TwiMaster is now based on the NRFX TWI driver, as it handles more edge cases and workarounds for errors on the bus.

Reset the TWI bus after the soft-reset of the motion sensor to workaround issues on the TWI bus.

1 files changed, 10 insertions, 5 deletions

diff --git a/src/drivers/Bma421.cpp b/src/drivers/Bma421.cpp
index 10d3e5e..ea705d8 100644
--- a/src/drivers/Bma421.cpp
+++ b/src/drivers/Bma421.cpp
@@ -35,12 +35,9 @@ Bma421::Bma421(TwiMaster& twiMaster, uint8_t twiAddress) : twiMaster{twiMaster},
 }
 
 void Bma421::Init() {
-  auto ret = bma4_soft_reset(&bma);
-  if(ret != BMA4_OK) return;
+  if(not isResetOk) return; // Call SoftReset (and reset TWI device) first!
 
-  nrf_delay_ms(1);
-
-  ret = bma423_init(&bma);
+  auto ret = bma423_init(&bma);
   if(ret != BMA4_OK) return;
 
   ret = bma423_write_config_file(&bma);
@@ -109,3 +106,11 @@ bool Bma421::IsOk() const {
 void Bma421::ResetStepCounter() {
   bma423_reset_step_counter(&bma);
 }
+
+void Bma421::SoftReset() {
+  auto ret = bma4_soft_reset(&bma);
+  if(ret == BMA4_OK) {
+    isResetOk = true;
+    nrf_delay_ms(1);
+  }
+}