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([2600:8803:e7e4:500:8e89:f58e:e4e6:5567]) by smtp.gmail.com with ESMTPSA id 586e51a60fabf-41c14ddbca8sm5700458fac.15.2026.03.21.10.46.47 (version=TLS1_3 cipher=TLS_AES_128_GCM_SHA256 bits=128/128); Sat, 21 Mar 2026 10:46:48 -0700 (PDT) Message-ID: Date: Sat, 21 Mar 2026 12:46:47 -0500 Precedence: bulk X-Mailing-List: linux-kernel@vger.kernel.org List-Id: List-Subscribe: List-Unsubscribe: MIME-Version: 1.0 User-Agent: Mozilla Thunderbird Subject: Re: [PATCH v8 6/6] iio: imu: st_lsm6dsx: Add support for rotation sensor To: Francesco Lavra , Lorenzo Bianconi , Jonathan Cameron , =?UTF-8?Q?Nuno_S=C3=A1?= , Andy Shevchenko , linux-kernel@vger.kernel.org, linux-iio@vger.kernel.org References: <20260317150316.3878107-1-flavra@baylibre.com> <20260317150427.3878450-1-flavra@baylibre.com> Content-Language: en-US From: David Lechner In-Reply-To: <20260317150427.3878450-1-flavra@baylibre.com> Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 7bit On 3/17/26 10:04 AM, 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_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 LSMDSV16X. > We should mention that this depends on [1] to get the correct sizing of the buffer in userspace. [1]: https://lore.kernel.org/linux-iio/20260307-iio-fix-timestamp-alignment-v2-4-d1d48fbadbbf@baylibre.com/