drivers/sensors: Add QST QMI8658 6-axis IMU sensor support

Add complete driver support for the QST QMI8658 6-axis IMU sensor featuring
3-axis accelerometer and 3-axis gyroscope with I2C interface and uORB
integration.

Key features implemented:
* Full I2C communication with configurable frequency (default 400kHz)
* Multiple accelerometer ranges (±2g, ±4g, ±8g, ±16g) and ODR settings
* Multiple gyroscope ranges (±16 to ±1024 dps) with high ODR support
* Low-pass filter configuration for both sensors
* Temperature sensing with 16-bit resolution
* Self-test capability for both accelerometer and gyroscope
* Calibration-on-demand support with offset registers
* FIFO buffer management (framework ready)
* Interrupt-driven and polling mode support
* Complete uORB integration with sensor_accel and sensor_gyro topics

Driver components added:
* Core driver implementation (qmi8658_uorb.c) with register operations
* Header file with register definitions and scale factors (qmi8658.h)
* Kconfig options for driver configuration and polling mode
* Build system integration (CMakeLists.txt, Make.defs)
* Comprehensive documentation with API reference and usage examples

The driver follows NuttX sensor framework conventions and provides
robust error handling, mutex protection, and comprehensive debugging
support through CONFIG_DEBUG_SENSORS.

Signed-off-by: Huang Qi <huangqi3@xiaomi.com>

Documentation/components/drivers/special/sensors.rst

@@ -30,6 +30,7 @@ general interface.
     sensors/mcp9600.rst
     sensors/mpl115a.rst
     sensors/nau7802.rst
+    sensors/qmi8658.rst
     sensors/sht4x.rst
     sensors/lsm6dso32.rst
     sensors/lis2mdl.rst

Documentation/components/drivers/special/sensors/qmi8658.rst

@@ -0,0 +1,232 @@
+=======
+QMI8658
+=======
+
+The QMI8658 is a high-performance 6-axis IMU sensor by QST featuring a 3-axis
+accelerometer and 3-axis gyroscope. It supports both I2C and SPI interfaces,
+although this driver currently supports I2C communication only.
+
+This driver uses the :doc:`uorb
+</components/drivers/special/sensors/sensors_uorb>` interface. It supports the
+self-test capability for both the accelerometer and gyroscope.
+
+The driver supports comprehensive features including multiple full-scale ranges,
+configurable ODR settings, low-pass filters, FIFO buffer management, temperature
+sensing, and device calibration.
+
+.. note::
+   The QMI8658 is a feature-rich sensor with advanced capabilities like
+   tap detection, motion detection, and various low-power modes. This driver
+   implements the core functionality for accelerometer and gyroscope data
+   acquisition with room for future feature extensions.
+
+Application Programming Interface
+=================================
+
+.. code-block:: c
+
+   #include <nuttx/sensors/qmi8658.h>
+
+The QMI8658 driver provides one registration function:
+
+- **uORB Interface**: ``qmi8658_uorb_register()``
+
+Registration
+------------
+
+The uORB interface registers the driver and creates separate uORB topics for
+accelerometer and gyroscope data under ``/dev/uorb/``: ``sensor_accel<n>`` and
+``sensor_gyro<n>``, where ``n`` is the device number.
+
+.. code-block:: c
+
+   /* Example uORB registration */
+
+   ret = qmi8658_uorb_register(0, i2c_bus, QMI8658_I2C_ADDR_DEFAULT);
+   if (ret < 0)
+     {
+       syslog(LOG_ERR, "Couldn't register QMI8658 uORB: %d\n", ret);
+       return ret;
+     }
+
+The uORB interface registers the driver and creates separate uORB topics for
+accelerometer and gyroscope data under ``/dev/uorb/``: ``sensor_accel<n>`` and
+``sensor_gyro<n>``, where ``n`` is the device number.
+
+.. code-block:: c
+
+   /* Example uORB registration */
+
+   ret = qmi8658_uorb_register(0, i2c_bus, QMI8658_I2C_ADDR_DEFAULT);
+   if (ret < 0)
+     {
+       syslog(LOG_ERR, "Couldn't register QMI8658 uORB: %d\n", ret);
+       return ret;
+     }
+
+Configuration Options
+=====================
+
+The QMI8658 driver supports several Kconfig options:
+
+* ``CONFIG_SENSORS_QMI8658``: Enable QMI8658 driver support (requires UORB)
+* ``CONFIG_SENSORS_QMI8658_POLL``: Enable polling mode with configurable interval
+* ``CONFIG_SENSORS_QMI8658_POLL_INTERVAL``: Set polling interval (default 1s)
+* ``CONFIG_QMI8658_I2C_FREQUENCY``: Set I2C communication frequency (default 400kHz)
+
+Supported Features
+==================
+
+Accelerometer
+-------------
+
+* **Full-Scale Ranges**: ±2g, ±4g, ±8g, ±16g
+* **Output Data Rates**: 1000Hz, 500Hz, 250Hz, 125Hz, 62.5Hz, 31.25Hz
+* **Low-Power ODR**: 128Hz, 21Hz, 11Hz, 3Hz
+* **Low-Pass Filters**: 4 different modes + OFF
+
+Gyroscope
+---------
+
+* **Full-Scale Ranges**: ±16, ±32, ±64, ±128, ±256, ±512, ±1024 dps
+* **Output Data Rates**: 7174.4Hz, 3587.2Hz, 1793.6Hz, 896.8Hz, 448.4Hz, 224.2Hz, 112.1Hz, 56.05Hz, 28.025Hz
+* **Low-Pass Filters**: 4 different modes + OFF
+
+Additional Features
+-----------------==
+
+* **Temperature Sensor**: 16-bit temperature data with 256 LSB/°C scale factor
+* **FIFO Buffer**: Configurable FIFO with watermark and interrupt support
+* **Sampling Modes**: Synchronous and asynchronous sampling
+* **Interrupt Support**: Data ready, FIFO watermark, motion detection
+* **Self-Test**: Built-in self-test capability for both sensors
+* **Calibration**: On-demand calibration support
+
+IOCTL Commands
+==============
+
+uORB IOCTLs
+-----------
+
+* ``SNIOC_SETFULLSCALE``: Set full-scale range (argument in g for accel, dps for gyro)
+* ``SNIOC_SET_CALIBVALUE``: Set calibration offsets
+* ``SNIOC_SELFTEST``: Perform sensor self-test
+* ``SNIOC_WHO_AM_I``: Read device ID (should return 0x05)
+
+Scale Factors
+=============
+
+The driver provides predefined scale factors for converting raw sensor data
+to physical units:
+
+Accelerometer Scale Factors (LSB/g):
+
+.. code-block:: c
+
+   #define QMI8658_ACC_SCALE_2G       (16384.0f)
+   #define QMI8658_ACC_SCALE_4G       (8192.0f)
+   #define QMI8658_ACC_SCALE_8G       (4096.0f)
+   #define QMI8658_ACC_SCALE_16G      (2048.0f)
+
+Gyroscope Scale Factors (LSB/dps):
+
+.. code-block:: c
+
+   #define QMI8658_GYRO_SCALE_16DPS   (2048.0f)
+   #define QMI8658_GYRO_SCALE_32DPS   (1024.0f)
+   #define QMI8658_GYRO_SCALE_64DPS   (512.0f)
+   #define QMI8658_GYRO_SCALE_128DPS  (256.0f)
+   #define QMI8658_GYRO_SCALE_256DPS  (128.0f)
+   #define QMI8658_GYRO_SCALE_512DPS  (64.0f)
+   #define QMI8658_GYRO_SCALE_1024DPS (32.0f)
+
+Temperature Scale Factor (LSB/°C):
+
+.. code-block:: c
+
+   #define QMI8658_TEMP_SCALE         (256.0f)
+
+Data Conversion
+===============
+
+To convert raw sensor data to physical units:
+
+.. code-block:: c
+
+   /* Convert accelerometer raw data to g */
+
+   float accel_x_g = (float)raw_accel_x / QMI8658_ACC_SCALE_8G;
+   float accel_y_g = (float)raw_accel_y / QMI8658_ACC_SCALE_8G;
+   float accel_z_g = (float)raw_accel_z / QMI8658_ACC_SCALE_8G;
+
+   /* Convert gyroscope raw data to dps */
+
+   float gyro_x_dps = (float)raw_gyro_x / QMI8658_GYRO_SCALE_512DPS;
+   float gyro_y_dps = (float)raw_gyro_y / QMI8658_GYRO_SCALE_512DPS;
+   float gyro_z_dps = (float)raw_gyro_z / QMI8658_GYRO_SCALE_512DPS;
+
+   /* Convert temperature raw data to °C */
+
+   float temp_c = (float)raw_temp / QMI8658_TEMP_SCALE;
+
+Debugging and Testing
+=====================
+
+To debug the QMI8658 device, you can:
+
+1. **Enable Debug Output**: Set ``CONFIG_DEBUG_SENSORS`` and ``CONFIG_DEBUG_INFO``
+2. **Use uORB Listener**: Include ``uorb_listener`` application to monitor sensor data
+
+Performance Considerations
+==========================
+
+* **I2C Frequency**: Default 400kHz, configurable via ``CONFIG_QMI8658_I2C_FREQUENCY``
+* **Polling Overhead**: Use interrupt-driven mode when possible for better efficiency
+* **FIFO Usage**: Enable FIFO to reduce I2C traffic and CPU overhead
+* **Power Management**: Utilize low-power ODR settings for battery-powered applications
+
+Limitations
+===========
+
+* Currently supports I2C interface only (SPI support can be added)
+* Advanced features like tap detection and motion detection not yet implemented
+* FIFO interrupt handling not fully implemented
+* Some low-power modes require additional configuration
+
+Hardware Connections
+====================
+
+I2C Interface
+--------------
+
+* **VDD**: Power supply (1.71V to 3.6V)
+* **GND**: Ground
+* **SDA/SDI**: I2C Serial Data
+* **SCL/SCLK**: I2C Serial Clock
+* **CS**: Chip Select (connect to VDD for I2C mode)
+* **INT1/INT2**: Interrupt pins (optional)
+
+Typical I2C addresses:
+* **Primary**: 0x6B
+* **Secondary**: 0x6D (when SDO/SA0 pin is high)
+
+.. note::
+   Ensure proper pull-up resistors on SDA and SCL lines (typically 4.7kΩ for 3.3V).
+
+Troubleshooting
+===============
+
+**Device Not Responding**
+* Check I2C address and connections
+* Verify power supply voltage
+* Ensure CS pin is properly configured for I2C mode
+
+**Incorrect Readings**
+* Verify full-scale range settings
+* Check scale factor calculations
+* Ensure sensor is properly calibrated
+
+**Communication Errors**
+* Reduce I2C frequency
+* Check for signal integrity issues
+* Verify pull-up resistor values

Documentation/components/drivers/special/sensors/sensors_uorb.rst

@@ -496,6 +496,7 @@ Implemented Drivers
 - mpu9250
 - ms56xx
 - :doc:`nau7802`
+- :doc:`qmi8658`
 - :doc:`sht4x`
 - :doc:`lsm6dso32`
 - wtgahrs2

drivers/sensors/CMakeLists.txt

@@ -344,6 +344,12 @@ if(CONFIG_SENSORS)
       list(APPEND SRCS tmp112.c)
     endif()
 
+    # QMI8658 6-axis IMU
+
+    if(CONFIG_SENSORS_QMI8658)
+      list(APPEND SRCS qmi8658_uorb.c)
+    endif()
+
   endif() # CONFIG_I2C
 
   # These drivers depend on SPI support

drivers/sensors/Kconfig

@@ -2152,4 +2152,35 @@ config TMP112_I2C_FREQUENCY
 
 endif #SENSORS_TMP112
 
+config SENSORS_QMI8658
+	bool "QST QMI8658 6-Axis IMU Sensor support"
+	default n
+	depends on I2C && UORB
+	---help---
+		Enable driver support for the QST QMI8658 6-axis IMU sensor.
+
+if SENSORS_QMI8658
+
+config SENSORS_QMI8658_POLL
+	bool "Enables polling sensor data"
+	default n
+	---help---
+		Enables polling of sensor data.
+
+config SENSORS_QMI8658_POLL_INTERVAL
+	int "Polling interval in microseconds, default 1s"
+	depends on SENSORS_QMI8658_POLL
+	default 1000000
+	range 0 4294967295
+	---help---
+		The interval until a new sensor measurement will be triggered.
+
+config QMI8658_I2C_FREQUENCY
+	int "QMI8658 I2C frequency"
+	default 400000
+	---help---
+		I2C frequency used to communicate with QMI8658.
+
+endif # SENSORS_QMI8658
+
 endif # SENSORS

drivers/sensors/Make.defs

@@ -418,6 +418,12 @@ ifeq ($(CONFIG_SENSORS_MPU9250),y)
   CSRCS += mpu9250_uorb.c
 endif
 
+# QMI8658 6-axis IMU
+
+ifeq ($(CONFIG_SENSORS_QMI8658),y)
+  CSRCS += qmi8658_uorb.c
+endif
+
 # Quadrature encoder upper half
 
 ifeq ($(CONFIG_SENSORS_QENCODER),y)

include/nuttx/sensors/qmi8658.h

@@ -0,0 +1,132 @@
+/****************************************************************************
+ * include/nuttx/sensors/qmi8658.h
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __INCLUDE_NUTTX_SENSORS_QMI8658_H
+#define __INCLUDE_NUTTX_SENSORS_QMI8658_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/sensors/sensor.h>
+#include <nuttx/i2c/i2c_master.h>
+#include <stdint.h>
+#include <sys/ioctl.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Accelerometer Full Scale Ranges */
+#define QMI8658_ACC_FS_2G          (0x00)
+#define QMI8658_ACC_FS_4G          (0x01)
+#define QMI8658_ACC_FS_8G          (0x02)
+#define QMI8658_ACC_FS_16G         (0x03)
+
+/* Gyroscope Full Scale Ranges */
+#define QMI8658_GYRO_FS_16DPS      (0x00)
+#define QMI8658_GYRO_FS_32DPS      (0x01)
+#define QMI8658_GYRO_FS_64DPS      (0x02)
+#define QMI8658_GYRO_FS_128DPS     (0x03)
+#define QMI8658_GYRO_FS_256DPS     (0x04)
+#define QMI8658_GYRO_FS_512DPS     (0x05)
+#define QMI8658_GYRO_FS_1024DPS    (0x06)
+
+/* ODR (Output Data Rate) Definitions */
+
+/* Accelerometer ODR */
+#define QMI8658_ACC_ODR_1000Hz         (0x03)
+#define QMI8658_ACC_ODR_500Hz          (0x04)
+#define QMI8658_ACC_ODR_250Hz          (0x05)
+#define QMI8658_ACC_ODR_125Hz          (0x06)
+#define QMI8658_ACC_ODR_62_5Hz         (0x07)
+#define QMI8658_ACC_ODR_31_25Hz        (0x08)
+#define QMI8658_ACC_ODR_LOWPOWER_128Hz (0x0C)
+#define QMI8658_ACC_ODR_LOWPOWER_21Hz  (0x0D)
+#define QMI8658_ACC_ODR_LOWPOWER_11Hz  (0x0E)
+#define QMI8658_ACC_ODR_LOWPOWER_3Hz   (0x0F)
+
+/* Gyroscope ODR */
+#define QMI8658_GYRO_ODR_7174_4Hz  (0x00)
+#define QMI8658_GYRO_ODR_3587_2Hz  (0x01)
+#define QMI8658_GYRO_ODR_1793_6Hz  (0x02)
+#define QMI8658_GYRO_ODR_896_8Hz   (0x03)
+#define QMI8658_GYRO_ODR_448_4Hz   (0x04)
+#define QMI8658_GYRO_ODR_224_2Hz   (0x05)
+#define QMI8658_GYRO_ODR_112_1Hz   (0x06)
+#define QMI8658_GYRO_ODR_56_05Hz   (0x07)
+#define QMI8658_GYRO_ODR_28_025Hz  (0x08)
+
+/* Scale Factors */
+
+/* Accelerometer scale factors (LSB/g) */
+#define QMI8658_ACC_SCALE_2G       (16384.0f)
+#define QMI8658_ACC_SCALE_4G       (8192.0f)
+#define QMI8658_ACC_SCALE_8G       (4096.0f)
+#define QMI8658_ACC_SCALE_16G      (2048.0f)
+
+/* Gyroscope scale factors (LSB/dps) */
+#define QMI8658_GYRO_SCALE_16DPS   (2048.0f)
+#define QMI8658_GYRO_SCALE_32DPS   (1024.0f)
+#define QMI8658_GYRO_SCALE_64DPS   (512.0f)
+#define QMI8658_GYRO_SCALE_128DPS  (256.0f)
+#define QMI8658_GYRO_SCALE_256DPS  (128.0f)
+#define QMI8658_GYRO_SCALE_512DPS  (64.0f)
+#define QMI8658_GYRO_SCALE_1024DPS (32.0f)
+
+/* Temperature Scale Factor (LSB/°C) */
+#define QMI8658_TEMP_SCALE         (256.0f)
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/****************************************************************************
+ * Name: qmi8658_uorb_register
+ *
+ * Description:
+ *   Register the QMI8658 uORB sensor device
+ *
+ * Input Parameters:
+ *   devno   - Device number to use
+ *   i2c     - Pointer to the I2C master device
+ *   addr    - I2C address (use QMI8658_I2C_ADDR for default)
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+int qmi8658_uorb_register(int devno, FAR struct i2c_master_s *i2c,
+                          uint8_t addr);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __INCLUDE_NUTTX_SENSORS_QMI8658_H */

libs/libm/newlib/CMakeLists.txt

@@ -93,11 +93,9 @@ if(CONFIG_LIBM_NEWLIB)
   file(GLOB_RECURSE COMMON_CSRCS ${NEWLIB_DIR}/newlib/libm/common/*.c)
   file(GLOB_RECURSE COMPLEX_CSRCS ${NEWLIB_DIR}/newlib/libm/complex/*.c)
 
-  if(CONFIG_ARCH_X86_64)
-    file(GLOB_RECURSE ARCH_CSRCS ${NEWLIB_DIR}/newlib/libm/fenv/*.c)
-  endif()
+  file(GLOB_RECURSE FENV_CSRCS ${NEWLIB_DIR}/newlib/libm/fenv/*.c)
 
-  set(CSRCS ${COMMON_CSRCS} ${COMPLEX_CSRCS} ${ARCH_CSRCS})
+  set(CSRCS ${COMMON_CSRCS} ${COMPLEX_CSRCS} ${FENV_CSRCS})
 
   # aggressive optimisation can replace occurrences of sinl() and cosl() with
   # sincosl(), but sincosl() is missing in newlib which causes error. So let's
@@ -123,13 +121,30 @@ if(CONFIG_LIBM_NEWLIB)
     list(APPEND CSRCS ${MATH_CSRCS})
   endif()
 
+  set(ARCH_FILENAMES "")
+  foreach(arch_file ${ARCH_CSRCS})
+    get_filename_component(arch_filename ${arch_file} NAME)
+    list(APPEND ARCH_FILENAMES ${arch_filename})
+  endforeach()
+
+  set(FILTERED_CSRCS "")
+  foreach(file ${CSRCS})
+    get_filename_component(filename ${file} NAME)
+    list(FIND ARCH_FILENAMES ${filename} index)
+    if(index EQUAL -1)
+      list(APPEND FILTERED_CSRCS ${file})
+    endif()
+  endforeach()
+
+  set(CSRCS ${FILTERED_CSRCS} ${ARCH_CSRCS})
+
   # ############################################################################
   # Include Directory
   # ############################################################################
 
   set(INCDIR ${CMAKE_CURRENT_LIST_DIR}/include ${NEWLIB_DIR}/newlib/libm/common)
 
-  if(CONFIG_ARCH_X86_64)
+  if(CONFIG_ARCH_X86_64 OR CONFIG_ARCH_X86)
     list(APPEND INCDIR ${NEWLIB_DIR}/newlib/libc/machine/shared_x86/sys)
   endif()
 

libs/libm/newlib/Make.defs

@@ -88,12 +88,11 @@ VPATH += :newlib/newlib/newlib/libm/complex
 DEPPATH += --dep-path newlib/newlib/newlib/libm/common
 DEPPATH += --dep-path newlib/newlib/newlib/libm/complex
 
-ifeq ($(CONFIG_ARCH_X86_64),y)
 CSRCS += $(wildcard newlib/newlib/newlib/libm/fenv/*.c)
 VPATH += :newlib/newlib/newlib/libm/fenv
 DEPPATH += --dep-path newlib/newlib/newlib/libm/fenv
 
-
+ifneq ($(CONFIG_ARCH_X86_64)$(CONFIG_ARCH_X86),)
 CFLAGS += ${INCDIR_PREFIX}newlib/newlib/newlib/libc/machine/shared_x86/sys
 endif