diff --git a/Tools/px4moduledoc/srcparser.py b/Tools/px4moduledoc/srcparser.py
index 7e0f74926a..2e8ccc1894 100644
--- a/Tools/px4moduledoc/srcparser.py
+++ b/Tools/px4moduledoc/srcparser.py
@@ -15,7 +15,8 @@ class ModuleDocumentation(object):
     # TOC in https://github.com/PX4/Devguide/blob/master/en/SUMMARY.md
     valid_categories = ['driver', 'estimator', 'controller', 'system',
                         'communication', 'command', 'template', 'simulation']
-    valid_subcategories = ['', 'distance_sensor']
+    valid_subcategories = ['', 'distance_sensor', 'imu', 'airspeed_sensor',
+                           'magnetometer', 'baro']
 
     max_line_length = 80 # wrap lines that are longer than this
 
diff --git a/platforms/common/i2c_spi_buses.cpp b/platforms/common/i2c_spi_buses.cpp
index 09c1d4b7be..ed82029ff9 100644
--- a/platforms/common/i2c_spi_buses.cpp
+++ b/platforms/common/i2c_spi_buses.cpp
@@ -45,7 +45,7 @@
 BusInstanceIterator::BusInstanceIterator(I2CSPIInstance **instances, int max_num_instances,
 		const BusCLIArguments &cli_arguments, uint16_t devid_driver_index)
 	: _instances(instances), _max_num_instances(max_num_instances),
-	  _bus_option(cli_arguments.bus_option),
+	  _bus_option(cli_arguments.bus_option), _type(cli_arguments.type),
 	  _spi_bus_iterator(spiFilter(cli_arguments.bus_option),
 			    cli_arguments.bus_option == I2CSPIBusOption::SPIExternal ? cli_arguments.chipselect_index : devid_driver_index,
 			    cli_arguments.requested_bus),
@@ -58,7 +58,8 @@ bool BusInstanceIterator::next()
 	int bus = -1;
 
 	if (busType() == BOARD_INVALID_BUS) {
-		while (++_current_instance < _max_num_instances && _instances[_current_instance] == nullptr) {}
+		while (++_current_instance < _max_num_instances && (_instances[_current_instance] == nullptr
+				|| _type != _instances[_current_instance]->_type)) {}
 
 		return _current_instance < _max_num_instances;
 
@@ -82,7 +83,7 @@ bool BusInstanceIterator::next()
 				continue;
 			}
 
-			if (_bus_option == _instances[i]->_bus_option && bus == _instances[i]->_bus) {
+			if (_bus_option == _instances[i]->_bus_option && bus == _instances[i]->_bus && _type == _instances[i]->_type) {
 				_current_instance = i;
 			}
 		}
@@ -164,7 +165,7 @@ uint32_t BusInstanceIterator::devid() const
 	}
 }
 
-uint32_t BusInstanceIterator::DRDYGPIO() const
+spi_drdy_gpio_t BusInstanceIterator::DRDYGPIO() const
 {
 	if (busType() == BOARD_INVALID_BUS) {
 		return 0;
@@ -233,7 +234,8 @@ int I2CSPIDriverBase::module_start(const BusCLIArguments &cli, BusInstanceIterat
 
 	while (iterator.next()) {
 		if (iterator.instance()) {
-			continue; // already running
+			PX4_WARN("Already running on bus %i", iterator.bus());
+			continue;
 		}
 
 		const int free_index = iterator.nextFreeInstance();
diff --git a/platforms/common/include/px4_platform_common/i2c_spi_buses.h b/platforms/common/include/px4_platform_common/i2c_spi_buses.h
index 73c2fdedbe..7535ff203c 100644
--- a/platforms/common/include/px4_platform_common/i2c_spi_buses.h
+++ b/platforms/common/include/px4_platform_common/i2c_spi_buses.h
@@ -59,8 +59,8 @@ enum class I2CSPIBusOption : uint8_t {
 class I2CSPIInstance
 {
 public:
-	I2CSPIInstance(I2CSPIBusOption bus_option, int bus)
-		: _bus_option(bus_option), _bus(bus) {}
+	I2CSPIInstance(I2CSPIBusOption bus_option, int bus, int type)
+		: _bus_option(bus_option), _bus(bus), _type(type) {}
 
 	virtual ~I2CSPIInstance() = default;
 
@@ -70,15 +70,20 @@ private:
 
 	const I2CSPIBusOption _bus_option;
 	const int _bus;
+	const int _type; ///< device type (driver-specific)
 };
 
 struct BusCLIArguments {
 	I2CSPIBusOption bus_option{I2CSPIBusOption::All};
+	int type{0}; ///< device type (driver-specific)
 	int requested_bus{-1};
 	int chipselect_index{1};
 	Rotation rotation{ROTATION_NONE};
-	int custom1; ///< driver-specific custom argument
-	int custom2; ///< driver-specific custom argument
+	int bus_frequency{0};
+	int spi_mode{-1};
+	int custom1{0}; ///< driver-specific custom argument
+	int custom2{0}; ///< driver-specific custom argument
+	void *custom_data{nullptr}; ///< driver-specific custom argument
 };
 
 /**
@@ -103,7 +108,7 @@ public:
 	board_bus_types busType() const;
 	int bus() const;
 	uint32_t devid() const;
-	uint32_t DRDYGPIO() const;
+	spi_drdy_gpio_t DRDYGPIO() const;
 	bool external() const;
 
 	static I2CBusIterator::FilterType i2cFilter(I2CSPIBusOption bus_option);
@@ -112,6 +117,7 @@ private:
 	I2CSPIInstance **_instances;
 	const int _max_num_instances;
 	const I2CSPIBusOption _bus_option;
+	const int _type;
 	SPIBusIterator _spi_bus_iterator;
 	I2CBusIterator _i2c_bus_iterator;
 	int _current_instance{-1};
@@ -124,9 +130,9 @@ private:
 class I2CSPIDriverBase : public px4::ScheduledWorkItem, public I2CSPIInstance
 {
 public:
-	I2CSPIDriverBase(const char *module_name, const px4::wq_config_t &config, I2CSPIBusOption bus_option, int bus)
+	I2CSPIDriverBase(const char *module_name, const px4::wq_config_t &config, I2CSPIBusOption bus_option, int bus, int type)
 		: ScheduledWorkItem(module_name, config),
-		  I2CSPIInstance(bus_option, bus) {}
+		  I2CSPIInstance(bus_option, bus, type) {}
 
 	static int module_stop(BusInstanceIterator &iterator);
 	static int module_status(BusInstanceIterator &iterator);
@@ -178,8 +184,8 @@ public:
 	static I2CSPIInstance **instances() { return _instances; }
 
 protected:
-	I2CSPIDriver(const char *module_name, const px4::wq_config_t &config, I2CSPIBusOption bus_option, int bus)
-		: I2CSPIDriverBase(module_name, config, bus_option, bus) {}
+	I2CSPIDriver(const char *module_name, const px4::wq_config_t &config, I2CSPIBusOption bus_option, int bus, int type = 0)
+		: I2CSPIDriverBase(module_name, config, bus_option, bus, type) {}
 
 	virtual ~I2CSPIDriver() = default;
 
diff --git a/platforms/common/include/px4_platform_common/spi.h b/platforms/common/include/px4_platform_common/spi.h
index b76650c9e0..665f089c59 100644
--- a/platforms/common/include/px4_platform_common/spi.h
+++ b/platforms/common/include/px4_platform_common/spi.h
@@ -46,10 +46,12 @@
 //#define PX4_SPI_DEV_ID(devid)     ((devid) & 0xffff)
 #define PX4_SPIDEVID_TYPE(devid) (((uint32_t)(devid) >> 16) & 0xffff)
 
+typedef uint32_t spi_drdy_gpio_t;
+
 #define SPI_BUS_MAX_DEVICES 5
 struct px4_spi_bus_device_t {
 	uint32_t cs_gpio; ///< chip-select GPIO (0 if this device is not used)
-	uint32_t drdy_gpio; ///< data ready GPIO (0 if not set)
+	spi_drdy_gpio_t drdy_gpio; ///< data ready GPIO (0 if not set)
 	uint32_t devid; ///< SPIDEV_ID(type,index). For PX4 devices on NuttX: index is the device type, and for external buses the CS index
 	uint16_t devtype_driver; ///< driver device type, e.g. DRV_IMU_DEVTYPE_ICM20689 (on NuttX: PX4_SPI_DEV_ID(devid) == devtype_driver)
 };
@@ -148,7 +150,7 @@ public:
 	bool next();
 
 	const px4_spi_bus_t &bus() const { return px4_spi_buses[_index]; }
-	uint32_t DRDYGPIO() const { return px4_spi_buses[_index].devices[_bus_device_index].drdy_gpio; }
+	spi_drdy_gpio_t DRDYGPIO() const { return px4_spi_buses[_index].devices[_bus_device_index].drdy_gpio; }
 
 	uint32_t devid() const { return px4_spi_buses[_index].devices[_bus_device_index].devid; }