Issues interfacing BNO086 with STM32 using CubeIDE (I²C + interrupt/reset)

Question

Hello,
I am currently trying to read the angles from a BNO086 IMU using an STM32 microcontroller (using CubeIDE), and I use this library : https://www.grozeaion.com/electronics/stm32/stm32-i2c-library-for-bno08x-9-axis-imu.
The I²C communication seems to work correctly (the device responds, and I can receive data), but I am having several issues that I cannot resolve :
- Interrupt behavior : According to the documentation, the BNO086 should trigger the INT pin whenever new sensor data is available. In my setup, the interrupt seems to be triggered, but I don't receive any data. I added a condition so I can't receive data unless ROTATION_VECTOR is enabled, but it is never enabled because it never receives the right packet.
- Reset Behavior : After sending the initialization commands, the BNO086 seems to reboot and I get the reset response frame repeatedly. Because of this, the sensor never stays in a stable state, and I cannot get continuous valid data. The weird thing about this is that when I manually debug line by line, I receive the right type of packet but the condition ROTATION_VECTOR enabled is never true so I can't get the angles.
I suspect the problem comes from the initialization sequence. With the Arduino SparkFun BNO08x library, everything works fine (the device initializes properly and provides continuous data). But when I try to replicate the process in CubeIDE with the HAL I²C driver, the BNO086 never remains initialized.
My I2C address is correct, I cheked, INT pin is connected and configured as EXTI, Reset as a GPIO_Output. BOOT isn't wired.
Has anyone here experienced the BNO086 continuously resetting like this on STM32, and how did you solve it ?
Thanks in advance !
Here's my main.c, I used the .h and .c of the library :

/* USER CODE BEGIN Header */
/*******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/

/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "i2c.h"
#include "usart.h"
#include "tim.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <stdio.h>
#include "BNO_08x_I2C.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
volatile uint8_t BNO_Ready = 0;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
void PeriphCommonClock_Config(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void I2C_Scan_Bus(void)
{
 HAL_StatusTypeDef result;
 uint8_t i;
 printf("Scanning I2C bus...
");
 for (i = 1; i < 128; i++)
 {
 /*
 * HAL_I2C_IsDeviceReady returns HAL_OK if device responds,
 * else HAL_ERROR or HAL_BUSY or HAL_TIMEOUT
 */
 result = HAL_I2C_IsDeviceReady(&hi2c1, (i << 1), 1, 10);
 if (result == HAL_OK)
 {
 printf("Found device at address 0x%02X
", i);
 }
 }
 printf("Scan complete.

");
}
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
 /* USER CODE BEGIN 1 */
 /* USER CODE END 1 */
 /* MCU Configuration--------------------------------------------------------*/
 /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
 HAL_Init();
 /* USER CODE BEGIN Init */
 /* USER CODE END Init */
 /* Configure the system clock */
 SystemClock_Config();
 /* Configure the peripherals common clocks */
 PeriphCommonClock_Config();
 /* USER CODE BEGIN SysInit */
 /* USER CODE END SysInit */
 /* Initialize all configured peripherals */
 MX_GPIO_Init();
 MX_I2C1_Init();
 MX_LPUART1_UART_Init();
 MX_TIM2_Init();
 /* USER CODE BEGIN 2 */
 ///* -----------------------------------------------------------------------------------------------
 BNO_RST_On;
 // BNO_BOOT_On;
 // Initialisation du capteur BNO08x
 if (BNO_Init() == HAL_OK)
 {
 BNO_setHighAccuracyMode();
 printf("BNO init OK
");
 }
 else
 {
 // Si erreur
 printf("Erreur d'initialisation BNO08x !
");
 while (1);
 }
 /* USER CODE END 2 */
 /* Infinite loop */
 /* USER CODE BEGIN WHILE */
 while (1)
 {
 if (BNO_Ready)
 {
 if (isResetOccurred())
 { // Fonction modifiée en bool au lieu de uint8_t, à changer si pas concluant ::::::::::::::::::::::::::::::::::::::::::::::::::
 // Réactive le feature si reset
 // printf("rotation vector = %02X
", ROTATION_VECTOR);
 if (BNO_setFeature(ROTATION_VECTOR, 100000, 0) == HAL_OK)
 {
 // printf("%d
", BNO_getFeature(ROTATION_VECTOR));
 printf("Reset Occurred. Set feature OK!
");
 // printf("SensorId = %d
", sensorData.sensorId);
 }
 }
 // BNO_setFeature(ROTATION_VECTOR, 100000, 0);
 if (BNO_dataAvailable() == HAL_OK)
 {
 BNO_setFeature(ROTATION_VECTOR, 100000, 0);
 printf("ReportID = 0x%02X
", sensorData.sensorId);
 }
 if ((BNO_dataAvailable() == HAL_OK) && (sensorData.sensorId == ROTATION_VECTOR))
 {
 /*if (sensorData.sensorId == ROTATION_VECTOR) {*/
 sensorData.sensorId = 0; // Reset l'ID pour la prochaine frame
 rpy = BNO_getRollPitchYaw();
 printf("Roll: %.2f, Pitch: %.2f, Yaw: %.2f
", rpy.Roll, rpy.Pitch, rpy.Yaw);
 // BNO_RotationVectorWAcc_t rot = getRotationVector();
 // printf("I: %.3f, J: %.3f, K: %.3f
", rot.I, rot.J, rot.K);
 // BNO_Gyroscope_t gyro = getGyroscope();
 // printf("X: %.3f, Y: %.3f, Z: %.3f
", gyro.X, gyro.Y, gyro.Z);
 /*} else {
 printf("SensorId reçu = %d
", sensorData.sensorId);
 }*/
 }
 }
 /* USER CODE END WHILE */
 /* USER CODE BEGIN 3 */
 }
 /* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
 RCC_OscInitTypeDef RCC_OscInitStruct = {0};
 RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
 /** Configure the main internal regulator output voltage
 */
 __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
 /** Initializes the RCC Oscillators according to the specified parameters
 * in the RCC_OscInitTypeDef structure.
 */
 RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI | RCC_OSCILLATORTYPE_HSE
 | RCC_OSCILLATORTYPE_MSI;
 RCC_OscInitStruct.HSEState = RCC_HSE_ON;
 RCC_OscInitStruct.HSIState = RCC_HSI_ON;
 RCC_OscInitStruct.MSIState = RCC_MSI_ON;
 RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
 RCC_OscInitStruct.MSICalibrationValue = RCC_MSICALIBRATION_DEFAULT;
 RCC_OscInitStruct.MSIClockRange = RCC_MSIRANGE_6;
 RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
 if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
 {
 Error_Handler();
 }
 /** Configure the SYSCLKSource, HCLK, PCLK1 and PCLK2 clocks dividers
 */
 RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK4 | RCC_CLOCKTYPE_HCLK2
 | RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK
 | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
 RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_MSI;
 RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
 RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
 RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
 RCC_ClkInitStruct.AHBCLK2Divider = RCC_SYSCLK_DIV1;
 RCC_ClkInitStruct.AHBCLK4Divider = RCC_SYSCLK_DIV1;
 if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK)
 {
 Error_Handler();
 }
}
/**
* @brief Peripherals Common Clock Configuration
* @retval None
*/
void PeriphCommonClock_Config(void)
{
 RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
 /** Initializes the peripherals clock
 */

PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_SMPS;
 PeriphClkInitStruct.SmpsClockSelection = RCC_SMPSCLKSOURCE_HSI;
 PeriphClkInitStruct.SmpsDivSelection = RCC_SMPSCLKDIV_RANGE1;
 if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
 {
 Error_Handler();
 }
 /* USER CODE BEGIN Smps */
 /* USER CODE END Smps */
}
/* USER CODE BEGIN 4 */
/* Callback interruption GPIO */
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
 if (GPIO_Pin == GPIO_PIN_0)
 {
 BNO_Ready = 1;
 // printf("IRQ reçu, ready!
");
 }
 __HAL_GPIO_EXTI_CLEAR_IT(GPIO_Pin);
}
/* USER CODE END 4 */
/**
* @brief This function is executed in case of error occurrence.
* @retval None
*/
void Error_Handler(void)
{
 /* USER CODE BEGIN Error_Handler_Debug */
 /* User can add his own implementation to report the HAL error return state */
 __disable_irq();
 while (1)
 {
 }
 /* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* file: pointer to the source file name
* line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
{
 /* USER CODE BEGIN 6 */
 /* User can add his own implementation to report the file name and line number,
 ex: printf("Wrong parameters value: file %s on line %d
", file, line) */
 /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

Edit by moderator: Please make sure to use code blocks next time for better readability. Thank you!

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