linux-kernel - RE: [PATCH v2 3/3] iio: imu: adis16475.c: Add delta angle and delta velocity channels

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Message-ID: <BL1PR03MB59925DFDE7AE86BF3B78AD8D8000A@BL1PR03MB5992.namprd03.prod.outlook.com>
Date:   Wed, 26 Jul 2023 10:23:02 +0000
From:   "Bolboaca, Ramona" <Ramona.Bolboaca@...log.com>
To:     Jonathan Cameron <jic23@...nel.org>
CC:     "Sa, Nuno" <Nuno.Sa@...log.com>,
        "linux-iio@...r.kernel.org" <linux-iio@...r.kernel.org>,
        "linux-kernel@...r.kernel.org" <linux-kernel@...r.kernel.org>
Subject: RE: [PATCH v2 3/3] iio: imu: adis16475.c: Add delta angle and delta
 velocity channels

> On Wed, 19 Jul 2023 15:31:52 +0300
> Ramona Bolboaca <ramona.bolboaca@...log.com> wrote:
> 
> > Add support for delta angle and delta velocity raw and buffer
> > readings to adis16475 driver.
> >
> > Signed-off-by: Ramona Bolboaca <ramona.bolboaca@...log.com>
> As noted in my reply to Nuno's review, the question of channel type
> is still unresolved.
> 

Hi Jonathan,

I think Nuno already offered the definition from the data-sheet, but let me
mention it here again for context:

Delta angle:
In addition to the angular rate of rotation (gyroscope) measurements around
each axis (x, y, and z), the ADIS16505 also provides delta angle measurements
that represent a calculation of angular displacement between each sample update.

Delta velocity:
In addition to the linear acceleration measurements along each axis (x, y, and
z), the ADIS16505 also provides delta velocity measurements that represent a
calculation of linear velocity change between each sample update.

Seeing how we cannot find something more suitable, do you think it would make
sense to add these new channels to IIO: something like IIO_DELTA_VELOCITY and
IIO_DELTA_ANGLE and specify in ABI docs that these measurements are relative
to the previous sample? Or do you have something else in mind?

Thank you,
Ramona Bolboaca

> https://urldefense.com/v3/__https://lore.kernel.org/all/20230720193457.27
> 2f02a9@...23-
> huawei/__;!!A3Ni8CS0y2Y!52Dhq_Yj9srV_lE8JgPysp2b3Lbg9U2w94VIGTMa8
> 3hepJgv-NCnFWomV83Ud5C3TGp3tMMI0IDVRYZV5N8$
> 
> Thanks,
> 
> Jonathan