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

Add comprehensive driver support for the QST QMI8658 6-axis IMU sensor
with both character device and uORB interface options.

Key features implemented:
* I2C communication with configurable frequency
* Accelerometer and gyroscope data acquisition
* Multiple full-scale ranges and ODR settings
* Low-pass filter configuration
* Synchronous/asynchronous sampling modes
* FIFO support and interrupt handling
* Temperature sensing capability
* Device calibration and self-test functions

Driver architecture:
* qmi8658_base.c: Core I2C communication and sensor control
* qmi8658.c: Character device interface with ioctl support
* qmi8658_uorb.c: uORB-based sensor interface for real-time applications
* qmi8658.h: Public API with register definitions and scale factors

Configuration options:
* 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

Signed-off-by: Huang Qi <[email protected]>

Author: no1wudi

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 +1,311 @@
+=======
+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.
+
+This driver also provides a legacy character device interface. It 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 two registration functions:
+
+1. **Character Device Interface**: ``qmi8658_register()``
+2. **uORB Interface**: ``qmi8658_uorb_register()``
+
+Character Device Registration
+-----------------------------
+
+The character device interface registers the driver at a specified path (e.g., "/dev/imu0")
+and provides ioctl-based control and data reading.
+
+.. code-block:: c
+
+   /* Example character device registration */
+
+   ret = qmi8658_register("/dev/imu0", i2c_bus, QMI8658_I2C_ADDR_DEFAULT);
+   if (ret < 0)
+     {
+       syslog(LOG_ERR, "Couldn't register QMI8658: %d\n", ret);
+       return ret;
+     }
+
+   /* Configure sensor ranges */
+
+   int fd = open("/dev/imu0", O_RDONLY);
+   if (fd < 0)
+     {
+       syslog(LOG_ERR, "Failed to open QMI8658 device\n");
+       return -errno;
+     }
+
+   /* Set accelerometer range to ±8g */
+
+   ret = ioctl(fd, SNIOC_SET_ACC_RANGE, QMI8658_ACC_FS_8G);
+   if (ret < 0)
+     {
+       syslog(LOG_ERR, "Failed to set accelerometer range: %d\n", ret);
+     }
+
+   /* Set gyroscope range to ±500 dps */
+
+   ret = ioctl(fd, SNIOC_SET_GYRO_RANGE, QMI8658_GYRO_FS_512DPS);
+   if (ret < 0)
+     {
+       syslog(LOG_ERR, "Failed to set gyroscope range: %d\n", ret);
+     }
+
+   /* Enable both sensors */
+
+   ret = ioctl(fd, SNIOC_ENABLE_SENSOR, 0);
+   if (ret < 0)
+     {
+       syslog(LOG_ERR, "Failed to enable sensors: %d\n", ret);
+     }
+
+   /* Read sensor data */
+
+   struct qmi8658_data_s data;
+   ssize_t bytes_read = read(fd, &data, sizeof(data));
+   if (bytes_read == sizeof(data))
+     {
+       printf("Accel: X=%d, Y=%d, Z=%d\n", data.accel_x, data.accel_y, data.accel_z);
+       printf("Gyro: X=%d, Y=%d, Z=%d\n", data.gyro_x, data.gyro_y, data.gyro_z);
+       printf("Temperature: %d\n", data.temperature);
+     }
+
+   close(fd);
+
+uORB 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;
+     }
+
+Configuration Options
+=====================
+
+The QMI8658 driver supports several Kconfig options:
+
+* ``CONFIG_SENSORS_QMI8658``: Enable QMI8658 driver support
+* ``CONFIG_SENSORS_QMI8658_UORB``: Use uORB interface instead of character device
+* ``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
+==============
+
+Character Device IOCTLs
+-----------------------
+
+* ``SNIOC_SET_ACC_RANGE``: Set accelerometer full-scale range
+* ``SNIOC_SET_GYRO_RANGE``: Set gyroscope full-scale range
+* ``SNIOC_ENABLE_SENSOR``: Enable both accelerometer and gyroscope
+* ``SNIOC_DISABLE_SENSOR``: Disable both accelerometer and gyroscope
+
+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
+3. **Check Device ID**: Use ``SNIOC_WHO_AM_I`` to verify communication
+
+.. code-block:: c
+
+   /* Verify device communication */
+
+   uint8_t device_id;
+   ret = ioctl(fd, SNIOC_WHO_AM_I, (unsigned long)&device_id);
+   if (ret == OK && device_id == QMI8658_REG_WHOAMI_DEFAULT)
+     {
+       printf("QMI8658 communication OK (ID: 0x%02X)\n", device_id);
+     }
+   else
+     {
+       printf("QMI8658 communication failed\n");
+     }
+
+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
+
+**Performance Issues**
+* Enable FIFO mode for high ODR settings
+* Use interrupt-driven mode instead of polling
+* Optimize I2C clock frequency for your platform

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

@@ -67,6 +67,7 @@ Drivers that are available also with the new sensor framework are marked with ``
 - ms58xx
 - msa301
 - qencoder
+- :doc:`qmi8658`
 - scd30
 - scd41
 - sgp30

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 +344,17 @@ if(CONFIG_SENSORS)
       list(APPEND SRCS tmp112.c)
     endif()
 
+    # QMI8658 6-axis IMU
+
+    if(CONFIG_SENSORS_QMI8658)
+      list(APPEND SRCS qmi8658_base.c)
+      if(CONFIG_SENSORS_QMI8658_UORB)
+        list(APPEND SRCS qmi8658_uorb.c)
+      else()
+        list(APPEND SRCS qmi8658.c)
+      endif()
+    endif()
+
   endif() # CONFIG_I2C
 
   # These drivers depend on SPI support