Tdk invensense icm42x70 support 3axis

doc/releases/release-notes-4.1.rst

@@ -517,6 +517,7 @@ New Drivers
    * :dtcompatible:`adi,adxl366`
    * :dtcompatible:`hc-sr04`
    * :dtcompatible:`invensense,icm42670s`
+   * :dtcompatible:`invensense,icm42370`
    * :dtcompatible:`maxim,ds3231-sensor`
    * :dtcompatible:`melexis,mlx90394`
    * :dtcompatible:`nordic,npm2100-vbat`

drivers/sensor/tdk/CMakeLists.txt

@@ -3,8 +3,8 @@
 
 # zephyr-keep-sorted-start
 add_subdirectory_ifdef(CONFIG_ICM42605 icm42605)
-add_subdirectory_ifdef(CONFIG_ICM42670 icm42670)
 add_subdirectory_ifdef(CONFIG_ICM42688 icm42688)
+add_subdirectory_ifdef(CONFIG_ICM42X70 icm42x70)
 add_subdirectory_ifdef(CONFIG_ICP10125 icp10125)
 add_subdirectory_ifdef(CONFIG_MPU6050 mpu6050)
 add_subdirectory_ifdef(CONFIG_MPU9250 mpu9250)

drivers/sensor/tdk/Kconfig

@@ -3,8 +3,8 @@
 
 # zephyr-keep-sorted-start
 source "drivers/sensor/tdk/icm42605/Kconfig"
-source "drivers/sensor/tdk/icm42670/Kconfig"
 source "drivers/sensor/tdk/icm42688/Kconfig"
+source "drivers/sensor/tdk/icm42x70/Kconfig"
 source "drivers/sensor/tdk/icp10125/Kconfig"
 source "drivers/sensor/tdk/mpu6050/Kconfig"
 source "drivers/sensor/tdk/mpu9250/Kconfig"

drivers/sensor/tdk/icm42x70/CMakeLists.txt

@@ -0,0 +1,13 @@
+# SPDX-License-Identifier: Apache-2.0
+
+zephyr_library()
+
+zephyr_library_sources(icm42x70.c)
+
+zephyr_library_sources_ifdef(CONFIG_SPI icm42x70_spi.c)
+zephyr_library_sources_ifdef(CONFIG_I2C icm42x70_i2c.c)
+
+zephyr_library_sources_ifdef(CONFIG_USE_EMD_ICM42670 icm42670.c)
+
+zephyr_library_sources_ifdef(CONFIG_ICM42X70_TRIGGER icm42x70_trigger.c)
+zephyr_library_sources_ifdef(CONFIG_TDK_APEX icm42x70_apex.c)

drivers/sensor/tdk/icm42670/Kconfig → drivers/sensor/tdk/icm42x70/Kconfig

@@ -8,69 +8,81 @@
 config TDK_APEX
 	bool
 
-menuconfig ICM42670
-	bool "ICM42670-P/-S Six-Axis Motion Tracking Device"
+menuconfig ICM42X70
+	bool "ICM42670-P/-S Six-Axis or ICM42370-P Three-Axis Motion Tracking Device"
 	default y
 	depends on DT_HAS_INVENSENSE_ICM42670P_ENABLED \
-		|| DT_HAS_INVENSENSE_ICM42670S_ENABLED
+		|| DT_HAS_INVENSENSE_ICM42670S_ENABLED \
+		|| DT_HAS_INVENSENSE_ICM42370P_ENABLED
 	depends on ZEPHYR_HAL_TDK_MODULE
 	select SPI if $(dt_compat_on_bus,$(DT_COMPAT_INVENSENSE_ICM42670P),spi) \
-		|| $(dt_compat_on_bus,$(DT_COMPAT_INVENSENSE_ICM42670S),spi)
+		|| $(dt_compat_on_bus,$(DT_COMPAT_INVENSENSE_ICM42670S),spi) \
+		|| $(dt_compat_on_bus,$(DT_COMPAT_INVENSENSE_ICM42370P),spi)
 	select I2C if $(dt_compat_on_bus,$(DT_COMPAT_INVENSENSE_ICM42670P),i2c) \
-		|| $(dt_compat_on_bus,$(DT_COMPAT_INVENSENSE_ICM42670S),i2c)
+		|| $(dt_compat_on_bus,$(DT_COMPAT_INVENSENSE_ICM42670S),i2c) \
+		|| $(dt_compat_on_bus,$(DT_COMPAT_INVENSENSE_ICM42370P),i2c)
 	select TDK_APEX if $(dt_node_str_prop_equals,$(dt_nodelabel_path,icm42670p),apex,pedometer) \
 		|| $(dt_node_str_prop_equals,$(dt_nodelabel_path,icm42670p),apex,tilt) \
 		|| $(dt_node_str_prop_equals,$(dt_nodelabel_path,icm42670p),apex,smd) \
 		|| $(dt_node_str_prop_equals,$(dt_nodelabel_path,icm42670p),apex,wom) \
 		|| $(dt_node_str_prop_equals,$(dt_nodelabel_path,icm42670s),apex,pedometer) \
 		|| $(dt_node_str_prop_equals,$(dt_nodelabel_path,icm42670s),apex,tilt) \
 		|| $(dt_node_str_prop_equals,$(dt_nodelabel_path,icm42670s),apex,smd) \
-		|| $(dt_node_str_prop_equals,$(dt_nodelabel_path,icm42670s),apex,wom)
+		|| $(dt_node_str_prop_equals,$(dt_nodelabel_path,icm42670s),apex,wom) \
+		|| $(dt_node_str_prop_equals,$(dt_nodelabel_path,icm42370p),apex,pedometer) \
+		|| $(dt_node_str_prop_equals,$(dt_nodelabel_path,icm42370p),apex,tilt) \
+		|| $(dt_node_str_prop_equals,$(dt_nodelabel_path,icm42370p),apex,smd) \
+		|| $(dt_node_str_prop_equals,$(dt_nodelabel_path,icm42370p),apex,wom)
+	select USE_EMD_ICM42670 if DT_HAS_INVENSENSE_ICM42670P_ENABLED || DT_HAS_INVENSENSE_ICM42670S_ENABLED
+	select USE_EMD_ICM42370 if DT_HAS_INVENSENSE_ICM42370P_ENABLED
+	select SENSOR_ASYNC_API
 	help
-	  Enable driver for ICM42670 SPI-based or I2C-based Six-Axis Motion Tracking device.
+	  Enable driver for ICM42x70 SPI-based or I2C-based Six-Axis or Three-Axis Motion Tracking device.
 
-if ICM42670
+if ICM42X70
 
-choice ICM42670_TRIGGER_MODE
+choice ICM42X70_TRIGGER_MODE
 	prompt "Trigger mode"
-	default ICM42670_TRIGGER_NONE
+	default ICM42X70_TRIGGER_NONE
 	help
 	  Specify the type of triggering to be used by the driver.
 
-config ICM42670_TRIGGER_NONE
+config ICM42X70_TRIGGER_NONE
 	bool "No trigger"
 
-config ICM42670_TRIGGER_GLOBAL_THREAD
+config ICM42X70_TRIGGER_GLOBAL_THREAD
 	bool "Use global thread"
 	depends on GPIO
 	depends on $(dt_compat_any_has_prop,$(DT_COMPAT_INVENSENSE_ICM42670P),int-gpios) \
-		|| $(dt_compat_any_has_prop,$(DT_COMPAT_INVENSENSE_ICM42670S),int-gpios)
-	select ICM42670_TRIGGER
+		|| $(dt_compat_any_has_prop,$(DT_COMPAT_INVENSENSE_ICM42670S),int-gpios) \
+		|| $(dt_compat_any_has_prop,$(DT_COMPAT_INVENSENSE_ICM42370P),int-gpios)
+	select ICM42X70_TRIGGER
 
-config ICM42670_TRIGGER_OWN_THREAD
+config ICM42X70_TRIGGER_OWN_THREAD
 	bool "Use own thread"
 	depends on GPIO
 	depends on $(dt_compat_any_has_prop,$(DT_COMPAT_INVENSENSE_ICM42670P),int-gpios) \
-		|| $(dt_compat_any_has_prop,$(DT_COMPAT_INVENSENSE_ICM42670S),int-gpios)
-	select ICM42670_TRIGGER
+		|| $(dt_compat_any_has_prop,$(DT_COMPAT_INVENSENSE_ICM42670S),int-gpios) \
+		|| $(dt_compat_any_has_prop,$(DT_COMPAT_INVENSENSE_ICM42370P),int-gpios)
+	select ICM42X70_TRIGGER
 
 endchoice
 
-config ICM42670_TRIGGER
+config ICM42X70_TRIGGER
 	bool
 
-config ICM42670_THREAD_PRIORITY
+config ICM42X70_THREAD_PRIORITY
 	int "Thread priority"
-	depends on ICM42670_TRIGGER_OWN_THREAD
+	depends on ICM42X70_TRIGGER_OWN_THREAD
 	default 10
 	help
 	  Priority of thread used by the driver to handle interrupts.
 
-config ICM42670_THREAD_STACK_SIZE
+config ICM42X70_THREAD_STACK_SIZE
 	int "Thread stack size"
-	depends on ICM42670_TRIGGER_OWN_THREAD
+	depends on ICM42X70_TRIGGER_OWN_THREAD
 	default 1024
 	help
 	  Stack size of thread used by the driver to handle interrupts.
 
-endif # ICM42670
+endif # ICM42X70

drivers/sensor/tdk/icm42x70/icm42670.c

@@ -0,0 +1,137 @@
+/*
+ * Copyright (c) 2025 TDK Invensense
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include "icm42670.h"
+
+#include <zephyr/drivers/sensor/icm42x70.h>
+#include <zephyr/sys/byteorder.h>
+
+#include <zephyr/logging/log.h>
+LOG_MODULE_REGISTER(ICM42670, CONFIG_SENSOR_LOG_LEVEL);
+
+static uint32_t convert_gyr_fs_to_bitfield(uint32_t val, uint16_t *fs)
+{
+	uint32_t bitfield = 0;
+
+	if (val < 500 && val >= 250) {
+		bitfield = GYRO_CONFIG0_FS_SEL_250dps;
+		*fs = 250;
+	} else if (val < 1000 && val >= 500) {
+		bitfield = GYRO_CONFIG0_FS_SEL_500dps;
+		*fs = 500;
+	} else if (val < 2000 && val >= 1000) {
+		bitfield = GYRO_CONFIG0_FS_SEL_1000dps;
+		*fs = 1000;
+	} else if (val == 2000) {
+		bitfield = GYRO_CONFIG0_FS_SEL_2000dps;
+		*fs = 2000;
+	}
+	return bitfield;
+}
+
+static int icm42670_set_gyro_odr(struct icm42x70_data *drv_data, const struct sensor_value *val)
+{
+	if (val->val1 <= 1600 && val->val1 > 12) {
+		if (drv_data->gyro_hz == 0) {
+			inv_imu_set_gyro_frequency(
+				&drv_data->driver,
+				convert_freq_to_bitfield(val->val1, &drv_data->gyro_hz));
+			inv_imu_enable_gyro_low_noise_mode(&drv_data->driver);
+		} else {
+			inv_imu_set_gyro_frequency(
+				&drv_data->driver,
+				convert_freq_to_bitfield(val->val1, &drv_data->gyro_hz));
+		}
+	} else if (val->val1 == 0) {
+		inv_imu_disable_gyro(&drv_data->driver);
+		drv_data->gyro_hz = val->val1;
+	} else {
+		LOG_ERR("Incorrect sampling value");
+		return -EINVAL;
+	}
+	return 0;
+}
+
+static int icm42670_set_gyro_fs(struct icm42x70_data *drv_data, const struct sensor_value *val)
+{
+	if (val->val1 > 2000 || val->val1 < 250) {
+		LOG_ERR("Incorrect fullscale value");
+		return -EINVAL;
+	}
+	inv_imu_set_gyro_fsr(&drv_data->driver,
+			     convert_gyr_fs_to_bitfield(val->val1, &drv_data->gyro_fs));
+	LOG_DBG("Set gyro fullscale to: %d dps", drv_data->gyro_fs);
+	return 0;
+}
+
+int icm42670_gyro_config(struct icm42x70_data *drv_data, enum sensor_attribute attr,
+				const struct sensor_value *val)
+{
+	if (attr == SENSOR_ATTR_SAMPLING_FREQUENCY) {
+		icm42670_set_gyro_odr(drv_data, val);
+
+	} else if (attr == SENSOR_ATTR_FULL_SCALE) {
+		icm42670_set_gyro_fs(drv_data, val);
+
+	} else if ((enum sensor_attribute_icm42x70)attr == SENSOR_ATTR_BW_FILTER_LPF) {
+		if (val->val1 > 180) {
+			LOG_ERR("Incorrect low pass filter bandwidth value");
+			return -EINVAL;
+		}
+		inv_imu_set_gyro_ln_bw(&drv_data->driver, convert_ln_bw_to_bitfield(val->val1));
+
+	} else {
+		LOG_ERR("Unsupported attribute");
+		return -EINVAL;
+	}
+	return 0;
+}
+
+void icm42670_convert_gyro(struct sensor_value *val, int16_t raw_val, uint16_t fs)
+{
+	int64_t conv_val;
+
+	/* 16 bit gyroscope. 2^15 bits represent the range in degrees/s */
+	/* see datasheet section 3.1 for details */
+	conv_val = ((int64_t)raw_val * fs * SENSOR_PI) / (INT16_MAX * 180U);
+
+	val->val1 = conv_val / 1000000;
+	val->val2 = conv_val % 1000000;
+}
+
+int icm42670_sample_fetch_gyro(const struct device *dev)
+{
+	struct icm42x70_data *data = dev->data;
+	uint8_t buffer[GYRO_DATA_SIZE];
+
+	int res = inv_imu_read_reg(&data->driver, GYRO_DATA_X1, GYRO_DATA_SIZE, buffer);
+
+	if (res) {
+		return res;
+	}
+
+	data->gyro_x = (int16_t)sys_get_be16(&buffer[0]);
+	data->gyro_y = (int16_t)sys_get_be16(&buffer[2]);
+	data->gyro_z = (int16_t)sys_get_be16(&buffer[4]);
+
+	return 0;
+}
+
+uint16_t convert_bitfield_to_gyr_fs(uint8_t bitfield)
+{
+	uint16_t gyr_fs = 0;
+
+	if (bitfield == GYRO_CONFIG0_FS_SEL_250dps) {
+		gyr_fs = 250;
+	} else if (bitfield == GYRO_CONFIG0_FS_SEL_500dps) {
+		gyr_fs = 500;
+	} else if (bitfield == GYRO_CONFIG0_FS_SEL_1000dps) {
+		gyr_fs = 1000;
+	} else if (bitfield == GYRO_CONFIG0_FS_SEL_2000dps) {
+		gyr_fs = 2000;
+	}
+	return gyr_fs;
+}

drivers/sensor/tdk/icm42x70/icm42670.h

@@ -0,0 +1,22 @@
+/*
+ * Copyright (c) 2025 TDK Invensense
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#ifndef ZEPHYR_DRIVERS_SENSOR_ICM42670_H_
+#define ZEPHYR_DRIVERS_SENSOR_ICM42670_H_
+
+#include <zephyr/drivers/gpio.h>
+#include <zephyr/drivers/sensor.h>
+#include <zephyr/kernel.h>
+
+#include "icm42x70.h"
+
+int icm42670_gyro_config(struct icm42x70_data *drv_data, enum sensor_attribute attr,
+				const struct sensor_value *val);
+void icm42670_convert_gyro(struct sensor_value *val, int16_t raw_val, uint16_t fs);
+int icm42670_sample_fetch_gyro(const struct device *dev);
+uint16_t convert_bitfield_to_gyr_fs(uint8_t bitfield);
+
+#endif /* ZEPHYR_DRIVERS_SENSOR_ICM42670_H_ */