Overall, this looks fine and applied.
I had to add seg6.h to include/linux since it was not there.

> +             switch (alg_id) {
> +             case SEG6_HMAC_ALGO_SHA1:
> +                     algstr = "sha1";
> +                     break;
> +             case SEG6_HMAC_ALGO_SHA256:
> +                     algstr = "sha256";
> +                     break;
> +             default:
> +                     algstr = "<unknown>";
> +             }

You might want to consider having a table of HMAC algorithms so that get and 
set match. 
It seems likely that new  values will come.

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