sensord: reset LSM (#35872)

* sensord: reset LSM

* they'll be ready in time

* switch to SW_RESET, BOOT not working for some reason

system/sensord/sensord.py

@@ -98,6 +98,13 @@ def main() -> None:
     (MMC5603NJ_Magn(I2C_BUS_IMU), "magnetometer", False),
   ]
 
+  # Reset sensors
+  for sensor, _, _ in sensors_cfg:
+    try:
+      sensor.reset()
+    except Exception:
+      cloudlog.exception(f"Error initializing {sensor} sensor")
+
   # Initialize sensors
   exit_event = threading.Event()
   threads = [

system/sensord/sensors/i2c_sensor.py

@@ -40,6 +40,11 @@ class Sensor:
   def device_address(self) -> int:
     raise NotImplementedError
 
+  def reset(self) -> None:
+    # optional.
+    # not part of init due to shared registers
+    pass
+
   def init(self) -> None:
     raise NotImplementedError
 

system/sensord/sensors/lsm6ds3_accel.py

@@ -31,6 +31,10 @@ class LSM6DS3_Accel(Sensor):
   def device_address(self) -> int:
     return 0x6A
 
+  def reset(self):
+    self.write(0x12, 0x1)
+    time.sleep(0.1)
+
   def init(self):
     chip_id = self.verify_chip_id(0x0F, [0x69, 0x6A])
     if chip_id == 0x6A:

system/sensord/sensors/lsm6ds3_gyro.py

@@ -29,6 +29,10 @@ class LSM6DS3_Gyro(Sensor):
   def device_address(self) -> int:
     return 0x6A
 
+  def reset(self):
+    self.write(0x12, 0x1)
+    time.sleep(0.1)
+
   def init(self):
     chip_id = self.verify_chip_id(0x0F, [0x69, 0x6A])
     if chip_id == 0x6A: