2_INTF_RETURN_TYPE BMI270::writeRegistersSPI(uint8_t regAddress, const uint8_
// Begin transmission
SPI.beginTransaction(SPISettings(interfaceData->spiClockFrequency, MSBFIRST, SPI_MODE0));
digitalWrite(interfaceData->spiCSPin, LOW);

// Write the address
SPI.transfer(regAddress);

// Write all the data
for(uint32_t i = 0; i < numBytes; i++)
{
Expand Down
6 changes: 3 additions & 3 deletions src/SparkFun_BMI270_Arduino_Library.h
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Original file line number Diff line number Diff line change
Expand Up @@ -147,8 +147,8 @@ class BMI270
BMI270();

// Sensor initialization, must specify communication interface
int8_t beginI2C(uint8_t address = BMI2_I2C_PRIM_ADDR, TwoWire& wirePort = Wire);
int8_t beginSPI(uint8_t csPin, uint32_t clockFrequency = 100000);
int8_t beginI2C(uint8_t address = BMI2_I2C_PRIM_ADDR, TwoWire& wirePort = Wire, bool skip_reset = false);
int8_t beginSPI(uint8_t csPin, uint32_t clockFrequency = 100000, bool skip_reset = false);

// Sensor control
int8_t reset();
Expand Down Expand Up @@ -231,7 +231,7 @@ class BMI270

private:
// Sensor initialization, after communication interface has been selected
int8_t begin();
int8_t begin(bool skip_reset = false);

// Convert from raw data (bmi2_sens_data) to g's (BMI270_SensorData)
void convertRawAccelData(bmi2_sens_axes_data* rawData, BMI270_SensorData* data);
Expand Down
7 changes: 7 additions & 0 deletions src/bmi270_api/bmi2.c
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Expand Up @@ -1880,6 +1880,11 @@ static int8_t validate_foc_accel_axis(int16_t avg_foc_data, struct bmi2_dev *dev
* chip-id of the sensor.
*/
int8_t bmi2_sec_init(struct bmi2_dev *dev)
{
return bmi2_sec_init_with_opt(dev, 0);
}

int8_t bmi2_sec_init_with_opt(struct bmi2_dev *dev, uint8_t skip_reset)
{
/* Variable to define error */
int8_t rslt;
Expand Down Expand Up @@ -1928,6 +1933,8 @@ int8_t bmi2_sec_init(struct bmi2_dev *dev)
*/
dev->remap = axes_remap;

if (skip_reset) return BMI2_OK;

/* Perform soft-reset to bring all register values to their
* default values
*/
Expand Down
2 changes: 2 additions & 0 deletions src/bmi270_api/bmi2.h
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Expand Up @@ -89,6 +89,8 @@ extern "C" {
*/
int8_t bmi2_sec_init(struct bmi2_dev *dev);

int8_t bmi2_sec_init_with_opt(struct bmi2_dev *dev, uint8_t skip_reset);

/*!
* \ingroup bmi2ApiInit
* \page bmi2_api_bmi2_set_spi_en bmi2_set_spi_en
Expand Down
4 changes: 2 additions & 2 deletions src/bmi270_api/bmi270.c
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Expand Up @@ -1351,7 +1351,7 @@ static int8_t disable_sensor_features(uint64_t sensor_sel, struct bmi2_dev *dev)
* 4) Updates the feature offset parameters in the device structure.
* 5) Updates the maximum number of pages, in the device structure.
*/
int8_t bmi270_init(struct bmi2_dev *dev)
int8_t bmi270_init(struct bmi2_dev *dev, uint8_t skip_reset)
{
/* Variable to define error */
int8_t rslt;
Expand Down Expand Up @@ -1389,7 +1389,7 @@ int8_t bmi270_init(struct bmi2_dev *dev)
}

/* Initialize BMI2 sensor */
rslt = bmi2_sec_init(dev);
rslt = bmi2_sec_init_with_opt(dev, skip_reset);
if (rslt == BMI2_OK)
{
/* Assign the offsets of the feature input
Expand Down
2 changes: 1 addition & 1 deletion src/bmi270_api/bmi270.h
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Expand Up @@ -150,7 +150,7 @@ extern "C" {
* @retval 0 -> Success
* @retval < 0 -> Fail
*/
int8_t bmi270_init(struct bmi2_dev *dev);
int8_t bmi270_init(struct bmi2_dev *dev, uint8_t skip_reset);

/**
* \ingroup bmi270
Expand Down