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

samples: sensor: tdk_apex: adds sample to support APEX features
samples: sensor: 6dof_motion_drdy: adds sample to support 6-axis sensor
data report

Adds official TDK Invensense Inc. driver for icm42670-P/-S sensor.
Adds SPI and I2C interface support.
Adds APEX features, such as Pedometer, Tilt detection, Wake on Motion
and Significant Motion Detector.
Add generic samples supporting this driver.
Validated with custom setup: nrf52dk_nrf52832 + icm42670-P/-S EVB board
Build ok by running:
west twister -T samples\sensor\tdk_apex
-T samples\sensor\6dof_motion_drdy -p nrf52dk/nrf52832

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

Author: Aurelie Fontaine

drivers/sensor/tdk/icm42670/CMakeLists.txt

@@ -5,6 +5,12 @@ 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)

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

@@ -1,20 +1,41 @@
-# 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 TDK_APEX_PEDOMETER
+	help
+	  Select APEX feature for ICM42670 sensor.
+config TDK_APEX_PEDOMETER
+	bool "Pedometer: Tracks step count"
+config TDK_APEX_TILT
+	bool "Tilt Detection: Detect the Tilt angle exceeds 35 degrees"
+config TDK_APEX_SMD
+	bool "Significant Motion Detector (SMD): Detects significant motion based on accelerometer data"
+config TDK_APEX_WOM
+	bool "Wake on Motion (WoM): Detects motion when accelerometer samples exceed a programmable threshold"
+endchoice
+
 choice ICM42670_TRIGGER_MODE
 	prompt "Trigger mode"
 	default ICM42670_TRIGGER_NONE