no1wudi opened a new pull request, #17572:
URL: https://github.com/apache/nuttx/pull/17572
## Summary
This pull request adds support for the **QMI8658 6-axis IMU sensor** (3-axis
accelerometer + 3-axis gyroscope) to the `lckfb-szpi-esp32s3` board.
**Why change is necessary:**
- The QMI8658 is a commonly used IMU sensor on ESP32-S3 based boards for
motion sensing applications
- Adding support enables motion-based features like gesture recognition,
tilt sensing, and motion tracking
**What functional part of the code is being changed:**
- Board-specific sensor driver for the `lckfb-szpi-esp32s3` board
- Location: `boards/xtensa/esp32s3/lckfb-szpi-esp32s3/src/`
**How does the change exactly work:**
1. **New driver file (`esp32s3_qmi8658.c`)**: Implements
`esp32s3_qmi8658_initialize()` which:
- Initializes I2C0 bus
- Registers the QMI8658 sensor with the uORB framework
- Creates device nodes: `/dev/uorb/sensor_accel0` and
`/dev/uorb/sensor_gyro0`
2. **Header file (`esp32s3-szpi.h`)**:
- Added I2C configuration constants: `QMI8658_I2C_PORT` (0) and
`QMI8658_I2C_ADDR` (0x6A)
- Added function declaration for `esp32s3_qmi8658_initialize()`
3. **Board bringup (`esp32s3_bringup.c`)**:
- Includes QMI8658 header when `CONFIG_SENSORS_QMI8658=y`
- Calls initialization function during board bringup
4. **Build system (`Make.defs`)**:
- Conditional compilation of `esp32s3_qmi8658.c` when
`CONFIG_SENSORS_QMI8658=y`
**Related Issues:** None
## Impact
- **Is new feature added?** YES - New QMI8658 IMU sensor support
- **Impact on user?** YES - Users can now enable the QMI8658 sensor via
`CONFIG_SENSORS_QMI8658=y` in defconfig
- **Impact on build?** YES - New source file added, conditional on Kconfig
option
- **Impact on hardware?** YES - Supports the QMI8658 sensor on
`lckfb-szpi-esp32s3` board only
- **Impact on documentation?** NO - No documentation changes required
- **Impact on security?** NO - No security implications
- **Impact on compatibility?** NO - Purely additive feature, no breaking
changes
## Testing
I confirm that changes are verified on local setup and works as intended:
**Build Host(s):**
- OS: Linux
- CPU: x86_64
- Compiler: GCC (ESP-IDF toolchain)
**Target(s):**
- Arch: ESP32-S3 (xtensa)
- Board: `lckfb-szpi-esp32s3`
- Configuration: `esp32s3/lckfb-szpi-esp32s3/defconfig` with
`CONFIG_SENSORS_QMI8658=y`
···
nsh> uname -a
NuttX 12.11.0 cb7fb72fae-dirty Dec 20 2025 08:57:55 xtensa lckfb-szpi-esp32s3
nsh> uorb_listener
Monitor objects num:3
object_name:sensor_temp, object_instance:0
object_name:sensor_gyro, object_instance:0
object_name:sensor_accel, object_instance:0
sensor_temp(now:1323340000):timestamp:1323340000,temperature:21.000000
sensor_temp(now:1324350000):timestamp:1324350000,temperature:21.000000
sensor_gyro(now:1324350000):timestamp:1324350000,x:1.125000,y:1.656250,z:-0.218750,temperature:21.417969
sensor_accel(now:1324350000):timestamp:1324350000,x:-0.797485,y:0.075317,z:0.585693,temperature:21.417969
sensor_temp(now:1325360000):timestamp:1325360000,temperature:21.000000
sensor_gyro(now:1325360000):timestamp:1325360000,x:1.125000,y:1.906250,z:-0.406250,temperature:21.445313
sensor_accel(now:1325360000):timestamp:1325360000,x:-0.796387,y:0.073974,z:0.586548,temperature:21.445313
sensor_temp(now:1326370000):timestamp:1326370000,temperature:21.000000
sensor_gyro(now:1326370000):timestamp:1326370000,x:1.187500,y:1.656250,z:-0.125000,temperature:21.421875
sensor_accel(now:1326370000):timestamp:1326370000,x:-0.793823,y:0.075073,z:0.587524,temperature:21.421875
sensor_temp(now:1327380000):timestamp:1327380000,temperature:21.000000
sensor_gyro(now:1327380000):timestamp:1327380000,x:1.437500,y:2.062500,z:-0.156250,temperature:21.429688
sensor_accel(now:1327380000):timestamp:1327380000,x:-0.796997,y:0.075195,z:0.590942,temperature:21.429688
sensor_temp(now:1328390000):timestamp:1328390000,temperature:21.000000
sensor_gyro(now:1328390000):timestamp:1328390000,x:1.281250,y:2.062500,z:-0.125000,temperature:21.480469
sensor_accel(now:1328390000):timestamp:1328390000,x:-0.793335,y:0.073974,z:0.590576,temperature:21.480469
Object name:sensor_temp0, recieved:6
Object name:sensor_gyro0, recieved:5
Object name:sensor_accel0, recieved:5
Total number of received Message:16/16
nsh>
···
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