Hi, I'm trying to use the SensorLib library with 2 instances of BHI260AP, one configured via SPI and one configured via I2C, the two devices initialise without issues and I can see al the relevant information being printed in the begin() phase but when I attach two interrupts to them (trying to just stream quaternion data from both) only one of the two interrupts is ever called, in my case the I2C device.
If I run simply with either one or the other, then everything works just fine. Is there anything I should be doing to handle multiple instances of the same device?
this is a sample of my controller class
class IMUController {
public:
IMUController(int irqPin) : irqPin(irqPin), isReadyFlag(false) {}
void begin(bool useSPI) {
bhy.setPins(IMU_RESET);
bhy.setFirmware(bhy2_firmware_image, sizeof(bhy2_firmware_image));
bhy.setBootFromFlash(false);
Serial.println("Initializing Sensors...");
if (useSPI) {
spiInterface = true;
irqPin = INT_IMU2;
pinMode(irqPin, INPUT);
if (!bhy.begin(SPI, SPI_SS_IMU, SPI_MOSI_IMU, SPI_MISO_IMU, SPI_SCK_IMU)) {
Serial.print("Failed to initialize sensor - error code:");
Serial.println(bhy.getError());
while (1) { delay(1000); }
}
} else {
irqPin = INT_IMU1;
pinMode(irqPin, INPUT);
if (!bhy.begin(Wire, BHI260AP_SLAVE_ADDRESS_L, I2C_SDA_IMU, I2C_SCL_IMU)) {
Serial.print("Failed to initialize sensor - error code:");
Serial.println(bhy.getError());
while (1) { delay(1000); }
}
}
Serial.println("Initializing the sensor successfully!");
BoschSensorInfo info = bhy.getSensorInfo();
info.printInfo(Serial);
// attachInterrupt(digitalPinToInterrupt(irqPin), dataReadyISR, RISING);
}
void initializeSensor(float sample_rate, uint32_t report_latency_ms = 0 ) {
quaternion.enable(sample_rate, report_latency_ms);
}
void handleInterrupt() {
isReadyFlag = true;
}
void update() {
if (isReadyFlag) {
isReadyFlag = false;
bhy.update();
}
if (quaternion.hasUpdated()) {
quaternion.toEuler();
quaternionData.roll = quaternion.getRoll();
quaternionData.pitch = quaternion.getPitch();
quaternionData.yaw = quaternion.getHeading();
if (spiInterface) {Serial.print("SPI_IMU: ");}
else {Serial.print("I2C IMU: ");}
Serial.print(quaternionData.roll);
Serial.print(",");
Serial.print(quaternionData.pitch);
Serial.print(",");
Serial.println(quaternionData.yaw);
}
}
QuaternionData getQuaternionData() const {
return quaternionData;
}
private:
// static void dataReadyISR() {
// instance->isReadyFlag = true;
// }
// static IMUController* instance;
volatile bool isReadyFlag;
bool spiInterface = false;
SensorBHI260AP bhy;
SensorQuaternion quaternion{bhy};
QuaternionData quaternionData;
int irqPin;
};in my main sketch what I do is this:
// in setup()
imu1.begin(false); // I2C
imu2.begin(true); // SPI
imu1.initializeSensor(50, 0);
imu2.initializeSensor(60, 0);
// Attach interrupt service routines
attachInterrupt(digitalPinToInterrupt(INT_IMU1), imu1ISR, RISING);
attachInterrupt(digitalPinToInterrupt(INT_IMU2), imu2ISR, RISING);
and my ISRs are just setting a flag, which I then de-select from the main loop() when it's triggered.
Hi, I'm trying to use the SensorLib library with 2 instances of BHI260AP, one configured via SPI and one configured via I2C, the two devices initialise without issues and I can see al the relevant information being printed in the
begin()phase but when I attach two interrupts to them (trying to just stream quaternion data from both) only one of the two interrupts is ever called, in my case the I2C device.If I run simply with either one or the other, then everything works just fine. Is there anything I should be doing to handle multiple instances of the same device?
this is a sample of my controller class
in my main sketch what I do is this:
and my ISRs are just setting a flag, which I then de-select from the main
loop()when it's triggered.