Adding driver for MicroStrain Inertial Sensors

.gitmodules

@@ -89,3 +89,7 @@
 [submodule "src/drivers/uavcan/libdronecan/libuavcan/dsdl_compiler/pydronecan"]
 	path = src/drivers/uavcan/libdronecan/libuavcan/dsdl_compiler/pydronecan
 	url = https://github.com/dronecan/pydronecan
+[submodule "src/drivers/ins/microstrain/mip_sdk"]
+	path = src/drivers/ins/microstrain/mip_sdk
+	url = https://github.com/LORD-MicroStrain/mip_sdk.git
+	branch = feature/px4_compilation

src/drivers/drv_sensor.h

@@ -249,6 +249,8 @@
 #define DRV_BARO_DEVTYPE_AUAV		0xE7
 #define DRV_BARO_DEVTYPE_SPA06          0xE8
 
+#define DRV_INS_DEVTYPE_MICROSTRAIN 	0xE8
+
 #define DRV_DEVTYPE_UNUSED		0xff
 
 #endif /* _DRV_SENSOR_H */

src/drivers/ins/Kconfig

@@ -3,6 +3,7 @@ menu "Inertial Navigation Systems (INS)"
         bool "All INS sensors"
         default n
         select DRIVERS_INS_VECTORNAV
+        select DRIVERS_INS_MICROSTRAIN
         ---help---
             Enable default set of INS sensors
     rsource "*/Kconfig"

src/drivers/ins/microstrain/CMakeLists.txt

@@ -0,0 +1,61 @@
+############################################################################
+#
+#   Copyright (c) 2021 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.
+#
+############################################################################
+
+
+set(MIP_SDK_DIR ${CMAKE_CURRENT_SOURCE_DIR}/mip_sdk)
+px4_add_git_submodule(TARGET git_mip PATH ${MIP_SDK_DIR})
+
+# Set some options for the MIP SDK which we will reset after building.
+set(MIP_USE_TCP "OFF" CACHE BOOL "" FORCE)
+set(MIP_DISABLE_CPP "ON" CACHE BOOL "" FORCE)
+set(BUILD_EXAMPLES "OFF" CACHE BOOL "" FORCE)
+set(BUILD_TESTING "OFF" CACHE BOOL "" FORCE)
+add_subdirectory(mip_sdk)
+
+project(drivers__ins__microstrain LANGUAGES C CXX)
+
+px4_add_module(
+	MODULE drivers__ins__microstrain
+	MAIN microstrain
+	COMPILE_FLAGS
+	SRCS
+		MicroStrain.cpp
+		MicroStrain.hpp
+		modal_io_serial.cpp
+		modal_io_serial.hpp
+	MODULE_CONFIG
+		module.yaml
+	DEPENDS
+		px4_work_queue
+		mip
+	)

src/drivers/ins/microstrain/Kconfig

@@ -0,0 +1,5 @@
+menuconfig DRIVERS_INS_MICROSTRAIN
+	bool "microstrain"
+	default n
+	---help---
+		Enable support for Microstrain Sensors