Accessing two i2c devices over 2 different channels simultaneously

Projects Networking, Protocols, and Devices
7

I am not using any delay(). I have set up a timer interrupt that sets a flag every 10 millisecond, which I then use to poll data from the sensor. I need to sample higher that this rate. I am aiming at 1K samples / second or read every millisecond.

I am now using SPI instead of I2C and it has reduced the read time significantly. Almost 43% of what it took with I2C. This is at 5MHz, which is the highest the sensor can go.

So, what I take from this is that simultaneous access over 2 different channels is is not possible with Arduino libraries. Right? But is it possible any other way? Say, I write my own code with Atmel Studio. Does it involve dealing with DMA?

Can anyone point me in the right direction?

The code is like this,

Setup SPI:

 pinMode(_clk, OUTPUT);
 digitalWrite(_clk, HIGH);
 pinMode(_do, OUTPUT);
 pinMode(_di, INPUT);*/
 SPI.begin();
 SPI.beginTransaction (SPISettings (5000000, MSBFIRST, SPI_MODE3)); 
 pinMode(_cs,OUTPUT);
 digitalWrite(_cs, HIGH)

Read Register:

void Accel::ReadRegister(uint8_t regAddress, uint8_t values[], uint8_t numberOfBytes)
{
  regAddress |= 0x80;

  // set the multi-read byte if required
  if (numberOfBytes > 1) {
    regAddress |= 0x40;
  }
  
  digitalWrite(_cs, LOW);
  SPI.transfer(regAddress);
  
  // read the data
  for(int i=0; i<numberOfBytes; i++){
    values[i] = SPI.transfer(0x00);
  }

  digitalWrite(_cs, HIGH);
}