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Fix SW reboot for BMI270, retry BMI270 init in case of failure #682

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merged 2 commits into from
May 9, 2023
Merged

Fix SW reboot for BMI270, retry BMI270 init in case of failure #682

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711e281
Fix SW reboot for BMI270, retry BMI270 init in case of failure
cvejlbo May 8, 2023
2c3ab2e
Use lower rate SPI clock
cvejlbo May 9, 2023
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92 changes: 55 additions & 37 deletions libraries/NDP/examples/SensorTest/SensorTest.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -37,6 +37,7 @@ int loopCounter = 0;
void setup() {
int s;
uint8_t __attribute__((aligned(4))) sensor_data[16];
int retry_sensor_init = 0;

Serial.begin(115200);
nicla::begin();
Expand All @@ -56,51 +57,68 @@ void setup() {
NDP.turnOnMicrophone();
NDP.interrupts();

// 1st read will place the sensor in SPI mode, 2nd read is real read
s = NDP.sensorBMI270Read(0x0, 1, sensor_data);
CHECK_STATUS(s);
do {
if (retry_sensor_init) {
Serial.print("Reinit attempt ");
Serial.println(retry_sensor_init);
}
// 1st read will place the sensor in SPI mode, 2nd read is real read
s = NDP.sensorBMI270Read(0x0, 1, sensor_data);
CHECK_STATUS(s);

s = NDP.sensorBMI270Read(0x0, 1, sensor_data);
CHECK_STATUS(s);
Serial.print("BMI270 chip ID is (expected is 0x24): ");
Serial.println(sensor_data[0], HEX);
s = NDP.sensorBMI270Read(0x0, 1, sensor_data);
CHECK_STATUS(s);
Serial.print("BMI270 chip ID is (expected is 0x24): ");
Serial.println(sensor_data[0], HEX);

// soft reset
s = NDP.sensorBMI270Write(0x7e, 0x6b);
CHECK_STATUS(s);
delay(20); //delay 20ms much longer than reqired 450us
// soft reset
s = NDP.sensorBMI270Write(0x7e, 0xb6);
CHECK_STATUS(s);
delay(20);

// back to SPI mode after software reset
s = NDP.sensorBMI270Read(0x0, 1, sensor_data);
CHECK_STATUS(s);
s = NDP.sensorBMI270Read(0x0, 1, sensor_data);
CHECK_STATUS(s);
// back to SPI mode after software reset
s = NDP.sensorBMI270Read(0x0, 1, sensor_data);
CHECK_STATUS(s);
s = NDP.sensorBMI270Read(0x0, 1, sensor_data);
CHECK_STATUS(s);

// disable PWR_CONF.adv_power_save
s = NDP.sensorBMI270Write(0x7c, 0x00);
CHECK_STATUS(s);
delay(20); //delay 20ms much longer than reqired 450us
s = NDP.sensorBMI270Read(0x21, 1, sensor_data);
CHECK_STATUS(s);
Serial.print("[After reset] BMI270 Status Register at address 0x21 is (expected is 0x00): 0x");
Serial.println(sensor_data[0], HEX);

// prepare config load INIT_CTRL = 0x00
s = NDP.sensorBMI270Write(0x59, 0x00);
CHECK_STATUS(s);
// disable PWR_CONF.adv_power_save
s = NDP.sensorBMI270Write(0x7c, 0x00);
CHECK_STATUS(s);
delay(20);

// burst write to INIT_DATA
Serial.print("BMI270 init starting...");
s = NDP.sensorBMI270Write(0x5e,
sizeof(bmi270_maximum_fifo_config_file),
(uint8_t*)bmi270_maximum_fifo_config_file);
CHECK_STATUS(s);
Serial.println("... done!");
// prepare config load INIT_CTRL = 0x00
s = NDP.sensorBMI270Write(0x59, 0x00);
CHECK_STATUS(s);
delay(200);

s = NDP.sensorBMI270Write(0x59, 0x01);
CHECK_STATUS(s);
delay(200);
// burst write to INIT_DATA
Serial.print("BMI270 init starting...");
s = NDP.sensorBMI270Write(0x5e,
sizeof(bmi270_maximum_fifo_config_file),
(uint8_t*)bmi270_maximum_fifo_config_file);
CHECK_STATUS(s);
Serial.println("... done!");

s = NDP.sensorBMI270Read(0x21, 1, sensor_data);
CHECK_STATUS(s);
Serial.print("BMI270 Status Register at address 0x21 is (expected is 0x01): 0x");
Serial.println(sensor_data[0], HEX);
s = NDP.sensorBMI270Write(0x59, 0x01);
CHECK_STATUS(s);
delay(200);

s = NDP.sensorBMI270Read(0x21, 1, sensor_data);
CHECK_STATUS(s);
Serial.print("BMI270 Status Register at address 0x21 is (expected is 0x01): 0x");
Serial.println(sensor_data[0], HEX);
if (sensor_data[0] != 1) {
retry_sensor_init++;
} else {
retry_sensor_init = 0;
}
} while (retry_sensor_init);

// configuring device to normal power mode with both Accelerometer and gyroscope working
s = NDP.sensorBMI270Write(0x7d, 0x0e);
Expand Down
2 changes: 1 addition & 1 deletion libraries/syntiant_ilib/src/syntiant_tiny_cspi.c
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Original file line number Diff line number Diff line change
Expand Up @@ -39,7 +39,7 @@
#define SYNTIANT_NDP120_SPI_OP 0
#define SYNTIANT_NDP120_MCU_OP 1

#define MSPI_CLK_DIV 2
#define MSPI_CLK_DIV 6
#define MSSB_OE_USED 7

static int _cspi_read(struct syntiant_ndp120_tiny_device_s *ndp, int ssb, int num_bytes, uint8_t *data, int end_packet);
Expand Down