I'm currently prototyping a device using an Arduino Nano ESP32 and a handful of BMI160 breakout boards. I am trying to get 2 I2C buses working, in order to have 4 IMU boards active at once. I'm running into a problem with the second I2C bus. I believe I have the first bus working (adapting DFRobot_BMI160 library), as it reads 1 or 2 IMUs, but when I try to get the second bus working, it ends up breaking everything.

I have changed some lines in the DFRobot .h and .cpp file in order to incorporate Wire1 whenever Wire is used. I may be making it a bit too complicated, by having it check for the IMUs on startup to initialize the data being shown, but I figure it would be a good way to debug.

Can anyone give some insight on what I may be doing wrong or overlooking? Code is below.I can also provide samples of what I've changed in the .h and .cpp files if that helps. Original library: https://github.com/DFRobot/DFRobot_BMI160/tree/master

#include <DFRobot_BMI160.h>
#include <Wire.h>

struct IMUDevice{
 DFRobot_BMI160 imu;
 uint8_t address;
 int16_t data[6];
 uint8_t scl;
 uint8_t sda;
};

IMUDevice imus[4];
int imuCount = 0;

const int SDA_BUS1 = 11;
const int SCL_BUS1 = 12;

const int SDA_BUS2 = A2;
const int SCL_BUS2 = A3;

void setup(){
 Serial.begin(115200);
 delay(100);
 Serial.println("Setup started");
 // proto start
 Wire.begin();
 Wire1.begin(SDA_BUS2,SCL_BUS2);
 Wire.setClock(400000);
 Wire1.setClock(400000);
 int nDevices = 0; //devices on bus 1
 int nDevices2 = 0; //devices on bus 2
 byte error, l, error2;
 for (int l = 1; l <127; l++){ //scan through all addresses
 Wire.beginTransmission(l);
 error = Wire.endTransmission();
 Wire1.beginTransmission(l);
 error2 = Wire1.endTransmission();

 if (error == 0){
 Serial.println(l,HEX);
 nDevices++; //log device on bus 1
 Serial.print("Device count: "); Serial.print(nDevices);
 if (l == 68){
 imus[imuCount].address = 0x68;
 imus[imuCount].scl = SCL_BUS1;
 imus[imuCount].sda = SDA_BUS1;
 } else if (l == 69){
 imus[imuCount].address = 0x69;
 imus[imuCount].scl = SCL_BUS1;
 imus[imuCount].sda = SDA_BUS1;
 } else {
 Serial.print("Unknown device detected");
 }
 imuCount++;// log imu count
 Serial.print("IMU count: ");Serial.println(imuCount);
 }else if (error == 4){
 Serial.print("Unknown error");
 Serial.println(l,HEX);
 }
 if (error2 == 0){
 Serial.println(l,HEX);
 nDevices2++; //log device on bus 2
 Serial.print("Device count: "); Serial.print(nDevices);
 if (l == 68){
 imus[imuCount].address = 0x68;
 imus[imuCount].scl = SCL_BUS2;
 imus[imuCount].sda = SDA_BUS2;
 } else if (l == 69){
 imus[imuCount].address = 0x69;
 imus[imuCount].scl = SCL_BUS2;
 imus[imuCount].sda = SDA_BUS2;
 } else {
 Serial.print("Unknown device detected");
 }
 imuCount++;// log imu count
 Serial.print("IMU count: ");Serial.println(imuCount);
 } else if (error2 == 4){
 Serial.print("Unknown error");
 Serial.println(l,HEX);
 }
 }
 for(int i=0;i<imuCount;i++){
 if(imus[i].scl == SCL_BUS1){
 if(imus[i].imu.I2cInit(imus[i].address) != BMI160_OK){
 Serial.println("Init failed");
 } else {
 Serial.print("Device initialized on: ");Serial.println(imus[i].address);
 }
 }
 if(imus[i].scl == SCL_BUS2){
 if(imus[i].imu.I2cInit2(imus[i].address) != BMI160_OK){
 Serial.println("Init failed");
 } else{
 Serial.print("Device initialized on: ");Serial.println(imus[i].address);
 }
 }
 }
}

void loop(){
 int m=0;
 int rslt[imuCount];

 for (int k=0; k<imuCount; k++){
 rslt[k]= imus[k].imu.getAccelGyroData(imus[k].data);
 }
 for (m=0; m<imuCount; m++) { //matters for the void loop
 if (rslt[m] == 0){
 Serial.print("IMU: ");Serial.print(m);Serial.print("\t");
 for(int j=0;j<6;j++){
 if(j<3){
 Serial.print(imus[m].data[j]*3.14/180.0);Serial.print("\t");
 }else{
 Serial.print(imus[m].data[j]/16384.0);Serial.print("\t");
 }
 }
 Serial.println();
 }else{
 Serial.println("err");
 }
 delay(100);
 }
}

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