sensor: icm45686: Add I2C-bus support

[ubieda]

Description

This PR adds I2C bus support to ICM45686 driver, making it compatible with all existing driver functionality:

• Read/Decode.
• Trigger Support.
• Streaming Mode.

Testing

• Run Shell sample on FRDM MCXN947 with Streaming mode enabled and validate sensor interaction:

• Build command:

west build -b frdm_mcxn947/mcxn947/cpu0 samples/subsys/shell/shell_module -- -DCONFIG_SENSOR=y -DCONFIG_SENSOR_SHELL=y -DCONFIG_ICM45686_STREAM=y -DCONFIG_SENSOR_SHELL_STREAM=y

• Overlay (boards/frdm_mcxn947_mcxn947_cpu0.overlay):

#include <zephyr/dt-bindings/sensor/icm45686.h>

&flexcomm2_lpi2c2 {
	status = "okay";

	icm45686: icm45686@68 {
		compatible = "invensense,icm45686";
		reg = <0x68>;
		int-gpios = <&gpio0 29 GPIO_ACTIVE_HIGH>;

		accel-pwr-mode = <ICM45686_DT_ACCEL_LN>;
		accel-fs = <ICM45686_DT_ACCEL_FS_2>;
		accel-odr = <ICM45686_DT_ACCEL_ODR_25>;
		accel-lpf = <ICM45686_DT_ACCEL_LPF_BW_1_32>;
		
		gyro-pwr-mode = <ICM45686_DT_GYRO_LN>;
		gyro-fs = <ICM45686_DT_GYRO_FS_4000>;
		gyro-odr = <ICM45686_DT_GYRO_ODR_25>;
		gyro-lpf = <ICM45686_DT_GYRO_LPF_BW_1_32>;

		fifo-watermark = <25>;
	};
};

• Console output:

# Read/Decode validation
uart:~$ sensor get icm45686@68 
channel type=0(accel_x) index=0 shift=5 num_samples=1 value=55430013257ns (0.073022)
channel type=1(accel_y) index=0 shift=5 num_samples=1 value=55430013257ns (-0.195126)
channel type=2(accel_z) index=0 shift=5 num_samples=1 value=55430013257ns (9.810240)
channel type=3(accel_xyz) index=0 shift=5 num_samples=1 value=55430013257ns, (0.073022, -0.195126, 9.810240)
channel type=4(gyro_x) index=0 shift=12 num_samples=1 value=55430013257ns (0.000000)
channel type=5(gyro_y) index=0 shift=12 num_samples=1 value=55430013257ns (0.000000)
channel type=6(gyro_z) index=0 shift=12 num_samples=1 value=55430013257ns (0.000000)
channel type=7(gyro_xyz) index=0 shift=12 num_samples=1 value=55430013257ns, (0.000000, 0.000000, 0.000000)
channel type=12(die_temp) index=0 shift=9 num_samples=1 value=55430013257ns (25.000000)
uart:~$ 

# Streaming validation
uart:~$ sensor stream icm45686@68 on fifo_wm incl
Disabling existing stream
Enabling stream...
Trigger (10 / fifo_wm) detected
channel type=3(accel_xyz) index=0 shift=9 num_samples=25 value=95403523897ns, (0.076470, -0.191008, 9.810528)
channel type=7(gyro_xyz) index=0 shift=12 num_samples=25 value=95403523897ns, (0.000429, -0.000871, -0.000247)
channel type=12(die_temp) index=0 shift=9 num_samples=25 value=95403523897ns (24.946859)
Trigger (10 / fifo_wm) detected
channel type=3(accel_xyz) index=0 shift=9 num_samples=25 value=96401679064ns, (0.075368, -0.188806, 9.809762)
channel type=7(gyro_xyz) index=0 shift=12 num_samples=25 value=96401679064ns, (0.000471, -0.000669, -0.000291)
channel type=12(die_temp) index=0 shift=9 num_samples=25 value=96401679064ns (24.956521)
Trigger (10 / fifo_wm) detected
channel type=3(accel_xyz) index=0 shift=9 num_samples=25 value=97399794957ns, (0.086477, -0.190529, 9.809618)
channel type=7(gyro_xyz) index=0 shift=12 num_samples=25 value=97399794957ns, (0.000051, -0.002565, -0.000268)
channel type=12(die_temp) index=0 shift=9 num_samples=25 value=97399794957ns (24.934782)
Trigger (10 / fifo_wm) detected
channel type=3(accel_xyz) index=0 shift=9 num_samples=25 value=98397860331ns, (0.093324, -0.190673, 9.809570)
channel type=7(gyro_xyz) index=0 shift=12 num_samples=25 value=98397860331ns, (0.000286, -0.000797, -0.000226)
channel type=12(die_temp) index=0 shift=9 num_samples=25 value=98397860331ns (24.913042)
Trigger (10 / fifo_wm) detected
channel type=3(accel_xyz) index=0 shift=9 num_samples=25 value=99395940484ns, (0.093324, -0.191487, 9.808948)
channel type=7(gyro_xyz) index=0 shift=12 num_samples=25 value=99395940484ns, (0.000343, -0.000722, -0.000238)
channel type=12(die_temp) index=0 shift=9 num_samples=25 value=99395940484ns (24.934782)
Trigger (10 / fifo_wm) detected
channel type=3(accel_xyz) index=0 shift=9 num_samples=25 value=100394029104ns, (0.093516, -0.191487, 9.808756)
channel type=7(gyro_xyz) index=0 shift=12 num_samples=25 value=100394029104ns, (0.000333, -0.000791, -0.000242)
channel type=12(die_temp) index=0 shift=9 num_samples=25 value=100394029104ns (24.968598)
Trigger (10 / fifo_wm) detected
channel type=3(accel_xyz) index=0 shift=9 num_samples=25 value=101392128157ns, (0.092080, -0.191679, 9.811725)
channel type=7(gyro_xyz) index=0 shift=12 num_samples=25 value=101392128157ns, (0.000482, 0.000495, -0.000291)
channel type=12(die_temp) index=0 shift=9 num_samples=25 value=101392128157ns (24.958936)
Trigger (10 / fifo_wm) detected
channel type=3(accel_xyz) index=0 shift=9 num_samples=25 value=102390202224ns, (0.076278, -0.189620, 9.808947)
channel type=7(gyro_xyz) index=0 shift=12 num_samples=25 value=102390202224ns, (0.000137, -0.000169, -0.000322)
channel type=12(die_temp) index=0 shift=9 num_samples=25 value=102390202224ns (24.903381)
Trigger (10 / fifo_wm) detected
channel type=3(accel_xyz) index=0 shift=9 num_samples=25 value=103388262137ns, (0.076470, -0.190865, 9.810240)
channel type=7(gyro_xyz) index=0 shift=12 num_samples=25 value=103388262137ns, (0.000307, -0.000827, -0.000280)
channel type=12(die_temp) index=0 shift=9 num_samples=25 value=103388262137ns (24.929950)
Trigger (10 / fifo_wm) detected
channel type=3(accel_xyz) index=0 shift=9 num_samples=25 value=104386362624ns, (0.076422, -0.191247, 9.809857)
channel type=7(gyro_xyz) index=0 shift=12 num_samples=25 value=104386362624ns, (0.000322, -0.000684, -0.000188)
channel type=12(die_temp) index=0 shift=9 num_samples=25 value=104386362624ns (24.913042)
uart:~$ sensor stream icm45686@68 off
Disabling existing stream
[00:09:54.434,000] <wrn> ICM45686_STREAM: Callback triggered with no streaming submission - Disabling interrupts
uart:~$ 

• Scope capture of I2C bus with Streaming mode enabled. Interrupts every 1 sec (Watermark at 25, 25 HZ ODR):
  

[Copilot]

Pull Request Overview

This PR adds support for I2C bus communication to the ICM45686 sensor driver while updating the SPI code paths to a unified flag (REG_READ_BIT) and enhancing the device tree bindings.

• Added new I2C device tree bindings and updated SPI binding where applicable.
• Modified driver code to add I2C-specific handling for read/write operations and conditionally check bus readiness.
• Introduced an enum to distinguish between SPI and I2C bus types in driver initialization and runtime.

Reviewed Changes

Copilot reviewed 8 out of 10 changed files in this pull request and generated no comments.

Show a summary per file

File	Description
dts/bindings/sensor/invensense,icm45686-spi.yaml	New SPI binding file with updated description and include directives.
dts/bindings/sensor/invensense,icm45686-i2c.yaml	New I2C binding file mirroring SPI file with I2C-specific changes.
dts/bindings/sensor/invensense,icm45686-common.yaml	Removed redundant description and simplified include directives.
drivers/sensor/tdk/icm45686/icm45686_stream.c	Updated read flag usage and added I2C conditional handling in SQE setups.
drivers/sensor/tdk/icm45686/icm45686_reg.h	Renamed SPI read flag to REG_READ_BIT to be used across bus types.
drivers/sensor/tdk/icm45686/icm45686_bus.h	Updated bus read/write functions with I2C-specific SQE flag additions.
drivers/sensor/tdk/icm45686/icm45686.h	Introduced an enum for bus type and added it to the data structure.
drivers/sensor/tdk/icm45686/icm45686.c	Added bus type checks for device readiness and used conditional macros.

Files not reviewed (2)

• drivers/sensor/tdk/icm45686/Kconfig: Language not supported
• tests/drivers/build_all/sensor/i2c.dtsi: Language not supported

Comments suppressed due to low confidence (2)

drivers/sensor/tdk/icm45686/icm45686_bus.h:39

• The variable 'data' is used without being defined in this function. Consider retrieving the driver data (e.g. via device_get_drvdata(dev)) before using data->rtio.type.

if (data->rtio.type == ICM45686_BUS_I2C) {

drivers/sensor/tdk/icm45686/icm45686_bus.h:79

• The same issue occurs here: 'data' is not defined in the function. Ensure that the driver data pointer is obtained before referencing data->rtio.type in the write function.

if (data->rtio.type == ICM45686_BUS_I2C) {

[kartben]

@ubieda please rebase

[ubieda]

Rebased to resolve conflicts in tests/drivers/build_all/sensor/i2c.dtsi