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ICM45686 AN-000364 FIFO Fix #97742

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ICM45686 AN-000364 FIFO Fix #97742

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3fbe212
sensor: icm45686: Print unsupported fifo packet on assert
anthony289478 Oct 16, 2025
02b06bc
sensor: icm45686: Implement AN-000364 fix for fifo corruption
anthony289478 Oct 16, 2025
4a32465
sensor: icm45686: Swap ASSERT to CHECKIF in fifo decode
anthony289478 Oct 17, 2025
dceeaef
sensor: icm45686: Use explicit VLA for fifo encoded data
anthony289478 Oct 17, 2025
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2 changes: 1 addition & 1 deletion drivers/sensor/tdk/icm45686/icm45686.h
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Original file line number Diff line number Diff line change
Expand Up @@ -82,7 +82,7 @@ struct icm45686_encoded_data {
struct icm45686_encoded_header header;
union {
struct icm45686_encoded_payload payload;
struct icm45686_encoded_fifo_payload fifo_payload;
FLEXIBLE_ARRAY_DECLARE(struct icm45686_encoded_fifo_payload, fifo_payload);
};
};

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11 changes: 7 additions & 4 deletions drivers/sensor/tdk/icm45686/icm45686_decoder.c
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Expand Up @@ -7,6 +7,7 @@
*/

#include <zephyr/drivers/sensor_clock.h>
#include <zephyr/sys/check.h>

#include "icm45686.h"
#include "icm45686_reg.h"
Expand Down Expand Up @@ -475,7 +476,7 @@ static int icm45686_fifo_decode(const uint8_t *buffer,
void *data_out)
{
struct icm45686_encoded_data *edata = (struct icm45686_encoded_data *)buffer;
struct icm45686_encoded_fifo_payload *frame_begin = &edata->fifo_payload;
struct icm45686_encoded_fifo_payload *frame_begin = edata->fifo_payload;
int count = 0;
int err;

Expand All @@ -489,11 +490,13 @@ static int icm45686_fifo_decode(const uint8_t *buffer,
/** This driver assumes 20-byte fifo packets, with both accel and gyro,
* and no auxiliary sensors.
*/
__ASSERT(!(fdata->header & FIFO_HEADER_EXT_HEADER_EN(true)) &&
CHECKIF(!(!(fdata->header & FIFO_HEADER_EXT_HEADER_EN(true)) &&
(fdata->header & FIFO_HEADER_ACCEL_EN(true)) &&
(fdata->header & FIFO_HEADER_GYRO_EN(true)) &&
(fdata->header & FIFO_HEADER_HIRES_EN(true)),
"Unsupported FIFO packet format");
(fdata->header & FIFO_HEADER_HIRES_EN(true)))) {
LOG_ERR("Unsupported FIFO packet format 0x%02x", fdata->header);
return -ENOTSUP;
}

switch (chan_spec.chan_type) {
case SENSOR_CHAN_ACCEL_XYZ:
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10 changes: 9 additions & 1 deletion drivers/sensor/tdk/icm45686/icm45686_stream.c
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Expand Up @@ -470,8 +470,16 @@ void icm45686_stream_submit(const struct device *dev,

if (data->stream.settings.enabled.fifo_ths ||
data->stream.settings.enabled.fifo_full) {
/** AN-000364: When operating in FIFO streaming mode, if FIFO threshold
* interrupt is triggered with M number of FIFO frames accumulated in the
* FIFO buffer, the host should only read the first M-1 number of FIFO
* frames.
*
* To avoid the case where M == 1 and M-- would be 0,
* M + 1 threshold is used so M count is read.
*/
uint16_t fifo_ths = data->stream.settings.enabled.fifo_ths ?
cfg->settings.fifo_watermark : 0;
cfg->settings.fifo_watermark + 1 : 0;

val = REG_FIFO_CONFIG2_FIFO_WM_GT_THS(true) |
REG_FIFO_CONFIG2_FIFO_FLUSH(true);
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