drivers: sensor: icm42670: supports icm42670-P and icm42670-S

samples: sensor: icm42670: adds sample to support enhanced features

Adds official TDK Invensense Inc. driver for icm42670-P and icm42670-S 6-axis sensor.
Adds SPI and I2C interface support. Adds APEX features, such as Pedometer, Tilt detection, Wake on Motion and Significant Motion Detector.
Adds AML support for icm42670-S to demonstrate pointing, gestures recognition, quaternion computing features with AML library built for CM4 target.
Add samples for this driver.
Validated with custom setup based on nrf52dk_nrf52832 + icm42670-p/icm42670-s EVB board
Build ok by running: west -T samples\sensor\icm42670\data_stream -T samples\sensor\icm42670\apex -T samples\sensor\icm42670\aml_pointing -p nrf52dk/nrf52832

Signed-off-by: Aurelie Fontaine <[email protected]>

Author: Aurelie Fontaine

drivers/sensor/tdk/icm42670/CMakeLists.txt

@@ -5,6 +5,18 @@ zephyr_library()
 zephyr_library_sources(
   icm42670.c
   icm42670_spi.c
+  icm42670_i2c.c
 )
+zephyr_library_include_directories(.)
+zephyr_library_sources(imu/inv_imu_driver.c imu/inv_imu_transport.c)
 
 zephyr_library_sources_ifdef(CONFIG_ICM42670_TRIGGER icm42670_trigger.c)
+
+zephyr_library_sources_ifdef(CONFIG_ICM42670_APEX icm42670_apex.c)
+zephyr_library_sources_ifdef(CONFIG_ICM42670_APEX imu/inv_imu_apex.c)
+
+zephyr_library_sources_ifdef(CONFIG_ICM42670S_AML icm42670S_aml.c)
+if(CONFIG_ICM42670S_AML)
+  zephyr_library_include_directories(./invn.algo.sw-integration.aml-42670S-gcc-arm-none-eabi-cm4-fpu-1.6.0/include)
+  zephyr_library_import(InvnAlgoAML_42670S ${CMAKE_CURRENT_SOURCE_DIR}/invn.algo.sw-integration.aml-42670S-gcc-arm-none-eabi-cm4-fpu-1.6.0/release/lib/libInvnAlgoAML_42670S.a)
+endif()

drivers/sensor/tdk/icm42670/Invn/InvError.h

@@ -0,0 +1,52 @@
+/*
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+/*
+ *
+ * Copyright (c) [2015] by InvenSense, Inc.
+ * * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted.
+ * * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY
+ * SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION
+ * OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN
+ * CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ *
+ */
+
+/** @defgroup InvError Error code
+ *	@brief    Common error code
+ *
+ *	@ingroup EmbUtils
+ *	@{
+ */
+
+#ifndef _INV_ERROR_H_
+#define _INV_ERROR_H_
+
+/** @brief Common error code definition
+ */
+enum inv_error {
+	INV_ERROR_SUCCESS = 0,    /**< no error */
+	INV_ERROR = -1,           /**< unspecified error */
+	INV_ERROR_NIMPL = -2,     /**< function not implemented for given arguments */
+	INV_ERROR_TRANSPORT = -3, /**< error occurred at transport level */
+	INV_ERROR_TIMEOUT = -4,   /**< action did not complete in the expected time window */
+	INV_ERROR_SIZE = -5, /**< argument's size is not suitable to complete requested action */
+	INV_ERROR_OS = -6,   /**< error related to OS */
+	INV_ERROR_IO = -7,   /**< error related to IO operation */
+	INV_ERROR_MEM = -9,  /**< not enough memory to complete requested action */
+	INV_ERROR_HW = -10,  /**< error at HW level */
+	INV_ERROR_BAD_ARG = -11, /**< provided arguments are not good to perform requested action */
+	INV_ERROR_UNEXPECTED = -12, /**< something unexpected happened */
+	INV_ERROR_FILE = -13,       /**< cannot access file or unexpected format */
+	INV_ERROR_PATH = -14,       /**< invalid file path */
+	INV_ERROR_IMAGE_TYPE = -15, /**< error when image type is not managed */
+	INV_ERROR_WATCHDOG = -16,   /**< error when device doesn't respond to ping */
+};
+
+#endif /* _INV_ERROR_H_ */
+
+/** @} */

drivers/sensor/tdk/icm42670/Kconfig

@@ -1,23 +1,61 @@
-# ICM42670 Six-Axis Motion Tracking device configuration options
+# ICM42670-P ICM42670-S Six-Axis Motion Tracking device configuration options
 #
+# Copyright (c) 2023 TDK Invensense
 # Copyright (c) 2022 Esco Medical ApS
 # Copyright (c) 2020 TDK Invensense
-#
 # SPDX-License-Identifier: Apache-2.0
 
 menuconfig ICM42670
-	bool "ICM42670 Six-Axis Motion Tracking Device"
+	bool "ICM42670 6-Axis Motion Tracking Device"
 	default y
 	depends on DT_HAS_INVENSENSE_ICM42670_ENABLED
-	select SPI
+	select I2C if $(dt_compat_on_bus,$(DT_COMPAT_INVENSENSE_ICM42670),i2c)
+	select SPI if $(dt_compat_on_bus,$(DT_COMPAT_INVENSENSE_ICM42670),spi)
 	help
-	  Enable driver for ICM42670 SPI-based six-axis motion tracking device.
+	  Enable driver for ICM42670 I2C-based or SPI-based Six-Axis Motion Tracking device.
 
 if ICM42670
 
+config ICM42670_APEX
+	bool "ICM42670 APEX features"
+	default n
+
+choice APEX_FEATURES
+	prompt "ICM42670 APEX features"
+	depends on ICM42670_APEX
+	default ICM42670_APEX_PEDOMETER
+	help
+	  Select APEX feature for ICM42670 sensor.
+config ICM42670_APEX_PEDOMETER
+	bool "Pedometer: Tracks step count"
+config ICM42670_APEX_TILT
+	bool "Tilt Detection: Detect the Tilt angle exceeds 35 degrees"
+config ICM42670_APEX_SMD
+	bool "Significant Motion Detector (SMD): Detects significant motion based on accelerometer data"
+config ICM42670_APEX_WOM
+	bool "Wake on Motion (WoM): Detects motion when accelerometer samples exceed a programmable threshold"
+endchoice
+
+menuconfig ICM42670S_AML
+	bool "ICM42670 Air Motion Library (AML)"
+	default n
+
+if ICM42670S_AML
+
+config ICM42670S_AML_POINTING
+	bool "Delta values for pointing"
+config ICM42670S_AML_GESTURES
+	bool "Orientation of the remote and detected swipes"
+config ICM42670S_AML_GYR_OFFSET
+	bool "Computed 3-axis raw gyroscope offsets"
+config ICM42670S_AML_QUATERNION
+	bool "Computed W, X, Y and Z quaternion coefficients"
+
+endif # ICM42670S_AML
+
 choice ICM42670_TRIGGER_MODE
 	prompt "Trigger mode"
-	default ICM42670_TRIGGER_NONE
+	default ICM42670_TRIGGER_OWN_THREAD
 	help
 	  Specify the type of triggering to be used by the driver.