no1wudi opened a new pull request, #17363:
URL: https://github.com/apache/nuttx/pull/17363
## Summary
* **Why change is necessary**: Add comprehensive driver support for the
QST QMI8658 6-axis IMU sensor to enable accelerometer and gyroscope
functionality in NuttX-based embedded systems.
* **What functional part of the code is being changed**: Added new sensor
driver in `drivers/sensors/` directory with both character device and uORB
interface options, along with comprehensive documentation and board integration.
* **How does the change exactly work**: The driver implements I2C
communication with the QMI8658 sensor, providing:
- Core I2C register access functions (`qmi8658_base.c`)
- Character device interface with ioctl support (`qmi8658.c`)
- uORB-based sensor interface for real-time applications
(`qmi8658_uorb.c`)
- Public API with register definitions and scale factors (`qmi8658.h`)
- Board-specific integration for ESP32S3 platform
- Complete documentation with usage examples
* **Related NuttX Issue reference**: N/A (new feature addition)
* **Related NuttX Apps Issue / Pull Request reference**: N/A
## Impact
* **Is new feature added? Is existing feature changed?**: YES - New
QMI8658 6-axis IMU sensor driver added with dual interface support (character
device and uORB)
* **Impact on user (will user need to adapt to change?)**: NO - This is an
additive feature that doesn't affect existing functionality. Users can enable
the driver via Kconfig options and use either character device (`/dev/imu0`) or
uORB interface (`/dev/uorb/sensor_accel0`, `/dev/uorb/sensor_gyro0`)
* **Impact on build (will build process change?)**: YES - New Kconfig
options added:
- `CONFIG_SENSORS_QMI8658`: Enable driver support
- `CONFIG_SENSORS_QMI8658_UORB`: Use uORB interface instead of character
device
- `CONFIG_SENSORS_QMI8658_POLL`: Enable polling mode with configurable
interval
- `CONFIG_QMI8658_I2C_FREQUENCY`: Set I2C communication frequency
(default 400kHz)
* **Impact on hardware (will arch(s) / board(s) / driver(s) change?)**:
YES - Added new sensor driver that supports any platform with I2C capability.
No specific board changes included in this commit.
* **Impact on documentation (is update required / provided?)**: YES -
Comprehensive documentation added:
- `Documentation/components/drivers/special/sensors/qmi8658.rst` (311
lines)
- Updated sensor framework documentation indices
- Complete API reference with usage examples
* **Impact on security (any sort of implications?)**: NO - Driver follows
standard NuttX sensor driver patterns with proper I2C communication and mutex
protection
* **Impact on compatibility (backward/forward/interoperability?)**: NO -
New driver doesn't affect existing sensor drivers or interfaces
* **Anything else to consider or add?**: NO
## Testing
I confirm that changes are verified on local setup and works as intended:
```
nsh> uname -a
NuttX 12.11.0 ae4cc6be5e-dirty Nov 22 2025 23:02:58 xtensa lckfb-szpi-esp32s3
nsh> qmi8658
QMI8658 Sensor Example
Reading 100 samples from /dev/imu0
[001] Accel: (0.002, 0.066, 0.994) g
Gyro: (1.72, 1.93, -0.33) dps
Temp: 21.48 °C
[002] Accel: (0.002, 0.066, 0.994) g
Gyro: (1.72, 1.93, -0.33) dps
Temp: 21.48 °C
[003] Accel: (0.001, 0.068, 1.000) g
Gyro: (7.48, 2.98, 0.18) dps
Temp: 21.19 °C
[004] Accel: (0.001, 0.065, 0.993) g
Gyro: (1.36, 1.96, 0.09) dps
Temp: 21.27 °C
[005] Accel: (0.003, 0.064, 0.999) g
Gyro: (1.19, 1.98, -0.19) dps
Temp: 21.27 °C
[006] Accel: (0.004, 0.067, 1.000) g
Gyro: (1.61, 2.77, -0.24) dps
Temp: 21.27 °C
[007] Accel: (0.004, 0.065, 0.999) g
Gyro: (1.28, 1.82, -0.05) dps
Temp: 21.32 °C
```
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