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Hi, I have a project where I'm trying to use 2 different BMX160 sensors to get the relative movement of one device to the other. I have managed to get sensors readings from BSXLite to each sensor (ID 0x68, and 0x69) seperately, meaning the sensore data flow is working well, but when trying to get 2 sensors output seprately from BSXLite library, I get error = -5 for the second sensor. I am using 2 different instances for BSXLite library, so I assume each call to bsxlite_do_step function should be done on different BSXLite object. I didnt see information regarding if it is possible to run BSXLite library on 2 different sensors in parallel so maybe it is not possible, Have anyone tried this before? see code below: static int8_t FingerImu_Init(struct bmi160_dev *pBmi, bsxlite_instance_t *p_instance) { /* Initialize your host interface to the BMI160 */ int8_t rslt; //struct bmm150_settings bmm_settings; rslt = bmi160_init(pBmi); /* Check rslt for any error codes */ /* Configure the BMI160's auxiliary interface for the BMM150 */ pBmi->aux_cfg.aux_sensor_enable = BMI160_ENABLE; //pBmi->aux_cfg.aux_i2c_addr = bmm.chip_id; pBmi->aux_cfg.aux_i2c_addr = BMM150_DEFAULT_I2C_ADDRESS; pBmi->aux_cfg.manual_enable = BMI160_ENABLE; /* Manual mode */ pBmi->aux_cfg.aux_rd_burst_len = BMI160_AUX_READ_LEN_3; /* 8 bytes */ rslt |= bmi160_aux_init(pBmi); /* Check rslt for any error codes */ //rslt |= bmm150_init(&bmm); /* Check rslt for any error codes */ /* Configure the accelerometer */ pBmi->accel_cfg.odr = BMI160_ACCEL_ODR_100HZ; pBmi->accel_cfg.range = BMI160_ACCEL_RANGE_2G; pBmi->accel_cfg.bw = BMI160_ACCEL_BW_NORMAL_AVG4; pBmi->accel_cfg.power = BMI160_ACCEL_NORMAL_MODE; /* Configure the gyroscope */ pBmi->gyro_cfg.odr = BMI160_GYRO_ODR_100HZ; pBmi->gyro_cfg.range = BMI160_GYRO_RANGE_2000_DPS; pBmi->gyro_cfg.bw = BMI160_GYRO_BW_NORMAL_MODE; pBmi->gyro_cfg.power = BMI160_GYRO_NORMAL_MODE; rslt |= bmi160_set_sens_conf(pBmi); /* Check rslt for any error codes */ //rslt = bmi160_aux_init(&bmi); /* Check rslt for any error codes */ // rslt |= BMX160_SetMagConfig(); // gyroRange = setGyroRange(pBmi->gyro_cfg.range); // accRange = setAccelRange(pBmi->accel_cfg.range); // rslt = bmm150_init(&bmm); /* Check rslt for any error codes */ struct bmi160_foc_conf foc_conf = { .foc_gyr_en = BMI160_ENABLE, .foc_acc_x = BMI160_FOC_ACCEL_0G, .foc_acc_y = BMI160_FOC_ACCEL_0G, .foc_acc_z = BMI160_FOC_ACCEL_POSITIVE_G, .acc_off_en = BMI160_ENABLE, .gyro_off_en = BMI160_ENABLE }; struct bmi160_offsets offset = {0}; rslt |= bmi160_start_foc(&foc_conf, &offset, pBmi); if(rslt == BMI160_OK) { rslt |= bmi160_set_offsets(&foc_conf, &offset, pBmi); } /* Configure the magnetometer. The regular preset supports up to 100Hz in Forced mode */ //bmm_settings.preset_mode = BMM150_PRESETMODE_REGULAR; //rslt |= bmm150_set_presetmode(&bmm_settings, &bmm); /* It is important that the last write to the BMM150 sets the forced mode. * This is because the BMI160 writes the last value to the auxiliary sensor * after every read */ //bmm_settings.pwr_mode = BMM150_POWERMODE_FORCED; //rslt |= bmm150_set_op_mode(&bmm_settings, &bmm); uint8_t bmm150_data_start = BMM150_REG_DATA_X_LSB; pBmi->aux_cfg.aux_odr = BMI160_AUX_ODR_100HZ; rslt |= bmi160_set_aux_auto_mode(&bmm150_data_start, pBmi); rslt |= bsxlite_init(p_instance); return rslt; } static int8_t FingerImu_ReadSensorData(struct bmi160_dev *pBmi, bsxlite_instance_t *p_instance, FingImuAxis_t *pCurAxisSet, int32_t *pSensorTime) { int8_t rslt; float32_t cur_pitch = 0; float32_t cur_yaw = 0; bsxlite_out_t bsxlite_fusion_out; vector_3d_t accel_in, gyro_in; struct bmi160_sensor_data gyro_data, accel_data; rslt = bmi160_get_sensor_data(BMI160_ACCEL_SEL | BMI160_GYRO_SEL | BMI160_TIME_SEL, &accel_data, &gyro_data, pBmi); if(rslt != BMI160_OK) { send_text_msg("FingerImu Error: rslt(%d)\n", rslt); } else { accel_in.x = (float32_t)accel_data.x*ACC_RES; accel_in.y = (float32_t)accel_data.y*ACC_RES; accel_in.z = (float32_t)accel_data.z*ACC_RES; gyro_in.x = (float32_t)gyro_data.x*GYRO_RES; gyro_in.y = (float32_t)gyro_data.y*GYRO_RES; gyro_in.z = (float32_t)gyro_data.z*GYRO_RES; /** library api call: doStep **/ rslt |= bsxlite_do_step(p_instance, *pSensorTime, &accel_in, &gyro_in, &bsxlite_fusion_out); if(rslt == BMI160_OK) { cur_pitch = bsxlite_fusion_out.orientation.pitch*180/PI; cur_yaw = bsxlite_fusion_out.orientation.yaw*180/PI > 180? -(360 - bsxlite_fusion_out.orientation.yaw*180/PI): bsxlite_fusion_out.orientation.yaw*180/PI; pCurAxisSet->Pitch = AVG(cur_pitch, pCurAxisSet->Pitch, 10); pCurAxisSet->Yaw = AVG(cur_yaw, pCurAxisSet->Yaw, 10); } (*pSensorTime) += 10000; } return rslt; } void FingerImu_Loop(void) { FingImuAxis_t CurCIAxisSet = {0}; FingImuAxis_t CurBodyAxisSet = {0}; int32_t ci_sensor_time = 0, body_sensor_time = 0; bsxlite_instance_t ci_instance = 0x00; bsxlite_instance_t body_insance = 0x01; int8_t rslt = FingerImu_Init(&bmi_ci, &ci_instance); rslt |= FingerImu_Init(&bmi_body, &body_insance); if(rslt == BMX160_OK) { gFingImuHandle.is_init = TRUE; } //while(rslt != 0) { for(;;) { /* Wait for 100ms for the FIFO to fill */ osDelay(10); rslt |= FingerImu_ReadSensorData(&bmi_ci, &ci_instance, &CurCIAxisSet, &ci_sensor_time); rslt |= FingerImu_ReadSensorData(&bmi_body, &body_insance, &CurBodyAxisSet, &body_sensor_time); //FingerImu_AdaptiveCalbration(); if(rslt < 0 ) { send_text_msg("Finger IMU Error(%d)\n", rslt); } MsgBody_Tx_Fast.ref_cmd[0] = CurCIAxisSet.Pitch; MsgBody_Tx_Fast.ref_cmd[1] = CurCIAxisSet.Yaw; MsgBody_Tx_Fast.ref_cmd[2] = CurBodyAxisSet.Pitch; MsgBody_Tx_Fast.ref_cmd[3] = CurBodyAxisSet.Yaw; } } ... 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