On Fri, 4 Aug 2023 09:45:57 +0300
Ramona Bolboaca <ramona.bolboaca@xxxxxxxxxx> wrote:
> The delta angle is defined as a piece-wise integration of angular
> velocity data. The delta angle represents the amount of
> angular displacement between two consecutive measurements and it
> is measured in degrees.
That's not consistent with angl and it should be.
Hence should be radians, with appropriate changes in the scale
exposed by the driver.
>
> In order to track the total angular displacement during a desired
> period of time, simply sum-up the delta angle samples acquired
> during that time.
>
> IIO currently does not offer a suitable channel type for this
> type of measurements hence this patch adds it.
>
> Signed-off-by: Ramona Bolboaca <ramona.bolboaca@xxxxxxxxxx>
> ---
> Documentation/ABI/testing/sysfs-bus-iio | 14 ++++++++++++++
> drivers/iio/industrialio-core.c | 1 +
> include/uapi/linux/iio/types.h | 1 +
> tools/iio/iio_event_monitor.c | 2 ++
> 4 files changed, 18 insertions(+)
>
> diff --git a/Documentation/ABI/testing/sysfs-bus-iio b/Documentation/ABI/testing/sysfs-bus-iio
> index a2854dc9a839..1561c33b05a1 100644
> --- a/Documentation/ABI/testing/sysfs-bus-iio
> +++ b/Documentation/ABI/testing/sysfs-bus-iio
> @@ -279,6 +279,20 @@ Description:
> but should match other such assignments on device).
> Units after application of scale and offset are m/s^2.
>
> +What: /sys/bus/iio/devices/iio:deviceX/in_deltaangl_x_raw
> +What: /sys/bus/iio/devices/iio:deviceX/in_deltaangl_y_raw
> +What: /sys/bus/iio/devices/iio:deviceX/in_deltaangl_z_raw
> +KernelVersion: 6.5
> +Contact: linux-iio@xxxxxxxxxxxxxxx
> +Description:
> + Angular displacement between two consecutive samples on x, y or
> + z (may be arbitrarily assigned but should match other such
> + assignments on device).
> + In order to compute the total angular displacement during a
> + desired period of time, the application should sum-up the delta
> + angle samples acquired during that time.
> + Units after application of scale and offset are angles.
Units above are degrees, but should be radians.
> +
> What: /sys/bus/iio/devices/iio:deviceX/in_angl_raw
> What: /sys/bus/iio/devices/iio:deviceX/in_anglY_raw
> KernelVersion: 4.17
> diff --git a/drivers/iio/industrialio-core.c b/drivers/iio/industrialio-core.c
> index a92b8b6ad647..2e2fd0be2504 100644
> --- a/drivers/iio/industrialio-core.c
> +++ b/drivers/iio/industrialio-core.c
> @@ -89,6 +89,7 @@ static const char * const iio_chan_type_name_spec[] = {
> [IIO_POSITIONRELATIVE] = "positionrelative",
> [IIO_PHASE] = "phase",
> [IIO_MASSCONCENTRATION] = "massconcentration",
> + [IIO_DELTA_ANGL] = "deltaangl",
> };
>
> static const char * const iio_modifier_names[] = {
> diff --git a/include/uapi/linux/iio/types.h b/include/uapi/linux/iio/types.h
> index c79f2f046a0b..55666a17d311 100644
> --- a/include/uapi/linux/iio/types.h
> +++ b/include/uapi/linux/iio/types.h
> @@ -47,6 +47,7 @@ enum iio_chan_type {
> IIO_POSITIONRELATIVE,
> IIO_PHASE,
> IIO_MASSCONCENTRATION,
> + IIO_DELTA_ANGL,
> };
>
> enum iio_modifier {
> diff --git a/tools/iio/iio_event_monitor.c b/tools/iio/iio_event_monitor.c
> index 0a5c2bb60030..3505450060e6 100644
> --- a/tools/iio/iio_event_monitor.c
> +++ b/tools/iio/iio_event_monitor.c
> @@ -59,6 +59,7 @@ static const char * const iio_chan_type_name_spec[] = {
> [IIO_POSITIONRELATIVE] = "positionrelative",
> [IIO_PHASE] = "phase",
> [IIO_MASSCONCENTRATION] = "massconcentration",
> + [IIO_DELTA_ANGL] = "deltaangl",
> };
>
> static const char * const iio_ev_type_text[] = {
> @@ -173,6 +174,7 @@ static bool event_is_known(struct iio_event_data *event)
> case IIO_POSITIONRELATIVE:
> case IIO_PHASE:
> case IIO_MASSCONCENTRATION:
> + case IIO_DELTA_ANGL:
> break;
> default:
> return false;
