sensor: icm45686: Add basic IMU functionality

drivers/sensor/tdk/CMakeLists.txt

@@ -5,6 +5,7 @@
 add_subdirectory_ifdef(CONFIG_ICM42605 icm42605)
 add_subdirectory_ifdef(CONFIG_ICM42688 icm42688)
 add_subdirectory_ifdef(CONFIG_ICM42X70 icm42x70)
+add_subdirectory_ifdef(CONFIG_ICM45686 icm45686)
 add_subdirectory_ifdef(CONFIG_ICP101XX icp101xx)
 add_subdirectory_ifdef(CONFIG_MPU6050 mpu6050)
 add_subdirectory_ifdef(CONFIG_MPU9250 mpu9250)

drivers/sensor/tdk/Kconfig

@@ -5,6 +5,7 @@
 source "drivers/sensor/tdk/icm42605/Kconfig"
 source "drivers/sensor/tdk/icm42688/Kconfig"
 source "drivers/sensor/tdk/icm42x70/Kconfig"
+source "drivers/sensor/tdk/icm45686/Kconfig"
 source "drivers/sensor/tdk/icp101xx/Kconfig"
 source "drivers/sensor/tdk/mpu6050/Kconfig"
 source "drivers/sensor/tdk/mpu9250/Kconfig"

drivers/sensor/tdk/icm45686/CMakeLists.txt

@@ -0,0 +1,15 @@
+# Copyright (c) 2025 Croxel Inc.
+# Copyright (c) 2025 CogniPilot Foundation
+# SPDX-License-Identifier: Apache-2.0
+
+zephyr_library()
+zephyr_library_include_directories(.)
+zephyr_library_sources(
+	icm45686.c
+)
+zephyr_library_sources_ifdef(CONFIG_SENSOR_ASYNC_API
+	icm45686_decoder.c
+)
+zephyr_library_sources_ifdef(CONFIG_ICM45686_TRIGGER
+	icm45686_trigger.c
+)

drivers/sensor/tdk/icm45686/Kconfig

@@ -0,0 +1,57 @@
+# Copyright (c) 2025 Croxel Inc.
+# Copyright (c) 2025 CogniPilot Foundation
+# SPDX-License-Identifier: Apache-2.0
+
+menuconfig ICM45686
+	bool "ICM45686 High-precision 6-Axis Motion Tracking Device"
+	default y
+	depends on DT_HAS_INVENSENSE_ICM45686_ENABLED
+	select SPI
+	select SPI_RTIO
+	help
+	  Enable driver for ICM45686 High-precision 6-axis motion
+	  tracking device.
+
+if ICM45686
+
+choice
+	prompt "Trigger mode"
+	default ICM45686_TRIGGER_GLOBAL_THREAD
+	help
+	  Specify the type of triggering to be used by the driver
+
+config ICM45686_TRIGGER_NONE
+	bool "No trigger"
+
+config ICM45686_TRIGGER_GLOBAL_THREAD
+	bool "Use global thread"
+	depends on GPIO
+	depends on $(dt_compat_any_has_prop,$(DT_COMPAT_INVENSENSE_ICM45686),int-gpios)
+	select ICM45686_TRIGGER
+
+config ICM45686_TRIGGER_OWN_THREAD
+	bool "Use own thread"
+	depends on GPIO
+	depends on $(dt_compat_any_has_prop,$(DT_COMPAT_INVENSENSE_ICM45686),int-gpios)
+	select ICM45686_TRIGGER
+
+endchoice
+
+config ICM45686_TRIGGER
+	bool
+
+config ICM45686_THREAD_PRIORITY
+	int "Own thread priority"
+	depends on ICM45686_TRIGGER_OWN_THREAD
+	default 10
+	help
+	  The priority of the thread used for handling triggers.
+
+config ICM45686_THREAD_STACK_SIZE
+	int "Own thread stack size"
+	depends on ICM45686_TRIGGER_OWN_THREAD
+	default 1024
+	help
+	  The thread stack size.
+
+endif # ICM45686