Merge branch 'dev'

2024-04-30 00:49:42 -06:00
parent 39688b8266 f3510b1bcb
commit 8193b3e4ef
17 changed files with 1112 additions and 106 deletions
--- a/README.md
+++ b/README.md
@@ -1,51 +1,7 @@
 # Zephyr Example Application
 
-<a href="https://zephyrproject-rtos.github.io/example-application">
-  <img alt="Documentation" src="https://img.shields.io/badge/documentation-3D578C?logo=sphinx&logoColor=white">
-</a>
-<a href="https://zephyrproject-rtos.github.io/example-application/doxygen">
-  <img alt="API Documentation" src="https://img.shields.io/badge/API-documentation-3D578C?logo=c&logoColor=white">
-</a>
-
-This repository contains a Zephyr example application. The main purpose of this
-repository is to serve as a reference on how to structure Zephyr-based
-applications. Some of the features demonstrated in this example are:
-
- Basic [Zephyr application][app_dev] skeleton
- [Zephyr workspace applications][workspace_app]
- [Zephyr modules][modules]
- [West T2 topology][west_t2]
- [Custom boards][board_porting]
- Custom [devicetree bindings][bindings]
- Out-of-tree [drivers][drivers]
- Out-of-tree libraries
- Example CI configuration (using Github Actions)
- Custom [west extension][west_ext]
- Doxygen and Sphinx documentation boilerplate
-
-This repository is versioned together with the [Zephyr main tree][zephyr]. This
-means that every time that Zephyr is tagged, this repository is tagged as well
-with the same version number, and the [manifest](west.yml) entry for `zephyr`
-will point to the corresponding Zephyr tag. For example, the `example-application`
-v2.6.0 will point to Zephyr v2.6.0. Note that the `main` branch always
-points to the development branch of Zephyr, also `main`.
-
-[app_dev]: https://docs.zephyrproject.org/latest/develop/application/index.html
-[workspace_app]: https://docs.zephyrproject.org/latest/develop/application/index.html#zephyr-workspace-app
-[modules]: https://docs.zephyrproject.org/latest/develop/modules.html
-[west_t2]: https://docs.zephyrproject.org/latest/develop/west/workspaces.html#west-t2
-[board_porting]: https://docs.zephyrproject.org/latest/guides/porting/board_porting.html
-[bindings]: https://docs.zephyrproject.org/latest/guides/dts/bindings.html
-[drivers]: https://docs.zephyrproject.org/latest/reference/drivers/index.html
-[zephyr]: https://github.com/zephyrproject-rtos/zephyr
-[west_ext]: https://docs.zephyrproject.org/latest/develop/west/extensions.html
-
 ## Getting Started

-Before getting started, make sure you have a proper Zephyr development
-environment. Follow the official
-[Zephyr Getting Started Guide](https://docs.zephyrproject.org/latest/getting_started/index.html).
-
 ### Initialization

 The first step is to initialize the workspace folder (``my-workspace``) where
@@ -65,21 +21,8 @@ west update
 To build the application, run the following command:

 ```shell
-cd example-application
-west build -b $BOARD app
-```
-
-where `$BOARD` is the target board.
-
-You can use the `custom_plank` board found in this
-repository. Note that Zephyr sample boards may be used if an
-appropriate overlay is provided (see `app/boards`).
-
-A sample debug configuration is also provided. To apply it, run the following
-command:
-
-```shell
-west build -b $BOARD app -- -DOVERLAY_CONFIG=debug.conf
+cd mellifera_firmware
+west build -b mellifera_rev1 app
 ```

 Once you have built the application, run the following command to flash it:
@@ -88,6 +31,30 @@ Once you have built the application, run the following command to flash it:
 west flash
 ```

+```shell
+go install github.com/apache/mynewt-mcumgr-cli/mcumgr@latest
+```
+
+### Bootloader
+```shell
+# build and flash the bootloader
+west build -p -b mellifera_rev1 ../mcuboot/boot/zephyr/ -- -DCONF_FILE=$(pwd)/boot.conf
+west flash
+
+# define serial connection to device
+~/go/bin/mcumgr conn add acm0 type="serial" connstring="dev=/dev/ttyACM0,baud=115200,mtu=512"
+~/go/bin/mcumgr conn add ttyusb0 type="serial" connstring="dev=/dev/ttyUSB0,baud=115200,mtu=512"
+
+# hold button while power cycling to enter bootloading mode
+~/go/bin/mcumgr -c usbtty0 image list
+
+# build the app
+west build -p -b mellifera_rev1 app
+
+~/go/bin/mcumgr -c ttyusb0 image upload -e build/zephyr/zephyr.signed.bin
+~/go/bin/mcumgr -c usbtty0 image list
+```
+
 ### Testing

 To execute Twister integration tests, run the following command:
--- a/app/prj.conf
+++ b/app/prj.conf
@@ -5,3 +5,21 @@

 CONFIG_SENSOR=y
 CONFIG_BLINK=y
+
+CONFIG_STDOUT_CONSOLE=y
+
+CONFIG_HEAP_MEM_POOL_SIZE=16384
+
+CONFIG_DISPLAY=y
+
+CONFIG_LOG=y
+
+CONFIG_CFB_LOG_LEVEL_DBG=y
+CONFIG_CHARACTER_FRAMEBUFFER=y
+CONFIG_CBPRINTF_FP_SUPPORT=y
+
+CONFIG_BT=y
+CONFIG_BT_DEVICE_NAME="Mellifera"
+
+CONFIG_BOOTLOADER_MCUBOOT=y
+CONFIG_MCUBOOT_GENERATE_UNSIGNED_IMAGE=y
--- a/app/src/main.c
+++ b/app/src/main.c
@@ -6,77 +6,352 @@
 #include <zephyr/kernel.h>
 #include <zephyr/drivers/sensor.h>
 #include <zephyr/logging/log.h>
+#include <zephyr/display/cfb.h>

 #include <app/drivers/blink.h>

 #include <app_version.h>

+#include <zephyr/bluetooth/bluetooth.h>
+#include <zephyr/bluetooth/hci.h>
+
 LOG_MODULE_REGISTER(main, CONFIG_APP_LOG_LEVEL);

 #define BLINK_PERIOD_MS_STEP 100U
-#define BLINK_PERIOD_MS_MAX  1000U
+#define BLINK_PERIOD_MS_MAX 1000U
+
+#define DEVICE_NAME CONFIG_BT_DEVICE_NAME
+#define DEVICE_NAME_LEN (sizeof(DEVICE_NAME) - 1)
+
+/*
+ * Set Advertisement data. Based on the Eddystone specification:
+ * https://github.com/google/eddystone/blob/master/protocol-specification.md
+ * https://github.com/google/eddystone/tree/master/eddystone-url
+ */
+static const struct bt_data ad[] = {
+	BT_DATA_BYTES(BT_DATA_FLAGS, BT_LE_AD_NO_BREDR),
+	BT_DATA_BYTES(BT_DATA_UUID16_ALL, 0xaa, 0xfe),
+	BT_DATA_BYTES(BT_DATA_SVC_DATA16,
+				  0xaa, 0xfe, /* Eddystone UUID */
+				  0x10,		  /* Eddystone-URL frame type */
+				  0x00,		  /* Calibrated Tx power at 0m */
+				  0x00,		  /* URL Scheme Prefix http://www. */
+				  'z', 'e', 'p', 'h', 'y', 'r',
+				  'p', 'r', 'o', 'j', 'e', 'c', 't',
+				  0x08) /* .org */
+};
+
+/* Set Scan Response data */
+static const struct bt_data sd[] = {
+	BT_DATA(BT_DATA_NAME_COMPLETE, DEVICE_NAME, DEVICE_NAME_LEN),
+};
+
+static void bt_ready(int err)
+{
+	char addr_s[BT_ADDR_LE_STR_LEN];
+	bt_addr_le_t addr = {0};
+	size_t count = 1;
+
+	if (err)
+	{
+		LOG_ERR("Bluetooth init failed (err %d)", err);
+		return;
+	}
+
+	LOG_INF("Bluetooth initialized");
+
+	/* Start advertising */
+	err = bt_le_adv_start(BT_LE_ADV_NCONN_IDENTITY, ad, ARRAY_SIZE(ad),
+						  sd, ARRAY_SIZE(sd));
+	if (err)
+	{
+		LOG_ERR("Advertising failed to start (err %d)", err);
+		return;
+	}
+
+	/* For connectable advertising you would use
+	 * bt_le_oob_get_local().  For non-connectable non-identity
+	 * advertising an non-resolvable private address is used;
+	 * there is no API to retrieve that.
+	 */
+
+	bt_id_get(&addr, &count);
+	bt_addr_le_to_str(&addr, addr_s, sizeof(addr_s));
+
+	LOG_INF("Beacon started, advertising as %s", addr_s);
+}

 int main(void)
 {
-	int ret;
-	unsigned int period_ms = BLINK_PERIOD_MS_MAX;
-	const struct device *sensor, *blink;
-	struct sensor_value last_val = { 0 }, val;
+	const struct device *dev;
+	uint16_t x_res;
+	uint16_t y_res;
+	uint16_t rows;
+	uint8_t ppt;
+	uint8_t font_width;
+	uint8_t font_height;

-	printk("Zephyr Example Application %s\n", APP_VERSION_STRING);
+	int err;

-	sensor = DEVICE_DT_GET(DT_NODELABEL(example_sensor));
-	if (!device_is_ready(sensor)) {
-		LOG_ERR("Sensor not ready");
+	printk("Starting Mellifera version %s...\n", APP_VERSION_STRING);
+	// printk("Board: %s\n", BOARD);
+
+	LOG_INF("Starting Beacon Demo");
+
+	/* Initialize the Bluetooth Subsystem */
+	err = bt_enable(bt_ready);
+	if (err)
+	{
+		LOG_ERR("Bluetooth init failed (err %d)", err);
+	}
+
+	dev = DEVICE_DT_GET(DT_CHOSEN(zephyr_display));
+	if (!device_is_ready(dev))
+	{
+		LOG_ERR("Device %s not ready", dev->name);
 		return 0;
 	}

-	blink = DEVICE_DT_GET(DT_NODELABEL(blink_led));
-	if (!device_is_ready(blink)) {
-		LOG_ERR("Blink LED not ready");
+	if (display_set_pixel_format(dev, PIXEL_FORMAT_MONO10) != 0)
+	{
+		if (display_set_pixel_format(dev, PIXEL_FORMAT_MONO01) != 0)
+		{
+			LOG_ERR("Failed to set required pixel format");
+			return 0;
+		}
+	}
+
+	LOG_INF("Initialized %s", dev->name);
+
+	if (cfb_framebuffer_init(dev))
+	{
+		LOG_ERR("Framebuffer initialization failed!");
 		return 0;
 	}

-	ret = blink_off(blink);
-	if (ret < 0) {
-		LOG_ERR("Could not turn off LED (%d)", ret);
+	cfb_framebuffer_clear(dev, true);
+
+	display_blanking_off(dev);
+
+	x_res = cfb_get_display_parameter(dev, CFB_DISPLAY_WIDTH);
+	y_res = cfb_get_display_parameter(dev, CFB_DISPLAY_HEIGH);
+	rows = cfb_get_display_parameter(dev, CFB_DISPLAY_ROWS);
+	ppt = cfb_get_display_parameter(dev, CFB_DISPLAY_PPT);
+
+	for (int idx = 0; idx < 42; idx++)
+	{
+		if (cfb_get_font_size(dev, idx, &font_width, &font_height))
+		{
+			break;
+		}
+		cfb_framebuffer_set_font(dev, idx);
+		printf("font width %d, font height %d\n",
+			   font_width, font_height);
+	}
+	cfb_framebuffer_set_font(dev, 0);
+
+	printf("x_res %d, y_res %d, ppt %d, rows %d, cols %d\n",
+		   x_res,
+		   y_res,
+		   ppt,
+		   rows,
+		   cfb_get_display_parameter(dev, CFB_DISPLAY_COLS));
+
+	cfb_set_kerning(dev, 3);
+
+	const struct device *ina, *bmp, *bmx, *lis, *hdc;
+
+	ina = DEVICE_DT_GET(DT_NODELABEL(ina231));
+	if (!device_is_ready(ina))
+	{
+		LOG_ERR("Device %s not ready", ina->name);
 		return 0;
 	}

-	blink_set_period_ms(blink, BLINK_PERIOD_MS_MAX);
+	bmp = DEVICE_DT_GET(DT_NODELABEL(bmp388));
+	if (!device_is_ready(bmp))
+	{
+		LOG_ERR("Device %s not ready", bmp->name);
+		return 0;
+	}

-	printk("Use the sensor to change LED blinking period\n");
+	bmx = DEVICE_DT_GET(DT_NODELABEL(bmx055));
+	if (!device_is_ready(bmx))
+	{
+		LOG_ERR("Device %s not ready", bmx->name);
+		return 0;
+	}
+	LOG_INF("Initialized %s", bmx->name);

-	while (1) {
-		ret = sensor_sample_fetch(sensor);
-		if (ret < 0) {
+	lis = DEVICE_DT_GET(DT_NODELABEL(lis2dh));
+	if (!device_is_ready(lis))
+	{
+		LOG_ERR("Device %s not ready", lis->name);
+		return 0;
+	}
+	LOG_INF("Initialized %s", lis->name);
+
+	hdc = DEVICE_DT_GET(DT_NODELABEL(hdc1080));
+	if (!device_is_ready(hdc))
+	{
+		LOG_ERR("Device %s not ready", hdc->name);
+		return 0;
+	}
+
+	while (1)
+	{
+		int ret;
+		struct sensor_value voltage, current, pressure, temperature, accel_x, accel_y, accel_z, accel_z_ref, humidity;
+		char str_v[15] = {0};
+		char str_i[15] = {0};
+		char str_p[16] = {0};
+		char str_t[16] = {0};
+		char str_ax[16] = {0};
+		char str_ay[16] = {0};
+		char str_az[16] = {0};
+		char str_az_ref[16] = {0};
+		char str_h[16] = {0};
+
+		ret = sensor_sample_fetch(ina);
+		if (ret < 0)
+		{
 			LOG_ERR("Could not fetch sample (%d)", ret);
 			return 0;
 		}
+		ret = sensor_channel_get(ina, SENSOR_CHAN_VOLTAGE, &voltage);
+		if (ret < 0)
+		{
+			LOG_ERR("Could not get voltage (%d)", ret);
+			return 0;
+		}
+		ret = sensor_channel_get(ina, SENSOR_CHAN_CURRENT, &current);
+		if (ret < 0)
+		{
+			LOG_ERR("Could not get current (%d)", ret);
+			return 0;
+		}

-		ret = sensor_channel_get(sensor, SENSOR_CHAN_PROX, &val);
-		if (ret < 0) {
+		ret = sensor_sample_fetch(bmp);
+		if (ret < 0)
+		{
+			LOG_ERR("Could not fetch sample (%d)", ret);
+			return 0;
+		}
+		ret = sensor_channel_get(bmp, SENSOR_CHAN_PRESS, &pressure);
+		if (ret < 0)
+		{
+			LOG_ERR("Could not get pressure (%d)", ret);
+			return 0;
+		}
+		// ret = sensor_channel_get(bmp, SENSOR_CHAN_AMBIENT_TEMP, &temperature);
+		// if (ret < 0)
+		// {
+		// 	LOG_ERR("Could not get temperature (%d)", ret);
+		// 	return 0;
+		// }
+
+		ret = sensor_sample_fetch(bmx);
+		if (ret < 0)
+		{
+			LOG_ERR("Could not fetch sample (%d)", ret);
+			return 0;
+		}
+		ret = sensor_channel_get(bmx, SENSOR_CHAN_DIE_TEMP, &temperature);
+		if (ret < 0)
+		{
+			LOG_ERR("Could not get temperature (%d)", ret);
+			return 0;
+		}
+		ret = sensor_channel_get(bmx, SENSOR_CHAN_ACCEL_X, &accel_x);
+		if (ret < 0)
+		{
+			LOG_ERR("Could not get acceleration (%d)", ret);
+			return 0;
+		}
+		ret = sensor_channel_get(bmx, SENSOR_CHAN_ACCEL_Y, &accel_y);
+		if (ret < 0)
+		{
+			LOG_ERR("Could not get acceleration (%d)", ret);
+			return 0;
+		}
+		ret = sensor_channel_get(bmx, SENSOR_CHAN_ACCEL_Z, &accel_z);
+		if (ret < 0)
+		{
+			LOG_ERR("Could not get acceleration (%d)", ret);
+			return 0;
+		}
+
+		ret = sensor_sample_fetch(lis);
+		if (ret < 0)
+		{
+			LOG_ERR("Could not fetch sample (%d)", ret);
+			return 0;
+		}
+		ret = sensor_channel_get(lis, SENSOR_CHAN_ACCEL_Z, &accel_z_ref);
+		if (ret < 0)
+		{
+			LOG_ERR("Could not get acceleration (%d)", ret);
+			return 0;
+		}
+
+		ret = sensor_sample_fetch(hdc);
+		if (ret < 0)
+		{
+			LOG_ERR("Could not fetch sample (%d)", ret);
+			return 0;
+		}
+		ret = sensor_channel_get(hdc, SENSOR_CHAN_AMBIENT_TEMP, &temperature);
+		if (ret < 0)
+		{
+			LOG_ERR("Could not get sample (%d)", ret);
+			return 0;
+		}
+		ret = sensor_channel_get(hdc, SENSOR_CHAN_HUMIDITY, &humidity);
+		if (ret < 0)
+		{
 			LOG_ERR("Could not get sample (%d)", ret);
 			return 0;
 		}

-		if ((last_val.val1 == 0) && (val.val1 == 1)) {
-			if (period_ms == 0U) {
-				period_ms = BLINK_PERIOD_MS_MAX;
-			} else {
-				period_ms -= BLINK_PERIOD_MS_STEP;
-			}
+		sprintf(str_v, "V :%7.5f", voltage.val1 + voltage.val2 * 1e-6);
+		sprintf(str_i, "I :%7.5f", current.val1 + current.val2 * 1e-6);
+		sprintf(str_p, "P :%7.4f", pressure.val1 + pressure.val2 * 1e-6);
+		sprintf(str_t, "T :%7.4f", temperature.val1 + temperature.val2 * 1e-6);
+		sprintf(str_ax, "X :%+7.3f", accel_x.val1 + accel_x.val2 * 1e-6);
+		sprintf(str_ay, "Y :%+7.3f", accel_y.val1 + accel_y.val2 * 1e-6);
+		sprintf(str_az, "Z :%+7.3f", accel_z.val1 + accel_z.val2 * 1e-6);
+		sprintf(str_az_ref, "Zr:%+7.3f", accel_z_ref.val1 + accel_z_ref.val2 * 1e-6);
+		sprintf(str_h, "H :%7.3f", humidity.val1 + humidity.val2 * 1e-6);

-			printk("Proximity detected, setting LED period to %u ms\n",
-			       period_ms);
-			blink_set_period_ms(blink, period_ms);
+		// printf("%s\t%s\t%s\t%s\n", str_v, str_i, str_p, str_t);
+
+		cfb_framebuffer_clear(dev, false);
+		if (cfb_print(dev, str_t, 0, 0))
+		{
+			printf("Failed to print a string\n");
+			continue;
 		}
+		if (cfb_print(dev, str_h, 0, 16))
+		{
+			printf("Failed to print a string\n");
+			continue;
+		}
+		// if (cfb_print(dev, str_az, 0, 16 * 2))
+		// {
+		// 	printf("Failed to print a string\n");
+		// 	continue;
+		// }
+		// if (cfb_print(dev, str_az_ref, 0, 16 * 3))
+		// {
+		// 	printf("Failed to print a string\n");
+		// 	continue;
+		// }

-		last_val = val;
-
-		k_sleep(K_MSEC(100));
+		cfb_framebuffer_finalize(dev);
+#if defined(CONFIG_ARCH_POSIX)
+		k_sleep(K_MSEC(20));
+#endif
 	}

 	return 0;
 }
-
--- a/boards/bh/mellifera_rev1/mellifera_rev1.dts
+++ b/boards/bh/mellifera_rev1/mellifera_rev1.dts
@@ -13,12 +13,14 @@

 	chosen {
 		zephyr,console = &uart0;
-		// zephyr,shell-uart = &uart0;
-		// zephyr,uart-mcumgr = &uart0;
-		// zephyr,bt-mon-uart = &uart0;
-		// zephyr,bt-c2h-uart = &uart0;
+		zephyr,shell-uart = &uart0;
+		zephyr,uart-mcumgr = &uart0;
+		zephyr,bt-mon-uart = &uart0;
+		zephyr,bt-c2h-uart = &uart0;
 		zephyr,sram = &sram0;
 		zephyr,flash = &flash0;
+		zephyr,display = &ssd1306;
+		zephyr,code-partition = &slot0_partition;
 	};

 	example_sensor: example-sensor {
@@ -44,13 +46,86 @@
 			gpios = <&gpio0 13 GPIO_ACTIVE_HIGH>;
 			label = "Yellow LED 3";
 		};
+		led_rx: led_rx {
+			gpios = <&gpio0 2 GPIO_ACTIVE_HIGH>;
+			label = "RX LED";
+		};
+		led_tx: led_tx {
+			gpios = <&gpio0 3 GPIO_ACTIVE_HIGH>;
+			label = "TX LED";
+		};
+		led_rx_ok: led_rx_ok {
+			gpios = <&gpio0 0 GPIO_ACTIVE_HIGH>;
+			label = "RX OK LED";
+		};
+		led_sfd: led_sfd {
+			gpios = <&gpio0 1 GPIO_ACTIVE_HIGH>;
+			label = "SFD LED";
+		};
 	};

+	buttons {
+		compatible = "gpio-keys";
+		button0: button_0 {
+			gpios = <&gpio0 2 (GPIO_PULL_UP | GPIO_ACTIVE_LOW)>;
+			label = "Pushbutton";
+			zephyr,code = <INPUT_KEY_0>;
+		};
+		int_drdy: int_drdy {
+			gpios = <&gpio0 22 (GPIO_PULL_UP | GPIO_ACTIVE_LOW)>;
+			label = "DRDYM from BMX055 9-DOF";
+			zephyr,code = <INPUT_KEY_0>;
+		};
+		int1: int_1 {
+			gpios = <&gpio0 12 (GPIO_PULL_UP | GPIO_ACTIVE_LOW)>;
+			label = "Interrupt 1 from BMX055 9-DOF";
+			zephyr,code = <INPUT_KEY_0>;
+		};
+		int2: int_2 {
+			gpios = <&gpio0 14 (GPIO_PULL_UP | GPIO_ACTIVE_LOW)>;
+			label = "Interrupt 2 from BMX055 9-DOF";
+			zephyr,code = <INPUT_KEY_0>;
+		};
+		int3: int_3 {
+			gpios = <&gpio0 10 (GPIO_PULL_UP | GPIO_ACTIVE_LOW)>;
+			label = "Interrupt 3 from BMX055 9-DOF";
+			zephyr,code = <INPUT_KEY_0>;
+		};
+		int4: int_4 {
+			gpios = <&gpio0 9 (GPIO_PULL_UP | GPIO_ACTIVE_LOW)>;
+			label = "Interrupt 4 from BMX055 9-DOF";
+			zephyr,code = <INPUT_KEY_0>;
+		};
+		int5: int_5 {
+			gpios = <&gpio0 30 (GPIO_PULL_UP | GPIO_ACTIVE_LOW)>;
+			label = "Interrupt 5 from BMX055 9-DOF";
+			zephyr,code = <INPUT_KEY_0>;
+		};
+	};
+
+
 	blink_led: blink-led {
 		compatible = "blink-gpio-led";
 		led-gpios = <&gpio0 15 GPIO_ACTIVE_HIGH>;
 		blink-period-ms = <1000>;
 	};
+
+	/* These aliases are provided for compatibility with samples */
+	aliases {
+		led0 = &led0;
+		led1 = &led1;
+		led2 = &led2;
+		led3 = &led3;
+		// pwm-led0 = &pwm_led0;
+		sw0 = &button0;
+		// sw1 = &button1;
+		// sw2 = &button2;
+		// sw3 = &button3;
+		bootloader-led0 = &led0;
+		mcuboot-button0 = &button0;
+		mcuboot-led0 = &led0;
+		watchdog0 = &wdt0;
+	};
 };

 &uicr {
@@ -80,6 +155,53 @@
 	pinctrl-0 = <&i2c0_default>;
 	pinctrl-1 = <&i2c0_sleep>;
 	pinctrl-names = "default", "sleep";
+
+	ssd1306: ssd1306@3d {
+		compatible = "solomon,ssd1306fb";
+		reg = <0x3d>;
+		width = <128>;
+		height = <64>;
+		segment-offset = <0>;
+		page-offset = <0>;
+		display-offset = <0>;
+		multiplex-ratio = <63>;
+		segment-remap;
+		com-invdir;
+		prechargep = <0x22>;
+	};
+
+	ina231: ina231@45 {
+		compatible = "ti,ina230";
+		reg = <0x45>;
+		// irq-gpios = <&gpio0 31 (GPIO_PULL_UP | GPIO_ACTIVE_LOW)>;
+		current-lsb-microamps = <7>;
+		rshunt-micro-ohms = <50000>;
+		adc-mode = "Bus and shunt voltage continuous";
+	};
+
+	bmp388: bmp388@76 {
+		compatible = "bosch,bmp388";
+		reg = <0x76>;
+		int-gpios = <&gpio0 27 (GPIO_PULL_UP | GPIO_ACTIVE_LOW)>;
+		// odr = "1.563";
+		osr-press = <1>;
+	};
+
+	hdc1080: hdc1080@40 {
+		compatible = "ti,hdc1080";
+		reg = <0x40>;
+	};
+
+	bmx055: bmx055@18 {
+		compatible = "bosch,bmx055";
+		reg = <0x18>;
+	};
+
+	lis2dh: lis2dh@19 {
+		// This is built into the DWM1001 module
+		compatible = "st,lis2dh";
+		reg = <0x19>;
+	};
 };

 &spi1 {
@@ -89,3 +211,29 @@
 	pinctrl-1 = <&spi1_sleep>;
 	pinctrl-names = "default", "sleep";
 };
+
+&flash0 {
+
+	partitions {
+		compatible = "fixed-partitions";
+		#address-cells = <1>;
+		#size-cells = <1>;
+
+		boot_partition: partition@0 {
+			label = "mcuboot";
+			reg = <0x00000000 0xc000>;
+		};
+		slot0_partition: partition@c000 {
+			label = "image-0";
+			reg = <0x0000C000 0x37000>;
+		};
+		slot1_partition: partition@43000 {
+			label = "image-1";
+			reg = <0x00043000 0x37000>;
+		};
+		storage_partition: partition@7a000 {
+			label = "storage";
+			reg = <0x0007a000 0x00006000>;
+		};
+	};
+};
--- a/boards/bh/mellifera_rev1/mellifera_rev1_defconfig
+++ b/boards/bh/mellifera_rev1/mellifera_rev1_defconfig
@@ -1,15 +1,19 @@
-# Copyright (c) 2021 Nordic Semiconductor ASA
-# SPDX-License-Identifier: Apache-2.0

+# Enable MPU
 CONFIG_ARM_MPU=y
+
+# Enable hardware stack protection
 CONFIG_HW_STACK_PROTECTION=y

-# Enable UART console on all configurations for convenience. This is usually
-# done at board level upstream so that all samples output printed messages to
-# the configured #zephyr,console. In production boards, this may be enabled at
-# application level or in a debug configuration overlay.
+# Enable RTT
+CONFIG_USE_SEGGER_RTT=y
+
+# enable GPIO
+CONFIG_GPIO=y
+
+# enable uart driver
 CONFIG_SERIAL=y
+
+# enable console
 CONFIG_CONSOLE=y
 CONFIG_UART_CONSOLE=y
-
-CONFIG_PINCTRL=y
--- a/boot.conf
+++ b/boot.conf
@@ -0,0 +1,43 @@
+CONFIG_PM=n
+
+CONFIG_BOOT_SIGNATURE_TYPE_NONE=y
+
+CONFIG_MAIN_STACK_SIZE=10240
+# CONFIG_MBEDTLS_CFG_FILE="mcuboot-mbedtls-cfg.h"
+
+CONFIG_BOOT_SWAP_SAVE_ENCTLV=n
+CONFIG_BOOT_ENCRYPT_IMAGE=n
+
+CONFIG_BOOT_UPGRADE_ONLY=n
+CONFIG_BOOT_BOOTSTRAP=n
+
+### mbedTLS has its own heap
+# CONFIG_HEAP_MEM_POOL_SIZE is not set
+
+### We never want Zephyr's copy of tinycrypt.  If tinycrypt is needed,
+### MCUboot has its own copy in tree.
+# CONFIG_TINYCRYPT is not set
+# CONFIG_TINYCRYPT_ECC_DSA is not set
+# CONFIG_TINYCRYPT_SHA256 is not set
+
+CONFIG_FLASH=y
+
+### Various Zephyr boards enable features that we don't want.
+# CONFIG_BT is not set
+# CONFIG_BT_CTLR is not set
+# CONFIG_I2C is not set
+
+CONFIG_LOG=y
+CONFIG_LOG_MODE_MINIMAL=y # former CONFIG_MODE_MINIMAL
+### Ensure Zephyr logging changes don't use more resources
+CONFIG_LOG_DEFAULT_LEVEL=0
+### Use info log level by default
+CONFIG_MCUBOOT_LOG_LEVEL_INF=y
+### Decrease footprint by ~4 KB in comparison to CBPRINTF_COMPLETE=y
+CONFIG_CBPRINTF_NANO=y
+### Use the minimal C library to reduce flash usage
+CONFIG_MINIMAL_LIBC=y
+
+
+CONFIG_UART_CONSOLE=n
+CONFIG_MCUBOOT_SERIAL=y
--- a/drivers/sensor/CMakeLists.txt
+++ b/drivers/sensor/CMakeLists.txt
@@ -2,3 +2,5 @@
 # SPDX-License-Identifier: Apache-2.0

 add_subdirectory_ifdef(CONFIG_EXAMPLE_SENSOR example_sensor)
+add_subdirectory_ifdef(CONFIG_BMX055 bmx055)
+add_subdirectory_ifdef(CONFIG_HDC1080 hdc1080)
--- a/drivers/sensor/Kconfig
+++ b/drivers/sensor/Kconfig
@@ -3,4 +3,6 @@

 if SENSOR
 rsource "example_sensor/Kconfig"
+rsource "bmx055/Kconfig"
+rsource "hdc1080/Kconfig"
 endif # SENSOR
--- a/drivers/sensor/bmx055/CMakeLists.txt
+++ b/drivers/sensor/bmx055/CMakeLists.txt
@@ -0,0 +1,2 @@
+zephyr_library()
+zephyr_library_sources(bmx055.c)
--- a/drivers/sensor/bmx055/Kconfig
+++ b/drivers/sensor/bmx055/Kconfig
@@ -0,0 +1,17 @@
+config BMX055
+	bool "BMX055"
+	default y
+	depends on DT_HAS_BOSCH_BMX055_ENABLED
+	help
+	  Enable driver for BMX055.
+
+if BMX055
+
+config BMX055_TRIGGER
+	bool "BMX055 trigger mode"
+	depends on BMX055
+	help
+	  Set to enable trigger mode using gpio interrupt, where
+	  interrupts are configured to line ALERT PIN.
+
+endif # BMX055
--- a/drivers/sensor/bmx055/bmx055.c
+++ b/drivers/sensor/bmx055/bmx055.c
@@ -0,0 +1,267 @@
+/*
+ * Copyright (c) 2021 Nordic Semiconductor ASA
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#define DT_DRV_COMPAT bosch_bmx055
+
+#include <zephyr/device.h>
+#include <zephyr/drivers/gpio.h>
+#include <zephyr/drivers/i2c.h>
+#include <zephyr/drivers/sensor.h>
+#include <zephyr/sys/byteorder.h>
+
+#include <zephyr/logging/log.h>
+LOG_MODULE_REGISTER(bmx055, CONFIG_SENSOR_LOG_LEVEL);
+
+// Accelerometer registers
+const uint8_t REG_BWG_CHIPID = 0x00;
+const uint8_t REG_ACCD_X_LSB = 0x02;
+const uint8_t REG_ACCD_X_MSB = 0x03;
+const uint8_t REG_ACCD_Y_LSB = 0x04;
+const uint8_t REG_ACCD_Y_MSB = 0x05;
+const uint8_t REG_ACCD_Z_LSB = 0x06;
+const uint8_t REG_ACCD_Z_MSB = 0x07;
+const uint8_t REG_ACCD_TEMP = 0x08;
+const uint8_t REG_INT_STATUS_0 = 0x09;
+const uint8_t REG_INT_STATUS_1 = 0x0A;
+const uint8_t REG_INT_STATUS_2 = 0x0B;
+const uint8_t REG_INT_STATUS_3 = 0x0C;
+const uint8_t REG_FIFO_STATUS = 0x0E;
+const uint8_t REG_PMU_RANGE = 0x0F;
+typedef enum pmu_range_t
+{
+    PMU_RANGE_2G = 0b0011, ///< DEFAULT
+    PMU_RANGE_4G = 0b0101,
+    PMU_RANGE_8G = 0b1000,
+    PMU_RANGE_16G = 0b1100,
+} pmu_range_t;
+const uint8_t REG_PMU_BW = 0x10;
+typedef enum pmu_bw_t
+{
+    PMU_BW_8HZ = 0b01000,
+    PMU_BW_16HZ = 0b01001,
+    PMU_BW_31HZ = 0b01010,
+    PMU_BW_63HZ = 0b01011,
+    PMU_BW_125HZ = 0b01100,
+    PMU_BW_250HZ = 0b01101,
+    PMU_BW_500HZ = 0b01110,
+    PMU_BW_1000HZ = 0b01111,
+} pmu_bw_t;
+const uint8_t REG_PMU_LPW = 0x11;
+const uint8_t REG_PMU_LOW_POWER = 0x12;
+const uint8_t REG_ACCD_HBW = 0x13;
+const uint8_t REG_BGW_SOFTRESET = 0x14;
+const uint8_t BGW_SOFTRESET = 0xB6; ///< Soft reset occurs when this value is written to REG_BGW_SOFTRESET
+const uint8_t REG_INT_EN_0 = 0x16;
+const uint8_t REG_INT_EN_1 = 0x17;
+const uint8_t REG_INT_EN_2 = 0x18;
+const uint8_t REG_INT_MAP_0 = 0x19;
+const uint8_t REG_INT_MAP_1 = 0x1A;
+const uint8_t REG_INT_MAP_2 = 0x1B;
+const uint8_t REG_INT_SRC = 0x1E;
+const uint8_t REG_INT_OUT_CTRL = 0x20;
+const uint8_t REG_INT_RST_LATCH = 0x21;
+const uint8_t REG_INT_0 = 0x22;
+const uint8_t REG_INT_1 = 0x23;
+const uint8_t REG_INT_2 = 0x24;
+const uint8_t REG_INT_3 = 0x25;
+const uint8_t REG_INT_4 = 0x26;
+const uint8_t REG_INT_5 = 0x27;
+const uint8_t REG_INT_6 = 0x28;
+const uint8_t REG_INT_7 = 0x29;
+const uint8_t REG_INT_8 = 0x2A;
+const uint8_t REG_INT_9 = 0x2B;
+const uint8_t REG_INT_A = 0x2C;
+const uint8_t REG_INT_B = 0x2D;
+const uint8_t REG_INT_C = 0x2E;
+const uint8_t REG_INT_D = 0x2F;
+const uint8_t REG_FIFO_CONFIG_0 = 0x30;
+const uint8_t REG_PMU_SELF_TEST = 0x32;
+const uint8_t REG_TRIM_NVM_CTRL = 0x33;
+const uint8_t REG_BGW_SPI3_WDT = 0x34;
+const uint8_t REG_OFC_CTRL = 0x36;
+const uint8_t REG_OFC_SETTING = 0x37;
+const uint8_t REG_OFC_OFFSET_X = 0x38;
+const uint8_t REG_OFC_OFFSET_Y = 0x39;
+const uint8_t REG_OFC_OFFSET_Z = 0x3A;
+const uint8_t REG_TRIM_GP0 = 0x3B;
+const uint8_t REG_TRIM_GP1 = 0x3C;
+const uint8_t REG_FIFO_CONFIG_1 = 0x3E;
+const uint8_t REG_FIFO_DATA = 0x3F;
+
+struct bmx055_data
+{
+    int16_t accel_x;
+    int16_t accel_y;
+    int16_t accel_z;
+    int16_t gyro_x;
+    int16_t gyro_y;
+    int16_t gyro_z;
+    int8_t temperature;
+};
+
+struct bmx055_config
+{
+    struct i2c_dt_spec bus;
+#ifdef CONFIG_INA230_TRIGGER
+    bool trig_enabled;
+    uint16_t mask;
+    const struct gpio_dt_spec alert_gpio;
+    uint16_t alert_limit;
+#endif /* CONFIG_INA230_TRIGGER */
+};
+
+static int bmx055_sample_fetch(const struct device *dev,
+                               enum sensor_channel chan)
+{
+    const struct bmx055_config *config = dev->config;
+    struct bmx055_data *data = dev->data;
+    int ret;
+
+    uint8_t accel[6];
+    ret = i2c_burst_read_dt(&config->bus, REG_ACCD_X_LSB, accel, sizeof(accel));
+    if (ret < 0)
+    {
+        LOG_ERR("Failed to read acceleration registers!");
+        return ret;
+    }
+    data->accel_x = ((int16_t)sys_get_le16(&accel[0])) >> 4;
+    data->accel_y = ((int16_t)sys_get_le16(&accel[2])) >> 4;
+    data->accel_z = ((int16_t)sys_get_le16(&accel[4])) >> 4;
+
+    ret = i2c_burst_read_dt(&config->bus, REG_ACCD_TEMP, &data->temperature, sizeof(data->temperature));
+    if (ret < 0)
+    {
+        LOG_ERR("Failed to read temperature register!");
+        return ret;
+    }
+
+    return 0;
+}
+
+static int bmx055_channel_get(const struct device *dev,
+                              enum sensor_channel chan,
+                              struct sensor_value *val)
+{
+    struct bmx055_data *data = dev->data;
+
+    switch (chan)
+    {
+    case SENSOR_CHAN_DIE_TEMP:
+        // 0.5K/LSB, center temperature is 23C
+        val->val1 = 23 + data->temperature / 2;
+        val->val2 = 0; // TODO: don't throw out LSB
+        break;
+    case SENSOR_CHAN_ACCEL_X:
+    {
+        float accel = data->accel_x * 0.00098 * 9.80665; // to gees, to m/s^2
+        val->val1 = accel;
+        val->val2 = (accel - val->val1) * 1000000;
+        break;
+    }
+    case SENSOR_CHAN_ACCEL_Y:
+    {
+        float accel = data->accel_y * 0.00098 * 9.80665; // to gees, to m/s^2
+        val->val1 = accel;
+        val->val2 = (accel - val->val1) * 1000000;
+        break;
+    }
+    case SENSOR_CHAN_ACCEL_Z:
+    {
+        // For now assume 2g since that's the default value
+        // 2g   0.98mg/LSB
+        // 4g   1.95mg/LSB
+        // 8g   3.91mg/LSB
+        // 16g  7.81mg/LSB
+        // 1 g = 9.80665 m/s^2
+        float accel = data->accel_z * 0.00098 * 9.80665; // to gees, to m/s^2
+        val->val1 = accel;
+        val->val2 = (accel - val->val1) * 1000000;
+        break;
+    }
+    case SENSOR_CHAN_GYRO_X:
+    case SENSOR_CHAN_GYRO_Y:
+    case SENSOR_CHAN_GYRO_Z:
+        return -ENOTSUP;
+    case SENSOR_CHAN_MAGN_X:
+    case SENSOR_CHAN_MAGN_Y:
+    case SENSOR_CHAN_MAGN_Z:
+        return -ENOTSUP;
+    default:
+        return -ENOTSUP;
+    }
+
+    return 0;
+}
+
+static const struct sensor_driver_api bmx055_api = {
+    .sample_fetch = &bmx055_sample_fetch,
+    .channel_get = &bmx055_channel_get,
+};
+
+static int bmx055_init(const struct device *dev)
+{
+    const struct bmx055_config *const config = dev->config;
+    int ret;
+
+    if (!device_is_ready(config->bus.bus))
+    {
+        LOG_ERR("I2C bus %s is not ready", config->bus.bus->name);
+        return -ENODEV;
+    }
+
+    uint8_t chip_id;
+    ret = i2c_burst_read_dt(&config->bus, REG_BWG_CHIPID, &chip_id, sizeof(chip_id));
+    if (ret < 0)
+    {
+        LOG_ERR("Failed to read chip ID register!");
+        return ret;
+    }
+    const uint8_t CHIP_ID = 0xfa;
+    if (chip_id != CHIP_ID)
+    {
+        LOG_ERR("Chip ID read from %s incorrect. Read 0x%02X, expected 0x%02X", dev->name, chip_id, CHIP_ID);
+    }
+
+    // // Reset the sensor
+    // uint8_t reset_val = BGW_SOFTRESET;
+    // i2c_burst_write_dt(&config->bus, REG_BGW_SOFTRESET, &reset_val, sizeof(reset_val));
+
+    // // Wait for device to reset
+
+    uint8_t lpw;
+    ret = i2c_burst_read_dt(&config->bus, REG_PMU_LPW, &lpw, sizeof(lpw));
+    if (ret < 0)
+    {
+        LOG_ERR("Failed to read LPW register!");
+        return ret;
+    }
+    LOG_INF("LPW register: 0x%02X", lpw);
+
+    // Write configuration
+    uint8_t accel_range = PMU_RANGE_2G;
+    i2c_burst_write_dt(&config->bus, REG_PMU_RANGE, &accel_range, sizeof(accel_range));
+
+    uint8_t accel_bw = PMU_BW_8HZ;
+    i2c_burst_write_dt(&config->bus, REG_PMU_BW, &accel_bw, sizeof(accel_bw));
+
+    uint8_t hbw = (1 << 7); // data_high_bw (read filtered data) and enable lsb/msb shadowing
+    i2c_burst_write_dt(&config->bus, REG_ACCD_HBW, &hbw, sizeof(hbw));
+
+    return 0;
+}
+
+#define BMX055_INIT(i)                                            \
+    static struct bmx055_data bmx055_data_##i;                    \
+                                                                  \
+    static const struct bmx055_config bmx055_config_##i = {       \
+        .bus = I2C_DT_SPEC_INST_GET(i),                           \
+    };                                                            \
+                                                                  \
+    SENSOR_DEVICE_DT_INST_DEFINE(i, &bmx055_init, NULL,           \
+                                 &bmx055_data_##i,                \
+                                 &bmx055_config_##i, POST_KERNEL, \
+                                 CONFIG_SENSOR_INIT_PRIORITY, &bmx055_api);
+
+DT_INST_FOREACH_STATUS_OKAY(BMX055_INIT)
--- a/drivers/sensor/hdc1080/CMakeLists.txt
+++ b/drivers/sensor/hdc1080/CMakeLists.txt
@@ -0,0 +1,2 @@
+zephyr_library()
+zephyr_library_sources(hdc1080.c)
--- a/drivers/sensor/hdc1080/Kconfig
+++ b/drivers/sensor/hdc1080/Kconfig
@@ -0,0 +1,6 @@
+config HDC1080
+	bool "HDC1080"
+	default y
+	depends on DT_HAS_TI_HDC1080_ENABLED
+	help
+	  Enable driver for HDC1080.
--- a/drivers/sensor/hdc1080/hdc1080.c
+++ b/drivers/sensor/hdc1080/hdc1080.c
@@ -0,0 +1,227 @@
+/*
+ * Copyright (c) 2021 Nordic Semiconductor ASA
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#define DT_DRV_COMPAT ti_hdc1080
+
+#include <zephyr/device.h>
+#include <zephyr/drivers/i2c.h>
+#include <zephyr/drivers/sensor.h>
+#include <zephyr/sys/byteorder.h>
+
+#include <zephyr/logging/log.h>
+LOG_MODULE_REGISTER(hdc1080, CONFIG_SENSOR_LOG_LEVEL);
+
+const uint8_t REG_TEMPERATURE = 0x00;
+const uint8_t REG_HUMIDITY = 0x01;
+const uint8_t REG_CONFIGURATION = 0x02;
+const uint8_t REG_SERIAL_ID_0 = 0xFB;
+const uint8_t REG_SERIAL_ID_1 = 0xFC;
+const uint8_t REG_SERIAL_ID_2 = 0xFD;
+const uint8_t REG_MANUFACTURER_ID = 0xFE;
+const uint8_t REG_DEVICE_ID = 0xFF;
+
+#define CONFIG_RST (1 << 15)             ///< Software reset. This bit self clears
+#define CONFIG_HEAT (1 << 13)            ///< Enable heater
+#define CONFIG_MODE_SEQUENTIAL (1 << 12) ///< Temperature and humidity measured in sequence, temperature first
+#define CONFIG_BTST (1 << 11)            ///< 1 = battery voltage < 2.8V
+#define CONFIG_TRES_14BIT (0 << 10)      ///< Temperature resolution
+#define CONFIG_TRES_11BIT (1 << 10)      ///< Temperature resolution
+#define CONFIG_HRES_14BIT (0b00 << 8)    ///< Humidity resolution
+#define CONFIG_HRES_11BIT (0b01 << 8)    ///< Humidity resolution
+#define CONFIG_HRES_8BIT (0b10 << 8)     ///< Humidity resolution
+
+struct hdc1080_data
+{
+    int16_t temperature;
+    uint16_t humidity;
+};
+
+struct hdc1080_config
+{
+    struct i2c_dt_spec bus;
+    uint8_t temperature_bits;
+    uint8_t humidity_bits;
+};
+
+static int hdc1080_sample_fetch(const struct device *dev,
+                                enum sensor_channel chan)
+{
+    const struct hdc1080_config *config = dev->config;
+    struct hdc1080_data *data = dev->data;
+    int ret;
+
+    // Trigger measurement
+    uint8_t reg_addr = REG_TEMPERATURE;
+    i2c_write_dt(&config->bus, &reg_addr, 1);
+
+    // Wait for conversion
+    float temperature_conversion_time; ///< microseconds
+    switch (config->temperature_bits)
+    {
+    case 11:
+        temperature_conversion_time = 3650;
+        break;
+    case 14:
+        temperature_conversion_time = 6350;
+        break;
+    default:
+        temperature_conversion_time = 0;
+        break;
+    }
+    float humidity_conversion_time; ///< microseconds
+    switch (config->humidity_bits)
+    {
+    case 8:
+        humidity_conversion_time = 2500;
+        break;
+    case 11:
+        humidity_conversion_time = 3850;
+        break;
+    case 14:
+        humidity_conversion_time = 6500;
+        break;
+    default:
+        humidity_conversion_time = 0;
+        break;
+    }
+    k_busy_wait(temperature_conversion_time + humidity_conversion_time);
+
+    // Read data
+    uint8_t rdata[4];
+    ret = i2c_read_dt(&config->bus, rdata, sizeof(rdata));
+    if (ret < 0)
+    {
+        LOG_ERR("Failed to read temperature and humidity!");
+        return ret;
+    }
+    data->temperature = sys_get_be16(&rdata[0]);
+    data->humidity = sys_get_be16(&rdata[2]);
+
+    return 0;
+}
+
+static int hdc1080_channel_get(const struct device *dev,
+                               enum sensor_channel chan,
+                               struct sensor_value *val)
+{
+    struct hdc1080_data *data = dev->data;
+
+    switch (chan)
+    {
+    case SENSOR_CHAN_AMBIENT_TEMP:
+    {
+        double temperature = data->temperature * 160.0 / (1 << 16) - 40;
+        val->val1 = temperature;
+        val->val2 = (temperature - val->val1) * 1e6;
+        break;
+    }
+    case SENSOR_CHAN_HUMIDITY:
+    {
+        double humidity = data->humidity * 100.0 / (1 << 16);
+        val->val1 = humidity;
+        val->val2 = (humidity - val->val1) * 1e6;
+        break;
+    }
+    default:
+        return -ENOTSUP;
+    }
+
+    return 0;
+}
+
+static const struct sensor_driver_api hdc1080_api = {
+    .sample_fetch = &hdc1080_sample_fetch,
+    .channel_get = &hdc1080_channel_get,
+};
+
+static int hdc1080_init(const struct device *dev)
+{
+    const struct hdc1080_config *const config = dev->config;
+    int ret;
+
+    if (!device_is_ready(config->bus.bus))
+    {
+        LOG_ERR("I2C bus %s is not ready", config->bus.bus->name);
+        return -ENODEV;
+    }
+
+    uint8_t id[2];
+    ret = i2c_burst_read_dt(&config->bus, REG_MANUFACTURER_ID, id, sizeof(id));
+    if (ret < 0)
+    {
+        LOG_ERR("Failed to read manufacturer/device ID registers");
+        return ret;
+    }
+    uint16_t manufacturer_id = sys_get_be16(&id[0]);
+    const uint16_t MANUFACTURER_ID = 0x5449;
+    if (manufacturer_id != MANUFACTURER_ID)
+    {
+        LOG_ERR("Manufacturer ID read from %s incorrect. Read 0x%02X, expected 0x%02X", dev->name, manufacturer_id, MANUFACTURER_ID);
+    }
+
+    ret = i2c_burst_read_dt(&config->bus, REG_DEVICE_ID, id, sizeof(id));
+    if (ret < 0)
+    {
+        LOG_ERR("Failed to read manufacturer/device ID registers");
+        return ret;
+    }
+    uint16_t device_id = sys_get_be16(&id[0]);
+    const uint16_t DEVICE_ID = 0x1050;
+    if (device_id != DEVICE_ID)
+    {
+        LOG_ERR("Device ID read from %s incorrect. Read 0x%02X, expected 0x%02X", dev->name, device_id, DEVICE_ID);
+    }
+
+    // Write configuration
+    uint16_t cfg = 0;
+    switch (config->temperature_bits)
+    {
+    case 14:
+        cfg |= CONFIG_TRES_14BIT;
+        break;
+    case 11:
+        cfg |= CONFIG_TRES_11BIT;
+        break;
+    default:
+        LOG_ERR("Invalid temperature resolution: %d bits", config->temperature_bits);
+        return -1;
+    }
+    switch (config->humidity_bits)
+    {
+    case 14:
+        cfg |= CONFIG_HRES_14BIT;
+        break;
+    case 11:
+        cfg |= CONFIG_HRES_11BIT;
+        break;
+    case 8:
+        cfg |= CONFIG_HRES_8BIT;
+        break;
+    default:
+        LOG_ERR("Invalid humidity resolution: %d bits", config->humidity_bits);
+        return -1;
+    }
+    uint8_t wdata[2];
+    sys_put_be16(cfg, wdata);
+    i2c_burst_write_dt(&config->bus, REG_CONFIGURATION, wdata, sizeof(wdata));
+
+    return 0;
+}
+
+#define HDC1080_INIT(i)                                            \
+    static struct hdc1080_data hdc1080_data_##i;                   \
+                                                                   \
+    static const struct hdc1080_config hdc1080_config_##i = {      \
+        .bus = I2C_DT_SPEC_INST_GET(i),                            \
+        .temperature_bits = 14,                                    \
+        .humidity_bits = 14,                                       \
+    };                                                             \
+                                                                   \
+    SENSOR_DEVICE_DT_INST_DEFINE(i, &hdc1080_init, NULL,           \
+                                 &hdc1080_data_##i,                \
+                                 &hdc1080_config_##i, POST_KERNEL, \
+                                 CONFIG_SENSOR_INIT_PRIORITY, &hdc1080_api);
+
+DT_INST_FOREACH_STATUS_OKAY(HDC1080_INIT)
--- a/dts/bindings/sensor/bosch,bmx055.yaml
+++ b/dts/bindings/sensor/bosch,bmx055.yaml
@@ -0,0 +1,12 @@
+description: |
+  TODO: add a description
+
+compatible: "bosch,bmx055"
+
+include: [sensor-device.yaml, i2c-device.yaml]
+
+# properties:
+#   input-gpios:
+#     type: phandle-array
+#     required: true
+#     description: Input GPIO to be sensed.
--- a/dts/bindings/sensor/ti,hdc1080.yaml
+++ b/dts/bindings/sensor/ti,hdc1080.yaml
@@ -0,0 +1,7 @@
+description: |
+  TODO: add a description
+
+compatible: "ti,hdc1080"
+
+include: [sensor-device.yaml, i2c-device.yaml]
+
--- a/west.yml
+++ b/west.yml
@@ -8,11 +8,14 @@ manifest:
  remotes:
    - name: zephyrproject-rtos
      url-base: https://github.com/zephyrproject-rtos
+    - name: mcu-tools
+      url-base: https://github.com/mcu-tools

  projects:
    - name: zephyr
      remote: zephyrproject-rtos
      revision: main
+      # revision: v3.6.0
      import:
        # By using name-allowlist we can clone only the modules that are
        # strictly needed by the application.
@@ -20,3 +23,7 @@ manifest:
          - cmsis      # required by the ARM port
          - hal_nordic # required by the custom_plank board (Nordic based)
          - hal_stm32  # required by the nucleo_f302r8 board (STM32 based)
+          - zcbor      # required by mcuboot serial
+    - name: mcuboot
+      remote: mcu-tools
+      revision: main