drivers: sensor: Initial driver of Invensense ICM42605

Initial driver and sample application of
TDK Invensense ICM42605 6-axis motion sensor.
This driver provide DTS for nRF52 DK board DTS setting.

Providing features are below.

Sensor data streaming - Accel, gyro
Tap, Double tap triggering.
Set/Get FSR, ODR by set attr API
Support multi instance feature.

Signed-off-by: JuHyun Kim <jkim@invensense.com>

drivers/sensor/icm42605/icm42605_trigger.c

@@ -0,0 +1,151 @@
+/*
+ * Copyright (c) 2016 TDK Invensense
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <device.h>
+#include <drivers/i2c.h>
+#include <sys/util.h>
+#include <kernel.h>
+#include <drivers/sensor.h>
+#include <logging/log.h>
+#include "icm42605.h"
+#include "icm42605_setup.h"
+
+LOG_MODULE_DECLARE(ICM42605, CONFIG_SENSOR_LOG_LEVEL);
+
+int icm42605_trigger_set(const struct device *dev,
+			 const struct sensor_trigger *trig,
+			 sensor_trigger_handler_t handler)
+{
+	struct icm42605_data *drv_data = dev->data;
+	const struct icm42605_config *cfg = dev->config;
+
+	if (trig->type != SENSOR_TRIG_DATA_READY
+	    && trig->type != SENSOR_TRIG_TAP
+	    && trig->type != SENSOR_TRIG_DOUBLE_TAP) {
+		return -ENOTSUP;
+	}
+
+	gpio_pin_interrupt_configure(drv_data->gpio, cfg->int_pin,
+				     GPIO_INT_DISABLE);
+
+	if (handler == NULL) {
+		icm42605_turn_off_sensor(dev);
+		return 0;
+	}
+
+	if (trig->type == SENSOR_TRIG_DATA_READY) {
+		drv_data->data_ready_handler = handler;
+		drv_data->data_ready_trigger = *trig;
+	} else if (trig->type == SENSOR_TRIG_TAP) {
+		drv_data->tap_handler = handler;
+		drv_data->tap_trigger = *trig;
+		drv_data->tap_en = true;
+	} else if (trig->type == SENSOR_TRIG_DOUBLE_TAP) {
+		drv_data->double_tap_handler = handler;
+		drv_data->double_tap_trigger = *trig;
+		drv_data->tap_en = true;
+	} else {
+		return -ENOTSUP;
+	}
+
+	gpio_pin_interrupt_configure(drv_data->gpio, cfg->int_pin,
+				     GPIO_INT_EDGE_TO_ACTIVE);
+
+	icm42605_turn_on_sensor(dev);
+
+	return 0;
+}
+
+static void icm42605_gpio_callback(const struct device *dev,
+				   struct gpio_callback *cb, uint32_t pins)
+{
+	struct icm42605_data *drv_data =
+		CONTAINER_OF(cb, struct icm42605_data, gpio_cb);
+	const struct icm42605_config *cfg = drv_data->dev->config;
+
+	ARG_UNUSED(pins);
+
+	gpio_pin_interrupt_configure(drv_data->gpio, cfg->int_pin,
+				     GPIO_INT_DISABLE);
+
+	k_sem_give(&drv_data->gpio_sem);
+}
+
+static void icm42605_thread_cb(void *arg)
+{
+	const struct device *dev = arg;
+	const struct icm42605_data *drv_data = dev->data;
+	const struct icm42605_config *cfg = dev->config;
+
+	if (drv_data->data_ready_handler != NULL) {
+		drv_data->data_ready_handler(dev,
+					     &drv_data->data_ready_trigger);
+	}
+
+	if (drv_data->tap_handler != NULL ||
+	    drv_data->double_tap_handler != NULL) {
+		icm42605_tap_fetch(dev);
+	}
+
+	gpio_pin_interrupt_configure(drv_data->gpio, cfg->int_pin,
+				     GPIO_INT_EDGE_TO_ACTIVE);
+}
+
+static void icm42605_thread(int dev_ptr, int unused)
+{
+	const struct device *dev = INT_TO_POINTER(dev_ptr);
+	const struct icm42605_data *drv_data = dev->data;
+
+	ARG_UNUSED(unused);
+
+	while (1) {
+		k_sem_take(&drv_data->gpio_sem, K_FOREVER);
+		icm42605_thread_cb(dev);
+	}
+}
+
+int icm42605_init_interrupt(const struct device *dev)
+{
+	struct icm42605_data *drv_data = dev->data;
+	const struct icm42605_config *cfg = dev->config;
+	int result = 0;
+
+	/* setup data ready gpio interrupt */
+	drv_data->gpio = device_get_binding(cfg->int_label);
+	if (drv_data->gpio == NULL) {
+		LOG_ERR("Failed to get pointer to %s device",
+			cfg->int_label);
+		return -ENODEV;
+	}
+
+	drv_data->dev = dev;
+
+	gpio_pin_configure(drv_data->gpio, cfg->int_pin,
+			   GPIO_INPUT | cfg->int_flags);
+
+	gpio_init_callback(&drv_data->gpio_cb,
+			   icm42605_gpio_callback,
+			   BIT(cfg->int_pin));
+
+	result = gpio_add_callback(drv_data->gpio, &drv_data->gpio_cb);
+	if (result < 0) {
+		LOG_ERR("Failed to set gpio callback");
+		return result;
+	}
+
+	k_sem_init(&drv_data->gpio_sem, 0, UINT_MAX);
+
+	k_thread_create(&drv_data->thread, drv_data->thread_stack,
+			CONFIG_ICM42605_THREAD_STACK_SIZE,
+			(k_thread_entry_t)icm42605_thread, dev,
+			0, NULL, K_PRIO_COOP(CONFIG_ICM42605_THREAD_PRIORITY),
+			0, K_NO_WAIT);
+
+	gpio_pin_interrupt_configure(drv_data->gpio, cfg->int_pin,
+				     GPIO_INT_EDGE_TO_INACTIVE);
+
+	return 0;
+}