From 9acdfb35754a9ff68430ca1b729af300bc170c3b Mon Sep 17 00:00:00 2001
From: Concode0 <nemonanharo@gmail.com>
Date: Sun, 30 Nov 2025 19:38:36 +0900
Subject: [PATCH 1/5] fix(bmi270): make burst write size configurable to
 prevent stack overflow

---
 components/bmi270/include/bmi270.hpp | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/components/bmi270/include/bmi270.hpp b/components/bmi270/include/bmi270.hpp
index 1f629b8cc..b1c25fc5b 100644
--- a/components/bmi270/include/bmi270.hpp
+++ b/components/bmi270/include/bmi270.hpp
@@ -85,6 +85,11 @@ class Bmi270 : public espp::BasePeripheral<uint8_t, Interface == bmi270::Interfa
         nullptr;                                          ///< Read function
     ImuConfig imu_config;                                 ///< IMU configuration
     filter_fn orientation_filter = nullptr;               ///< Filter function for orientation
+    /**
+     * @brief Maximum number of bytes to write in a single burst during config upload.
+     * Default is 128 bytes. Decrease this if you encounter stack overflow.
+     */
+    uint16_t burst_write_size = 128;
     bool auto_init{true};                                 ///< Automatically initialize the BMI270
     Logger::Verbosity log_level{Logger::Verbosity::WARN}; ///< Log level
   };
@@ -94,7 +99,8 @@ class Bmi270 : public espp::BasePeripheral<uint8_t, Interface == bmi270::Interfa
   explicit Bmi270(const Config &config)
       : BasePeripheral<uint8_t, Interface == bmi270::Interface::I2C>({}, "Bmi270", config.log_level)
       , orientation_filter_(config.orientation_filter)
-      , imu_config_(config.imu_config) {
+      , imu_config_(config.imu_config)
+      , burst_write_size_(config.burst_write_size) {
     if constexpr (Interface == bmi270::Interface::I2C) {
       set_address(config.device_address);
     }
@@ -567,7 +573,7 @@ class Bmi270 : public espp::BasePeripheral<uint8_t, Interface == bmi270::Interfa
     // upload config file:
     // - burst write 8 kB init data to INIT_DATA, using 128-byte writes
     const uint8_t *config_data = config_file;
-    size_t burst_size = config_file_size;
+    size_t burst_size = burst_write_size_;
     size_t config_size = config_file_size;
     size_t offset = 0;
     while (offset < config_size) {
@@ -706,6 +712,7 @@ class Bmi270 : public espp::BasePeripheral<uint8_t, Interface == bmi270::Interfa
   // Member variables
   filter_fn orientation_filter_{nullptr};
   ImuConfig imu_config_{};
+  uint16_t burst_write_size_{128};
   Value accel_values_{};
   Value gyro_values_{};
   float temperature_{0.0f};

From 67eb33a2f79ad31e8e9c8209a92c933c59eb0fa6 Mon Sep 17 00:00:00 2001
From: Concode0 <nemonanharo@gmail.com>
Date: Mon, 1 Dec 2025 08:33:16 +0900
Subject: [PATCH 2/5] fix: change default burst size to 0

---
 components/bmi270/include/bmi270.hpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/components/bmi270/include/bmi270.hpp b/components/bmi270/include/bmi270.hpp
index b1c25fc5b..c4d3e305b 100644
--- a/components/bmi270/include/bmi270.hpp
+++ b/components/bmi270/include/bmi270.hpp
@@ -89,7 +89,7 @@ class Bmi270 : public espp::BasePeripheral<uint8_t, Interface == bmi270::Interfa
      * @brief Maximum number of bytes to write in a single burst during config upload.
      * Default is 128 bytes. Decrease this if you encounter stack overflow.
      */
-    uint16_t burst_write_size = 128;
+    uint16_t burst_write_size = 0;
     bool auto_init{true};                                 ///< Automatically initialize the BMI270
     Logger::Verbosity log_level{Logger::Verbosity::WARN}; ///< Log level
   };
@@ -100,7 +100,7 @@ class Bmi270 : public espp::BasePeripheral<uint8_t, Interface == bmi270::Interfa
       : BasePeripheral<uint8_t, Interface == bmi270::Interface::I2C>({}, "Bmi270", config.log_level)
       , orientation_filter_(config.orientation_filter)
       , imu_config_(config.imu_config)
-      , burst_write_size_(config.burst_write_size) {
+      , burst_write_size_(config.burst_write_size == 0 ? config_file_size : config.burst_write_size) {
     if constexpr (Interface == bmi270::Interface::I2C) {
       set_address(config.device_address);
     }
@@ -712,7 +712,7 @@ class Bmi270 : public espp::BasePeripheral<uint8_t, Interface == bmi270::Interfa
   // Member variables
   filter_fn orientation_filter_{nullptr};
   ImuConfig imu_config_{};
-  uint16_t burst_write_size_{128};
+  uint16_t burst_write_size_{0};
   Value accel_values_{};
   Value gyro_values_{};
   float temperature_{0.0f};

From ee1f215218ddc0c99b61cb3fe950015554905775 Mon Sep 17 00:00:00 2001
From: William Emfinger <waemfinger@gmail.com>
Date: Tue, 2 Dec 2025 08:24:34 -0600
Subject: [PATCH 3/5] Update components/bmi270/include/bmi270.hpp

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
---
 components/bmi270/include/bmi270.hpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/components/bmi270/include/bmi270.hpp b/components/bmi270/include/bmi270.hpp
index c4d3e305b..f14f22533 100644
--- a/components/bmi270/include/bmi270.hpp
+++ b/components/bmi270/include/bmi270.hpp
@@ -571,7 +571,7 @@ class Bmi270 : public espp::BasePeripheral<uint8_t, Interface == bmi270::Interfa
     }
 
     // upload config file:
-    // - burst write 8 kB init data to INIT_DATA, using 128-byte writes
+    // - burst write init data to INIT_DATA, using configurable chunk size (defaults to 8 kB)
     const uint8_t *config_data = config_file;
     size_t burst_size = burst_write_size_;
     size_t config_size = config_file_size;

From 327238cbc34d6aa5c21bfb4039ecf2a0e32fc521 Mon Sep 17 00:00:00 2001
From: William Emfinger <waemfinger@gmail.com>
Date: Tue, 2 Dec 2025 08:24:55 -0600
Subject: [PATCH 4/5] Update components/bmi270/include/bmi270.hpp

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
---
 components/bmi270/include/bmi270.hpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/components/bmi270/include/bmi270.hpp b/components/bmi270/include/bmi270.hpp
index f14f22533..8d93571ab 100644
--- a/components/bmi270/include/bmi270.hpp
+++ b/components/bmi270/include/bmi270.hpp
@@ -87,7 +87,8 @@ class Bmi270 : public espp::BasePeripheral<uint8_t, Interface == bmi270::Interfa
     filter_fn orientation_filter = nullptr;               ///< Filter function for orientation
     /**
      * @brief Maximum number of bytes to write in a single burst during config upload.
-     * Default is 128 bytes. Decrease this if you encounter stack overflow.
+     * Default is 0 (uses full config file size of 8192 bytes).
+     * Decrease this if you encounter stack overflow (e.g., 128 for ESP32-C3).
      */
     uint16_t burst_write_size = 0;
     bool auto_init{true};                                 ///< Automatically initialize the BMI270

From 96b46bacd8ad90b9d9482acbce15806e9266f446 Mon Sep 17 00:00:00 2001
From: William Emfinger <waemfinger@gmail.com>
Date: Tue, 2 Dec 2025 08:26:32 -0600
Subject: [PATCH 5/5] Apply suggestion from @finger563

---
 components/bmi270/include/bmi270.hpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/components/bmi270/include/bmi270.hpp b/components/bmi270/include/bmi270.hpp
index 8d93571ab..675991247 100644
--- a/components/bmi270/include/bmi270.hpp
+++ b/components/bmi270/include/bmi270.hpp
@@ -86,9 +86,9 @@ class Bmi270 : public espp::BasePeripheral<uint8_t, Interface == bmi270::Interfa
     ImuConfig imu_config;                                 ///< IMU configuration
     filter_fn orientation_filter = nullptr;               ///< Filter function for orientation
     /**
-     * @brief Maximum number of bytes to write in a single burst during config upload.
+     * @brief Maximum number of bytes to write in a single burst during config upload. If 0 will use full config file size of 8192 bytes.
      * Default is 0 (uses full config file size of 8192 bytes).
-     * Decrease this if you encounter stack overflow (e.g., 128 for ESP32-C3).
+     * Set this to a small non-zero value (e.g., 128) if you encounter stack overflow or want to decrease memory usage.
      */
     uint16_t burst_write_size = 0;
     bool auto_init{true};                                 ///< Automatically initialize the BMI270