BMI270: use Wire instead of the legacy I2C driver (fixes driver_ng CONFLICT abort on Arduino core 3.2+)

README.md

@@ -4,6 +4,33 @@
 [![Clang Format](https://github.com/m5stack/M5Module-GNSS/actions/workflows/clang-format-check.yml/badge.svg)](https://github.com/m5stack/M5Module-GNSS/actions/workflows/clang-format-check.yml)
 
 
+## BMI270 I2C access (Arduino core 3.2+ / ESP-IDF 5.4+)
+
+`BMI270` now talks I2C through the Arduino `TwoWire` (`Wire`) API instead of calling the
+ESP-IDF legacy `driver/i2c.h` functions directly. Since Arduino core 3.2.0, `Wire` is built on
+the new `i2c_master` driver (`driver_ng`), and linking the legacy driver into the same firmware
+aborts at startup with:
+
+```
+E (1057) i2c: CONFLICT! driver_ng is not allowed to be used with this old driver
+abort() was called at PC 0x4204ef83 on core 0
+```
+
+Since `BMI270` no longer references the legacy driver, this conflict can no longer occur. Arduino
+core 2.x and 3.0/3.1 keep working as before.
+
+`BMI270::init()` now takes a `TwoWire&`:
+
+```cpp
+Wire.begin(21, 22, 100000); // the library does not call Wire.begin() itself
+bmi270.init(Wire, BIM270_SENSOR_ADDR);
+```
+
+The old `init(i2c_port_t, uint8_t)` signature is kept for source compatibility
+(`I2C_NUM_0` maps to `Wire`, `I2C_NUM_1` maps to `Wire1` on chips with a second I2C controller
+such as ESP32 / ESP32-S3) but is deprecated — prefer the `TwoWire&` overload in new code.
+
+
 ## License
 
 - [M5Module-GNSS - MIT](LICENSE)

examples/getSensorData/getSensorData.ino

@@ -40,7 +40,7 @@ void setup() {
         while (1) delay(10);
     }
 
-    bmi270.init(I2C_NUM_0, BIM270_SENSOR_ADDR);
+    bmi270.init(Wire, BIM270_SENSOR_ADDR);
 }
 
 void loop() {

library.json

@@ -10,7 +10,7 @@
     "type": "git",
     "url": "https://github.com/m5stack/M5Module-GNSS.git"
   },
-  "version": "1.0.1",
+  "version": "1.0.3",
   "frameworks": "arduino",
   "platforms": "espressif32",
   "headers": "M5Module_GNSS.h"

library.properties

@@ -1,5 +1,5 @@
 name=M5Module-GNSS
-version=1.0.1
+version=1.0.3
 author=M5Stack
 maintainer=M5Stack
 sentence=Library for M5Stack GNSS Module

src/BMI270.cpp

@@ -48,11 +48,39 @@ static bmi2_dev* _bmi2_dev_ptr = nullptr;
 
 
 
+// arduino-esp32 declares Wire1 on every 2.x target, but on 3.x only where it exists (the condition
+// differs per 3.x release); a second HP I2C controller implies Wire1 in every release.
+#if ESP_IDF_VERSION_MAJOR < 5
+#define BMI270_HAS_WIRE1 1
+#elif defined(SOC_HP_I2C_NUM)
+#define BMI270_HAS_WIRE1 (SOC_HP_I2C_NUM > 1)
+#else
+#define BMI270_HAS_WIRE1 (SOC_I2C_NUM > 1)
+#endif
+
+
 namespace BMI270 {
 
     int BMI270::init(i2c_port_t i2c_port, uint8_t bmiAddr)
     {
-        _i2c_port = i2c_port;
+#if !defined(NO_GLOBAL_INSTANCES) && !defined(NO_GLOBAL_WIRE)
+        if (i2c_port == 0) {
+            return init(Wire, bmiAddr);
+        }
+#if BMI270_HAS_WIRE1
+        if (i2c_port == 1) {
+            return init(Wire1, bmiAddr);
+        }
+#endif
+#endif
+        ESP_LOGE(TAG, "No global TwoWire for I2C port %d (addr 0x%02X), use init(TwoWire&, uint8_t)", (int)i2c_port, bmiAddr);
+        return false;
+    }
+
+
+    int BMI270::init(TwoWire& wire, uint8_t bmiAddr)
+    {
+        _wire = &wire;
 
 
         /* BMI270 init */
@@ -67,7 +95,7 @@ namespace BMI270 {
         bmi2.read_write_len = 30;    // Limitation of the Wire library
         bmi2.config_file_ptr = NULL; // Use the default BMI270 config file
 
-        accel_gyro_dev_info.i2c_port = _i2c_port;
+        accel_gyro_dev_info.wire = _wire;
         accel_gyro_dev_info.dev_addr = bmi2.chip_id;
 
         int8_t rslt = bmi270_init(&bmi2);
@@ -143,7 +171,7 @@ namespace BMI270 {
         bmm1.intf = BMM150_I2C_INTF;
         bmm1.intf_ptr = &mag_dev_info;
 
-        mag_dev_info.i2c_port = _i2c_port;
+        mag_dev_info.wire = _wire;
         mag_dev_info.dev_addr = bmm1.chip_id;
 
 
@@ -629,26 +657,34 @@ namespace BMI270 {
 
 
 
-    /* I2C W/R buffer */
-    static uint8_t _data_buffer[32];
-    static esp_err_t _i2c_ret;
-    struct dev_info* _dev_info;
-
-
+    /* I2C register R/W, 32 bytes max per transaction (bmi2.read_write_len above) */
     int8_t BMI270::bmi2_i2c_read(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, void *intf_ptr)
     {
         if ((reg_data == NULL) || (len == 0) || (len > 32)) {
             return -1;
         }
 
-        _dev_info = (struct dev_info*)intf_ptr;
+        struct dev_info* dev_info = (struct dev_info*)intf_ptr;
+        TwoWire* wire = dev_info->wire;
+
+        wire->beginTransmission(dev_info->dev_addr);
+        wire->write(reg_addr);
+        uint8_t tx_ret = wire->endTransmission(false); // repeated start, no stop before the read
+        if (tx_ret != 0) {
+            ESP_LOGE(TAG, "A:%02X R %02X endTransmission:%d", dev_info->dev_addr, reg_addr, tx_ret);
+            return -1;
+        }
 
-        _i2c_ret = i2c_master_write_read_device(_dev_info->i2c_port, _dev_info->dev_addr, &reg_addr, 1, reg_data, len, portMAX_DELAY);
-        if (_i2c_ret != ESP_OK) {
-            ESP_LOGE(TAG, "P:%d R %02X %02X E:%d", _dev_info->i2c_port, _dev_info->dev_addr, reg_addr, _i2c_ret);
+        size_t received = wire->requestFrom((uint8_t)dev_info->dev_addr, (uint8_t)len);
+        if (received != len) {
+            ESP_LOGE(TAG, "A:%02X R %02X requestFrom got:%u want:%lu", dev_info->dev_addr, reg_addr, (unsigned)received, (unsigned long)len);
             return -1;
         }
 
+        for (uint32_t i = 0; i < len; i++) {
+            reg_data[i] = (uint8_t)wire->read();
+        }
+
         return 0;
     }
 
@@ -659,16 +695,15 @@ namespace BMI270 {
             return -1;
         }
 
-        _dev_info = (struct dev_info *)intf_ptr;
-
-        _data_buffer[0] = reg_addr;
-        for (int i = 0; i < len; i++) {
-            _data_buffer[i + 1] = reg_data[i];
-        }
+        struct dev_info* dev_info = (struct dev_info*)intf_ptr;
+        TwoWire* wire = dev_info->wire;
 
-        _i2c_ret = i2c_master_write_to_device(_dev_info->i2c_port, _dev_info->dev_addr, _data_buffer, (len + 1), portMAX_DELAY);
-        if (_i2c_ret != ESP_OK) {
-            ESP_LOGE(TAG, "P:%d W %02X %02X E:%d", _dev_info->i2c_port, _dev_info->dev_addr, reg_addr, _i2c_ret);
+        wire->beginTransmission(dev_info->dev_addr);
+        wire->write(reg_addr);
+        wire->write(reg_data, len);
+        uint8_t tx_ret = wire->endTransmission(true);
+        if (tx_ret != 0) {
+            ESP_LOGE(TAG, "A:%02X W %02X endTransmission:%d", dev_info->dev_addr, reg_addr, tx_ret);
             return -1;
         }
 

src/BMI270.h

@@ -28,22 +28,30 @@
 */
 #include "utilities/BMI270-Sensor-API/bmi270.h"
 #include "utilities/BMM150-Sensor-API/bmm150.h"
-#include <driver/i2c.h>
+#include <Wire.h>
+#include <esp_idf_version.h>
+// i2c_port_t / I2C_NUM_x for the deprecated init(i2c_port_t, ...) overload only. Nothing from the
+// legacy I2C driver is called, so its i2c.c object (and the driver_ng conflict check) is not linked.
+#if ESP_IDF_VERSION_MAJOR >= 5
+#include <hal/i2c_types.h>
+#else
+#include <driver/i2c.h> // IDF 4.x defines I2C_NUM_x here; it has no driver_ng to conflict with
+#endif
 #include <iostream>
 #include <string>
 
 
 namespace BMI270 {
 
     struct dev_info {
-        i2c_port_t i2c_port = I2C_NUM_0;
+        TwoWire* wire = nullptr;
         uint8_t dev_addr;
     };
 
 
     class BMI270 {
         private:
-            i2c_port_t _i2c_port;
+            TwoWire* _wire = nullptr;
 
             bool _initialized = false;
             int _interrupts = 0;
@@ -81,6 +89,10 @@ namespace BMI270 {
             void setContinuousMode();
             void oneShotMode();
 
+            int init(TwoWire& wire, uint8_t bmiAddr);
+
+            // Deprecated, kept for source compatibility: I2C_NUM_0 -> Wire, I2C_NUM_1 -> Wire1
+            // (Wire1 only on chips with two HP I2C controllers). Prefer init(TwoWire&, uint8_t).
             int init(i2c_port_t i2c_port, uint8_t bmiAddr);