Enable BMI2 interrupt capabilities

src/Arduino_Nesso_N1.h

@@ -7,7 +7,7 @@
 #include "Wire.h"
 #include <M5GFX.h>
 #include <lgfx/v1/panel/Panel_ST7789.hpp>
-//#include "Arduino_BMI270_BMM150.h"
+#include "Arduino_BMI270_BMM150.h"
 
 #undef LORA_LNA_ENABLE
 #undef LORA_ANTENNA_SWITCH
@@ -250,5 +250,67 @@ class NessoTouch {
   }
 };
 
+class MyBoschSensor: public BoschSensorClass {
+
+  public:
+    MyBoschSensor(TwoWire& wire = Wire) : BoschSensorClass(wire) {};
+    bool begin() {
+      return BoschSensorClass::begin(BOSCH_ACCELEROMETER_ONLY);
+    }
+
+  protected:
+    virtual int8_t configure_sensor(struct bmi2_dev *dev)
+    {
+      int8_t rslt;
+      uint8_t sens_list[2] = { BMI2_ACCEL, BMI2_GYRO };
+
+      // This configures the second gpio expander and clears its interrupt status
+      pinMode(LORA_ENABLE, INPUT);
+
+      struct bmi2_int_pin_config int_pin_cfg;
+      int_pin_cfg.pin_type = BMI2_INT1;
+      int_pin_cfg.int_latch = BMI2_INT_LATCH;
+      int_pin_cfg.pin_cfg[0].lvl = BMI2_INT_ACTIVE_LOW;
+      int_pin_cfg.pin_cfg[0].od = BMI2_INT_PUSH_PULL;
+      int_pin_cfg.pin_cfg[0].output_en = BMI2_INT_OUTPUT_ENABLE;
+      int_pin_cfg.pin_cfg[0].input_en = BMI2_INT_INPUT_DISABLE;
+
+      struct bmi2_sens_config sens_cfg[2];
+      sens_cfg[0].type = BMI2_ACCEL;
+      sens_cfg[0].cfg.acc.bwp = BMI2_ACC_OSR2_AVG2;
+      sens_cfg[0].cfg.acc.odr = BMI2_ACC_ODR_25HZ;
+      sens_cfg[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
+      sens_cfg[0].cfg.acc.range = BMI2_ACC_RANGE_4G;
+      sens_cfg[1].type = BMI2_GYRO;
+      sens_cfg[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
+      sens_cfg[1].cfg.gyr.bwp = BMI2_GYR_OSR2_MODE;
+      sens_cfg[1].cfg.gyr.odr = BMI2_GYR_ODR_25HZ;
+      sens_cfg[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
+      sens_cfg[1].cfg.gyr.ois_range = BMI2_GYR_OIS_2000;
+
+      rslt = bmi2_set_int_pin_config(&int_pin_cfg, dev);
+      if (rslt != BMI2_OK)
+        return rslt;
+
+      rslt = bmi2_map_data_int(BMI2_DRDY_INT, BMI2_INT1, dev);
+      if (rslt != BMI2_OK)
+        return rslt;
+
+      rslt = bmi2_set_sensor_config(sens_cfg, 2, dev);
+      if (rslt != BMI2_OK)
+        return rslt;
+
+      rslt = bmi2_sensor_enable(sens_list, 2, dev);
+      if (rslt != BMI2_OK)
+        return rslt;
+
+      return rslt;
+    }
+};
+
+extern MyBoschSensor myIMU;
+#undef IMU
+#define IMU myIMU
+
 #endif
 #endif

src/expander.cpp

@@ -3,6 +3,8 @@
 static bool wireInitialized = true;
 bool ExpanderPin::_initialized[2] = {false, false};
 
+MyBoschSensor myIMU(Wire);
+
 // IO expander datasheet from https://www.diodes.com/datasheet/download/PI4IOE5V6408.pdf
 // Battery charger datasheet from https://www.awinic.com/en/productDetail/AW32001ACSR
 // battery gauge datasheet from https://www.ti.com/product/BQ27220
@@ -40,13 +42,17 @@ void pinMode(ExpanderPin pin, uint8_t mode) {
   if (!pin.initialized()) {
     Wire.begin();
     // reset all registers to default state
+    readRegister(pin.address, 0x1);
     writeRegister(pin.address, 0x1, 0x1);
+    readRegister(pin.address, 0x1);
     // set all pins as high as default state
     writeRegister(pin.address, 0x9, 0xFF);
     // interrupt mask to all pins
     writeRegister(pin.address, 0x11, 0xFF);
     // all input
     writeRegister(pin.address, 0x3, 0);
+    // clear interrupt status
+    readRegister(pin.address, 0x13);
     pin.initialize();
   }
   writeBitRegister(pin.address, 0x3, pin.pin, mode == OUTPUT);