IMU reset intuition fixes, RGB LED only on new board

Author: ksiegall

XRPLib/board.py

@@ -1,6 +1,7 @@
 from machine import Pin, ADC, Timer
 from neopixel import NeoPixel
 import time
+import sys
 
 class Board:
 
@@ -30,7 +31,9 @@ def __init__(self, vin_pin:int, button_pin:int):
         self.button = Pin(button_pin, Pin.IN, Pin.PULL_UP)
 
         self.led = Pin("LED", Pin.OUT)
-        self.rgb_led = NeoPixel(Pin("RGB_LED", Pin.OUT), 1)
+
+        if "RP2350" in sys.implementation._machine:
+            self.rgb_led = NeoPixel(Pin("RGB_LED", Pin.OUT), 1)
         # A timer ID of -1 is a virtual timer.
         # Leaves the hardware timers for more important uses
         self._virt_timer = Timer(-1)
@@ -106,5 +109,8 @@ def led_blink(self, frequency: int=0):
             self.is_led_blinking = False
 
     def set_rgb_led(self, r:int, g:int, b:int):
-        self.rgb_led[0] = (r, g, b)
-        self.rgb_led.write()
+        if "rgb_led" in self.__dict__:
+            self.rgb_led[0] = (r, g, b)
+            self.rgb_led.write()
+        else:
+            raise Exception("No RGB LED found for this board")

XRPLib/imu.py

@@ -61,8 +61,10 @@ def __init__(self, scl_pin: int, sda_pin: int, addr):
             pass
 
         # Reset sensor to clear any previous configuration
+        # reset() also sets the board to the default config
         self.reset()
 
+    def _default_config(self):
         # Enable block data update
         self._set_bdu()
 
@@ -186,10 +188,17 @@ def reset(self, wait_for_reset = True, wait_timeout_ms = 100):
                 # Check if register has returned to default value (0x04)
                 self.reg_ctrl3_c_byte[0] = self._getreg(LSM_REG_CTRL3_C)
                 if self.reg_ctrl3_c_byte[0] == 0x04:
+                    self._default_config()
+                    self._start_timer()
                     return True
             # Timeout occurred
+            # Attempt to set default config anyways
+            self._default_config()
+            self._start_timer()
             return False
         else:
+            self._default_config()
+            self._start_timer()
             return True
 
     def get_acc_x(self):