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- // SPDX-License-Identifier: GPL-2.0
- /*
- * Support for ST VL53L0X FlightSense ToF Ranging Sensor on a i2c bus.
- *
- * Copyright (C) 2016 STMicroelectronics Imaging Division.
- * Copyright (C) 2018 Song Qiang <songqiang1304521@gmail.com>
- * Copyright (C) 2020 Ivan Drobyshevskyi <drobyshevskyi@gmail.com>
- *
- * Datasheet available at
- * <https://www.st.com/resource/en/datasheet/vl53l0x.pdf>
- *
- * Default 7-bit i2c slave address 0x29.
- *
- * TODO: FIFO buffer, continuous mode, range selection, sensor ID check.
- */
- #include <linux/delay.h>
- #include <linux/i2c.h>
- #include <linux/interrupt.h>
- #include <linux/module.h>
- #include <linux/iio/iio.h>
- #define VL_REG_SYSRANGE_START 0x00
- #define VL_REG_SYSRANGE_MODE_MASK GENMASK(3, 0)
- #define VL_REG_SYSRANGE_MODE_SINGLESHOT 0x00
- #define VL_REG_SYSRANGE_MODE_START_STOP BIT(0)
- #define VL_REG_SYSRANGE_MODE_BACKTOBACK BIT(1)
- #define VL_REG_SYSRANGE_MODE_TIMED BIT(2)
- #define VL_REG_SYSRANGE_MODE_HISTOGRAM BIT(3)
- #define VL_REG_SYSTEM_INTERRUPT_CONFIG_GPIO 0x0A
- #define VL_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY BIT(2)
- #define VL_REG_SYSTEM_INTERRUPT_CLEAR 0x0B
- #define VL_REG_RESULT_INT_STATUS 0x13
- #define VL_REG_RESULT_RANGE_STATUS 0x14
- #define VL_REG_RESULT_RANGE_STATUS_COMPLETE BIT(0)
- struct vl53l0x_data {
- struct i2c_client *client;
- struct completion completion;
- };
- static irqreturn_t vl53l0x_handle_irq(int irq, void *priv)
- {
- struct iio_dev *indio_dev = priv;
- struct vl53l0x_data *data = iio_priv(indio_dev);
- complete(&data->completion);
- return IRQ_HANDLED;
- }
- static int vl53l0x_configure_irq(struct i2c_client *client,
- struct iio_dev *indio_dev)
- {
- struct vl53l0x_data *data = iio_priv(indio_dev);
- int ret;
- ret = devm_request_irq(&client->dev, client->irq, vl53l0x_handle_irq,
- IRQF_TRIGGER_FALLING, indio_dev->name, indio_dev);
- if (ret) {
- dev_err(&client->dev, "devm_request_irq error: %d\n", ret);
- return ret;
- }
- ret = i2c_smbus_write_byte_data(data->client,
- VL_REG_SYSTEM_INTERRUPT_CONFIG_GPIO,
- VL_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY);
- if (ret < 0)
- dev_err(&client->dev, "failed to configure IRQ: %d\n", ret);
- return ret;
- }
- static void vl53l0x_clear_irq(struct vl53l0x_data *data)
- {
- struct device *dev = &data->client->dev;
- int ret;
- ret = i2c_smbus_write_byte_data(data->client,
- VL_REG_SYSTEM_INTERRUPT_CLEAR, 1);
- if (ret < 0)
- dev_err(dev, "failed to clear error irq: %d\n", ret);
- ret = i2c_smbus_write_byte_data(data->client,
- VL_REG_SYSTEM_INTERRUPT_CLEAR, 0);
- if (ret < 0)
- dev_err(dev, "failed to clear range irq: %d\n", ret);
- ret = i2c_smbus_read_byte_data(data->client, VL_REG_RESULT_INT_STATUS);
- if (ret < 0 || ret & 0x07)
- dev_err(dev, "failed to clear irq: %d\n", ret);
- }
- static int vl53l0x_read_proximity(struct vl53l0x_data *data,
- const struct iio_chan_spec *chan,
- int *val)
- {
- struct i2c_client *client = data->client;
- u16 tries = 20;
- u8 buffer[12];
- int ret;
- ret = i2c_smbus_write_byte_data(client, VL_REG_SYSRANGE_START, 1);
- if (ret < 0)
- return ret;
- if (data->client->irq) {
- reinit_completion(&data->completion);
- ret = wait_for_completion_timeout(&data->completion, HZ/10);
- if (ret < 0)
- return ret;
- else if (ret == 0)
- return -ETIMEDOUT;
- vl53l0x_clear_irq(data);
- } else {
- do {
- ret = i2c_smbus_read_byte_data(client,
- VL_REG_RESULT_RANGE_STATUS);
- if (ret < 0)
- return ret;
- if (ret & VL_REG_RESULT_RANGE_STATUS_COMPLETE)
- break;
- usleep_range(1000, 5000);
- } while (--tries);
- if (!tries)
- return -ETIMEDOUT;
- }
- ret = i2c_smbus_read_i2c_block_data(client, VL_REG_RESULT_RANGE_STATUS,
- 12, buffer);
- if (ret < 0)
- return ret;
- else if (ret != 12)
- return -EREMOTEIO;
- /* Values should be between 30~1200 in millimeters. */
- *val = (buffer[10] << 8) + buffer[11];
- return 0;
- }
- static const struct iio_chan_spec vl53l0x_channels[] = {
- {
- .type = IIO_DISTANCE,
- .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
- BIT(IIO_CHAN_INFO_SCALE),
- },
- };
- static int vl53l0x_read_raw(struct iio_dev *indio_dev,
- const struct iio_chan_spec *chan,
- int *val, int *val2, long mask)
- {
- struct vl53l0x_data *data = iio_priv(indio_dev);
- int ret;
- if (chan->type != IIO_DISTANCE)
- return -EINVAL;
- switch (mask) {
- case IIO_CHAN_INFO_RAW:
- ret = vl53l0x_read_proximity(data, chan, val);
- if (ret < 0)
- return ret;
- return IIO_VAL_INT;
- case IIO_CHAN_INFO_SCALE:
- *val = 0;
- *val2 = 1000;
- return IIO_VAL_INT_PLUS_MICRO;
- default:
- return -EINVAL;
- }
- }
- static const struct iio_info vl53l0x_info = {
- .read_raw = vl53l0x_read_raw,
- };
- static int vl53l0x_probe(struct i2c_client *client)
- {
- struct vl53l0x_data *data;
- struct iio_dev *indio_dev;
- indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*data));
- if (!indio_dev)
- return -ENOMEM;
- data = iio_priv(indio_dev);
- data->client = client;
- i2c_set_clientdata(client, indio_dev);
- if (!i2c_check_functionality(client->adapter,
- I2C_FUNC_SMBUS_READ_I2C_BLOCK |
- I2C_FUNC_SMBUS_BYTE_DATA))
- return -EOPNOTSUPP;
- indio_dev->name = "vl53l0x";
- indio_dev->info = &vl53l0x_info;
- indio_dev->channels = vl53l0x_channels;
- indio_dev->num_channels = ARRAY_SIZE(vl53l0x_channels);
- indio_dev->modes = INDIO_DIRECT_MODE;
- /* usage of interrupt is optional */
- if (client->irq) {
- int ret;
- init_completion(&data->completion);
- ret = vl53l0x_configure_irq(client, indio_dev);
- if (ret)
- return ret;
- }
- return devm_iio_device_register(&client->dev, indio_dev);
- }
- static const struct of_device_id st_vl53l0x_dt_match[] = {
- { .compatible = "st,vl53l0x", },
- { }
- };
- MODULE_DEVICE_TABLE(of, st_vl53l0x_dt_match);
- static struct i2c_driver vl53l0x_driver = {
- .driver = {
- .name = "vl53l0x-i2c",
- .of_match_table = st_vl53l0x_dt_match,
- },
- .probe_new = vl53l0x_probe,
- };
- module_i2c_driver(vl53l0x_driver);
- MODULE_AUTHOR("Song Qiang <songqiang1304521@gmail.com>");
- MODULE_DESCRIPTION("ST vl53l0x ToF ranging sensor driver");
- MODULE_LICENSE("GPL v2");
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