From b0b99de767e51481fb2563556f3b252b87a83f14 Mon Sep 17 00:00:00 2001
From: Eric Katzfey <eric.katzfey@modalai.com>
Date: Mon, 23 Feb 2026 16:57:22 -0700
Subject: [PATCH] voxl2: Add support for the new M0197 board variant. Uses
 bmi270 IMU and dps310 barometer and GPS on apps proc.

---
 boards/modalai/voxl2-slpi/default.px4board    |  2 ++
 boards/modalai/voxl2-slpi/src/spi.cpp         |  2 +-
 .../modalai/voxl2/target/voxl-px4-hitl-start  | 10 ++++++++--
 boards/modalai/voxl2/target/voxl-px4-start    | 20 ++++++++++++++++---
 src/lib/drivers/device/qurt/SPI.cpp           |  6 +++++-
 5 files changed, 33 insertions(+), 7 deletions(-)

diff --git a/boards/modalai/voxl2-slpi/default.px4board b/boards/modalai/voxl2-slpi/default.px4board
index c548eaf90c..045de27b88 100644
--- a/boards/modalai/voxl2-slpi/default.px4board
+++ b/boards/modalai/voxl2-slpi/default.px4board
@@ -9,7 +9,9 @@ CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4525DO=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L1X=y
 CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
+CONFIG_DRIVERS_BAROMETER_DPS310=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
diff --git a/boards/modalai/voxl2-slpi/src/spi.cpp b/boards/modalai/voxl2-slpi/src/spi.cpp
index cd8eea2a72..6bff3f87a0 100644
--- a/boards/modalai/voxl2-slpi/src/spi.cpp
+++ b/boards/modalai/voxl2-slpi/src/spi.cpp
@@ -36,5 +36,5 @@
 #include <drivers/drv_sensor.h>
 
 constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
-	initSPIBus(1, {initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P), }),
+	initSPIBus(1, {initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P), initSPIDevice(DRV_IMU_DEVTYPE_BMI270), }),
 };
diff --git a/boards/modalai/voxl2/target/voxl-px4-hitl-start b/boards/modalai/voxl2/target/voxl-px4-hitl-start
index 3f8bcdd503..08a73bd742 100755
--- a/boards/modalai/voxl2/target/voxl-px4-hitl-start
+++ b/boards/modalai/voxl2/target/voxl-px4-hitl-start
@@ -17,13 +17,15 @@ if [ $RETURNCODE -ne 0 ]; then
     fi
 fi
 
-# We can only run on M0052, M0054, or M0104 so exit with error if that is not the case
+# We can only run on M0052, M0054, M0104, or M0197 so exit with error if that is not the case
 if [ $PLATFORM = "M0052" ]; then
     /bin/echo "Running on M0052"
 elif [ $PLATFORM = "M0054" ]; then
     /bin/echo "Running on M0054"
 elif [ $PLATFORM = "M0104" ]; then
     /bin/echo "Running on M0104"
+elif [ $PLATFORM = "M0197" ]; then
+    /bin/echo "Running on M0197"
 else
     /bin/echo "Error, cannot determine platform!"
     exit 0
@@ -76,7 +78,11 @@ microdds_client start -t udp -h 127.0.0.1 -p 8888
 qshell pwm_out_sim start -m hil
 # g = gps, m = mag, o = odometry (vio), h = distance sensor, f = optic flow
 # qshell dsp_hitl start -g -m -o -h -f
-qshell dsp_hitl start -g -m
+if [ "$PLATFORM" == "M0197" ]; then
+    qshell dsp_hitl start -g -m -p 6
+else
+    qshell dsp_hitl start -g -m
+fi
 
 # start the onboard fast link to connect to voxl-mavlink-server
 mavlink start -x -u 14556 -o 14557 -r 100000 -n lo -m onboard
diff --git a/boards/modalai/voxl2/target/voxl-px4-start b/boards/modalai/voxl2/target/voxl-px4-start
index aadb8ae1cc..9d31466b56 100755
--- a/boards/modalai/voxl2/target/voxl-px4-start
+++ b/boards/modalai/voxl2/target/voxl-px4-start
@@ -40,13 +40,15 @@ if [ $RETURNCODE -ne 0 ]; then
     fi
 fi
 
-# We can only run on M0052, M0054, or M0104 so exit with error if that is not the case
+# We can only run on M0052, M0054, M0104, or M0197 so exit with error if that is not the case
 if [ $PLATFORM = "M0052" ]; then
     /bin/echo "Running on M0052"
 elif [ $PLATFORM = "M0054" ]; then
     /bin/echo "Running on M0054"
 elif [ $PLATFORM = "M0104" ]; then
     /bin/echo "Running on M0104"
+elif [ $PLATFORM = "M0197" ]; then
+    /bin/echo "Running on M0197"
 else
     /bin/echo "Error, cannot determine platform!"
     exit 0
@@ -77,13 +79,22 @@ param load
 if [ "$PLATFORM" == "M0104" ]; then
     /bin/echo "Starting IMU driver with rotation 12"
     qshell icm42688p start -s -R 12 -C 32768
+elif [ "$PLATFORM" == "M0197" ]; then
+    /bin/echo "Starting bmi270 IMU driver with rotation 26"
+    qshell bmi270 start -s -R 26
 else
     /bin/echo "Starting IMU driver with no rotation"
     qshell icm42688p start -s -C 32768
 fi
 
-# Start Invensense ICP 101xx barometer built on to VOXL 2
-qshell icp101xx start -I -b 5
+# Start onboard barometer
+if [ "$PLATFORM" == "M0197" ]; then
+    /bin/echo "Starting dps368 barometer on M0197"
+    qshell dps310 start -I -b 5
+else
+    # Start Invensense ICP 101xx barometer built on to VOXL 2
+    qshell icp101xx start -I -b 5
+fi
 
 # Auto detect the magnetometer. If one or both of these devices
 # are not connected it will fail but not cause any harm.
@@ -97,6 +108,9 @@ if [ "$GPS" != "NONE" ]; then
     # On M0052 the GPS driver runs on the apps processor
     if [ $PLATFORM = "M0052" ]; then
         gps start -d /dev/ttyHS2
+    # On M0197 the GPS driver runs on the apps processor
+    elif [ $PLATFORM = "M0197" ]; then
+        gps start -d /dev/ttyHS7
     # On M0054 and M0104 the GPS driver runs on SLPI DSP
     else
         qshell gps start -d 6
diff --git a/src/lib/drivers/device/qurt/SPI.cpp b/src/lib/drivers/device/qurt/SPI.cpp
index 66ebb26dd6..8e040ec227 100644
--- a/src/lib/drivers/device/qurt/SPI.cpp
+++ b/src/lib/drivers/device/qurt/SPI.cpp
@@ -157,7 +157,11 @@ SPI::transfer(uint8_t *send, uint8_t *recv, unsigned len)
 
 			if (_spi_transfer != NULL) {
 				pthread_mutex_lock(&_mutex);
-				ret = _spi_transfer(_fd, send, recv, len);
+
+				if (recv) { ret = _spi_transfer(_fd, send, recv, len); }
+
+				else { ret = _spi_transfer(_fd, send, send, len); }
+
 				pthread_mutex_unlock(&_mutex);
 
 			} else {