diff --git a/examples/espressif/esp/build.zig b/examples/espressif/esp/build.zig
index 41a4e6d44..231e6aaa1 100644
--- a/examples/espressif/esp/build.zig
+++ b/examples/espressif/esp/build.zig
@@ -16,6 +16,7 @@ pub fn build(b: *std.Build) void {
         .{ .name = "blinky", .file = "src/blinky.zig" },
         .{ .name = "custom_clock_config", .file = "src/custom_clock_config.zig" },
         .{ .name = "gpio_input", .file = "src/gpio_input.zig" },
+        .{ .name = "i2c_accel", .file = "src/i2c_accel.zig" },
         .{ .name = "i2c_bus_scan", .file = "src/i2c_bus_scan.zig" },
         .{ .name = "i2c_temp", .file = "src/i2c_temp.zig" },
         .{ .name = "i2c_display_sh1106", .file = "src/i2c_display_sh1106.zig" },
diff --git a/examples/espressif/esp/src/i2c_accel.zig b/examples/espressif/esp/src/i2c_accel.zig
new file mode 100644
index 000000000..093d7b9c8
--- /dev/null
+++ b/examples/espressif/esp/src/i2c_accel.zig
@@ -0,0 +1,76 @@
+const std = @import("std");
+const microzig = @import("microzig");
+const ICM_20948 = microzig.drivers.sensor.ICM_20948(.{});
+
+const esp = microzig.hal;
+const i2c = esp.i2c;
+const gpio = esp.gpio;
+const I2C_Device = esp.drivers.I2C_Device;
+const sleep_ms = esp.time.sleep_ms;
+
+var i2c0 = i2c.instance.num(0);
+
+const usb_serial_jtag = esp.usb_serial_jtag;
+
+pub const std_options = microzig.std_options(.{
+    .log_level = .info,
+    .logFn = usb_serial_jtag.logger.log,
+});
+
+comptime {
+    _ = microzig.export_startup();
+}
+
+pub fn main() !void {
+    const sda_pin = gpio.num(5);
+    const scl_pin = gpio.num(6);
+
+    // Setup SDA pin
+    sda_pin.apply(.{
+        .output_enable = true,
+        .input_enable = true,
+        .open_drain = true,
+        .pull = .up,
+    });
+
+    // Setup SCL pin
+    scl_pin.apply(.{
+        .output_enable = true,
+        .input_enable = true,
+        .open_drain = true,
+        .pull = .up,
+    });
+
+    i2c0.connect_pins(.{ .sda = sda_pin, .scl = scl_pin });
+    try i2c0.apply(100_000);
+
+    // Create i2c and clock devices
+    var i2c_device = I2C_Device.init(i2c0, null);
+    // Pass devices to driver to create sensor instance
+    var dev = try ICM_20948.init(
+        i2c_device.i2c_device(),
+        @fromBackingInt(@intCast(0x69)),
+        esp.drivers.clock_device(),
+        .{
+            .accel_dlp = .@"6Hz",
+            .gyro_dlp = .@"6Hz",
+            .accel_odr_div = 21, // About 50Hz
+            .gyro_odr_div = 21, // About 50Hz
+        },
+    );
+
+    try dev.setup();
+
+    while (true) {
+        const data = try dev.get_accel_gyro_mag_data();
+        std.log.info(
+            "accel: x {d: >6.2} y {d: >6.2} z {d: >6.2} (m/s²) " ++
+                "gyro: x {d: >6.2} y {d: >6.2} z {d: >6.2} (rads) " ++
+                "temp: {d: >5.2}°C " ++
+                "mag: x {d: >6.2} y {d: >6.2} z {d: >6.2} (µT)",
+            .{ data.accel.x, data.accel.y, data.accel.z, data.gyro.x, data.gyro.y, data.gyro.z, data.temp, data.mag.x, data.mag.y, data.mag.z },
+        );
+
+        sleep_ms(500);
+    }
+}
diff --git a/examples/wch/ch32v/build.zig b/examples/wch/ch32v/build.zig
index 995f2de11..9c77bd56f 100644
--- a/examples/wch/ch32v/build.zig
+++ b/examples/wch/ch32v/build.zig
@@ -47,7 +47,9 @@ pub fn build(b: *std.Build) void {
         .{ .target = mb.ports.ch32v.boards.ch32v203.lana_tny, .name = "lana_tny_uart_echo", .file = "src/uart_echo.zig" },
         .{ .target = mb.ports.ch32v.boards.ch32v203.lana_tny, .name = "lana_tny_uart_log", .file = "src/uart_log.zig" },
         .{ .target = mb.ports.ch32v.boards.ch32v203.lana_tny, .name = "lana_tny_i2c_bus_scan", .file = "src/i2c_bus_scan.zig" },
+        .{ .target = mb.ports.ch32v.boards.ch32v203.lana_tny, .name = "lana_tny_i2c_accel", .file = "src/i2c_accel.zig" },
         .{ .target = mb.ports.ch32v.boards.ch32v203.lana_tny, .name = "lana_tny_i2c_eeprom", .file = "src/i2c_eeprom.zig" },
+        .{ .target = mb.ports.ch32v.boards.ch32v203.lana_tny, .name = "lana_tny_i2c_eeprom_dma", .file = "src/i2c_eeprom_dma.zig" },
         .{ .target = mb.ports.ch32v.boards.ch32v203.lana_tny, .name = "lana_tny_i2c_position_sensor", .file = "src/i2c_position_sensor.zig" },
         .{ .target = mb.ports.ch32v.boards.ch32v203.lana_tny, .name = "lana_tny_spi_loopback", .file = "src/spi_loopback.zig" },
         .{ .target = mb.ports.ch32v.boards.ch32v203.lana_tny, .name = "lana_tny_spi_flash_w25q", .file = "src/spi_flash_w25q.zig" },
diff --git a/examples/wch/ch32v/src/i2c_accel.zig b/examples/wch/ch32v/src/i2c_accel.zig
new file mode 100644
index 000000000..b0b0d6c6a
--- /dev/null
+++ b/examples/wch/ch32v/src/i2c_accel.zig
@@ -0,0 +1,77 @@
+const std = @import("std");
+const microzig = @import("microzig");
+const hal = microzig.hal;
+const board = microzig.board;
+
+const i2c = hal.i2c;
+
+const ICM_20948 = microzig.drivers.sensor.ICM_20948(.{ .log_level = null });
+
+const uart = board.uart_setup;
+const i2c_hw = board.i2c_setup;
+
+pub const std_options = microzig.std_options(.{
+    .log_level = .info,
+    .logFn = hal.usart.log,
+});
+
+// Configure I2C1 with DMA support
+const i2c_config = i2c.Config{
+    .baud_rate = 100_000, // 100 kHz
+    .dma = .{
+        .tx_channel = .Ch6, // I2C1 TX must use Ch6
+        .rx_channel = .Ch7, // I2C1 RX must use Ch7
+        .priority = .High,
+        // Lower DMA threshold for testing (accelerometer makes 6-byte reads)
+        .threshold = 4,
+    },
+};
+
+comptime {
+    _ = microzig.export_startup();
+}
+
+pub fn main() !void {
+    // Board brings up clocks and time
+    board.init();
+
+    // Initialize UART for logging
+    uart.apply(.{ .baud_rate = 115200 });
+    hal.usart.init_logger(uart.instance);
+
+    // Initialize I2C
+    i2c_hw.apply(i2c_config);
+
+    // Get the specialized I2C_Device type for this config
+    const I2C_DeviceType = hal.drivers.I2C_Device(i2c_config);
+
+    // Create i2c and clock devices
+    var i2c_device = I2C_DeviceType.init(i2c_hw.instance, null);
+    // Pass devices to driver to create sensor instance
+    var dev = try ICM_20948.init(
+        i2c_device.i2c_device(),
+        @fromBackingInt(@intCast(0x69)),
+        hal.drivers.clock_device(),
+        .{
+            .accel_dlp = .@"6Hz",
+            .gyro_dlp = .@"6Hz",
+            .accel_odr_div = 21, // About 50Hz
+            .gyro_odr_div = 21, // About 50Hz
+        },
+    );
+
+    try dev.setup();
+
+    while (true) {
+        const data = try dev.get_accel_gyro_mag_data();
+        std.log.info(
+            "accel: x {d: >6.2} y {d: >6.2} z {d: >6.2} (m/s²) " ++
+                "gyro: x {d: >6.2} y {d: >6.2} z {d: >6.2} (rads) " ++
+                "temp: {d: >5.2}°C " ++
+                "mag: x {d: >6.2} y {d: >6.2} z {d: >6.2} (µT)",
+            .{ data.accel.x, data.accel.y, data.accel.z, data.gyro.x, data.gyro.y, data.gyro.z, data.temp, data.mag.x, data.mag.y, data.mag.z },
+        );
+
+        hal.time.sleep_ms(500);
+    }
+}
diff --git a/examples/wch/ch32v/src/i2c_eeprom_dma.zig b/examples/wch/ch32v/src/i2c_eeprom_dma.zig
new file mode 100644
index 000000000..0c8914e2d
--- /dev/null
+++ b/examples/wch/ch32v/src/i2c_eeprom_dma.zig
@@ -0,0 +1,73 @@
+const std = @import("std");
+const microzig = @import("microzig");
+const hal = microzig.hal;
+const board = microzig.board;
+const i2c = hal.i2c;
+
+const uart = board.uart_setup;
+const i2c_hw = board.i2c_setup;
+
+pub const panic = microzig.panic;
+
+pub const std_options = microzig.std_options(.{
+    .log_level = .debug,
+    .logFn = hal.usart.log,
+});
+
+// Configure I2C1 with DMA support
+const i2c_config = i2c.Config{
+    .baud_rate = 400_000, // 400 kHz fast mode
+    .dma = .{
+        .tx_channel = .Ch6, // I2C1 TX must use Ch6
+        .rx_channel = .Ch7, // I2C1 RX must use Ch7
+        .priority = .High,
+    },
+};
+
+comptime {
+    _ = microzig.export_startup();
+}
+
+pub fn main() !void {
+    // Board brings up clocks and time
+    board.init();
+
+    // Initialize UART for logging
+    uart.apply(.{ .baud_rate = 115200 });
+    hal.usart.init_logger(uart.instance);
+
+    // Initialize I2C
+    i2c_hw.apply(i2c_config);
+
+    const eeprom_address: i2c.Address = @fromBackingInt(0x50);
+
+    // Example: Write large buffer using DMA
+    std.log.info("Writing large buffer manually", .{});
+    var tx_buffer: [64]u8 = undefined;
+    for (&tx_buffer, 0..) |*byte, i| {
+        byte.* = @intCast(i);
+    }
+
+    // Explicit DMA write
+    std.log.info("Writing to EEPROM via DMA", .{});
+    try i2c_hw.instance.write_dma(i2c_config, eeprom_address, &tx_buffer, null);
+
+    hal.time.sleep_ms(10);
+
+    // Automatic selection (uses DMA for large transfers)
+    std.log.info("Writing to EEPROM via 'auto'", .{});
+    try i2c_hw.instance.write_auto(i2c_config, eeprom_address, &tx_buffer, null);
+
+    // Small transfer (automatic polling)
+    const small_buffer = [_]u8{ 0x12, 0x34 };
+    try i2c_hw.instance.write_auto(i2c_config, eeprom_address, &small_buffer, null);
+
+    // Read using DMA
+    std.log.info("Reading from EEPROM via DMA", .{});
+    var rx_buffer: [64]u8 = undefined;
+    try i2c_hw.instance.read_dma(i2c_config, eeprom_address, &rx_buffer, null);
+
+    while (true) {
+        hal.time.sleep_ms(1000);
+    }
+}
diff --git a/port/wch/ch32v/src/hals/drivers.zig b/port/wch/ch32v/src/hals/drivers.zig
index cad346950..db2e27943 100644
--- a/port/wch/ch32v/src/hals/drivers.zig
+++ b/port/wch/ch32v/src/hals/drivers.zig
@@ -358,9 +358,9 @@ pub const ClockDevice = struct {
 ///
 /// Implementation of a `ClockDevice` that uses the HAL's `time` module.
 ///
-pub fn clock_device() ClockDevice {
+pub fn clock_device() drivers.ClockDevice {
     const S = struct {
-        const vtable: ClockDevice.VTable = .{
+        const vtable: drivers.ClockDevice.VTable = .{
             .get_time_since_boot = get_time_since_boot_fn,
         };
 
diff --git a/port/wch/ch32v/src/hals/i2c.zig b/port/wch/ch32v/src/hals/i2c.zig
index f374d8cf8..b9174b9c3 100644
--- a/port/wch/ch32v/src/hals/i2c.zig
+++ b/port/wch/ch32v/src/hals/i2c.zig
@@ -523,7 +523,6 @@ pub const I2C = enum(u1) {
         try i2c.wait_flag_star2("BUSY", 0, deadline);
     }
 
-    /// Read using DMA (only available if DMA configured)
     pub fn read_dma(
         i2c: I2C,
         comptime config: Config,
@@ -593,6 +592,10 @@ pub const I2C = enum(u1) {
     ///
     /// Automatically selects between DMA and polling based on transfer size. DMA is used for
     /// transfers over configured threshold, polling for smaller transfers.
+    ///
+    /// NOTE: The 16-byte default threshold is a heuristic based on typical DMA setup overhead vs
+    /// polling cost. It has not been benchmarked specifically for CH32V and may not be optimal for
+    /// all use cases. For explicit control, use write_dma() or write_blocking() directly.
     pub fn write_auto(
         i2c: I2C,
         comptime config: Config,
@@ -612,6 +615,10 @@ pub const I2C = enum(u1) {
     ///
     /// Automatically selects between DMA and polling based on transfer size. DMA is used for
     /// transfers over configured threshold, polling for smaller transfers.
+    ///
+    /// NOTE: The 16-byte default threshold is a heuristic based on typical DMA setup overhead vs
+    /// polling cost. It has not been benchmarked specifically for CH32V and may not be optimal for
+    /// all use cases. For explicit control, use read_dma() or read_blocking() directly.
     pub fn read_auto(
         i2c: I2C,
         comptime config: Config,