From b695715753c0c25ed1fcdc26d2807f9732523cb4 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 1 Aug 2025 10:13:39 -0700
Subject: [PATCH] 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               | 7 +++++++
 system/sensord/sensors/i2c_sensor.py    | 5 +++++
 system/sensord/sensors/lsm6ds3_accel.py | 4 ++++
 system/sensord/sensors/lsm6ds3_gyro.py  | 4 ++++
 4 files changed, 20 insertions(+)

diff --git a/system/sensord/sensord.py b/system/sensord/sensord.py
index ed9d0ed415..2b6467fa78 100755
--- a/system/sensord/sensord.py
+++ b/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 = [
diff --git a/system/sensord/sensors/i2c_sensor.py b/system/sensord/sensors/i2c_sensor.py
index 0e15a6622b..336ebb1fd3 100644
--- a/system/sensord/sensors/i2c_sensor.py
+++ b/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
 
diff --git a/system/sensord/sensors/lsm6ds3_accel.py b/system/sensord/sensors/lsm6ds3_accel.py
index 2d788fcbe2..43863daa93 100644
--- a/system/sensord/sensors/lsm6ds3_accel.py
+++ b/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:
diff --git a/system/sensord/sensors/lsm6ds3_gyro.py b/system/sensord/sensors/lsm6ds3_gyro.py
index 68fd267df2..60de2bbe02 100644
--- a/system/sensord/sensors/lsm6ds3_gyro.py
+++ b/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: