iio/proximity/vl53l0x-i2c.c

0001 // SPDX-License-Identifier: GPL-2.0
0002 /*
0003  * Support for ST VL53L0X FlightSense ToF Ranging Sensor on a i2c bus.
0004  *
0005  * Copyright (C) 2016 STMicroelectronics Imaging Division.
0006  * Copyright (C) 2018 Song Qiang <songqiang1304521@gmail.com>
0007  * Copyright (C) 2020 Ivan Drobyshevskyi <drobyshevskyi@gmail.com>
0008  *
0009  * Datasheet available at
0010  * <https://www.st.com/resource/en/datasheet/vl53l0x.pdf>
0011  *
0012  * Default 7-bit i2c slave address 0x29.
0013  *
0014  * TODO: FIFO buffer, continuous mode, range selection, sensor ID check.
0015  */
0016
0017 #include <linux/delay.h>
0018 #include <linux/gpio/consumer.h>
0019 #include <linux/i2c.h>
0020 #include <linux/irq.h>
0021 #include <linux/interrupt.h>
0022 #include <linux/module.h>
0023
0024 #include <linux/iio/iio.h>
0025
0026 #define VL_REG_SYSRANGE_START               0x00
0027
0028 #define VL_REG_SYSRANGE_MODE_MASK           GENMASK(3, 0)
0029 #define VL_REG_SYSRANGE_MODE_SINGLESHOT         0x00
0030 #define VL_REG_SYSRANGE_MODE_START_STOP         BIT(0)
0031 #define VL_REG_SYSRANGE_MODE_BACKTOBACK         BIT(1)
0032 #define VL_REG_SYSRANGE_MODE_TIMED          BIT(2)
0033 #define VL_REG_SYSRANGE_MODE_HISTOGRAM          BIT(3)
0034
0035 #define VL_REG_SYSTEM_INTERRUPT_CONFIG_GPIO     0x0A
0036 #define VL_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY   BIT(2)
0037
0038 #define VL_REG_SYSTEM_INTERRUPT_CLEAR           0x0B
0039
0040 #define VL_REG_RESULT_INT_STATUS            0x13
0041 #define VL_REG_RESULT_RANGE_STATUS          0x14
0042 #define VL_REG_RESULT_RANGE_STATUS_COMPLETE     BIT(0)
0043
0044 struct vl53l0x_data {
0045     struct i2c_client *client;
0046     struct completion completion;
0047     struct regulator *vdd_supply;
0048     struct gpio_desc *reset_gpio;
0049 };
0050
0051 static irqreturn_t vl53l0x_handle_irq(int irq, void *priv)
0052 {
0053     struct iio_dev *indio_dev = priv;
0054     struct vl53l0x_data *data = iio_priv(indio_dev);
0055
0056     complete(&data->completion);
0057
0058     return IRQ_HANDLED;
0059 }
0060
0061 static int vl53l0x_configure_irq(struct i2c_client *client,
0062                  struct iio_dev *indio_dev)
0063 {
0064     int irq_flags = irq_get_trigger_type(client->irq);
0065     struct vl53l0x_data *data = iio_priv(indio_dev);
0066     int ret;
0067
0068     if (!irq_flags)
0069         irq_flags = IRQF_TRIGGER_FALLING;
0070
0071     ret = devm_request_irq(&client->dev, client->irq, vl53l0x_handle_irq,
0072             irq_flags, indio_dev->name, indio_dev);
0073     if (ret) {
0074         dev_err(&client->dev, "devm_request_irq error: %d\n", ret);
0075         return ret;
0076     }
0077
0078     ret = i2c_smbus_write_byte_data(data->client,
0079             VL_REG_SYSTEM_INTERRUPT_CONFIG_GPIO,
0080             VL_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY);
0081     if (ret < 0)
0082         dev_err(&client->dev, "failed to configure IRQ: %d\n", ret);
0083
0084     return ret;
0085 }
0086
0087 static void vl53l0x_clear_irq(struct vl53l0x_data *data)
0088 {
0089     struct device *dev = &data->client->dev;
0090     int ret;
0091
0092     ret = i2c_smbus_write_byte_data(data->client,
0093                     VL_REG_SYSTEM_INTERRUPT_CLEAR, 1);
0094     if (ret < 0)
0095         dev_err(dev, "failed to clear error irq: %d\n", ret);
0096
0097     ret = i2c_smbus_write_byte_data(data->client,
0098                     VL_REG_SYSTEM_INTERRUPT_CLEAR, 0);
0099     if (ret < 0)
0100         dev_err(dev, "failed to clear range irq: %d\n", ret);
0101
0102     ret = i2c_smbus_read_byte_data(data->client, VL_REG_RESULT_INT_STATUS);
0103     if (ret < 0 || ret & 0x07)
0104         dev_err(dev, "failed to clear irq: %d\n", ret);
0105 }
0106
0107 static int vl53l0x_read_proximity(struct vl53l0x_data *data,
0108                   const struct iio_chan_spec *chan,
0109                   int *val)
0110 {
0111     struct i2c_client *client = data->client;
0112     u16 tries = 20;
0113     u8 buffer[12];
0114     int ret;
0115     unsigned long time_left;
0116
0117     ret = i2c_smbus_write_byte_data(client, VL_REG_SYSRANGE_START, 1);
0118     if (ret < 0)
0119         return ret;
0120
0121     if (data->client->irq) {
0122         reinit_completion(&data->completion);
0123
0124         time_left = wait_for_completion_timeout(&data->completion, HZ/10);
0125         if (time_left == 0)
0126             return -ETIMEDOUT;
0127
0128         vl53l0x_clear_irq(data);
0129     } else {
0130         do {
0131             ret = i2c_smbus_read_byte_data(client,
0132                            VL_REG_RESULT_RANGE_STATUS);
0133             if (ret < 0)
0134                 return ret;
0135
0136             if (ret & VL_REG_RESULT_RANGE_STATUS_COMPLETE)
0137                 break;
0138
0139             usleep_range(1000, 5000);
0140         } while (--tries);
0141         if (!tries)
0142             return -ETIMEDOUT;
0143     }
0144
0145     ret = i2c_smbus_read_i2c_block_data(client, VL_REG_RESULT_RANGE_STATUS,
0146                         12, buffer);
0147     if (ret < 0)
0148         return ret;
0149     else if (ret != 12)
0150         return -EREMOTEIO;
0151
0152     /* Values should be between 30~1200 in millimeters. */
0153     *val = (buffer[10] << 8) + buffer[11];
0154
0155     return 0;
0156 }
0157
0158 static const struct iio_chan_spec vl53l0x_channels[] = {
0159     {
0160         .type = IIO_DISTANCE,
0161         .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
0162                       BIT(IIO_CHAN_INFO_SCALE),
0163     },
0164 };
0165
0166 static int vl53l0x_read_raw(struct iio_dev *indio_dev,
0167                 const struct iio_chan_spec *chan,
0168                 int *val, int *val2, long mask)
0169 {
0170     struct vl53l0x_data *data = iio_priv(indio_dev);
0171     int ret;
0172
0173     if (chan->type != IIO_DISTANCE)
0174         return -EINVAL;
0175
0176     switch (mask) {
0177     case IIO_CHAN_INFO_RAW:
0178         ret = vl53l0x_read_proximity(data, chan, val);
0179         if (ret < 0)
0180             return ret;
0181
0182         return IIO_VAL_INT;
0183     case IIO_CHAN_INFO_SCALE:
0184         *val = 0;
0185         *val2 = 1000;
0186
0187         return IIO_VAL_INT_PLUS_MICRO;
0188     default:
0189         return -EINVAL;
0190     }
0191 }
0192
0193 static const struct iio_info vl53l0x_info = {
0194     .read_raw = vl53l0x_read_raw,
0195 };
0196
0197 static void vl53l0x_power_off(void *_data)
0198 {
0199     struct vl53l0x_data *data = _data;
0200
0201     gpiod_set_value_cansleep(data->reset_gpio, 1);
0202
0203     regulator_disable(data->vdd_supply);
0204 }
0205
0206 static int vl53l0x_power_on(struct vl53l0x_data *data)
0207 {
0208     int ret;
0209
0210     ret = regulator_enable(data->vdd_supply);
0211     if (ret)
0212         return ret;
0213
0214     gpiod_set_value_cansleep(data->reset_gpio, 0);
0215
0216     usleep_range(3200, 5000);
0217
0218     return 0;
0219 }
0220
0221 static int vl53l0x_probe(struct i2c_client *client)
0222 {
0223     struct vl53l0x_data *data;
0224     struct iio_dev *indio_dev;
0225     int error;
0226
0227     indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*data));
0228     if (!indio_dev)
0229         return -ENOMEM;
0230
0231     data = iio_priv(indio_dev);
0232     data->client = client;
0233     i2c_set_clientdata(client, indio_dev);
0234
0235     if (!i2c_check_functionality(client->adapter,
0236                      I2C_FUNC_SMBUS_READ_I2C_BLOCK |
0237                      I2C_FUNC_SMBUS_BYTE_DATA))
0238         return -EOPNOTSUPP;
0239
0240     data->vdd_supply = devm_regulator_get(&client->dev, "vdd");
0241     if (IS_ERR(data->vdd_supply))
0242         return dev_err_probe(&client->dev, PTR_ERR(data->vdd_supply),
0243                      "Unable to get VDD regulator\n");
0244
0245     data->reset_gpio = devm_gpiod_get_optional(&client->dev, "reset", GPIOD_OUT_HIGH);
0246     if (IS_ERR(data->reset_gpio))
0247         return dev_err_probe(&client->dev, PTR_ERR(data->reset_gpio),
0248                      "Cannot get reset GPIO\n");
0249
0250     error = vl53l0x_power_on(data);
0251     if (error)
0252         return dev_err_probe(&client->dev, error,
0253                      "Failed to power on the chip\n");
0254
0255     error = devm_add_action_or_reset(&client->dev, vl53l0x_power_off, data);
0256     if (error)
0257         return dev_err_probe(&client->dev, error,
0258                      "Failed to install poweroff action\n");
0259
0260     indio_dev->name = "vl53l0x";
0261     indio_dev->info = &vl53l0x_info;
0262     indio_dev->channels = vl53l0x_channels;
0263     indio_dev->num_channels = ARRAY_SIZE(vl53l0x_channels);
0264     indio_dev->modes = INDIO_DIRECT_MODE;
0265
0266     /* usage of interrupt is optional */
0267     if (client->irq) {
0268         int ret;
0269
0270         init_completion(&data->completion);
0271
0272         ret = vl53l0x_configure_irq(client, indio_dev);
0273         if (ret)
0274             return ret;
0275     }
0276
0277     return devm_iio_device_register(&client->dev, indio_dev);
0278 }
0279
0280 static const struct i2c_device_id vl53l0x_id[] = {
0281     { "vl53l0x", 0 },
0282     { }
0283 };
0284 MODULE_DEVICE_TABLE(i2c, vl53l0x_id);
0285
0286 static const struct of_device_id st_vl53l0x_dt_match[] = {
0287     { .compatible = "st,vl53l0x", },
0288     { }
0289 };
0290 MODULE_DEVICE_TABLE(of, st_vl53l0x_dt_match);
0291
0292 static struct i2c_driver vl53l0x_driver = {
0293     .driver = {
0294         .name = "vl53l0x-i2c",
0295         .of_match_table = st_vl53l0x_dt_match,
0296     },
0297     .probe_new = vl53l0x_probe,
0298     .id_table = vl53l0x_id,
0299 };
0300 module_i2c_driver(vl53l0x_driver);
0301
0302 MODULE_AUTHOR("Song Qiang <songqiang1304521@gmail.com>");
0303 MODULE_DESCRIPTION("ST vl53l0x ToF ranging sensor driver");
0304 MODULE_LICENSE("GPL v2");