linux-kernel - Re: [PATCH 3/3] iio: imu: st_lsm6dsx: add support for rotation sensor

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Message-ID: <20260111193909.1166309b@jic23-huawei>
Date: Sun, 11 Jan 2026 19:39:09 +0000
From: Jonathan Cameron <jic23@...nel.org>
To: Andy Shevchenko <andriy.shevchenko@...el.com>
Cc: Francesco Lavra <flavra@...libre.com>, Lorenzo Bianconi
 <lorenzo@...nel.org>, David Lechner <dlechner@...libre.com>, Nuno
 Sá <nuno.sa@...log.com>, Andy Shevchenko <andy@...nel.org>,
 linux-iio@...r.kernel.org, linux-kernel@...r.kernel.org
Subject: Re: [PATCH 3/3] iio: imu: st_lsm6dsx: add support for rotation
 sensor

On Fri, 9 Jan 2026 21:22:09 +0200
Andy Shevchenko <andriy.shevchenko@...el.com> wrote:

> On Fri, Jan 09, 2026 at 07:15:28PM +0100, Francesco Lavra 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_sf_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 each of the existing devices handles data
> > coming from a single sensor, while sensor fusion data comes from multiple
> > sensors.
> > 
> > Tested on LSMDSV16X.  
> 
> ...
> 
> > enum st_lsm6dsx_sensor_id {  
> 
> >  	ST_LSM6DSX_ID_EXT0,
> >  	ST_LSM6DSX_ID_EXT1,
> >  	ST_LSM6DSX_ID_EXT2,
> > +	ST_LSM6DSX_ID_SF,
> >  	ST_LSM6DSX_ID_MAX,  
> 
> At some point please either get rid of _ID_MAX, or drop the trailing comma
> (maybe some other places also need the same treatment).
It's already gone, this needs a rebase on the upstream
tree.

Thanks,

Jonathan