There is a device driver for the RPI4 CYW43455 wifi chip, from OpenBSD, then developed further by NetBSD.
I have absolutely never done this before, but here are some references, there are probably people porting this driver to FreeBSD currently (or possibly developing one on their own) :
Thank you, I will look into this, I have written ethernet drivers in the past, though not for BSD nor Linux (vxWorks), might be a good project to cut my teeth on.
This also might be useful; it looks like FreeBSD 13 added support for the SDIO interface, which allows it to communicate with peripheral devices behind the SDIO, such as the 43455 wireless chip.
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