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sensor: Add ICM42686 Driver Support #92579

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8601a05
general: icm4268x: Refactor ICM42688 driver to ICM4268X
ubieda Jul 2, 2025
f52f9d8
sensor: icm4568x: Address existing code issues by static analysis
ubieda Jul 3, 2025
8bd5ff0
sensor: icm4268x: Add support for ICM42686 variant
ubieda Jul 3, 2025
359bebf
sensor: icm4268x: fix: Override FSR settings when high-res is enabled
ubieda Jul 3, 2025
5d7843e
boards: vmu_rt1170: Update dts to reflect the second IMU being ICM42686
ubieda Jul 3, 2025
7477da4
tests: sensor: Add icm42686 node to test
ubieda Jul 3, 2025
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24 changes: 13 additions & 11 deletions boards/nxp/vmu_rt1170/vmu_rt1170_mimxrt1176_cm7.dts
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Original file line number Diff line number Diff line change
Expand Up @@ -243,36 +243,38 @@
};
};

#include <zephyr/dt-bindings/sensor/icm42688.h>
#include <zephyr/dt-bindings/sensor/icm42686.h>

&lpspi1 {
status = "okay";
cs-gpios =<&gpio2 11 GPIO_ACTIVE_LOW>;

icm42688_0: icm42688p0@0 {
compatible = "invensense,icm42688";
icm42686_0: icm42686p0@0 {
compatible = "invensense,icm42686", "invensense,icm4268x";
reg = <0>;
int-gpios = <&gpio3 19 GPIO_ACTIVE_HIGH>;
spi-max-frequency = <24000000>;
accel-pwr-mode = <ICM42688_DT_ACCEL_LN>;
accel-odr = <ICM42688_DT_ACCEL_ODR_1000>;
accel-fs = <ICM42688_DT_ACCEL_FS_16>;
gyro-pwr-mode = <ICM42688_DT_GYRO_LN>;
gyro-odr = <ICM42688_DT_GYRO_ODR_1000>;
gyro-fs = <ICM42688_DT_GYRO_FS_2000>;
accel-pwr-mode = <ICM42686_DT_ACCEL_LN>;
accel-odr = <ICM42686_DT_ACCEL_ODR_1000>;
accel-fs = <ICM42686_DT_ACCEL_FS_16>;
gyro-pwr-mode = <ICM42686_DT_GYRO_LN>;
gyro-odr = <ICM42686_DT_GYRO_ODR_1000>;
gyro-fs = <ICM42686_DT_GYRO_FS_2000>;
axis-align-x = <SENSOR_AXIS_ALIGN_DT_Y>;
axis-align-y = <SENSOR_AXIS_ALIGN_DT_X>;
axis-align-z = <SENSOR_AXIS_ALIGN_DT_Z>;
fifo-hires;
};
};

#include <zephyr/dt-bindings/sensor/icm42688.h>

&lpspi2 {
status = "okay";
cs-gpios =<&gpio3 24 GPIO_ACTIVE_LOW>;

icm42688_1: icm42688p1@0 {
compatible = "invensense,icm42688";
icm42688_0: icm42688p0@0 {
compatible = "invensense,icm42688", "invensense,icm4268x";
reg = <0>;
int-gpios = <&gpio2 7 GPIO_ACTIVE_HIGH>;
spi-max-frequency = <24000000>;
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2 changes: 1 addition & 1 deletion boards/tdk/robokit1/robokit1-common.dtsi
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Expand Up @@ -101,7 +101,7 @@
status = "okay";

icm42688: icm42688p@0 {
compatible = "invensense,icm42688";
compatible = "invensense,icm42688", "invensense,icm4268x";
reg = <0>;
int-gpios = <&pioc 5 GPIO_ACTIVE_HIGH>;
spi-max-frequency = <24000000>;
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2 changes: 1 addition & 1 deletion doc/hardware/peripherals/sensor/device_tree.rst
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Expand Up @@ -15,7 +15,7 @@ then be used in a boards devicetree to configure a sensor to its initial state.
/* SPI bus options here, not shown */

accel_gyro0: icm42688p@0 {
compatible = "invensense,icm42688";
compatible = "invensense,icm42688", "invensense,icm4268x";
reg = <0>;
int-gpios = <&pioc 6 GPIO_ACTIVE_HIGH>; /* SoC specific pin to select for interrupt line */
spi-max-frequency = <DT_FREQ_M(24)>; /* Maximum SPI bus frequency */
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3 changes: 3 additions & 0 deletions doc/releases/migration-guide-4.2.rst
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Expand Up @@ -312,6 +312,9 @@ Sensors

* Renamed ``CONFIG_NPM1300_CHARGER`` to :kconfig:option:`CONFIG_NPM13XX_CHARGER`

* Nodes with compatible property :dtcompatible:`invensense,icm42688` now additionally need to also
include :dtcompatible:`invensense,icm4268x` in order to work.

Serial
=======

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2 changes: 1 addition & 1 deletion drivers/sensor/tdk/CMakeLists.txt
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Expand Up @@ -4,7 +4,7 @@
# zephyr-keep-sorted-start
add_subdirectory_ifdef(CONFIG_ICM40627 icm40627)
add_subdirectory_ifdef(CONFIG_ICM42605 icm42605)
add_subdirectory_ifdef(CONFIG_ICM42688 icm42688)
add_subdirectory_ifdef(CONFIG_ICM4268X icm4268x)
add_subdirectory_ifdef(CONFIG_ICM42X70 icm42x70)
add_subdirectory_ifdef(CONFIG_ICM45686 icm45686)
add_subdirectory_ifdef(CONFIG_ICP101XX icp101xx)
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2 changes: 1 addition & 1 deletion drivers/sensor/tdk/Kconfig
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Expand Up @@ -4,7 +4,7 @@
# zephyr-keep-sorted-start
source "drivers/sensor/tdk/icm40627/Kconfig"
source "drivers/sensor/tdk/icm42605/Kconfig"
source "drivers/sensor/tdk/icm42688/Kconfig"
source "drivers/sensor/tdk/icm4268x/Kconfig"
source "drivers/sensor/tdk/icm42x70/Kconfig"
source "drivers/sensor/tdk/icm45686/Kconfig"
source "drivers/sensor/tdk/icp101xx/Kconfig"
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16 changes: 0 additions & 16 deletions drivers/sensor/tdk/icm42688/CMakeLists.txt
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