Qurt platform custom icm42688p IMU driver (#20753)

- first version of IMU driver for the VOXL 2 platform (Qurt)
 - this is a customized version of the Invensense ICM42688P driver, it is currently in the VOXL 2 board directory

boards/modalai/voxl2-slpi/src/CMakeLists.txt

@@ -34,4 +34,8 @@
 add_library(drivers_board
 	board_config.h
 	init.c
+	spi.cpp
     )
+
+# Add custom drivers for SLPI
+add_subdirectory(${PX4_BOARD_DIR}/src/drivers/icm42688p)

boards/modalai/voxl2-slpi/src/board_config.h

@@ -46,5 +46,14 @@
  */
 #define PX4_NUMBER_I2C_BUSES    3
 
+/*
+ * SPI buses
+ */
+#define CONFIG_SPI 1
+#define BOARD_SPI_BUS_MAX_BUS_ITEMS 1
+
+/*
+ * Include these last to make use of the definitions above
+ */
 #include <system_config.h>
 #include <px4_platform_common/board_common.h>

boards/modalai/voxl2-slpi/src/drivers/icm42688p/CMakeLists.txt

@@ -0,0 +1,48 @@
+############################################################################
+#
+#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+px4_add_module(
+	MODULE drivers__imu__invensense__icm42688p
+	MAIN icm42688p
+	COMPILE_FLAGS
+		${MAX_CUSTOM_OPT_LEVEL}
+	SRCS
+		icm42688p_main.cpp
+		ICM42688P.cpp
+		ICM42688P.hpp
+		InvenSense_ICM42688P_registers.hpp
+	DEPENDS
+		px4_work_queue
+		drivers_accelerometer
+		drivers_gyroscope
+		drivers__device
+	)

boards/modalai/voxl2-slpi/src/drivers/icm42688p/ICM42688P.hpp

@@ -0,0 +1,233 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file ICM42688P.hpp
+ *
+ * Driver for the Invensense ICM42688P connected via SPI.
+ *
+ */
+
+#pragma once
+
+#include "InvenSense_ICM42688P_registers.hpp"
+
+#include <drivers/drv_hrt.h>
+#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
+#include <lib/drivers/device/spi.h>
+#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
+#include <lib/geo/geo.h>
+#include <lib/perf/perf_counter.h>
+#include <px4_platform_common/atomic.h>
+#include <px4_platform_common/i2c_spi_buses.h>
+#include <uORB/topics/sensor_accel_fifo.h>
+#include <uORB/topics/sensor_gyro_fifo.h>
+#include <memory>
+
+using namespace InvenSense_ICM42688P;
+
+extern bool hitl_mode;
+
+class ICM42688P : public device::SPI, public I2CSPIDriver<ICM42688P>
+{
+public:
+	// ICM42688P(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
+	// 	  spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio);
+	ICM42688P(const I2CSPIDriverConfig &config);
+	~ICM42688P() override;
+
+	// static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+	// 				     int runtime_instance);
+	static void print_usage();
+
+	void RunImpl();
+
+	int init() override;
+	void print_status() override;
+
+private:
+	void exit_and_cleanup() override;
+
+	// Sensor Configuration
+	static constexpr float IMU_ODR{8000.f}; // 8kHz accel & gyro ODR configured
+	static constexpr float FIFO_SAMPLE_DT{1e6f / IMU_ODR};
+	static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT};
+	static constexpr float ACCEL_RATE{1e6f / FIFO_SAMPLE_DT};
+
+	// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
+	// static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
+	static constexpr uint32_t FIFO_MAX_SAMPLES{10};
+
+	// Transfer data
+	struct FIFOTransferBuffer {
+		uint8_t cmd{static_cast<uint8_t>(Register::BANK_0::INT_STATUS) | DIR_READ};
+		uint8_t INT_STATUS{0};
+		uint8_t FIFO_COUNTH{0};
+		uint8_t FIFO_COUNTL{0};
+		FIFO::DATA f[FIFO_MAX_SAMPLES] {};
+	};
+	// ensure no struct padding
+	static_assert(sizeof(FIFOTransferBuffer) == (4 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)),
+		      "Invalid FIFOTransferBuffer size");
+
+	struct register_bank0_config_t {
+		Register::BANK_0 reg;
+		uint8_t set_bits{0};
+		uint8_t clear_bits{0};
+	};
+
+	struct register_bank1_config_t {
+		Register::BANK_1 reg;
+		uint8_t set_bits{0};
+		uint8_t clear_bits{0};
+	};
+
+	struct register_bank2_config_t {
+		Register::BANK_2 reg;
+		uint8_t set_bits{0};
+		uint8_t clear_bits{0};
+	};
+
+	int probe() override;
+
+	bool Reset();
+
+	bool Configure();
+	void ConfigureSampleRate(int sample_rate);
+	void ConfigureFIFOWatermark(uint8_t samples);
+
+	void SelectRegisterBank(enum REG_BANK_SEL_BIT bank, bool force = false);
+	void SelectRegisterBank(Register::BANK_0 reg) { SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0); }
+	void SelectRegisterBank(Register::BANK_1 reg) { SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_1); }
+	void SelectRegisterBank(Register::BANK_2 reg) { SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_2); }
+
+	static int DataReadyInterruptCallback(int irq, void *context, void *arg);
+	void DataReady();
+	bool DataReadyInterruptConfigure();
+	bool DataReadyInterruptDisable();
+
+	template <typename T> bool RegisterCheck(const T &reg_cfg);
+	template <typename T> uint8_t RegisterRead(T reg);
+	template <typename T> void RegisterWrite(T reg, uint8_t value);
+	template <typename T> void RegisterSetAndClearBits(T reg, uint8_t setbits, uint8_t clearbits);
+	template <typename T> void RegisterSetBits(T reg, uint8_t setbits) { RegisterSetAndClearBits(reg, setbits, 0); }
+	template <typename T> void RegisterClearBits(T reg, uint8_t clearbits) { RegisterSetAndClearBits(reg, 0, clearbits); }
+
+	uint16_t FIFOReadCount();
+	bool FIFORead(const hrt_abstime &timestamp_sample, uint16_t samples);
+	void FIFOReset();
+
+	void ProcessIMU(const hrt_abstime &timestamp_sample, const FIFO::DATA &fifo);
+	void ProcessAccel(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples);
+	void ProcessGyro(const hrt_abstime &timestamp_sample, const FIFO::DATA fifo[], const uint8_t samples);
+	bool ProcessTemperature(const FIFO::DATA fifo[], const uint8_t samples);
+
+	const spi_drdy_gpio_t _drdy_gpio;
+
+	// std::shared_ptr<PX4Accelerometer> _px4_accel;
+	// std::shared_ptr<PX4Gyroscope> _px4_gyro;
+	PX4Accelerometer _px4_accel;
+	PX4Gyroscope _px4_gyro;
+
+	perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
+	perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
+	perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO empty")};
+	perf_counter_t _fifo_overflow_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO overflow")};
+	perf_counter_t _fifo_reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO reset")};
+	perf_counter_t _drdy_missed_perf{nullptr};
+
+	hrt_abstime _reset_timestamp{0};
+	hrt_abstime _last_config_check_timestamp{0};
+	hrt_abstime _temperature_update_timestamp{0};
+	int _failure_count{0};
+
+	enum REG_BANK_SEL_BIT _last_register_bank {REG_BANK_SEL_BIT::USER_BANK_0};
+
+	px4::atomic<uint32_t> _drdy_fifo_read_samples{0};
+	bool _data_ready_interrupt_enabled{false};
+
+	enum class STATE : uint8_t {
+		RESET,
+		WAIT_FOR_RESET,
+		CONFIGURE,
+		FIFO_READ,
+	} _state{STATE::RESET};
+
+	uint16_t _fifo_empty_interval_us{1250}; // default 1250 us / 800 Hz transfer interval
+	uint32_t _fifo_gyro_samples{static_cast<uint32_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
+
+	uint8_t _checked_register_bank0{0};
+	static constexpr uint8_t size_register_bank0_cfg{12};
+	register_bank0_config_t _register_bank0_cfg[size_register_bank0_cfg] {
+		// Register                              | Set bits, Clear bits
+		{ Register::BANK_0::INT_CONFIG,           INT_CONFIG_BIT::INT1_MODE | INT_CONFIG_BIT::INT1_DRIVE_CIRCUIT, INT_CONFIG_BIT::INT1_POLARITY },
+		{ Register::BANK_0::FIFO_CONFIG,          FIFO_CONFIG_BIT::FIFO_MODE_STOP_ON_FULL, 0 },
+		{ Register::BANK_0::GYRO_CONFIG0,         GYRO_CONFIG0_BIT::GYRO_FS_SEL_2000_DPS | GYRO_CONFIG0_BIT::GYRO_ODR_8KHZ_SET, GYRO_CONFIG0_BIT::GYRO_ODR_8KHZ_CLEAR },
+		{ Register::BANK_0::ACCEL_CONFIG0,        ACCEL_CONFIG0_BIT::ACCEL_FS_SEL_16G | ACCEL_CONFIG0_BIT::ACCEL_ODR_8KHZ_SET, ACCEL_CONFIG0_BIT::ACCEL_ODR_8KHZ_CLEAR },
+		{ Register::BANK_0::GYRO_CONFIG1,         0, GYRO_CONFIG1_BIT::GYRO_UI_FILT_ORD },
+		{ Register::BANK_0::GYRO_ACCEL_CONFIG0,   0, GYRO_ACCEL_CONFIG0_BIT::ACCEL_UI_FILT_BW | GYRO_ACCEL_CONFIG0_BIT::GYRO_UI_FILT_BW },
+		{ Register::BANK_0::ACCEL_CONFIG1,        0, ACCEL_CONFIG1_BIT::ACCEL_UI_FILT_ORD },
+		{ Register::BANK_0::FIFO_CONFIG1,         FIFO_CONFIG1_BIT::FIFO_WM_GT_TH | FIFO_CONFIG1_BIT::FIFO_HIRES_EN | FIFO_CONFIG1_BIT::FIFO_TEMP_EN | FIFO_CONFIG1_BIT::FIFO_GYRO_EN | FIFO_CONFIG1_BIT::FIFO_ACCEL_EN, 0 },
+		{ Register::BANK_0::FIFO_CONFIG2,         0, 0 }, // FIFO_WM[7:0] set at runtime
+		{ Register::BANK_0::FIFO_CONFIG3,         0, 0 }, // FIFO_WM[11:8] set at runtime
+		{ Register::BANK_0::INT_CONFIG0,          INT_CONFIG0_BIT::CLEAR_ON_FIFO_READ, 0 },
+		{ Register::BANK_0::INT_SOURCE0,          INT_SOURCE0_BIT::FIFO_THS_INT1_EN, 0 },
+	};
+
+	uint8_t _checked_register_bank1{0};
+	static constexpr uint8_t size_register_bank1_cfg{4};
+	register_bank1_config_t _register_bank1_cfg[size_register_bank1_cfg] {
+		// Register                              | Set bits, Clear bits
+		{ Register::BANK_1::GYRO_CONFIG_STATIC2,  0, GYRO_CONFIG_STATIC2_BIT::GYRO_NF_DIS | GYRO_CONFIG_STATIC2_BIT::GYRO_AAF_DIS },
+		{ Register::BANK_1::GYRO_CONFIG_STATIC3,  GYRO_CONFIG_STATIC3_BIT::GYRO_AAF_DELT_SET, GYRO_CONFIG_STATIC3_BIT::GYRO_AAF_DELT_CLEAR},
+		{ Register::BANK_1::GYRO_CONFIG_STATIC4,  GYRO_CONFIG_STATIC4_BIT::GYRO_AAF_DELTSQR_LOW_SET, GYRO_CONFIG_STATIC4_BIT::GYRO_AAF_DELTSQR_LOW_CLEAR},
+		{ Register::BANK_1::GYRO_CONFIG_STATIC5,  GYRO_CONFIG_STATIC5_BIT::GYRO_AAF_BITSHIFT_SET | GYRO_CONFIG_STATIC5_BIT::GYRO_AAF_DELTSQR_HIGH_SET, GYRO_CONFIG_STATIC5_BIT::GYRO_AAF_BITSHIFT_CLEAR | GYRO_CONFIG_STATIC5_BIT::GYRO_AAF_DELTSQR_HIGH_CLEAR},
+	};
+
+	uint8_t _checked_register_bank2{0};
+	static constexpr uint8_t size_register_bank2_cfg{3};
+	register_bank2_config_t _register_bank2_cfg[size_register_bank2_cfg] {
+		// Register                              | Set bits, Clear bits
+		{ Register::BANK_2::ACCEL_CONFIG_STATIC2, ACCEL_CONFIG_STATIC2_BIT::ACCEL_AAF_DELT_SET, ACCEL_CONFIG_STATIC2_BIT::ACCEL_AAF_DELT_CLEAR | ACCEL_CONFIG_STATIC2_BIT::ACCEL_AAF_DIS },
+		{ Register::BANK_2::ACCEL_CONFIG_STATIC3, ACCEL_CONFIG_STATIC3_BIT::ACCEL_AAF_DELTSQR_LOW_SET, ACCEL_CONFIG_STATIC3_BIT::ACCEL_AAF_DELTSQR_LOW_CLEAR },
+		{ Register::BANK_2::ACCEL_CONFIG_STATIC4, ACCEL_CONFIG_STATIC4_BIT::ACCEL_AAF_BITSHIFT_SET | ACCEL_CONFIG_STATIC4_BIT::ACCEL_AAF_DELTSQR_HIGH_SET, ACCEL_CONFIG_STATIC4_BIT::ACCEL_AAF_BITSHIFT_CLEAR | ACCEL_CONFIG_STATIC4_BIT::ACCEL_AAF_DELTSQR_HIGH_CLEAR },
+	};
+
+	uint32_t _temperature_samples{0};
+
+	// Support for the IMU server
+	// uint32_t _imu_server_index{0};
+	// imu_server_s _imu_server_data;
+	// uORB::Publication<imu_server_s> _imu_server_pub{ORB_ID(imu_server)};
+
+};

boards/modalai/voxl2-slpi/src/drivers/icm42688p/InvenSense_ICM42688P_registers.hpp

@@ -0,0 +1,430 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file InvenSense_ICM42688P_registers.hpp
+ *
+ * Invensense ICM-42688-P registers.
+ *
+ */
+
+#pragma once
+
+#include <cstdint>
+
+namespace InvenSense_ICM42688P
+{
+// TODO: move to a central header
+static constexpr uint8_t Bit0 = (1 << 0);
+static constexpr uint8_t Bit1 = (1 << 1);
+static constexpr uint8_t Bit2 = (1 << 2);
+static constexpr uint8_t Bit3 = (1 << 3);
+static constexpr uint8_t Bit4 = (1 << 4);
+static constexpr uint8_t Bit5 = (1 << 5);
+static constexpr uint8_t Bit6 = (1 << 6);
+static constexpr uint8_t Bit7 = (1 << 7);
+
+static constexpr uint32_t SPI_SPEED = 24 * 1000 * 1000; // 24 MHz SPI
+static constexpr uint8_t DIR_READ = 0x80;
+
+static constexpr uint8_t WHOAMI = 0x47;
+
+static constexpr float TEMPERATURE_SENSITIVITY = 132.48f; // LSB/C
+static constexpr float TEMPERATURE_OFFSET = 25.f; // C
+
+namespace Register
+{
+
+enum class BANK_0 : uint8_t {
+	DEVICE_CONFIG      = 0x11,
+
+	INT_CONFIG         = 0x14,
+
+	FIFO_CONFIG        = 0x16,
+
+	TEMP_DATA1         = 0x1D,
+	TEMP_DATA0         = 0x1E,
+
+	INT_STATUS         = 0x2D,
+	FIFO_COUNTH        = 0x2E,
+	FIFO_COUNTL        = 0x2F,
+	FIFO_DATA          = 0x30,
+
+	SIGNAL_PATH_RESET  = 0x4B,
+	INTF_CONFIG0       = 0x4C,
+	INTF_CONFIG1       = 0x4D,
+	PWR_MGMT0          = 0x4E,
+	GYRO_CONFIG0       = 0x4F,
+	ACCEL_CONFIG0      = 0x50,
+	GYRO_CONFIG1       = 0x51,
+	GYRO_ACCEL_CONFIG0 = 0x52,
+	ACCEL_CONFIG1      = 0x53,
+
+	FIFO_CONFIG1       = 0x5F,
+	FIFO_CONFIG2       = 0x60,
+	FIFO_CONFIG3       = 0x61,
+
+	INT_CONFIG0        = 0x63,
+
+	INT_SOURCE0        = 0x65,
+
+	SELF_TEST_CONFIG   = 0x70,
+
+	WHO_AM_I           = 0x75,
+	REG_BANK_SEL       = 0x76,
+};
+
+enum class BANK_1 : uint8_t {
+	GYRO_CONFIG_STATIC2 = 0x0B,
+	GYRO_CONFIG_STATIC3 = 0x0C,
+	GYRO_CONFIG_STATIC4 = 0x0D,
+	GYRO_CONFIG_STATIC5 = 0x0E,
+	INTF_CONFIG5        = 0x7B,
+};
+enum class BANK_2 : uint8_t {
+	ACCEL_CONFIG_STATIC2 = 0x03,
+	ACCEL_CONFIG_STATIC3 = 0x04,
+	ACCEL_CONFIG_STATIC4 = 0x05,
+};
+
+};
+
+//---------------- BANK0 Register bits
+
+// DEVICE_CONFIG
+enum DEVICE_CONFIG_BIT : uint8_t {
+	SOFT_RESET_CONFIG = Bit0, //
+};
+
+// INT_CONFIG
+enum INT_CONFIG_BIT : uint8_t {
+	INT1_MODE           = Bit2,
+	INT1_DRIVE_CIRCUIT  = Bit1,
+	INT1_POLARITY       = Bit0,
+};
+
+// FIFO_CONFIG
+enum FIFO_CONFIG_BIT : uint8_t {
+	// 7:6 FIFO_MODE
+	FIFO_MODE_STOP_ON_FULL = Bit7 | Bit6, // 11: STOP-on-FULL Mode
+};
+
+// INT_STATUS
+enum INT_STATUS_BIT : uint8_t {
+	RESET_DONE_INT = Bit4,
+	DATA_RDY_INT   = Bit3,
+	FIFO_THS_INT   = Bit2,
+	FIFO_FULL_INT  = Bit1,
+};
+
+// SIGNAL_PATH_RESET
+enum SIGNAL_PATH_RESET_BIT : uint8_t {
+	ABORT_AND_RESET = Bit3,
+	FIFO_FLUSH      = Bit1,
+};
+
+// PWR_MGMT0
+enum PWR_MGMT0_BIT : uint8_t {
+	GYRO_MODE_LOW_NOISE  = Bit3 | Bit2, // 11: Places gyroscope in Low Noise (LN) Mode
+	ACCEL_MODE_LOW_NOISE = Bit1 | Bit0, // 11: Places accelerometer in Low Noise (LN) Mode
+};
+
+// GYRO_CONFIG0
+enum GYRO_CONFIG0_BIT : uint8_t {
+	// 7:5 GYRO_FS_SEL
+	GYRO_FS_SEL_2000_DPS = 0, // 0b000 = ±2000dps (default)
+	GYRO_FS_SEL_1000_DPS = Bit5,
+	GYRO_FS_SEL_500_DPS  = Bit6,
+	GYRO_FS_SEL_250_DPS  = Bit6 | Bit5,
+	GYRO_FS_SEL_125_DPS  = Bit7,
+
+
+	// 3:0 GYRO_ODR
+	//  0001: 32kHz
+	GYRO_ODR_32KHZ_SET   = Bit0,
+	GYRO_ODR_32KHZ_CLEAR = Bit3 | Bit2 | Bit0,
+	//  0010: 16kHz
+	GYRO_ODR_16KHZ_SET   = Bit1,
+	GYRO_ODR_16KHZ_CLEAR = Bit3 | Bit2 | Bit0,
+	//  0011: 8kHz
+	GYRO_ODR_8KHZ_SET    = Bit1 | Bit0,
+	GYRO_ODR_8KHZ_CLEAR  = Bit3 | Bit2,
+	//  0110: 1kHz (default)
+	GYRO_ODR_1KHZ_SET    = Bit2 | Bit1,
+	GYRO_ODR_1KHZ_CLEAR  = Bit3 | Bit0,
+};
+
+// ACCEL_CONFIG0
+enum ACCEL_CONFIG0_BIT : uint8_t {
+	// 7:5 ACCEL_FS_SEL
+	ACCEL_FS_SEL_16G = 0, // 000: ±16g (default)
+	ACCEL_FS_SEL_8G  = Bit5,
+	ACCEL_FS_SEL_4G  = Bit6,
+	ACCEL_FS_SEL_2G  = Bit6 | Bit5,
+
+
+	// 3:0 ACCEL_ODR
+	//  0001: 32kHz
+	ACCEL_ODR_32KHZ_SET   = Bit0,
+	ACCEL_ODR_32KHZ_CLEAR = Bit3 | Bit2 | Bit0,
+	//  0010: 16kHz
+	ACCEL_ODR_16KHZ_SET   = Bit1,
+	ACCEL_ODR_16KHZ_CLEAR = Bit3 | Bit2 | Bit0,
+	//  0011: 8kHz
+	ACCEL_ODR_8KHZ_SET    = Bit1 | Bit0,
+	ACCEL_ODR_8KHZ_CLEAR  = Bit3 | Bit2,
+	//  0110: 1kHz (default)
+	ACCEL_ODR_1KHZ_SET    = Bit2 | Bit1,
+	ACCEL_ODR_1KHZ_CLEAR  = Bit3 | Bit0,
+};
+
+// GYRO_CONFIG1
+enum GYRO_CONFIG1_BIT : uint8_t {
+	GYRO_UI_FILT_ORD = Bit3 | Bit2, // 00: 1st Order
+};
+
+// GYRO_ACCEL_CONFIG0
+enum GYRO_ACCEL_CONFIG0_BIT : uint8_t {
+	// 7:4 ACCEL_UI_FILT_BW
+	ACCEL_UI_FILT_BW = Bit7 | Bit6 | Bit5 | Bit4, // 0: BW=ODR/2
+
+	// 3:0 GYRO_UI_FILT_BW
+	GYRO_UI_FILT_BW  = Bit3 | Bit2 | Bit1 | Bit0, // 0: BW=ODR/2
+};
+
+// ACCEL_CONFIG1
+enum ACCEL_CONFIG1_BIT : uint8_t {
+	ACCEL_UI_FILT_ORD = Bit4 | Bit3, // 00: 1st Order
+};
+
+// FIFO_CONFIG1
+enum FIFO_CONFIG1_BIT : uint8_t {
+	FIFO_RESUME_PARTIAL_RD = Bit6,
+	FIFO_WM_GT_TH          = Bit5,
+	FIFO_HIRES_EN          = Bit4,
+	FIFO_TEMP_EN           = Bit2,
+	FIFO_GYRO_EN           = Bit1,
+	FIFO_ACCEL_EN          = Bit0,
+};
+
+// INT_CONFIG0
+enum INT_CONFIG0_BIT : uint8_t {
+	// 3:2 FIFO_THS_INT_CLEAR
+	CLEAR_ON_FIFO_READ = Bit3,
+};
+
+// INT_SOURCE0
+enum INT_SOURCE0_BIT : uint8_t {
+	UI_FSYNC_INT1_EN   = Bit6,
+	PLL_RDY_INT1_EN    = Bit5,
+	RESET_DONE_INT1_EN = Bit4,
+	UI_DRDY_INT1_EN    = Bit3,
+	FIFO_THS_INT1_EN   = Bit2, // FIFO threshold interrupt routed to INT1
+	FIFO_FULL_INT1_EN  = Bit1,
+	UI_AGC_RDY_INT1_EN = Bit0,
+};
+
+// REG_BANK_SEL
+enum REG_BANK_SEL_BIT : uint8_t {
+	USER_BANK_0 = 0,           // 0: Select USER BANK 0.
+	USER_BANK_1 = Bit0,        // 1: Select USER BANK 1.
+	USER_BANK_2 = Bit1,        // 2: Select USER BANK 2.
+	USER_BANK_3 = Bit1 | Bit0, // 3: Select USER BANK 3.
+};
+
+
+//---------------- BANK1 Register bits
+
+// GYRO_CONFIG_STATIC2
+enum GYRO_CONFIG_STATIC2_BIT : uint8_t {
+	GYRO_AAF_DIS = Bit1,
+	GYRO_NF_DIS  = Bit0,
+};
+
+// GYRO_CONFIG_STATIC3
+enum GYRO_CONFIG_STATIC3_BIT : uint8_t {
+
+	// 585 Hz
+	GYRO_AAF_DELT_SET = Bit3 | Bit2 | Bit0, //13
+	GYRO_AAF_DELT_CLEAR = Bit5 | Bit4 | Bit1,
+
+	// 213 Hz
+	// GYRO_AAF_DELT_SET = Bit2 | Bit0, //5
+	// GYRO_AAF_DELT_CLEAR = Bit5 | Bit4 | Bit3 | Bit1,
+
+	// 126 Hz
+	//GYRO_AAF_DELT_SET = Bit1 | Bit0, //3
+	//GYRO_AAF_DELT_CLEAR = Bit5 | Bit4 | Bit3 | Bit2,
+
+	// 42 Hz
+	// GYRO_AAF_DELT_SET = Bit0, //1
+	// GYRO_AAF_DELT_CLEAR = Bit5 | Bit4 | Bit3 | Bit2 | Bit1,
+
+};
+
+// GYRO_CONFIG_STATIC4
+enum GYRO_CONFIG_STATIC4_BIT : uint8_t {
+
+	// 585 Hz
+	GYRO_AAF_DELTSQR_LOW_SET = Bit7 | Bit5 | Bit3 | Bit1, //170
+	GYRO_AAF_DELTSQR_LOW_CLEAR = Bit6 | Bit4 | Bit2 | Bit0,
+
+	// 213 Hz
+	// GYRO_AAF_DELTSQR_LOW_SET = Bit4 | Bit3 | Bit0, //25
+	// GYRO_AAF_DELTSQR_LOW_CLEAR = Bit7 | Bit6 | Bit5 | Bit2 | Bit1,
+
+	// 126 Hz
+	//GYRO_AAF_DELTSQR_LOW_SET = Bit3 | Bit0, //9
+	//GYRO_AAF_DELTSQR_LOW_CLEAR = Bit7 | Bit6 | Bit5 | Bit4 | Bit2 | Bit1,
+
+	// 42 Hz
+	// GYRO_AAF_DELTSQR_LOW_SET = Bit0, //1
+	// GYRO_AAF_DELTSQR_LOW_CLEAR = Bit7 | Bit6 | Bit5 | Bit4 | Bit3 | Bit2 | Bit1,
+};
+
+// GYRO_CONFIG_STATIC5
+enum GYRO_CONFIG_STATIC5_BIT : uint8_t {
+
+	// 585 Hz
+	GYRO_AAF_DELTSQR_HIGH_SET = 0,
+	GYRO_AAF_DELTSQR_HIGH_CLEAR = Bit3 | Bit2 | Bit1 | Bit0,
+	GYRO_AAF_BITSHIFT_SET = Bit7, // 8 << 4
+	GYRO_AAF_BITSHIFT_CLEAR = Bit6 | Bit5 | Bit4,
+
+	// 213 Hz
+	// GYRO_AAF_DELTSQR_HIGH_SET = 0,
+	// GYRO_AAF_DELTSQR_HIGH_CLEAR = Bit3 | Bit2 | Bit1 | Bit0,
+	// GYRO_AAF_BITSHIFT_SET = Bit7 | Bit5, //10
+	// GYRO_AAF_BITSHIFT_CLEAR = Bit6 | Bit4,
+
+	// 126 Hz
+	// GYRO_AAF_BITSHIFT_SET = Bit7 | Bit6, //12
+	// GYRO_AAF_BITSHIFT_CLEAR = Bit5 | Bit4,
+
+	// 42 Hz
+	// GYRO_AAF_BITSHIFT_SET = Bit7 | Bit6 | Bit5 | Bit4, //15
+	// GYRO_AAF_BITSHIFT_CLEAR = 0,
+
+
+};
+
+
+//---------------- BANK2 Register bits
+
+// ACCEL_CONFIG_STATIC2
+enum ACCEL_CONFIG_STATIC2_BIT : uint8_t {
+	ACCEL_AAF_DIS  = Bit0,
+	ACCEL_AAF_DELT = Bit3 | Bit1,
+
+	// 213 Hz
+	ACCEL_AAF_DELT_SET = Bit3 | Bit1, //5
+	ACCEL_AAF_DELT_CLEAR = Bit6 | Bit5 | Bit4 | Bit2,
+
+	// 42 Hz
+	// ACCEL_AAF_DELT_SET = Bit1, //1
+	// ACCEL_AAF_DELT_CLEAR = Bit6 | Bit5 | Bit4 | Bit3 | Bit2,
+};
+
+// ACCEL_CONFIG_STATIC3
+enum ACCEL_CONFIG_STATIC3_BIT : uint8_t {
+	ACCEL_AAF_DELTSQR_LOW = Bit4 | Bit3 | Bit0,
+	// 213 Hz
+	ACCEL_AAF_DELTSQR_LOW_SET = Bit4 | Bit3 | Bit0, //25
+	ACCEL_AAF_DELTSQR_LOW_CLEAR = Bit7 | Bit6 | Bit5 | Bit2 | Bit1,
+
+	// 42 Hz
+	// ACCEL_AAF_DELTSQR_LOW_SET = Bit0, //1
+	// ACCEL_AAF_DELTSQR_LOW_CLEAR = Bit7 | Bit6 | Bit5 | Bit4 | Bit3 | Bit2 | Bit1,
+
+};
+
+// ACCEL_CONFIG_STATIC4
+enum ACCEL_CONFIG_STATIC4_BIT : uint8_t {
+	ACCEL_AAF_BITSHIFT     = Bit7 | Bit5,
+	ACCEL_AAF_DELTSQR_HIGH = 0,
+	// 213 Hz
+	ACCEL_AAF_BITSHIFT_SET = Bit7 | Bit5, //10
+	ACCEL_AAF_BITSHIFT_CLEAR = Bit6 | Bit4,
+
+	// 42 Hz
+	// ACCEL_AAF_BITSHIFT_SET = Bit7 | Bit6 | Bit5 | Bit4, //15
+	// ACCEL_AAF_BITSHIFT_CLEAR = 0,
+
+	ACCEL_AAF_DELTSQR_HIGH_SET = 0,
+	ACCEL_AAF_DELTSQR_HIGH_CLEAR = Bit3 | Bit2 | Bit1 | Bit0,
+};
+
+
+namespace FIFO
+{
+static constexpr size_t SIZE = 2048;
+
+// FIFO_DATA layout when FIFO_CONFIG1 has FIFO_GYRO_EN and FIFO_ACCEL_EN set
+
+// Packet 4
+struct DATA {
+	uint8_t FIFO_Header;
+	uint8_t ACCEL_DATA_X1; // Accel X [19:12]
+	uint8_t ACCEL_DATA_X0; // Accel X [11:4]
+	uint8_t ACCEL_DATA_Y1; // Accel Y [19:12]
+	uint8_t ACCEL_DATA_Y0; // Accel Y [11:4]
+	uint8_t ACCEL_DATA_Z1; // Accel Z [19:12]
+	uint8_t ACCEL_DATA_Z0; // Accel Z [11:4]
+	uint8_t GYRO_DATA_X1;  // Gyro X [19:12]
+	uint8_t GYRO_DATA_X0;  // Gyro X [11:4]
+	uint8_t GYRO_DATA_Y1;  // Gyro Y [19:12]
+	uint8_t GYRO_DATA_Y0;  // Gyro Y [11:4]
+	uint8_t GYRO_DATA_Z1;  // Gyro Z [19:12]
+	uint8_t GYRO_DATA_Z0;  // Gyro Z [11:4]
+	uint8_t TEMP_DATA1;    // Temperature[15:8]
+	uint8_t TEMP_DATA0;    // Temperature[7:0]
+	uint8_t TimeStamp_h;   // TimeStamp[15:8]
+	uint8_t TimeStamp_l;   // TimeStamp[7:0]
+	uint8_t Ext_Accel_X_Gyro_X; // Accel X [3:0] Gyro X [3:0]
+	uint8_t Ext_Accel_Y_Gyro_Y; // Accel Y [3:0] Gyro Y [3:0]
+	uint8_t Ext_Accel_Z_Gyro_Z; // Accel Z [3:0] Gyro Z [3:0]
+};
+
+// With FIFO_ACCEL_EN and FIFO_GYRO_EN header should be 8’b_0110_10xx
+enum FIFO_HEADER_BIT : uint8_t {
+	HEADER_MSG             = Bit7, // 1: FIFO is empty
+	HEADER_ACCEL           = Bit6, // 1: Packet is sized so that accel data have location in the packet, FIFO_ACCEL_EN must be 1
+	HEADER_GYRO            = Bit5, // 1: Packet is sized so that gyro data have location in the packet, FIFO_GYRO_EN must be1
+	HEADER_20              = Bit4, // 1: Packet has a new and valid sample of extended 20-bit data for gyro and/or accel
+	HEADER_TIMESTAMP_FSYNC = Bit3 | Bit2,
+	HEADER_ODR_ACCEL       = Bit1, // 1: The ODR for accel is different for this accel data packet compared to the previous accel packet
+	HEADER_ODR_GYRO        = Bit0, // 1: The ODR for gyro is different for this gyro data packet compared to the previous gyro packet
+};
+
+}
+} // namespace InvenSense_ICM42688P

boards/modalai/voxl2-slpi/src/drivers/icm42688p/icm42688p_main.cpp

@@ -0,0 +1,116 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "ICM42688P.hpp"
+
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
+#include <string>
+
+void ICM42688P::print_usage()
+{
+	PRINT_MODULE_USAGE_NAME("icm42688p", "driver");
+	PRINT_MODULE_USAGE_SUBCATEGORY("imu");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
+	PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+}
+
+// I2CSPIDriverBase *ICM42688P::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+// 		int runtime_instance)
+// {
+// 	ICM42688P *instance = new ICM42688P(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
+// 					    cli.bus_frequency, cli.spi_mode, iterator.DRDYGPIO());
+//
+// 	if (!instance) {
+// 		PX4_ERR("alloc failed");
+// 		return nullptr;
+// 	}
+//
+// 	if (OK != instance->init()) {
+// 		delete instance;
+// 		return nullptr;
+// 	}
+//
+// 	return instance;
+// }
+
+extern "C" int icm42688p_main(int argc, char *argv[])
+{
+
+	for (int i = 0; i <= argc - 1; i++) {
+		if (std::string(argv[i]) == "-h") {
+			argv[i] = 0;
+			hitl_mode = true;
+			break;
+		}
+	}
+
+	int ch;
+	using ThisDriver = ICM42688P;
+	BusCLIArguments cli{false, true};
+	cli.default_spi_frequency = SPI_SPEED;
+
+	while ((ch = cli.getOpt(argc, argv, "R:")) != EOF) {
+		switch (ch) {
+		case 'R':
+			cli.rotation = (enum Rotation)atoi(cli.optArg());
+			break;
+		}
+	}
+
+	const char *verb = cli.optArg();
+
+	if (!verb) {
+		ThisDriver::print_usage();
+		return -1;
+	}
+
+	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_IMU_DEVTYPE_ICM42688P);
+
+	if (!strcmp(verb, "start")) {
+		return ThisDriver::module_start(cli, iterator);
+	}
+
+	if (!strcmp(verb, "stop")) {
+		return ThisDriver::module_stop(iterator);
+	}
+
+	if (!strcmp(verb, "status")) {
+		return ThisDriver::module_status(iterator);
+	}
+
+	ThisDriver::print_usage();
+	return -1;
+}

boards/modalai/voxl2-slpi/src/spi.cpp

@@ -0,0 +1,40 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/spi_hw_description.h>
+#include <px4_platform_common/spi.h>
+#include <drivers/drv_sensor.h>
+
+constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+	initSPIBus(1, {initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P), }),
+};

boards/modalai/voxl2/default.px4board

@@ -7,3 +7,4 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_ORB_COMMUNICATOR=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_DRIVERS_QSHELL_POSIX=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y

boards/modalai/voxl2/target/voxl-px4.config

@@ -17,3 +17,5 @@ if [ $TESTMODE = "ON" ]; then
 fi
 
 muorb start
+
+qshell icm42688p start -s

platforms/common/include/px4_platform_common/tasks.h

@@ -59,7 +59,7 @@ typedef int px4_task_t;
 
 #define px4_task_exit(x) _exit(x)
 
-#elif defined(__PX4_POSIX) || defined(__PX4_QURT)
+#elif defined(__PX4_POSIX)
 
 #include <pthread.h>
 #include <sched.h>

platforms/common/include/px4_platform_common/time.h

@@ -5,7 +5,7 @@
 #include <time.h>
 #include <pthread.h>
 
-#if defined(__PX4_POSIX) || defined(__PX4_QURT)
+#if defined(__PX4_POSIX)
 __BEGIN_DECLS
 __EXPORT int px4_clock_gettime(clockid_t clk_id, struct timespec *tp);
 __END_DECLS

platforms/common/spi.cpp

@@ -71,7 +71,7 @@ const px4_spi_bus_t *px4_spi_buses{nullptr};
 
 int px4_find_spi_bus(uint32_t devid)
 {
-	for (int i = 0; px4_spi_buses != nullptr && i < SPI_BUS_MAX_BUS_ITEMS; ++i) {
+	for (int i = 0; (px4_spi_bus_t *) px4_spi_buses != nullptr && i < SPI_BUS_MAX_BUS_ITEMS; ++i) {
 		const px4_spi_bus_t &bus_data = px4_spi_buses[i];
 
 		if (bus_data.bus == -1) {

platforms/common/work_queue/hrt_queue.c

@@ -126,15 +126,10 @@ int hrt_work_queue(struct work_s *work, worker_t worker, void *arg, uint32_t del
 	dq_addlast(&work->dq, &wqueue->q);
 
 	if (px4_getpid() != wqueue->pid) { /* only need to wake up if called from a different thread */
-#ifdef __PX4_QURT
-		px4_task_kill(wqueue->pid, SIGALRM);      /* Wake up the worker thread */
-#else
 		//wqueue->pid == own task? -> don't signal
 		px4_task_kill(wqueue->pid, SIGCONT);      /* Wake up the worker thread */
-#endif
 	}
 
 	hrt_work_unlock();
 	return PX4_OK;
 }
-

platforms/common/work_queue/hrt_thread.c

@@ -138,6 +138,16 @@ static void hrt_work_process()
 	/* Default to sleeping for 1 sec */
 	next  = 1000000;
 
+#ifdef __PX4_QURT
+	// In Posix certain signals wake up a sleeping thread but it isn't the case
+	// with the Qurt POSIX implementation. So rather than assume we can come out
+	// of the sleep early by a signal we just wake up more often. The best way to
+	// fix this would be to move to a px4_sem_timedwait. But the current implementation
+	// of that function on Qurt uses this hrt_thread! So, it would all have to be
+	// re-written to use Qurt semaphores which do have timed waits.
+	next = 1000;
+#endif
+
 	hrt_work_lock();
 
 	work  = (struct work_s *)wqueue->q.head;
@@ -287,9 +297,5 @@ void hrt_work_queue_init(void)
 					    (char *const *)NULL);
 
 
-#ifdef __PX4_QURT
-	signal(SIGALRM, _sighandler);
-#else
 	signal(SIGCONT, _sighandler);
-#endif
 }

platforms/common/work_queue/work_queue.c

@@ -41,6 +41,7 @@
 #include <px4_platform_common/defines.h>
 #include <px4_platform_common/workqueue.h>
 #include <px4_platform_common/tasks.h>
+#include <px4_platform_common/posix.h>
 
 #include <signal.h>
 #include <stdint.h>
@@ -125,11 +126,7 @@ int work_queue(int qid, struct work_s *work, worker_t worker, void *arg, uint32_
 	work->qtime  = clock_systimer(); /* Time work queued */
 
 	dq_addlast((dq_entry_t *)work, &wqueue->q);
-#ifdef __PX4_QURT
-	px4_task_kill(wqueue->pid, SIGALRM);      /* Wake up the worker thread */
-#else
 	px4_task_kill(wqueue->pid, SIGCONT);      /* Wake up the worker thread */
-#endif
 
 	work_unlock(qid);
 	return PX4_OK;

platforms/qurt/cmake/px4_impl_os.cmake

@@ -200,6 +200,7 @@ function(px4_os_prebuild_targets)
 			ARGN ${ARGN})
 
 	add_library(prebuild_targets INTERFACE)
+	target_link_libraries(prebuild_targets INTERFACE drivers_board)
 	add_dependencies(prebuild_targets DEPENDS uorb_headers)
 
 endfunction()

platforms/qurt/cmake/qurt_reqs.cmake

@@ -99,6 +99,7 @@ set(ARCHCPUFLAGS
 
 add_definitions(
 	-D __QURT
+	# -D DEBUG_BUILD # Add this to get extra debug output
 	-D _PROVIDE_POSIX_TIME_DECLS
 	-D _HAS_C9X
 	-D restrict=__restrict__

platforms/qurt/include/hrt_work.h

@@ -0,0 +1,62 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2015 Mark Charlebois. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/posix.h>
+#include <semaphore.h>
+#include <px4_platform_common/workqueue.h>
+
+#pragma once
+
+__BEGIN_DECLS
+
+extern px4_sem_t _hrt_work_lock;
+extern struct wqueue_s g_hrt_work;
+
+void hrt_work_queue_init(void);
+int hrt_work_queue(struct work_s *work, worker_t worker, void *arg, uint32_t usdelay);
+void hrt_work_cancel(struct work_s *work);
+
+static inline void hrt_work_lock(void);
+static inline void hrt_work_lock()
+{
+	px4_sem_wait(&_hrt_work_lock);
+}
+
+static inline void hrt_work_unlock(void);
+static inline void hrt_work_unlock()
+{
+	px4_sem_post(&_hrt_work_lock);
+}
+
+__END_DECLS

platforms/qurt/include/px4_arch/spi_hw_description.h

@@ -0,0 +1,60 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *	notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *	notice, this list of conditions and the following disclaimer in
+ *	the documentation and/or other materials provided with the
+ *	distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *	used to endorse or promote products derived from this software
+ *	without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <px4_platform_common/spi.h>
+
+static inline constexpr px4_spi_bus_device_t initSPIDevice(uint8_t devid_driver)
+{
+	px4_spi_bus_device_t ret{};
+	ret.cs_gpio = 1; // set to some non-zero value to indicate this is used
+	ret.drdy_gpio = 1;
+	ret.devid = PX4_SPIDEV_ID(PX4_SPI_DEVICE_ID, 0);
+	ret.devtype_driver = devid_driver;
+	return ret;
+}
+
+static inline constexpr px4_spi_bus_t initSPIBus(int bus, const px4_spi_bus_devices_t &devices)
+{
+	px4_spi_bus_t ret{};
+
+	for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
+		ret.devices[i] = devices.devices[i];
+	}
+
+	ret.bus = bus;
+	ret.is_external = false; // all buses are marked internal on QuRT
+	ret.requires_locking = false;
+	return ret;
+}

platforms/qurt/src/px4/CMakeLists.txt

@@ -44,3 +44,4 @@ add_library(px4_layer
 )
 
 target_link_libraries(px4_layer PRIVATE work_queue)
+target_link_libraries(px4_layer PRIVATE drivers_board)

platforms/qurt/src/px4/tasks.cpp

@@ -66,6 +66,14 @@ static task_entry_t taskmap[PX4_MAX_TASKS];
 static bool task_mutex_initialized = false;
 static pthread_mutex_t task_mutex;
 
+// These are some Qurt pthread stubs needed for compilation and linking
+extern "C" {
+
+	int pthread_setname_np(pthread_t __target_thread, const char *__name) {	return 0; }
+	int pthread_attr_setschedpolicy(pthread_attr_t *attr, int policy) { return 0; }
+
+}
+
 static void *entry_adapter(void *ptr)
 {
 	task_entry_t *data;
@@ -147,11 +155,12 @@ static px4_task_t px4_task_spawn_internal(const char *name, int priority, px4_ma
 		return -1;
 	}
 
-	priority = 255 - priority;
-
-	if (priority < 5) { priority = 5; }
-
-	if (priority > 250) { priority = 250; }
+	// Qurt threads have different priority numbers. 1 is the highest
+	// priority and 254 is the lowest. But we are using the pthread
+	// implementation on Qurt which returns 255 when you call sched_get_priority_max.
+	// So, the big assumption is that the Qurt pthread implementation deals with
+	// this properly when creating the underlying Qurt task.
+	// TODO: Needs to be verified!
 
 	if (strlen(name) >= PX4_TASK_MAX_NAME_LENGTH) {
 		pthread_mutex_unlock(&task_mutex);

src/lib/drivers/device/CMakeLists.txt

@@ -41,9 +41,9 @@ if (${PX4_PLATFORM} STREQUAL "nuttx")
 		list(APPEND SRCS_PLATFORM nuttx/SPI.cpp)
 	endif()
 elseif((${PX4_PLATFORM} MATCHES "qurt"))
-	list(APPEND SRCS_PLATFORM qurt/I2C.cpp)
+	# list(APPEND SRCS_PLATFORM qurt/I2C.cpp)
 	list(APPEND SRCS_PLATFORM qurt/SPI.cpp)
-	list(APPEND SRCS_PLATFORM qurt/uart.c)
+	# list(APPEND SRCS_PLATFORM qurt/uart.c)
 elseif(UNIX AND NOT APPLE) #TODO: add linux PX4 platform type
 	# Linux I2Cdev and SPIdev
 	list(APPEND SRCS_PLATFORM

src/modules/muorb/slpi/uORBProtobufChannel.cpp

@@ -37,9 +37,14 @@
 #include <string>
 
 #include <drivers/drv_hrt.h>
+#include <drivers/device/spi.h>
 #include <pthread.h>
 #include <px4_platform_common/tasks.h>
 #include <px4_platform_common/log.h>
+#include <lib/parameters/param.h>
+#include <px4_platform_common/px4_work_queue/WorkQueueManager.hpp>
+
+#include "hrt_work.h"
 
 // Definition of test to run when in muorb test mode
 static MUORBTestType test_to_run;
@@ -230,6 +235,18 @@ int px4muorb_orb_initialize(fc_func_ptrs *func_ptrs, int32_t clock_offset_us)
 		uORB::Manager::get_instance()->set_uorb_communicator(
 			uORB::ProtobufChannel::GetInstance());
 
+		param_init();
+
+		px4::WorkQueueManagerStart();
+
+		// Configure the SPI driver function pointers
+		device::SPI::configure_callbacks(muorb_func_ptrs._config_spi_bus_func_t, muorb_func_ptrs._spi_transfer_func_t);
+
+		// Initialize the interrupt callback registration
+		register_interrupt_callback_initalizer(muorb_func_ptrs.register_interrupt_callback);
+
+		hrt_work_queue_init();
+
 		const char *argv[3] = { "slpi", "start" };
 		int argc = 2;