drivers: sensor: icm45686: fix stream init and early-interrupt handling

drivers/sensor/tdk/icm45686/icm45686.h

@@ -140,6 +140,15 @@ struct icm45686_stream {
 			bool fifo_full: 1;
 		} events;
 	} data;
+	/* Counts of interrupts dropped by each ignore path, summarized at
+	 * most once per report interval. Per-instance so a multi-device
+	 * system attributes and rate-limits each sensor independently.
+	 */
+	struct {
+		atomic_t busy_ignored;
+		atomic_t no_submission_ignored;
+		int64_t report_deadline;
+	} ignore_stats;
 };
 
 struct icm45686_data {

drivers/sensor/tdk/icm45686/icm45686_stream.c

@@ -30,6 +30,34 @@ enum icm45686_stream_state {
 	ICM45686_STREAM_BUSY = 2,
 };
 
+/*
+ * Both ignore paths in icm45686_event_handler can recur on every interrupt
+ * while a stream is stalled. Logging each occurrence floods the backend and
+ * can starve the very threads that would clear the stall, so count the
+ * occurrences and emit at most one summary per second.
+ */
+static void icm45686_report_ignored_events(struct icm45686_data *data)
+{
+	int64_t now = k_uptime_get();
+	uint32_t busy;
+	uint32_t no_sub;
+
+	if (now < data->stream.ignore_stats.report_deadline) {
+		return;
+	}
+	data->stream.ignore_stats.report_deadline = now + 1000;
+
+	busy = (uint32_t)atomic_set(&data->stream.ignore_stats.busy_ignored, 0);
+	no_sub = (uint32_t)atomic_set(&data->stream.ignore_stats.no_submission_ignored, 0);
+
+	if (busy != 0U) {
+		LOG_WRN("Ignored %u interrupt(s): event while a stream was in progress", busy);
+	}
+	if (no_sub != 0U) {
+		LOG_WRN("Ignored %u interrupt(s): callback before a streaming submission", no_sub);
+	}
+}
+
 static struct sensor_stream_trigger *get_read_config_trigger(const struct sensor_read_config *cfg,
 							     enum sensor_trigger_type trig)
 {
@@ -187,13 +215,18 @@ static void icm45686_event_handler(const struct device *dev)
 {
 	struct icm45686_data *data = dev->data;
 	const struct icm45686_config *cfg = dev->config;
-	const struct sensor_read_config *read_cfg = data->stream.iodev_sqe->sqe.iodev->data;
+	const struct sensor_read_config *read_cfg;
 	uint8_t val = 0;
 	uint64_t cycles;
 	int err;
 
-	if (!data->stream.iodev_sqe ||
-	    FIELD_GET(RTIO_SQE_CANCELED, data->stream.iodev_sqe->sqe.flags)) {
+	if (!data->stream.iodev_sqe) {
+		(void)atomic_inc(&data->stream.ignore_stats.no_submission_ignored);
+		icm45686_report_ignored_events(data);
+		return;
+	}
+
+	if (FIELD_GET(RTIO_SQE_CANCELED, data->stream.iodev_sqe->sqe.flags)) {
 		LOG_WRN("Callback triggered with no streaming submission - Disabling interrupts");
 		(void)atomic_set(&data->stream.state, ICM45686_STREAM_OFF);
 		(void)gpio_pin_interrupt_configure_dt(&cfg->int_gpio, GPIO_INT_DISABLE);
@@ -211,9 +244,16 @@ static void icm45686_event_handler(const struct device *dev)
 		data->stream.settings.enabled.fifo_full = false;
 		return;
 	}
+	read_cfg = data->stream.iodev_sqe->sqe.iodev->data;
 
 	if (atomic_cas(&data->stream.state, ICM45686_STREAM_ON, ICM45686_STREAM_BUSY) == false) {
-		LOG_WRN("Event handler triggered while a stream is in progress! Ignoring");
+		/*
+		 * A data-ready edge arrived while the previous readout was still
+		 * in flight. Drop the event but intentionally leave the DRDY
+		 * interrupt armed so the next edge after completion is serviced.
+		 */
+		(void)atomic_inc(&data->stream.ignore_stats.busy_ignored);
+		icm45686_report_ignored_events(data);
 		return;
 	}
 
@@ -570,6 +610,7 @@ int icm45686_stream_init(const struct device *dev)
 			LOG_ERR("Failed to configure interrupt");
 		}
 
+		memset(&int_config, INV_IMU_DISABLE, sizeof(int_config));
 		err = icm456xx_set_config_int(&data->driver, INV_IMU_INT1, &int_config);
 		if (err) {
 			LOG_ERR("Failed to disable all INTs");

tests/drivers/sensor/icm45686_stream/CMakeLists.txt

@@ -0,0 +1,15 @@
+# Copyright (c) 2026 CogniPilot Foundation
+# SPDX-License-Identifier: Apache-2.0
+
+cmake_minimum_required(VERSION 3.28.0)
+find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
+project(icm45686_stream)
+
+target_include_directories(app PRIVATE
+  ${ZEPHYR_BASE}/drivers/sensor/tdk/icm45686
+  ${ZEPHYR_HAL_TDK_MODULE_DIR}
+  ${ZEPHYR_HAL_TDK_MODULE_DIR}/common
+  ${ZEPHYR_HAL_TDK_MODULE_DIR}/icm456xx
+  ${ZEPHYR_HAL_TDK_MODULE_DIR}/icm456xx/icm456xx_h
+)
+target_sources(app PRIVATE src/main.c)

tests/drivers/sensor/icm45686_stream/Kconfig

@@ -0,0 +1,12 @@
+# Copyright (c) 2026 CogniPilot Foundation
+# SPDX-License-Identifier: Apache-2.0
+
+source "Kconfig.zephyr"
+
+# The test compiles the streaming translation unit directly, without a
+# device-tree instance of the sensor, so the driver's own dependency chain
+# for this symbol is not active. Provide the value here so the shared
+# driver data layout selects its streaming fields.
+config ICM45686_STREAM
+	bool
+	default y

tests/drivers/sensor/icm45686_stream/prj.conf

@@ -0,0 +1,5 @@
+CONFIG_ZTEST=y
+CONFIG_GPIO=y
+CONFIG_SENSOR=y
+CONFIG_SENSOR_ASYNC_API=y
+CONFIG_SENSOR_CLOCK_SYSTEM=y

tests/drivers/sensor/icm45686_stream/src/main.c

@@ -0,0 +1,50 @@
+/*
+ * Copyright (c) 2026 CogniPilot Foundation
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <zephyr/device.h>
+#include <zephyr/ztest.h>
+
+#include "icm45686_stream.c"
+
+int icm45686_prep_reg_read_rtio_async(const struct icm45686_bus *bus, uint8_t reg, uint8_t *buf,
+				      size_t size, struct rtio_sqe **out)
+{
+	ARG_UNUSED(bus);
+	ARG_UNUSED(reg);
+	ARG_UNUSED(buf);
+	ARG_UNUSED(size);
+	ARG_UNUSED(out);
+	return -ENOTSUP;
+}
+
+int icm45686_prep_reg_write_rtio_async(const struct icm45686_bus *bus, uint8_t reg,
+				       const uint8_t *buf, size_t size, struct rtio_sqe **out)
+{
+	ARG_UNUSED(bus);
+	ARG_UNUSED(reg);
+	ARG_UNUSED(buf);
+	ARG_UNUSED(size);
+	ARG_UNUSED(out);
+	return -ENOTSUP;
+}
+
+ZTEST(icm45686_stream, test_early_irq_without_submission_is_ignored)
+{
+	static const struct icm45686_config config;
+	struct icm45686_data data = {0};
+	const struct device dev = {
+		.name = "icm45686-test",
+		.config = &config,
+		.data = &data,
+	};
+
+	icm45686_event_handler(&dev);
+
+	zassert_is_null(data.stream.iodev_sqe);
+	zassert_equal(atomic_get(&data.stream.state), ICM45686_STREAM_OFF);
+}
+
+ZTEST_SUITE(icm45686_stream, NULL, NULL, NULL, NULL, NULL);

tests/drivers/sensor/icm45686_stream/tests.yaml

@@ -0,0 +1,7 @@
+tests:
+  drivers.sensor.icm45686_stream.early_irq:
+    tags:
+      - drivers
+      - sensor
+    platform_allow:
+      - native_sim