drivers: sensor: adxl34x: Add sensor driver for ADXL3x motion sensors

The current adxl345 driver doesn't support the extended driver features
Zephyr has to offer, and only support the sensor sample_fetch and
channel_get API. It also doesn't support adxl344 and adxl346 sensors. This
new driver is a full replacement of the existing driver (using a
compatibility flag) and, apart from the full driver API (adding support for
attributes, triggers, RTIO and decoders), also support access to all
registers of the adxl343, adxl344, adxl345 and adxl346 sensors. It also has
power management support and comes with a full set of regression tests.

The adxl345 driver API has an additional (unofficial) feature which uses
the FIFO to return multiple values using a single sensor_sample_fetch
command. To make the adxl34x driver a drop in replacement of the adxl345
driver an additional compile flag was introduced which mimics this behavior
(default off).

Both the adxl345 and adxl34x drivers have been tested using the various
(application) use-cases to check functionality and behavior. Source code is
available in a different repository.

Signed-off-by: Chaim Zax <chaim.zax@zaxx.pro>

drivers/sensor/adi/CMakeLists.txt

@@ -6,6 +6,7 @@ add_subdirectory_ifdef(CONFIG_ADLTC2990 adltc2990)
 add_subdirectory_ifdef(CONFIG_ADT7310 adt7310)
 add_subdirectory_ifdef(CONFIG_ADT7420 adt7420)
 add_subdirectory_ifdef(CONFIG_ADXL345 adxl345)
+add_subdirectory_ifdef(CONFIG_ADXL34X adxl34x)
 add_subdirectory_ifdef(CONFIG_ADXL362 adxl362)
 add_subdirectory_ifdef(CONFIG_ADXL367 adxl367)
 add_subdirectory_ifdef(CONFIG_ADXL372 adxl372)

drivers/sensor/adi/Kconfig

@@ -6,6 +6,7 @@ source "drivers/sensor/adi/adltc2990/Kconfig"
 source "drivers/sensor/adi/adt7310/Kconfig"
 source "drivers/sensor/adi/adt7420/Kconfig"
 source "drivers/sensor/adi/adxl345/Kconfig"
+source "drivers/sensor/adi/adxl34x/Kconfig"
 source "drivers/sensor/adi/adxl362/Kconfig"
 source "drivers/sensor/adi/adxl367/Kconfig"
 source "drivers/sensor/adi/adxl372/Kconfig"

drivers/sensor/adi/adxl34x/CMakeLists.txt

@@ -0,0 +1,20 @@
+#
+# Copyright (c) 2024 Chaim Zax
+# SPDX-License-Identifier: Apache-2.0
+#
+
+zephyr_library()
+
+zephyr_library_sources(
+  adxl34x.c
+  adxl34x_configure.c
+  adxl34x_attr.c
+)
+zephyr_library_sources_ifdef(CONFIG_ADXL34X_BUS_I2C adxl34x_i2c.c)
+zephyr_library_sources_ifdef(CONFIG_ADXL34X_BUS_SPI adxl34x_spi.c)
+zephyr_library_sources_ifdef(CONFIG_ADXL34X_TRIGGER adxl34x_trigger.c)
+zephyr_library_sources_ifdef(CONFIG_ADXL34X_DECODER adxl34x_decoder.c)
+zephyr_library_sources_ifdef(CONFIG_ADXL34X_ASYNC_API adxl34x_rtio.c)
+
+zephyr_library_sources_ifdef(CONFIG_EMUL_ADXL34X adxl34x_emul.c)
+zephyr_include_directories_ifdef(CONFIG_EMUL_ADXL34X .)

drivers/sensor/adi/adxl34x/Kconfig

@@ -0,0 +1,143 @@
+#
+# Copyright (c) 2024 Chaim Zax
+# SPDX-License-Identifier: Apache-2.0
+#
+
+menuconfig ADXL34X
+	bool "ADXL343, ADXL344, ADXL345 and ADXL346 accelerometers"
+	default y
+	depends on DT_HAS_ADI_ADXL34X_ENABLED
+	select I2C if $(dt_compat_on_bus,$(DT_COMPAT_ADI_ADXL34X),i2c)
+	select SPI if $(dt_compat_on_bus,$(DT_COMPAT_ADI_ADXL34X),spi)
+	help
+	  Enable support for the ADXL343, ADXL344, ADXL345 and ADXL346 Three
+	  Axis accelerometer
+
+if ADXL34X
+
+config ADXL34X_BUS_I2C
+	bool
+	default y
+	depends on $(dt_compat_on_bus,$(DT_COMPAT_ADI_ADXL34X),i2c)
+
+config ADXL34X_BUS_SPI
+	bool
+	default y
+	depends on $(dt_compat_on_bus,$(DT_COMPAT_ADI_ADXL34X),spi)
+
+config ADXL34X_DECODER
+	bool "Decoder logic"
+	default y
+	select ADXL34X_ASYNC_API
+	depends on SENSOR_ASYNC_API
+	help
+	  Compile the ADXL34X decoder API which allows decoding raw data
+	  returned from the sensor.
+
+if ADXL34X_DECODER
+
+choice
+	prompt "Decoder data type"
+	default ADXL34X_DATA_TYPE_Q31
+	help
+	  Data type returned by the decoder.
+
+config ADXL34X_DATA_TYPE_Q31
+	bool "q31"
+	help
+	  Return q31 sensor type values from the decoder
+
+config ADXL34X_DATA_TYPE_SENSOR_VALUE
+	bool "sensor_value"
+	help
+	  Return sensor_value sensor type values from the decoder
+
+config ADXL34X_DATA_TYPE_DOUBLE
+	bool "double"
+	help
+	  Return double sensor type values from the decoder
+
+endchoice
+
+endif # ADXL34X_DECODER
+
+choice ADXL34X_FIFO_MODE
+	prompt "FIFO mode"
+	default ADXL34X_FIFO_MODE_BYPASS
+	help
+	  Specify the FIFO mode to be used by the driver
+
+config ADXL34X_FIFO_MODE_BYPASS
+	bool "Bypass"
+	help
+	  No FIFO, the FIFO of the adxl34x is bypassed. The sensor can only be
+	  used in polling mode, no triggers are available. Use this mode when
+	  the interrupt line of the adxl34x is not connected.
+
+config ADXL34X_FIFO_MODE_FIFO
+	bool "FIFO"
+	select ADXL34X_TRIGGER
+	select ADXL34X_ASYNC_API
+	depends on SENSOR_ASYNC_API
+	help
+	  FIFO collects up to 32 values and then stops collecting data,
+	  collecting new data only when FIFO is not full. Use this config option
+	  to enable streaming sensor data via RTIO subsystem. This mode requires
+	  the interrupt line of the adxl34x to be connected.
+
+config ADXL34X_FIFO_MODE_STREAM
+	bool "Stream"
+	select ADXL34X_TRIGGER
+	select ADXL34X_ASYNC_API
+	depends on SENSOR_ASYNC_API
+	help
+	  FIFO holds the last 32 data values. When FIFO is full, the oldest data
+	  is overwritten with newer data. This mode requires the interrupt line
+	  of the adxl34x to be connected.
+
+config ADXL34X_FIFO_MODE_TRIGGER
+	bool "Trigger"
+	select ADXL34X_TRIGGER
+	select ADXL34X_ASYNC_API
+	depends on SENSOR_ASYNC_API
+	help
+	  When triggered by the trigger bit, FIFO holds the last data samples
+	  before the trigger event and then continues to collect data until
+	  full. New data is collected only when FIFO is not full. This mode
+	  requires the interrupt line of the adxl34x to be connected.
+
+endchoice
+
+config EMUL_ADXL34X
+	bool "Emulator for the ADXL34X"
+	default y
+	depends on EMUL
+	help
+	  Enable the hardware emulator for the ADXL34X. Doing so allows
+	  exercising sensor APIs for this driver in native_sim and qemu.
+
+config ADXL34X_EXTENDED_API
+	bool "Extended API"
+	default y
+	help
+	  Enable the extended API for the ADXL34X. This option gives access to
+	  all registers of the adxl34x when not using user space.
+
+config ADXL34X_ADXL345_COMPATIBLE
+	bool "ADXL345 compatible"
+	default n
+	help
+	  Enable compatibility with the (old) ADXL345 driver. Enable this
+	  feature when the (existing) application was written for the ADXL345
+	  driver. The ADXL345 driver uses the FIFO when calling
+	  sensor_sample_fetch, and will return the number of samples collected
+	  (which is not the official API). This allows sensor_sample_get to be
+	  called multiple times to read all FIFO data.
+
+config ADXL34X_TRIGGER
+	bool
+
+config ADXL34X_ASYNC_API
+	bool
+
+endif # ADXL34X