Portenta H7 Lite: BMI270 library causes a BUS FAULT on Wire Ports (tested with 0.3.1 )

[mjs513]

Describe the bug
While testing the I2c (Wire, wire1 and wire2) found that the bosch api libraries for the BMI270 and BMM150 result in a Bus Fault Error. However when testing with a MPU9250 it works on with out issue under Zephyr.

NOTE: if I run the same skech/library(sparkfun) under Mbed it runs without issue.

Target board + cli verbose compilation output
Full verbose compilation output, ideally with arduino-cli invocation or from IDE 2.3.3+
Issues without the full verbose output will be discarded as invalid.

dfu-util 0.11-arduino4

Copyright 2005-2009 Weston Schmidt, Harald Welte and OpenMoko Inc.
Copyright 2010-2021 Tormod Volden and Stefan Schmidt
This program is Free Software and has ABSOLUTELY NO WARRANTY
Please report bugs to http://sourceforge.net/p/dfu-util/tickets/

Opening DFU capable USB device...
Device ID 2341:035b
Device DFU version 011a
Claiming USB DFU Interface...
Setting Alternate Interface #0 ...
Determining device status...
DFU state(2) = dfuIDLE, status(0) = No error condition is present
DFU mode device DFU version 011a
Device returned transfer size 4096
DfuSe interface name: "Internal Flash   "
Downloading element to address = 0x08040000, size = 288828

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Erase    done.

Download	[                         ]   0%            0 bytes
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Download	[=                        ]   4%        12288 bytes
Download	[==                       ]   8%        24576 bytes
Download	[===                      ]  12%        36864 bytes
Download	[====                     ]  17%        49152 bytes
Download	[=====                    ]  21%        61440 bytes
Download	[======                   ]  24%        69632 bytes
Download	[=======                  ]  28%        81920 bytes
Download	[========                 ]  32%        94208 bytes
Download	[=========                ]  36%       106496 bytes
Download	[==========               ]  41%       118784 bytes
Download	[===========              ]  45%       131072 bytes
Download	[============             ]  48%       139264 bytes
Download	[=============            ]  52%       151552 bytes
Download	[==============           ]  56%       163840 bytes
Download	[===============          ]  60%       176128 bytes
Download	[================         ]  65%       188416 bytes
Download	[=================        ]  68%       196608 bytes
Download	[==================       ]  72%       208896 bytes
Download	[===================      ]  76%       221184 bytes
Download	[====================     ]  80%       233472 bytes
Download	[=====================    ]  85%       245760 bytes
Download	[======================   ]  89%       258048 bytes
Download	[=======================  ]  92%       266240 bytes
Download	[======================== ]  96%       278528 bytes
Download	[=========================] 100%       288828 bytes
Download done.
File downloaded successfully
Submitting leave request...
Transitioning to dfuMANIFEST state

Output of Serial Monitor

1. If you have an USB-to-Serial adapter, paste the complete output of the console crash, starting from

*** Booting Zephyr OS build v3.7.0-8126-g33bc8a018ecc ***
[00:00:00.573,000] <err> os: ***** BUS FAULT *****
[00:00:00.580,000] <err> os:   Precise data bus error
[00:00:00.588,000] <err> os:   BFAR Address: 0x258a554a
[00:00:00.596,000] <err> os: r0/a1:  0x24025500  r1/a2:  0x258a5548  r2/a3:  0x00000001
[00:00:00.607,000] <err> os: r3/a4:  0x00003fff r12/ip:  0x00000014 r14/lr:  0x0806b111
[00:00:00.618,000] <err> os:  xpsr:  0x81003800
[00:00:00.625,000] <err> os: s[ 0]:  0x0000000c  s[ 1]:  0x0806b235  s[ 2]:  0x00010000  s[ 3]:  0x24001514
[00:00:00.638,000] <err> os: s[ 4]:  0x24025500  s[ 5]:  0x00010000  s[ 6]:  0x00000010  s[ 7]:  0x00000000
[00:00:00.650,000] <err> os: s[ 8]:  0x24001528  s[ 9]:  0x0806b509  s[10]:  0x00000000  s[11]:  0x00000000
[00:00:00.663,000] <err> os: s[12]:  0x24001514  s[13]:  0x00000000  s[14]:  0x00000000  s[15]:  0x00000010
[00:00:00.676,000] <err> os: fpscr:  0x00010000
[00:00:00.683,000] <err> os: Faulting instruction address (r15/pc): 0x0806b0ec
[00:00:00.693,000] <err> os: >>> ZEPHYR FATAL ERROR 25: Unknown error on CPU 0
[00:00:00.703,000] <err> os: Current thread: 0x24003200 (main)
[00:00:00.712,000] <err> os: Halting system
.```
2. If you don't, compile the sketch in `Debug` mode (see *Troubleshooting section* in README) and paste the output after invoking `sketch` command
In debug mode see no output on serial or uart2

**Output of readelf**
NA since its a bus fault

**Optional: attach the elf file**

[Example01_BasicReadingsI2C.ino.zip](https://github.com/user-attachments/files/18734482/Example01_BasicReadingsI2C.ino.zip)

**Optional: attach the sketch**

#include <Wire.h>
#include "SparkFun_BMI270_Arduino_Library.h"

// Create a new sensor object
BMI270 imu;

// I2C address selection
uint8_t i2cAddress = BMI2_I2C_PRIM_ADDR; // 0x68
//uint8_t i2cAddress = BMI2_I2C_SEC_ADDR; // 0x69

void setup()
{
// Start serial
Serial.begin(115200);
Serial.println("BMI270 Example 1 - Basic Readings I2C");

// Initialize the I2C library
Wire.begin();
Wire.setClock(400000);
// Check if sensor is connected and initialize
// Address is optional (defaults to 0x68)
while(imu.beginI2C(BMI2_I2C_PRIM_ADDR, Wire) != BMI2_OK)
{
    // Not connected, inform user
    Serial.println("Error: BMI270 not connected, check wiring and I2C address!");

    // Wait a bit to see if connection is established
    delay(1000);
}

Serial.println("BMI270 connected!");

}

void loop()
{
// Get measurements from the sensor. This must be called before accessing
// the sensor data, otherwise it will never update
imu.getSensorData();

// Print acceleration data
Serial.print("Acceleration in g's");
Serial.print("\t");
Serial.print("X: ");
Serial.print(imu.data.accelX, 3);
Serial.print("\t");
Serial.print("Y: ");
Serial.print(imu.data.accelY, 3);
Serial.print("\t");
Serial.print("Z: ");
Serial.print(imu.data.accelZ, 3);

Serial.print("\t");

// Print rotation data
Serial.print("Rotation in deg/sec");
Serial.print("\t");
Serial.print("X: ");
Serial.print(imu.data.gyroX, 3);
Serial.print("\t");
Serial.print("Y: ");
Serial.print(imu.data.gyroY, 3);
Serial.print("\t");
Serial.print("Z: ");
Serial.println(imu.data.gyroZ, 3);

delay(20);

}

**Additional context**
Add any other context about the problem here.

[mjs513]

@pillo79 - @facchinm - @KurtE
5/16/25
Just retested this issue with 0.3.1 with both the Arduino BMM150/BMI270 the Sparkfun BMI270 libraries.

Both libraries are now showing a Bus fault on on debug window>

*** Booting Zephyr OS build v3.7.0-13002-g6b32f4d75066 ***
[00:00:05.073,000] <err> os: ***** BUS FAULT *****
[00:00:05.081,000] <err> os:   Precise data bus error
[00:00:05.088,000] <err> os:   BFAR Address: 0x258b0b4a
[00:00:05.096,000] <err> os: r0/a1:  0x24030b00  r1/a2:  0x258b0b48  r2/a3:  0x00000001
[00:00:05.107,000] <err> os: r3/a4:  0x00003fff r12/ip:  0x00000010 r14/lr:  0x0806aa5d
[00:00:05.118,000] <err> os:  xpsr:  0x81003800
[00:00:05.126,000] <err> os: s[ 0]:  0xaaaaaaaa  s[ 1]:  0xaaaaaaaa  s[ 2]:  0xaaaaaaaa  s[ 3]:  0xaaaaaaaa
[00:00:05.138,000] <err> os: s[ 4]:  0xaaaaaaaa  s[ 5]:  0xaaaaaaaa  s[ 6]:  0xaaaaaaaa  s[ 7]:  0xaaaaaaaa
[00:00:05.151,000] <err> os: s[ 8]:  0xaaaaaaaa  s[ 9]:  0xaaaaaaaa  s[10]:  0xaaaaaaaa  s[11]:  0xaaaaaaaa
[00:00:05.163,000] <err> os: s[12]:  0xaaaaaaaa  s[13]:  0xaaaaaaaa  s[14]:  0xaaaaaaaa  s[15]:  0xaaaaaaaa
[00:00:05.176,000] <err> os: fpscr:  0x00000030
[00:00:05.183,000] <err> os: Faulting instruction address (r15/pc): 0x0806aa38
[00:00:05.193,000] <err> os: >>> ZEPHYR FATAL ERROR 25: Unknown error on CPU 0
[00:00:05.203,000] <err> os: Current thread: 0x24004f50 (main)
[00:00:05.212,000] <err> os: Halting system
uart:~$

Tried just the BMM150 using the DFRobot library and no issues, Think there is another issue on how to determine bus faults

[mjs513]

Just as a FYI tried same library with the BMI270 on the GIGA with zephyr and it worked.

Don;t think i2c issue as BMI150, SD1306 display with adafruit library and MPU9250 does work on the H7.