Variant: mtb-mpy and mtb-only

The C-side tables on this page apply to both packages. The MicroPython tables are marked and render only in the mtb-mpy set, because the mtb-only package ships no mod*.c binding file at all — see Variant matrix.

What this page is

The lookup page for the peripheral surface: every call, what it returns, and the BSP_HAS_* flag that decides whether it exists. The chapters explain why*; this page exists so you do not have to read them twice.

Two scope facts constrain everything below, and both are worth stating before the first table:

This package ships exactly one BSP — bsps/TARGET_KIT_PSE84_AI/. Every #ifdef USE_KIT_PSE84_EVAL_EPC2 branch in the sensor and GPIO sources is compiled out here and cannot be reached from this package.
The peripheral bindings are template source, not a prebuilt archive. Nothing in sdk/docs/ describes them, because they are not in any shipped .a. That is why this section is a tutorial plus this table, and not an nm-derived API dump.

The BSP flags, as this board sets them

bsps/TARGET_KIT_PSE84_AI/bsp_features.mk is the only board file in the package. Unset flags default to 0 in bento_libs/claw/common/shared/include/bsp_feature_flags.h.

Flag	Value here	Line	What it gates
BSP_HAS_BMI270	1	:12	IMU driver + the bmi270 sub-module
BSP_HAS_BMM350	1	:13	magnetometer + bmm350_diag / bmm350_debug
BSP_HAS_DPS368	1	:16	barometer
BSP_HAS_SHT40	1	:17	humidity/temperature
BSP_HAS_RADAR	1	:18	the three radar calls (CM55 BGT60TR13C task)
BSP_HAS_QWA309_BASEBOARD	1	:25	pots, buttons, rgbmatrix, header, can, shield
BSP_HAS_CAPSENSE	1	:32	CapSense 4000T over I2C
BSP_HAS_POTENTIOMETER	1	:34	the SAR pot path
BSP_HAS_ARDUINO_HEADER	1	:58	the QWA309 expansion header
ENABLE_PAGE_GPIO_RGB	1	:76	the on-screen GPIO and RGB matrix page
ENABLE_PAGE_MOTOR_CTRL	0	:77	the Motor Shield v2 page — off by default

Warning: A value must be a bare 1 or 0 with no trailing whitespace. The consuming Makefiles compare with ifeq ($(VAR),1), which is whitespace-sensitive, so a trailing space silently drops the feature with no error anywhere. The file says so itself at bsp_features.mk:28-30. Recorded as Appendix X #23 — Appendix X — Traps and anti-patterns.

Pins, buses and addresses

Everything on the sensor bus is SCB0 I2C on P8.0 SCL / P8.1 SDA (sensor_i2c.c:99-100). SCB0 is shared with the OPTIGA Trust M PAL, which is why the lock in J1 — The sensor bus and its lock is not optional.

Device	Address	Bus	Owned by	Header
BMI270 IMU	0x68	SCB0 I2C	CM33_NS	sensor_bmi270.h:16
BMM350 magnetometer	0x15	I3C (CYBSP_I3C_SCL/SDA)	CM33_NS	sensor_bmm350.h:20
DPS368 barometer	0x77	SCB0 I2C	CM33_NS	sensor_dps368.h:16
SHT40 humidity	0x44	SCB0 I2C	CM33_NS	sensor_sht40.h:17
CapSense 4000T	0x08	display/touch bus on a QWA309 board	CM55	sensor_capsense.h:20
DFR0522 RGB matrix	0x10	header bus	CM55	mod_rgbmatrix.c:6-13
BGT60TR13C radar	—	SPI	CM55	tesaiot-radar/radar_task.h

Board I/O that is not on a bus:

Signal	Pin(s)	Note
RGB LED red / blue / green	P20.6 / P20.5 / P20.4	TCPWM0 group 1, lines 265 / 264 / 263 (modgpio.c:159-166)
LED1, LED2	CYBSP_USER_LED1/2	no TCPWM route — bit-bang only
USER button	CYBSP_USER_BTN1	reported as "SW2" (modgpio.c:53-58)
QWA309 SW4 / SW5	P17.5 / P17.7	active-low, MCU pull-ups (mod_qwa309_buttons.c:67-68)
Single pot (sensors.pot)	P15[1]	SAR GPIO channel 0, MTB HAL, scaled against 3.3 V (sensor_potentiometer.c:6-19)
QWA309 VR1..VR4 (pots)	P15.4..P15.7	AutAnalog SAR GPIO channels 4..7 — not in knob order
QWA309 header GPIO	P13.0, P13.3, P13.4, P13.5, P13.6, P13.7	logical index 0..5
QWA309 header PWM	P13.3 (P13.4 = complement)	TCPWM0 counter 5
QWA309 header UART	P15.0 RX / P15.1 TX	SCB9, 115200 8N1

Note: P17.5 is also the USB-host VBUS enable. Buttons and the USB joystick are mutually exclusive on this base board; the first buttons_hw_init() takes the pin for input (mod_qwa309_buttons.c:16-22).

The C entry points (both packages)

These are the names an mtb-only developer calls directly, and the names the MicroPython bindings call underneath on mtb-mpy.

Family	Entry points	File
Bus	sensor_i2c_init :88, sensor_i2c_lock(ms) :168, sensor_i2c_unlock :175, sensor_i2c_is_init :181, sensor_i2c_write_reg :215, sensor_i2c_read_reg :240, sensor_i2c_scan :317	sensor_i2c.c
BMI270	bmi270_read_chip_id :65, bmi270_init :195, bmi270_read_accel :218, bmi270_read_gyro :235, bmi270_read_temperature :252	sensor_bmi270.c
BMM350	bmm350_init :391, bmm350_reinit :539, bmm350_debug_read :559, bmm350_read_xyz :703, bmm350_cal_update :739, bmm350_cal_reset :766, bmm350_heading_from_xy :791, bmm350_read_heading :829, bmm350_diagnose :863	sensor_bmm350.c
DPS368	dps368_read_product_id :97, dps368_init :101, dps368_read_temperature :228, dps368_read_pressure :246, dps368_read_both :273	sensor_dps368.c
SHT40	sht40_init :40, sht40_read_temperature :107, sht40_read_humidity :111, sht40_read_both :116, sht40_read_serial :120	sensor_sht40.c
Potentiometer	potentiometer_init :26, potentiometer_read_raw :61, potentiometer_read_percent :72, potentiometer_read_voltage :82	sensor_potentiometer.c
CapSense	one API, two backends — see The CapSense fork: one API, two backends	sensor_capsense.h
Auto-push	sensor_auto_get_bmi270 :1498, sensor_auto_task_create :1513, sensor_auto_start :1583, sensor_auto_stop :1591, sensor_auto_is_running :1601, sensor_auto_set_rate :1605, sensor_auto_get_rate :1611, sensor_auto_set_mask :1615, sensor_auto_get_mask :1619, sensor_auto_enable :1623, sensor_auto_disable :1627, sensor_auto_get_push_count :1631	sensor_auto_task.c
CM55 poll	cm55_sensor_poll_init :34, cm55_sensor_poll_tick :37, cm55_capsense_tick :46, cm55_sensor_poll_status :49, cm55_pot_read_all :54, cm55_sensor_poll_diag :57	cm55_sensor_poll.h
Radar (CM55)	tesaiot_radar_task :96, tesaiot_radar_recover_stats :114, tesaiot_radar_loop_stats :129, radar_ai_frame_next :147; state tesaiot_radar_presence_detected :72, tesaiot_radar_current_energy :77, tesaiot_radar_initialized :82	radar_task.h

The sensor sources live in bento_libs/claw/common/mpy/; cm55_sensor_poll.h is under proj_cm55/modules/cm55_sensor_poll/; the radar sources are under bento_libs/claw/kit-pse84-ai/libraries/tesaiot-radar/.

Variant matrix

	mtb-mpy	mtb-only
bento_libs/claw/common/mpy/	53 files — every mod*.c plus the drivers	19 files — the sensor_*.c/.h drivers only
bento_libs/claw/kit-tesaiot-pse84-ai/mpy/	all six kit modules	directory absent
sensors, gpio modules	yes	no — no binding layer is compiled
pots, buttons, rgbmatrix, header, can, shield	yes	no
Sensor drivers (sensor_i2c, BMI270, BMM350, DPS368, SHT40, pot)	yes, called by the bindings	yes, called by your code
sensor_auto_task	yes	yes — and it owns one extra boot step, see J3 — The auto-push task and the sensor hub
CM55 poll + radar task	yes	yes
Chapters	J1 — The sensor bus and its lock, J2, J3 — The auto-push task and the sensor hub, J4, J5, J6 — Radar	J1 — The sensor bus and its lock, J3 — The auto-push task and the sensor hub, J6 — Radar

Note: A packaging gap, reported not papered over. The mtb-only package ships sensor_capsense.c (direct I2C) but not sensor_capsense_ipc.c or capsense.mk. On a QWA309 board the 4000T sits on the CM55-owned display bus, so the direct backend reads the wrong bus. An mtb-only developer who calls capsense_read() today gets that backend. Detail and workaround in The CapSense fork: one API, two backends.

Two calls you may have seen elsewhere — neither is here

sensors.snapshot() is registered only inside #ifdef USE_KIT_PSE84_EVAL_EPC2 (modsensors.c:1330-1332). This package ships no Eva BSP, so the call does not exist on any board you can build from it. Do not write code against it.
sensors.light() appears in an older example corpus outside this package. It exists in no module table in this tree. It is documentation drift, and this section does not carry it forward.