drivers/sensor/icm42605/icm42605.c - third_party/github/zephyrproject-rtos/zephyr - Git at Google

 /*
  * Copyright (c) 2020 TDK Invensense
  *
  * SPDX-License-Identifier: Apache-2.0
  */

 #define DT_DRV_COMPAT invensense_icm42605

 #include <zephyr/drivers/spi.h>
 #include <zephyr/init.h>
 #include <zephyr/sys/byteorder.h>
 #include <zephyr/drivers/sensor.h>
 #include <zephyr/logging/log.h>

 #include "icm42605.h"
 #include "icm42605_reg.h"
 #include "icm42605_setup.h"
 #include "icm42605_spi.h"

 LOG_MODULE_REGISTER(ICM42605, CONFIG_SENSOR_LOG_LEVEL);

 static const uint16_t icm42605_gyro_sensitivity_x10[] = {
 	1310, 655, 328, 164
 };

 /* see "Accelerometer Measurements" section from register map description */
 static void icm42605_convert_accel(struct sensor_value *val,
 				   int16_t raw_val,
 				   uint16_t sensitivity_shift)
 {
 	int64_t conv_val;

 	conv_val = ((int64_t)raw_val * SENSOR_G) >> sensitivity_shift;
 	val->val1 = conv_val / 1000000;
 	val->val2 = conv_val % 1000000;
 }

 /* see "Gyroscope Measurements" section from register map description */
 static void icm42605_convert_gyro(struct sensor_value *val,
 				  int16_t raw_val,
 				  uint16_t sensitivity_x10)
 {
 	int64_t conv_val;

 	conv_val = ((int64_t)raw_val * SENSOR_PI * 10) /
 		   (sensitivity_x10 * 180U);
 	val->val1 = conv_val / 1000000;
 	val->val2 = conv_val % 1000000;
 }

 /* see "Temperature Measurement" section from register map description */
 static inline void icm42605_convert_temp(struct sensor_value *val,
 					 int16_t raw_val)
 {
 	val->val1 = (((int64_t)raw_val * 100) / 207) + 25;
 	val->val2 = ((((int64_t)raw_val * 100) % 207) * 1000000) / 207;

 	if (val->val2 < 0) {
 		val->val1--;
 		val->val2 += 1000000;
 	} else if (val->val2 >= 1000000) {
 		val->val1++;
 		val->val2 -= 1000000;
 	}
 }

 static int icm42605_channel_get(const struct device *dev,
 				enum sensor_channel chan,
 				struct sensor_value *val)
 {
 	const struct icm42605_data *drv_data = dev->data;

 	switch (chan) {
 	case SENSOR_CHAN_ACCEL_XYZ:
 		icm42605_convert_accel(val, drv_data->accel_x,
 				       drv_data->accel_sensitivity_shift);
 		icm42605_convert_accel(val + 1, drv_data->accel_y,
 				       drv_data->accel_sensitivity_shift);
 		icm42605_convert_accel(val + 2, drv_data->accel_z,
 				       drv_data->accel_sensitivity_shift);
 		break;
 	case SENSOR_CHAN_ACCEL_X:
 		icm42605_convert_accel(val, drv_data->accel_x,
 				       drv_data->accel_sensitivity_shift);
 		break;
 	case SENSOR_CHAN_ACCEL_Y:
 		icm42605_convert_accel(val, drv_data->accel_y,
 				       drv_data->accel_sensitivity_shift);
 		break;
 	case SENSOR_CHAN_ACCEL_Z:
 		icm42605_convert_accel(val, drv_data->accel_z,
 				       drv_data->accel_sensitivity_shift);
 		break;
 	case SENSOR_CHAN_GYRO_XYZ:
 		icm42605_convert_gyro(val, drv_data->gyro_x,
 				      drv_data->gyro_sensitivity_x10);
 		icm42605_convert_gyro(val + 1, drv_data->gyro_y,
 				      drv_data->gyro_sensitivity_x10);
 		icm42605_convert_gyro(val + 2, drv_data->gyro_z,
 				      drv_data->gyro_sensitivity_x10);
 		break;
 	case SENSOR_CHAN_GYRO_X:
 		icm42605_convert_gyro(val, drv_data->gyro_x,
 				      drv_data->gyro_sensitivity_x10);
 		break;
 	case SENSOR_CHAN_GYRO_Y:
 		icm42605_convert_gyro(val, drv_data->gyro_y,
 				      drv_data->gyro_sensitivity_x10);
 		break;
 	case SENSOR_CHAN_GYRO_Z:
 		icm42605_convert_gyro(val, drv_data->gyro_z,
 				      drv_data->gyro_sensitivity_x10);
 		break;
 	case SENSOR_CHAN_DIE_TEMP:
 		icm42605_convert_temp(val, drv_data->temp);
 		break;
 	default:
 		return -ENOTSUP;
 	}

 	return 0;
 }

 int icm42605_tap_fetch(const struct device *dev)
 {
 	int result = 0;
 	struct icm42605_data *drv_data = dev->data;
 	const struct icm42605_config *cfg = dev->config;

 	if (drv_data->tap_en &&
 	    (drv_data->tap_handler || drv_data->double_tap_handler)) {
 		result = inv_spi_read(&cfg->spi, REG_INT_STATUS3, drv_data->fifo_data, 1);
 		if (drv_data->fifo_data[0] & BIT_INT_STATUS_TAP_DET) {
 			result = inv_spi_read(&cfg->spi, REG_APEX_DATA4,
 					      drv_data->fifo_data, 1);
 			if (drv_data->fifo_data[0] & APEX_TAP) {
 				if (drv_data->tap_trigger.type ==
 				    SENSOR_TRIG_TAP) {
 					if (drv_data->tap_handler) {
 						LOG_DBG("Single Tap detected");
 						drv_data->tap_handler(dev
 						      , &drv_data->tap_trigger);
 					}
 				} else {
 					LOG_ERR("Trigger type is mismatched");
 				}
 			} else if (drv_data->fifo_data[0] & APEX_DOUBLE_TAP) {
 				if (drv_data->double_tap_trigger.type ==
 				    SENSOR_TRIG_DOUBLE_TAP) {
 					if (drv_data->double_tap_handler) {
 						LOG_DBG("Double Tap detected");
 						drv_data->double_tap_handler(dev
 						     , &drv_data->tap_trigger);
 					}
 				} else {
 					LOG_ERR("Trigger type is mismatched");
 				}
 			} else {
 				LOG_DBG("Not supported tap event");
 			}
 		}
 	}

 	return 0;
 }

 static int icm42605_sample_fetch(const struct device *dev,
 				 enum sensor_channel chan)
 {
 	int result = 0;
 	uint16_t fifo_count = 0;
 	struct icm42605_data *drv_data = dev->data;
 	const struct icm42605_config *cfg = dev->config;

 	/* Read INT_STATUS (0x45) and FIFO_COUNTH(0x46), FIFO_COUNTL(0x47) */
 	result = inv_spi_read(&cfg->spi, REG_INT_STATUS, drv_data->fifo_data, 3);

 	if (drv_data->fifo_data[0] & BIT_INT_STATUS_DRDY) {
 		fifo_count = (drv_data->fifo_data[1] << 8)
 			+ (drv_data->fifo_data[2]);
 		result = inv_spi_read(&cfg->spi, REG_FIFO_DATA, drv_data->fifo_data,
 				      fifo_count);

 		/* FIFO Data structure
 		 * Packet 1 : FIFO Header(1), AccelX(2), AccelY(2),
 		 *            AccelZ(2), Temperature(1)
 		 * Packet 2 : FIFO Header(1), GyroX(2), GyroY(2),
 		 *            GyroZ(2), Temperature(1)
 		 * Packet 3 : FIFO Header(1), AccelX(2), AccelY(2), AccelZ(2),
 		 *            GyroX(2), GyroY(2), GyroZ(2), Temperature(1)
 		 */
 		if (drv_data->fifo_data[0] & BIT_FIFO_HEAD_ACCEL) {
 			/* Check empty values */
 			if (!(drv_data->fifo_data[1] == FIFO_ACCEL0_RESET_VALUE
 			      && drv_data->fifo_data[2] ==
 			      FIFO_ACCEL1_RESET_VALUE)) {
 				drv_data->accel_x =
 					(drv_data->fifo_data[1] << 8)
 					+ (drv_data->fifo_data[2]);
 				drv_data->accel_y =
 					(drv_data->fifo_data[3] << 8)
 					+ (drv_data->fifo_data[4]);
 				drv_data->accel_z =
 					(drv_data->fifo_data[5] << 8)
 					+ (drv_data->fifo_data[6]);
 			}
 			if (!(drv_data->fifo_data[0] & BIT_FIFO_HEAD_GYRO)) {
 				drv_data->temp =
 					(int16_t)(drv_data->fifo_data[7]);
 			} else {
 				if (!(drv_data->fifo_data[7] ==
 				      FIFO_GYRO0_RESET_VALUE &&
 				      drv_data->fifo_data[8] ==
 				      FIFO_GYRO1_RESET_VALUE)) {
 					drv_data->gyro_x =
 						(drv_data->fifo_data[7] << 8)
 						+ (drv_data->fifo_data[8]);
 					drv_data->gyro_y =
 						(drv_data->fifo_data[9] << 8)
 						+ (drv_data->fifo_data[10]);
 					drv_data->gyro_z =
 						(drv_data->fifo_data[11] << 8)
 						+ (drv_data->fifo_data[12]);
 				}
 				drv_data->temp =
 					(int16_t)(drv_data->fifo_data[13]);
 			}
 		} else {
 			if (drv_data->fifo_data[0] & BIT_FIFO_HEAD_GYRO) {
 				if (!(drv_data->fifo_data[1] ==
 				      FIFO_GYRO0_RESET_VALUE &&
 				      drv_data->fifo_data[2] ==
 				      FIFO_GYRO1_RESET_VALUE)) {
 					drv_data->gyro_x =
 						(drv_data->fifo_data[1] << 8)
 						+ (drv_data->fifo_data[2]);
 					drv_data->gyro_y =
 						(drv_data->fifo_data[3] << 8)
 						+ (drv_data->fifo_data[4]);
 					drv_data->gyro_z =
 						(drv_data->fifo_data[5] << 8)
 						+ (drv_data->fifo_data[6]);
 				}
 				drv_data->temp =
 					(int16_t)(drv_data->fifo_data[7]);
 			}
 		}
 	}

 	return 0;
 }

 static int icm42605_attr_set(const struct device *dev,
 			     enum sensor_channel chan,
 			     enum sensor_attribute attr,
 			     const struct sensor_value *val)
 {
 	struct icm42605_data *drv_data = dev->data;

 	__ASSERT_NO_MSG(val != NULL);

 	switch (chan) {
 	case SENSOR_CHAN_ACCEL_X:
 	case SENSOR_CHAN_ACCEL_Y:
 	case SENSOR_CHAN_ACCEL_Z:
 	case SENSOR_CHAN_ACCEL_XYZ:
 		if (attr == SENSOR_ATTR_SAMPLING_FREQUENCY) {
 			if (val->val1 > 8000 || val->val1 < 1) {
 				LOG_ERR("Incorrect sampling value");
 				return -EINVAL;
 			} else {
 				drv_data->accel_hz = val->val1;
 			}
 		} else if (attr == SENSOR_ATTR_FULL_SCALE) {
 			if (val->val1 < ACCEL_FS_16G ||
 			    val->val1 > ACCEL_FS_2G) {
 				LOG_ERR("Incorrect fullscale value");
 				return -EINVAL;
 			} else {
 				drv_data->accel_sf = val->val1;
 			}
 		} else {
 			LOG_ERR("Not supported ATTR");
 			return -ENOTSUP;
 		}

 		break;
 	case SENSOR_CHAN_GYRO_X:
 	case SENSOR_CHAN_GYRO_Y:
 	case SENSOR_CHAN_GYRO_Z:
 	case SENSOR_CHAN_GYRO_XYZ:
 		if (attr == SENSOR_ATTR_SAMPLING_FREQUENCY) {
 			if (val->val1 > 8000 || val->val1 < 12) {
 				LOG_ERR("Incorrect sampling value");
 				return -EINVAL;
 			} else {
 				drv_data->gyro_hz = val->val1;
 			}
 		} else if (attr == SENSOR_ATTR_FULL_SCALE) {
 			if (val->val1 < GYRO_FS_2000DPS ||
 			    val->val1 > GYRO_FS_15DPS) {
 				LOG_ERR("Incorrect fullscale value");
 				return -EINVAL;
 			} else {
 				drv_data->gyro_sf = val->val1;
 			}
 		} else {
 			LOG_ERR("Not supported ATTR");
 			return -EINVAL;
 		}
 		break;
 	default:
 		LOG_ERR("Not support");
 		return -EINVAL;
 	}

 	return 0;
 }

 static int icm42605_attr_get(const struct device *dev,
 			     enum sensor_channel chan,
 			     enum sensor_attribute attr,
 			     struct sensor_value *val)
 {
 	const struct icm42605_data *drv_data = dev->data;

 	__ASSERT_NO_MSG(val != NULL);

 	switch (chan) {
 	case SENSOR_CHAN_ACCEL_X:
 	case SENSOR_CHAN_ACCEL_Y:
 	case SENSOR_CHAN_ACCEL_Z:
 	case SENSOR_CHAN_ACCEL_XYZ:
 		if (attr == SENSOR_ATTR_SAMPLING_FREQUENCY) {
 			val->val1 = drv_data->accel_hz;
 		} else if (attr == SENSOR_ATTR_FULL_SCALE) {
 			val->val1 = drv_data->accel_sf;
 		} else {
 			LOG_ERR("Not supported ATTR");
 			return -EINVAL;
 		}

 		break;
 	case SENSOR_CHAN_GYRO_X:
 	case SENSOR_CHAN_GYRO_Y:
 	case SENSOR_CHAN_GYRO_Z:
 	case SENSOR_CHAN_GYRO_XYZ:
 		if (attr == SENSOR_ATTR_SAMPLING_FREQUENCY) {
 			val->val1 = drv_data->gyro_hz;
 		} else if (attr == SENSOR_ATTR_FULL_SCALE) {
 			val->val1 = drv_data->gyro_sf;
 		} else {
 			LOG_ERR("Not supported ATTR");
 			return -EINVAL;
 		}

 		break;

 	default:
 		LOG_ERR("Not support");
 		return -EINVAL;
 	}

 	return 0;
 }

 static int icm42605_data_init(struct icm42605_data *data,
 			      const struct icm42605_config *cfg)
 {
 	data->accel_x = 0;
 	data->accel_y = 0;
 	data->accel_z = 0;
 	data->temp = 0;
 	data->gyro_x = 0;
 	data->gyro_y = 0;
 	data->gyro_z = 0;
 	data->accel_hz = cfg->accel_hz;
 	data->gyro_hz = cfg->gyro_hz;

 	data->accel_sf = cfg->accel_fs;
 	data->gyro_sf = cfg->gyro_fs;

 	data->tap_en = false;
 	data->sensor_started = false;

 	return 0;
 }


 static int icm42605_init(const struct device *dev)
 {
 	struct icm42605_data *drv_data = dev->data;
 	const struct icm42605_config *cfg = dev->config;

 	if (!spi_is_ready(&cfg->spi)) {
 		LOG_ERR("SPI bus is not ready");
 		return -ENODEV;
 	}

 	icm42605_data_init(drv_data, cfg);
 	icm42605_sensor_init(dev);

 	drv_data->accel_sensitivity_shift = 14 - 3;
 	drv_data->gyro_sensitivity_x10 = icm42605_gyro_sensitivity_x10[3];

 #ifdef CONFIG_ICM42605_TRIGGER
 	if (icm42605_init_interrupt(dev) < 0) {
 		LOG_ERR("Failed to initialize interrupts.");
 		return -EIO;
 	}
 #endif

 	LOG_DBG("Initialize interrupt done");

 	return 0;
 }

 static const struct sensor_driver_api icm42605_driver_api = {
 #ifdef CONFIG_ICM42605_TRIGGER
 	.trigger_set = icm42605_trigger_set,
 #endif
 	.sample_fetch = icm42605_sample_fetch,
 	.channel_get = icm42605_channel_get,
 	.attr_set = icm42605_attr_set,
 	.attr_get = icm42605_attr_get,
 };

 #define ICM42605_DEFINE_CONFIG(index)					\
 	static const struct icm42605_config icm42605_cfg_##index = {	\
 		.spi = SPI_DT_SPEC_INST_GET(index,			\
 					    SPI_OP_MODE_MASTER |	\
 					    SPI_MODE_CPOL |		\
 					    SPI_MODE_CPHA |		\
 					    SPI_WORD_SET(8) |		\
 					    SPI_TRANSFER_MSB,		\
 					    0U),			\
 		.gpio_int = GPIO_DT_SPEC_INST_GET(index, int_gpios),    \
 		.accel_hz = DT_INST_PROP(index, accel_hz),		\
 		.gyro_hz = DT_INST_PROP(index, gyro_hz),		\
 		.accel_fs = DT_INST_ENUM_IDX(index, accel_fs),		\
 		.gyro_fs = DT_INST_ENUM_IDX(index, gyro_fs),		\
 	}

 #define ICM42605_INIT(index)						\
 	ICM42605_DEFINE_CONFIG(index);					\
 	static struct icm42605_data icm42605_driver_##index;		\
 	DEVICE_DT_INST_DEFINE(index, icm42605_init,			\
 			    NULL,					\
 			    &icm42605_driver_##index,			\
 			    &icm42605_cfg_##index, POST_KERNEL,		\
 			    CONFIG_SENSOR_INIT_PRIORITY,		\
 			    &icm42605_driver_api);

 DT_INST_FOREACH_STATUS_OKAY(ICM42605_INIT)
	/*
	* Copyright (c) 2020 TDK Invensense
	*
	* SPDX-License-Identifier: Apache-2.0
	*/

	#define DT_DRV_COMPAT invensense_icm42605

	#include <zephyr/drivers/spi.h>
	#include <zephyr/init.h>
	#include <zephyr/sys/byteorder.h>
	#include <zephyr/drivers/sensor.h>
	#include <zephyr/logging/log.h>

	#include "icm42605.h"
	#include "icm42605_reg.h"
	#include "icm42605_setup.h"
	#include "icm42605_spi.h"

	LOG_MODULE_REGISTER(ICM42605, CONFIG_SENSOR_LOG_LEVEL);

	static const uint16_t icm42605_gyro_sensitivity_x10[] = {
	1310, 655, 328, 164
	};

	/* see "Accelerometer Measurements" section from register map description */
	static void icm42605_convert_accel(struct sensor_value *val,
	int16_t raw_val,
	uint16_t sensitivity_shift)
	{
	int64_t conv_val;

	conv_val = ((int64_t)raw_val * SENSOR_G) >> sensitivity_shift;
	val->val1 = conv_val / 1000000;
	val->val2 = conv_val % 1000000;
	}

	/* see "Gyroscope Measurements" section from register map description */
	static void icm42605_convert_gyro(struct sensor_value *val,
	int16_t raw_val,
	uint16_t sensitivity_x10)
	{
	int64_t conv_val;

	conv_val = ((int64_t)raw_val * SENSOR_PI * 10) /
	(sensitivity_x10 * 180U);
	val->val1 = conv_val / 1000000;
	val->val2 = conv_val % 1000000;
	}

	/* see "Temperature Measurement" section from register map description */
	static inline void icm42605_convert_temp(struct sensor_value *val,
	int16_t raw_val)
	{
	val->val1 = (((int64_t)raw_val * 100) / 207) + 25;
	val->val2 = ((((int64_t)raw_val * 100) % 207) * 1000000) / 207;

	if (val->val2 < 0) {
	val->val1--;
	val->val2 += 1000000;
	} else if (val->val2 >= 1000000) {
	val->val1++;
	val->val2 -= 1000000;
	}
	}

	static int icm42605_channel_get(const struct device *dev,
	enum sensor_channel chan,
	struct sensor_value *val)
	{
	const struct icm42605_data *drv_data = dev->data;

	switch (chan) {
	case SENSOR_CHAN_ACCEL_XYZ:
	icm42605_convert_accel(val, drv_data->accel_x,
	drv_data->accel_sensitivity_shift);
	icm42605_convert_accel(val + 1, drv_data->accel_y,
	drv_data->accel_sensitivity_shift);
	icm42605_convert_accel(val + 2, drv_data->accel_z,
	drv_data->accel_sensitivity_shift);
	break;
	case SENSOR_CHAN_ACCEL_X:
	icm42605_convert_accel(val, drv_data->accel_x,
	drv_data->accel_sensitivity_shift);
	break;
	case SENSOR_CHAN_ACCEL_Y:
	icm42605_convert_accel(val, drv_data->accel_y,
	drv_data->accel_sensitivity_shift);
	break;
	case SENSOR_CHAN_ACCEL_Z:
	icm42605_convert_accel(val, drv_data->accel_z,
	drv_data->accel_sensitivity_shift);
	break;
	case SENSOR_CHAN_GYRO_XYZ:
	icm42605_convert_gyro(val, drv_data->gyro_x,
	drv_data->gyro_sensitivity_x10);
	icm42605_convert_gyro(val + 1, drv_data->gyro_y,
	drv_data->gyro_sensitivity_x10);
	icm42605_convert_gyro(val + 2, drv_data->gyro_z,
	drv_data->gyro_sensitivity_x10);
	break;
	case SENSOR_CHAN_GYRO_X:
	icm42605_convert_gyro(val, drv_data->gyro_x,
	drv_data->gyro_sensitivity_x10);
	break;
	case SENSOR_CHAN_GYRO_Y:
	icm42605_convert_gyro(val, drv_data->gyro_y,
	drv_data->gyro_sensitivity_x10);
	break;
	case SENSOR_CHAN_GYRO_Z:
	icm42605_convert_gyro(val, drv_data->gyro_z,
	drv_data->gyro_sensitivity_x10);
	break;
	case SENSOR_CHAN_DIE_TEMP:
	icm42605_convert_temp(val, drv_data->temp);
	break;
	default:
	return -ENOTSUP;
	}

	return 0;
	}

	int icm42605_tap_fetch(const struct device *dev)
	{
	int result = 0;
	struct icm42605_data *drv_data = dev->data;
	const struct icm42605_config *cfg = dev->config;

	if (drv_data->tap_en &&
	(drv_data->tap_handler \|\| drv_data->double_tap_handler)) {
	result = inv_spi_read(&cfg->spi, REG_INT_STATUS3, drv_data->fifo_data, 1);
	if (drv_data->fifo_data[0] & BIT_INT_STATUS_TAP_DET) {
	result = inv_spi_read(&cfg->spi, REG_APEX_DATA4,
	drv_data->fifo_data, 1);
	if (drv_data->fifo_data[0] & APEX_TAP) {
	if (drv_data->tap_trigger.type ==
	SENSOR_TRIG_TAP) {
	if (drv_data->tap_handler) {
	LOG_DBG("Single Tap detected");
	drv_data->tap_handler(dev
	, &drv_data->tap_trigger);
	}
	} else {
	LOG_ERR("Trigger type is mismatched");
	}
	} else if (drv_data->fifo_data[0] & APEX_DOUBLE_TAP) {
	if (drv_data->double_tap_trigger.type ==
	SENSOR_TRIG_DOUBLE_TAP) {
	if (drv_data->double_tap_handler) {
	LOG_DBG("Double Tap detected");
	drv_data->double_tap_handler(dev
	, &drv_data->tap_trigger);
	}
	} else {
	LOG_ERR("Trigger type is mismatched");
	}
	} else {
	LOG_DBG("Not supported tap event");
	}
	}
	}

	return 0;
	}

	static int icm42605_sample_fetch(const struct device *dev,
	enum sensor_channel chan)
	{
	int result = 0;
	uint16_t fifo_count = 0;
	struct icm42605_data *drv_data = dev->data;
	const struct icm42605_config *cfg = dev->config;

	/* Read INT_STATUS (0x45) and FIFO_COUNTH(0x46), FIFO_COUNTL(0x47) */
	result = inv_spi_read(&cfg->spi, REG_INT_STATUS, drv_data->fifo_data, 3);

	if (drv_data->fifo_data[0] & BIT_INT_STATUS_DRDY) {
	fifo_count = (drv_data->fifo_data[1] << 8)
	+ (drv_data->fifo_data[2]);
	result = inv_spi_read(&cfg->spi, REG_FIFO_DATA, drv_data->fifo_data,
	fifo_count);

	/* FIFO Data structure
	* Packet 1 : FIFO Header(1), AccelX(2), AccelY(2),
	* AccelZ(2), Temperature(1)
	* Packet 2 : FIFO Header(1), GyroX(2), GyroY(2),
	* GyroZ(2), Temperature(1)
	* Packet 3 : FIFO Header(1), AccelX(2), AccelY(2), AccelZ(2),
	* GyroX(2), GyroY(2), GyroZ(2), Temperature(1)
	*/
	if (drv_data->fifo_data[0] & BIT_FIFO_HEAD_ACCEL) {
	/* Check empty values */
	if (!(drv_data->fifo_data[1] == FIFO_ACCEL0_RESET_VALUE
	&& drv_data->fifo_data[2] ==
	FIFO_ACCEL1_RESET_VALUE)) {
	drv_data->accel_x =
	(drv_data->fifo_data[1] << 8)
	+ (drv_data->fifo_data[2]);
	drv_data->accel_y =
	(drv_data->fifo_data[3] << 8)
	+ (drv_data->fifo_data[4]);
	drv_data->accel_z =
	(drv_data->fifo_data[5] << 8)
	+ (drv_data->fifo_data[6]);
	}
	if (!(drv_data->fifo_data[0] & BIT_FIFO_HEAD_GYRO)) {
	drv_data->temp =
	(int16_t)(drv_data->fifo_data[7]);
	} else {
	if (!(drv_data->fifo_data[7] ==
	FIFO_GYRO0_RESET_VALUE &&
	drv_data->fifo_data[8] ==
	FIFO_GYRO1_RESET_VALUE)) {
	drv_data->gyro_x =
	(drv_data->fifo_data[7] << 8)
	+ (drv_data->fifo_data[8]);
	drv_data->gyro_y =
	(drv_data->fifo_data[9] << 8)
	+ (drv_data->fifo_data[10]);
	drv_data->gyro_z =
	(drv_data->fifo_data[11] << 8)
	+ (drv_data->fifo_data[12]);
	}
	drv_data->temp =
	(int16_t)(drv_data->fifo_data[13]);
	}
	} else {
	if (drv_data->fifo_data[0] & BIT_FIFO_HEAD_GYRO) {
	if (!(drv_data->fifo_data[1] ==
	FIFO_GYRO0_RESET_VALUE &&
	drv_data->fifo_data[2] ==
	FIFO_GYRO1_RESET_VALUE)) {
	drv_data->gyro_x =
	(drv_data->fifo_data[1] << 8)
	+ (drv_data->fifo_data[2]);
	drv_data->gyro_y =
	(drv_data->fifo_data[3] << 8)
	+ (drv_data->fifo_data[4]);
	drv_data->gyro_z =
	(drv_data->fifo_data[5] << 8)
	+ (drv_data->fifo_data[6]);
	}
	drv_data->temp =
	(int16_t)(drv_data->fifo_data[7]);
	}
	}
	}

	return 0;
	}

	static int icm42605_attr_set(const struct device *dev,
	enum sensor_channel chan,
	enum sensor_attribute attr,
	const struct sensor_value *val)
	{
	struct icm42605_data *drv_data = dev->data;

	__ASSERT_NO_MSG(val != NULL);

	switch (chan) {
	case SENSOR_CHAN_ACCEL_X:
	case SENSOR_CHAN_ACCEL_Y:
	case SENSOR_CHAN_ACCEL_Z:
	case SENSOR_CHAN_ACCEL_XYZ:
	if (attr == SENSOR_ATTR_SAMPLING_FREQUENCY) {
	if (val->val1 > 8000 \|\| val->val1 < 1) {
	LOG_ERR("Incorrect sampling value");
	return -EINVAL;
	} else {
	drv_data->accel_hz = val->val1;
	}
	} else if (attr == SENSOR_ATTR_FULL_SCALE) {
	if (val->val1 < ACCEL_FS_16G \|\|
	val->val1 > ACCEL_FS_2G) {
	LOG_ERR("Incorrect fullscale value");
	return -EINVAL;
	} else {
	drv_data->accel_sf = val->val1;
	}
	} else {
	LOG_ERR("Not supported ATTR");
	return -ENOTSUP;
	}

	break;
	case SENSOR_CHAN_GYRO_X:
	case SENSOR_CHAN_GYRO_Y:
	case SENSOR_CHAN_GYRO_Z:
	case SENSOR_CHAN_GYRO_XYZ:
	if (attr == SENSOR_ATTR_SAMPLING_FREQUENCY) {
	if (val->val1 > 8000 \|\| val->val1 < 12) {
	LOG_ERR("Incorrect sampling value");
	return -EINVAL;
	} else {
	drv_data->gyro_hz = val->val1;
	}
	} else if (attr == SENSOR_ATTR_FULL_SCALE) {
	if (val->val1 < GYRO_FS_2000DPS \|\|
	val->val1 > GYRO_FS_15DPS) {
	LOG_ERR("Incorrect fullscale value");
	return -EINVAL;
	} else {
	drv_data->gyro_sf = val->val1;
	}
	} else {
	LOG_ERR("Not supported ATTR");
	return -EINVAL;
	}
	break;
	default:
	LOG_ERR("Not support");
	return -EINVAL;
	}

	return 0;
	}

	static int icm42605_attr_get(const struct device *dev,
	enum sensor_channel chan,
	enum sensor_attribute attr,
	struct sensor_value *val)
	{
	const struct icm42605_data *drv_data = dev->data;

	__ASSERT_NO_MSG(val != NULL);

	switch (chan) {
	case SENSOR_CHAN_ACCEL_X:
	case SENSOR_CHAN_ACCEL_Y:
	case SENSOR_CHAN_ACCEL_Z:
	case SENSOR_CHAN_ACCEL_XYZ:
	if (attr == SENSOR_ATTR_SAMPLING_FREQUENCY) {
	val->val1 = drv_data->accel_hz;
	} else if (attr == SENSOR_ATTR_FULL_SCALE) {
	val->val1 = drv_data->accel_sf;
	} else {
	LOG_ERR("Not supported ATTR");
	return -EINVAL;
	}

	break;
	case SENSOR_CHAN_GYRO_X:
	case SENSOR_CHAN_GYRO_Y:
	case SENSOR_CHAN_GYRO_Z:
	case SENSOR_CHAN_GYRO_XYZ:
	if (attr == SENSOR_ATTR_SAMPLING_FREQUENCY) {
	val->val1 = drv_data->gyro_hz;
	} else if (attr == SENSOR_ATTR_FULL_SCALE) {
	val->val1 = drv_data->gyro_sf;
	} else {
	LOG_ERR("Not supported ATTR");
	return -EINVAL;
	}

	break;

	default:
	LOG_ERR("Not support");
	return -EINVAL;
	}

	return 0;
	}

	static int icm42605_data_init(struct icm42605_data *data,
	const struct icm42605_config *cfg)
	{
	data->accel_x = 0;
	data->accel_y = 0;
	data->accel_z = 0;
	data->temp = 0;
	data->gyro_x = 0;
	data->gyro_y = 0;
	data->gyro_z = 0;
	data->accel_hz = cfg->accel_hz;
	data->gyro_hz = cfg->gyro_hz;

	data->accel_sf = cfg->accel_fs;
	data->gyro_sf = cfg->gyro_fs;

	data->tap_en = false;
	data->sensor_started = false;

	return 0;
	}


	static int icm42605_init(const struct device *dev)
	{
	struct icm42605_data *drv_data = dev->data;
	const struct icm42605_config *cfg = dev->config;

	if (!spi_is_ready(&cfg->spi)) {
	LOG_ERR("SPI bus is not ready");
	return -ENODEV;
	}

	icm42605_data_init(drv_data, cfg);
	icm42605_sensor_init(dev);

	drv_data->accel_sensitivity_shift = 14 - 3;
	drv_data->gyro_sensitivity_x10 = icm42605_gyro_sensitivity_x10[3];

	#ifdef CONFIG_ICM42605_TRIGGER
	if (icm42605_init_interrupt(dev) < 0) {
	LOG_ERR("Failed to initialize interrupts.");
	return -EIO;
	}
	#endif

	LOG_DBG("Initialize interrupt done");

	return 0;
	}

	static const struct sensor_driver_api icm42605_driver_api = {
	#ifdef CONFIG_ICM42605_TRIGGER
	.trigger_set = icm42605_trigger_set,
	#endif
	.sample_fetch = icm42605_sample_fetch,
	.channel_get = icm42605_channel_get,
	.attr_set = icm42605_attr_set,
	.attr_get = icm42605_attr_get,
	};

	#define ICM42605_DEFINE_CONFIG(index) \
	static const struct icm42605_config icm42605_cfg_##index = { \
	.spi = SPI_DT_SPEC_INST_GET(index, \
	SPI_OP_MODE_MASTER \| \
	SPI_MODE_CPOL \| \
	SPI_MODE_CPHA \| \
	SPI_WORD_SET(8) \| \
	SPI_TRANSFER_MSB, \
	0U), \
	.gpio_int = GPIO_DT_SPEC_INST_GET(index, int_gpios), \
	.accel_hz = DT_INST_PROP(index, accel_hz), \
	.gyro_hz = DT_INST_PROP(index, gyro_hz), \
	.accel_fs = DT_INST_ENUM_IDX(index, accel_fs), \
	.gyro_fs = DT_INST_ENUM_IDX(index, gyro_fs), \
	}

	#define ICM42605_INIT(index) \
	ICM42605_DEFINE_CONFIG(index); \
	static struct icm42605_data icm42605_driver_##index; \
	DEVICE_DT_INST_DEFINE(index, icm42605_init, \
	NULL, \
	&icm42605_driver_##index, \
	&icm42605_cfg_##index, POST_KERNEL, \
	CONFIG_SENSOR_INIT_PRIORITY, \
	&icm42605_driver_api);

	DT_INST_FOREACH_STATUS_OKAY(ICM42605_INIT)