altos: Get BMX160 initialized correctly

[fw/altos] / src / drivers / ao_bmx160.c

diff --git a/src/drivers/ao_bmx160.c b/src/drivers/ao_bmx160.c
index e1af23a1a7c471e4c41238af1832188059b3b392..e4397fc4a42f55351b2f05451c0a9249165121ea 100644 (file)
--- a/src/drivers/ao_bmx160.c
+++ b/src/drivers/ao_bmx160.c
@@ -183,18 +183,23 @@ _ao_bmx160_wait_alive(void)
 static void
 _ao_bmx160_setup(void)
 {
+       int r;
+
        if (ao_bmx160_configured)
                return;
 
        /* Make sure the chip is responding */
        _ao_bmx160_wait_alive();
 
-       /* Reboot */
-       _ao_bmx160_cmd(BMX160_CMD_SOFTRESET);
-
        /* Force SPI mode */
        _ao_bmx160_reg_write(BMX160_NV_CONF, 1 << BMX160_NV_CONF_SPI_EN);
 
+       /* Enable acc and gyr
+        */
+
+       _ao_bmx160_cmd(BMX160_CMD_ACC_SET_PMU_MODE(BMX160_PMU_STATUS_ACC_PMU_STATUS_NORMAL));
+       _ao_bmx160_cmd(BMX160_CMD_GYR_SET_PMU_MODE(BMX160_PMU_STATUS_GYR_PMU_STATUS_NORMAL));
+
        /* Configure accelerometer:
         *
         *      undersampling disabled
@@ -210,6 +215,8 @@ _ao_bmx160_setup(void)
                             (BMX160_ACC_CONF_ACC_ODR_200 << BMX160_ACC_CONF_ACC_ODR));
        _ao_bmx160_reg_write(BMX160_ACC_RANGE,
                             BMX160_ACC_RANGE_16G);
+       for (r = 0x4; r <= 0x17; r++)
+               (void) _ao_bmx160_reg_read(r);
 
        /* Configure gyro:
         *
@@ -276,11 +283,6 @@ _ao_bmx160_setup(void)
                             (0 << BMX160_MAG_IF_0_MAG_OFFSET) |
                             (0 << BMX160_MAG_IF_0_MAG_RD_BURST));
 
-       /* Enable acc and gyr
-        */
-
-       _ao_bmx160_cmd(BMX160_CMD_ACC_SET_PMU_MODE(BMX160_PMU_STATUS_ACC_PMU_STATUS_NORMAL));
-       _ao_bmx160_cmd(BMX160_CMD_GYR_SET_PMU_MODE(BMX160_PMU_STATUS_GYR_PMU_STATUS_NORMAL));
        ao_bmx160_configured = 1;
 }