diff --git a/boards/px4/sitl/src/CMakeLists.txt b/boards/px4/sitl/src/CMakeLists.txt
index 848bdb4867..de0ee3ee2b 100644
--- a/boards/px4/sitl/src/CMakeLists.txt
+++ b/boards/px4/sitl/src/CMakeLists.txt
@@ -32,7 +32,9 @@
 ############################################################################
 
 add_library(drivers_board
+	i2c.cpp
 	sitl_led.c
 	sitl_board_shutdown.c
+	spi.cpp
 )
 
diff --git a/boards/px4/sitl/src/i2c.cpp b/boards/px4/sitl/src/i2c.cpp
new file mode 100644
index 0000000000..bb1b3e5afd
--- /dev/null
+++ b/boards/px4/sitl/src/i2c.cpp
@@ -0,0 +1,38 @@
+/****************************************************************************
+ *
+ *   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/i2c_hw_description.h>
+
+constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
+};
+
diff --git a/boards/px4/sitl/src/spi.cpp b/boards/px4/sitl/src/spi.cpp
new file mode 100644
index 0000000000..b92bdd1fc2
--- /dev/null
+++ b/boards/px4/sitl/src/spi.cpp
@@ -0,0 +1,39 @@
+/****************************************************************************
+ *
+ *   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 <drivers/drv_sensor.h>
+
+constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+};
+
diff --git a/src/systemcmds/tests/CMakeLists.txt b/src/systemcmds/tests/CMakeLists.txt
index 4c99549462..bd3abb967a 100644
--- a/src/systemcmds/tests/CMakeLists.txt
+++ b/src/systemcmds/tests/CMakeLists.txt
@@ -46,6 +46,7 @@ set(srcs
 	test_hott_telemetry.c
 	test_hrt.cpp
 	test_int.cpp
+	test_i2c_spi_cli.cpp
 	test_IntrusiveQueue.cpp
 	test_jig_voltages.c
 	test_led.c
diff --git a/src/systemcmds/tests/test_i2c_spi_cli.cpp b/src/systemcmds/tests/test_i2c_spi_cli.cpp
new file mode 100644
index 0000000000..daf7d5f4b0
--- /dev/null
+++ b/src/systemcmds/tests/test_i2c_spi_cli.cpp
@@ -0,0 +1,216 @@
+/****************************************************************************
+ *
+ *  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 <unit_test.h>
+#include <px4_platform_common/i2c_spi_buses.h>
+
+class CLIArgsHelper
+{
+public:
+	CLIArgsHelper(const char *args[], int num_argc)
+	{
+		// get args into the right format: the first string is the module name, the last nullptr
+		int len = 0;
+		strcpy(_buf + len, "module");
+		len += strlen("module") + 1;
+
+		for (int i = 0; i < num_argc; ++i) {
+			strcpy(_buf + len, args[i]);
+			argv[i + 1] = _buf + len;
+			len += strlen(args[i]) + 1;
+		}
+
+		argc = num_argc + 1;
+		argv[argc] = nullptr;
+	}
+
+	int argc;
+	char *argv[32];
+private:
+	char _buf[1024];
+};
+
+class I2CSPICLITest : public UnitTest
+{
+public:
+	virtual bool run_tests();
+
+	bool test_basic();
+	bool test_invalid();
+	bool test_custom();
+};
+
+bool I2CSPICLITest::run_tests()
+{
+	ut_run_test(test_basic);
+	ut_run_test(test_invalid);
+	ut_run_test(test_custom);
+
+	return (_tests_failed == 0);
+}
+
+bool I2CSPICLITest::test_basic()
+{
+
+	{
+		BusCLIArguments cli{true, true};
+		cli.default_i2c_frequency = 1234;
+		cli.default_spi_frequency = 12345;
+		const char *argv[] = { "start", "-I" };
+		CLIArgsHelper cli_args(argv, 2);
+		const char *verb = cli.parseDefaultArguments(cli_args.argc, cli_args.argv);
+		ut_assert_true(verb != nullptr);
+		ut_assert_true(strcmp(verb, "start") == 0);
+		ut_assert_true(cli.bus_option == I2CSPIBusOption::I2CInternal);
+		ut_assert_true(cli.bus_frequency == cli.default_i2c_frequency);
+	}
+
+	{
+		BusCLIArguments cli{true, true};
+		cli.default_i2c_frequency = 1234;
+		cli.default_spi_frequency = 12345;
+		const char *argv[] = { "start", "-s", "-f", "10"};
+		CLIArgsHelper cli_args(argv, 4);
+		const char *verb = cli.parseDefaultArguments(cli_args.argc, cli_args.argv);
+		ut_assert_true(verb != nullptr);
+		ut_assert_true(strcmp(verb, "start") == 0);
+		ut_assert_true(cli.bus_option == I2CSPIBusOption::SPIInternal);
+		ut_assert_true(cli.bus_frequency ==  10000);
+	}
+
+	{
+		BusCLIArguments cli{true, true};
+		const char *argv[] = { "-S", "-b", "3", "stop"};
+		CLIArgsHelper cli_args(argv, 4);
+		const char *verb = cli.parseDefaultArguments(cli_args.argc, cli_args.argv);
+		ut_assert_true(verb != nullptr);
+		ut_assert_true(strcmp(verb, "stop") == 0);
+		ut_assert_true(cli.bus_option == I2CSPIBusOption::SPIExternal);
+		ut_assert_true(cli.requested_bus == 3);
+	}
+
+	{
+		BusCLIArguments cli{true, true};
+		cli.i2c_address = 0xab;
+		const char *argv[] = { "start", "-X", "-a", "0x14"};
+		CLIArgsHelper cli_args(argv, 4);
+		const char *verb = cli.parseDefaultArguments(cli_args.argc, cli_args.argv);
+		ut_assert_true(verb != nullptr);
+		ut_assert_true(strcmp(verb, "start") == 0);
+		ut_assert_true(cli.bus_option == I2CSPIBusOption::I2CExternal);
+		ut_assert_true(cli.i2c_address == 0x14);
+	}
+
+	return true;
+}
+
+bool I2CSPICLITest::test_invalid()
+{
+	{
+		// SPI disabled, but SPI option provided
+		BusCLIArguments cli{true, false};
+		const char *argv[] = { "start", "-S"};
+		CLIArgsHelper cli_args(argv, 2);
+		const char *verb = cli.parseDefaultArguments(cli_args.argc, cli_args.argv);
+		ut_assert_true(verb == nullptr);
+	}
+
+	{
+		// Unknown argument
+		BusCLIArguments cli{true, true};
+		const char *argv[] = { "start", "-I", "-x", "3"};
+		CLIArgsHelper cli_args(argv, 3);
+		const char *verb = cli.parseDefaultArguments(cli_args.argc, cli_args.argv);
+		ut_assert_true(verb == nullptr);
+	}
+
+	{
+		// Another unknown argument
+		BusCLIArguments cli{true, true};
+		const char *argv[] = { "-x", "start" };
+		CLIArgsHelper cli_args(argv, 2);
+		const char *verb = cli.parseDefaultArguments(cli_args.argc, cli_args.argv);
+		ut_assert_true(verb == nullptr);
+	}
+	return true;
+}
+
+bool I2CSPICLITest::test_custom()
+{
+	{
+		// custom argument
+		BusCLIArguments cli{true, true};
+		const char *argv[] = { "start", "-T", "432", "-a", "12"};
+		CLIArgsHelper cli_args(argv, 5);
+		int ch;
+		int T = 0;
+		int a = 0;
+
+		while ((ch = cli.getopt(cli_args.argc, cli_args.argv, "T:a:")) != EOF) {
+			switch (ch) {
+			case 'T': T = atoi(cli.optarg());
+				break;
+
+			case 'a': a = atoi(cli.optarg());
+				break;
+			}
+		}
+
+		const char *verb = cli.optarg();
+		ut_assert_true(verb != nullptr);
+		ut_assert_true(strcmp(verb, "start") == 0);
+		ut_assert_true(T == 432);
+		ut_assert_true(a == 12);
+	}
+
+	{
+		// duplicate argument
+		BusCLIArguments cli{true, true};
+		const char *argv[] = { "start"};
+		CLIArgsHelper cli_args(argv, 1);
+		int ch;
+
+		while ((ch = cli.getopt(cli_args.argc, cli_args.argv, "I:")) != EOF) {
+			switch (ch) {
+			case 'I': ut_assert_true(false); // must not get here, because 'I' is already used
+				break;
+			}
+		}
+
+		const char *verb = cli.optarg();
+		ut_assert_true(verb == nullptr);
+	}
+	return true;
+}
+
+ut_declare_test_c(test_i2c_spi_cli, I2CSPICLITest)
diff --git a/src/systemcmds/tests/tests_main.c b/src/systemcmds/tests/tests_main.c
index e5443e723c..787de451e3 100644
--- a/src/systemcmds/tests/tests_main.c
+++ b/src/systemcmds/tests/tests_main.c
@@ -90,6 +90,7 @@ const struct {
 	{"hott_telemetry",	test_hott_telemetry,	OPT_NOJIGTEST | OPT_NOALLTEST},
 	{"hrt",			test_hrt,		OPT_NOJIGTEST | OPT_NOALLTEST},
 	{"int",			test_int,		0},
+	{"i2c_spi_cli",		test_i2c_spi_cli,		0},
 	{"IntrusiveQueue",	test_IntrusiveQueue,	0},
 	{"jig_voltages",	test_jig_voltages,	OPT_NOALLTEST},
 	{"List",		test_List,		0},
diff --git a/src/systemcmds/tests/tests_main.h b/src/systemcmds/tests/tests_main.h
index 14396dacc5..6485079487 100644
--- a/src/systemcmds/tests/tests_main.h
+++ b/src/systemcmds/tests/tests_main.h
@@ -57,6 +57,7 @@ extern int test_float(int argc, char *argv[]);
 extern int test_hott_telemetry(int argc, char *argv[]);
 extern int test_hrt(int argc, char *argv[]);
 extern int test_int(int argc, char *argv[]);
+extern int test_i2c_spi_cli(int argc, char *argv[]);
 extern int test_IntrusiveQueue(int argc, char *argv[]);
 extern int test_jig_voltages(int argc, char *argv[]);
 extern int test_led(int argc, char *argv[]);