[PATCH v7 5/6] iio: ABI: Add partial quaternion modifier

[Francesco Lavra]

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 <flavra@xxxxxxxxxxxx>
---
 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/testing/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.
 
+What:		/sys/bus/iio/devices/iio:deviceX/in_rot_partial_quaternion_raw
+KernelVersion:	7.1
+Contact:	linux-iio@xxxxxxxxxxxxxxx
+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 = 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 = 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-core.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[] = {
 	[IIO_MOD_LIGHT_UVB] = "uvb",
 	[IIO_MOD_LIGHT_DUV] = "duv",
 	[IIO_MOD_QUATERNION] = "quaternion",
+	[IIO_MOD_PARTIAL_QUATERNION] = "partial_quaternion",
 	[IIO_MOD_TEMP_AMBIENT] = "ambient",
 	[IIO_MOD_TEMP_OBJECT] = "object",
 	[IIO_MOD_NORTH_MAGN] = "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[] = {
 	[IIO_MOD_LIGHT_UVB] = "uvb",
 	[IIO_MOD_LIGHT_DUV] = "duv",
 	[IIO_MOD_QUATERNION] = "quaternion",
+	[IIO_MOD_PARTIAL_QUATERNION] = "partial_quaternion",
 	[IIO_MOD_TEMP_AMBIENT] = "ambient",
 	[IIO_MOD_TEMP_OBJECT] = "object",
 	[IIO_MOD_NORTH_MAGN] = "from_north_magnetic",
-- 
2.39.5