[i2c, sensor, stm32wb_i2c, bmi270, boards] Add I2C, sensor, and BMI270 IMU support for STM32WB

Author: AlexLanzano

.github/workflows/ci.yml

@@ -42,18 +42,26 @@ jobs:
         working-directory: tests
         run: CFLAGS="${{ matrix.extra_cflags }}" make BOARD=${{ matrix.board }}
 
-  peripheral-drivers:
+  peripheral-tests:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        source:
-          - src/block/sdhc_spi.c
-          - src/flash/spi_nor.c
+        include:
+          - board: stm32wb55xx_nucleo
+            peripherals: bmi270
+            tests: bmi270
+          - board: stm32wb55xx_nucleo
+            peripherals: spi_nor_w25q64
+            tests: flash
+          - board: stm32wb55xx_nucleo
+            peripherals: sdhc_spi_sdcard32gb
+            tests: block
     steps:
       - uses: actions/checkout@v4
 
       - name: Install ARM toolchain
         run: sudo apt-get update && sudo apt-get install -y gcc-arm-none-eabi
 
-      - name: Compile ${{ matrix.source }}
-        run: arm-none-eabi-gcc -c -I. -Wall -Werror ${{ matrix.source }} -o /dev/null
+      - name: Build tests
+        working-directory: tests
+        run: make BOARD=${{ matrix.board }} PERIPHERALS="${{ matrix.peripherals }}" TESTS="${{ matrix.tests }}"

boards/peripheral/Makefile.inc

@@ -2,14 +2,8 @@ _PERIPHERAL_DIR := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
 
 BOARD_SOURCE += $(_PERIPHERAL_DIR)/peripheral.c
 
-ifdef PERIPHERAL_SDHC_SPI_SDCARD32GB
-CFLAGS += -DPERIPHERAL_SDHC_SPI_SDCARD32GB
-BOARD_SOURCE += $(_PERIPHERAL_DIR)/block/sdhc_spi_sdcard32gb.c
-BOARD_SOURCE += $(WHAL_DIR)/src/block/sdhc_spi.c
-endif
+uc = $(shell echo $(1) | tr a-z A-Z | tr - _)
 
-ifdef PERIPHERAL_SPI_NOR_W25Q64
-CFLAGS += -DPERIPHERAL_SPI_NOR_W25Q64
-BOARD_SOURCE += $(_PERIPHERAL_DIR)/flash/spi_nor_w25q64.c
-BOARD_SOURCE += $(WHAL_DIR)/src/flash/spi_nor.c
-endif
+$(foreach p,$(PERIPHERALS),$(eval CFLAGS += -DPERIPHERAL_$(call uc,$(p))))
+$(foreach p,$(PERIPHERALS),$(eval BOARD_SOURCE += $(shell find $(_PERIPHERAL_DIR) -name '$(p).c')))
+$(foreach p,$(PERIPHERALS),$(eval BOARD_SOURCE += $(shell find $(WHAL_DIR)/src -name '$(p).c')))

boards/peripheral/peripheral.c

@@ -8,6 +8,10 @@
 #include "flash/spi_nor_w25q64.h"
 #endif
 
+#ifdef PERIPHERAL_BMI270
+#include "sensor/imu/bmi270.h"
+#endif
+
 whal_PeripheralBlock_Cfg g_peripheralBlock[] = {
 #ifdef PERIPHERAL_SDHC_SPI_SDCARD32GB
     {
@@ -33,6 +37,16 @@ whal_PeripheralFlash_Cfg g_peripheralFlash[] = {
     {0}, /* sentinel */
 };
 
+whal_PeripheralSensor_Cfg g_peripheralSensor[] = {
+#ifdef PERIPHERAL_BMI270
+    {
+        .name = "bmi270",
+        .dev = &g_whalBmi270,
+    },
+#endif
+    {0}, /* sentinel */
+};
+
 whal_Error Peripheral_Init(void)
 {
     whal_Error err;
@@ -49,13 +63,29 @@ whal_Error Peripheral_Init(void)
             return err;
     }
 
+#if PERIPHERAL_SENSOR_COUNT > 0
+    for (size_t i = 0; g_peripheralSensor[i].dev; i++) {
+        err = whal_Sensor_Init(g_peripheralSensor[i].dev);
+        if (err)
+            return err;
+    }
+#endif
+
     return WHAL_SUCCESS;
 }
 
 whal_Error Peripheral_Deinit(void)
 {
     whal_Error err;
 
+#if PERIPHERAL_SENSOR_COUNT > 0
+    for (size_t i = 0; g_peripheralSensor[i].dev; i++) {
+        err = whal_Sensor_Deinit(g_peripheralSensor[i].dev);
+        if (err)
+            return err;
+    }
+#endif
+
     for (size_t i = 0; g_peripheralFlash[i].dev; i++) {
         err = whal_Flash_Deinit(g_peripheralFlash[i].dev);
         if (err)

boards/peripheral/peripheral.h

@@ -4,6 +4,7 @@
 #include <wolfHAL/wolfHAL.h>
 #include <wolfHAL/block/block.h>
 #include <wolfHAL/flash/flash.h>
+#include <wolfHAL/sensor/sensor.h>
 #include <stddef.h>
 #include <stdint.h>
 
@@ -24,9 +25,24 @@ typedef struct {
     size_t sectorSz;     /* Sector (erase) size in bytes */
 } whal_PeripheralFlash_Cfg;
 
+/* Peripheral sensor device test configuration */
+typedef struct {
+    const char *name;
+    whal_Sensor *dev;
+} whal_PeripheralSensor_Cfg;
+
 extern whal_PeripheralBlock_Cfg g_peripheralBlock[];
 extern whal_PeripheralFlash_Cfg g_peripheralFlash[];
 
+enum {
+#ifdef PERIPHERAL_BMI270
+    PERIPHERAL_SENSOR_BMI270,
+#endif
+    PERIPHERAL_SENSOR_COUNT,
+};
+
+extern whal_PeripheralSensor_Cfg g_peripheralSensor[];
+
 whal_Error Peripheral_Init(void);
 whal_Error Peripheral_Deinit(void);
 

boards/peripheral/sensor/imu/bmi270.c

@@ -0,0 +1,29 @@
+#include "bmi270.h"
+#include <wolfHAL/sensor/imu/bmi270.h>
+#include <wolfHAL/sensor/imu/bmi270_config_data.h>
+#include "board.h"
+
+/*
+ * Bosch BMI270 — 6-axis IMU (accelerometer + gyroscope)
+ *
+ * - I2C address: 0x68 (SDO low)
+ * - Standard mode (100 kHz) or Fast mode (400 kHz)
+ * - Requires 8192-byte config blob upload during init
+ */
+
+whal_I2c_ComCfg g_bmi270ComCfg = {
+    .freq = 400000, /* 400 kHz fast mode */
+    .addr = WHAL_BMI270_ADDR_LOW,
+    .addrSz = 7,
+};
+
+whal_Sensor g_whalBmi270 = {
+    .driver = &whal_Bmi270_Driver,
+    .cfg = &(whal_Bmi270_Cfg) {
+        .i2c = &g_whalI2c,
+        .comCfg = &g_bmi270ComCfg,
+        .configData = whal_bmi270_config_data,
+        .configDataSz = WHAL_BMI270_CONFIG_DATA_SZ,
+        .DelayMs = Board_WaitMs,
+    },
+};

boards/peripheral/sensor/imu/bmi270.h

@@ -0,0 +1,10 @@
+#ifndef BOARD_SENSOR_IMU_BMI270_H
+#define BOARD_SENSOR_IMU_BMI270_H
+
+#include <wolfHAL/wolfHAL.h>
+#include <wolfHAL/sensor/sensor.h>
+#include <wolfHAL/sensor/imu/bmi270.h>
+
+extern whal_Sensor g_whalBmi270;
+
+#endif /* BOARD_SENSOR_IMU_BMI270_H */

boards/stm32wb55xx_nucleo/Makefile.inc

@@ -27,6 +27,8 @@ BOARD_SOURCE += $(wildcard $(WHAL_DIR)/src/*/timer.c)
 BOARD_SOURCE += $(wildcard $(WHAL_DIR)/src/*/supply.c)
 BOARD_SOURCE += $(wildcard $(WHAL_DIR)/src/*/flash.c)
 BOARD_SOURCE += $(wildcard $(WHAL_DIR)/src/*/spi.c)
+BOARD_SOURCE += $(wildcard $(WHAL_DIR)/src/*/i2c.c)
+BOARD_SOURCE += $(wildcard $(WHAL_DIR)/src/*/sensor.c)
 BOARD_SOURCE += $(wildcard $(WHAL_DIR)/src/*/rng.c)
 BOARD_SOURCE += $(wildcard $(WHAL_DIR)/src/*/crypto.c)
 BOARD_SOURCE += $(wildcard $(WHAL_DIR)/src/*/block.c)

boards/stm32wb55xx_nucleo/board.c

@@ -9,16 +9,10 @@
 
 /* SysTick timing */
 volatile uint32_t g_tick = 0;
-volatile uint8_t g_waiting = 0;
-volatile uint8_t g_tickOverflow = 0;
 
-void SysTick_Handler()
+void SysTick_Handler(void)
 {
-    uint32_t tickBefore = g_tick++;
-    if (g_waiting) {
-        if (tickBefore > g_tick)
-            g_tickOverflow = 1;
-    }
+    g_tick++;
 }
 
 uint32_t Board_GetTick(void)
@@ -64,6 +58,7 @@ static const whal_Stm32wbRcc_Clk g_clocks[] = {
     {WHAL_STM32WB55_SPI1_CLOCK},
     {WHAL_STM32WB55_RNG_CLOCK},
     {WHAL_STM32WB55_AES1_CLOCK},
+    {WHAL_STM32WB55_I2C1_CLOCK},
 };
 #define CLOCK_COUNT (sizeof(g_clocks) / sizeof(g_clocks[0]))
 
@@ -135,11 +130,39 @@ whal_Gpio g_whalGpio = {
                 .speed = WHAL_STM32WB_GPIO_SPEED_FAST,
                 .pull = WHAL_STM32WB_GPIO_PULL_UP,
             },
+            [I2C_SCL_PIN] = { /* I2C1 SCL */
+                .port = WHAL_STM32WB_GPIO_PORT_B,
+                .pin = 8,
+                .mode = WHAL_STM32WB_GPIO_MODE_ALTFN,
+                .outType = WHAL_STM32WB_GPIO_OUTTYPE_OPENDRAIN,
+                .speed = WHAL_STM32WB_GPIO_SPEED_FAST,
+                .pull = WHAL_STM32WB_GPIO_PULL_UP,
+                .altFn = 4,
+            },
+            [I2C_SDA_PIN] = { /* I2C1 SDA */
+                .port = WHAL_STM32WB_GPIO_PORT_B,
+                .pin = 9,
+                .mode = WHAL_STM32WB_GPIO_MODE_ALTFN,
+                .outType = WHAL_STM32WB_GPIO_OUTTYPE_OPENDRAIN,
+                .speed = WHAL_STM32WB_GPIO_SPEED_FAST,
+                .pull = WHAL_STM32WB_GPIO_PULL_UP,
+                .altFn = 4,
+            },
         },
         .pinCount = PIN_COUNT,
     },
 };
 
+/* I2C */
+whal_I2c g_whalI2c = {
+    WHAL_STM32WB55_I2C1_DEVICE,
+
+    .cfg = &(whal_Stm32wbI2c_Cfg) {
+        .pclk = 64000000,
+        .timeout = &g_whalTimeout,
+    },
+};
+
 /* SPI */
 whal_Spi g_whalSpi = {
     WHAL_STM32WB55_SPI1_DEVICE,
@@ -259,20 +282,7 @@ whal_Crypto g_whalCrypto = {
 void Board_WaitMs(size_t ms)
 {
     uint32_t startCount = g_tick;
-    g_waiting = 1;
-    while (1) {
-        uint32_t currentCount = g_tick;
-        if (g_tickOverflow) {
-            if ((UINT32_MAX - startCount) + currentCount > ms) {
-                break;
-            }
-        } else if (currentCount - startCount > ms) {
-            break;
-        }
-    }
-
-    g_waiting = 0;
-    g_tickOverflow = 0;
+    while (g_tick - startCount < ms);
 }
 
 whal_Error Board_Init(void)
@@ -347,6 +357,11 @@ whal_Error Board_Init(void)
         return err;
     }
 
+    err = whal_I2c_Init(&g_whalI2c);
+    if (err) {
+        return err;
+    }
+
     err = whal_Flash_Init(&g_whalFlash);
     if (err) {
         return err;
@@ -414,6 +429,11 @@ whal_Error Board_Deinit(void)
         return err;
     }
 
+    err = whal_I2c_Deinit(&g_whalI2c);
+    if (err) {
+        return err;
+    }
+
     err = whal_Spi_Deinit(&g_whalSpi);
     if (err) {
         return err;

boards/stm32wb55xx_nucleo/board.h

@@ -13,6 +13,7 @@ extern whal_Spi g_whalSpi;
 extern whal_Flash g_whalFlash;
 extern whal_Rng g_whalRng;
 extern whal_Crypto g_whalCrypto;
+extern whal_I2c g_whalI2c;
 extern whal_Irq g_whalIrq;
 
 extern whal_Timeout g_whalTimeout;
@@ -26,6 +27,8 @@ enum {
     SPI_MISO_PIN,
     SPI_MOSI_PIN,
     SPI_CS_PIN,
+    I2C_SCL_PIN,
+    I2C_SDA_PIN,
     PIN_COUNT,
 };