Re: [PATCH v9 6/6] iio: imu: st_lsm6dsx: Add support for rotation sensor

[Jonathan Cameron]

On Tue, 24 Mar 2026 09:48:07 +0100
Francesco Lavra <flavra@xxxxxxxxxxxx> wrote:

> Some IMU chips in the LSM6DSX family have sensor fusion features that
> combine data from the accelerometer and gyroscope. One of these features
> generates rotation vector data and makes it available in the hardware
> FIFO as a quaternion (more specifically, the X, Y and Z components of the
> quaternion vector, expressed as 16-bit half-precision floating-point
> numbers).
> 
> Add support for a new sensor instance that allows receiving sensor fusion
> data, by defining a new struct st_lsm6dsx_fusion_settings (which contains
> chip-specific details for the sensor fusion functionality), and adding this
> struct as a new field in struct st_lsm6dsx_settings. In st_lsm6dsx_core.c,
> populate this new struct for the LSM6DSV and LSM6DSV16X chips, and add the
> logic to initialize an additional IIO device if this struct is populated
> for the hardware type being probed.
> Note: a new IIO device is being defined (as opposed to adding channels to
> an existing device) because the rate at which sensor fusion data is
> generated may not match the data rate from any of the existing devices.
> 
> Tested on LSM6DSV16X.
> 
> Signed-off-by: Francesco Lavra <flavra@xxxxxxxxxxxx>
> Acked-by: Lorenzo Bianconi <lorenzo@xxxxxxxxxx>
One trivial thing. But don't resend for that. Assuming nothing else comes
up I'll tweak it whilst applying.  Same for Andy's line wrap comment.

thanks,

Jonathan

> diff --git a/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_fusion.c b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_fusion.c
> new file mode 100644
> index 000000000000..9fb3e19e4a55
> --- /dev/null
> +++ b/drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_fusion.c
> @@ -0,0 +1,243 @@

> +
> +int st_lsm6dsx_fusion_set_odr(struct st_lsm6dsx_sensor *sensor, bool enable)
> +{
> +	struct st_lsm6dsx_hw *hw = sensor->hw;
> +	int err;
> +
> +	guard(mutex)(&hw->page_lock);
> +
> +	err = st_lsm6dsx_fusion_page_enable(hw);
> +	if (err)
> +		return err;
> +
> +	err = st_lsm6dsx_fusion_set_odr_locked(sensor, enable);
> +	if (err) {
> +		st_lsm6dsx_fusion_page_disable(hw);
> +		return err;
> +	}
> +
> +	return st_lsm6dsx_fusion_page_disable(hw);
> +
> +out:
Stray.  If nothing else comes up I'll drop this whilst applying.

> +}