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348 lines
7.9 KiB
348 lines
7.9 KiB
// SPDX-License-Identifier: GPL-2.0-only |
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/* |
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* rfd77402.c - Support for RF Digital RFD77402 Time-of-Flight (distance) sensor |
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* |
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* Copyright 2017 Peter Meerwald-Stadler <[email protected]> |
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* |
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* 7-bit I2C slave address 0x4c |
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* |
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* TODO: interrupt |
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* https://media.digikey.com/pdf/Data%20Sheets/RF%20Digital%20PDFs/RFD77402.pdf |
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*/ |
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#include <linux/module.h> |
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#include <linux/i2c.h> |
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#include <linux/delay.h> |
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#include <linux/iio/iio.h> |
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#define RFD77402_DRV_NAME "rfd77402" |
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#define RFD77402_ICSR 0x00 /* Interrupt Control Status Register */ |
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#define RFD77402_ICSR_INT_MODE BIT(2) |
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#define RFD77402_ICSR_INT_POL BIT(3) |
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#define RFD77402_ICSR_RESULT BIT(4) |
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#define RFD77402_ICSR_M2H_MSG BIT(5) |
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#define RFD77402_ICSR_H2M_MSG BIT(6) |
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#define RFD77402_ICSR_RESET BIT(7) |
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#define RFD77402_CMD_R 0x04 |
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#define RFD77402_CMD_SINGLE 0x01 |
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#define RFD77402_CMD_STANDBY 0x10 |
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#define RFD77402_CMD_MCPU_OFF 0x11 |
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#define RFD77402_CMD_MCPU_ON 0x12 |
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#define RFD77402_CMD_RESET BIT(6) |
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#define RFD77402_CMD_VALID BIT(7) |
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#define RFD77402_STATUS_R 0x06 |
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#define RFD77402_STATUS_PM_MASK GENMASK(4, 0) |
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#define RFD77402_STATUS_STANDBY 0x00 |
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#define RFD77402_STATUS_MCPU_OFF 0x10 |
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#define RFD77402_STATUS_MCPU_ON 0x18 |
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#define RFD77402_RESULT_R 0x08 |
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#define RFD77402_RESULT_DIST_MASK GENMASK(12, 2) |
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#define RFD77402_RESULT_ERR_MASK GENMASK(14, 13) |
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#define RFD77402_RESULT_VALID BIT(15) |
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#define RFD77402_PMU_CFG 0x14 |
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#define RFD77402_PMU_MCPU_INIT BIT(9) |
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#define RFD77402_I2C_INIT_CFG 0x1c |
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#define RFD77402_I2C_ADDR_INCR BIT(0) |
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#define RFD77402_I2C_DATA_INCR BIT(2) |
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#define RFD77402_I2C_HOST_DEBUG BIT(5) |
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#define RFD77402_I2C_MCPU_DEBUG BIT(6) |
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#define RFD77402_CMD_CFGR_A 0x0c |
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#define RFD77402_CMD_CFGR_B 0x0e |
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#define RFD77402_HFCFG_0 0x20 |
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#define RFD77402_HFCFG_1 0x22 |
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#define RFD77402_HFCFG_2 0x24 |
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#define RFD77402_HFCFG_3 0x26 |
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#define RFD77402_MOD_CHIP_ID 0x28 |
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/* magic configuration values from datasheet */ |
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static const struct { |
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u8 reg; |
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u16 val; |
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} rf77402_tof_config[] = { |
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{RFD77402_CMD_CFGR_A, 0xe100}, |
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{RFD77402_CMD_CFGR_B, 0x10ff}, |
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{RFD77402_HFCFG_0, 0x07d0}, |
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{RFD77402_HFCFG_1, 0x5008}, |
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{RFD77402_HFCFG_2, 0xa041}, |
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{RFD77402_HFCFG_3, 0x45d4}, |
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}; |
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struct rfd77402_data { |
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struct i2c_client *client; |
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/* Serialize reads from the sensor */ |
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struct mutex lock; |
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}; |
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static const struct iio_chan_spec rfd77402_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 rfd77402_set_state(struct rfd77402_data *data, u8 state, u16 check) |
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{ |
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int ret; |
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ret = i2c_smbus_write_byte_data(data->client, RFD77402_CMD_R, |
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state | RFD77402_CMD_VALID); |
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if (ret < 0) |
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return ret; |
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usleep_range(10000, 20000); |
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ret = i2c_smbus_read_word_data(data->client, RFD77402_STATUS_R); |
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if (ret < 0) |
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return ret; |
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if ((ret & RFD77402_STATUS_PM_MASK) != check) |
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return -ENODEV; |
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return 0; |
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} |
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static int rfd77402_measure(struct rfd77402_data *data) |
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{ |
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int ret; |
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int tries = 10; |
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ret = rfd77402_set_state(data, RFD77402_CMD_MCPU_ON, |
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RFD77402_STATUS_MCPU_ON); |
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if (ret < 0) |
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return ret; |
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ret = i2c_smbus_write_byte_data(data->client, RFD77402_CMD_R, |
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RFD77402_CMD_SINGLE | |
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RFD77402_CMD_VALID); |
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if (ret < 0) |
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goto err; |
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while (tries-- > 0) { |
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ret = i2c_smbus_read_byte_data(data->client, RFD77402_ICSR); |
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if (ret < 0) |
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goto err; |
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if (ret & RFD77402_ICSR_RESULT) |
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break; |
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msleep(20); |
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} |
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if (tries < 0) { |
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ret = -ETIMEDOUT; |
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goto err; |
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} |
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ret = i2c_smbus_read_word_data(data->client, RFD77402_RESULT_R); |
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if (ret < 0) |
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goto err; |
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if ((ret & RFD77402_RESULT_ERR_MASK) || |
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!(ret & RFD77402_RESULT_VALID)) { |
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ret = -EIO; |
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goto err; |
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} |
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return (ret & RFD77402_RESULT_DIST_MASK) >> 2; |
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err: |
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rfd77402_set_state(data, RFD77402_CMD_MCPU_OFF, |
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RFD77402_STATUS_MCPU_OFF); |
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return ret; |
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} |
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static int rfd77402_read_raw(struct iio_dev *indio_dev, |
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struct iio_chan_spec const *chan, |
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int *val, int *val2, long mask) |
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{ |
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struct rfd77402_data *data = iio_priv(indio_dev); |
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int ret; |
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switch (mask) { |
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case IIO_CHAN_INFO_RAW: |
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mutex_lock(&data->lock); |
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ret = rfd77402_measure(data); |
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mutex_unlock(&data->lock); |
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if (ret < 0) |
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return ret; |
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*val = ret; |
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return IIO_VAL_INT; |
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case IIO_CHAN_INFO_SCALE: |
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/* 1 LSB is 1 mm */ |
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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 rfd77402_info = { |
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.read_raw = rfd77402_read_raw, |
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}; |
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static int rfd77402_init(struct rfd77402_data *data) |
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{ |
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int ret, i; |
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ret = rfd77402_set_state(data, RFD77402_CMD_STANDBY, |
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RFD77402_STATUS_STANDBY); |
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if (ret < 0) |
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return ret; |
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/* configure INT pad as push-pull, active low */ |
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ret = i2c_smbus_write_byte_data(data->client, RFD77402_ICSR, |
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RFD77402_ICSR_INT_MODE); |
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if (ret < 0) |
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return ret; |
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/* I2C configuration */ |
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ret = i2c_smbus_write_word_data(data->client, RFD77402_I2C_INIT_CFG, |
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RFD77402_I2C_ADDR_INCR | |
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RFD77402_I2C_DATA_INCR | |
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RFD77402_I2C_HOST_DEBUG | |
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RFD77402_I2C_MCPU_DEBUG); |
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if (ret < 0) |
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return ret; |
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/* set initialization */ |
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ret = i2c_smbus_write_word_data(data->client, RFD77402_PMU_CFG, 0x0500); |
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if (ret < 0) |
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return ret; |
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ret = rfd77402_set_state(data, RFD77402_CMD_MCPU_OFF, |
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RFD77402_STATUS_MCPU_OFF); |
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if (ret < 0) |
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return ret; |
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/* set initialization */ |
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ret = i2c_smbus_write_word_data(data->client, RFD77402_PMU_CFG, 0x0600); |
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if (ret < 0) |
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return ret; |
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ret = rfd77402_set_state(data, RFD77402_CMD_MCPU_ON, |
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RFD77402_STATUS_MCPU_ON); |
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if (ret < 0) |
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return ret; |
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for (i = 0; i < ARRAY_SIZE(rf77402_tof_config); i++) { |
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ret = i2c_smbus_write_word_data(data->client, |
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rf77402_tof_config[i].reg, |
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rf77402_tof_config[i].val); |
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if (ret < 0) |
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return ret; |
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} |
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ret = rfd77402_set_state(data, RFD77402_CMD_STANDBY, |
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RFD77402_STATUS_STANDBY); |
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return ret; |
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} |
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static int rfd77402_powerdown(struct rfd77402_data *data) |
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{ |
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return rfd77402_set_state(data, RFD77402_CMD_STANDBY, |
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RFD77402_STATUS_STANDBY); |
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} |
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static int rfd77402_probe(struct i2c_client *client, |
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const struct i2c_device_id *id) |
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{ |
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struct rfd77402_data *data; |
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struct iio_dev *indio_dev; |
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int ret; |
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ret = i2c_smbus_read_word_data(client, RFD77402_MOD_CHIP_ID); |
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if (ret < 0) |
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return ret; |
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if (ret != 0xad01 && ret != 0xad02) /* known chip ids */ |
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return -ENODEV; |
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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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i2c_set_clientdata(client, indio_dev); |
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data->client = client; |
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mutex_init(&data->lock); |
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indio_dev->info = &rfd77402_info; |
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indio_dev->channels = rfd77402_channels; |
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indio_dev->num_channels = ARRAY_SIZE(rfd77402_channels); |
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indio_dev->name = RFD77402_DRV_NAME; |
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indio_dev->modes = INDIO_DIRECT_MODE; |
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ret = rfd77402_init(data); |
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if (ret < 0) |
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return ret; |
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ret = iio_device_register(indio_dev); |
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if (ret) |
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goto err_powerdown; |
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return 0; |
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err_powerdown: |
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rfd77402_powerdown(data); |
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return ret; |
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} |
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static int rfd77402_remove(struct i2c_client *client) |
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{ |
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struct iio_dev *indio_dev = i2c_get_clientdata(client); |
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iio_device_unregister(indio_dev); |
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rfd77402_powerdown(iio_priv(indio_dev)); |
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return 0; |
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} |
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#ifdef CONFIG_PM_SLEEP |
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static int rfd77402_suspend(struct device *dev) |
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{ |
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struct rfd77402_data *data = iio_priv(i2c_get_clientdata( |
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to_i2c_client(dev))); |
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return rfd77402_powerdown(data); |
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} |
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static int rfd77402_resume(struct device *dev) |
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{ |
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struct rfd77402_data *data = iio_priv(i2c_get_clientdata( |
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to_i2c_client(dev))); |
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return rfd77402_init(data); |
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} |
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#endif |
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static SIMPLE_DEV_PM_OPS(rfd77402_pm_ops, rfd77402_suspend, rfd77402_resume); |
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static const struct i2c_device_id rfd77402_id[] = { |
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{ "rfd77402", 0}, |
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{ } |
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}; |
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MODULE_DEVICE_TABLE(i2c, rfd77402_id); |
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static struct i2c_driver rfd77402_driver = { |
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.driver = { |
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.name = RFD77402_DRV_NAME, |
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.pm = &rfd77402_pm_ops, |
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}, |
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.probe = rfd77402_probe, |
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.remove = rfd77402_remove, |
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.id_table = rfd77402_id, |
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}; |
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module_i2c_driver(rfd77402_driver); |
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MODULE_AUTHOR("Peter Meerwald-Stadler <[email protected]>"); |
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MODULE_DESCRIPTION("RFD77402 Time-of-Flight sensor driver"); |
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MODULE_LICENSE("GPL");
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