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Wed, 04 Mar 2026 00:07:07 -0800 (PST) From: Francesco Lavra To: Jonathan Cameron , David Lechner , =?UTF-8?q?Nuno=20S=C3=A1?= , Andy Shevchenko , linux-iio@vger.kernel.org, linux-kernel@vger.kernel.org Subject: [PATCH v7 5/6] iio: ABI: Add partial quaternion modifier Date: Wed, 4 Mar 2026 09:07:05 +0100 Message-Id: <20260304080706.2844472-1-flavra@baylibre.com> X-Mailer: git-send-email 2.39.5 In-Reply-To: <20260304080519.2844101-1-flavra@baylibre.com> References: <20260304080519.2844101-1-flavra@baylibre.com> Precedence: bulk X-Mailing-List: linux-kernel@vger.kernel.org List-Id: List-Subscribe: List-Unsubscribe: MIME-Version: 1.0 X-Developer-Signature: v=1; a=openpgp-sha256; l=3185; i=flavra@baylibre.com; h=from:subject; bh=Ol6p0rZth3f/iRDeonQqxoZNZAQhn0rATMP/onRw3YU=; b=owEB7QES/pANAwAKAe3xO3POlDZfAcsmYgBpp+gpXzqY3TDqet6R5VUZ+IRv8tvwkuErdTDGd Lxh9s0qji+JAbMEAAEKAB0WIQSGV4VPlTvcox7DFObt8TtzzpQ2XwUCaafoKQAKCRDt8TtzzpQ2 X6MKC/4lx/3OC+xd/HZeviR7B8SDtAwArzj88cvVqY9LgevL2CVoPu88RInxP0VcFWFuEMcOEJE cMXeRJRtfcm7SydQRp48EioAc66ARJH2hokyWngI4T0O0dkqXGL4RHsnkzqhv7Snv0ZiNPNrtRq Pewp7bnKHalvwiH8A21D8A+q0LCxxRDwa8ZogCuU7eYOLV9daQLfJ0eKijfnvFW5x45qmrSBlTx qk/Sl5HpEcu+1NLyDyZo1PgxElCQOSo9EshxHXmUzY8SdF20Tkd2YAClbwjZJtb9NxMeymv3XRO awq6+UptWFwXRwY5FHIdTdyyIJC45eFI5G6/Yuq7ew5E0B57pAlB31N6N9xzplFUmUOg8A/NiOz Dh1qjN0DmLpXN00HdsEXFNJ3f0bhmUfv+eVOFmv5/8gp3uxngg3P590n6P2EDPdWAjtxX1vCJGI 6A1R2mQeHZ/M+/WdrugPSF4zgxgl/jmILHuoj1Jxj+plxz6sCA1SECtuXy0EQ8x9Fu758= X-Developer-Key: i=flavra@baylibre.com; a=openpgp; fpr=8657854F953BDCA31EC314E6EDF13B73CE94365F Content-Transfer-Encoding: quoted-printable Content-Type: text/plain; charset="utf-8" This modifier applies to the IIO_ROT channel type, and indicates a data representation that specifies the {x, y, z} components of the normalized quaternion vector. Signed-off-by: Francesco Lavra --- Documentation/ABI/testing/sysfs-bus-iio | 13 +++++++++++++ drivers/iio/industrialio-core.c | 1 + include/uapi/linux/iio/types.h | 1 + tools/iio/iio_event_monitor.c | 1 + 4 files changed, 16 insertions(+) diff --git a/Documentation/ABI/testing/sysfs-bus-iio b/Documentation/ABI/te= sting/sysfs-bus-iio index bd6c3305dd2b..54e38ebb044d 100644 --- a/Documentation/ABI/testing/sysfs-bus-iio +++ b/Documentation/ABI/testing/sysfs-bus-iio @@ -1755,6 +1755,19 @@ Description: measurement from channel Y. Units after application of scale and offset are milliamps. =20 +What: /sys/bus/iio/devices/iio:deviceX/in_rot_partial_quaternion_raw +KernelVersion: 7.1 +Contact: linux-iio@vger.kernel.org +Description: + Raw value of {x, y, z} components of the quaternion vector. These + components represent the axis about which a rotation occurs, and are + subject to the following costraints: + - the quaternion vector is normalized, i.e. x^2 + y^2 + z^2 + w^2 =3D 1 + - the rotation angle is within the [-180, 180] range, i.e. the w + component (which represents the amount of rotation) is non-negative + These constraints allow the w value to be calculated from the other + components: w =3D sqrt(1 - (x^2 + y^2 + z^2)). + What: /sys/.../iio:deviceX/in_energy_en What: /sys/.../iio:deviceX/in_distance_en What: /sys/.../iio:deviceX/in_velocity_sqrt(x^2+y^2+z^2)_en diff --git a/drivers/iio/industrialio-core.c b/drivers/iio/industrialio-cor= e.c index 22eefd048ba9..792fbeb0dfa8 100644 --- a/drivers/iio/industrialio-core.c +++ b/drivers/iio/industrialio-core.c @@ -125,6 +125,7 @@ static const char * const iio_modifier_names[] =3D { [IIO_MOD_LIGHT_UVB] =3D "uvb", [IIO_MOD_LIGHT_DUV] =3D "duv", [IIO_MOD_QUATERNION] =3D "quaternion", + [IIO_MOD_PARTIAL_QUATERNION] =3D "partial_quaternion", [IIO_MOD_TEMP_AMBIENT] =3D "ambient", [IIO_MOD_TEMP_OBJECT] =3D "object", [IIO_MOD_NORTH_MAGN] =3D "from_north_magnetic", diff --git a/include/uapi/linux/iio/types.h b/include/uapi/linux/iio/types.h index 6d269b844271..c80ef7c1ed12 100644 --- a/include/uapi/linux/iio/types.h +++ b/include/uapi/linux/iio/types.h @@ -77,6 +77,7 @@ enum iio_modifier { IIO_MOD_LIGHT_GREEN, IIO_MOD_LIGHT_BLUE, IIO_MOD_QUATERNION, + IIO_MOD_PARTIAL_QUATERNION, IIO_MOD_TEMP_AMBIENT, IIO_MOD_TEMP_OBJECT, IIO_MOD_NORTH_MAGN, diff --git a/tools/iio/iio_event_monitor.c b/tools/iio/iio_event_monitor.c index 03ca33869ce8..db0fb75806ab 100644 --- a/tools/iio/iio_event_monitor.c +++ b/tools/iio/iio_event_monitor.c @@ -113,6 +113,7 @@ static const char * const iio_modifier_names[] =3D { [IIO_MOD_LIGHT_UVB] =3D "uvb", [IIO_MOD_LIGHT_DUV] =3D "duv", [IIO_MOD_QUATERNION] =3D "quaternion", + [IIO_MOD_PARTIAL_QUATERNION] =3D "partial_quaternion", [IIO_MOD_TEMP_AMBIENT] =3D "ambient", [IIO_MOD_TEMP_OBJECT] =3D "object", [IIO_MOD_NORTH_MAGN] =3D "from_north_magnetic", --=20 2.39.5