From: Keith Packard <keithp@keithp.com>
Date: Fri, 21 Feb 2020 00:51:15 +0000 (-0800)
Subject: altos: Get BMX160 initialized correctly
X-Git-Tag: 1.9.2~2^2~20
X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=67356ae163487e57e6d9c83cb2b7f71a69f8aa27

altos: Get BMX160 initialized correctly

 1. Don't reboot at startup. This probably takes a lot longer
    than 100ms.

 2. Power up acc and gyr before attempting to configure

 3. Clear data registers after setting acc range

Signed-off-by: Keith Packard <keithp@keithp.com>
---

diff --git a/src/drivers/ao_bmx160.c b/src/drivers/ao_bmx160.c
index e1af23a1..e4397fc4 100644
--- 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;
 }
 
diff --git a/src/drivers/ao_bmx160.h b/src/drivers/ao_bmx160.h
index 2b7e7bd7..e62f172d 100644
--- a/src/drivers/ao_bmx160.h
+++ b/src/drivers/ao_bmx160.h
@@ -130,8 +130,6 @@ ao_bmx160_init(void);
 #define  BMX160_ACC_RANGE_4G			0x5
 #define  BMX160_ACC_RANGE_8G			0x8
 #define  BMX160_ACC_RANGE_16G			0xc
-#define  BMX160_ACC_RANGE_
-#define  BMX160_ACC_RANGE_
 #define BMX160_GYR_CONF			0x42
 #define  BMX160_GYR_CONF_GYR_ODR		0
 #define   BMX160_GYR_CONF_GYR_ODR_25			0x6