drivers/imu: add LSM6DSO gyroscope driver#1511
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Jun 15, 2026
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split changes into smaller PRs, eg first driver, then service, etc.
Refactor the LSM6DSO chip management (init, I2C, and the shared hardware FIFO) out of the accelerometer driver into a small lsm6dso_core, then add a gyroscope driver (drivers/gyro.h) implemented on top of it. The accelerometer and gyroscope halves can now be compiled independently (CONFIG_ACCEL_LSM6DSO / CONFIG_GYRO_LSM6DSO); FIFO records from the two sensors are interleaved and dispatched by tag. The gyroscope is FIFO-batched and timer-polled (not all boards route an LSM6DSO interrupt pin) and is kept powered down until samples are requested. This also resolves the existing ULP-mode TODO: the accelerometer leaves ultra-low-power mode while the gyroscope is active, per LSM6DSO datasheet section 6.2.1. Not enabled on any board yet — the gyro_manager service that consumes this driver, and the board enablement, follow in a separate change. Signed-off-by: Dave Bortz <dbortz@gmail.com> Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
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Thanks for the review! Split as suggested — this PR is now just the driver (the |
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Splitting the original combined PR into smaller, layered PRs as requested (#1510 has the full context/RFC). This is the first of three:
gyro_managerservice + board enablementgyro_service+ SDK export (PBL_GYRO)I'll open each subsequent PR once the previous lands.
What this PR does
lsm6dso_core, so the accel and gyro halves can be compiled independently (CONFIG_ACCEL_LSM6DSO/CONFIG_GYRO_LSM6DSO). FIFO records from the two sensors are interleaved and dispatched by tag.drivers/gyro.hinterface and its LSM6DSO implementation (lsm6dso_gyro.c). The gyro is FIFO-batched and timer-polled (not all boards route an LSM6DSO interrupt pin) and stays powered down until samples are requested.lsm6dso.c: the accelerometer now leaves ultra-low-power mode while the gyro is active (datasheet §6.2.1).On building / coverage
The driver isn't enabled on any board here — the service that consumes it (and the board enablement that links the two) is the next PR, so they can be reviewed separately as you asked. Concretely:
lsm6dso_corerefactor is exercised in CI via the existing accelerometer onasterix(no behavior change).lsm6dso_gyro.cand the gyro-specific#if CONFIG_GYRO_LSM6DSOpaths compile once the service PR enables a board — this is the usual driver-then-enable split. I've verified the full 3-PR series builds clean onobelixandasterix.If you'd rather have the driver and service land together (so every line is exercised in this PR's own CI), I'm happy to combine those two — just say the word.
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