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1// SPDX-License-Identifier: GPL-2.02/*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 at10 * <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 0x0027 28#define VL_REG_SYSRANGE_MODE_MASK GENMASK(3, 0)29#define VL_REG_SYSRANGE_MODE_SINGLESHOT 0x0030#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 0x0A36#define VL_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY BIT(2)37 38#define VL_REG_SYSTEM_INTERRUPT_CLEAR 0x0B39 40#define VL_REG_RESULT_INT_STATUS 0x1341#define VL_REG_RESULT_RANGE_STATUS 0x1442#define VL_REG_RESULT_RANGE_STATUS_COMPLETE BIT(0)43 44struct vl53l0x_data {45 struct i2c_client *client;46 struct completion completion;47 struct regulator *vdd_supply;48 struct gpio_desc *reset_gpio;49};50 51static 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 61static int vl53l0x_configure_irq(struct i2c_client *client,62 struct iio_dev *indio_dev)63{64 int irq_flags = irq_get_trigger_type(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(&client->dev, client->irq, vl53l0x_handle_irq,72 irq_flags, indio_dev->name, 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(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 87static 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 107static 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, 1);118 if (ret < 0)119 return ret;120 121 if (data->client->irq) {122 reinit_completion(&data->completion);123 124 time_left = wait_for_completion_timeout(&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(1000, 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 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 158static 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 166static 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 193static const struct iio_info vl53l0x_info = {194 .read_raw = vl53l0x_read_raw,195};196 197static void vl53l0x_power_off(void *_data)198{199 struct vl53l0x_data *data = _data;200 201 gpiod_set_value_cansleep(data->reset_gpio, 1);202 203 regulator_disable(data->vdd_supply);204}205 206static 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;213 214 gpiod_set_value_cansleep(data->reset_gpio, 0);215 216 usleep_range(3200, 5000);217 218 return 0;219}220 221static 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(&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;239 240 data->vdd_supply = devm_regulator_get(&client->dev, "vdd");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");244 245 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");249 250 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");259 260 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(&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 280static const struct i2c_device_id vl53l0x_id[] = {281 { "vl53l0x" },282 { }283};284MODULE_DEVICE_TABLE(i2c, vl53l0x_id);285 286static const struct of_device_id st_vl53l0x_dt_match[] = {287 { .compatible = "st,vl53l0x", },288 { }289};290MODULE_DEVICE_TABLE(of, st_vl53l0x_dt_match);291 292static 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};300module_i2c_driver(vl53l0x_driver);301 302MODULE_AUTHOR("Song Qiang <songqiang1304521@gmail.com>");303MODULE_DESCRIPTION("ST vl53l0x ToF ranging sensor driver");304MODULE_LICENSE("GPL v2");305