Add new Compass QMC5883P (#25115)

* add qmc5883p drivers

* format correction for qmc5883p

* make format

* remove extra newlines

---------

Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -234,6 +234,7 @@ then
 		lis3mdl -X -q -a 0x1c start
 	fi
 	qmc5883l -X -q start
+	qmc5883p -X -q start
 	rm3100 -X -q start
 
 	# start last (wait for possible icm20948 passthrough mode)

src/drivers/drv_sensor.h

@@ -65,6 +65,8 @@
 #define DRV_MAG_DEVTYPE_MMC5983MA  0x0D
 #define DRV_MAG_DEVTYPE_IIS2MDC  0x0E
 
+#define DRV_MAG_DEVTYPE_QMC5883P 0x0F
+
 #define DRV_IMU_DEVTYPE_LSM303D  0x11
 
 #define DRV_IMU_DEVTYPE_SIM 0x14

src/drivers/magnetometer/CMakeLists.txt

@@ -35,6 +35,7 @@ add_subdirectory(akm)
 add_subdirectory(bosch)
 add_subdirectory(hmc5883)
 add_subdirectory(qmc5883l)
+add_subdirectory(qmc5883p)
 add_subdirectory(isentek)
 add_subdirectory(lis3mdl)
 add_subdirectory(lsm303agr)

src/drivers/magnetometer/Kconfig

@@ -7,6 +7,7 @@ menu "Magnetometer"
         select DRIVERS_MAGNETOMETER_BOSCH_BMM150
         select DRIVERS_MAGNETOMETER_HMC5883
         select DRIVERS_MAGNETOMETER_QMC5883L
+        select DRIVERS_MAGNETOMETER_QMC5883P
         select DRIVERS_MAGNETOMETER_ISENTEK_IST8308
         select DRIVERS_MAGNETOMETER_ISENTEK_IST8310
         select DRIVERS_MAGNETOMETER_LIS3MDL

src/drivers/magnetometer/qmc5883p/CMakeLists.txt

@@ -0,0 +1,46 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+px4_add_module(
+	MODULE drivers__magnetometer__qmc5883p
+	MAIN qmc5883p
+	COMPILE_FLAGS
+	SRCS
+		QMC5883P.cpp
+		QMC5883P.hpp
+		qmc5883p_main.cpp
+		QST_QMC5883P_registers.hpp
+	DEPENDS
+		drivers_magnetometer
+		px4_work_queue
+	)

src/drivers/magnetometer/qmc5883p/Kconfig

@@ -0,0 +1,5 @@
+menuconfig DRIVERS_MAGNETOMETER_QMC5883P
+	bool "qmc5883p"
+	default n
+	---help---
+		Enable support for qmc5883p

src/drivers/magnetometer/qmc5883p/QMC5883P.cpp

@@ -0,0 +1,308 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 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 "QMC5883P.hpp"
+
+using namespace time_literals;
+
+static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
+{
+	return (msb << 8u) | lsb;
+}
+
+QMC5883P::QMC5883P(const I2CSPIDriverConfig &config) :
+	I2C(config),
+	I2CSPIDriver(config),
+	_px4_mag(get_device_id(), config.rotation)
+{
+}
+
+QMC5883P::~QMC5883P()
+{
+	perf_free(_reset_perf);
+	perf_free(_bad_register_perf);
+	perf_free(_bad_transfer_perf);
+}
+
+int QMC5883P::init()
+{
+	int ret = I2C::init();
+
+	if (ret != PX4_OK) {
+		DEVICE_DEBUG("I2C::init failed (%i)", ret);
+		return ret;
+	}
+
+	return Reset() ? 0 : -1;
+}
+
+bool QMC5883P::Reset()
+{
+	_state = STATE::RESET;
+	ScheduleClear();
+	ScheduleNow();
+	return true;
+}
+
+void QMC5883P::print_status()
+{
+	I2CSPIDriverBase::print_status();
+
+	perf_print_counter(_reset_perf);
+	perf_print_counter(_bad_register_perf);
+	perf_print_counter(_bad_transfer_perf);
+}
+
+int QMC5883P::probe()
+{
+	_retries = 1;
+
+	for (int i = 0; i < 3; i++) {
+		// first read 0x0 once
+		const uint8_t cmd = 0;
+		uint8_t buffer{};
+
+		if (transfer(&cmd, 1, &buffer, 1) == PX4_OK) {
+			const uint8_t CHIP_ID = RegisterRead(Register::CHIP_ID);
+
+			if (CHIP_ID == Chip_ID) {
+				return PX4_OK;
+			}
+		}
+	}
+
+	return PX4_ERROR;
+}
+
+void QMC5883P::RunImpl()
+{
+	const hrt_abstime now = hrt_absolute_time();
+
+	switch (_state) {
+	case STATE::RESET: {
+			// CNTL2: Software Reset
+			RegisterWrite(Register::CNTL2, CNTL2_BIT::SOFT_RST);
+			_reset_timestamp = now;
+			_failure_count = 0;
+			_state = STATE::WAIT_FOR_RESET;
+			perf_count(_reset_perf);
+			ScheduleDelayed(100_ms); // POR Completion Time
+			break;
+		}
+
+	case STATE::WAIT_FOR_RESET: {
+			// SOFT_RST: This bit is automatically reset to zero after POR routine
+			if ((RegisterRead(Register::CHIP_ID) == Chip_ID)
+			    && ((RegisterRead(Register::CNTL2) & CNTL2_BIT::SOFT_RST) == 0)) {
+
+				// if reset succeeded then configure
+				_state = STATE::CONFIGURE;
+				ScheduleDelayed(10_ms);
+
+			} else {
+				// RESET not complete
+				if (hrt_elapsed_time(&_reset_timestamp) > 1_s) {
+					PX4_DEBUG("Reset failed, retrying");
+					_state = STATE::RESET;
+					ScheduleDelayed(10_ms);
+
+				} else {
+					PX4_DEBUG("Reset not complete, check again in 10 ms");
+					ScheduleDelayed(10_ms);
+				}
+			}
+
+			break;
+		}
+
+	case STATE::CONFIGURE:
+		if (Configure()) {
+			// if configure succeeded then start reading every 20 ms (50 Hz)
+			_state = STATE::READ;
+			ScheduleOnInterval(20_ms, 20_ms);
+
+		} else {
+			// CONFIGURE not complete
+			if (hrt_elapsed_time(&_reset_timestamp) > 1_s) {
+				PX4_DEBUG("Configure failed, resetting");
+				_state = STATE::RESET;
+
+			} else {
+				PX4_DEBUG("Configure failed, retrying");
+			}
+
+			ScheduleDelayed(100_ms);
+		}
+
+		break;
+
+	case STATE::READ: {
+			struct TransferBuffer {
+				uint8_t X_LSB;
+				uint8_t X_MSB;
+				uint8_t Y_LSB;
+				uint8_t Y_MSB;
+				uint8_t Z_LSB;
+				uint8_t Z_MSB;
+				uint8_t N_LSB;
+				uint8_t N_MSB;
+				uint8_t STATUS;
+			} buffer{};
+
+			bool success = false;
+			uint8_t cmd = static_cast<uint8_t>(Register::X_LSB);
+
+			if (transfer(&cmd, 1, (uint8_t *)&buffer, sizeof(buffer)) == PX4_OK) {
+				// process data if successful transfer, no overflow
+				if ((buffer.STATUS & STATUS_BIT::OVL) == 0) {
+					int16_t x = combine(buffer.X_MSB, buffer.X_LSB);
+					int16_t y = combine(buffer.Y_MSB, buffer.Y_LSB);
+					int16_t z = combine(buffer.Z_MSB, buffer.Z_LSB);
+
+					if (buffer.STATUS & STATUS_BIT::DRDY) {
+						_prev_data[0] = x;
+						_prev_data[1] = y;
+						_prev_data[2] = z;
+
+						// Sensor orientation
+						//  Forward X := -Y
+						//  Right   Y := -X
+						//  Down    Z := -Z
+						int16_t new_x = (y == INT16_MIN) ? INT16_MAX : -y;
+						int16_t new_y = (x == INT16_MIN) ? INT16_MAX : -x;
+						int16_t new_z = (z == INT16_MIN) ? INT16_MAX : -z;
+
+						_px4_mag.update(now, new_x, new_y, new_z);
+						success = true;
+
+						if (_failure_count > 0) {
+							_failure_count--;
+						}
+					}
+				}
+
+			} else {
+				perf_count(_bad_transfer_perf);
+			}
+
+			if (!success) {
+				_failure_count++;
+
+				// full reset if things are failing consistently
+				if (_failure_count > 10) {
+					Reset();
+					return;
+				}
+			}
+
+			if (!success || hrt_elapsed_time(&_last_config_check_timestamp) > 100_ms) {
+				// check configuration registers periodically or immediately following any failure
+				if (RegisterCheck(_register_cfg[_checked_register])) {
+					_last_config_check_timestamp = now;
+					_checked_register = (_checked_register + 1) % size_register_cfg;
+
+				} else {
+					// register check failed, force reset
+					perf_count(_bad_register_perf);
+					Reset();
+				}
+			}
+		}
+		break;
+	}
+}
+
+bool QMC5883P::Configure()
+{
+	// first set and clear all configured register bits
+	for (const auto &reg_cfg : _register_cfg) {
+		RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
+		ScheduleDelayed(10_ms);
+	}
+
+	// now check that all are configured
+	bool success = true;
+
+	for (const auto &reg_cfg : _register_cfg) {
+		if (!RegisterCheck(reg_cfg)) {
+			success = false;
+		}
+	}
+
+	_px4_mag.set_scale(1.f / 12000.f); // 12000 LSB/Gauss (Field Range = ±2G)
+
+	return success;
+}
+
+bool QMC5883P::RegisterCheck(const register_config_t &reg_cfg)
+{
+	bool success = true;
+
+	const uint8_t reg_value = RegisterRead(reg_cfg.reg);
+
+	if (reg_cfg.set_bits && ((reg_value & reg_cfg.set_bits) != reg_cfg.set_bits)) {
+		PX4_INFO("0x%02hhX: 0x%02hhX (0x%02hhX not set)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.set_bits);
+		success = false;
+	}
+
+	if (reg_cfg.clear_bits && ((reg_value & reg_cfg.clear_bits) != 0)) {
+		PX4_INFO("0x%02hhX: 0x%02hhX (0x%02hhX not cleared)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.clear_bits);
+		success = false;
+	}
+
+	return success;
+}
+
+uint8_t QMC5883P::RegisterRead(Register reg)
+{
+	const uint8_t cmd = static_cast<uint8_t>(reg);
+	uint8_t buffer{};
+	transfer(&cmd, 1, &buffer, 1);
+	return buffer;
+}
+
+void QMC5883P::RegisterWrite(Register reg, uint8_t value)
+{
+	uint8_t buffer[2] { (uint8_t)reg, value };
+	transfer(buffer, sizeof(buffer), nullptr, 0);
+}
+
+void QMC5883P::RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits)
+{
+	const uint8_t orig_val = RegisterRead(reg);
+	uint8_t val = (orig_val & ~clearbits) | setbits;
+
+	if (orig_val != val) {
+		RegisterWrite(reg, val);
+	}
+}

src/drivers/magnetometer/qmc5883p/QMC5883P.hpp

@@ -0,0 +1,113 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file QMC5883P.hpp
+ *
+ * Driver for the QMC5883P connected via I2C.
+ *
+ * @author Amovlab Lv Guofei <service@amovauto.com>
+ */
+
+#pragma once
+
+#include "QST_QMC5883P_registers.hpp"
+
+#include <drivers/drv_hrt.h>
+#include <drivers/device/i2c.h>
+#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
+#include <lib/perf/perf_counter.h>
+#include <px4_platform_common/i2c_spi_buses.h>
+
+using namespace QST_QMC5883P;
+
+class QMC5883P : public device::I2C, public I2CSPIDriver<QMC5883P>
+{
+public:
+	QMC5883P(const I2CSPIDriverConfig &config);
+	~QMC5883P() override;
+
+	static void print_usage();
+
+	void RunImpl();
+
+	int init() override;
+	void print_status() override;
+
+private:
+	// Sensor Configuration
+	struct register_config_t {
+		Register reg;
+		uint8_t set_bits{0};
+		uint8_t clear_bits{0};
+	};
+
+	int probe() override;
+
+	bool Reset();
+
+	bool Configure();
+
+	bool RegisterCheck(const register_config_t &reg_cfg);
+
+	uint8_t RegisterRead(Register reg);
+	void RegisterWrite(Register reg, uint8_t value);
+	void RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits);
+
+	PX4Magnetometer _px4_mag;
+
+	perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
+	perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
+	perf_counter_t _reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": reset")};
+
+	hrt_abstime _reset_timestamp{0};
+	hrt_abstime _last_config_check_timestamp{0};
+	int _failure_count{0};
+
+	int16_t _prev_data[3] {};
+
+	enum class STATE : uint8_t {
+		RESET,
+		WAIT_FOR_RESET,
+		CONFIGURE,
+		READ
+	} _state{STATE::RESET};
+
+	uint8_t _checked_register{0};
+	static constexpr uint8_t size_register_cfg{2};
+	register_config_t _register_cfg[size_register_cfg] {
+		// Register                   | Set bits, Clear bits
+		{ Register::CNTL1,            CNTL1_BIT::MODE_CONTINUOUS | CNTL1_BIT::OSR1_8 | CNTL1_BIT::ODR_50HZ,  CNTL1_BIT::OSR2_8},
+		{ Register::CNTL2,            CNTL2_BIT::RNG_2G, CNTL2_BIT::SOFT_RST | CNTL2_BIT::SELF_TEST},
+	};
+};

src/drivers/magnetometer/qmc5883p/QST_QMC5883P_registers.hpp

@@ -0,0 +1,114 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file QST_QMC5883P_registers.hpp
+ *
+ * QST QMC5883P registers.
+ *
+ * @author Amovlab Lv Guofei <service@amovauto.com>
+ *
+ */
+#pragma once
+
+#include <cstdint>
+
+namespace QST_QMC5883P
+{
+
+// TODO: move to a central header
+static constexpr uint8_t Bit0 = (1 << 0);
+static constexpr uint8_t Bit1 = (1 << 1);
+static constexpr uint8_t Bit2 = (1 << 2);
+static constexpr uint8_t Bit3 = (1 << 3);
+static constexpr uint8_t Bit4 = (1 << 4);
+static constexpr uint8_t Bit5 = (1 << 5);
+static constexpr uint8_t Bit6 = (1 << 6);
+static constexpr uint8_t Bit7 = (1 << 7);
+
+// default value
+static constexpr uint32_t I2C_SPEED = 400 * 1000; // 400 kHz I2C serial interface
+static constexpr uint8_t I2C_ADDRESS_DEFAULT = 0b0101100; // default I2C address
+
+static constexpr uint8_t Chip_ID = 0x80;
+
+//static constexpr uint8_t XYZ_SIGN_CONFIG = 0x29; // XYZ symbol configuration value
+enum class Register : uint8_t {
+//  Register          addr
+	X_LSB           = 0x01, // Data Output X LSB Register XOUT[7:0]
+	X_MSB           = 0x02, // Data Output X MSB Register XOUT[15:8]
+	Y_LSB           = 0x03, // Data Output Y LSB Register YOUT[7:0]
+	Y_MSB           = 0x04, // Data Output Y MSB Register YOUT[15:8]
+	Z_LSB           = 0x05, // Data Output Z LSB Register ZOUT[7:0]
+	Z_MSB           = 0x06, // Data Output Z MSB Register ZOUT[15:8]
+	N_LSB           = 0X07, // No Use
+	N_MSB           = 0X08, // No Use
+	STATUS          = 0x09, // Status Register 1
+
+	CNTL1           = 0x0A, // Control Register 1
+	CNTL2           = 0x0B, // Control Register 2
+
+	CHIP_ID         = 0x00,
+};
+
+// STATUS
+enum STATUS_BIT : uint8_t {
+	DRDY            = Bit0, // 0: no new data, 1: new data is ready
+	OVL             = Bit1, // 0: no data overflow occurs, 1: data overflow occurs
+};
+
+// CNTL1
+enum CNTL1_BIT : uint8_t {
+	// OSR2[7:6]
+	OSR2_8          =  Bit7 | Bit6, // 00
+	// OSR1[5:4]
+	OSR1_8          =  Bit5 | Bit4, // 11
+	// ODR[3:2]
+	ODR_50HZ        =  Bit2,        // 01
+	// MODE[1:0]
+	MODE_CONTINUOUS = Bit1 | Bit0,  // 11
+};
+
+// CNTL2
+enum CNTL2_BIT : uint8_t {
+	// RNG[3:2]
+	RNG_2G          = Bit3 | Bit2,  // 11
+
+	// SELF_TEST[6]
+	SELF_TEST       = Bit6, //1: self_test enable, auto clear after the data is updated
+
+	// SOFT_RST[7]
+	SOFT_RST        = 0, //1: Soft reset, restore default value of all registers, 0: no reset
+};
+
+} // namespace QMC5883P

src/drivers/magnetometer/qmc5883p/qmc5883p_main.cpp

@@ -0,0 +1,89 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 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 "QMC5883P.hpp"
+
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
+
+void QMC5883P::print_usage()
+{
+	PRINT_MODULE_USAGE_NAME("qmc5883p", "driver");
+	PRINT_MODULE_USAGE_SUBCATEGORY("magnetometer");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
+	PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x2C);
+	PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+}
+
+extern "C" int qmc5883p_main(int argc, char *argv[])
+{
+	int ch;
+	using ThisDriver = QMC5883P;
+	BusCLIArguments cli{true, false};
+	cli.default_i2c_frequency = I2C_SPEED;
+	cli.i2c_address = I2C_ADDRESS_DEFAULT;
+
+	while ((ch = cli.getOpt(argc, argv, "R:")) != EOF) {
+		switch (ch) {
+		case 'R':
+			cli.rotation = (enum Rotation)atoi(cli.optArg());
+			break;
+		}
+	}
+
+	const char *verb = cli.optArg();
+
+	if (!verb) {
+		ThisDriver::print_usage();
+		return -1;
+	}
+
+	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_MAG_DEVTYPE_QMC5883P);
+
+	if (!strcmp(verb, "start")) {
+		return ThisDriver::module_start(cli, iterator);
+	}
+
+	if (!strcmp(verb, "stop")) {
+		return ThisDriver::module_stop(iterator);
+	}
+
+	if (!strcmp(verb, "status")) {
+		return ThisDriver::module_status(iterator);
+	}
+
+	ThisDriver::print_usage();
+	return -1;
+}