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>
7 * Copyright (C) 2020 Ivan Drobyshevskyi <drobyshevskyi@gmail.com>
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
vl53l0x_handle_irq(int irq,void * priv)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
vl53l0x_configure_irq(struct i2c_client * client,struct iio_dev * indio_dev)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
vl53l0x_clear_irq(struct vl53l0x_data * data)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
vl53l0x_read_proximity(struct vl53l0x_data * data,const struct iio_chan_spec * chan,int * val)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
vl53l0x_read_raw(struct iio_dev * indio_dev,const struct iio_chan_spec * chan,int * val,int * val2,long mask)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
vl53l0x_power_off(void * _data)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
vl53l0x_power_on(struct vl53l0x_data * data)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
vl53l0x_probe(struct i2c_client * client)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 = vl53l0x_probe,
298 .id_table = vl53l0x_id,
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");
305