# Copyright (c) 2025 Croxel Inc.
# Copyright (c) 2025 CogniPilot Foundation
# SPDX-License-Identifier: Apache-2.0

menuconfig ICM45686
	bool "ICM45686 High-precision 6-Axis Motion Tracking Device"
	default y
	depends on DT_HAS_INVENSENSE_ICM45686_ENABLED
	select SPI
	select SPI_RTIO
	help
	  Enable driver for ICM45686 High-precision 6-axis motion
	  tracking device.

if ICM45686

choice
	prompt "Trigger mode"
	default ICM45686_TRIGGER_GLOBAL_THREAD
	help
	  Specify the type of triggering to be used by the driver

config ICM45686_TRIGGER_NONE
	bool "No trigger"

config ICM45686_TRIGGER_GLOBAL_THREAD
	bool "Use global thread"
	depends on GPIO
	depends on $(dt_compat_any_has_prop,$(DT_COMPAT_INVENSENSE_ICM45686),int-gpios)
	depends on !ICM45686_STREAM
	select ICM45686_TRIGGER

config ICM45686_TRIGGER_OWN_THREAD
	bool "Use own thread"
	depends on GPIO
	depends on $(dt_compat_any_has_prop,$(DT_COMPAT_INVENSENSE_ICM45686),int-gpios)
	depends on !ICM45686_STREAM
	select ICM45686_TRIGGER

endchoice

config ICM45686_TRIGGER
	bool

config ICM45686_THREAD_PRIORITY
	int "Own thread priority"
	depends on ICM45686_TRIGGER_OWN_THREAD
	default 10
	help
	  The priority of the thread used for handling triggers.

config ICM45686_THREAD_STACK_SIZE
	int "Own thread stack size"
	depends on ICM45686_TRIGGER_OWN_THREAD
	default 1024
	help
	  The thread stack size.

config ICM45686_STREAM
	bool "Streaming mode"
	depends on GPIO
	depends on $(dt_compat_any_has_prop,$(DT_COMPAT_INVENSENSE_ICM45686),int-gpios)
	help
	  Enable streaming of sensor data.

endif # ICM45686