feat(bhi160): Disable all sensors in hardware_reset

epicardium/epicardium.h

@@ -113,6 +113,7 @@ typedef _Bool bool;
 
 #define API_BHI160_ENABLE          0xe0
 #define API_BHI160_DISABLE         0xe1
+#define API_BHI160_DISABLE_ALL     0xe2
 
 /* clang-format on */
 
@@ -1029,6 +1030,11 @@ API(API_BHI160_DISABLE, int epic_bhi160_disable_sensor(
 	enum bhi160_sensor_type sensor_type
 ));
 
+/**
+ * Disable all BHI160 sensors.
+ */
+API(API_BHI160_DISABLE_ALL, void epic_bhi160_disable_all_sensors());
+
 /**
  * Vibration Motor
  * ===============

epicardium/modules/bhi.c

@@ -62,6 +62,9 @@ static SemaphoreHandle_t bhi160_mutex = NULL;
 /* Streams */
 static struct stream_info bhi160_streams[10];
 
+/* Active */
+static bool bhi160_sensor_active[10] = { 0 };
+
 /* -- Utilities -------------------------------------------------------- {{{ */
 /*
  * Retrieve the data size for a sensor.  This value is needed for the creation
@@ -165,6 +168,9 @@ int epic_bhi160_enable_sensor(
 			hwlock_release(HWLOCK_I2C);
 			return bhyret;
 		}
+
+		bhi160_sensor_active[sensor_type] = true;
+
 		xSemaphoreGive(bhi160_mutex);
 	} else {
 		hwlock_release(HWLOCK_I2C);
@@ -189,7 +195,9 @@ int epic_bhi160_disable_sensor(enum bhi160_sensor_type sensor_type)
 
 	if (xSemaphoreTake(bhi160_mutex, LOCK_WAIT) == pdTRUE) {
 		struct stream_info *stream = &bhi160_streams[sensor_type];
-		int streamret = stream_deregister(bhi160_lookup_sd(sensor_type), stream);
+		int streamret              = stream_deregister(
+                        bhi160_lookup_sd(sensor_type), stream
+		);
 		if (streamret < 0) {
 			xSemaphoreGive(bhi160_mutex);
 			hwlock_release(HWLOCK_I2C);
@@ -197,12 +205,15 @@ int epic_bhi160_disable_sensor(enum bhi160_sensor_type sensor_type)
 		}
 		vQueueDelete(stream->queue);
 		stream->queue = NULL;
-		int bhyret = bhy_disable_virtual_sensor(vs_id, VS_WAKEUP);
+		int bhyret    = bhy_disable_virtual_sensor(vs_id, VS_WAKEUP);
 		if (bhyret < 0) {
 			xSemaphoreGive(bhi160_mutex);
 			hwlock_release(HWLOCK_I2C);
 			return bhyret;
 		}
+
+		bhi160_sensor_active[sensor_type] = false;
+
 		xSemaphoreGive(bhi160_mutex);
 	} else {
 		hwlock_release(HWLOCK_I2C);
@@ -212,6 +223,16 @@ int epic_bhi160_disable_sensor(enum bhi160_sensor_type sensor_type)
 	hwlock_release(HWLOCK_I2C);
 	return 0;
 }
+
+void epic_bhi160_disable_all_sensors()
+{
+	for (int i = 0; i < sizeof(bhi160_sensor_active); i++) {
+		if (bhi160_sensor_active[i]) {
+			epic_bhi160_disable_sensor(i);
+		}
+	}
+}
+
 /* }}} */
 
 /* -- Driver ----------------------------------------------------------- {{{ */

epicardium/modules/hardware.c

@@ -259,6 +259,11 @@ int hardware_reset(void)
 	 */
 	display_init_slim();
 
+	/*
+	 * BHI160
+	 */
+	epic_bhi160_disable_all_sensors();
+
 	/*
 	 * BME680 Sensor
 	 */

preload/apps/bhi160/__init__.py

@@ -4,18 +4,19 @@ import utime
 
 disp = display.open()
 
+bhi = bhi160.BHI160Accelerometer()
+
 while True:
-    with bhi160.BHI160Accelerometer(sample_rate=20) as bhi:
-        utime.sleep(0.25)
-        samples = bhi.read()
-        if len(samples) > 0:
-            disp.clear()
-            sample = samples[0]
+    samples = bhi.read()
+    if len(samples) > 0:
+        disp.clear()
+        sample = samples[0]
 
-            disp.print("Accelerometer", posy=0)
-            disp.print("X: %f" % sample["x"], posy=20)
-            disp.print("Y: %f" % sample["y"], posy=40)
-            disp.print("Z: %f" % sample["z"], posy=60)
+        disp.print("Accelerometer", posy=0)
+        disp.print("X: %f" % sample["x"], posy=20)
+        disp.print("Y: %f" % sample["y"], posy=40)
+        disp.print("Z: %f" % sample["z"], posy=60)
 
-            disp.update()
+        disp.update()
 
+    utime.sleep(0.1)

pycardium/modules/bhi160-sys.c

@@ -65,7 +65,6 @@ STATIC MP_DEFINE_CONST_FUN_OBJ_1(
 	mp_bhi160_disable_sensor_obj, mp_bhi160_disable_sensor
 );
 
-
 STATIC const mp_rom_map_elem_t bhi160_module_globals_table[] = {
 	{ MP_ROM_QSTR(MP_QSTR___name__), MP_ROM_QSTR(MP_QSTR_sys_bhi160) },
 	{ MP_ROM_QSTR(MP_QSTR_enable_sensor),