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sensors/bmi270_uorb.c: move init sequence to register function

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otherwise default accel and gyro scale configured during registration is cleared
This commit is contained in:
raiden00pl 2024-04-28 10:39:55 +02:00 committed by Xiang Xiao
parent 6deda9b3d2
commit 6621748fe8
1 changed files with 13 additions and 12 deletions
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25
drivers/sensors/bmi270_uorb.c
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@ -177,14 +177,6 @@ static int bmi270_activate(FAR struct sensor_lowerhalf_s *lower,
if (start) if (start)
{ {
/* Initialization sequence */
ret = bmi270_init_seq(&priv->base);
if (ret != 0)
{
return ret;
}
/* Set normal mode */ /* Set normal mode */
bmi270_set_normal_imu(&priv->base); bmi270_set_normal_imu(&priv->base);
@ -633,8 +625,6 @@ int bmi270_register_uorb(int devno, FAR struct spi_dev_s *spi)
goto gyro_err; goto gyro_err;
} }
bmi270_accel_scale(tmp, 2);
/* Gyroscope register */ /* Gyroscope register */
tmp = &dev->priv[BMI270_GYRO_IDX]; tmp = &dev->priv[BMI270_GYRO_IDX];
@ -660,8 +650,6 @@ int bmi270_register_uorb(int devno, FAR struct spi_dev_s *spi)
goto gyro_err; goto gyro_err;
} }
bmi270_gyro_scale(tmp, 2000);
#ifdef CONFIG_SENSORS_BMI270_SPI #ifdef CONFIG_SENSORS_BMI270_SPI
/* BMI270 detects communication bus is SPI by rising edge of CS. */ /* BMI270 detects communication bus is SPI by rising edge of CS. */
@ -670,6 +658,19 @@ int bmi270_register_uorb(int devno, FAR struct spi_dev_s *spi)
up_udelay(200); up_udelay(200);
#endif #endif
/* Initialization sequence */
ret = bmi270_init_seq(&tmp->base);
if (ret != 0)
{
return ret;
}
/* Set default scale */
bmi270_accel_scale(&dev->priv[BMI270_ACCEL_IDX], 2);
bmi270_gyro_scale(&dev->priv[BMI270_GYRO_IDX], 2000);
#ifdef CONFIG_SENSORS_BMI270_POLL #ifdef CONFIG_SENSORS_BMI270_POLL
/* Create thread for polling sensor data */ /* Create thread for polling sensor data */