From c2677bea3bbba13dafbf74b5e49461314dfb4bce Mon Sep 17 00:00:00 2001
From: Kemal Hadimli <disq@users.noreply.github.com>
Date: Thu, 18 Jan 2024 13:07:08 +0000
Subject: [PATCH] feat: Add `skip_reset` `bmi270_init`, preventing soft reset
 during init

---
 bmi2.c   | 7 +++++++
 bmi2.h   | 2 ++
 bmi270.c | 4 ++--
 bmi270.h | 2 +-
 4 files changed, 12 insertions(+), 3 deletions(-)

diff --git a/bmi2.c b/bmi2.c
index 1e537c6..14545cc 100644
--- a/bmi2.c
+++ b/bmi2.c
@@ -1880,6 +1880,11 @@ static int8_t validate_foc_accel_axis(int16_t avg_foc_data, struct bmi2_dev *dev
  * chip-id of the sensor.
  */
 int8_t bmi2_sec_init(struct bmi2_dev *dev)
+{
+    return bmi2_sec_init_with_opt(dev, 0);
+}
+
+int8_t bmi2_sec_init_with_opt(struct bmi2_dev *dev, uint8_t skip_reset)
 {
     /* Variable to define error */
     int8_t rslt;
@@ -1928,6 +1933,8 @@ int8_t bmi2_sec_init(struct bmi2_dev *dev)
                      */
                     dev->remap = axes_remap;
 
+                    if (skip_reset) return BMI2_OK;
+
                     /* Perform soft-reset to bring all register values to their
                      * default values
                      */
diff --git a/bmi2.h b/bmi2.h
index 20acca9..cc2dc77 100644
--- a/bmi2.h
+++ b/bmi2.h
@@ -89,6 +89,8 @@ extern "C" {
  */
 int8_t bmi2_sec_init(struct bmi2_dev *dev);
 
+int8_t bmi2_sec_init_with_opt(struct bmi2_dev *dev, uint8_t skip_reset);
+
 /*!
  * \ingroup bmi2ApiInit
  * \page bmi2_api_bmi2_set_spi_en bmi2_set_spi_en
diff --git a/bmi270.c b/bmi270.c
index 20f27bb..5b7d47b 100644
--- a/bmi270.c
+++ b/bmi270.c
@@ -1351,7 +1351,7 @@ static int8_t disable_sensor_features(uint64_t sensor_sel, struct bmi2_dev *dev)
  *  4) Updates the feature offset parameters in the device structure.
  *  5) Updates the maximum number of pages, in the device structure.
  */
-int8_t bmi270_init(struct bmi2_dev *dev)
+int8_t bmi270_init(struct bmi2_dev *dev, uint8_t skip_reset)
 {
     /* Variable to define error */
     int8_t rslt;
@@ -1389,7 +1389,7 @@ int8_t bmi270_init(struct bmi2_dev *dev)
         }
 
         /* Initialize BMI2 sensor */
-        rslt = bmi2_sec_init(dev);
+        rslt = bmi2_sec_init_with_opt(dev, skip_reset);
         if (rslt == BMI2_OK)
         {
             /* Assign the offsets of the feature input
diff --git a/bmi270.h b/bmi270.h
index c2c85ab..3954d87 100644
--- a/bmi270.h
+++ b/bmi270.h
@@ -150,7 +150,7 @@ extern "C" {
  * @retval 0 -> Success
  * @retval < 0 -> Fail
  */
-int8_t bmi270_init(struct bmi2_dev *dev);
+int8_t bmi270_init(struct bmi2_dev *dev, uint8_t skip_reset);
 
 /**
  * \ingroup bmi270