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iio: imu: st_lsm6dsx: Add support for rotation sensor

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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@baylibre.com>
Acked-by: Lorenzo Bianconi <lorenzo@kernel.org>
Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>
This commit is contained in:
Francesco Lavra 2026-03-24 09:48:07 +01:00 • committed by Jonathan Cameron
commit cd4e1141bf
5 changed files with 331 additions and 7 deletions
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