Thank you very much for the answer. I have actually asked the question on the Bosch forum
https://community.bosch-sensortec.com/t5/MEMS-sensors-forum/BMI055-interrupts/m-p/23274.
"By the way, could you detail a bit more your application at high level? Do you want to read sensors' data simultaneously at a certain ODR (the same for both of them)?"
I want to read the two sensors (gyroscope (bmg160) and accelerometer (bma2x2) that are in the same chip, the BMI055 IMU) using SPI through the DMA. Furthermore, I want to read these sensors when new data is available, and for this, I enable the new data interrupts on the sensors. Their data ready pins are connected to the PB14 and PB15 of the STM32. Then, to capture these external interrupts, I enable the EXTI on pins PB14 and PB15 (on the STM32765), as shown in the code below:
/*Configure GPIO pin : PB15 */
GPIO_InitStruct.Pin = GPIO_PIN_14 | GPIO_PIN_15;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* EXTI interrupt init*/
HAL_NVIC_SetPriority(EXTI15_10_IRQn, 3, 0);
HAL_NVIC_EnableIRQ(EXTI15_10_IRQn);
The EXTI callback looks like this:
// EXTI Line10-15 External Interrupt ISR Handler CallBackFun
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
if (GPIO_Pin == GPIO_PIN_14)
{
bmg160_read_gyro();
}
if (GPIO_Pin == GPIO_PIN_15)
{
bma2x2_read_acc();
}
}
The IRQ handler is:
* @brief This function handles EXTI line[15:10] interrupts.
*/
void EXTI15_10_IRQHandler(void)
{
if (__HAL_GPIO_EXTI_GET_IT(GPIO_PIN_14) != RESET)
{
HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_14);
}
if (__HAL_GPIO_EXTI_GET_IT(GPIO_PIN_15) != RESET)
{
HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_15);
}
}
"And in which phase of your code are you getting issues? In the configuration/initialization phase, if it is separately performed for the two sensors, so that you cannot properly read/write the registers, or when you start acquiring data, so that the issue is when you receive "overlapping" data-ready interrupts from the two sensors?"
This is actually a very good question. To give a precise answer let me show you my initialization code.
int main(void)
{
MX_GPIO_Init();
MX_DMA_Init();
MX_USB_DEVICE_Init();
MX_RTC_Init();
MX_SPI1_Init();
MX_TIM2_Init();
// Sensor initialization
bmg160_sensor_init();
HAL_Delay(500);
bma2x2_sensor_init();
HAL_Delay(500);
// Enable sensors interrupts
bmg160_enable_intr();
HAL_Delay(500);
// bma2x2_enable_intr();
while (1) {}
}
The problems start already at the initialization level. Actually, if I enable the bma2x2 before the bmg160, I get problems in the bmg160 initialization (E.g. I read, and probably write, an incorrect bandwidth on the sensor's registers).
If I initialize the bmg160 before the bma2x2 (as shown in the code), the two sensors get initialed properly but (assuming I don't enable the bma2x2 interrupt) the EXTI callback on pin 14 (bmg160) is not called anymore after few loops, and the code gets stuck somewhere.
If I enable also the bma2x2 interrupt, the EXTI for the bmg160 never gets called at all, but the bma2x2 callback "tends" to work. An explanation I was trying to give is that the bma2x2 (accelerometer) should have a much higher frequency (both the sensors are now at their maximum bandwidth), but I'm not very sure that this makes a lot of sense.
NOTE: I really want to stress that the two sensors alone work well and this makes me think that the SPI + DMA is properly set up as well as the two sensors. But there might be a problem in the way I manage the EXTI lines, when there is more than one or maybe the DMA where there is more than one chip-select around.
Thank you very much for your help.
