How to use two IMUs with SPI?

[joshgalvan]

Hello!

I'm unable to use two IMUs with SPI via myIMU1.begin() and myIMU2.begin(). I also haven't had any luck trying to use two different SPI ports on both of the IMUs. I'm using a Teensy 3.6, and can get the first IMU to work on the regular SPI bus, but am unable to initialize the same sensor on SPI1, despite having everything wired correctly.

Any suggestions?

My current setup is:

  if (myIMU2.beginSPI(BNO08X_2_CS, BNO08X_2_INT, BNO08X_2_RST, 900000, SPI1) == false) {
    Serial.println("myIMU2 not detected. Check your jumpers and the hookup guide. Freezing...");
    while (1);
  }
  Serial.println("myIMU2 found!");
  setReports2();

  if (myIMU.beginSPI(BNO08X_CS, BNO08X_INT, BNO08X_RST, 900000, SPI) == false) {
    Serial.println("myIMU not detected. Check your jumpers and the hookup guide. Freezing...");
    while (1);
  }
  Serial.println("myIMU found!");
  setReports();

[joshgalvan]

I have found that by altering line 131 of SparkFun_BNO08x_Arduino_Library.cpp to _spiSport = &SPI1; the sensor is able to initialize and "be found", but then it is unable to enable a report, in my case enableGameRotationVector(3) fails.

[lewispg228]

Hi @joshgalvan , Sorry, but this can only support a single device on the bus. See here. This is due to the fact that the CEVA-DSP SH2 driver has some static methods and static variables. Not sure if this is even possible with the SHTP protocol, but if you wanted to, it might be worth starting another issue on their repo requesting this feature.