Remove complex Eslov interface activation and simplify code

This method works only if Wire slave thread stack is freed when deleted (ArduinoCore-mbed PR #375)

Author: giulcioffi

src/EslovHandler.cpp

@@ -20,9 +20,7 @@ EslovHandler::~EslovHandler()
 
 bool EslovHandler::begin(bool passthrough)
 {
-  pinMode(_eslovIntPin, OUTPUT);
-  digitalWrite(_eslovIntPin, LOW);
-
+  pinMode(_eslovIntPin, INPUT);
   Wire.begin();
   Wire.setClock(400000);
   if (passthrough) {
@@ -40,16 +38,12 @@ void EslovHandler::update()
     if (_rxBuffer[0] == HOST_DFU_EXTERNAL_OPCODE || _rxBuffer[0] == HOST_DFU_INTERNAL_OPCODE) {
       if (_rxIndex == sizeof(DFUPacket) + 1) {
 
-        toggleEslovIntPin();
-
         if (!_dfuLedOn) {
           pinMode(LED_BUILTIN, OUTPUT);
           digitalWrite(LED_BUILTIN, HIGH);
           flushWire();
         }
 
-        pinMode(_eslovIntPin, INPUT);
-
         //Wait for Nicla to set _eslovIntPin HIGH, meaning that is ready to receive
         while(!digitalRead(_eslovIntPin)) {
           if (_debug) _debug->println("Waiting for Eslov Int pin to be released");
@@ -123,7 +117,6 @@ void EslovHandler::update()
     } else if (_rxBuffer[0] == HOST_CONFIG_SENSOR_OPCODE) {
       if (_rxIndex == sizeof(SensorConfigurationPacket) + 1) {
 
-        toggleEslovIntPin();
         SensorConfigurationPacket* config = (SensorConfigurationPacket*)&_rxBuffer[1];
         if (_debug) {
           _debug->print("received config: ");
@@ -276,28 +269,6 @@ bool EslovHandler::requestSensorLongData(SensorLongDataPacket &sData)
   return true;
 }
 
-void EslovHandler::toggleEslovIntPin()
-{
-  if (!_intPinAsserted) {
-    // Indicates eslov presence
-    pinMode(_eslovIntPin, OUTPUT);
-    digitalWrite(_eslovIntPin, LOW);
-    _intPinAsserted = true;
-    if (_debug) {
-      _debug->println("Eslov int LOW");
-    }
-    //Use 1 sec delay to let Nicla see the LOW pin and enable Eslov
-    delay(500);
-
-    digitalWrite(_eslovIntPin, HIGH);
-    _intPinCleared = true;
-    if (_debug) {
-      _debug->println("Eslov int pin cleared");
-    }
-    delay(500);
-  }
-}
-
 void EslovHandler::niclaAsShield()
 {
   _eslovIntPin = I2C_INT_PIN;

src/EslovHandler.h

@@ -54,7 +54,6 @@ class EslovHandler {
   uint8_t requestAvailableLongData();
   bool requestSensorData(SensorDataPacket &sData);
   bool requestSensorLongData(SensorLongDataPacket &sData);
-  void toggleEslovIntPin();
 
 protected:
   void niclaAsShield();

src/sensors/SensorClass.cpp

@@ -38,7 +38,6 @@ void SensorClass::configure(float rate, uint32_t latency)
   if (BHY2Host.getNiclaConnection() == NICLA_VIA_BLE) {
     BHY2Host.configureSensor(config);
   } else {
-    eslovHandler.toggleEslovIntPin();
     uint8_t ack = 0;
     while(ack != 15) {
       BHY2Host.configureSensor(config);