Fixes for ESP32 boards

examples/Interrupts_subclassing/Interrupts_subclassing.ino

@@ -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;
@@ -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!
@@ -65,7 +73,11 @@ void setup() {
   while (!Serial);
   myIMU.debug(Serial);
   myIMU.onInterrupt(print_data);
+#if defined(ARDUINO_ARDUINO_NESSO_N1)
+  myIMU.begin(BOSCH_ACCELEROMETER_ONLY);
+#else
   myIMU.begin();
+#endif
 
   Serial.print("Accelerometer sample rate = ");
   Serial.println(myIMU.accelerationSampleRate());

src/BMI270.cpp

@@ -10,6 +10,10 @@
 static events::EventQueue queue(10 * EVENTS_EVENT_SIZE);
 #endif
 
+#ifdef ARDUINO_ARCH_ESP32
+#include "FunctionalInterrupt.h"
+#endif
+
 #if defined(ARDUINO_NANO33BLE)
 #define TARGET_ARDUINO_NANO33BLE
 #endif
@@ -39,6 +43,45 @@ void BoschSensorClass::onInterrupt(mbed::Callback<void(void)> cb)
   irq.rise(mbed::callback(this, &BoschSensorClass::interrupt_handler));
 }
 #endif
+
+#ifdef ARDUINO_ARCH_ESP32
+static EventGroupHandle_t xHandle = NULL;
+struct bmi_task_data {
+  BoschSensorClass* imu;
+  struct bmi2_dev* bmi2;
+};
+
+void irq_thread(void *pvParameters)
+{
+  bmi_task_data* instance_ptr = static_cast<bmi_task_data*>(pvParameters);
+  uint16_t status;
+  while (1) {
+    xEventGroupWaitBits(xHandle, 1, pdTRUE, pdFALSE, portMAX_DELAY);
+    if (instance_ptr->imu && instance_ptr->imu->_cb) {
+      bmi2_get_int_status(&status, instance_ptr->bmi2);
+      instance_ptr->imu->_cb();
+    }
+  }
+}
+
+void BoschSensorClass::cb_wrapper()
+{
+  xEventGroupSetBits(xHandle, 0xFF);
+}
+
+void BoschSensorClass::onInterrupt(void (*cb)(void))
+{
+  if (BMI270_INT1 == -1) {
+    return;
+  }
+  xHandle = xEventGroupCreate();
+  _cb = cb;
+  static struct bmi_task_data instance = { this, &bmi2 };
+  pinMode(BMI270_INT1, INPUT_PULLUP);
+  xTaskCreate(irq_thread, "bmi_irq_thread", 4096, &instance, 1, NULL);
+  attachInterrupt(BMI270_INT1, std::bind(&BoschSensorClass::cb_wrapper, this), FALLING);
+}
+#endif
 int BoschSensorClass::begin(CfgBoshSensor_t cfg) {
 
   _wire->begin();
@@ -364,6 +407,7 @@ static void panic_led_trap(void)
   static int const LED_BUILTIN = 2;
 #endif
 
+#if !defined(ARDUINO_ARDUINO_NESSO_N1)
   pinMode(LED_BUILTIN, OUTPUT);
   while (1)
   {
@@ -372,6 +416,7 @@ static void panic_led_trap(void)
     digitalWrite(LED_BUILTIN, HIGH);
     delay(100);
   }
+#endif
 }
 
 void BoschSensorClass::print_rslt(int8_t rslt)

src/BoschSensorClass.h

@@ -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);
@@ -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.
@@ -182,6 +193,11 @@ class BoschSensorClass {
     Stream* _debug = nullptr;
     #ifdef __MBED__
     mbed::Callback<void(void)> _cb;
+    #else
+  public:
+    void (*_cb)(void) = nullptr;
+  private:
+    void cb_wrapper();
     #endif
     bool _initialized = false;
     int _interrupts = 0;