Implement driver lsm6dsr with sample

drivers/sensor/st/CMakeLists.txt

@@ -30,6 +30,7 @@ add_subdirectory_ifdef(CONFIG_LSM6DS0 lsm6ds0)
 add_subdirectory_ifdef(CONFIG_LSM6DSL lsm6dsl)
 add_subdirectory_ifdef(CONFIG_LSM6DSO lsm6dso)
 add_subdirectory_ifdef(CONFIG_LSM6DSO16IS lsm6dso16is)
+add_subdirectory_ifdef(CONFIG_LSM6DSR lsm6dsr)
 add_subdirectory_ifdef(CONFIG_LSM6DSV16X lsm6dsv16x)
 add_subdirectory_ifdef(CONFIG_LSM9DS0_GYRO lsm9ds0_gyro)
 add_subdirectory_ifdef(CONFIG_LSM9DS0_MFD lsm9ds0_mfd)

drivers/sensor/st/Kconfig

@@ -29,6 +29,7 @@ source "drivers/sensor/st/lsm6ds0/Kconfig"
 source "drivers/sensor/st/lsm6dsl/Kconfig"
 source "drivers/sensor/st/lsm6dso/Kconfig"
 source "drivers/sensor/st/lsm6dso16is/Kconfig"
+source "drivers/sensor/st/lsm6dsr/Kconfig"
 source "drivers/sensor/st/lsm6dsv16x/Kconfig"
 source "drivers/sensor/st/lsm9ds0_gyro/Kconfig"
 source "drivers/sensor/st/lsm9ds0_mfd/Kconfig"

drivers/sensor/st/lsm6dsr/CMakeLists.txt

@@ -0,0 +1,8 @@
+# SPDX-License-Identifier: Apache-2.0
+
+zephyr_library()
+
+zephyr_library_sources(lsm6dsr.c)
+zephyr_library_sources(lsm6dsr_spi.c)
+zephyr_library_sources(lsm6dsr_i2c.c)
+zephyr_library_sources_ifdef(CONFIG_LSM6DSR_TRIGGER    lsm6dsr_trigger.c)

drivers/sensor/st/lsm6dsr/Kconfig

@@ -0,0 +1,129 @@
+# LSM6DSR accelerometer and gyroscope sensor configuration
+# options
+
+# Copyright (c) 2025 Helbling Technik AG
+# SPDX-License-Identifier: Apache-2.0
+
+menuconfig LSM6DSR
+	bool "LSM6DSR I2C/SPI accelerometer and gyroscope Chip"
+	default y
+	depends on DT_HAS_ST_LSM6DSR_ENABLED
+	select I2C if $(dt_compat_on_bus,$(DT_COMPAT_ST_LSM6DSR),i2c)
+	select SPI if $(dt_compat_on_bus,$(DT_COMPAT_ST_LSM6DSR),spi)
+	help
+	  Enable driver for LSM6DSR accelerometer and gyroscope
+	  sensor.
+
+if LSM6DSR
+
+choice LSM6DSR_TRIGGER_MODE
+	prompt "Trigger mode"
+	help
+	  Specify the type of triggering to be used by the driver.
+
+config LSM6DSR_TRIGGER_NONE
+	bool "No trigger"
+
+config LSM6DSR_TRIGGER_GLOBAL_THREAD
+	bool "Use global thread"
+	depends on GPIO
+	depends on $(dt_compat_any_has_prop,$(DT_COMPAT_ST_LSM6DSR),irq-gpios)
+	select LSM6DSR_TRIGGER
+
+config LSM6DSR_TRIGGER_OWN_THREAD
+	bool "Use own thread"
+	depends on GPIO
+	depends on $(dt_compat_any_has_prop,$(DT_COMPAT_ST_LSM6DSR),irq-gpios)
+	select LSM6DSR_TRIGGER
+
+endchoice
+
+config LSM6DSR_TRIGGER
+	bool
+
+config LSM6DSR_THREAD_PRIORITY
+	int "Thread priority"
+	depends on LSM6DSR_TRIGGER_OWN_THREAD
+	default 10
+	help
+	  Priority of thread used by the driver to handle interrupts.
+
+config LSM6DSR_THREAD_STACK_SIZE
+	int "Thread stack size"
+	depends on LSM6DSR_TRIGGER_OWN_THREAD
+	default 1024
+	help
+	  Stack size of thread used by the driver to handle interrupts.
+
+
+menu "Attributes"
+
+config LSM6DSR_GYRO_FS
+	int "Gyroscope full-scale range"
+	default 0
+	help
+	  Specify the default gyroscope full-scale range.
+	  An X value for the config represents a range of +/- X degree per
+	  second. Valid values are:
+	  0:  Full Scale selected at runtime
+	  125:   +/- 125dps
+	  250:   +/- 250dps
+	  500:   +/- 500dps
+	  1000:  +/- 1000dps
+	  2000:  +/- 2000dps
+	  4000:  +/- 4000dps
+
+config LSM6DSR_GYRO_ODR
+	int "Gyroscope Output data rate frequency"
+	range 0 10
+	default 0
+	help
+	  Specify the default accelerometer output data rate expressed in
+	  samples per second (Hz).
+	  0: ODR selected at runtime
+	  1: 12.5Hz
+	  2: 26Hz
+	  3: 52Hz
+	  4: 104Hz
+	  5: 208Hz
+	  6: 416Hz
+	  7: 833Hz
+	  8: 1660Hz
+	  9: 3330Hz
+	  10: 6660Hz
+
+config LSM6DSR_ACCEL_FS
+	int "Accelerometer full-scale range"
+	default 0
+	help
+	  Specify the default accelerometer full-scale range.
+	  An X value for the config represents a range of +/- X G. Valid values
+	  are:
+	  0:  Full Scale selected at runtime
+	  2:  +/- 2g
+	  4:  +/- 4g
+	  8:  +/- 8g
+	  16: +/- 16g
+
+config LSM6DSR_ACCEL_ODR
+	int "Accelerometer Output data rate frequency"
+	range 0 11
+	default 0
+	help
+	  Specify the default accelerometer output data rate expressed in
+	  samples per second (Hz).
+	  0: ODR selected at runtime
+	  1: 12.5Hz
+	  2: 26Hz
+	  3: 52Hz
+	  4: 104Hz
+	  5: 208Hz
+	  6: 416Hz
+	  7: 833Hz
+	  8: 1666Hz
+	  9: 3332Hz
+	  10: 6664Hz
+	  11: 1.6Hz
+endmenu
+
+endif # LSM6DSR