sensor: tdk 42688 driver

boards/arm/tdk_robokit1/tdk_robokit1-common.dtsi

@@ -83,7 +83,18 @@
  pinctrl-names = "default";
  dmas = <&xdmac 0 DMA_PERID_SPI0_TX>, <&xdmac 1 DMA_PERID_SPI0_RX>;
  dma-names = "tx", "rx";
+ cs-gpios =<&pioa 31 GPIO_ACTIVE_LOW>;
  status = "okay";
+
+ icm42688p@0 {
+ compatible = "invensense,icm42688";
+ reg = <0>;
+ spi-max-frequency = <24000000>;
+ accel-hz = <32000>;
+ accel-fs = <16>;
+ gyro-hz = <32000>;
+ gyro-fs = <2000>;
+ };
 };
 
 &spi1 {

drivers/sensor/CMakeLists.txt

@@ -36,6 +36,7 @@ add_subdirectory_ifdef(CONFIG_HTS221 hts221)
 add_subdirectory_ifdef(CONFIG_I3G4250D i3g4250d)
 add_subdirectory_ifdef(CONFIG_ICM42605 icm42605)
 add_subdirectory_ifdef(CONFIG_ICM42670 icm42670)
+add_subdirectory_ifdef(CONFIG_ICM42688 icm42688)
 add_subdirectory_ifdef(CONFIG_ICP10125 icp10125)
 add_subdirectory_ifdef(CONFIG_IIS2DH iis2dh)
 add_subdirectory_ifdef(CONFIG_IIS2DLPC iis2dlpc)

drivers/sensor/Kconfig

@@ -113,6 +113,8 @@ source "drivers/sensor/icm42605/Kconfig"
 
 source "drivers/sensor/icm42670/Kconfig"
 
+source "drivers/sensor/icm42688/Kconfig"
+
 source "drivers/sensor/icp10125/Kconfig"
 
 source "drivers/sensor/iis2dh/Kconfig"

drivers/sensor/icm42688/CMakeLists.txt

@@ -0,0 +1,9 @@
+# SPDX-License-Identifier: Apache-2.0
+
+zephyr_library()
+
+zephyr_library_sources(
+ icm42688.c
+ icm42688_common.c
+ icm42688_spi.c
+)

drivers/sensor/icm42688/Kconfig

@@ -0,0 +1,13 @@
+# ICM42688-P Six-Axis Motion Tracking device configuration options
+#
+# Copyright (c) 2022 Intel Corporation
+#
+# SPDX-License-Identifier: Apache-2.0
+
+config ICM42688
+ bool "ICM42688 Six-Axis Motion Tracking Device"
+ default y
+ depends on DT_HAS_INVENSENSE_ICM42688_ENABLED
+ select SPI
+ help
+ Enable driver for ICM42688 SPI-based six-axis motion tracking device.

drivers/sensor/icm42688/icm42688.c

@@ -0,0 +1,192 @@
+/*
+ * Copyright (c) 2022 Intel Corporation
+ * Copyright (c) 2022 Esco Medical ApS
+ * Copyright (c) 2020 TDK Invensense
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#define DT_DRV_COMPAT invensense_icm42688
+
+#include <zephyr/drivers/sensor.h>
+#include <zephyr/drivers/spi.h>
+#include <zephyr/sys/byteorder.h>
+#include "icm42688.h"
+#include "icm42688_reg.h"
+#include "icm42688_spi.h"
+
+#include <zephyr/logging/log.h>
+LOG_MODULE_REGISTER(ICM42688, CONFIG_SENSOR_LOG_LEVEL);
+
+struct icm42688_sensor_data {
+ struct icm42688_dev_data dev_data;
+
+ int16_t readings[7];
+};
+
+struct icm42688_sensor_config {
+ struct icm42688_dev_cfg dev_cfg;
+};
+
+static void icm42688_convert_accel(struct sensor_value *val, int16_t raw_val,
+ struct icm42688_cfg *cfg)
+{
+ icm42688_accel_ms(cfg, (int32_t)raw_val, &val->val1, &val->val2);
+}
+
+static void icm42688_convert_gyro(struct sensor_value *val, int16_t raw_val,
+ struct icm42688_cfg *cfg)
+{
+ icm42688_gyro_rads(cfg, (int32_t)raw_val, &val->val1, &val->val2);
+}
+
+static inline void icm42688_convert_temp(struct sensor_value *val, int16_t raw_val)
+{
+ icm42688_temp_c((int32_t)raw_val, &val->val1, &val->val2);
+}
+
+static int icm42688_channel_get(const struct device *dev, enum sensor_channel chan,
+ struct sensor_value *val)
+{
+ struct icm42688_sensor_data *data = dev->data;
+
+ switch (chan) {
+ case SENSOR_CHAN_ACCEL_XYZ:
+ icm42688_convert_accel(&val[0], data->readings[1], &data->dev_data.cfg);
+ icm42688_convert_accel(&val[1], data->readings[2], &data->dev_data.cfg);
+ icm42688_convert_accel(&val[2], data->readings[3], &data->dev_data.cfg);
+ break;
+ case SENSOR_CHAN_ACCEL_X:
+ icm42688_convert_accel(val, data->readings[1], &data->dev_data.cfg);
+ break;
+ case SENSOR_CHAN_ACCEL_Y:
+ icm42688_convert_accel(val, data->readings[2], &data->dev_data.cfg);
+ break;
+ case SENSOR_CHAN_ACCEL_Z:
+ icm42688_convert_accel(val, data->readings[3], &data->dev_data.cfg);
+ break;
+ case SENSOR_CHAN_GYRO_XYZ:
+ icm42688_convert_gyro(&val[0], data->readings[4], &data->dev_data.cfg);
+ icm42688_convert_gyro(&val[1], data->readings[5], &data->dev_data.cfg);
+ icm42688_convert_gyro(&val[2], data->readings[6], &data->dev_data.cfg);
+ break;
+ case SENSOR_CHAN_GYRO_X:
+ icm42688_convert_gyro(val, data->readings[4], &data->dev_data.cfg);
+ break;
+ case SENSOR_CHAN_GYRO_Y:
+ icm42688_convert_gyro(val, data->readings[5], &data->dev_data.cfg);
+ break;
+ case SENSOR_CHAN_GYRO_Z:
+ icm42688_convert_gyro(val, data->readings[6], &data->dev_data.cfg);
+ break;
+ case SENSOR_CHAN_DIE_TEMP:
+ icm42688_convert_temp(val, data->readings[0]);
+ break;
+ default:
+ return -ENOTSUP;
+ }
+
+ return 0;
+}
+
+static int icm42688_sample_fetch(const struct device *dev, enum sensor_channel chan)
+{
+ uint8_t status;
+ struct icm42688_sensor_data *data = dev->data;
+ const struct icm42688_sensor_config *cfg = dev->config;
+
+ int res = icm42688_spi_read(&cfg->dev_cfg.spi, REG_INT_STATUS, &status, 1);
+
+ if (res) {
+ return res;
+ }
+
+ if (!FIELD_GET(BIT_INT_STATUS_DATA_RDY, status)) {
+ return -EBUSY;
+ }
+
+ uint8_t readings[14];
+
+ res = icm42688_read_all(dev, readings);
+
+ if (res) {
+ return res;
+ }
+
+ for (int i = 0; i < 7; i++) {
+ data->readings[i] =
+ sys_le16_to_cpu((readings[i * 2] << 8) | readings[i * 2 + 1]);
+ }
+
+ return 0;
+}
+
+static int icm42688_attr_set(const struct device *dev, enum sensor_channel chan,
+ enum sensor_attribute attr, const struct sensor_value *val)
+{
+ return -ENOTSUP;
+}
+
+static int icm42688_attr_get(const struct device *dev, enum sensor_channel chan,
+ enum sensor_attribute attr, struct sensor_value *val)
+{
+ return -ENOTSUP;
+}
+
+static const struct sensor_driver_api icm42688_driver_api = {
+ .sample_fetch = icm42688_sample_fetch,
+ .channel_get = icm42688_channel_get,
+ .attr_set = icm42688_attr_set,
+ .attr_get = icm42688_attr_get,
+};
+
+int icm42688_init(const struct device *dev)
+{
+ struct icm42688_sensor_data *data = dev->data;
+ const struct icm42688_sensor_config *cfg = dev->config;
+ int res;
+
+ if (!spi_is_ready_dt(&cfg->dev_cfg.spi)) {
+ LOG_ERR("SPI bus is not ready");
+ return -ENODEV;
+ }
+
+ if (icm42688_reset(dev)) {
+ LOG_ERR("could not initialize sensor");
+ return -EIO;
+ }
+
+ data->dev_data.cfg.accel_mode = ICM42688_ACCEL_LN;
+ data->dev_data.cfg.gyro_mode = ICM42688_GYRO_LN;
+ data->dev_data.cfg.accel_fs = ICM42688_ACCEL_FS_2G;
+ data->dev_data.cfg.gyro_fs = ICM42688_GYRO_FS_125;
+ data->dev_data.cfg.accel_odr = ICM42688_ACCEL_ODR_1000;
+ data->dev_data.cfg.gyro_odr = ICM42688_GYRO_ODR_1000;
+
+ res = icm42688_configure(dev, &data->dev_data.cfg);
+ if (res != 0) {
+ LOG_ERR("Failed to configure");
+ }
+
+ return res;
+}
+/* device defaults to spi mode 0/3 support */
+#define ICM42688_SPI_CFG \
+ SPI_OP_MODE_MASTER | SPI_MODE_CPOL | SPI_MODE_CPHA | SPI_WORD_SET(8) | SPI_TRANSFER_MSB
+
+#define ICM42688_INIT(inst) \
+ static struct icm42688_sensor_data icm42688_driver_##inst = {}; \
+ \
+ static const struct icm42688_sensor_config icm42688_cfg_##inst = { \
+ .dev_cfg = \
+ { \
+ .spi = SPI_DT_SPEC_INST_GET(inst, ICM42688_SPI_CFG, 0U), \
+ .gpio_int1 = GPIO_DT_SPEC_INST_GET_OR(inst, int_gpios, {0}), \
+ }, \
+ }; \
+ \
+ SENSOR_DEVICE_DT_INST_DEFINE(inst, icm42688_init, NULL, &icm42688_driver_##inst, \
+ &icm42688_cfg_##inst, POST_KERNEL, \
+ CONFIG_SENSOR_INIT_PRIORITY, &icm42688_driver_api);
+
+DT_INST_FOREACH_STATUS_OKAY(ICM42688_INIT)