Merge pull request #682 from cvejlbo/fix-bmi270-init

Nicla Voice: Fix SW reboot for BMI270, retry BMI270 init in case of failure

Author: facchinm

libraries/NDP/examples/SensorTest/SensorTest.ino

@@ -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();
@@ -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);

libraries/syntiant_ilib/src/syntiant_tiny_cspi.c

@@ -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);