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Fixes for ESP32 boards #62

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Fixes for ESP32 boards #62

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90d4343
esp32: fix min macro
facchinm Nov 28, 2025
e8b6b1b
nesso_n1: enable INT pin
facchinm Nov 28, 2025
ff237b5
nesso_n1: fix interrupt example
facchinm Nov 28, 2025
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14 changes: 13 additions & 1 deletion examples/Interrupts_subclassing/Interrupts_subclassing.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,11 @@ class MyBoschSensor: public BoschSensorClass {
struct bmi2_int_pin_config int_pin_cfg;
int_pin_cfg.pin_type = BMI2_INT1;
int_pin_cfg.int_latch = BMI2_INT_NON_LATCH;
#if defined(ARDUINO_ARDUINO_NESSO_N1)
int_pin_cfg.pin_cfg[0].lvl = BMI2_INT_ACTIVE_LOW;
#else
int_pin_cfg.pin_cfg[0].lvl = BMI2_INT_ACTIVE_HIGH;
#endif
int_pin_cfg.pin_cfg[0].od = BMI2_INT_PUSH_PULL;
int_pin_cfg.pin_cfg[0].output_en = BMI2_INT_OUTPUT_ENABLE;
int_pin_cfg.pin_cfg[0].input_en = BMI2_INT_INPUT_DISABLE;
Expand Down Expand Up @@ -52,7 +56,11 @@ class MyBoschSensor: public BoschSensorClass {
}
};

#if defined(ARDUINO_ARDUINO_NESSO_N1)
MyBoschSensor myIMU(Wire);
#else
MyBoschSensor myIMU(Wire1);
#endif

void print_data() {
// we can also read accelerometer / gyro data here!
Expand All @@ -65,7 +73,11 @@ void setup() {
while (!Serial);
myIMU.debug(Serial);
myIMU.onInterrupt(print_data);
myIMU.begin();
#if defined(ARDUINO_ARDUINO_NESSO_N1)
myIMU.begin(BOSCH_ACCEL_ONLY);
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@jimbruges jimbruges Dec 5, 2025

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Should this be BOSCH_ACCELEROMETER_ONLY?

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@facchinm facchinm Dec 5, 2025

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Definitly yes, thanks for spotting 😓 Copy pasting from a sketch into a PR is never a good idea 🙂

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@jimbruges jimbruges Dec 5, 2025

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perhaps the one below should be BOSCH_ACCEL_AND_MAGN too rather than BOSCH_ACCEL_AND_GYRO

#else
myIMU.begin(BOSCH_ACCEL_AND_GYRO);
#endif

Serial.print("Accelerometer sample rate = ");
Serial.println(myIMU.accelerationSampleRate());
Expand Down
10 changes: 10 additions & 0 deletions src/BMI270.cpp
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Expand Up @@ -39,6 +39,16 @@ void BoschSensorClass::onInterrupt(mbed::Callback<void(void)> cb)
irq.rise(mbed::callback(this, &BoschSensorClass::interrupt_handler));
}
#endif
#ifdef ARDUINO_ARCH_ESP32
void BoschSensorClass::onInterrupt(void (*cb)(void))
{
if (BMI270_INT1 == -1) {
return;
}
pinMode(BMI270_INT1, INPUT_PULLUP);
attachInterrupt(BMI270_INT1, cb, FALLING);
}
#endif
int BoschSensorClass::begin(CfgBoshSensor_t cfg) {

_wire->begin();
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13 changes: 12 additions & 1 deletion src/BoschSensorClass.h
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Expand Up @@ -79,7 +79,7 @@ class ContinuousMode {
if (ret != 0) {
return 0;
}
_available = min(status, sizeof(fifoData)) / (6 + 6); // 6 bytes per accel sample
_available = min((size_t)status, sizeof(fifoData)) / (6 + 6); // 6 bytes per accel sample
_availableG = _available;
_availableA = _available;
ret = bmi2_extract_accel(accel_data, &_available, &fifoFrame, bmi2);
Expand Down Expand Up @@ -150,6 +150,17 @@ class BoschSensorClass {
}
PinName BMI270_INT1 = NC;
#endif
#ifdef ARDUINO_ARCH_ESP32
void onInterrupt(void (*)(void));
void setInterruptPin(int irq_pin) {
BMI270_INT1 = irq_pin;
}
#if defined(ARDUINO_ARDUINO_NESSO_N1)
int BMI270_INT1 = 3;
#else
int BMI270_INT1 = -1;
#endif
#endif
// Accelerometer
virtual int readAcceleration(float& x, float& y, float& z); // Results are in G (earth gravity).
virtual int accelerationAvailable(); // Number of samples in the FIFO.
Expand Down
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