drivers/iio/proximity/vl53l0x-i2c.c

   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 <[email protected]>
   7  * Copyright (C) 2020 Ivan Drobyshevskyi <[email protected]>
   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  *
  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                           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
  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
  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;
  46         struct completion completion;
  47         struct regulator *vdd_supply;
  48         struct gpio_desc *reset_gpio;
  49 };
  50
  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 {
  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
  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
 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;
 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
 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
 197 static 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
 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
 214         gpiod_set_value_cansleep(data->reset_gpio, 0);
 215
 216         usleep_range(3200, 5000);
 217
 218         return 0;
 219 }
 220
 221 static 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
 280 static const struct i2c_device_id vl53l0x_id[] = {
 281         { "vl53l0x", 0 },
 282         { }
 283 };
 284 MODULE_DEVICE_TABLE(i2c, vl53l0x_id);
 285
 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,
 298         .id_table = vl53l0x_id,
 299 };
 300 module_i2c_driver(vl53l0x_driver);
 301
 302 MODULE_AUTHOR("Song Qiang <[email protected]>");
 303 MODULE_DESCRIPTION("ST vl53l0x ToF ranging sensor driver");
 304 MODULE_LICENSE("GPL v2");