sensor: icm42688: Use RTIO workq on icm42688_submit

To make its execution path non-blocking from the caller's perspective.

Signed-off-by: Luis Ubieda <[email protected]>

Author: ubieda

drivers/sensor/tdk/icm42688/Kconfig

@@ -1,6 +1,7 @@
 # ICM42688-P Six-Axis Motion Tracking device configuration options
 #
 # Copyright (c) 2022 Intel Corporation
+# Copyright (c) 2024 Croxel Inc.
 #
 # SPDX-License-Identifier: Apache-2.0
 
@@ -9,6 +10,7 @@ menuconfig ICM42688
 	default y
 	depends on DT_HAS_INVENSENSE_ICM42688_ENABLED
 	select SPI
+	select RTIO_WORKQ if SENSOR_ASYNC_API
 	help
 	  Enable driver for ICM42688 SPI-based six-axis motion tracking device.
 

drivers/sensor/tdk/icm42688/icm42688_rtio.c

@@ -1,10 +1,12 @@
 /*
  * Copyright (c) 2023 Google LLC
+ * Copyright (c) 2024 Croxel Inc.
  *
  * SPDX-License-Identifier: Apache-2.0
  */
 
 #include <zephyr/drivers/sensor.h>
+#include <zephyr/rtio/work.h>
 #include "icm42688.h"
 #include "icm42688_decoder.h"
 #include "icm42688_reg.h"
@@ -77,9 +79,10 @@ static void icm42688_submit_one_shot(const struct device *dev, struct rtio_iodev
 	rtio_iodev_sqe_ok(iodev_sqe, 0);
 }
 
-void icm42688_submit(const struct device *dev, struct rtio_iodev_sqe *iodev_sqe)
+void icm42688_submit_sync(struct rtio_iodev_sqe *iodev_sqe)
 {
 	const struct sensor_read_config *cfg = iodev_sqe->sqe.iodev->data;
+	const struct device *dev = cfg->sensor;
 
 	if (!cfg->is_streaming) {
 		icm42688_submit_one_shot(dev, iodev_sqe);
@@ -90,4 +93,13 @@ void icm42688_submit(const struct device *dev, struct rtio_iodev_sqe *iodev_sqe)
 	}
 }
 
+void icm42688_submit(const struct device *dev, struct rtio_iodev_sqe *iodev_sqe)
+{
+	struct rtio_work_req *req = rtio_work_req_alloc();
+
+	__ASSERT_NO_MSG(req);
+
+	rtio_work_req_submit(req, iodev_sqe, icm42688_submit_sync);
+}
+
 BUILD_ASSERT(sizeof(struct icm42688_decoder_header) == 9);