Turn ICM20608 off after being garbage-collected

micropython/modules/opencube_brick/ICM20608_api.c

@@ -17,7 +17,7 @@ static void ICM20608_print(const mp_print_t *print, mp_obj_t self_in);
 
 // Called on ICM20608 init
 STATIC mp_obj_t ICM20608_make_new(const mp_obj_type_t* type, size_t n_args, size_t n_kw, const mp_obj_t* args) {
-    ICM20608_obj_t *self = m_new_obj(ICM20608_obj_t);	
+    ICM20608_obj_t *self = m_new_obj_with_finaliser(ICM20608_obj_t);
     self->base.type = type;
     self->icm = (ICM20608G_t*)malloc(sizeof(ICM20608G_t));
     opencube_lock_i2c_or_raise();
@@ -31,7 +31,11 @@ static void ICM20608_print(const mp_print_t *print, mp_obj_t self_in) {
 }
 
 STATIC mp_obj_t ICM20608_read_value(mp_obj_t self_in) {
-    ICM20608_obj_t *self = MP_OBJ_TO_PTR(self_in);	
+    ICM20608_obj_t *self = MP_OBJ_TO_PTR(self_in);
+    if (self->icm == NULL) {
+      mp_raise_msg(&mp_type_RuntimeError, MP_ERROR_TEXT("ICM20608 has been deinitialized already"));
+    }
+
     float accel_x, accel_y, accel_z, gyro_x, gyro_y, gyro_z;
     opencube_lock_i2c_or_raise();
     ICM20608G_read_data(self->icm, 
@@ -63,6 +67,7 @@ STATIC MP_DEFINE_CONST_FUN_OBJ_1(ICM20608_deinit_obj, ICM20608_deinit);
 STATIC const mp_rom_map_elem_t ICM20608_locals_dict[] = {
     { MP_ROM_QSTR(MP_QSTR_read_value), MP_ROM_PTR(&ICM20608_read_value_obj) },
     { MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&ICM20608_deinit_obj) },
+    { MP_ROM_QSTR(MP_QSTR___del__), MP_ROM_PTR(&ICM20608_deinit_obj) },
 };
 STATIC MP_DEFINE_CONST_DICT(ICM20608_locals_dict_obj, ICM20608_locals_dict);