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// SPDX-License-Identifier: GPL-2.0+
/*
* pulsedlight-lidar-lite-v2.c - Support for PulsedLight LIDAR sensor
*
* Copyright (C) 2015, 2017-2018
* Author: Matt Ranostay <matt.ranostay@konsulko.com>
*
* TODO: interrupt mode, and signal strength reporting
*/
#include <linux/err.h>
#include <linux/init.h>
#include <linux/i2c.h>
#include <linux/delay.h>
#include <linux/module.h>
#include <linux/mod_devicetable.h>
#include <linux/pm_runtime.h>
#include <linux/iio/iio.h>
#include <linux/iio/sysfs.h>
#include <linux/iio/buffer.h>
#include <linux/iio/trigger.h>
#include <linux/iio/triggered_buffer.h>
#include <linux/iio/trigger_consumer.h>
#define LIDAR_REG_CONTROL 0x00
#define LIDAR_REG_CONTROL_ACQUIRE BIT(2)
#define LIDAR_REG_STATUS 0x01
#define LIDAR_REG_STATUS_INVALID BIT(3)
#define LIDAR_REG_STATUS_READY BIT(0)
#define LIDAR_REG_DATA_HBYTE 0x0f
#define LIDAR_REG_DATA_LBYTE 0x10
#define LIDAR_REG_DATA_WORD_READ BIT(7)
#define LIDAR_REG_PWR_CONTROL 0x65
#define LIDAR_DRV_NAME "lidar"
struct lidar_data {
struct iio_dev *indio_dev;
struct i2c_client *client;
int (*xfer)(struct lidar_data *data, u8 reg, u8 *val, int len);
int i2c_enabled;
/* Ensure timestamp is naturally aligned */
struct {
u16 chan;
s64 timestamp __aligned(8);
} scan;
};
static const struct iio_chan_spec lidar_channels[] = {
{
.type = IIO_DISTANCE,
.info_mask_separate =
BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE),
.scan_index = 0,
.scan_type = {
.sign = 'u',
.realbits = 16,
.storagebits = 16,
},
},
IIO_CHAN_SOFT_TIMESTAMP(1),
};
static int lidar_i2c_xfer(struct lidar_data *data, u8 reg, u8 *val, int len)
{
struct i2c_client *client = data->client;
struct i2c_msg msg[2];
int ret;
msg[0].addr = client->addr;
msg[0].flags = client->flags | I2C_M_STOP;
msg[0].len = 1;
msg[0].buf = (char *) &reg;
msg[1].addr = client->addr;
msg[1].flags = client->flags | I2C_M_RD;
msg[1].len = len;
msg[1].buf = (char *) val;
ret = i2c_transfer(client->adapter, msg, 2);
return (ret == 2) ? 0 : -EIO;
}
static int lidar_smbus_xfer(struct lidar_data *data, u8 reg, u8 *val, int len)
{
struct i2c_client *client = data->client;
int ret;
/*
* Device needs a STOP condition between address write, and data read
* so in turn i2c_smbus_read_byte_data cannot be used
*/
while (len--) {
ret = i2c_smbus_write_byte(client, reg++);
if (ret < 0) {
dev_err(&client->dev, "cannot write addr value");
return ret;
}
ret = i2c_smbus_read_byte(client);
if (ret < 0) {
dev_err(&client->dev, "cannot read data value");
return ret;
}
*(val++) = ret;
}
return 0;
}
static int lidar_read_byte(struct lidar_data *data, u8 reg)
{
int ret;
u8 val;
ret = data->xfer(data, reg, &val, 1);
if (ret < 0)
return ret;
return val;
}
static inline int lidar_write_control(struct lidar_data *data, int val)
{
return i2c_smbus_write_byte_data(data->client, LIDAR_REG_CONTROL, val);
}
static inline int lidar_write_power(struct lidar_data *data, int val)
{
return i2c_smbus_write_byte_data(data->client,
LIDAR_REG_PWR_CONTROL, val);
}
static int lidar_read_measurement(struct lidar_data *data, u16 *reg)
{
__be16 value;
int ret = data->xfer(data, LIDAR_REG_DATA_HBYTE |
(data->i2c_enabled ? LIDAR_REG_DATA_WORD_READ : 0),
(u8 *) &value, 2);
if (!ret)
*reg = be16_to_cpu(value);
return ret;
}
static int lidar_get_measurement(struct lidar_data *data, u16 *reg)
{
struct i2c_client *client = data->client;
int tries = 10;
int ret;
ret = pm_runtime_resume_and_get(&client->dev);
if (ret < 0)
return ret;
/* start sample */
ret = lidar_write_control(data, LIDAR_REG_CONTROL_ACQUIRE);
if (ret < 0) {
dev_err(&client->dev, "cannot send start measurement command");
pm_runtime_put_noidle(&client->dev);
return ret;
}
while (tries--) {
usleep_range(1000, 2000);
ret = lidar_read_byte(data, LIDAR_REG_STATUS);
if (ret < 0)
break;
/* return -EINVAL since laser is likely pointed out of range */
if (ret & LIDAR_REG_STATUS_INVALID) {
*reg = 0;
ret = -EINVAL;
break;
}
/* sample ready to read */
if (!(ret & LIDAR_REG_STATUS_READY)) {
ret = lidar_read_measurement(data, reg);
break;
}
ret = -EIO;
}
pm_runtime_mark_last_busy(&client->dev);
pm_runtime_put_autosuspend(&client->dev);
return ret;
}
static int lidar_read_raw(struct iio_dev *indio_dev,
struct iio_chan_spec const *chan,
int *val, int *val2, long mask)
{
struct lidar_data *data = iio_priv(indio_dev);
int ret = -EINVAL;
switch (mask) {
case IIO_CHAN_INFO_RAW: {
u16 reg;
if (iio_device_claim_direct_mode(indio_dev))
return -EBUSY;
ret = lidar_get_measurement(data, &reg);
if (!ret) {
*val = reg;
ret = IIO_VAL_INT;
}
iio_device_release_direct_mode(indio_dev);
break;
}
case IIO_CHAN_INFO_SCALE:
*val = 0;
*val2 = 10000;
ret = IIO_VAL_INT_PLUS_MICRO;
break;
}
return ret;
}
static irqreturn_t lidar_trigger_handler(int irq, void *private)
{
struct iio_poll_func *pf = private;
struct iio_dev *indio_dev = pf->indio_dev;
struct lidar_data *data = iio_priv(indio_dev);
int ret;
ret = lidar_get_measurement(data, &data->scan.chan);
if (!ret) {
iio_push_to_buffers_with_timestamp(indio_dev, &data->scan,
iio_get_time_ns(indio_dev));
} else if (ret != -EINVAL) {
dev_err(&data->client->dev, "cannot read LIDAR measurement");
}
iio_trigger_notify_done(indio_dev->trig);
return IRQ_HANDLED;
}
static const struct iio_info lidar_info = {
.read_raw = lidar_read_raw,
};
static int lidar_probe(struct i2c_client *client)
{
struct lidar_data *data;
struct iio_dev *indio_dev;
int ret;
indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*data));
if (!indio_dev)
return -ENOMEM;
data = iio_priv(indio_dev);
if (i2c_check_functionality(client->adapter, I2C_FUNC_I2C)) {
data->xfer = lidar_i2c_xfer;
data->i2c_enabled = 1;
} else if (i2c_check_functionality(client->adapter,
I2C_FUNC_SMBUS_WORD_DATA | I2C_FUNC_SMBUS_BYTE))
data->xfer = lidar_smbus_xfer;
else
return -EOPNOTSUPP;
indio_dev->info = &lidar_info;
indio_dev->name = LIDAR_DRV_NAME;
indio_dev->channels = lidar_channels;
indio_dev->num_channels = ARRAY_SIZE(lidar_channels);
indio_dev->modes = INDIO_DIRECT_MODE;
i2c_set_clientdata(client, indio_dev);
data->client = client;
data->indio_dev = indio_dev;
ret = iio_triggered_buffer_setup(indio_dev, NULL,
lidar_trigger_handler, NULL);
if (ret)
return ret;
ret = iio_device_register(indio_dev);
if (ret)
goto error_unreg_buffer;
pm_runtime_set_autosuspend_delay(&client->dev, 1000);
pm_runtime_use_autosuspend(&client->dev);
ret = pm_runtime_set_active(&client->dev);
if (ret)
goto error_unreg_buffer;
pm_runtime_enable(&client->dev);
pm_runtime_idle(&client->dev);
return 0;
error_unreg_buffer:
iio_triggered_buffer_cleanup(indio_dev);
return ret;
}
static void lidar_remove(struct i2c_client *client)
{
struct iio_dev *indio_dev = i2c_get_clientdata(client);
iio_device_unregister(indio_dev);
iio_triggered_buffer_cleanup(indio_dev);
pm_runtime_disable(&client->dev);
pm_runtime_set_suspended(&client->dev);
}
static const struct i2c_device_id lidar_id[] = {
{"lidar-lite-v2", 0},
{"lidar-lite-v3", 0},
{ },
};
MODULE_DEVICE_TABLE(i2c, lidar_id);
static const struct of_device_id lidar_dt_ids[] = {
{ .compatible = "pulsedlight,lidar-lite-v2" },
{ .compatible = "grmn,lidar-lite-v3" },
{ }
};
MODULE_DEVICE_TABLE(of, lidar_dt_ids);
static int lidar_pm_runtime_suspend(struct device *dev)
{
struct iio_dev *indio_dev = i2c_get_clientdata(to_i2c_client(dev));
struct lidar_data *data = iio_priv(indio_dev);
return lidar_write_power(data, 0x0f);
}
static int lidar_pm_runtime_resume(struct device *dev)
{
struct iio_dev *indio_dev = i2c_get_clientdata(to_i2c_client(dev));
struct lidar_data *data = iio_priv(indio_dev);
int ret = lidar_write_power(data, 0);
/* regulator and FPGA needs settling time */
usleep_range(15000, 20000);
return ret;
}
static const struct dev_pm_ops lidar_pm_ops = {
RUNTIME_PM_OPS(lidar_pm_runtime_suspend, lidar_pm_runtime_resume, NULL)
};
static struct i2c_driver lidar_driver = {
.driver = {
.name = LIDAR_DRV_NAME,
.of_match_table = lidar_dt_ids,
.pm = pm_ptr(&lidar_pm_ops),
},
.probe_new = lidar_probe,
.remove = lidar_remove,
.id_table = lidar_id,
};
module_i2c_driver(lidar_driver);
MODULE_AUTHOR("Matt Ranostay <matt.ranostay@konsulko.com>");
MODULE_DESCRIPTION("PulsedLight LIDAR sensor");
MODULE_LICENSE("GPL");