Song Qiang | 6eb17c6 | 2018-09-18 16:24:21 +0800 | [diff] [blame] | 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> |
Ivan Drobyshevskyi | 3cef2e3 | 2020-09-16 10:44:58 +0300 | [diff] [blame] | 7 | * Copyright (C) 2020 Ivan Drobyshevskyi <drobyshevskyi@gmail.com> |
Song Qiang | 6eb17c6 | 2018-09-18 16:24:21 +0800 | [diff] [blame] | 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 | * |
Ivan Drobyshevskyi | 3cef2e3 | 2020-09-16 10:44:58 +0300 | [diff] [blame] | 14 | * TODO: FIFO buffer, continuous mode, range selection, sensor ID check. |
Song Qiang | 6eb17c6 | 2018-09-18 16:24:21 +0800 | [diff] [blame] | 15 | */ |
| 16 | |
| 17 | #include <linux/delay.h> |
Markuss Broks | e8941aa | 2022-05-23 20:53:43 +0300 | [diff] [blame] | 18 | #include <linux/gpio/consumer.h> |
Song Qiang | 6eb17c6 | 2018-09-18 16:24:21 +0800 | [diff] [blame] | 19 | #include <linux/i2c.h> |
Markuss Broks | 76d1eb0 | 2022-05-23 20:53:41 +0300 | [diff] [blame] | 20 | #include <linux/irq.h> |
Ivan Drobyshevskyi | 3cef2e3 | 2020-09-16 10:44:58 +0300 | [diff] [blame] | 21 | #include <linux/interrupt.h> |
Song Qiang | 6eb17c6 | 2018-09-18 16:24:21 +0800 | [diff] [blame] | 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 | |
Ivan Drobyshevskyi | 3cef2e3 | 2020-09-16 10:44:58 +0300 | [diff] [blame] | 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 | |
Song Qiang | 6eb17c6 | 2018-09-18 16:24:21 +0800 | [diff] [blame] | 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; |
Ivan Drobyshevskyi | 3cef2e3 | 2020-09-16 10:44:58 +0300 | [diff] [blame] | 46 | struct completion completion; |
Markuss Broks | d3d6dba | 2022-05-23 20:53:42 +0300 | [diff] [blame] | 47 | struct regulator *vdd_supply; |
Markuss Broks | e8941aa | 2022-05-23 20:53:43 +0300 | [diff] [blame] | 48 | struct gpio_desc *reset_gpio; |
Song Qiang | 6eb17c6 | 2018-09-18 16:24:21 +0800 | [diff] [blame] | 49 | }; |
| 50 | |
Ivan Drobyshevskyi | 3cef2e3 | 2020-09-16 10:44:58 +0300 | [diff] [blame] | 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 | { |
Markuss Broks | 76d1eb0 | 2022-05-23 20:53:41 +0300 | [diff] [blame] | 64 | int irq_flags = irq_get_trigger_type(client->irq); |
Ivan Drobyshevskyi | 3cef2e3 | 2020-09-16 10:44:58 +0300 | [diff] [blame] | 65 | struct vl53l0x_data *data = iio_priv(indio_dev); |
| 66 | int ret; |
| 67 | |
Markuss Broks | 76d1eb0 | 2022-05-23 20:53:41 +0300 | [diff] [blame] | 68 | if (!irq_flags) |
| 69 | irq_flags = IRQF_TRIGGER_FALLING; |
| 70 | |
Ivan Drobyshevskyi | 3cef2e3 | 2020-09-16 10:44:58 +0300 | [diff] [blame] | 71 | ret = devm_request_irq(&client->dev, client->irq, vl53l0x_handle_irq, |
Markuss Broks | 76d1eb0 | 2022-05-23 20:53:41 +0300 | [diff] [blame] | 72 | irq_flags, indio_dev->name, indio_dev); |
Ivan Drobyshevskyi | 3cef2e3 | 2020-09-16 10:44:58 +0300 | [diff] [blame] | 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(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(data->client, |
| 93 | VL_REG_SYSTEM_INTERRUPT_CLEAR, 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(data->client, |
| 98 | VL_REG_SYSTEM_INTERRUPT_CLEAR, 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(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 | |
Song Qiang | 6eb17c6 | 2018-09-18 16:24:21 +0800 | [diff] [blame] | 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; |
Miaoqian Lin | 50f2959 | 2022-04-12 06:42:09 +0000 | [diff] [blame] | 115 | unsigned long time_left; |
Song Qiang | 6eb17c6 | 2018-09-18 16:24:21 +0800 | [diff] [blame] | 116 | |
| 117 | ret = i2c_smbus_write_byte_data(client, VL_REG_SYSRANGE_START, 1); |
| 118 | if (ret < 0) |
| 119 | return ret; |
| 120 | |
Ivan Drobyshevskyi | 3cef2e3 | 2020-09-16 10:44:58 +0300 | [diff] [blame] | 121 | if (data->client->irq) { |
| 122 | reinit_completion(&data->completion); |
| 123 | |
Miaoqian Lin | 50f2959 | 2022-04-12 06:42:09 +0000 | [diff] [blame] | 124 | time_left = wait_for_completion_timeout(&data->completion, HZ/10); |
| 125 | if (time_left == 0) |
Ivan Drobyshevskyi | 3cef2e3 | 2020-09-16 10:44:58 +0300 | [diff] [blame] | 126 | return -ETIMEDOUT; |
Song Qiang | 6eb17c6 | 2018-09-18 16:24:21 +0800 | [diff] [blame] | 127 | |
Ivan Drobyshevskyi | 3cef2e3 | 2020-09-16 10:44:58 +0300 | [diff] [blame] | 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; |
Song Qiang | 6eb17c6 | 2018-09-18 16:24:21 +0800 | [diff] [blame] | 135 | |
Ivan Drobyshevskyi | 3cef2e3 | 2020-09-16 10:44:58 +0300 | [diff] [blame] | 136 | if (ret & VL_REG_RESULT_RANGE_STATUS_COMPLETE) |
| 137 | break; |
| 138 | |
| 139 | usleep_range(1000, 5000); |
| 140 | } while (--tries); |
| 141 | if (!tries) |
| 142 | return -ETIMEDOUT; |
| 143 | } |
Song Qiang | 6eb17c6 | 2018-09-18 16:24:21 +0800 | [diff] [blame] | 144 | |
| 145 | ret = i2c_smbus_read_i2c_block_data(client, VL_REG_RESULT_RANGE_STATUS, |
| 146 | 12, 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 | |
Markuss Broks | d3d6dba | 2022-05-23 20:53:42 +0300 | [diff] [blame] | 197 | static void vl53l0x_power_off(void *_data) |
| 198 | { |
| 199 | struct vl53l0x_data *data = _data; |
| 200 | |
Markuss Broks | e8941aa | 2022-05-23 20:53:43 +0300 | [diff] [blame] | 201 | gpiod_set_value_cansleep(data->reset_gpio, 1); |
| 202 | |
Markuss Broks | d3d6dba | 2022-05-23 20:53:42 +0300 | [diff] [blame] | 203 | regulator_disable(data->vdd_supply); |
| 204 | } |
| 205 | |
| 206 | static int vl53l0x_power_on(struct vl53l0x_data *data) |
| 207 | { |
| 208 | int ret; |
| 209 | |
| 210 | ret = regulator_enable(data->vdd_supply); |
| 211 | if (ret) |
| 212 | return ret; |
| 213 | |
Markuss Broks | e8941aa | 2022-05-23 20:53:43 +0300 | [diff] [blame] | 214 | gpiod_set_value_cansleep(data->reset_gpio, 0); |
| 215 | |
Markuss Broks | d3d6dba | 2022-05-23 20:53:42 +0300 | [diff] [blame] | 216 | usleep_range(3200, 5000); |
| 217 | |
| 218 | return 0; |
| 219 | } |
| 220 | |
Song Qiang | 6eb17c6 | 2018-09-18 16:24:21 +0800 | [diff] [blame] | 221 | static int vl53l0x_probe(struct i2c_client *client) |
| 222 | { |
| 223 | struct vl53l0x_data *data; |
| 224 | struct iio_dev *indio_dev; |
Markuss Broks | d3d6dba | 2022-05-23 20:53:42 +0300 | [diff] [blame] | 225 | int error; |
Song Qiang | 6eb17c6 | 2018-09-18 16:24:21 +0800 | [diff] [blame] | 226 | |
| 227 | indio_dev = devm_iio_device_alloc(&client->dev, 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, indio_dev); |
| 234 | |
| 235 | if (!i2c_check_functionality(client->adapter, |
| 236 | I2C_FUNC_SMBUS_READ_I2C_BLOCK | |
| 237 | I2C_FUNC_SMBUS_BYTE_DATA)) |
| 238 | return -EOPNOTSUPP; |
| 239 | |
Luca Weiss | 82c8936 | 2022-06-14 13:20:50 +0200 | [diff] [blame] | 240 | data->vdd_supply = devm_regulator_get(&client->dev, "vdd"); |
Markuss Broks | d3d6dba | 2022-05-23 20:53:42 +0300 | [diff] [blame] | 241 | if (IS_ERR(data->vdd_supply)) |
| 242 | return dev_err_probe(&client->dev, PTR_ERR(data->vdd_supply), |
| 243 | "Unable to get VDD regulator\n"); |
| 244 | |
Markuss Broks | e8941aa | 2022-05-23 20:53:43 +0300 | [diff] [blame] | 245 | data->reset_gpio = devm_gpiod_get_optional(&client->dev, "reset", GPIOD_OUT_HIGH); |
| 246 | if (IS_ERR(data->reset_gpio)) |
| 247 | return dev_err_probe(&client->dev, PTR_ERR(data->reset_gpio), |
| 248 | "Cannot get reset GPIO\n"); |
| 249 | |
Markuss Broks | d3d6dba | 2022-05-23 20:53:42 +0300 | [diff] [blame] | 250 | error = vl53l0x_power_on(data); |
| 251 | if (error) |
| 252 | return dev_err_probe(&client->dev, error, |
| 253 | "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(&client->dev, error, |
| 258 | "Failed to install poweroff action\n"); |
| 259 | |
Song Qiang | 6eb17c6 | 2018-09-18 16:24:21 +0800 | [diff] [blame] | 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 | |
Ivan Drobyshevskyi | 3cef2e3 | 2020-09-16 10:44:58 +0300 | [diff] [blame] | 266 | /* usage of interrupt is optional */ |
| 267 | if (client->irq) { |
| 268 | int ret; |
| 269 | |
| 270 | init_completion(&data->completion); |
| 271 | |
| 272 | ret = vl53l0x_configure_irq(client, indio_dev); |
| 273 | if (ret) |
| 274 | return ret; |
| 275 | } |
| 276 | |
Song Qiang | 6eb17c6 | 2018-09-18 16:24:21 +0800 | [diff] [blame] | 277 | return devm_iio_device_register(&client->dev, indio_dev); |
| 278 | } |
| 279 | |
Vaishnav M A | 8bb97ba | 2020-10-19 01:21:02 +0530 | [diff] [blame] | 280 | static const struct i2c_device_id vl53l0x_id[] = { |
Jonathan Cameron | 86eae30 | 2021-12-30 17:49:10 +0000 | [diff] [blame] | 281 | { "vl53l0x", 0 }, |
Vaishnav M A | 8bb97ba | 2020-10-19 01:21:02 +0530 | [diff] [blame] | 282 | { } |
| 283 | }; |
| 284 | MODULE_DEVICE_TABLE(i2c, vl53l0x_id); |
| 285 | |
Song Qiang | 6eb17c6 | 2018-09-18 16:24:21 +0800 | [diff] [blame] | 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_new = vl53l0x_probe, |
Vaishnav M A | 8bb97ba | 2020-10-19 01:21:02 +0530 | [diff] [blame] | 298 | .id_table = vl53l0x_id, |
Song Qiang | 6eb17c6 | 2018-09-18 16:24:21 +0800 | [diff] [blame] | 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"); |