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252 lines
6.0 KiB
252 lines
6.0 KiB
// SPDX-License-Identifier: GPL-2.0 |
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/* |
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* Support for ST VL53L0X FlightSense ToF Ranging Sensor on a i2c bus. |
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* |
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* Copyright (C) 2016 STMicroelectronics Imaging Division. |
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* Copyright (C) 2018 Song Qiang <[email protected]> |
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* Copyright (C) 2020 Ivan Drobyshevskyi <[email protected]> |
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* |
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* Datasheet available at |
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* <https://www.st.com/resource/en/datasheet/vl53l0x.pdf> |
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* |
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* Default 7-bit i2c slave address 0x29. |
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* |
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* TODO: FIFO buffer, continuous mode, range selection, sensor ID check. |
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*/ |
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#include <linux/delay.h> |
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#include <linux/i2c.h> |
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#include <linux/interrupt.h> |
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#include <linux/module.h> |
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#include <linux/iio/iio.h> |
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#define VL_REG_SYSRANGE_START 0x00 |
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#define VL_REG_SYSRANGE_MODE_MASK GENMASK(3, 0) |
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#define VL_REG_SYSRANGE_MODE_SINGLESHOT 0x00 |
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#define VL_REG_SYSRANGE_MODE_START_STOP BIT(0) |
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#define VL_REG_SYSRANGE_MODE_BACKTOBACK BIT(1) |
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#define VL_REG_SYSRANGE_MODE_TIMED BIT(2) |
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#define VL_REG_SYSRANGE_MODE_HISTOGRAM BIT(3) |
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#define VL_REG_SYSTEM_INTERRUPT_CONFIG_GPIO 0x0A |
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#define VL_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY BIT(2) |
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#define VL_REG_SYSTEM_INTERRUPT_CLEAR 0x0B |
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#define VL_REG_RESULT_INT_STATUS 0x13 |
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#define VL_REG_RESULT_RANGE_STATUS 0x14 |
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#define VL_REG_RESULT_RANGE_STATUS_COMPLETE BIT(0) |
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struct vl53l0x_data { |
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struct i2c_client *client; |
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struct completion completion; |
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}; |
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static irqreturn_t vl53l0x_handle_irq(int irq, void *priv) |
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{ |
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struct iio_dev *indio_dev = priv; |
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struct vl53l0x_data *data = iio_priv(indio_dev); |
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complete(&data->completion); |
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return IRQ_HANDLED; |
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} |
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static int vl53l0x_configure_irq(struct i2c_client *client, |
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struct iio_dev *indio_dev) |
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{ |
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struct vl53l0x_data *data = iio_priv(indio_dev); |
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int ret; |
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ret = devm_request_irq(&client->dev, client->irq, vl53l0x_handle_irq, |
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IRQF_TRIGGER_FALLING, indio_dev->name, indio_dev); |
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if (ret) { |
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dev_err(&client->dev, "devm_request_irq error: %d\n", ret); |
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return ret; |
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} |
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ret = i2c_smbus_write_byte_data(data->client, |
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VL_REG_SYSTEM_INTERRUPT_CONFIG_GPIO, |
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VL_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY); |
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if (ret < 0) |
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dev_err(&client->dev, "failed to configure IRQ: %d\n", ret); |
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return ret; |
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} |
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static void vl53l0x_clear_irq(struct vl53l0x_data *data) |
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{ |
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struct device *dev = &data->client->dev; |
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int ret; |
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ret = i2c_smbus_write_byte_data(data->client, |
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VL_REG_SYSTEM_INTERRUPT_CLEAR, 1); |
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if (ret < 0) |
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dev_err(dev, "failed to clear error irq: %d\n", ret); |
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ret = i2c_smbus_write_byte_data(data->client, |
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VL_REG_SYSTEM_INTERRUPT_CLEAR, 0); |
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if (ret < 0) |
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dev_err(dev, "failed to clear range irq: %d\n", ret); |
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ret = i2c_smbus_read_byte_data(data->client, VL_REG_RESULT_INT_STATUS); |
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if (ret < 0 || ret & 0x07) |
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dev_err(dev, "failed to clear irq: %d\n", ret); |
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} |
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static int vl53l0x_read_proximity(struct vl53l0x_data *data, |
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const struct iio_chan_spec *chan, |
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int *val) |
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{ |
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struct i2c_client *client = data->client; |
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u16 tries = 20; |
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u8 buffer[12]; |
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int ret; |
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ret = i2c_smbus_write_byte_data(client, VL_REG_SYSRANGE_START, 1); |
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if (ret < 0) |
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return ret; |
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if (data->client->irq) { |
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reinit_completion(&data->completion); |
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ret = wait_for_completion_timeout(&data->completion, HZ/10); |
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if (ret < 0) |
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return ret; |
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else if (ret == 0) |
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return -ETIMEDOUT; |
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vl53l0x_clear_irq(data); |
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} else { |
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do { |
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ret = i2c_smbus_read_byte_data(client, |
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VL_REG_RESULT_RANGE_STATUS); |
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if (ret < 0) |
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return ret; |
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if (ret & VL_REG_RESULT_RANGE_STATUS_COMPLETE) |
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break; |
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usleep_range(1000, 5000); |
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} while (--tries); |
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if (!tries) |
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return -ETIMEDOUT; |
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} |
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ret = i2c_smbus_read_i2c_block_data(client, VL_REG_RESULT_RANGE_STATUS, |
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12, buffer); |
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if (ret < 0) |
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return ret; |
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else if (ret != 12) |
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return -EREMOTEIO; |
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/* Values should be between 30~1200 in millimeters. */ |
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*val = (buffer[10] << 8) + buffer[11]; |
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return 0; |
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} |
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static const struct iio_chan_spec vl53l0x_channels[] = { |
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{ |
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.type = IIO_DISTANCE, |
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.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | |
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BIT(IIO_CHAN_INFO_SCALE), |
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}, |
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}; |
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static int vl53l0x_read_raw(struct iio_dev *indio_dev, |
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const struct iio_chan_spec *chan, |
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int *val, int *val2, long mask) |
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{ |
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struct vl53l0x_data *data = iio_priv(indio_dev); |
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int ret; |
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if (chan->type != IIO_DISTANCE) |
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return -EINVAL; |
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switch (mask) { |
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case IIO_CHAN_INFO_RAW: |
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ret = vl53l0x_read_proximity(data, chan, val); |
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if (ret < 0) |
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return ret; |
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return IIO_VAL_INT; |
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case IIO_CHAN_INFO_SCALE: |
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*val = 0; |
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*val2 = 1000; |
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return IIO_VAL_INT_PLUS_MICRO; |
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default: |
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return -EINVAL; |
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} |
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} |
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static const struct iio_info vl53l0x_info = { |
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.read_raw = vl53l0x_read_raw, |
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}; |
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static int vl53l0x_probe(struct i2c_client *client) |
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{ |
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struct vl53l0x_data *data; |
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struct iio_dev *indio_dev; |
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indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*data)); |
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if (!indio_dev) |
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return -ENOMEM; |
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data = iio_priv(indio_dev); |
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data->client = client; |
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i2c_set_clientdata(client, indio_dev); |
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if (!i2c_check_functionality(client->adapter, |
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I2C_FUNC_SMBUS_READ_I2C_BLOCK | |
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I2C_FUNC_SMBUS_BYTE_DATA)) |
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return -EOPNOTSUPP; |
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indio_dev->name = "vl53l0x"; |
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indio_dev->info = &vl53l0x_info; |
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indio_dev->channels = vl53l0x_channels; |
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indio_dev->num_channels = ARRAY_SIZE(vl53l0x_channels); |
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indio_dev->modes = INDIO_DIRECT_MODE; |
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/* usage of interrupt is optional */ |
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if (client->irq) { |
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int ret; |
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init_completion(&data->completion); |
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ret = vl53l0x_configure_irq(client, indio_dev); |
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if (ret) |
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return ret; |
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} |
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return devm_iio_device_register(&client->dev, indio_dev); |
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} |
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static const struct i2c_device_id vl53l0x_id[] = { |
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{ "vl53l0x", 0}, |
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{ } |
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}; |
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MODULE_DEVICE_TABLE(i2c, vl53l0x_id); |
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static const struct of_device_id st_vl53l0x_dt_match[] = { |
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{ .compatible = "st,vl53l0x", }, |
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{ } |
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}; |
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MODULE_DEVICE_TABLE(of, st_vl53l0x_dt_match); |
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static struct i2c_driver vl53l0x_driver = { |
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.driver = { |
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.name = "vl53l0x-i2c", |
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.of_match_table = st_vl53l0x_dt_match, |
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}, |
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.probe_new = vl53l0x_probe, |
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.id_table = vl53l0x_id, |
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}; |
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module_i2c_driver(vl53l0x_driver); |
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MODULE_AUTHOR("Song Qiang <[email protected]>"); |
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MODULE_DESCRIPTION("ST vl53l0x ToF ranging sensor driver"); |
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MODULE_LICENSE("GPL v2");
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