1 | // SPDX-License-Identifier: GPL-2.0 |
2 | /* |
3 | * Support for ST VL53L0X FlightSense ToF Ranging Sensor on a i2c bus. |
4 | * |
5 | * Copyright (C) 2016 STMicroelectronics Imaging Division. |
6 | * Copyright (C) 2018 Song Qiang <songqiang1304521@gmail.com> |
7 | * Copyright (C) 2020 Ivan Drobyshevskyi <drobyshevskyi@gmail.com> |
8 | * |
9 | * Datasheet available at |
10 | * <https://www.st.com/resource/en/datasheet/vl53l0x.pdf> |
11 | * |
12 | * Default 7-bit i2c slave address 0x29. |
13 | * |
14 | * TODO: FIFO buffer, continuous mode, range selection, sensor ID check. |
15 | */ |
16 | |
17 | #include <linux/delay.h> |
18 | #include <linux/gpio/consumer.h> |
19 | #include <linux/i2c.h> |
20 | #include <linux/irq.h> |
21 | #include <linux/interrupt.h> |
22 | #include <linux/module.h> |
23 | |
24 | #include <linux/iio/iio.h> |
25 | |
26 | #define VL_REG_SYSRANGE_START 0x00 |
27 | |
28 | #define VL_REG_SYSRANGE_MODE_MASK GENMASK(3, 0) |
29 | #define VL_REG_SYSRANGE_MODE_SINGLESHOT 0x00 |
30 | #define VL_REG_SYSRANGE_MODE_START_STOP BIT(0) |
31 | #define VL_REG_SYSRANGE_MODE_BACKTOBACK BIT(1) |
32 | #define VL_REG_SYSRANGE_MODE_TIMED BIT(2) |
33 | #define VL_REG_SYSRANGE_MODE_HISTOGRAM BIT(3) |
34 | |
35 | #define VL_REG_SYSTEM_INTERRUPT_CONFIG_GPIO 0x0A |
36 | #define VL_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY BIT(2) |
37 | |
38 | #define VL_REG_SYSTEM_INTERRUPT_CLEAR 0x0B |
39 | |
40 | #define VL_REG_RESULT_INT_STATUS 0x13 |
41 | #define VL_REG_RESULT_RANGE_STATUS 0x14 |
42 | #define VL_REG_RESULT_RANGE_STATUS_COMPLETE BIT(0) |
43 | |
44 | struct vl53l0x_data { |
45 | struct i2c_client *client; |
46 | struct completion completion; |
47 | struct regulator *vdd_supply; |
48 | struct gpio_desc *reset_gpio; |
49 | }; |
50 | |
51 | static irqreturn_t vl53l0x_handle_irq(int irq, void *priv) |
52 | { |
53 | struct iio_dev *indio_dev = priv; |
54 | struct vl53l0x_data *data = iio_priv(indio_dev); |
55 | |
56 | complete(&data->completion); |
57 | |
58 | return IRQ_HANDLED; |
59 | } |
60 | |
61 | static int vl53l0x_configure_irq(struct i2c_client *client, |
62 | struct iio_dev *indio_dev) |
63 | { |
64 | int irq_flags = irq_get_trigger_type(irq: client->irq); |
65 | struct vl53l0x_data *data = iio_priv(indio_dev); |
66 | int ret; |
67 | |
68 | if (!irq_flags) |
69 | irq_flags = IRQF_TRIGGER_FALLING; |
70 | |
71 | ret = devm_request_irq(dev: &client->dev, irq: client->irq, handler: vl53l0x_handle_irq, |
72 | irqflags: irq_flags, devname: indio_dev->name, dev_id: indio_dev); |
73 | if (ret) { |
74 | dev_err(&client->dev, "devm_request_irq error: %d\n" , ret); |
75 | return ret; |
76 | } |
77 | |
78 | ret = i2c_smbus_write_byte_data(client: data->client, |
79 | VL_REG_SYSTEM_INTERRUPT_CONFIG_GPIO, |
80 | VL_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY); |
81 | if (ret < 0) |
82 | dev_err(&client->dev, "failed to configure IRQ: %d\n" , ret); |
83 | |
84 | return ret; |
85 | } |
86 | |
87 | static void vl53l0x_clear_irq(struct vl53l0x_data *data) |
88 | { |
89 | struct device *dev = &data->client->dev; |
90 | int ret; |
91 | |
92 | ret = i2c_smbus_write_byte_data(client: data->client, |
93 | VL_REG_SYSTEM_INTERRUPT_CLEAR, value: 1); |
94 | if (ret < 0) |
95 | dev_err(dev, "failed to clear error irq: %d\n" , ret); |
96 | |
97 | ret = i2c_smbus_write_byte_data(client: data->client, |
98 | VL_REG_SYSTEM_INTERRUPT_CLEAR, value: 0); |
99 | if (ret < 0) |
100 | dev_err(dev, "failed to clear range irq: %d\n" , ret); |
101 | |
102 | ret = i2c_smbus_read_byte_data(client: data->client, VL_REG_RESULT_INT_STATUS); |
103 | if (ret < 0 || ret & 0x07) |
104 | dev_err(dev, "failed to clear irq: %d\n" , ret); |
105 | } |
106 | |
107 | static int vl53l0x_read_proximity(struct vl53l0x_data *data, |
108 | const struct iio_chan_spec *chan, |
109 | int *val) |
110 | { |
111 | struct i2c_client *client = data->client; |
112 | u16 tries = 20; |
113 | u8 buffer[12]; |
114 | int ret; |
115 | unsigned long time_left; |
116 | |
117 | ret = i2c_smbus_write_byte_data(client, VL_REG_SYSRANGE_START, value: 1); |
118 | if (ret < 0) |
119 | return ret; |
120 | |
121 | if (data->client->irq) { |
122 | reinit_completion(x: &data->completion); |
123 | |
124 | time_left = wait_for_completion_timeout(x: &data->completion, HZ/10); |
125 | if (time_left == 0) |
126 | return -ETIMEDOUT; |
127 | |
128 | vl53l0x_clear_irq(data); |
129 | } else { |
130 | do { |
131 | ret = i2c_smbus_read_byte_data(client, |
132 | VL_REG_RESULT_RANGE_STATUS); |
133 | if (ret < 0) |
134 | return ret; |
135 | |
136 | if (ret & VL_REG_RESULT_RANGE_STATUS_COMPLETE) |
137 | break; |
138 | |
139 | usleep_range(min: 1000, max: 5000); |
140 | } while (--tries); |
141 | if (!tries) |
142 | return -ETIMEDOUT; |
143 | } |
144 | |
145 | ret = i2c_smbus_read_i2c_block_data(client, VL_REG_RESULT_RANGE_STATUS, |
146 | length: 12, values: buffer); |
147 | if (ret < 0) |
148 | return ret; |
149 | else if (ret != 12) |
150 | return -EREMOTEIO; |
151 | |
152 | /* Values should be between 30~1200 in millimeters. */ |
153 | *val = (buffer[10] << 8) + buffer[11]; |
154 | |
155 | return 0; |
156 | } |
157 | |
158 | static const struct iio_chan_spec vl53l0x_channels[] = { |
159 | { |
160 | .type = IIO_DISTANCE, |
161 | .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | |
162 | BIT(IIO_CHAN_INFO_SCALE), |
163 | }, |
164 | }; |
165 | |
166 | static int vl53l0x_read_raw(struct iio_dev *indio_dev, |
167 | const struct iio_chan_spec *chan, |
168 | int *val, int *val2, long mask) |
169 | { |
170 | struct vl53l0x_data *data = iio_priv(indio_dev); |
171 | int ret; |
172 | |
173 | if (chan->type != IIO_DISTANCE) |
174 | return -EINVAL; |
175 | |
176 | switch (mask) { |
177 | case IIO_CHAN_INFO_RAW: |
178 | ret = vl53l0x_read_proximity(data, chan, val); |
179 | if (ret < 0) |
180 | return ret; |
181 | |
182 | return IIO_VAL_INT; |
183 | case IIO_CHAN_INFO_SCALE: |
184 | *val = 0; |
185 | *val2 = 1000; |
186 | |
187 | return IIO_VAL_INT_PLUS_MICRO; |
188 | default: |
189 | return -EINVAL; |
190 | } |
191 | } |
192 | |
193 | static const struct iio_info vl53l0x_info = { |
194 | .read_raw = vl53l0x_read_raw, |
195 | }; |
196 | |
197 | static void vl53l0x_power_off(void *_data) |
198 | { |
199 | struct vl53l0x_data *data = _data; |
200 | |
201 | gpiod_set_value_cansleep(desc: data->reset_gpio, value: 1); |
202 | |
203 | regulator_disable(regulator: data->vdd_supply); |
204 | } |
205 | |
206 | static int vl53l0x_power_on(struct vl53l0x_data *data) |
207 | { |
208 | int ret; |
209 | |
210 | ret = regulator_enable(regulator: data->vdd_supply); |
211 | if (ret) |
212 | return ret; |
213 | |
214 | gpiod_set_value_cansleep(desc: data->reset_gpio, value: 0); |
215 | |
216 | usleep_range(min: 3200, max: 5000); |
217 | |
218 | return 0; |
219 | } |
220 | |
221 | static int vl53l0x_probe(struct i2c_client *client) |
222 | { |
223 | struct vl53l0x_data *data; |
224 | struct iio_dev *indio_dev; |
225 | int error; |
226 | |
227 | indio_dev = devm_iio_device_alloc(parent: &client->dev, sizeof_priv: sizeof(*data)); |
228 | if (!indio_dev) |
229 | return -ENOMEM; |
230 | |
231 | data = iio_priv(indio_dev); |
232 | data->client = client; |
233 | i2c_set_clientdata(client, data: indio_dev); |
234 | |
235 | if (!i2c_check_functionality(adap: client->adapter, |
236 | I2C_FUNC_SMBUS_READ_I2C_BLOCK | |
237 | I2C_FUNC_SMBUS_BYTE_DATA)) |
238 | return -EOPNOTSUPP; |
239 | |
240 | data->vdd_supply = devm_regulator_get(dev: &client->dev, id: "vdd" ); |
241 | if (IS_ERR(ptr: data->vdd_supply)) |
242 | return dev_err_probe(dev: &client->dev, err: PTR_ERR(ptr: data->vdd_supply), |
243 | fmt: "Unable to get VDD regulator\n" ); |
244 | |
245 | data->reset_gpio = devm_gpiod_get_optional(dev: &client->dev, con_id: "reset" , flags: GPIOD_OUT_HIGH); |
246 | if (IS_ERR(ptr: data->reset_gpio)) |
247 | return dev_err_probe(dev: &client->dev, err: PTR_ERR(ptr: data->reset_gpio), |
248 | fmt: "Cannot get reset GPIO\n" ); |
249 | |
250 | error = vl53l0x_power_on(data); |
251 | if (error) |
252 | return dev_err_probe(dev: &client->dev, err: error, |
253 | fmt: "Failed to power on the chip\n" ); |
254 | |
255 | error = devm_add_action_or_reset(&client->dev, vl53l0x_power_off, data); |
256 | if (error) |
257 | return dev_err_probe(dev: &client->dev, err: error, |
258 | fmt: "Failed to install poweroff action\n" ); |
259 | |
260 | indio_dev->name = "vl53l0x" ; |
261 | indio_dev->info = &vl53l0x_info; |
262 | indio_dev->channels = vl53l0x_channels; |
263 | indio_dev->num_channels = ARRAY_SIZE(vl53l0x_channels); |
264 | indio_dev->modes = INDIO_DIRECT_MODE; |
265 | |
266 | /* usage of interrupt is optional */ |
267 | if (client->irq) { |
268 | int ret; |
269 | |
270 | init_completion(x: &data->completion); |
271 | |
272 | ret = vl53l0x_configure_irq(client, indio_dev); |
273 | if (ret) |
274 | return ret; |
275 | } |
276 | |
277 | return devm_iio_device_register(&client->dev, indio_dev); |
278 | } |
279 | |
280 | static const struct i2c_device_id vl53l0x_id[] = { |
281 | { "vl53l0x" , 0 }, |
282 | { } |
283 | }; |
284 | MODULE_DEVICE_TABLE(i2c, vl53l0x_id); |
285 | |
286 | static const struct of_device_id st_vl53l0x_dt_match[] = { |
287 | { .compatible = "st,vl53l0x" , }, |
288 | { } |
289 | }; |
290 | MODULE_DEVICE_TABLE(of, st_vl53l0x_dt_match); |
291 | |
292 | static struct i2c_driver vl53l0x_driver = { |
293 | .driver = { |
294 | .name = "vl53l0x-i2c" , |
295 | .of_match_table = st_vl53l0x_dt_match, |
296 | }, |
297 | .probe = vl53l0x_probe, |
298 | .id_table = vl53l0x_id, |
299 | }; |
300 | module_i2c_driver(vl53l0x_driver); |
301 | |
302 | MODULE_AUTHOR("Song Qiang <songqiang1304521@gmail.com>" ); |
303 | MODULE_DESCRIPTION("ST vl53l0x ToF ranging sensor driver" ); |
304 | MODULE_LICENSE("GPL v2" ); |
305 | |