✨ bmi088 shuttle [#1]

examples/bmi088_shuttle_board.py

@@ -1,5 +1,6 @@
 import logging
 import sys
+import time
 from pathlib import Path
 
 from umrx_app_v3.shuttle_board.bmi088.bmi088_shuttle import BMI088Shuttle
@@ -13,7 +14,23 @@
             logging.StreamHandler(sys.stdout),
         ],
     )
+    shuttle = BMI088Shuttle.on_hardware_v3_rev1()
+    shuttle.initialize()
+    shuttle.check_connected_hw()
 
-    shuttle = BMI088Shuttle.on_hardware_v3_rev0()
+    shuttle.configure_i2c()
+    logging.info(f"acc_chip_id=0x{shuttle.sensor.acc_chip_id:02X}")
+    logging.info(f"gyro_chip_id=0x{shuttle.sensor.gyro_chip_id:02X}")
 
-    shuttle.initialize()
+    time.sleep(0.1)
+    shuttle.configure_spi()
+    _ = shuttle.board.read_spi(shuttle.CSB1, 0, 1)  # first read is required
+
+    logging.info(f"acc_chip_id=0x{shuttle.sensor.acc_chip_id:02X}")
+    logging.info(f"gyro_chip_id=0x{shuttle.sensor.gyro_chip_id:02X}")
+
+    time.sleep(0.1)
+    logging.info(f"acc_status=0x{shuttle.sensor.acc_status:02X}")
+    logging.info(f"acc_fifo_config_1=0x{shuttle.sensor.acc_fifo_config_1:02X}")
+
+    logging.info(f"acc_conf=0x{shuttle.sensor.acc_conf:02X}")

src/umrx_app_v3/shuttle_board/bmi088/bmi088_shuttle.py

@@ -108,10 +108,12 @@ def read_accel_register(self, reg_addr: int, bytes_to_read: int = 1) -> array[in
                 return values[0]
             return values
         if self.is_spi_configured:
-            values = self.board.read_spi(self.CSB1, reg_addr, bytes_to_read)
+            if bytes_to_read == 1:
+                _ = self.board.read_spi(self.CSB1, reg_addr, 1)
+            values = self.board.read_spi(self.CSB1, reg_addr, bytes_to_read + 1)
             if bytes_to_read == 1:
                 return values[0]
-            return values
+            return values[1:]
         error_message = "Configure I2C or SPI protocol prior to reading registers"
         raise BMI088ShuttleError(error_message)