linux-kernel - [PATCH v4 0/4] imu: st_lsm6dsx: Add support for rotation sensor

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Message-Id: <20260121112758.1831077-1-flavra@baylibre.com>
Date: Wed, 21 Jan 2026 12:27:54 +0100
From: Francesco Lavra <flavra@...libre.com>
To: Lorenzo Bianconi <lorenzo@...nel.org>,
	Jonathan Cameron <jic23@...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: [PATCH v4 0/4] imu: st_lsm6dsx: Add support for rotation sensor

This series adds support for the rotation sensor functionality present in
some chips from the ST LSM6DSX IMU family.
The second commit is a fix to a previous commit of mine [*] which made it
to 6.19-rcX; the fix technically changes userspace, but this should be OK
as long as it goes in during this release cycle.
Tested on LSM6DSV16X.

Changes from v3 [3]:
- added patch 3 (Andy)
- removed unneeded checks for negative return values in st_lsm6dsx_fusion.c
  (Andy)
- replaced st_lsm6dsx_sf_set_page function with
  st_lsm6dsx_sf_page_enable/disable (Andy)
- used reversed xmas tree ordering for local variables (Andy)
- added parentheses to MILLI / MICRO in st_lsm6dsx_sf_write_raw (Andy)
- added check for string truncation in st_lsm6dsx_sf_probe (Andy)

Changes from v2 [2]:
- amended description of patch 2 to point out that there are no supported
  gyro events (Jonathan)
- removed superfluous parentheses in st_lsm6dsx_fifo_setup (Lorenzo)
- added Lorenzo's acked-by tag to patch 3
- added missing checks of st_lsm6dsx_sf_set_page() return value (Jonathan)
- added comment in st_lsm6dsx_sf_write_raw (Jonathan)

Changes from v1 [1]:
- swapped patches 1 and 2 (Jonathan)
- miscellaneous stylistic changes (Andy)
- fixed usage of MICRO and MILLI constants in st_lsm6dsx_sf_read_raw and
  st_lsm6dsx_sf_write_raw (Andy)
- replaced scnprintf() with sysfs_emit_at() in
  st_lsm6dsx_sf_sampling_freq_avail (Andy)
- replaced scnprintf() with snprintf() in st_lsm6dsx_sf_probe (Andy)
- clarified in a comment in st_lsm6dsx_set_fifo_odr() that only internal
  sensors have a FIFO ODR configuration register (Jonathan)
- modified patch 3 description to explain justification for the extra IIO
  device (Jonathan)
- moved page lock from st_lsm6dsx_sf_set_page() to the callers (Jonathan)
- s/magnetometer/gyroscope/ in patch 2 description

[*] https://lore.kernel.org/linux-iio/20251017164255.1251060-3-flavra@baylibre.com/
[1] https://lore.kernel.org/linux-iio/20260109181528.154127-1-flavra@baylibre.com/T/
[2] https://lore.kernel.org/linux-iio/20260115122431.1014630-1-flavra@baylibre.com/T/
[3] https://lore.kernel.org/linux-iio/20260119100449.1559624-1-flavra@baylibre.com/T/

Francesco Lavra (4):
  iio: imu: st_lsm6dsx: Set FIFO ODR for accelerometer and gyroscope
    only
  iio: imu: st_lsm6dsx: Set buffer sampling frequency for accelerometer
    only
  iio: imu: st_lsm6dsx: Fix check for invalid samples from FIFO
  iio: imu: st_lsm6dsx: Add support for rotation sensor

 drivers/iio/imu/st_lsm6dsx/Makefile           |   2 +-
 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h       |  26 +-
 .../iio/imu/st_lsm6dsx/st_lsm6dsx_buffer.c    |  33 ++-
 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_core.c  |  58 +++++
 .../iio/imu/st_lsm6dsx/st_lsm6dsx_fusion.c    | 235 ++++++++++++++++++
 5 files changed, 345 insertions(+), 9 deletions(-)
 create mode 100644 drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_fusion.c

-- 
2.39.5