general: icm4268x: Refactor ICM42688 driver to ICM4268X

As a first step to enable the similar variants (e.g: ICM42686),
refactor common functionality into icm4268x files. As a result,
applications using the icm42688 will need to have both compatible
properties: "invensense,icm42688" and "invensense,icm4268x" defined.
In-tree boards have been modified to comply with this pattern.

This patch does not contain functional changes. The driver should
work the same as before.

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

Author: ubieda

boards/nxp/vmu_rt1170/vmu_rt1170_mimxrt1176_cm7.dts

@@ -250,7 +250,7 @@
 	cs-gpios =<&gpio2 11 GPIO_ACTIVE_LOW>;
 
 	icm42688_0: icm42688p0@0 {
-		compatible = "invensense,icm42688";
+		compatible = "invensense,icm42688", "invensense,icm4268x";
 		reg = <0>;
 		int-gpios = <&gpio3 19 GPIO_ACTIVE_HIGH>;
 		spi-max-frequency = <24000000>;
@@ -272,7 +272,7 @@
 	cs-gpios =<&gpio3 24 GPIO_ACTIVE_LOW>;
 
 	icm42688_1: icm42688p1@0 {
-		compatible = "invensense,icm42688";
+		compatible = "invensense,icm42688", "invensense,icm4268x";
 		reg = <0>;
 		int-gpios = <&gpio2 7 GPIO_ACTIVE_HIGH>;
 		spi-max-frequency = <24000000>;

boards/tdk/robokit1/robokit1-common.dtsi

@@ -101,7 +101,7 @@
 	status = "okay";
 
 	icm42688: icm42688p@0 {
-		compatible = "invensense,icm42688";
+		compatible = "invensense,icm42688", "invensense,icm4268x";
 		reg = <0>;
 		int-gpios = <&pioc 5 GPIO_ACTIVE_HIGH>;
 		spi-max-frequency = <24000000>;

doc/hardware/peripherals/sensor/device_tree.rst

@@ -15,7 +15,7 @@ then be used in a boards devicetree to configure a sensor to its initial state.
        /* SPI bus options here, not shown */
 
        accel_gyro0: icm42688p@0 {
-           compatible = "invensense,icm42688";
+           compatible = "invensense,icm42688", "invensense,icm4268x";
            reg = <0>;
            int-gpios = <&pioc 6 GPIO_ACTIVE_HIGH>; /* SoC specific pin to select for interrupt line */
            spi-max-frequency = <DT_FREQ_M(24)>; /* Maximum SPI bus frequency */

drivers/sensor/tdk/CMakeLists.txt

@@ -4,7 +4,7 @@
 # zephyr-keep-sorted-start
 add_subdirectory_ifdef(CONFIG_ICM40627 icm40627)
 add_subdirectory_ifdef(CONFIG_ICM42605 icm42605)
-add_subdirectory_ifdef(CONFIG_ICM42688 icm42688)
+add_subdirectory_ifdef(CONFIG_ICM4268X icm4268x)
 add_subdirectory_ifdef(CONFIG_ICM42X70 icm42x70)
 add_subdirectory_ifdef(CONFIG_ICM45686 icm45686)
 add_subdirectory_ifdef(CONFIG_ICP101XX icp101xx)

drivers/sensor/tdk/Kconfig

@@ -4,7 +4,7 @@
 # zephyr-keep-sorted-start
 source "drivers/sensor/tdk/icm40627/Kconfig"
 source "drivers/sensor/tdk/icm42605/Kconfig"
-source "drivers/sensor/tdk/icm42688/Kconfig"
+source "drivers/sensor/tdk/icm4268x/Kconfig"
 source "drivers/sensor/tdk/icm42x70/Kconfig"
 source "drivers/sensor/tdk/icm45686/Kconfig"
 source "drivers/sensor/tdk/icp101xx/Kconfig"

drivers/sensor/tdk/icm42688/CMakeLists.txt

@@ -0,0 +1,16 @@
+# SPDX-License-Identifier: Apache-2.0
+
+zephyr_library()
+
+zephyr_library_sources(
+    icm4268x.c
+    icm4268x_common.c
+    icm4268x_spi.c
+)
+
+zephyr_library_sources_ifdef(CONFIG_SENSOR_ASYNC_API icm4268x_rtio.c)
+zephyr_library_sources_ifdef(CONFIG_ICM4268X_DECODER icm4268x_decoder.c)
+zephyr_library_sources_ifdef(CONFIG_ICM4268X_STREAM icm4268x_rtio_stream.c)
+zephyr_library_sources_ifdef(CONFIG_ICM4268X_TRIGGER icm4268x_trigger.c)
+zephyr_library_sources_ifdef(CONFIG_EMUL_ICM4268X icm4268x_emul.c)
+zephyr_include_directories_ifdef(CONFIG_EMUL_ICM4268X .)

drivers/sensor/tdk/icm42688/icm42688_rtio.h

@@ -1,85 +1,85 @@
-# ICM42688-P Six-Axis Motion Tracking device configuration options
+# ICM4268X-P Six-Axis Motion Tracking device configuration options
 #
 # Copyright (c) 2022 Intel Corporation
 # Copyright (c) 2024 Croxel Inc.
 #
 # SPDX-License-Identifier: Apache-2.0
 
-menuconfig ICM42688
-	bool "ICM42688 Six-Axis Motion Tracking Device"
+menuconfig ICM4268X
+	bool "ICM4268X Six-Axis Motion Tracking Device"
 	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.
+	  Enable driver for ICM4268X SPI-based six-axis motion tracking device.
 
-if ICM42688
+if ICM4268X
 
-config EMUL_ICM42688
-	bool "Emulator for the ICM42688"
+config EMUL_ICM4268X
+	bool "Emulator for the ICM4268X"
 	default y
 	depends on EMUL
 	help
-	  Enable the hardware emulator for the ICM42688. Doing so allows exercising
+	  Enable the hardware emulator for the ICM4268X. Doing so allows exercising
 	  sensor APIs for this IMU in native_sim and qemu.
 
-config ICM42688_DECODER
-	bool "ICM42688 decoder logic"
+config ICM4268X_DECODER
+	bool "ICM4268X decoder logic"
 	default y
 	select SENSOR_ASYNC_API
 	help
-	  Compile the ICM42688 decoder API which allows decoding raw data returned
+	  Compile the ICM4268X decoder API which allows decoding raw data returned
 	  from the sensor.
 
 choice
 	prompt "Trigger mode"
-	default ICM42688_TRIGGER_NONE if ICM42688_STREAM
-	default ICM42688_TRIGGER_GLOBAL_THREAD
+	default ICM4268X_TRIGGER_NONE if ICM4268X_STREAM
+	default ICM4268X_TRIGGER_GLOBAL_THREAD
 	help
 	  Specify the type of triggering to be used by the driver
 
-config ICM42688_TRIGGER_NONE
+config ICM4268X_TRIGGER_NONE
 	bool "No trigger"
 
-config ICM42688_TRIGGER_GLOBAL_THREAD
+config ICM4268X_TRIGGER_GLOBAL_THREAD
 	bool "Use global thread"
 	depends on GPIO
-	depends on $(dt_compat_any_has_prop,$(DT_COMPAT_INVENSENSE_ICM42688),int-gpios)
-	select ICM42688_TRIGGER
+	depends on $(dt_compat_any_has_prop,$(DT_COMPAT_INVENSENSE_ICM4268X),int-gpios)
+	select ICM4268X_TRIGGER
 
-config ICM42688_TRIGGER_OWN_THREAD
+config ICM4268X_TRIGGER_OWN_THREAD
 	bool "Use own thread"
 	depends on GPIO
-	depends on $(dt_compat_any_has_prop,$(DT_COMPAT_INVENSENSE_ICM42688),int-gpios)
-	select ICM42688_TRIGGER
+	depends on $(dt_compat_any_has_prop,$(DT_COMPAT_INVENSENSE_ICM4268X),int-gpios)
+	select ICM4268X_TRIGGER
 
 endchoice
 
-config ICM42688_STREAM
+config ICM4268X_STREAM
 	bool "Use hardware FIFO to stream data"
-	select ICM42688_TRIGGER
+	select ICM4268X_TRIGGER
 	default y
 	depends on SPI_RTIO
 	depends on SENSOR_ASYNC_API
 	help
 	  Use this config option to enable streaming sensor data via RTIO subsystem.
 
-config ICM42688_TRIGGER
+config ICM4268X_TRIGGER
 	bool
 
-config ICM42688_THREAD_PRIORITY
+config ICM4268X_THREAD_PRIORITY
 	int "Own thread priority"
-	depends on ICM42688_TRIGGER_OWN_THREAD
+	depends on ICM4268X_TRIGGER_OWN_THREAD
 	default 10
 	help
 	  The priority of the thread used for handling interrupts.
 
-config ICM42688_THREAD_STACK_SIZE
+config ICM4268X_THREAD_STACK_SIZE
 	int "Own thread stack size"
-	depends on ICM42688_TRIGGER_OWN_THREAD
+	depends on ICM4268X_TRIGGER_OWN_THREAD
 	default 1024
 	help
 	  The thread stack size.
 
-endif # ICM42688
+endif # ICM4268X