drivers: sensors: bmi08x: add initial support for bmi08x

This adds support for the bosch bmi085 and bmi088. This also includes
support for data sync mode.

Signed-off-by: Ryan McClelland <ryanmcclelland@meta.com>

drivers/sensor/CMakeLists.txt

@@ -18,6 +18,7 @@ add_subdirectory_ifdef(CONFIG_BMC150_MAGN bmc150_magn)
 add_subdirectory_ifdef(CONFIG_BME280 bme280)
 add_subdirectory_ifdef(CONFIG_BME680 bme680)
 add_subdirectory_ifdef(CONFIG_BMG160 bmg160)
+add_subdirectory_ifdef(CONFIG_BMI08X bmi08x)
 add_subdirectory_ifdef(CONFIG_BMI160 bmi160)
 add_subdirectory_ifdef(CONFIG_BMI270 bmi270)
 add_subdirectory_ifdef(CONFIG_BMI323 bmi323)

drivers/sensor/Kconfig

@@ -74,6 +74,7 @@ source "drivers/sensor/bmc150_magn/Kconfig"
 source "drivers/sensor/bme280/Kconfig"
 source "drivers/sensor/bme680/Kconfig"
 source "drivers/sensor/bmg160/Kconfig"
+source "drivers/sensor/bmi08x/Kconfig"
 source "drivers/sensor/bmi160/Kconfig"
 source "drivers/sensor/bmi270/Kconfig"
 source "drivers/sensor/bmi323/Kconfig"

drivers/sensor/bmi08x/CMakeLists.txt

@@ -0,0 +1,9 @@
+# SPDX-License-Identifier: Apache-2.0
+
+zephyr_library()
+
+zephyr_library_sources_ifdef(CONFIG_BMI08X bmi08x_accel.c)
+zephyr_library_sources_ifdef(CONFIG_BMI08X bmi08x_gyro.c)
+zephyr_library_sources_ifdef(CONFIG_BMI08X bmi08x.c)
+zephyr_library_sources_ifdef(CONFIG_BMI08X_ACCEL_TRIGGER bmi08x_accel_trigger.c)
+zephyr_library_sources_ifdef(CONFIG_BMI08X_GYRO_TRIGGER bmi08x_gyro_trigger.c)

drivers/sensor/bmi08x/Kconfig

@@ -0,0 +1,95 @@
+# Bosch BMI08X inertial measurement configuration options
+
+# Copyright (c) 2022 Meta Platforms, Inc. and its affiliates
+# SPDX-License-Identifier: Apache-2.0
+
+menuconfig BMI08X
+	bool "Bosch BMI08X inertial measurement unit"
+	default y
+	depends on DT_HAS_BOSCH_BMI08X_ACCEL_ENABLED || DT_HAS_BOSCH_BMI08X_GYRO_ENABLED
+	select I2C if $(dt_compat_on_bus,$(DT_COMPAT_BOSCH_BMI08X_ACCEL),i2c) \
+		|| $(dt_compat_on_bus,$(DT_COMPAT_BOSCH_BMI08X_GYRO),i2c)
+	select SPI if $(dt_compat_on_bus,$(DT_COMPAT_BOSCH_BMI08X_ACCEL),spi) \
+		|| $(dt_compat_on_bus,$(DT_COMPAT_BOSCH_BMI08X_GYRO),spi)
+	help
+	  Enable Bosch BMI08X inertial measurement unit that provides acceleration
+	  and angular rate measurements.
+
+if BMI08X
+
+choice BMI08X_ACCEL_TRIGGER_MODE
+	prompt "Accelerometer trigger mode"
+	default BMI08X_ACCEL_TRIGGER_GLOBAL_THREAD
+	help
+	  Specify the type of triggering to be used by the driver.
+
+config BMI08X_ACCEL_TRIGGER_NONE
+	bool "No trigger"
+
+config BMI08X_ACCEL_TRIGGER_GLOBAL_THREAD
+	bool "Use global thread"
+	select BMI08X_ACCEL_TRIGGER
+
+config BMI08X_ACCEL_TRIGGER_OWN_THREAD
+	bool "Use own thread"
+	select BMI08X_ACCEL_TRIGGER
+endchoice
+
+config BMI08X_ACCEL_TRIGGER
+	bool
+
+config BMI08X_ACCEL_THREAD_PRIORITY
+	int "Accelerometer own thread priority"
+	depends on BMI08X_ACCEL_TRIGGER_OWN_THREAD
+	default 10
+	help
+	  The priority of the thread used for handling interrupts.
+
+config BMI08X_ACCEL_THREAD_STACK_SIZE
+	int "Accelerometer own thread stack size"
+	depends on BMI08X_ACCEL_TRIGGER_OWN_THREAD
+	default 1536
+	help
+	  The thread stack size.
+
+choice BMI08X_GYRO_TRIGGER_MODE
+	prompt "Gyroscope trigger mode"
+	default BMI08X_GYRO_TRIGGER_NONE
+	default BMI08X_GYRO_TRIGGER_GLOBAL_THREAD
+	help
+	  Specify the type of triggering to be used by the driver.
+
+config BMI08X_GYRO_TRIGGER_NONE
+	bool "No trigger"
+
+config BMI08X_GYRO_TRIGGER_GLOBAL_THREAD
+	bool "Use global thread"
+	select BMI08X_GYRO_TRIGGER
+
+config BMI08X_GYRO_TRIGGER_OWN_THREAD
+	bool "Use own thread"
+	select BMI08X_GYRO_TRIGGER
+endchoice
+
+config BMI08X_GYRO_TRIGGER
+	bool
+
+config BMI08X_GYRO_THREAD_PRIORITY
+	int "Own thread priority"
+	depends on BMI08X_GYRO_TRIGGER_OWN_THREAD
+	default 10
+	help
+	  The priority of the thread used for handling interrupts.
+
+config BMI08X_GYRO_THREAD_STACK_SIZE
+	int "Own thread stack size"
+	depends on BMI08X_GYRO_TRIGGER_OWN_THREAD
+	default 1536
+	help
+	  The thread stack size.
+
+config BMI08X_I2C_WRITE_BURST_SIZE
+	int "Maximum length of single i2c write"
+	default 16
+
+endif # BMI08X

drivers/sensor/bmi08x/bmi08x.c

@@ -0,0 +1,74 @@
+/* Bosch BMI08X inertial measurement unit driver
+ *
+ * Copyright (c) 2022 Meta Platforms, Inc. and its affiliates
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <zephyr/kernel.h>
+#include "bmi08x.h"
+
+/*
+ * Output data rate map with allowed frequencies:
+ * freq = freq_int + freq_milli / 1000
+ *
+ * Since we don't need a finer frequency resolution than milliHz, use uint16_t
+ * to save some flash.
+ */
+static const struct {
+	uint16_t freq_int;
+	uint16_t freq_milli; /* User should convert to uHz before setting the
+			      * SENSOR_ATTR_SAMPLING_FREQUENCY attribute.
+			      */
+} bmi08x_odr_map[] = {
+	{0, 0},	 {0, 780}, {1, 562}, {3, 120}, {6, 250}, {12, 500}, {25, 0},
+	{50, 0}, {100, 0}, {200, 0}, {400, 0}, {800, 0}, {1600, 0}, {3200, 0},
+};
+
+int bmi08x_freq_to_odr_val(uint16_t freq_int, uint16_t freq_milli)
+{
+	size_t i;
+
+	/* An ODR of 0 Hz is not allowed */
+	if (freq_int == 0U && freq_milli == 0U) {
+		return -EINVAL;
+	}
+
+	for (i = 0; i < ARRAY_SIZE(bmi08x_odr_map); i++) {
+		if (freq_int < bmi08x_odr_map[i].freq_int ||
+		    (freq_int == bmi08x_odr_map[i].freq_int &&
+		     freq_milli <= bmi08x_odr_map[i].freq_milli)) {
+			return i;
+		}
+	}
+
+	return -EINVAL;
+}
+
+int32_t bmi08x_range_to_reg_val(uint16_t range, const struct bmi08x_range *range_map,
+				       uint16_t range_map_size)
+{
+	int i;
+
+	for (i = 0; i < range_map_size; i++) {
+		if (range <= range_map[i].range) {
+			return range_map[i].reg_val;
+		}
+	}
+
+	return -EINVAL;
+}
+
+int32_t bmi08x_reg_val_to_range(uint8_t reg_val, const struct bmi08x_range *range_map,
+				       uint16_t range_map_size)
+{
+	int i;
+
+	for (i = 0; i < range_map_size; i++) {
+		if (reg_val == range_map[i].reg_val) {
+			return range_map[i].range;
+		}
+	}
+
+	return -EINVAL;
+}

drivers/sensor/bmi08x/bmi08x.h

@@ -0,0 +1,593 @@
+/* Bosch BMI08X inertial measurement unit header
+ *
+ * Copyright (c) 2022 Meta Platforms, Inc. and its affiliates
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#ifndef ZEPHYR_DRIVERS_SENSOR_BMI08X_H_
+#define ZEPHYR_DRIVERS_SENSOR_BMI08X_H_
+
+#include <zephyr/drivers/gpio.h>
+#include <zephyr/drivers/i2c.h>
+#include <zephyr/drivers/sensor.h>
+#include <zephyr/drivers/spi.h>
+#include <zephyr/sys/util.h>
+
+/* Accel Chip Id register */
+#define BMI08X_REG_ACCEL_CHIP_ID 0x00
+
+/* Accel Error condition register */
+#define BMI08X_REG_ACCEL_ERR 0x02
+
+/* Accel Status flag register */
+#define BMI08X_REG_ACCEL_STATUS 0x03
+
+/* Accel X LSB data register */
+#define BMI08X_REG_ACCEL_X_LSB 0x12
+
+/* Accel X MSB data register */
+#define BMI08X_REG_ACCEL_X_MSB 0x13
+
+/* Accel Y LSB data register */
+#define BMI08X_REG_ACCEL_Y_LSB 0x14
+
+/* Accel Y MSB data register */
+#define BMI08X_REG_ACCEL_Y_MSB 0x15
+
+/* Accel Z LSB data register */
+#define BMI08X_REG_ACCEL_Z_LSB 0x16
+
+/* Accel Z MSB data register */
+#define BMI08X_REG_ACCEL_Z_MSB 0x17
+
+/* Sensor time byte 0 register */
+#define BMI08X_REG_ACCEL_SENSORTIME_0 0x18
+
+/* Sensor time byte 1 register */
+#define BMI08X_REG_ACCEL_SENSORTIME_1 0x19
+
+/* Sensor time byte 2 register */
+#define BMI08X_REG_ACCEL_SENSORTIME_2 0x1A
+
+/* Accel Interrupt status0 register */
+#define BMI08X_REG_ACCEL_INT_STAT_0 0x1C
+
+/* Accel Interrupt status1 register */
+#define BMI08X_REG_ACCEL_INT_STAT_1 0x1D
+
+/* Accel general purpose register 0*/
+#define BMI08X_REG_ACCEL_GP_0 0x1E
+
+/* Sensor temperature MSB data register */
+#define BMI08X_REG_TEMP_MSB 0x22
+
+/* Sensor temperature LSB data register */
+#define BMI08X_REG_TEMP_LSB 0x23
+
+/* Accel general purpose register 4*/
+#define BMI08X_REG_ACCEL_GP_4 0x27
+
+/* Accel Internal status register */
+#define BMI08X_REG_ACCEL_INTERNAL_STAT 0x2A
+
+/* Accel configuration register */
+#define BMI08X_REG_ACCEL_CONF 0x40
+
+/* Accel range setting register */
+#define BMI08X_REG_ACCEL_RANGE 0x41
+
+/* Accel Interrupt pin 1 configuration register */
+#define BMI08X_REG_ACCEL_INT1_IO_CONF 0x53
+
+/* Accel Interrupt pin 2 configuration register */
+#define BMI08X_REG_ACCEL_INT2_IO_CONF 0x54
+
+/* Accel Interrupt latch configuration register */
+#define BMI08X_REG_ACCEL_INT_LATCH_CONF 0x55
+
+/* Accel Interrupt pin1 mapping register */
+#define BMI08X_REG_ACCEL_INT1_MAP 0x56
+
+/* Accel Interrupt pin2 mapping register */
+#define BMI08X_REG_ACCEL_INT2_MAP 0x57
+
+/* Accel Interrupt map register */
+#define BMI08X_REG_ACCEL_INT1_INT2_MAP_DATA 0x58
+
+/* Accel Init control register */
+#define BMI08X_REG_ACCEL_INIT_CTRL 0x59
+
+/* Accel Self test register */
+#define BMI08X_REG_ACCEL_SELF_TEST 0x6D
+
+/* Accel Power mode configuration register */
+#define BMI08X_REG_ACCEL_PWR_CONF 0x7C
+
+/* Accel Power control (switch on or off  register */
+#define BMI08X_REG_ACCEL_PWR_CTRL 0x7D
+
+/* Accel Soft reset register */
+#define BMI08X_REG_ACCEL_SOFTRESET 0x7E
+
+/* BMI085 Accel unique chip identifier */
+#define BMI085_ACCEL_CHIP_ID 0x1F
+
+/* BMI088 Accel unique chip identifier */
+#define BMI088_ACCEL_CHIP_ID 0x1E
+
+/* Feature Config related Registers */
+#define BMI08X_ACCEL_RESERVED_5B_REG 0x5B
+#define BMI08X_ACCEL_RESERVED_5C_REG 0x5C
+#define BMI08X_ACCEL_FEATURE_CFG_REG 0x5E
+
+/* Interrupt masks */
+#define BMI08X_ACCEL_DATA_READY_INT 0x80
+
+/* Accel Bandwidth */
+#define BMI08X_ACCEL_BW_OSR4   0x00
+#define BMI08X_ACCEL_BW_OSR2   0x01
+#define BMI08X_ACCEL_BW_NORMAL 0x02
+
+/* BMI085 Accel Range */
+#define BMI085_ACCEL_RANGE_2G  0x00
+#define BMI085_ACCEL_RANGE_4G  0x01
+#define BMI085_ACCEL_RANGE_8G  0x02
+#define BMI085_ACCEL_RANGE_16G 0x03
+
+/**\name  BMI088 Accel Range */
+#define BMI088_ACCEL_RANGE_3G  0x00
+#define BMI088_ACCEL_RANGE_6G  0x01
+#define BMI088_ACCEL_RANGE_12G 0x02
+#define BMI088_ACCEL_RANGE_24G 0x03
+
+/* Accel Output data rate */
+#define BMI08X_ACCEL_ODR_12_5_HZ 0x05
+#define BMI08X_ACCEL_ODR_25_HZ	 0x06
+#define BMI08X_ACCEL_ODR_50_HZ	 0x07
+#define BMI08X_ACCEL_ODR_100_HZ	 0x08
+#define BMI08X_ACCEL_ODR_200_HZ	 0x09
+#define BMI08X_ACCEL_ODR_400_HZ	 0x0A
+#define BMI08X_ACCEL_ODR_800_HZ	 0x0B
+#define BMI08X_ACCEL_ODR_1600_HZ 0x0C
+
+/* Accel Init Ctrl */
+#define BMI08X_ACCEL_INIT_CTRL_DISABLE 0x00
+#define BMI08X_ACCEL_INIT_CTRL_ENABLE  0x01
+
+/* Accel Self test */
+#define BMI08X_ACCEL_SWITCH_OFF_SELF_TEST 0x00
+#define BMI08X_ACCEL_POSITIVE_SELF_TEST	  0x0D
+#define BMI08X_ACCEL_NEGATIVE_SELF_TEST	  0x09
+
+/* Accel Power mode */
+#define BMI08X_ACCEL_PM_ACTIVE	0x00
+#define BMI08X_ACCEL_PM_SUSPEND 0x03
+
+/* Accel Power control settings */
+#define BMI08X_ACCEL_POWER_DISABLE 0x00
+#define BMI08X_ACCEL_POWER_ENABLE  0x04
+
+/* Accel internal interrupt pin mapping */
+#define BMI08X_ACCEL_INTA_DISABLE 0x00
+#define BMI08X_ACCEL_INTA_ENABLE  0x01
+#define BMI08X_ACCEL_INTB_DISABLE 0x00
+#define BMI08X_ACCEL_INTB_ENABLE  0x02
+#define BMI08X_ACCEL_INTC_DISABLE 0x00
+#define BMI08X_ACCEL_INTC_ENABLE  0x04
+
+/* Accel Soft reset delay */
+#define BMI08X_ACCEL_SOFTRESET_DELAY_MS 1
+
+/* Mask definitions for ACCEL_ERR_REG register */
+#define BMI08X_FATAL_ERR_MASK 0x01
+#define BMI08X_ERR_CODE_MASK  0x1C
+
+/* Position definitions for ACCEL_ERR_REG register */
+#define BMI08X_CMD_ERR_POS  1
+#define BMI08X_ERR_CODE_POS 2
+
+/* Mask definition for ACCEL_STATUS_REG register */
+#define BMI08X_ACCEL_STATUS_MASK 0x80
+
+/* Position definitions for ACCEL_STATUS_REG  */
+#define BMI08X_ACCEL_STATUS_POS 7
+
+/* Mask definitions for odr, bandwidth and range */
+#define BMI08X_ACCEL_ODR_MASK	0x0F
+#define BMI08X_ACCEL_BW_MASK	0x70
+#define BMI08X_ACCEL_RANGE_MASK 0x03
+
+/* Position definitions for odr, bandwidth and range */
+#define BMI08X_ACCEL_BW_POS 4
+
+/* Mask definitions for INT1_IO_CONF register */
+#define BMI08X_ACCEL_INT_EDGE_MASK 0x01
+#define BMI08X_ACCEL_INT_LVL_MASK  0x02
+#define BMI08X_ACCEL_INT_OD_MASK   0x04
+#define BMI08X_ACCEL_INT_IO_MASK   0x08
+#define BMI08X_ACCEL_INT_IN_MASK   0x10
+
+/* Position definitions for INT1_IO_CONF register */
+#define BMI08X_ACCEL_INT_EDGE_POS 0
+#define BMI08X_ACCEL_INT_LVL_POS  1
+#define BMI08X_ACCEL_INT_OD_POS	  2
+#define BMI08X_ACCEL_INT_IO_POS	  3
+#define BMI08X_ACCEL_INT_IN_POS	  4
+
+/* Mask definitions for INT1/INT2 mapping register */
+#define BMI08X_ACCEL_MAP_INTA_MASK 0x01
+
+/* Mask definitions for INT1/INT2 mapping register */
+#define BMI08X_ACCEL_MAP_INTA_POS 0x00
+
+/* Mask definitions for INT1_INT2_MAP_DATA register */
+#define BMI08X_ACCEL_INT1_DRDY_MASK 0x04
+#define BMI08X_ACCEL_INT2_DRDY_MASK 0x40
+
+/* Position definitions for INT1_INT2_MAP_DATA register */
+#define BMI08X_ACCEL_INT1_DRDY_POS 2
+#define BMI08X_ACCEL_INT2_DRDY_POS 6
+
+/* Asic Initialization value */
+#define BMI08X_ASIC_INITIALIZED 0x01
+
+#define BMI08X_TEMP_OFFSET 32
+
+/*************************** BMI08 Gyroscope Macros *****************************/
+/** Register map */
+/* Gyro registers */
+
+/* Gyro Chip Id register */
+#define BMI08X_REG_GYRO_CHIP_ID 0x00
+
+/* Gyro X LSB data register */
+#define BMI08X_REG_GYRO_X_LSB 0x02
+
+/* Gyro X MSB data register */
+#define BMI08X_REG_GYRO_X_MSB 0x03
+
+/* Gyro Y LSB data register */
+#define BMI08X_REG_GYRO_Y_LSB 0x04
+
+/* Gyro Y MSB data register */
+#define BMI08X_REG_GYRO_Y_MSB 0x05
+
+/* Gyro Z LSB data register */
+#define BMI08X_REG_GYRO_Z_LSB 0x06
+
+/* Gyro Z MSB data register */
+#define BMI08X_REG_GYRO_Z_MSB 0x07
+
+/* Gyro Interrupt status register */
+#define BMI08X_REG_GYRO_INT_STAT_1 0x0A
+
+/* Gyro Range register */
+#define BMI08X_REG_GYRO_RANGE 0x0F
+
+/* Gyro Bandwidth register */
+#define BMI08X_REG_GYRO_BANDWIDTH 0x10
+
+/* Gyro Power register */
+#define BMI08X_REG_GYRO_LPM1 0x11
+
+/* Gyro Soft reset register */
+#define BMI08X_REG_GYRO_SOFTRESET 0x14
+
+/* Gyro Interrupt control register */
+#define BMI08X_REG_GYRO_INT_CTRL 0x15
+
+/* Gyro Interrupt Pin configuration register */
+#define BMI08X_REG_GYRO_INT3_INT4_IO_CONF 0x16
+
+/* Gyro Interrupt Map register */
+#define BMI08X_REG_GYRO_INT3_INT4_IO_MAP 0x18
+
+/* Gyro Self test register */
+#define BMI08X_REG_GYRO_SELF_TEST 0x3C
+
+/* Gyro unique chip identifier */
+#define BMI08X_GYRO_CHIP_ID 0x0F
+
+/* Gyro Range */
+#define BMI08X_GYRO_RANGE_2000_DPS 0x00
+#define BMI08X_GYRO_RANGE_1000_DPS 0x01
+#define BMI08X_GYRO_RANGE_500_DPS  0x02
+#define BMI08X_GYRO_RANGE_250_DPS  0x03
+#define BMI08X_GYRO_RANGE_125_DPS  0x04
+
+/* Gyro Output data rate and bandwidth */
+#define BMI08X_GYRO_BW_532_ODR_2000_HZ 0x00
+#define BMI08X_GYRO_BW_230_ODR_2000_HZ 0x01
+#define BMI08X_GYRO_BW_116_ODR_1000_HZ 0x02
+#define BMI08X_GYRO_BW_47_ODR_400_HZ   0x03
+#define BMI08X_GYRO_BW_23_ODR_200_HZ   0x04
+#define BMI08X_GYRO_BW_12_ODR_100_HZ   0x05
+#define BMI08X_GYRO_BW_64_ODR_200_HZ   0x06
+#define BMI08X_GYRO_BW_32_ODR_100_HZ   0x07
+#define BMI08X_GYRO_ODR_RESET_VAL      0x80
+
+/* Gyro Power mode */
+#define BMI08X_GYRO_PM_NORMAL	    0x00
+#define BMI08X_GYRO_PM_DEEP_SUSPEND 0x20
+#define BMI08X_GYRO_PM_SUSPEND	    0x80
+
+/* Gyro data ready interrupt enable value */
+#define BMI08X_GYRO_DRDY_INT_DISABLE_VAL 0x00
+#define BMI08X_GYRO_DRDY_INT_ENABLE_VAL	 0x80
+
+/* Gyro data ready map values */
+#define BMI08X_GYRO_MAP_DRDY_TO_INT3	       0x01
+#define BMI08X_GYRO_MAP_DRDY_TO_INT4	       0x80
+#define BMI08X_GYRO_MAP_DRDY_TO_BOTH_INT3_INT4 0x81
+
+/* Gyro Soft reset delay */
+#define BMI08X_GYRO_SOFTRESET_DELAY 30
+
+/* Gyro power mode config delay */
+#define BMI08X_GYRO_POWER_MODE_CONFIG_DELAY 30
+
+/** Mask definitions for range, bandwidth and power */
+#define BMI08X_GYRO_RANGE_MASK 0x07
+#define BMI08X_GYRO_BW_MASK    0x0F
+#define BMI08X_GYRO_POWER_MASK 0xA0
+
+/** Position definitions for range, bandwidth and power */
+#define BMI08X_GYRO_POWER_POS 5
+
+/* Mask definitions for BMI08X_GYRO_INT_CTRL_REG register */
+#define BMI08X_GYRO_DATA_EN_MASK 0x80
+
+/* Position definitions for BMI08X_GYRO_INT_CTRL_REG register */
+#define BMI08X_GYRO_DATA_EN_POS 7
+
+/* Mask definitions for BMI08X_GYRO_INT3_INT4_IO_CONF_REG register */
+#define BMI08X_GYRO_INT3_LVL_MASK 0x01
+#define BMI08X_GYRO_INT3_OD_MASK  0x02
+#define BMI08X_GYRO_INT4_LVL_MASK 0x04
+#define BMI08X_GYRO_INT4_OD_MASK  0x08
+
+/* Position definitions for BMI08X_GYRO_INT3_INT4_IO_CONF_REG register */
+#define BMI08X_GYRO_INT3_OD_POS	 1
+#define BMI08X_GYRO_INT4_LVL_POS 2
+#define BMI08X_GYRO_INT4_OD_POS	 3
+
+/* Mask definitions for BMI08X_GYRO_INT_EN_REG register */
+#define BMI08X_GYRO_INT_EN_MASK 0x80
+
+/* Position definitions for BMI08X_GYRO_INT_EN_REG register */
+#define BMI08X_GYRO_INT_EN_POS 7
+
+/* Mask definitions for BMI088_GYRO_INT_MAP_REG register */
+#define BMI08X_GYRO_INT3_MAP_MASK 0x01
+#define BMI08X_GYRO_INT4_MAP_MASK 0x80
+
+/* Position definitions for BMI088_GYRO_INT_MAP_REG register */
+#define BMI08X_GYRO_INT3_MAP_POS 0
+#define BMI08X_GYRO_INT4_MAP_POS 7
+
+/* Mask definitions for BMI088_GYRO_INT_MAP_REG register */
+#define BMI088_GYRO_INT3_MAP_MASK 0x01
+#define BMI088_GYRO_INT4_MAP_MASK 0x80
+
+/* Position definitions for BMI088_GYRO_INT_MAP_REG register */
+#define BMI088_GYRO_INT3_MAP_POS 0
+#define BMI088_GYRO_INT4_MAP_POS 7
+
+/* Mask definitions for GYRO_SELF_TEST register */
+#define BMI08X_GYRO_SELF_TEST_EN_MASK	    0x01
+#define BMI08X_GYRO_SELF_TEST_RDY_MASK	    0x02
+#define BMI08X_GYRO_SELF_TEST_RESULT_MASK   0x04
+#define BMI08X_GYRO_SELF_TEST_FUNCTION_MASK 0x08
+
+/* Position definitions for GYRO_SELF_TEST register */
+#define BMI08X_GYRO_SELF_TEST_RDY_POS	   1
+#define BMI08X_GYRO_SELF_TEST_RESULT_POS   2
+#define BMI08X_GYRO_SELF_TEST_FUNCTION_POS 3
+
+/*************************** Common Macros for both Accel and Gyro *****************************/
+/** Soft reset Value */
+#define BMI08X_SOFT_RESET_CMD 0xB6
+
+/* Constant values macros */
+#define BMI08X_SENSOR_DATA_SYNC_TIME_MS 1
+#define BMI08X_DELAY_BETWEEN_WRITES_MS	1
+#define BMI08X_SELF_TEST_DELAY_MS	3
+#define BMI08X_POWER_CONFIG_DELAY	5
+#define BMI08X_SENSOR_SETTLE_TIME_MS	30
+#define BMI08X_SELF_TEST_DATA_READ_MS	50
+#define BMI08X_ASIC_INIT_TIME_MS	150
+
+/* allowed ODR values */
+enum bmi08x_odr {
+	BMI08X_ODR_25_2,
+	BMI08X_ODR_25,
+	BMI08X_ODR_50,
+	BMI08X_ODR_100,
+	BMI08X_ODR_200,
+	BMI08X_ODR_400,
+	BMI08X_ODR_800,
+	BMI08X_ODR_1600,
+};
+
+/* Range values for accelerometer */
+#define BMI08X_ACC_RANGE_2G_3G	 0x0
+#define BMI08X_ACC_RANGE_4G_6G	 0x1
+#define BMI08X_ACC_RANGE_8G_12G	 0x2
+#define BMI08X_ACC_RANGE_16G_24G 0x3
+
+/* Range values for gyro */
+#define BMI08X_GYR_RANGE_2000DPS 0
+#define BMI08X_GYR_RANGE_1000DPS 1
+#define BMI08X_GYR_RANGE_500DPS	 2
+#define BMI08X_GYR_RANGE_250DPS	 3
+#define BMI08X_GYR_RANGE_125DPS	 4
+
+#define BMI08X_ACC_SCALE(range_g)   ((2 * range_g * SENSOR_G) / 65536LL)
+#define BMI08X_GYR_SCALE(range_dps) ((2 * range_dps * SENSOR_PI) / 180LL / 65536LL)
+
+/* report of data sync is selected */
+#define BMI08X_ACCEL_DATA_SYNC_EN(inst) DT_NODE_HAS_STATUS(DT_INST_PHANDLE(inst, data_sync), okay)
+/* Macro used for compile time optimization to compile in/out code used for data-sync
+ * if at least 1 bmi08x has data-sync enabled
+ */
+#define ACCEL_HELPER(inst)		    BMI08X_ACCEL_DATA_SYNC_EN(inst) ||
+#define BMI08X_ACCEL_ANY_INST_HAS_DATA_SYNC DT_INST_FOREACH_STATUS_OKAY(ACCEL_HELPER) 0
+#define GYRO_HELPER(inst)		    DT_INST_PROP(inst, data_sync) ||
+#define BMI08X_GYRO_ANY_INST_HAS_DATA_SYNC  DT_INST_FOREACH_STATUS_OKAY(GYRO_HELPER) 0
+
+struct bmi08x_range {
+	uint16_t range;
+	uint8_t reg_val;
+};
+
+union bmi08x_bus {
+#if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi)
+	struct spi_dt_spec spi;
+#endif
+#if DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c)
+	struct i2c_dt_spec i2c;
+#endif
+};
+
+struct bmi08x_accel_bus_io {
+	int (*check)(const union bmi08x_bus *bus);
+	int (*bus_init)(const struct device *dev);
+	int (*transceive)(const struct device *dev, uint8_t reg, bool write, void *data,
+			  size_t length);
+#if BMI08X_ACCEL_ANY_INST_HAS_DATA_SYNC
+	int (*write_config_file)(const struct device *dev);
+#endif
+};
+
+struct bmi08x_gyro_bus_io {
+	int (*check)(const union bmi08x_bus *bus);
+	int (*transceive)(const struct device *dev, uint8_t reg, bool write, void *data,
+			  size_t length);
+};
+
+struct bmi08x_accel_config {
+	union bmi08x_bus bus;
+	const struct bmi08x_accel_bus_io *api;
+#if defined(CONFIG_BMI08X_ACCEL_TRIGGER)
+	struct gpio_dt_spec int_gpio;
+#endif
+#if defined(CONFIG_BMI08X_ACCEL_TRIGGER) || BMI08X_ACCEL_ANY_INST_HAS_DATA_SYNC
+	uint8_t int1_map;
+	uint8_t int2_map;
+	uint8_t int1_conf_io;
+	uint8_t int2_conf_io;
+#endif
+	uint8_t accel_hz;
+	uint8_t accel_fs;
+#if BMI08X_ACCEL_ANY_INST_HAS_DATA_SYNC
+	uint8_t data_sync;
+#endif
+};
+
+struct bmi08x_gyro_config {
+	union bmi08x_bus bus;
+	const struct bmi08x_gyro_bus_io *api;
+#if defined(CONFIG_BMI08X_GYRO_TRIGGER)
+	struct gpio_dt_spec int_gpio;
+#endif
+#if defined(CONFIG_BMI08X_GYRO_TRIGGER) || BMI08X_GYRO_ANY_INST_HAS_DATA_SYNC
+	uint8_t int3_4_map;
+	uint8_t int3_4_conf_io;
+#endif
+	uint8_t gyro_hz;
+	uint8_t gyro_fs;
+};
+
+struct bmi08x_accel_data {
+#if defined(CONFIG_BMI08X_ACCEL_TRIGGER)
+	struct gpio_callback gpio_cb;
+#endif
+	uint16_t acc_sample[3];
+	uint16_t scale; /* micro m/s^2/lsb */
+
+#if defined(CONFIG_BMI08X_ACCEL_TRIGGER_OWN_THREAD)
+	K_KERNEL_STACK_MEMBER(thread_stack, CONFIG_BMI08X_ACCEL_THREAD_STACK_SIZE);
+	struct k_thread thread;
+	struct k_sem sem;
+#elif defined(CONFIG_BMI08X_ACCEL_TRIGGER_GLOBAL_THREAD)
+	struct k_work work;
+	const struct device *dev;
+#endif
+
+#ifdef CONFIG_BMI08X_ACCEL_TRIGGER
+	sensor_trigger_handler_t handler_drdy_acc;
+	const struct sensor_trigger *drdy_trig_acc;
+#endif /* CONFIG_BMI08X_ACCEL_TRIGGER */
+	uint8_t accel_chip_id;
+};
+
+struct bmi08x_gyro_data {
+#if defined(CONFIG_BMI08X_GYRO_TRIGGER)
+	struct gpio_callback gpio_cb;
+#endif
+	uint16_t gyr_sample[3];
+	uint16_t scale; /* micro radians/s/lsb */
+
+#if defined(CONFIG_BMI08X_GYRO_TRIGGER_OWN_THREAD)
+	K_KERNEL_STACK_MEMBER(thread_stack, CONFIG_BMI08X_GYRO_THREAD_STACK_SIZE);
+	struct k_thread thread;
+	struct k_sem sem;
+#elif defined(CONFIG_BMI08X_GYRO_TRIGGER_GLOBAL_THREAD)
+	struct k_work work;
+	const struct device *dev;
+#endif
+
+#ifdef CONFIG_BMI08X_GYRO_TRIGGER
+	sensor_trigger_handler_t handler_drdy_gyr;
+	const struct sensor_trigger *drdy_trig_gyr;
+#endif /* CONFIG_BMI08X_GYRO_TRIGGER */
+};
+
+/* common functions for accel and gyro */
+int bmi08x_freq_to_odr_val(uint16_t freq_int, uint16_t freq_milli);
+int32_t bmi08x_range_to_reg_val(uint16_t range, const struct bmi08x_range *range_map,
+				uint16_t range_map_size);
+int32_t bmi08x_reg_val_to_range(uint8_t reg_val, const struct bmi08x_range *range_map,
+				       uint16_t range_map_size);
+
+int bmi08x_accel_read(const struct device *dev, uint8_t reg_addr, uint8_t *data, uint8_t len);
+int bmi08x_accel_write(const struct device *dev, uint8_t reg_addr, uint8_t *data, uint16_t len);
+int bmi08x_accel_byte_read(const struct device *dev, uint8_t reg_addr, uint8_t *byte);
+int bmi08x_accel_byte_write(const struct device *dev, uint8_t reg_addr, uint8_t byte);
+int bmi08x_accel_word_write(const struct device *dev, uint8_t reg_addr, uint16_t word);
+int bmi08x_accel_reg_field_update(const struct device *dev, uint8_t reg_addr, uint8_t pos,
+				  uint8_t mask, uint8_t val);
+static inline int bmi08x_accel_reg_update(const struct device *dev, uint8_t reg_addr, uint8_t mask,
+					  uint8_t val)
+{
+	return bmi08x_accel_reg_field_update(dev, reg_addr, 0, mask, val);
+}
+
+int bmi08x_gyro_read(const struct device *dev, uint8_t reg_addr, uint8_t *data, uint8_t len);
+int bmi08x_gyro_byte_read(const struct device *dev, uint8_t reg_addr, uint8_t *byte);
+int bmi08x_gyro_byte_write(const struct device *dev, uint8_t reg_addr, uint8_t byte);
+int bmi08x_gyro_word_write(const struct device *dev, uint8_t reg_addr, uint16_t word);
+int bmi08x_gyro_reg_field_update(const struct device *dev, uint8_t reg_addr, uint8_t pos,
+				 uint8_t mask, uint8_t val);
+static inline int bmi08x_gyro_reg_update(const struct device *dev, uint8_t reg_addr, uint8_t mask,
+					 uint8_t val)
+{
+	return bmi08x_gyro_reg_field_update(dev, reg_addr, 0, mask, val);
+}
+
+int bmi08x_acc_trigger_mode_init(const struct device *dev);
+int bmi08x_trigger_set_acc(const struct device *dev, const struct sensor_trigger *trig,
+			   sensor_trigger_handler_t handler);
+int bmi08x_acc_slope_config(const struct device *dev, enum sensor_attribute attr,
+			    const struct sensor_value *val);
+int32_t bmi08x_acc_reg_val_to_range(uint8_t reg_val);
+
+int bmi08x_gyr_trigger_mode_init(const struct device *dev);
+int bmi08x_trigger_set_gyr(const struct device *dev, const struct sensor_trigger *trig,
+			   sensor_trigger_handler_t handler);
+int bmi08x_gyr_slope_config(const struct device *dev, enum sensor_attribute attr,
+			    const struct sensor_value *val);
+int32_t bmi08x_gyr_reg_val_to_range(uint8_t reg_val);
+
+#endif /* ZEPHYR_DRIVERS_SENSOR_BMI08X_H_ */

drivers/sensor/bmi08x/bmi08x_accel.c

@@ -0,0 +1,812 @@
+/* Bosch BMI08X inertial measurement unit driver
+ *
+ * Copyright (c) 2022 Meta Platforms, Inc. and its affiliates
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <zephyr/drivers/sensor.h>
+#include <zephyr/pm/device.h>
+#include <zephyr/init.h>
+#include <zephyr/kernel.h>
+#include <zephyr/logging/log.h>
+#include <zephyr/sys/__assert.h>
+#include <zephyr/sys/byteorder.h>
+
+#define DT_DRV_COMPAT bosch_bmi08x_accel
+#include "bmi08x.h"
+#include "bmi08x_config_file.h"
+
+LOG_MODULE_REGISTER(BMI08X_ACCEL, CONFIG_SENSOR_LOG_LEVEL);
+
+#if DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c)
+
+static int bmi08x_accel_transceive_i2c(const struct device *dev, uint8_t reg, bool write,
+				       void *data, size_t length)
+{
+	const struct bmi08x_accel_config *bmi08x = dev->config;
+
+	if (!write) {
+		return i2c_write_read_dt(&bmi08x->bus.i2c, &reg, 1, data, length);
+	}
+	if (length > CONFIG_BMI08X_I2C_WRITE_BURST_SIZE) {
+		return -EINVAL;
+	}
+	uint8_t buf[1 + CONFIG_BMI08X_I2C_WRITE_BURST_SIZE];
+
+	buf[0] = reg;
+	memcpy(&buf[1], data, length);
+	return i2c_write_dt(&bmi08x->bus.i2c, buf, 1 + length);
+}
+
+#if BMI08X_ACCEL_ANY_INST_HAS_DATA_SYNC
+static int bmi08x_stream_transfer_write_i2c(const struct device *dev, uint16_t index,
+					    const uint8_t *stream_data, uint16_t stream_length)
+{
+	uint8_t asic_msb = (uint8_t)((index / 2) >> 4);
+	uint8_t asic_lsb = ((index / 2) & 0x0F);
+	int ret;
+
+	ret = bmi08x_accel_byte_write(dev, BMI08X_ACCEL_RESERVED_5B_REG, asic_lsb);
+	if (ret != 0) {
+		LOG_ERR("Cannot write index");
+		return ret;
+	}
+	ret = bmi08x_accel_byte_write(dev, BMI08X_ACCEL_RESERVED_5C_REG, asic_msb);
+	if (ret != 0) {
+		LOG_ERR("Cannot write index");
+		return ret;
+	}
+	ret = bmi08x_accel_write(dev, BMI08X_ACCEL_FEATURE_CFG_REG, (uint8_t *)stream_data,
+				 stream_length);
+	if (ret != 0) {
+		LOG_ERR("Cannot write configuration for accelerometer.");
+		return ret;
+	}
+	return ret;
+}
+
+static int bmi08x_write_config_file_i2c(const struct device *dev)
+{
+	const uint8_t *data = bmi08x_config_file;
+	uint16_t length = sizeof(bmi08x_config_file);
+	uint16_t index = 0;
+	int ret = 0;
+
+	while (length != 0) {
+		uint16_t len1 = length;
+
+		if (len1 > CONFIG_BMI08X_I2C_WRITE_BURST_SIZE) {
+			len1 = CONFIG_BMI08X_I2C_WRITE_BURST_SIZE;
+		}
+		ret = bmi08x_stream_transfer_write_i2c(dev, index, data, len1);
+		if (ret != 0) {
+			return ret;
+		}
+		index += len1;
+		data += len1;
+		length -= len1;
+	}
+	return ret;
+}
+#endif
+
+static int bmi08x_bus_check_i2c(const union bmi08x_bus *bus)
+{
+	return i2c_is_ready_dt(&bus->i2c) ? 0 : -ENODEV;
+}
+
+static const struct bmi08x_accel_bus_io bmi08x_i2c_api = {.check = bmi08x_bus_check_i2c,
+							  .transceive = bmi08x_accel_transceive_i2c,
+#if BMI08X_ACCEL_ANY_INST_HAS_DATA_SYNC
+							  .write_config_file =
+								  bmi08x_write_config_file_i2c
+#endif
+};
+
+#endif /* DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c) */
+
+#if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi)
+
+static int bmi08x_accel_transceive_spi(const struct device *dev, uint8_t reg, bool write,
+				       void *data, size_t length)
+{
+	const struct bmi08x_accel_config *bmi08x = dev->config;
+	const struct spi_buf tx_buf[2] = {{.buf = &reg, .len = 1}, {.buf = data, .len = length}};
+	const struct spi_buf_set tx = {.buffers = tx_buf, .count = write ? 2 : 1};
+
+	if (!write) {
+		uint16_t dummy;
+		const struct spi_buf rx_buf[2] = {{.buf = &dummy, .len = 2},
+						  {.buf = data, .len = length}};
+		const struct spi_buf_set rx = {.buffers = rx_buf, .count = 2};
+
+		return spi_transceive_dt(&bmi08x->bus.spi, &tx, &rx);
+	}
+
+	return spi_write_dt(&bmi08x->bus.spi, &tx);
+}
+
+#if BMI08X_ACCEL_ANY_INST_HAS_DATA_SYNC
+static int bmi08x_write_config_file_spi(const struct device *dev)
+{
+	int ret;
+
+	ret = bmi08x_accel_byte_write(dev, BMI08X_ACCEL_RESERVED_5B_REG, 0);
+	if (ret < 0) {
+		LOG_ERR("Cannot write index");
+		return ret;
+	}
+	ret = bmi08x_accel_byte_write(dev, BMI08X_ACCEL_RESERVED_5C_REG, 0);
+	if (ret < 0) {
+		LOG_ERR("Cannot write index");
+		return ret;
+	}
+	/* write config file */
+	ret = bmi08x_accel_write(dev, BMI08X_ACCEL_FEATURE_CFG_REG, (uint8_t *)bmi08x_config_file,
+				 sizeof(bmi08x_config_file));
+	if (ret < 0) {
+		LOG_ERR("Cannot write configuration for accelerometer.");
+		return ret;
+	}
+	return ret;
+}
+#endif
+
+static int bmi08x_bus_check_spi(const union bmi08x_bus *bus)
+{
+	return spi_is_ready_dt(&bus->spi) ? 0 : -ENODEV;
+}
+
+static int bmi08x_bus_init_spi(const struct device *dev)
+{
+	uint8_t val;
+	int ret;
+	/* do a dummy read from 0x7F to activate SPI */
+	ret = bmi08x_accel_byte_read(dev, 0x7F, &val);
+	if (ret < 0) {
+		LOG_ERR("Cannot read from 0x7F..");
+		return ret;
+	}
+
+	k_usleep(100);
+
+	return ret;
+}
+
+static const struct bmi08x_accel_bus_io bmi08x_spi_api = {.check = bmi08x_bus_check_spi,
+							  .bus_init = bmi08x_bus_init_spi,
+							  .transceive = bmi08x_accel_transceive_spi,
+#if BMI08X_ACCEL_ANY_INST_HAS_DATA_SYNC
+							  .write_config_file =
+								  bmi08x_write_config_file_spi
+#endif
+};
+
+#endif /* DT_ANY_INST_ON_BUS_STATUS_OKAY(spi) */
+
+static inline int bmi08x_bus_check(const struct device *dev)
+{
+	const struct bmi08x_accel_config *config = dev->config;
+
+	return config->api->check(&config->bus);
+}
+
+static inline int bmi08x_bus_init(const struct device *dev)
+{
+	const struct bmi08x_accel_config *config = dev->config;
+
+	/* optional, only needed to initialize SPI according to datasheet */
+	if (config->api->bus_init) {
+		return config->api->bus_init(dev);
+	}
+	return 0;
+}
+
+static int bmi08x_accel_transceive(const struct device *dev, uint8_t reg, bool write, void *data,
+				   size_t length)
+{
+	const struct bmi08x_accel_config *config = dev->config;
+
+	return config->api->transceive(dev, reg, write, data, length);
+}
+
+int bmi08x_accel_read(const struct device *dev, uint8_t reg_addr, uint8_t *data, uint8_t len)
+{
+	return bmi08x_accel_transceive(dev, reg_addr | BIT(7), false, data, len);
+}
+
+int bmi08x_accel_write(const struct device *dev, uint8_t reg_addr, uint8_t *data, uint16_t len)
+{
+	return bmi08x_accel_transceive(dev, reg_addr, true, data, len);
+}
+
+int bmi08x_accel_byte_read(const struct device *dev, uint8_t reg_addr, uint8_t *byte)
+{
+	return bmi08x_accel_transceive(dev, reg_addr | BIT(7), false, byte, 1);
+}
+
+static int bmi08x_accel_word_read(const struct device *dev, uint8_t reg_addr, uint16_t *word)
+{
+	int ret;
+
+	ret = bmi08x_accel_transceive(dev, reg_addr | BIT(7), false, word, 2);
+	if (ret != 0) {
+		return ret;
+	}
+
+	*word = sys_le16_to_cpu(*word);
+
+	return ret;
+}
+
+int bmi08x_accel_byte_write(const struct device *dev, uint8_t reg_addr, uint8_t byte)
+{
+	return bmi08x_accel_transceive(dev, reg_addr & 0x7F, true, &byte, 1);
+}
+
+int bmi08x_accel_word_write(const struct device *dev, uint8_t reg_addr, uint16_t word)
+{
+	uint8_t tx_word[2] = {(uint8_t)(word & 0xff), (uint8_t)(word >> 8)};
+
+	return bmi08x_accel_transceive(dev, reg_addr & 0x7F, true, tx_word, 2);
+}
+
+int bmi08x_accel_reg_field_update(const struct device *dev, uint8_t reg_addr, uint8_t pos,
+				  uint8_t mask, uint8_t val)
+{
+	uint8_t old_val;
+	int ret;
+
+	ret = bmi08x_accel_byte_read(dev, reg_addr, &old_val);
+	if (ret < 0) {
+		return ret;
+	}
+
+	return bmi08x_accel_byte_write(dev, reg_addr, (old_val & ~mask) | ((val << pos) & mask));
+}
+
+static int bmi08x_acc_odr_set(const struct device *dev, uint16_t freq_int, uint16_t freq_milli)
+{
+	int odr = bmi08x_freq_to_odr_val(freq_int, freq_milli);
+
+	if (odr < BMI08X_ACCEL_ODR_12_5_HZ) {
+		return odr;
+	}
+
+	return bmi08x_accel_reg_field_update(dev, BMI08X_REG_ACCEL_CONF, 0, BMI08X_ACCEL_ODR_MASK,
+					     (uint8_t)odr);
+}
+
+static const struct bmi08x_range bmi085_acc_range_map[] = {
+	{2, BMI085_ACCEL_RANGE_2G},
+	{4, BMI085_ACCEL_RANGE_4G},
+	{8, BMI085_ACCEL_RANGE_8G},
+	{16, BMI085_ACCEL_RANGE_16G},
+};
+#define BMI085_ACC_RANGE_MAP_SIZE ARRAY_SIZE(bmi085_acc_range_map)
+
+static const struct bmi08x_range bmi088_acc_range_map[] = {
+	{3, BMI088_ACCEL_RANGE_3G},
+	{6, BMI088_ACCEL_RANGE_6G},
+	{12, BMI088_ACCEL_RANGE_12G},
+	{24, BMI088_ACCEL_RANGE_24G},
+};
+#define BMI088_ACC_RANGE_MAP_SIZE ARRAY_SIZE(bmi088_acc_range_map)
+
+static int bmi08x_acc_range_set(const struct device *dev, int32_t range)
+{
+	struct bmi08x_accel_data *data = dev->data;
+	int32_t reg_val = -1;
+	int ret;
+
+	if (data->accel_chip_id == BMI085_ACCEL_CHIP_ID) {
+		reg_val = bmi08x_range_to_reg_val(range, bmi085_acc_range_map,
+						  BMI085_ACC_RANGE_MAP_SIZE);
+	} else if (data->accel_chip_id == BMI088_ACCEL_CHIP_ID) {
+		reg_val = bmi08x_range_to_reg_val(range, bmi088_acc_range_map,
+						  BMI088_ACC_RANGE_MAP_SIZE);
+	} else {
+		return -ENODEV;
+	}
+
+	if (reg_val < 0) {
+		return reg_val;
+	}
+
+	ret = bmi08x_accel_byte_write(dev, BMI08X_REG_ACCEL_RANGE, reg_val & 0xff);
+	if (ret < 0) {
+		return ret;
+	}
+
+	data->scale = BMI08X_ACC_SCALE(range);
+
+	return ret;
+}
+
+static int bmi08x_acc_config(const struct device *dev, enum sensor_channel chan,
+			     enum sensor_attribute attr, const struct sensor_value *val)
+{
+	switch (attr) {
+	case SENSOR_ATTR_FULL_SCALE:
+		return bmi08x_acc_range_set(dev, sensor_ms2_to_g(val));
+	case SENSOR_ATTR_SAMPLING_FREQUENCY:
+		return bmi08x_acc_odr_set(dev, val->val1, val->val2 / 1000);
+	default:
+		LOG_ERR("Accel attribute not supported.");
+		return -ENOTSUP;
+	}
+}
+
+static int bmi08x_attr_set(const struct device *dev, enum sensor_channel chan,
+			   enum sensor_attribute attr, const struct sensor_value *val)
+{
+#ifdef CONFIG_PM_DEVICE
+	enum pm_device_state state;
+
+	(void)pm_device_state_get(dev, &state);
+	if (state != PM_DEVICE_STATE_ACTIVE) {
+		return -EBUSY;
+	}
+#endif
+
+	switch (chan) {
+	case SENSOR_CHAN_ACCEL_X:
+	case SENSOR_CHAN_ACCEL_Y:
+	case SENSOR_CHAN_ACCEL_Z:
+	case SENSOR_CHAN_ACCEL_XYZ:
+		return bmi08x_acc_config(dev, chan, attr, val);
+	default:
+		LOG_ERR("attr_set() not supported on this channel.");
+		return -ENOTSUP;
+	}
+}
+
+static int bmi08x_sample_fetch(const struct device *dev, enum sensor_channel chan)
+{
+	struct bmi08x_accel_data *data = dev->data;
+	size_t i;
+	int ret;
+
+	if (chan != SENSOR_CHAN_ALL && chan != SENSOR_CHAN_ACCEL_XYZ) {
+		LOG_ERR("Unsupported sensor channel");
+		return -ENOTSUP;
+	}
+
+#ifdef CONFIG_PM_DEVICE
+	enum pm_device_state state;
+
+	(void)pm_device_state_get(dev, &state);
+	if (state != PM_DEVICE_STATE_ACTIVE) {
+		return -EBUSY;
+	}
+#endif
+
+	pm_device_busy_set(dev);
+
+	ret = bmi08x_accel_read(dev, BMI08X_REG_ACCEL_X_LSB, (uint8_t *)data->acc_sample,
+				sizeof(data->acc_sample));
+	if (ret < 0) {
+		pm_device_busy_clear(dev);
+		return ret;
+	}
+
+	/* convert samples to cpu endianness */
+	for (i = 0; i < ARRAY_SIZE(data->acc_sample); i++) {
+		data->acc_sample[i] = sys_le16_to_cpu(data->acc_sample[i]);
+	}
+
+	pm_device_busy_clear(dev);
+	return ret;
+}
+
+static void bmi08x_to_fixed_point(int16_t raw_val, uint16_t scale, struct sensor_value *val)
+{
+	int32_t converted_val;
+
+	/*
+	 * maximum converted value we can get is: max(raw_val) * max(scale)
+	 *	max(raw_val) = +/- 2^15
+	 *	max(scale) = 4785
+	 *	max(converted_val) = 156794880 which is less than 2^31
+	 */
+	converted_val = raw_val * scale;
+	val->val1 = converted_val / 1000000;
+	val->val2 = converted_val % 1000000;
+}
+
+static void bmi08x_channel_convert(enum sensor_channel chan, uint16_t scale, uint16_t *raw_xyz,
+				   struct sensor_value *val)
+{
+	int i;
+	uint8_t ofs_start, ofs_stop;
+
+	switch (chan) {
+	case SENSOR_CHAN_ACCEL_X:
+		ofs_start = ofs_stop = 0U;
+		break;
+	case SENSOR_CHAN_ACCEL_Y:
+		ofs_start = ofs_stop = 1U;
+		break;
+	case SENSOR_CHAN_ACCEL_Z:
+		ofs_start = ofs_stop = 2U;
+		break;
+	default:
+		ofs_start = 0U;
+		ofs_stop = 2U;
+		break;
+	}
+
+	for (i = ofs_start; i <= ofs_stop; i++, val++) {
+		bmi08x_to_fixed_point(raw_xyz[i], scale, val);
+	}
+}
+
+static inline void bmi08x_acc_channel_get(const struct device *dev, enum sensor_channel chan,
+					  struct sensor_value *val)
+{
+	struct bmi08x_accel_data *data = dev->data;
+
+	bmi08x_channel_convert(chan, data->scale, data->acc_sample, val);
+}
+
+static int bmi08x_temp_channel_get(const struct device *dev, struct sensor_value *val)
+{
+	uint16_t temp_raw = 0U;
+	int32_t temp_micro = 0;
+	int ret;
+
+	ret = bmi08x_accel_word_read(dev, BMI08X_REG_TEMP_MSB, &temp_raw);
+	if (ret < 0) {
+		return ret;
+	}
+
+	/* the scale is 1/2^5/LSB = 31250 micro degrees */
+	temp_micro = BMI08X_TEMP_OFFSET * 1000000ULL + temp_raw * 31250ULL;
+
+	val->val1 = temp_micro / 1000000ULL;
+	val->val2 = temp_micro % 1000000ULL;
+
+	return ret;
+}
+
+static int bmi08x_channel_get(const struct device *dev, enum sensor_channel chan,
+			      struct sensor_value *val)
+{
+#ifdef CONFIG_PM_DEVICE
+	enum pm_device_state state;
+
+	(void)pm_device_state_get(dev, &state);
+	if (state != PM_DEVICE_STATE_ACTIVE) {
+		return -EBUSY;
+	}
+#endif
+
+	switch ((int16_t)chan) {
+	case SENSOR_CHAN_ACCEL_X:
+	case SENSOR_CHAN_ACCEL_Y:
+	case SENSOR_CHAN_ACCEL_Z:
+	case SENSOR_CHAN_ACCEL_XYZ:
+		bmi08x_acc_channel_get(dev, chan, val);
+		return 0;
+	case SENSOR_CHAN_DIE_TEMP:
+		return bmi08x_temp_channel_get(dev, val);
+	default:
+		LOG_ERR("Channel not supported.");
+		return -ENOTSUP;
+	}
+
+	return 0;
+}
+
+#ifdef CONFIG_PM_DEVICE
+static int bmi08x_accel_pm_action(const struct device *dev, enum pm_device_action action)
+{
+	uint8_t conf_reg_val;
+	uint8_t ctrl_reg_val;
+	int ret;
+
+	switch (action) {
+	case PM_DEVICE_ACTION_RESUME:
+		conf_reg_val = BMI08X_ACCEL_PM_ACTIVE;
+		ctrl_reg_val = BMI08X_ACCEL_POWER_ENABLE;
+		break;
+	case PM_DEVICE_ACTION_SUSPEND:
+		conf_reg_val = BMI08X_ACCEL_PM_SUSPEND;
+		ctrl_reg_val = BMI08X_ACCEL_POWER_DISABLE;
+		break;
+	default:
+		return -ENOTSUP;
+	}
+
+	ret = bmi08x_accel_byte_write(dev, BMI08X_REG_ACCEL_PWR_CONF, conf_reg_val);
+	if (ret < 0) {
+		LOG_ERR("Failed to set conf power mode");
+		return ret;
+	}
+	k_msleep(BMI08X_POWER_CONFIG_DELAY);
+	ret = bmi08x_accel_byte_write(dev, BMI08X_REG_ACCEL_PWR_CTRL, ctrl_reg_val);
+	if (ret < 0) {
+		LOG_ERR("Failed to set ctrl power mode");
+		return ret;
+	}
+	k_msleep(BMI08X_POWER_CONFIG_DELAY);
+
+	return ret;
+}
+#endif /* CONFIG_PM_DEVICE */
+
+static const struct sensor_driver_api bmi08x_api = {
+	.attr_set = bmi08x_attr_set,
+#ifdef CONFIG_BMI08X_ACCEL_TRIGGER
+	.trigger_set = bmi08x_trigger_set_acc,
+#endif
+	.sample_fetch = bmi08x_sample_fetch,
+	.channel_get = bmi08x_channel_get,
+};
+
+#if BMI08X_ACCEL_ANY_INST_HAS_DATA_SYNC
+static int bmi08x_apply_sync_binary_config(const struct device *dev)
+{
+	const struct bmi08x_accel_config *config = dev->config;
+	int ret;
+
+	ret = bmi08x_accel_byte_write(dev, BMI08X_REG_ACCEL_PWR_CONF, BMI08X_ACCEL_PM_ACTIVE);
+	if (ret < 0) {
+		LOG_ERR("Cannot deactivate advanced power save mode.");
+		return ret;
+	}
+	/* required when switching power modes */
+	k_msleep(BMI08X_POWER_CONFIG_DELAY);
+
+	/* deactivate accel, otherwise post processing can not be enabled safely */
+	ret = bmi08x_accel_byte_write(dev, BMI08X_REG_ACCEL_PWR_CTRL, BMI08X_ACCEL_POWER_DISABLE);
+	if (ret < 0) {
+		LOG_ERR("Cannot deactivate accel.");
+		return ret;
+	}
+	/* required when switching power modes */
+	k_msleep(BMI08X_POWER_CONFIG_DELAY);
+	/* disable config loading */
+	ret = bmi08x_accel_byte_write(dev, BMI08X_REG_ACCEL_INIT_CTRL,
+				      BMI08X_ACCEL_INIT_CTRL_DISABLE);
+	if (ret < 0) {
+		LOG_ERR("Cannot disable config loading.");
+		return ret;
+	}
+
+	if (config->api->write_config_file(dev) != 0) {
+		LOG_ERR("Cannot write configuration for accelerometer.");
+		return -EIO;
+	}
+	k_msleep(5U);
+
+	ret = bmi08x_accel_byte_write(dev, BMI08X_REG_ACCEL_INIT_CTRL,
+				      BMI08X_ACCEL_INIT_CTRL_ENABLE);
+	if (ret < 0) {
+		LOG_ERR("Cannot write configuration for accelerometer.");
+		return ret;
+	}
+	k_msleep(BMI08X_ASIC_INIT_TIME_MS);
+
+	/* check config initialization status */
+	uint8_t val;
+
+	ret = bmi08x_accel_byte_read(dev, BMI08X_REG_ACCEL_INTERNAL_STAT, &val);
+	if (ret < 0) {
+		LOG_ERR("Cannot write configuration for accelerometer.");
+		return ret;
+	}
+	if (val != 1) {
+		LOG_ERR("Configuration stream error.");
+		return -EIO;
+	}
+
+	/* write feature configuration */
+	uint8_t fdata[8];
+
+	ret = bmi08x_accel_read(dev, BMI08X_ACCEL_FEATURE_CFG_REG, fdata, 6);
+	if (ret < 0) {
+		LOG_ERR("Cannot read configuration for accelerometer.");
+		return ret;
+	}
+	fdata[4] = config->data_sync;
+	fdata[5] = 0x00;
+	ret = bmi08x_accel_write(dev, BMI08X_ACCEL_FEATURE_CFG_REG, fdata, 6);
+	if (ret < 0) {
+		LOG_ERR("Cannot write configuration for accelerometer.");
+		return ret;
+	}
+	k_msleep(100U);
+
+	ret = bmi08x_accel_byte_write(dev, BMI08X_REG_ACCEL_PWR_CTRL, BMI08X_ACCEL_POWER_ENABLE);
+	if (ret < 0) {
+		LOG_ERR("Cannot activate accel.");
+		return ret;
+	}
+	/* required when switching power modes */
+	k_msleep(BMI08X_POWER_CONFIG_DELAY);
+
+	return ret;
+}
+#endif
+
+int bmi08x_accel_init(const struct device *dev)
+{
+	const struct bmi08x_accel_config *config = dev->config;
+	struct bmi08x_accel_data *data = dev->data;
+	uint8_t val = 0U;
+	int ret;
+
+	ret = bmi08x_bus_check(dev);
+	if (ret < 0) {
+		LOG_ERR("Bus not ready for '%s'", dev->name);
+		return ret;
+	}
+
+	/* reboot the chip */
+	ret = bmi08x_accel_byte_write(dev, BMI08X_REG_ACCEL_SOFTRESET, BMI08X_SOFT_RESET_CMD);
+	if (ret < 0) {
+		LOG_ERR("Cannot reboot chip.");
+		return ret;
+	}
+
+	k_msleep(BMI08X_ACCEL_SOFTRESET_DELAY_MS);
+
+	ret = bmi08x_bus_init(dev);
+	if (ret < 0) {
+		LOG_ERR("Can't initialize bus for %s", dev->name);
+		return ret;
+	}
+
+	ret = bmi08x_accel_byte_read(dev, BMI08X_REG_ACCEL_CHIP_ID, &val);
+	if (ret < 0) {
+		LOG_ERR("Failed to read chip id.");
+		return ret;
+	}
+
+	if ((val != BMI085_ACCEL_CHIP_ID) && (val != BMI088_ACCEL_CHIP_ID)) {
+		LOG_ERR("Unsupported chip detected (0x%02x)!", val);
+		return -ENODEV;
+	}
+	data->accel_chip_id = val;
+
+	/* enable power */
+	ret = bmi08x_accel_byte_write(dev, BMI08X_REG_ACCEL_PWR_CONF, BMI08X_ACCEL_PM_ACTIVE);
+	if (ret < 0) {
+		LOG_ERR("Failed to set conf power mode");
+		return ret;
+	}
+	k_msleep(BMI08X_POWER_CONFIG_DELAY);
+	ret = bmi08x_accel_byte_write(dev, BMI08X_REG_ACCEL_PWR_CTRL, BMI08X_ACCEL_POWER_ENABLE);
+	if (ret < 0) {
+		LOG_ERR("Failed to set ctrl power mode");
+		return ret;
+	}
+	k_msleep(BMI08X_POWER_CONFIG_DELAY);
+
+#if BMI08X_ACCEL_ANY_INST_HAS_DATA_SYNC
+	if (config->data_sync != 0) {
+		ret = bmi08x_apply_sync_binary_config(dev);
+		if (ret < 0) {
+			return ret;
+		}
+	}
+#endif
+
+	/* set accelerometer default range, divide by two because the dts contains both bmi085 and
+	 * bmi088 valid values even values in the enum are for the bmi085 and odd values are for the
+	 * bmi088
+	 */
+	ret = bmi08x_acc_range_set(dev, config->accel_fs);
+	if (ret < 0) {
+		LOG_ERR("Cannot set default range for accelerometer.");
+		return ret;
+	}
+
+	/* set accelerometer default odr */
+	/* add 5 to offset from the dts enum */
+	ret = bmi08x_accel_reg_field_update(dev, BMI08X_REG_ACCEL_CONF, 0, BMI08X_ACCEL_ODR_MASK,
+					    config->accel_hz);
+	if (ret < 0) {
+		LOG_ERR("Failed to set accel's default ODR.");
+		return ret;
+	}
+
+#ifdef CONFIG_BMI08X_ACCEL_TRIGGER
+	ret = bmi08x_acc_trigger_mode_init(dev);
+	if (ret < 0) {
+		LOG_ERR("Cannot set up trigger mode.");
+		return ret;
+	}
+#endif
+
+	return ret;
+}
+
+#define BMI08X_CONFIG_SPI(inst)                                                                    \
+	.bus.spi = SPI_DT_SPEC_INST_GET(                                                           \
+		inst, SPI_OP_MODE_MASTER | SPI_TRANSFER_MSB | SPI_WORD_SET(8), 2),
+
+#define BMI08X_CONFIG_I2C(inst) .bus.i2c = I2C_DT_SPEC_INST_GET(inst),
+
+#define BMI08X_ACCEL_TRIG(inst)                                                                    \
+	.int1_map = DT_INST_PROP(inst, int1_map_io), .int2_map = DT_INST_PROP(inst, int2_map_io),  \
+	.int1_conf_io = DT_INST_PROP(inst, int1_conf_io),                                          \
+	.int2_conf_io = DT_INST_PROP(inst, int2_conf_io),
+
+/* verify the bmi08x-accel is paired with a bmi08x-gyro */
+#define BMI08X_VERIFY_DATA_SYNC(inst)                                                              \
+	BUILD_ASSERT(DT_NODE_HAS_COMPAT(DT_INST_PHANDLE(inst, data_sync), bosch_bmi08x_gyro) != 0, \
+		     "bmi08x-accel data sync not paired with a bmi08x-gyro")
+/*
+ * verify data sync odr, the only valid odr combinitions with the gyro are
+ *  (gyro-hz == "400_47" and accel-hz == "400") or (gyro-hz == "1000_116" and accel-hz == "800")
+ *  or ((gyro-hz == "2000_230" or gyro-hz == "2000_532") and accel-hz == "1600")
+ */
+#define BMI08X_GYRO_ODR(inst)  DT_ENUM_IDX(DT_INST_PHANDLE(inst, data_sync), gyro_hz)
+#define BMI08X_ACCEL_ODR(inst) DT_INST_ENUM_IDX(inst, accel_hz)
+/* As the dts uses strings to define the definition, ints must be used for comparision */
+#define BMI08X_VERIFY_DATA_SYNC_ODR(inst)                                                          \
+	BUILD_ASSERT((BMI08X_GYRO_ODR(inst) == 3 && BMI08X_ACCEL_ODR(inst) == 5) ||                \
+			     (BMI08X_GYRO_ODR(inst) == 2 && BMI08X_ACCEL_ODR(inst) == 6) ||        \
+			     ((BMI08X_GYRO_ODR(inst) == 1 || BMI08X_GYRO_ODR(inst) == 0) &&        \
+			      BMI08X_ACCEL_ODR(inst) == 7),                                        \
+		     "Invalid gyro and accel odr for data-sync")
+/* Assert if the gyro does not have data-sync enabled */
+#define BMI08X_VERIFY_GYRO_DATA_SYNC_EN(inst)                                                      \
+	BUILD_ASSERT(DT_PROP(DT_INST_PHANDLE(inst, data_sync), data_sync),                         \
+		     "paired bmi08x-gyro does not have data-sync enabled")
+
+/* infer the data-sync value from the gyro and accel odr 2000=1, 1000=2, 400=3, otherwise it is 0 if
+ * it is not enabled. the build_assert should prevent any invalid values when it is enabled
+ */
+#define BMI08X_DATA_SYNC_REG_VAL(inst)                                                             \
+	(BMI08X_GYRO_ODR(inst) == 3 && BMI08X_ACCEL_ODR(inst) == 5)   ? 3                          \
+	: (BMI08X_GYRO_ODR(inst) == 2 && BMI08X_ACCEL_ODR(inst) == 6) ? 2                          \
+	: ((BMI08X_GYRO_ODR(inst) == 1 || BMI08X_GYRO_ODR(inst) == 0) &&                           \
+	   BMI08X_ACCEL_ODR(inst) == 7)                                                            \
+		? 1                                                                                \
+		: 0
+
+/* define the .data_sync in the driver config */
+#if BMI08X_ACCEL_ANY_INST_HAS_DATA_SYNC
+/* if another bmi08x as the data sync enabled, and one doesn't, it will get the value of 0 and won't
+ * have the config file sent over
+ */
+#define BMI08X_DATA_SYNC_REG(inst)                                                                 \
+	.data_sync = COND_CODE_1(BMI08X_ACCEL_DATA_SYNC_EN(inst),                                  \
+				 (BMI08X_DATA_SYNC_REG_VAL(inst)), (0)),
+#define BMI08X_ACCEL_TRIGGER_PINS(inst) BMI08X_ACCEL_TRIG(inst)
+#else
+#define BMI08X_DATA_SYNC_REG(inst)
+#define BMI08X_ACCEL_TRIGGER_PINS(inst)                                                            \
+	IF_ENABLED(CONFIG_BMI08X_ACCEL_TRIGGER, (BMI08X_ACCEL_TRIG(inst)))
+#endif
+
+#define BMI08X_CREATE_INST(inst)                                                                   \
+                                                                                                   \
+	IF_ENABLED(BMI08X_ACCEL_DATA_SYNC_EN(inst), (BMI08X_VERIFY_DATA_SYNC(inst);))              \
+	IF_ENABLED(BMI08X_ACCEL_DATA_SYNC_EN(inst), (BMI08X_VERIFY_DATA_SYNC_ODR(inst);))          \
+	IF_ENABLED(BMI08X_ACCEL_DATA_SYNC_EN(inst), (BMI08X_VERIFY_GYRO_DATA_SYNC_EN(inst);))      \
+                                                                                                   \
+	static struct bmi08x_accel_data bmi08x_drv_##inst;                                         \
+                                                                                                   \
+	static const struct bmi08x_accel_config bmi08x_config_##inst = {                           \
+		COND_CODE_1(DT_INST_ON_BUS(inst, spi), (BMI08X_CONFIG_SPI(inst)),                  \
+			    (BMI08X_CONFIG_I2C(inst)))                                             \
+			.api = COND_CODE_1(DT_INST_ON_BUS(inst, spi), (&bmi08x_spi_api),           \
+					   (&bmi08x_i2c_api)),                                     \
+		IF_ENABLED(CONFIG_BMI08X_ACCEL_TRIGGER,                                            \
+			   (.int_gpio = GPIO_DT_SPEC_INST_GET(inst, int_gpios),))                  \
+			BMI08X_ACCEL_TRIGGER_PINS(inst)                                            \
+				.accel_hz = DT_INST_ENUM_IDX(inst, accel_hz) + 5,                  \
+		.accel_fs = DT_INST_PROP(inst, accel_fs), BMI08X_DATA_SYNC_REG(inst)};             \
+                                                                                                   \
+	PM_DEVICE_DT_INST_DEFINE(inst, bmi08x_accel_pm_action);                                    \
+	SENSOR_DEVICE_DT_INST_DEFINE(inst, bmi08x_accel_init, PM_DEVICE_DT_INST_GET(inst),         \
+				     &bmi08x_drv_##inst, &bmi08x_config_##inst, POST_KERNEL,       \
+				     CONFIG_SENSOR_INIT_PRIORITY, &bmi08x_api);
+
+/* Create the struct device for every status "okay" node in the devicetree. */
+DT_INST_FOREACH_STATUS_OKAY(BMI08X_CREATE_INST)

drivers/sensor/bmi08x/bmi08x_accel_trigger.c

@@ -0,0 +1,171 @@
+/* Bosch BMI08X inertial measurement unit driver, trigger implementation
+ *
+ * Copyright (c) 2022 Meta Platforms, Inc. and its affiliates
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <zephyr/drivers/gpio.h>
+#include <zephyr/drivers/sensor.h>
+#include <zephyr/pm/device.h>
+#include <zephyr/kernel.h>
+
+#define DT_DRV_COMPAT bosch_bmi08x_accel
+#include "bmi08x.h"
+
+#include <zephyr/logging/log.h>
+LOG_MODULE_DECLARE(BMI08X_ACCEL, CONFIG_SENSOR_LOG_LEVEL);
+
+static void bmi08x_handle_drdy_acc(const struct device *dev)
+{
+	struct bmi08x_accel_data *data = dev->data;
+
+#ifdef CONFIG_PM_DEVICE
+	enum pm_device_state state;
+
+	(void)pm_device_state_get(dev, &state);
+	if (state != PM_DEVICE_STATE_ACTIVE) {
+		return;
+	}
+#endif
+
+	if (data->handler_drdy_acc) {
+		data->handler_drdy_acc(dev, data->drdy_trig_acc);
+	}
+}
+
+static void bmi08x_handle_interrupts_acc(void *arg)
+{
+	const struct device *dev = (const struct device *)arg;
+
+	bmi08x_handle_drdy_acc(dev);
+}
+
+#ifdef CONFIG_BMI08X_ACCEL_TRIGGER_OWN_THREAD
+static void bmi08x_acc_thread_main(void *arg1, void *unused1, void *unused2)
+{
+	k_thread_name_set(NULL, "bmi08x_acc_trig");
+
+	ARG_UNUSED(unused1);
+	ARG_UNUSED(unused2);
+
+	const struct device *dev = (const struct device *)arg1;
+	struct bmi08x_accel_data *data = dev->data;
+
+	while (1) {
+		k_sem_take(&data->sem, K_FOREVER);
+		bmi08x_handle_interrupts_acc((void *)dev);
+	}
+}
+#endif
+
+#ifdef CONFIG_BMI08X_ACCEL_TRIGGER_GLOBAL_THREAD
+static void bmi08x_acc_work_handler(struct k_work *work)
+{
+	struct bmi08x_accel_data *data = CONTAINER_OF(work, struct bmi08x_accel_data, work);
+
+	bmi08x_handle_interrupts_acc((void *)data->dev);
+}
+#endif
+
+static void bmi08x_acc_gpio_callback(const struct device *port, struct gpio_callback *cb,
+				     uint32_t pin)
+{
+	struct bmi08x_accel_data *data = CONTAINER_OF(cb, struct bmi08x_accel_data, gpio_cb);
+
+	ARG_UNUSED(port);
+	ARG_UNUSED(pin);
+
+#if defined(CONFIG_BMI08X_ACCEL_TRIGGER_OWN_THREAD)
+	k_sem_give(&data->sem);
+#elif defined(CONFIG_BMI08X_ACCEL_TRIGGER_GLOBAL_THREAD)
+	k_work_submit(&data->work);
+#endif
+}
+
+int bmi08x_trigger_set_acc(const struct device *dev, const struct sensor_trigger *trig,
+			   sensor_trigger_handler_t handler)
+{
+	struct bmi08x_accel_data *data = dev->data;
+
+	if ((trig->chan == SENSOR_CHAN_ACCEL_XYZ) && (trig->type == SENSOR_TRIG_DATA_READY)) {
+		data->handler_drdy_acc = handler;
+		data->drdy_trig_acc = trig;
+		return 0;
+	}
+
+	return -ENOTSUP;
+}
+
+int bmi08x_acc_trigger_mode_init(const struct device *dev)
+{
+	struct bmi08x_accel_data *data = dev->data;
+	const struct bmi08x_accel_config *cfg = dev->config;
+	int ret = 0;
+
+	if (!gpio_is_ready_dt(&cfg->int_gpio)) {
+		LOG_ERR("GPIO device not ready");
+		return -ENODEV;
+	}
+
+#if defined(CONFIG_BMI08X_ACCEL_TRIGGER_OWN_THREAD)
+	k_sem_init(&data->sem, 0, K_SEM_MAX_LIMIT);
+
+	k_thread_create(&data->thread, data->thread_stack,
+			CONFIG_BMI08X_ACCEL_THREAD_STACK_SIZE, bmi08x_acc_thread_main, (void *)dev,
+			NULL, NULL, K_PRIO_COOP(CONFIG_BMI08X_ACCEL_THREAD_PRIORITY), 0, K_NO_WAIT);
+#elif defined(CONFIG_BMI08X_ACCEL_TRIGGER_GLOBAL_THREAD)
+	data->work.handler = bmi08x_acc_work_handler;
+	data->dev = dev;
+#endif
+
+#if BMI08X_ACCEL_ANY_INST_HAS_DATA_SYNC
+	if (config->data_sync != 0) {
+		/* set accel ints */
+		ret = bmi08x_accel_byte_write(dev, BMI08X_REG_ACCEL_INT1_MAP, cfg->int1_map);
+		if (ret < 0) {
+			LOG_ERR("Failed to map interrupts.");
+			return ret;
+		}
+		ret = bmi08x_accel_byte_write(dev, BMI08X_REG_ACCEL_INT2_MAP, cfg->int2_map);
+		if (ret < 0) {
+			LOG_ERR("Failed to map interrupts.");
+			return ret;
+		}
+	} else
+#endif
+	{
+		uint8_t map_data = ((cfg->int2_map << BMI08X_ACCEL_INT2_DRDY_POS) |
+				    (cfg->int1_map << BMI08X_ACCEL_INT1_DRDY_POS));
+		ret = bmi08x_accel_byte_write(dev, BMI08X_REG_ACCEL_INT1_INT2_MAP_DATA, map_data);
+		if (ret < 0) {
+			LOG_ERR("Failed to map interrupts.");
+			return ret;
+		}
+	}
+
+	ret = bmi08x_accel_byte_write(dev, BMI08X_REG_ACCEL_INT1_IO_CONF, cfg->int1_conf_io);
+	if (ret < 0) {
+		LOG_ERR("Failed to map interrupts.");
+		return ret;
+	}
+	ret = bmi08x_accel_byte_write(dev, BMI08X_REG_ACCEL_INT2_IO_CONF, cfg->int2_conf_io);
+	if (ret < 0) {
+		LOG_ERR("Failed to map interrupts.");
+		return ret;
+	}
+
+	gpio_pin_configure_dt(&cfg->int_gpio, GPIO_INPUT);
+
+	gpio_init_callback(&data->gpio_cb, bmi08x_acc_gpio_callback, BIT(cfg->int_gpio.pin));
+
+	ret = gpio_add_callback(cfg->int_gpio.port, &data->gpio_cb);
+
+	if (ret < 0) {
+		LOG_ERR("Failed to set gpio callback.");
+		return ret;
+	}
+	gpio_pin_interrupt_configure_dt(&cfg->int_gpio, GPIO_INT_EDGE_TO_ACTIVE);
+
+	return ret;
+}

drivers/sensor/bmi08x/bmi08x_config_file.h

@@ -0,0 +1,424 @@
+/* Bosch BMI08X inertial measurement unit header
+ *
+ * Copyright (c) 2022 Bosch Sensortec GmbH.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#ifndef BMI08X_BMI08X_CONFIG_FILE_H_
+#define BMI08X_BMI08X_CONFIG_FILE_H_
+
+/* Source : https://github.com/BoschSensortec/BMI08x-Sensor-API/blob/bmi08x_v1.5.8/bmi08a.c#L69 */
+const uint8_t bmi08x_config_file[] = {
+	0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x48, 0xb4, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x6d,
+	0xb4, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0xd4, 0xb3, 0x80, 0x2e, 0xb0, 0xb3, 0x80, 0x2e,
+	0x12, 0xb4, 0x50, 0x39, 0x21, 0x2e, 0xb0, 0xf0, 0x10, 0x30, 0x21, 0x2e, 0x16, 0xf0, 0x80,
+	0x2e, 0xfe, 0xb4, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x45,
+	0x79, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e,
+	0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80,
+	0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00,
+	0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18,
+	0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e,
+	0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80,
+	0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00,
+	0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18,
+	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+	0x00, 0x40, 0x50, 0xfb, 0x7f, 0x98, 0x2e, 0x03, 0xb1, 0x12, 0x24, 0x67, 0x00, 0x90, 0x42,
+	0x81, 0x42, 0xba, 0x82, 0xd1, 0x7f, 0xe2, 0x7f, 0x98, 0x2e, 0x3c, 0xb0, 0xd1, 0x6f, 0x00,
+	0x2e, 0x41, 0x40, 0x40, 0xb2, 0x4c, 0x2f, 0xe1, 0x6f, 0x44, 0x86, 0x03, 0x2e, 0x67, 0x00,
+	0xc2, 0x40, 0xf7, 0x86, 0x4a, 0x04, 0xc1, 0x42, 0x00, 0x2e, 0xc2, 0x40, 0x80, 0xac, 0x01,
+	0x2f, 0x23, 0x2e, 0x63, 0x00, 0xd1, 0x40, 0xd2, 0x40, 0x0a, 0x0f, 0x01, 0x2f, 0x40, 0xac,
+	0x02, 0x2f, 0x01, 0x30, 0x23, 0x2e, 0x63, 0x00, 0xfe, 0x82, 0xc2, 0x40, 0x43, 0x40, 0xd3,
+	0x04, 0x46, 0x84, 0xc3, 0x7f, 0x85, 0x86, 0xc5, 0x82, 0x45, 0x80, 0x44, 0x40, 0xc1, 0x6f,
+	0xc3, 0x40, 0xe0, 0x7f, 0xd1, 0x7f, 0x00, 0x2e, 0x82, 0x40, 0x98, 0x2e, 0x00, 0xb0, 0xe1,
+	0x6f, 0x72, 0x84, 0x40, 0x42, 0x85, 0x86, 0xc5, 0x82, 0x45, 0x80, 0x44, 0x40, 0xc3, 0x40,
+	0xd1, 0x6f, 0xe0, 0x7f, 0x00, 0x2e, 0x82, 0x40, 0x98, 0x2e, 0x00, 0xb0, 0xe1, 0x6f, 0x72,
+	0x84, 0x40, 0x42, 0x85, 0x86, 0xc5, 0x82, 0x45, 0x80, 0x44, 0x40, 0xc3, 0x40, 0xd1, 0x6f,
+	0xe0, 0x7f, 0x00, 0x2e, 0x82, 0x40, 0x98, 0x2e, 0x00, 0xb0, 0xe1, 0x6f, 0x00, 0x2e, 0x40,
+	0x42, 0x98, 0x2e, 0xa5, 0xb0, 0x11, 0x30, 0x23, 0x2e, 0x5e, 0xf0, 0xfb, 0x6f, 0xc0, 0x5f,
+	0xb8, 0x2e, 0xaa, 0x00, 0x05, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x01, 0x00, 0xed,
+	0x8f, 0xd9, 0x31, 0x00, 0x00, 0xc6, 0x01, 0x8c, 0x03, 0xc6, 0x01, 0x00, 0x00, 0x00, 0x00,
+	0x0e, 0x00, 0x0e, 0x00, 0x00, 0x00, 0x10, 0x00, 0x10, 0x00, 0x10, 0x00, 0x00, 0x00, 0x00,
+	0x00, 0x00, 0x00, 0xb0, 0x50, 0xf0, 0x7f, 0x00, 0x2e, 0x01, 0x2e, 0x01, 0x01, 0x02, 0xbc,
+	0x0f, 0xb8, 0xe0, 0x7f, 0x00, 0x2e, 0x01, 0x2e, 0x01, 0x01, 0x01, 0xbc, 0x0f, 0xb8, 0xd0,
+	0x7f, 0x00, 0x2e, 0x01, 0x2e, 0x01, 0x01, 0x0f, 0xb8, 0xc0, 0x7f, 0x02, 0x30, 0xe6, 0x6f,
+	0xd4, 0x6f, 0xc3, 0x6f, 0x80, 0x91, 0x04, 0x2f, 0x00, 0x91, 0x02, 0x2f, 0xc0, 0xb2, 0x90,
+	0x2e, 0xf6, 0x01, 0xf0, 0x6f, 0x0b, 0x2e, 0x24, 0x00, 0x01, 0x82, 0x40, 0x91, 0x14, 0x2f,
+	0x41, 0x87, 0x27, 0x2e, 0x24, 0x00, 0x00, 0x40, 0x21, 0x2e, 0x1b, 0x00, 0x53, 0x40, 0x10,
+	0x24, 0x1c, 0x00, 0x13, 0x42, 0x00, 0x2e, 0x41, 0x40, 0x01, 0x42, 0x25, 0x2e, 0x18, 0x00,
+	0x25, 0x2e, 0x19, 0x00, 0x25, 0x2e, 0x1e, 0x00, 0x50, 0x5f, 0xb8, 0x2e, 0x0b, 0x2e, 0x00,
+	0x01, 0xd5, 0xbe, 0xd5, 0xba, 0xb5, 0x7f, 0x00, 0x2e, 0x0b, 0x2e, 0x01, 0x01, 0xd3, 0xbe,
+	0xd3, 0xba, 0xa5, 0x7f, 0x00, 0x2e, 0x0b, 0x2e, 0x00, 0x01, 0xd4, 0xbe, 0xdf, 0xba, 0x95,
+	0x7f, 0x00, 0x2e, 0x95, 0x6f, 0x0f, 0x2e, 0x1a, 0x00, 0x3d, 0x1a, 0x05, 0x2f, 0x25, 0x2e,
+	0x18, 0x00, 0x25, 0x2e, 0x19, 0x00, 0x2b, 0x2e, 0x1a, 0x00, 0x80, 0x91, 0x01, 0x2f, 0x06,
+	0x30, 0x07, 0x2d, 0x06, 0x40, 0x0f, 0x2e, 0x1b, 0x00, 0xb7, 0x05, 0x80, 0xa9, 0xd6, 0x05,
+	0xb7, 0x23, 0x86, 0x7f, 0x00, 0x91, 0x01, 0x2f, 0x04, 0x30, 0x07, 0x2d, 0x44, 0x40, 0x0d,
+	0x2e, 0x1c, 0x00, 0x26, 0x05, 0x00, 0xa9, 0x94, 0x05, 0x26, 0x23, 0x74, 0x7f, 0xc0, 0x90,
+	0x01, 0x2f, 0x00, 0x2e, 0x09, 0x2d, 0x02, 0x86, 0x00, 0x2e, 0xc3, 0x40, 0x09, 0x2e, 0x1d,
+	0x00, 0xdc, 0x04, 0xc0, 0xa8, 0x93, 0x04, 0x9a, 0x22, 0x62, 0x7f, 0x12, 0x30, 0x84, 0x6f,
+	0xb3, 0x6f, 0x63, 0x0f, 0x14, 0x30, 0x08, 0x2f, 0x74, 0x6f, 0x63, 0x0f, 0x14, 0x30, 0x04,
+	0x2f, 0x64, 0x6f, 0x63, 0x0f, 0x14, 0x30, 0x00, 0x2f, 0x04, 0x30, 0x54, 0x7f, 0x40, 0x91,
+	0x0b, 0x2e, 0x18, 0x00, 0x54, 0x6f, 0xa3, 0x6f, 0x6a, 0x29, 0x1d, 0x2f, 0x00, 0x91, 0x06,
+	0x30, 0x14, 0x24, 0x1c, 0x00, 0x0d, 0x2f, 0x2d, 0x2e, 0x18, 0x00, 0x05, 0x2e, 0x19, 0x00,
+	0x81, 0x84, 0x25, 0x2e, 0x19, 0x00, 0x05, 0x2e, 0x19, 0x00, 0x53, 0x0e, 0x2b, 0x2f, 0x2d,
+	0x2e, 0x1e, 0x00, 0x29, 0x2d, 0x2b, 0x2e, 0x18, 0x00, 0x2d, 0x2e, 0x19, 0x00, 0x0b, 0x2e,
+	0x18, 0x00, 0x6b, 0x0e, 0x20, 0x2f, 0x25, 0x2e, 0x1e, 0x00, 0x1e, 0x2d, 0x00, 0xb3, 0x05,
+	0x2f, 0x02, 0x30, 0x25, 0x2e, 0x18, 0x00, 0x25, 0x2e, 0x1e, 0x00, 0x08, 0x2d, 0x2b, 0x2e,
+	0x18, 0x00, 0x09, 0x2e, 0x18, 0x00, 0x63, 0x0e, 0x01, 0x2f, 0x25, 0x2e, 0x1e, 0x00, 0x02,
+	0x40, 0x25, 0x2e, 0x1b, 0x00, 0x31, 0x25, 0x00, 0x2e, 0xd5, 0x40, 0x12, 0x24, 0x1c, 0x00,
+	0x42, 0x25, 0x95, 0x42, 0x00, 0x2e, 0xc3, 0x40, 0x83, 0x42, 0x00, 0x2e, 0x05, 0x2e, 0x1e,
+	0x00, 0x80, 0xb2, 0x0d, 0x2f, 0x00, 0x40, 0x21, 0x2e, 0x1b, 0x00, 0x50, 0x40, 0x10, 0x43,
+	0x00, 0x2e, 0x40, 0x40, 0x00, 0x43, 0x20, 0x30, 0x21, 0x2e, 0x5e, 0xf0, 0x02, 0x2d, 0x25,
+	0x2e, 0x24, 0x00, 0x50, 0x5f, 0xb8, 0x2e, 0x40, 0x30, 0x21, 0x2e, 0xba, 0xf0, 0xb8, 0x2e,
+	0x80, 0x2e, 0x18, 0x00, 0x70, 0x50, 0xf4, 0x7f, 0xe3, 0x7f, 0xd2, 0x7f, 0xc1, 0x7f, 0x12,
+	0x30, 0x03, 0x2e, 0x66, 0x00, 0x91, 0x14, 0x92, 0x7f, 0x00, 0x31, 0xc4, 0x6f, 0x95, 0x6f,
+	0xe3, 0x6f, 0xa5, 0x0f, 0x70, 0x84, 0x01, 0x04, 0x14, 0x2f, 0xd5, 0x6f, 0x00, 0xa9, 0x01,
+	0x2f, 0xa5, 0x7f, 0x21, 0x2d, 0xdd, 0x04, 0xb3, 0x7f, 0x40, 0xb2, 0xb3, 0x6f, 0x1c, 0x18,
+	0x06, 0x2f, 0x50, 0xa0, 0x01, 0x2f, 0xba, 0x11, 0x03, 0x2d, 0x71, 0x12, 0xb8, 0x14, 0x8a,
+	0x0b, 0x6e, 0x00, 0xa1, 0x7f, 0x11, 0x2d, 0xf7, 0x6f, 0xfb, 0x05, 0xb7, 0x7f, 0x25, 0x05,
+	0xb5, 0x6f, 0x2c, 0x18, 0x40, 0xb2, 0x06, 0x2f, 0x50, 0xa0, 0x01, 0x2f, 0xba, 0x11, 0x03,
+	0x2d, 0x71, 0x12, 0xb8, 0x14, 0x8a, 0x0b, 0x5e, 0x00, 0xa1, 0x7f, 0x00, 0x2e, 0xa0, 0x6f,
+	0x90, 0x5f, 0xb8, 0x2e, 0x01, 0x2e, 0x02, 0x01, 0x8e, 0xbc, 0x01, 0x2e, 0x62, 0x00, 0x9e,
+	0xb8, 0x01, 0x1a, 0x5f, 0x2f, 0x01, 0x2e, 0x02, 0x01, 0x0e, 0xbc, 0x0e, 0xb8, 0x21, 0x2e,
+	0x62, 0x00, 0x03, 0x2e, 0x62, 0x00, 0x43, 0xb2, 0x10, 0x24, 0x65, 0x00, 0x3c, 0x2f, 0x42,
+	0xb2, 0x22, 0x2f, 0x41, 0xb2, 0x06, 0x2f, 0x01, 0x30, 0x11, 0x42, 0x01, 0x42, 0x3e, 0x80,
+	0x00, 0x2e, 0x01, 0x42, 0xb8, 0x2e, 0x03, 0x2e, 0x9d, 0x00, 0x5f, 0x90, 0x62, 0x30, 0x11,
+	0x24, 0x81, 0x00, 0x07, 0x2f, 0x30, 0x25, 0x34, 0x37, 0xd4, 0x42, 0xc2, 0x42, 0xfe, 0x86,
+	0x00, 0x2e, 0xc1, 0x42, 0x00, 0x2e, 0x07, 0x2e, 0x9d, 0x00, 0xde, 0x90, 0x35, 0x2f, 0x63,
+	0x36, 0x13, 0x42, 0x02, 0x42, 0x3e, 0x80, 0x00, 0x2e, 0x01, 0x42, 0xb8, 0x2e, 0x03, 0x2e,
+	0x9d, 0x00, 0x5f, 0xb2, 0x52, 0x30, 0x21, 0x32, 0x0a, 0x2f, 0x07, 0x2e, 0x9d, 0x00, 0xde,
+	0x90, 0x24, 0x2f, 0x23, 0x31, 0x13, 0x42, 0x02, 0x42, 0x3e, 0x80, 0x00, 0x2e, 0x01, 0x42,
+	0xb8, 0x2e, 0x03, 0x32, 0x13, 0x42, 0x02, 0x42, 0x3e, 0x80, 0x00, 0x2e, 0x01, 0x42, 0xb8,
+	0x2e, 0x03, 0x2e, 0x9d, 0x00, 0x5f, 0xb2, 0x42, 0x30, 0x11, 0x31, 0x0a, 0x2f, 0x07, 0x2e,
+	0x9d, 0x00, 0xde, 0x90, 0x0c, 0x2f, 0xa3, 0x30, 0x13, 0x42, 0x02, 0x42, 0x3e, 0x80, 0x00,
+	0x2e, 0x01, 0x42, 0xb8, 0x2e, 0x63, 0x31, 0x13, 0x42, 0x02, 0x42, 0x3e, 0x80, 0x00, 0x2e,
+	0x01, 0x42, 0xb8, 0x2e, 0x10, 0x24, 0x78, 0x00, 0x11, 0x24, 0x52, 0xf0, 0x12, 0x40, 0x52,
+	0x42, 0x28, 0xb5, 0x52, 0x42, 0x00, 0x2e, 0x12, 0x40, 0x42, 0x42, 0x42, 0x82, 0x00, 0x40,
+	0x50, 0x42, 0x08, 0xb4, 0x40, 0x42, 0x7e, 0x80, 0xa8, 0xb4, 0x01, 0x42, 0xb8, 0x2e, 0x12,
+	0x24, 0x71, 0x00, 0x90, 0x40, 0x84, 0x82, 0x20, 0x50, 0x50, 0x42, 0x77, 0x80, 0x82, 0x40,
+	0x42, 0x42, 0xfb, 0x7f, 0x05, 0x82, 0x00, 0x40, 0x40, 0x42, 0x7c, 0x80, 0x05, 0x82, 0x00,
+	0x40, 0x40, 0x42, 0x7c, 0x80, 0x05, 0x82, 0x00, 0x40, 0x40, 0x42, 0x77, 0x84, 0x00, 0x2e,
+	0x90, 0x40, 0x84, 0x82, 0x82, 0x40, 0x50, 0x42, 0x77, 0x80, 0x42, 0x42, 0x05, 0x82, 0x00,
+	0x40, 0x40, 0x42, 0x7c, 0x80, 0x05, 0x82, 0x00, 0x40, 0x40, 0x42, 0x7c, 0x80, 0x05, 0x82,
+	0x00, 0x40, 0x40, 0x42, 0x7c, 0x82, 0xe1, 0x7f, 0x98, 0x2e, 0x03, 0xb1, 0xe2, 0x6f, 0x00,
+	0x2e, 0x90, 0x42, 0x81, 0x42, 0xbc, 0x82, 0x10, 0x24, 0x33, 0xf0, 0x23, 0x40, 0x02, 0x40,
+	0xb8, 0xbd, 0x9a, 0x0a, 0x03, 0x80, 0x52, 0x42, 0x00, 0x2e, 0x23, 0x40, 0x02, 0x40, 0xb8,
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+	0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18,
+	0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e,
+	0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80,
+	0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00,
+	0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18,
+	0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e,
+	0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80,
+	0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00,
+	0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18,
+	0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e,
+	0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80,
+	0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00,
+	0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18,
+	0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e,
+	0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80,
+	0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00,
+	0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18,
+	0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e,
+	0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80,
+	0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00,
+	0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18,
+	0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e,
+	0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80,
+	0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00,
+	0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18,
+	0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e,
+	0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80,
+	0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00,
+	0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18,
+	0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e,
+	0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80,
+	0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00,
+	0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18,
+	0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e,
+	0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80,
+	0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00,
+	0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18,
+	0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e,
+	0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80,
+	0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00,
+	0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18,
+	0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e,
+	0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80,
+	0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00,
+	0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18,
+	0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e,
+	0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80,
+	0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00,
+	0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18,
+	0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e,
+	0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80,
+	0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00,
+	0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18,
+	0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e,
+	0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80,
+	0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00,
+	0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18,
+	0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e,
+	0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80,
+	0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00,
+	0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18,
+	0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e,
+	0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80,
+	0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00,
+	0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18,
+	0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e,
+	0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80,
+	0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00,
+	0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18,
+	0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e,
+	0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80,
+	0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00,
+	0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18,
+	0x00, 0x80, 0x2e, 0x18, 0x00, 0x80, 0x2e, 0x18, 0x00};
+
+#endif /* BMI08X_BMI08X_CONFIG_FILE_H_ */

drivers/sensor/bmi08x/bmi08x_gyro.c

@@ -0,0 +1,484 @@
+/* Bosch BMI08X inertial measurement unit driver
+ *
+ * Copyright (c) 2022 Meta Platforms, Inc. and its affiliates
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <zephyr/drivers/sensor.h>
+#include <zephyr/pm/device.h>
+#include <zephyr/init.h>
+#include <zephyr/kernel.h>
+#include <zephyr/logging/log.h>
+#include <zephyr/sys/__assert.h>
+#include <zephyr/sys/byteorder.h>
+
+#define DT_DRV_COMPAT bosch_bmi08x_gyro
+#include "bmi08x.h"
+
+LOG_MODULE_REGISTER(BMI08X_GYRO, CONFIG_SENSOR_LOG_LEVEL);
+
+#if DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c)
+
+static int bmi08x_gyro_transceive_i2c(const struct device *dev, uint8_t reg, bool write, void *data,
+				      size_t length)
+{
+	const struct bmi08x_gyro_config *bmi08x = dev->config;
+
+	if (!write) {
+		return i2c_write_read_dt(&bmi08x->bus.i2c, &reg, 1, data, length);
+	}
+	if (length > CONFIG_BMI08X_I2C_WRITE_BURST_SIZE) {
+		return -EINVAL;
+	}
+	uint8_t buf[1 + CONFIG_BMI08X_I2C_WRITE_BURST_SIZE];
+
+	buf[0] = reg;
+	memcpy(&buf[1], data, length);
+	return i2c_write_dt(&bmi08x->bus.i2c, buf, 1 + length);
+}
+
+static int bmi08x_bus_check_i2c(const union bmi08x_bus *bus)
+{
+	return i2c_is_ready_dt(&bus->i2c) ? 0 : -ENODEV;
+}
+
+static const struct bmi08x_gyro_bus_io bmi08x_i2c_api = {
+	.check = bmi08x_bus_check_i2c,
+	.transceive = bmi08x_gyro_transceive_i2c,
+};
+
+#endif /* DT_ANY_INST_ON_BUS_STATUS_OKAY(i2c) */
+
+#if DT_ANY_INST_ON_BUS_STATUS_OKAY(spi)
+
+static int bmi08x_gyro_transceive_spi(const struct device *dev, uint8_t reg, bool write, void *data,
+				      size_t length)
+{
+	const struct bmi08x_gyro_config *bmi08x = dev->config;
+	const struct spi_buf tx_buf[2] = {{.buf = &reg, .len = 1}, {.buf = data, .len = length}};
+	const struct spi_buf_set tx = {.buffers = tx_buf, .count = write ? 2 : 1};
+
+	if (!write) {
+		uint16_t dummy;
+		const struct spi_buf rx_buf[2] = {{.buf = &dummy, .len = 1},
+						  {.buf = data, .len = length}};
+		const struct spi_buf_set rx = {.buffers = rx_buf, .count = 2};
+
+		return spi_transceive_dt(&bmi08x->bus.spi, &tx, &rx);
+	}
+
+	return spi_write_dt(&bmi08x->bus.spi, &tx);
+}
+
+static int bmi08x_bus_check_spi(const union bmi08x_bus *bus)
+{
+	return spi_is_ready_dt(&bus->spi) ? 0 : -ENODEV;
+}
+
+static const struct bmi08x_gyro_bus_io bmi08x_spi_api = {
+	.check = bmi08x_bus_check_spi,
+	.transceive = bmi08x_gyro_transceive_spi,
+};
+
+#endif /* DT_ANY_INST_ON_BUS_STATUS_OKAY(spi) */
+
+static inline int bmi08x_bus_check(const struct device *dev)
+{
+	const struct bmi08x_gyro_config *config = dev->config;
+
+	return config->api->check(&config->bus);
+}
+
+static int bmi08x_gyro_transceive(const struct device *dev, uint8_t reg, bool write, void *data,
+				  size_t length)
+{
+	const struct bmi08x_gyro_config *cfg = dev->config;
+
+	return cfg->api->transceive(dev, reg, write, data, length);
+}
+
+int bmi08x_gyro_read(const struct device *dev, uint8_t reg_addr, uint8_t *data, uint8_t len)
+{
+	return bmi08x_gyro_transceive(dev, reg_addr | BIT(7), false, data, len);
+}
+
+int bmi08x_gyro_byte_read(const struct device *dev, uint8_t reg_addr, uint8_t *byte)
+{
+	return bmi08x_gyro_transceive(dev, reg_addr | BIT(7), false, byte, 1);
+}
+
+int bmi08x_gyro_byte_write(const struct device *dev, uint8_t reg_addr, uint8_t byte)
+{
+	return bmi08x_gyro_transceive(dev, reg_addr & 0x7F, true, &byte, 1);
+}
+
+int bmi08x_gyro_word_write(const struct device *dev, uint8_t reg_addr, uint16_t word)
+{
+	uint8_t tx_word[2] = {(uint8_t)(word & 0xff), (uint8_t)(word >> 8)};
+
+	return bmi08x_gyro_transceive(dev, reg_addr & 0x7F, true, tx_word, 2);
+}
+
+int bmi08x_gyro_reg_field_update(const struct device *dev, uint8_t reg_addr, uint8_t pos,
+				 uint8_t mask, uint8_t val)
+{
+	uint8_t old_val;
+	int ret;
+
+	ret = bmi08x_gyro_byte_read(dev, reg_addr, &old_val);
+	if (ret < 0) {
+		return ret;
+	}
+
+	return bmi08x_gyro_byte_write(dev, reg_addr, (old_val & ~mask) | ((val << pos) & mask));
+}
+
+static const struct bmi08x_range bmi08x_gyr_range_map[] = {
+	{125, BMI08X_GYR_RANGE_125DPS},   {250, BMI08X_GYR_RANGE_250DPS},
+	{500, BMI08X_GYR_RANGE_500DPS},   {1000, BMI08X_GYR_RANGE_1000DPS},
+	{2000, BMI08X_GYR_RANGE_2000DPS},
+};
+#define BMI08X_GYR_RANGE_MAP_SIZE ARRAY_SIZE(bmi08x_gyr_range_map)
+
+int32_t bmi08x_gyr_reg_val_to_range(uint8_t reg_val)
+{
+	return bmi08x_reg_val_to_range(reg_val, bmi08x_gyr_range_map, BMI08X_GYR_RANGE_MAP_SIZE);
+}
+
+static int bmi08x_gyr_odr_set(const struct device *dev, uint16_t freq_int, uint16_t freq_milli)
+{
+	int odr = bmi08x_freq_to_odr_val(freq_int, freq_milli);
+
+	if (odr < 0) {
+		return odr;
+	}
+
+	if (odr < BMI08X_GYRO_BW_532_ODR_2000_HZ || odr > BMI08X_GYRO_BW_32_ODR_100_HZ) {
+		return -ENOTSUP;
+	}
+
+	return bmi08x_gyro_byte_write(dev, BMI08X_REG_GYRO_BANDWIDTH, (uint8_t)odr);
+}
+
+static int bmi08x_gyr_range_set(const struct device *dev, uint16_t range)
+{
+	struct bmi08x_gyro_data *bmi08x = dev->data;
+	int32_t reg_val =
+		bmi08x_range_to_reg_val(range, bmi08x_gyr_range_map, BMI08X_GYR_RANGE_MAP_SIZE);
+	int ret;
+
+	if (reg_val < 0) {
+		return reg_val;
+	}
+
+	ret = bmi08x_gyro_byte_write(dev, BMI08X_REG_GYRO_RANGE, reg_val);
+	if (ret < 0) {
+		return ret;
+	}
+
+	bmi08x->scale = BMI08X_GYR_SCALE(range);
+
+	return ret;
+}
+
+static int bmi08x_gyr_config(const struct device *dev, enum sensor_channel chan,
+			     enum sensor_attribute attr, const struct sensor_value *val)
+{
+	switch (attr) {
+	case SENSOR_ATTR_FULL_SCALE:
+		return bmi08x_gyr_range_set(dev, sensor_rad_to_degrees(val));
+	case SENSOR_ATTR_SAMPLING_FREQUENCY:
+		return bmi08x_gyr_odr_set(dev, val->val1, val->val2 / 1000);
+	default:
+		LOG_ERR("Gyro attribute not supported.");
+		return -ENOTSUP;
+	}
+}
+
+static int bmi08x_attr_set(const struct device *dev, enum sensor_channel chan,
+			   enum sensor_attribute attr, const struct sensor_value *val)
+{
+#ifdef CONFIG_PM_DEVICE
+	enum pm_device_state state;
+
+	(void)pm_device_state_get(dev, &state);
+	if (state != PM_DEVICE_STATE_ACTIVE) {
+		return -EBUSY;
+	}
+#endif
+
+	switch (chan) {
+	case SENSOR_CHAN_GYRO_X:
+	case SENSOR_CHAN_GYRO_Y:
+	case SENSOR_CHAN_GYRO_Z:
+	case SENSOR_CHAN_GYRO_XYZ:
+		return bmi08x_gyr_config(dev, chan, attr, val);
+	default:
+		LOG_ERR("attr_set() not supported on this channel.");
+		return -ENOTSUP;
+	}
+}
+
+static int bmi08x_sample_fetch(const struct device *dev, enum sensor_channel chan)
+{
+	struct bmi08x_gyro_data *bmi08x = dev->data;
+	size_t i;
+	int ret;
+
+	if (chan != SENSOR_CHAN_ALL && chan != SENSOR_CHAN_GYRO_XYZ) {
+		LOG_ERR("Unsupported sensor channel");
+		return -ENOTSUP;
+	}
+
+	ret = bmi08x_gyro_read(dev, BMI08X_REG_GYRO_X_LSB, (uint8_t *)bmi08x->gyr_sample,
+			       sizeof(bmi08x->gyr_sample));
+	if (ret < 0) {
+		return ret;
+	}
+
+	/* convert samples to cpu endianness */
+	for (i = 0; i < ARRAY_SIZE(bmi08x->gyr_sample); i++) {
+		bmi08x->gyr_sample[i] = sys_le16_to_cpu(bmi08x->gyr_sample[i]);
+	}
+
+	return ret;
+}
+
+static void bmi08x_to_fixed_point(int16_t raw_val, uint16_t scale, struct sensor_value *val)
+{
+	int32_t converted_val;
+
+	/*
+	 * maximum converted value we can get is: max(raw_val) * max(scale)
+	 *	max(raw_val) = +/- 2^15
+	 *	max(scale) = 4785
+	 *	max(converted_val) = 156794880 which is less than 2^31
+	 */
+	converted_val = raw_val * scale;
+	val->val1 = converted_val / 1000000;
+	val->val2 = converted_val % 1000000;
+}
+
+static void bmi08x_channel_convert(enum sensor_channel chan, uint16_t scale, uint16_t *raw_xyz,
+				   struct sensor_value *val)
+{
+	int i;
+	uint8_t ofs_start, ofs_stop;
+
+	switch (chan) {
+	case SENSOR_CHAN_GYRO_X:
+		ofs_start = ofs_stop = 0U;
+		break;
+	case SENSOR_CHAN_GYRO_Y:
+		ofs_start = ofs_stop = 1U;
+		break;
+	case SENSOR_CHAN_GYRO_Z:
+		ofs_start = ofs_stop = 2U;
+		break;
+	default:
+		ofs_start = 0U;
+		ofs_stop = 2U;
+		break;
+	}
+
+	for (i = ofs_start; i <= ofs_stop; i++, val++) {
+		bmi08x_to_fixed_point(raw_xyz[i], scale, val);
+	}
+}
+
+static inline void bmi08x_gyr_channel_get(const struct device *dev, enum sensor_channel chan,
+					  struct sensor_value *val)
+{
+	struct bmi08x_gyro_data *bmi08x = dev->data;
+
+	bmi08x_channel_convert(chan, bmi08x->scale, bmi08x->gyr_sample, val);
+}
+
+static int bmi08x_channel_get(const struct device *dev, enum sensor_channel chan,
+			      struct sensor_value *val)
+{
+#ifdef CONFIG_PM_DEVICE
+	enum pm_device_state state;
+
+	(void)pm_device_state_get(dev, &state);
+	if (state != PM_DEVICE_STATE_ACTIVE) {
+		return -EBUSY;
+	}
+#endif
+
+	switch ((int16_t)chan) {
+	case SENSOR_CHAN_GYRO_X:
+	case SENSOR_CHAN_GYRO_Y:
+	case SENSOR_CHAN_GYRO_Z:
+	case SENSOR_CHAN_GYRO_XYZ:
+		bmi08x_gyr_channel_get(dev, chan, val);
+		return 0;
+	default:
+		LOG_ERR("Channel not supported.");
+		return -ENOTSUP;
+	}
+}
+
+#ifdef CONFIG_PM_DEVICE
+static int bmi08x_gyro_pm_action(const struct device *dev, enum pm_device_action action)
+{
+	uint8_t reg_val;
+	int ret;
+
+	switch (action) {
+	case PM_DEVICE_ACTION_RESUME:
+		reg_val = BMI08X_GYRO_PM_NORMAL;
+		break;
+	case PM_DEVICE_ACTION_SUSPEND:
+		reg_val = BMI08X_GYRO_PM_SUSPEND;
+		break;
+	default:
+		return -ENOTSUP;
+	}
+
+	ret = bmi08x_gyro_byte_write(dev, BMI08X_REG_GYRO_LPM1, reg_val);
+	if (ret < 0) {
+		LOG_ERR("Failed to set power mode");
+		return ret;
+	}
+	k_msleep(BMI08X_GYRO_POWER_MODE_CONFIG_DELAY);
+
+	return ret;
+}
+#endif /* CONFIG_PM_DEVICE */
+
+static const struct sensor_driver_api bmi08x_api = {
+	.attr_set = bmi08x_attr_set,
+#ifdef CONFIG_BMI08X_GYRO_TRIGGER
+	.trigger_set = bmi08x_trigger_set_gyr,
+#endif
+	.sample_fetch = bmi08x_sample_fetch,
+	.channel_get = bmi08x_channel_get,
+};
+
+int bmi08x_gyro_init(const struct device *dev)
+{
+	const struct bmi08x_gyro_config *config = dev->config;
+	uint8_t val = 0U;
+	int ret;
+
+	ret = bmi08x_bus_check(dev);
+	if (ret < 0) {
+		LOG_ERR("Bus not ready for '%s'", dev->name);
+		return ret;
+	}
+
+	/* reboot the chip */
+	ret = bmi08x_gyro_byte_write(dev, BMI08X_REG_GYRO_SOFTRESET, BMI08X_SOFT_RESET_CMD);
+	if (ret < 0) {
+		LOG_ERR("Cannot reboot chip.");
+		return ret;
+	}
+
+	k_msleep(BMI08X_GYRO_SOFTRESET_DELAY);
+
+	ret = bmi08x_gyro_byte_read(dev, BMI08X_REG_GYRO_CHIP_ID, &val);
+	if (ret < 0) {
+		LOG_ERR("Failed to read chip id.");
+		return ret;
+	}
+
+	if (val != BMI08X_GYRO_CHIP_ID) {
+		LOG_ERR("Unsupported chip detected (0x%02x)!", val);
+		return -ENODEV;
+	}
+
+	/* set gyro default range */
+	ret = bmi08x_gyr_range_set(dev, config->gyro_fs);
+	if (ret < 0) {
+		LOG_ERR("Cannot set default range for gyroscope.");
+		return ret;
+	}
+
+	/* set gyro default bandwidth */
+	ret = bmi08x_gyro_byte_write(dev, BMI08X_REG_GYRO_BANDWIDTH, config->gyro_hz);
+	if (ret < 0) {
+		LOG_ERR("Failed to set gyro's default ODR.");
+		return ret;
+	}
+
+#ifdef CONFIG_BMI08X_GYRO_TRIGGER
+	ret = bmi08x_gyr_trigger_mode_init(dev);
+	if (ret < 0) {
+		LOG_ERR("Cannot set up trigger mode.");
+		return ret;
+	}
+#endif
+/* with BMI08X_DATA_SYNC set, it is expected that the INT3 or INT4 is wired to either INT1
+ * or INT2
+ */
+#if defined(CONFIG_BMI08X_GYRO_TRIGGER) || BMI08X_GYRO_ANY_INST_HAS_DATA_SYNC
+	/* set gyro ints */
+	/* set ints */
+	ret = bmi08x_gyro_byte_write(dev, BMI08X_REG_GYRO_INT_CTRL, 0x80);
+	if (ret < 0) {
+		LOG_ERR("Failed to map interrupts.");
+		return ret;
+	}
+	ret = bmi08x_gyro_byte_write(dev, BMI08X_REG_GYRO_INT3_INT4_IO_CONF,
+				     config->int3_4_conf_io);
+	if (ret < 0) {
+		LOG_ERR("Failed to map interrupts.");
+		return ret;
+	}
+	ret = bmi08x_gyro_byte_write(dev, BMI08X_REG_GYRO_INT3_INT4_IO_MAP, config->int3_4_map);
+	if (ret < 0) {
+		LOG_ERR("Failed to map interrupts.");
+		return ret;
+	}
+#endif
+
+	return ret;
+}
+
+#define BMI08X_CONFIG_SPI(inst)                                                                    \
+	.bus.spi = SPI_DT_SPEC_INST_GET(                                                           \
+		inst, SPI_OP_MODE_MASTER | SPI_TRANSFER_MSB | SPI_WORD_SET(8), 2),
+
+#define BMI08X_CONFIG_I2C(inst) .bus.i2c = I2C_DT_SPEC_INST_GET(inst),
+
+#define BMI08X_GYRO_TRIG(inst)                                                                     \
+	.int3_4_map = DT_INST_PROP(inst, int3_4_map_io),                                           \
+	.int3_4_conf_io = DT_INST_PROP(inst, int3_4_conf_io),
+
+#if BMI08X_GYRO_ANY_INST_HAS_DATA_SYNC
+/* the bmi08x-gyro should not have trigger mode with data-sync enabled */
+BUILD_ASSERT(CONFIG_BMI08X_GYRO_TRIGGER_NONE,
+	     "Only none trigger type allowed for bmi08x-gyro with data-sync enabled");
+/* with data-sync, one of the int pins should be wired directory to the accel's int pins, their
+ * config should be defined
+ */
+#define BMI08X_GYRO_TRIGGER_PINS(inst) BMI08X_GYRO_TRIG(inst)
+#else
+#define BMI08X_GYRO_TRIGGER_PINS(inst)                                                             \
+	IF_ENABLED(CONFIG_BMI08X_GYRO_TRIGGER, (BMI08X_GYRO_TRIG(inst)))
+#endif
+
+#define BMI08X_CREATE_INST(inst)                                                                   \
+                                                                                                   \
+	static struct bmi08x_gyro_data bmi08x_drv_##inst;                                          \
+                                                                                                   \
+	static const struct bmi08x_gyro_config bmi08x_config_##inst = {                            \
+		COND_CODE_1(DT_INST_ON_BUS(inst, spi), (BMI08X_CONFIG_SPI(inst)),                  \
+			    (BMI08X_CONFIG_I2C(inst)))                                             \
+			.api = COND_CODE_1(DT_INST_ON_BUS(inst, spi), (&bmi08x_spi_api),           \
+					   (&bmi08x_i2c_api)),                                     \
+		IF_ENABLED(CONFIG_BMI08X_GYRO_TRIGGER,                                             \
+			   (.int_gpio = GPIO_DT_SPEC_INST_GET(inst, int_gpios),))                  \
+			.gyro_hz = DT_INST_ENUM_IDX(inst, gyro_hz),                                \
+		BMI08X_GYRO_TRIGGER_PINS(inst).gyro_fs = DT_INST_ENUM_IDX(inst, gyro_fs),          \
+	};                                                                                         \
+                                                                                                   \
+	PM_DEVICE_DT_INST_DEFINE(inst, bmi08x_gyro_pm_action);                                     \
+	SENSOR_DEVICE_DT_INST_DEFINE(inst, bmi08x_gyro_init, PM_DEVICE_DT_INST_GET(inst),          \
+				     &bmi08x_drv_##inst, &bmi08x_config_##inst, POST_KERNEL,       \
+				     CONFIG_SENSOR_INIT_PRIORITY, &bmi08x_api);
+
+/* Create the struct device for every status "okay" node in the devicetree. */
+DT_INST_FOREACH_STATUS_OKAY(BMI08X_CREATE_INST)

drivers/sensor/bmi08x/bmi08x_gyro_trigger.c

@@ -0,0 +1,135 @@
+/* Bosch BMI08X inertial measurement unit driver, trigger implementation
+ *
+ * Copyright (c) 2022 Meta Platforms, Inc. and its affiliates
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <zephyr/drivers/gpio.h>
+#include <zephyr/drivers/sensor.h>
+#include <zephyr/pm/device.h>
+#include <zephyr/kernel.h>
+
+#define DT_DRV_COMPAT bosch_bmi08x_gyro
+#include "bmi08x.h"
+
+#include <zephyr/logging/log.h>
+LOG_MODULE_DECLARE(BMI08X_GYRO, CONFIG_SENSOR_LOG_LEVEL);
+
+static void bmi08x_handle_drdy_gyr(const struct device *dev)
+{
+	struct bmi08x_gyro_data *data = dev->data;
+
+#ifdef CONFIG_PM_DEVICE
+	enum pm_device_state state;
+
+	(void)pm_device_state_get(dev, &state);
+	if (state != PM_DEVICE_STATE_ACTIVE) {
+		return;
+	}
+#endif
+
+	if (data->handler_drdy_gyr) {
+		data->handler_drdy_gyr(dev, data->drdy_trig_gyr);
+	}
+}
+
+static void bmi08x_handle_interrupts_gyr(void *arg)
+{
+	const struct device *dev = (const struct device *)arg;
+
+	bmi08x_handle_drdy_gyr(dev);
+}
+
+#ifdef CONFIG_BMI08X_GYRO_TRIGGER_OWN_THREAD
+static void bmi08x_gyr_thread_main(void *arg1, void *unused1, void *unused2)
+{
+	k_thread_name_set(NULL, "bmi08x_gyr_trig");
+
+	ARG_UNUSED(unused1);
+	ARG_UNUSED(unused2);
+
+	const struct device *dev = (const struct device *)arg1;
+	struct bmi08x_gyro_data *data = dev->data;
+
+	while (1) {
+		k_sem_take(&data->sem, K_FOREVER);
+		bmi08x_handle_interrupts_gyr((void *)dev);
+	}
+}
+#endif
+
+#ifdef CONFIG_BMI08X_GYRO_TRIGGER_GLOBAL_THREAD
+static void bmi08x_gyr_work_handler(struct k_work *work)
+{
+	struct bmi08x_gyro_data *data = CONTAINER_OF(work, struct bmi08x_gyro_data, work);
+
+	bmi08x_handle_interrupts_gyr((void *)data->dev);
+}
+#endif
+
+static void bmi08x_gyr_gpio_callback(const struct device *port, struct gpio_callback *cb,
+				     uint32_t pin)
+{
+	struct bmi08x_gyro_data *data = CONTAINER_OF(cb, struct bmi08x_gyro_data, gpio_cb);
+
+	ARG_UNUSED(port);
+	ARG_UNUSED(pin);
+
+#if defined(CONFIG_BMI08X_GYRO_TRIGGER_OWN_THREAD)
+	k_sem_give(&data->sem);
+#elif defined(CONFIG_BMI08X_GYRO_TRIGGER_GLOBAL_THREAD)
+	k_work_submit(&data->work);
+#endif
+}
+
+int bmi08x_trigger_set_gyr(const struct device *dev, const struct sensor_trigger *trig,
+			   sensor_trigger_handler_t handler)
+{
+	struct bmi08x_gyro_data *data = dev->data;
+
+	if ((trig->chan == SENSOR_CHAN_GYRO_XYZ) && (trig->type == SENSOR_TRIG_DATA_READY)) {
+		data->handler_drdy_gyr = handler;
+		data->drdy_trig_gyr = trig;
+		return 0;
+	}
+
+	return -ENOTSUP;
+}
+
+int bmi08x_gyr_trigger_mode_init(const struct device *dev)
+{
+	struct bmi08x_gyro_data *data = dev->data;
+	const struct bmi08x_gyro_config *cfg = dev->config;
+	int ret;
+
+	if (!gpio_is_ready_dt(&cfg->int_gpio)) {
+		LOG_ERR("GPIO device not ready");
+		return -ENODEV;
+	}
+
+#if defined(CONFIG_BMI08X_GYRO_TRIGGER_OWN_THREAD)
+	k_sem_init(&data->sem, 0, K_SEM_MAX_LIMIT);
+
+	k_thread_create(&data->thread, data->thread_stack,
+			CONFIG_BMI08X_GYRO_THREAD_STACK_SIZE, bmi08x_gyr_thread_main, (void *)dev,
+			NULL, NULL, K_PRIO_COOP(CONFIG_BMI08X_GYRO_THREAD_PRIORITY), 0, K_NO_WAIT);
+#elif defined(CONFIG_BMI08X_GYRO_TRIGGER_GLOBAL_THREAD)
+	data->work.handler = bmi08x_gyr_work_handler;
+	data->dev = dev;
+#endif
+
+	gpio_pin_configure_dt(&cfg->int_gpio, GPIO_INPUT);
+
+	gpio_init_callback(&data->gpio_cb, bmi08x_gyr_gpio_callback, BIT(cfg->int_gpio.pin));
+
+	ret = gpio_add_callback(cfg->int_gpio.port, &data->gpio_cb);
+
+	if (ret < 0) {
+		LOG_ERR("Failed to set gpio callback.");
+		return ret;
+	}
+	gpio_pin_interrupt_configure_dt(&cfg->int_gpio, GPIO_INT_EDGE_TO_ACTIVE);
+
+	return ret;
+}

dts/bindings/sensor/bosch,bmi08x-accel-i2c.yaml

@@ -0,0 +1,8 @@
+# Copyright (c) 2022 Meta Platforms, Inc. and its affiliates.
+# SPDX-License-Identifier: Apache-2.0
+
+description: BMI08X Accel inertial measurement unit
+
+compatible: "bosch,bmi08x-accel"
+
+include: [i2c-device.yaml, "bosch,bmi08x-accel.yaml"]

dts/bindings/sensor/bosch,bmi08x-accel-spi.yaml

@@ -0,0 +1,8 @@
+# Copyright (c) 2022 Meta Platforms, Inc. and its affiliates.
+# SPDX-License-Identifier: Apache-2.0
+
+description: BMI08X Accel inertial measurement unit
+
+compatible: "bosch,bmi08x-accel"
+
+include: [spi-device.yaml, "bosch,bmi08x-accel.yaml"]

dts/bindings/sensor/bosch,bmi08x-accel.yaml

@@ -0,0 +1,84 @@
+# Copyright (c) 2022 Meta Platforms, Inc. and its affiliates.
+# SPDX-License-Identifier: Apache-2.0
+
+description: BMI08X Accel inertial measurement unit
+
+include: sensor-device.yaml
+
+properties:
+  int-gpios:
+    type: phandle-array
+    description: |
+      This property specifies the connection for INT, because the
+      Zephyr driver maps all interrupts to INT.  The signal defaults
+      to output low when produced by the sensor.
+
+  int1-map-io:
+    type: int
+    description: |
+      Bit[0]: Map Interrupt A to INT1, Accel Data Ready
+      Bit[1]: Map Interrupt B to INT1
+      Bit[2]: Map Interrupt C to INT1
+
+  int2-map-io:
+    type: int
+    description: |
+      Bit[0]: Map Interrupt A to INT2, Accel Data Ready
+      Bit[1]: Map Interrupt B to INT2
+      Bit[2]: Map Interrupt C to INT2
+
+  int1-conf-io:
+    type: int
+    description: |
+      Bit[0]: reserved
+      Bit[1]: if set to 1, INT1 is active high, otherwise it's active low
+      Bit[2]: if set to 1, INT1 is open-drain, otherwise it's push-pull
+      Bit[3]: if set to 1, enable INT1 as an output pin
+      Bit[4]: if set to 1, enable INT1 as an input pin
+      Bit[7:5] : reserved
+
+  int2-conf-io:
+    type: int
+    description: |
+      Bit[0]: reserved
+      Bit[1]: if set to 1, INT2 is active high, otherwise it's active low
+      Bit[2]: if set to 1, INT2 is open-drain, otherwise it's push-pull
+      Bit[3]: if set to 1, enable INT2 as an output pin
+      Bit[4]: if set to 1, enable INT2 as an input pin
+      Bit[7:5] : reserved
+
+  accel-hz:
+    type: string
+    required: true
+    description: |
+      Default frequency of accelerometer. (Unit - Hz)
+    enum:
+      - "12.5"
+      - "25"
+      - "50"
+      - "100"
+      - "200"
+      - "400"
+      - "800"
+      - "1600"
+
+  accel-fs:
+    type: int
+    required: true
+    description: |
+      Default full scale of accelerometer. (Unit - g)
+    enum:
+      - 2
+      - 3
+      - 4
+      - 6
+      - 8
+      - 12
+      - 16
+      - 24
+
+  data-sync:
+    type: phandle
+    description: |
+      Enables data sync if defined. This is to point to the bmi08x-gyro definition
+      that is within the same IC as the bmi08x-accel.

dts/bindings/sensor/bosch,bmi08x-gyro-i2c.yaml

@@ -0,0 +1,8 @@
+# Copyright (c) 2022 Meta Platforms, Inc. and its affiliates.
+# SPDX-License-Identifier: Apache-2.0
+
+description: BMI08X Gyro inertial measurement unit
+
+compatible: "bosch,bmi08x-gyro"
+
+include: [i2c-device.yaml, "bosch,bmi08x-gyro.yaml"]

dts/bindings/sensor/bosch,bmi08x-gyro-spi.yaml

@@ -0,0 +1,8 @@
+# Copyright (c) 2022 Meta Platforms, Inc. and its affiliates.
+# SPDX-License-Identifier: Apache-2.0
+
+description: BMI08X Gyro inertial measurement unit
+
+compatible: "bosch,bmi08x-gyro"
+
+include: [spi-device.yaml, "bosch,bmi08x-gyro.yaml"]

dts/bindings/sensor/bosch,bmi08x-gyro.yaml

@@ -0,0 +1,62 @@
+# Copyright (c) 2022 Meta Platforms, Inc. and its affiliates.
+# SPDX-License-Identifier: Apache-2.0
+
+description: BMI08X Gyro inertial measurement unit
+
+include: sensor-device.yaml
+
+properties:
+  int-gpios:
+    type: phandle-array
+    description: |
+      This property specifies the connection for INT, because the
+      Zephyr driver maps all interrupts to INT. The signal defaults
+      to output low when produced by the sensor.
+
+  int3-4-map-io:
+    type: int
+    description: |
+      Bit[0] will map the data ready interrupt on INT3
+      Bit[2] will map the fifo interrupt on INT3
+      Bit[5] will map the fifo interrupt on INT4
+      Bit[7] will enable the data ready interrupt on INT4
+
+  int3-4-conf-io:
+    type: int
+    description: |
+      Bit[0]: if set to 1, INT3 is active high, otherwise it's active low
+      Bit[1]: if set to 1, INT3 is open-drain, otherwise it's push-pull
+      Bit[2]: if set to 1, INT4 is active high, otherwise it's active low
+      Bit[3]: if set to 1, INT4 is open-drain, otherwise it's push-pull
+
+  gyro-hz:
+    type: string
+    required: true
+    description: |
+      Default frequency of accelerometer. (Unit - Hz)
+    enum:
+      - "2000_532"
+      - "2000_230"
+      - "1000_116"
+      - "400_47"
+      - "200_23"
+      - "100_12"
+      - "200_64"
+      - "100_32"
+
+  gyro-fs:
+    type: int
+    required: true
+    description: |
+      Default full scale of accelerometer. (Unit - g)
+    enum:
+      - 2000
+      - 1000
+      - 500
+      - 250
+      - 125
+
+  data-sync:
+    type: boolean
+    description: |
+      Enables data sync if defined. Must be set if bmi08x-accel data-sync is set as well.

tests/drivers/build_all/sensor/i2c.dtsi

@@ -745,3 +745,25 @@ test_tcn75a: tcn75a@73 {
 	reg = <0x73>;
 	alert-gpios = <&test_gpio 0 0>;
 };
+
+test_i2c_bmi08x_accel: bmi08x@74 {
+	compatible = "bosch,bmi08x-accel";
+	reg = <0x74>;
+	int-gpios = <&test_gpio 0 0>;
+	int1-map-io = <0x01>;
+	int2-map-io = <0x00>;
+	int1-conf-io = <0x0A>;
+	int2-conf-io = <0x17>;
+	accel-hz = "800";
+	accel-fs = <4>;
+};
+
+test_i2c_bmi08x_gyro: bmi08x@75 {
+	compatible = "bosch,bmi08x-gyro";
+	reg = <0x75>;
+	int-gpios = <&test_gpio 0 0>;
+	int3-4-map-io = <0x01>;
+	int3-4-conf-io = <0x01>;
+	gyro-hz = "1000_116";
+	gyro-fs = <1000>;
+};

tests/drivers/build_all/sensor/sensors_trigger_global.conf

@@ -6,6 +6,8 @@ CONFIG_AMG88XX_TRIGGER_GLOBAL_THREAD=y
 CONFIG_APDS9960_TRIGGER_GLOBAL_THREAD=y
 CONFIG_BMA280_TRIGGER_GLOBAL_THREAD=y
 CONFIG_BMG160_TRIGGER_GLOBAL_THREAD=y
+CONFIG_BMI08X_ACCEL_TRIGGER_GLOBAL_THREAD=y
+CONFIG_BMI08X_GYRO_TRIGGER_GLOBAL_THREAD=y
 CONFIG_BMI160_TRIGGER_GLOBAL_THREAD=y
 CONFIG_BMI270_TRIGGER_GLOBAL_THREAD=y
 CONFIG_BMP388_TRIGGER_GLOBAL_THREAD=y

tests/drivers/build_all/sensor/sensors_trigger_none.conf

@@ -6,6 +6,8 @@ CONFIG_AMG88XX_TRIGGER_NONE=y
 CONFIG_APDS9960_TRIGGER_NONE=y
 CONFIG_BMA280_TRIGGER_NONE=y
 CONFIG_BMG160_TRIGGER_NONE=y
+CONFIG_BMI08X_ACCEL_TRIGGER_NONE=y
+CONFIG_BMI08X_GYRO_TRIGGER_NONE=y
 CONFIG_BMI160_TRIGGER_NONE=y
 CONFIG_BMI270_TRIGGER_NONE=y
 CONFIG_BMP388_TRIGGER_NONE=y

tests/drivers/build_all/sensor/sensors_trigger_own.conf

@@ -5,6 +5,8 @@ CONFIG_ADXL372_TRIGGER_OWN_THREAD=y
 CONFIG_AMG88XX_TRIGGER_OWN_THREAD=y
 CONFIG_BMA280_TRIGGER_OWN_THREAD=y
 CONFIG_BMG160_TRIGGER_OWN_THREAD=y
+CONFIG_BMI08X_ACCEL_TRIGGER_OWN_THREAD=y
+CONFIG_BMI08X_GYRO_TRIGGER_OWN_THREAD=y
 CONFIG_BMI160_TRIGGER_OWN_THREAD=y
 CONFIG_BMI270_TRIGGER_OWN_THREAD=y
 CONFIG_BMP388_TRIGGER_OWN_THREAD=y

tests/drivers/build_all/sensor/spi.dtsi

@@ -395,3 +395,27 @@ test_spi_lsm6dsv16x: lsm6dsv16x@30 {
 	spi-max-frequency = <0>;
 	irq-gpios = <&test_gpio 0 0>;
 };
+
+test_spi_bmi08x_accel: bmi08x@31 {
+	compatible = "bosch,bmi08x-accel";
+	reg = <0x31>;
+	spi-max-frequency = <0>;
+	int-gpios = <&test_gpio 0 0>;
+	int1-map-io = <0x01>;
+	int2-map-io = <0x00>;
+	int1-conf-io = <0x0A>;
+	int2-conf-io = <0x17>;
+	accel-hz = "800";
+	accel-fs = <4>;
+};
+
+test_spi_bmi08x_gyro: bmi08x@32 {
+	compatible = "bosch,bmi08x-gyro";
+	reg = <0x32>;
+	spi-max-frequency = <0>;
+	int-gpios = <&test_gpio 0 0>;
+	int3-4-map-io = <0x01>;
+	int3-4-conf-io = <0x01>;
+	gyro-hz = "1000_116";
+	gyro-fs = <1000>;
+};