icm42688: Follow st's devicetree bindings

Fix the devicetree bindings to actually be used as the default
configuration, following the example set by various ST sensor devices.

This requires sadly dropping enums and using #defines for various
options as well as repeating many numbers, but presumably is the way to
do it given the precedent set by ST with sensors like the lsm6dso.

Signed-off-by: Tom Burdick <[email protected]>

Author: teburd

boards/nxp/vmu_rt1170/vmu_rt1170_mimxrt1176_cm7.dts

@@ -241,6 +241,8 @@
 	};
 };
 
+#include <zephyr/dt-bindings/sensor/icm42688.h>
+
 &lpspi1 {
 	status = "okay";
 	cs-gpios =<&gpio2 11 GPIO_ACTIVE_LOW>;
@@ -250,10 +252,12 @@
 		reg = <0>;
 		int-gpios = <&gpio3 19 GPIO_ACTIVE_HIGH>;
 		spi-max-frequency = <24000000>;
-		accel-hz = <1000>;
-		accel-fs = <16>;
-		gyro-hz = <1000>;
-		gyro-fs = <2000>;
+		accel-pwr-mode = <ICM42688_DT_ACCEL_LN>;
+		accel-odr = <ICM42688_DT_ACCEL_ODR_1000>;
+		accel-fs = <ICM42688_DT_ACCEL_FS_16>;
+		gyro-pwr-mode = <ICM42688_DT_GYRO_LN>;
+		gyro-odr = <ICM42688_DT_GYRO_ODR_1000>;
+		gyro-fs = <ICM42688_DT_GYRO_FS_2000>;
 	};
 };
 
@@ -266,10 +270,12 @@
 		reg = <0>;
 		int-gpios = <&gpio2 7 GPIO_ACTIVE_HIGH>;
 		spi-max-frequency = <24000000>;
-		accel-hz = <1000>;
-		accel-fs = <16>;
-		gyro-hz = <1000>;
-		gyro-fs = <2000>;
+		accel-pwr-mode = <ICM42688_DT_ACCEL_LN>;
+		accel-odr = <ICM42688_DT_ACCEL_ODR_1000>;
+		accel-fs = <ICM42688_DT_ACCEL_FS_16>;
+		gyro-pwr-mode = <ICM42688_DT_GYRO_LN>;
+		gyro-odr = <ICM42688_DT_GYRO_ODR_1000>;
+		gyro-fs = <ICM42688_DT_GYRO_FS_2000>;
 	};
 };
 

boards/tdk/robokit1/robokit1-common.dtsi

@@ -89,6 +89,8 @@
 	};
 };
 
+#include <zephyr/dt-bindings/sensor/icm42688.h>
+
 &spi0 {
 	pinctrl-0 = <&spi0_default>;
 	pinctrl-names = "default";
@@ -103,10 +105,12 @@
 		reg = <0>;
 		int-gpios = <&pioc 5 GPIO_ACTIVE_HIGH>;
 		spi-max-frequency = <24000000>;
-		accel-hz = <32000>;
-		accel-fs = <16>;
-		gyro-hz = <32000>;
-		gyro-fs = <2000>;
+		accel-pwr-mode = <ICM42688_DT_ACCEL_LN>;
+		accel-odr = <ICM42688_DT_ACCEL_ODR_2000>;
+		accel-fs = <ICM42688_DT_ACCEL_FS_16>;
+		gyro-pwr-mode = <ICM42688_DT_GYRO_LN>;
+		gyro-odr = <ICM42688_DT_GYRO_ODR_2000>;
+		gyro-fs = <ICM42688_DT_GYRO_FS_2000>;
 	};
 	spi_adc: adc@1 {
 		compatible = "ti,ads7052";

drivers/sensor/tdk/icm42688/icm42688.c

@@ -271,20 +271,6 @@ int icm42688_init(const struct device *dev)
 	}
 #endif
 
-	data->cfg.accel_mode = ICM42688_ACCEL_LN;
-	data->cfg.accel_fs = ICM42688_ACCEL_FS_2G;
-	data->cfg.accel_odr = ICM42688_ACCEL_ODR_1000;
-	data->cfg.gyro_mode = ICM42688_GYRO_LN;
-	data->cfg.gyro_fs = ICM42688_GYRO_FS_125;
-	data->cfg.gyro_odr = ICM42688_GYRO_ODR_1000;
-	data->cfg.temp_dis = false;
-	data->cfg.fifo_en = IS_ENABLED(CONFIG_ICM42688_STREAM);
-	data->cfg.batch_ticks = 0;
-	data->cfg.fifo_hires = 0;
-	data->cfg.interrupt1_drdy = 0;
-	data->cfg.interrupt1_fifo_ths = 0;
-	data->cfg.interrupt1_fifo_full = 0;
-
 	res = icm42688_configure(dev, &data->cfg);
 	if (res != 0) {
 		LOG_ERR("Failed to configure");
@@ -313,11 +299,30 @@ void icm42688_unlock(const struct device *dev)
 	SPI_DT_IODEV_DEFINE(icm42688_spi_iodev_##inst, DT_DRV_INST(inst), ICM42688_SPI_CFG, 0U);   \
 	RTIO_DEFINE(icm42688_rtio_##inst, 8, 4);
 
+#define ICM42688_DT_CONFIG_INIT(inst)					\
+	{								\
+		.accel_pwr_mode = DT_INST_PROP(inst, accel_pwr_mode),	\
+		.accel_fs = DT_INST_PROP(inst, accel_fs),		\
+		.accel_odr = DT_INST_PROP(inst, accel_odr),		\
+		.gyro_pwr_mode = DT_INST_PROP(inst, gyro_pwr_mode),	\
+		.gyro_fs = DT_INST_PROP(inst, gyro_fs),		\
+		.gyro_odr = DT_INST_PROP(inst, gyro_odr),		\
+		.temp_dis = false,					\
+		.fifo_en = IS_ENABLED(CONFIG_ICM42688_STREAM),		\
+		.batch_ticks = 0,					\
+		.fifo_hires = false,					\
+		.interrupt1_drdy = false,				\
+		.interrupt1_fifo_ths = false,				\
+		.interrupt1_fifo_full = false				\
+	}
+
 #define ICM42688_DEFINE_DATA(inst)                                                                 \
 	IF_ENABLED(CONFIG_ICM42688_STREAM, (ICM42688_RTIO_DEFINE(inst)));                          \
 	static struct icm42688_dev_data icm42688_driver_##inst = {                                 \
+		.cfg = ICM42688_DT_CONFIG_INIT(inst),                                              \
 		IF_ENABLED(CONFIG_ICM42688_STREAM, (.r = &icm42688_rtio_##inst,                    \
-						    .spi_iodev = &icm42688_spi_iodev_##inst,))};
+						    .spi_iodev = &icm42688_spi_iodev_##inst,))     \
+	};
 
 #define ICM42688_INIT(inst)                                                                        \
 	ICM42688_DEFINE_DATA(inst);                                                                \