Qurt platform custom icm42688p IMU driver (#20753)

- first version of IMU driver for the VOXL 2 platform (Qurt)
 - this is a customized version of the Invensense ICM42688P driver, it is currently in the VOXL 2 board directory

src/lib/drivers/device/CMakeLists.txt

@@ -41,9 +41,9 @@ if (${PX4_PLATFORM} STREQUAL "nuttx")
 		list(APPEND SRCS_PLATFORM nuttx/SPI.cpp)
 	endif()
 elseif((${PX4_PLATFORM} MATCHES "qurt"))
-	list(APPEND SRCS_PLATFORM qurt/I2C.cpp)
+	# list(APPEND SRCS_PLATFORM qurt/I2C.cpp)
 	list(APPEND SRCS_PLATFORM qurt/SPI.cpp)
-	list(APPEND SRCS_PLATFORM qurt/uart.c)
+	# list(APPEND SRCS_PLATFORM qurt/uart.c)
 elseif(UNIX AND NOT APPLE) #TODO: add linux PX4 platform type
 	# Linux I2Cdev and SPIdev
 	list(APPEND SRCS_PLATFORM

src/modules/muorb/slpi/uORBProtobufChannel.cpp

@@ -37,9 +37,14 @@
 #include <string>
 
 #include <drivers/drv_hrt.h>
+#include <drivers/device/spi.h>
 #include <pthread.h>
 #include <px4_platform_common/tasks.h>
 #include <px4_platform_common/log.h>
+#include <lib/parameters/param.h>
+#include <px4_platform_common/px4_work_queue/WorkQueueManager.hpp>
+
+#include "hrt_work.h"
 
 // Definition of test to run when in muorb test mode
 static MUORBTestType test_to_run;
@@ -230,6 +235,18 @@ int px4muorb_orb_initialize(fc_func_ptrs *func_ptrs, int32_t clock_offset_us)
 		uORB::Manager::get_instance()->set_uorb_communicator(
 			uORB::ProtobufChannel::GetInstance());
 
+		param_init();
+
+		px4::WorkQueueManagerStart();
+
+		// Configure the SPI driver function pointers
+		device::SPI::configure_callbacks(muorb_func_ptrs._config_spi_bus_func_t, muorb_func_ptrs._spi_transfer_func_t);
+
+		// Initialize the interrupt callback registration
+		register_interrupt_callback_initalizer(muorb_func_ptrs.register_interrupt_callback);
+
+		hrt_work_queue_init();
+
 		const char *argv[3] = { "slpi", "start" };
 		int argc = 2;